/********************************************************************//**
* @brief Initializes the MCPWMx Peripheral according to the specified
* parameters.
* @param[in] MCPWMx MCPWM peripheral selected, should be:
* Should be: LPC_MCPWM
* @return None
*********************************************************************/
void MCPWM_Config (void)
{
/* Init MCPWM peripheral */
MCPWM_Init(LPC_MCPWM);
/* MCPWM Channel Config */
MCPWM_Channel_Config(LPC_MCPWM, MCPWM_MR0, None, MCPWM_INT_DISABLE);
//MCPWM_Channel_Config(LPC_MCPWM, MCPWM_CR0, None, MCPWM_INT_ENABLE);
/*Start PWM Channels */
MCPWM_Start(LPC_MCPWM, ENABLE, DISABLE, DISABLE);
}
/*********************************************************************//**
* @brief c_entry: Main MCPWM program body
* @param[in] None
* @return int
**********************************************************************/
int c_entry(void)
{
// MCPWM Channel configuration data
MCPWM_CHANNEL_CFG_Type channelsetup[3];
uint32_t i;
PINSEL_CFG_Type PinCfg;
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
_DBG_("Hello MCPWM ...");
/* Pin configuration for MCPWM function:
* Assign: - P1.19 as MCOA0 - Motor Control Channel 0 Output A
* - P1.22 as MCOB0 - Motor Control Channel 0 Output B
* - P1.25 as MCOA1 - Motor Control Channel 1 Output A
* - P1.26 as MCOB1 - Motor Control Channel 1 Output B
* - P1.28 as MCOA2 - Motor Control Channel 2 Output A
* - P1.29 as MCOB2 - Motor Control Channel 2 Output B
* - P1.20 as MCI0 - Motor Control Feed Back Channel 0
* Warning: According to Errata.lpc1768-18.March.2010: Input pin (MIC0-2)
* on the Motor Control PWM peripheral are not functional
*/
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 1;
PinCfg.Pinnum = 19;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 22;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 25;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 26;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 28;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 29;
PINSEL_ConfigPin(&PinCfg);
PinCfg.Pinnum = 20;
PINSEL_ConfigPin(&PinCfg);
/* Disable interrupt for MCPWM */
NVIC_DisableIRQ(MCPWM_IRQn);
/* preemption = 1, sub-priority = 1 */
NVIC_SetPriority(MCPWM_IRQn, ((0x01<<3)|0x01));
/* Init MCPWM peripheral */
MCPWM_Init(LPC_MCPWM);
channelsetup[0].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[0].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[0].channelDeadtimeEnable = DISABLE;
channelsetup[0].channelDeadtimeValue = 0;
channelsetup[0].channelUpdateEnable = ENABLE;
channelsetup[0].channelTimercounterValue = 0;
channelsetup[0].channelPeriodValue = 300;
channelsetup[0].channelPulsewidthValue = 0;
channelsetup[1].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[1].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[1].channelDeadtimeEnable = DISABLE;
channelsetup[1].channelDeadtimeValue = 0;
channelsetup[1].channelUpdateEnable = ENABLE;
channelsetup[1].channelTimercounterValue = 0;
channelsetup[1].channelPeriodValue = 300;
channelsetup[1].channelPulsewidthValue = 100;
channelsetup[2].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[2].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[2].channelDeadtimeEnable = DISABLE;
channelsetup[2].channelDeadtimeValue = 0;
channelsetup[2].channelUpdateEnable = ENABLE;
channelsetup[2].channelTimercounterValue = 0;
channelsetup[2].channelPeriodValue = 300;
channelsetup[2].channelPulsewidthValue = 200;
MCPWM_ConfigChannel(LPC_MCPWM, 0, &channelsetup[0]);
MCPWM_ConfigChannel(LPC_MCPWM, 1, &channelsetup[1]);
MCPWM_ConfigChannel(LPC_MCPWM, 2, &channelsetup[2]);
#if DC_MODE_TEST
/*
* - DC mode enabled.
* - Invert Output enabled
* - A0 and A1 output pin is internally routed to A0 signal
*/
MCPWM_DCMode(LPC_MCPWM, ENABLE, ENABLE, (MCPWM_PATENT_A0|MCPWM_PATENT_A1));
#endif
#if AC_MODE_TEST
/*
* - AC mode is enabled.
*/
MCPWM_ACMode(LPC_MCPWM, ENABLE);
#endif
#if CAPTURE_MODE_TEST
/*
* Capture mode in this case is used to detect the falling edge on MCO0B output pin.
* The MCFB0 input pin therefore must be connected to MCO0B. (P1.20 - P1.22)
* - Capture Channel 0.
* - Capture falling edge on MCFB0 input pin.
* - Interrupt enabled on capture event.
*/
captureCfg.captureChannel = 0;
captureCfg.captureFalling = ENABLE;
captureCfg.captureRising = DISABLE;
captureCfg.hnfEnable = DISABLE;
captureCfg.timerReset = DISABLE;
MCPWM_ConfigCapture(LPC_MCPWM, 0, &captureCfg);
// Reset flag for the first time
CapFlag = RESET;
// Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
/* Enable interrupt for MCPWM */
NVIC_EnableIRQ(MCPWM_IRQn);
#endif
MCPWM_Start(LPC_MCPWM, ENABLE, ENABLE, ENABLE);
// Main loop
while (1) {
// Timer_Wait(LPC_TIM0, 1000);
//delay
for(i=0; i<100000; i++);
channelsetup[0].channelPulsewidthValue = (channelsetup[0].channelPulsewidthValue >= 300) ?
0 : channelsetup[0].channelPulsewidthValue + 20;
channelsetup[1].channelPulsewidthValue = (channelsetup[1].channelPulsewidthValue >= 300) ?
0 : channelsetup[1].channelPulsewidthValue + 20;
channelsetup[2].channelPulsewidthValue = (channelsetup[2].channelPulsewidthValue >= 300) ?
0 : channelsetup[2].channelPulsewidthValue + 20;
_DBG_("Update!");
MCPWM_WriteToShadow(LPC_MCPWM, 0, &channelsetup[0]);
MCPWM_WriteToShadow(LPC_MCPWM, 1, &channelsetup[1]);
MCPWM_WriteToShadow(LPC_MCPWM, 2, &channelsetup[2]);
#if CAPTURE_MODE_TEST
// Check capture flag is set or not
if (CapFlag) {
// Print out the value
_DBG("Capture Value: ");
_DBD32(CapVal);
_DBG_("");
// Setup a new capture event
MCPWM_ConfigCapture(LPC_MCPWM, 0, &captureCfg);
// Re-Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
// Reset flag
CapFlag = RESET;
}
#endif
}
/* Loop forever */
return 1;
}
int main (void)
{
MCPWM_CHANNEL_SETUP_T channelsetup[3];
/* SystemClockUpdate() updates the SystemFrequency variable */
SystemClockUpdate();
MCPWM_Init();
channelsetup[0].channelType = 0;
channelsetup[0].channelPolarity = 0;
channelsetup[0].channelDeadtimeEnable = 0;
channelsetup[0].channelDeadtimeValue = 0;
#if SHADOW_UPDATE
channelsetup[0].channelUpdateEnable = 1;
#else
channelsetup[0].channelUpdateEnable = 0;
#endif
channelsetup[0].channelTimercounterValue = 0;
channelsetup[0].channelPeriodValue = 300;
channelsetup[0].channelPulsewidthValue = 150;
channelsetup[1].channelType = 0;
channelsetup[1].channelPolarity = 0;
channelsetup[1].channelDeadtimeEnable = 0;
channelsetup[1].channelDeadtimeValue = 0;
#if SHADOW_UPDATE
channelsetup[1].channelUpdateEnable = 1;
#else
channelsetup[1].channelUpdateEnable = 0;
#endif
channelsetup[1].channelTimercounterValue = 0;
channelsetup[1].channelPeriodValue = 300;
channelsetup[1].channelPulsewidthValue = 150;
channelsetup[2].channelType = 0;
channelsetup[2].channelPolarity = 0;
channelsetup[2].channelDeadtimeEnable = 0;
channelsetup[2].channelDeadtimeValue = 0;
#if SHADOW_UPDATE
channelsetup[2].channelUpdateEnable = 1;
#else
channelsetup[2].channelUpdateEnable = 0;
#endif
channelsetup[2].channelTimercounterValue = 0;
channelsetup[2].channelPeriodValue = 300;
channelsetup[2].channelPulsewidthValue = 150;
if (!MCPWM_Config(0, &channelsetup[0]))
{
return 0;
}
if (!MCPWM_Config(1, &channelsetup[1]))
{
return 0;
}
if (!MCPWM_Config(2, &channelsetup[2]))
{
return 0;
}
#if CHANNEL_0_CAPTURE
MCPWM_CaptureEvent(0, 0x01, 1, 0);
#endif
#if CHANNEL_1_CAPTURE
MCPWM_CaptureEvent(1, 0x04, 1, 0);
#endif
#if CHANNEL_2_CAPTURE
MCPWM_CaptureEvent(2, 0x10, 1, 0);
#endif
#if AC_MODE
MCPWM_acMode(1);
#endif
#if DC_MODE
MCPWM_dcMode(1, 1, 0x3F);
#endif
LPC_GPIO3->FIODIR = 0x02000000;
LPC_GPIO3->FIOSET = 0x02000000;
delayMs(0, 20);
LPC_GPIO3->FIOCLR = 0x02000000;
MCPWM_Start(1,1,1);
for (;;) {
#if SHADOW_UPDATE
delayMs(0, 10000);
channelsetup[0].channelPeriodValue = 150;
channelsetup[0].channelPulsewidthValue = 75;
channelsetup[1].channelPeriodValue = 150;
channelsetup[1].channelPulsewidthValue = 75;
channelsetup[2].channelPeriodValue = 150;
channelsetup[2].channelPulsewidthValue = 75;
if (!MCPWM_WriteToShadow(0, &channelsetup[0]))
{
return 0;
}
if (!MCPWM_WriteToShadow(1, &channelsetup[1]))
{
return 0;
}
if (!MCPWM_WriteToShadow(2, &channelsetup[2]))
{
return 0;
}
delayMs(0, 10000);
channelsetup[0].channelPeriodValue = 300;
channelsetup[0].channelPulsewidthValue = 150;
channelsetup[1].channelPeriodValue = 300;
channelsetup[1].channelPulsewidthValue = 150;
channelsetup[2].channelPeriodValue = 300;
channelsetup[2].channelPulsewidthValue = 150;
if (!MCPWM_WriteToShadow(0, &channelsetup[0]))
{
return 0;
}
if (!MCPWM_WriteToShadow(1, &channelsetup[1]))
{
return 0;
}
if (!MCPWM_WriteToShadow(2, &channelsetup[2]))
{
return 0;
}
#endif
}
}
/*********************************************************************//**
* @brief c_entry: Main MCPWM program body
* @param[in] None
* @return None
**********************************************************************/
void c_entry(void)
{
// MCPWM Channel configuration data
MCPWM_CHANNEL_CFG_Type channelsetup[3];
uint32_t i;
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
_DBG_(menu);
/* Pin configuration for MCPWM function:
* Assign: - P1.19 as MCOA0 - Motor Control Channel 0 Output A
* - P1.22 as MCOB0 - Motor Control Channel 0 Output B
* - P1.25 as MCOA1 - Motor Control Channel 1 Output A
* - P1.26 as MCOB1 - Motor Control Channel 1 Output B
* - P1.28 as MCOA2 - Motor Control Channel 2 Output A
* - P1.29 as MCOB2 - Motor Control Channel 2 Output B
* - P1.20 as MCI0 - Motor Control Feed Back Channel 0
* Warning: According to Errata.lpc1768-18.March.2010: Input pin (MIC0-2)
* on the Motor Control PWM peripheral are not functional
*/
//MCOA0 — Motor control PWM channel 0, output A
PINSEL_ConfigPin (1, 19, 4);
//MCI0 — Motor control PWM channel 0 input
PINSEL_ConfigPin (1, 20, 4);
//MCOB0 — Motor control PWM channel 0, output B
PINSEL_ConfigPin (1, 22, 4);
// Motor control PWM channel 1, output A.
PINSEL_ConfigPin (1, 25, 4);
//MCOB1 — Motor control PWM channel 1, output B.
PINSEL_ConfigPin (1, 26, 4);
//MCOA2 — Motor control PWM channel 2, output A.
PINSEL_ConfigPin (1, 28, 4);
//MCOB2 — Motor control PWM channel 2, output B.
PINSEL_ConfigPin (1, 29, 1);
/* Disable interrupt for MCPWM */
NVIC_DisableIRQ(MCPWM_IRQn);
/* preemption = 1, sub-priority = 1 */
NVIC_SetPriority(MCPWM_IRQn, ((0x01<<3)|0x01));
/* Init MCPWM peripheral */
MCPWM_Init(LPC_MCPWM);
channelsetup[0].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[0].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[0].channelDeadtimeEnable = DISABLE;
channelsetup[0].channelDeadtimeValue = 0;
channelsetup[0].channelUpdateEnable = ENABLE;
channelsetup[0].channelTimercounterValue = 0;
channelsetup[0].channelPeriodValue = 300;
channelsetup[0].channelPulsewidthValue = 0;
channelsetup[1].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[1].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[1].channelDeadtimeEnable = DISABLE;
channelsetup[1].channelDeadtimeValue = 0;
channelsetup[1].channelUpdateEnable = ENABLE;
channelsetup[1].channelTimercounterValue = 0;
channelsetup[1].channelPeriodValue = 300;
channelsetup[1].channelPulsewidthValue = 100;
channelsetup[2].channelType = MCPWM_CHANNEL_EDGE_MODE;
channelsetup[2].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO;
channelsetup[2].channelDeadtimeEnable = DISABLE;
channelsetup[2].channelDeadtimeValue = 0;
channelsetup[2].channelUpdateEnable = ENABLE;
channelsetup[2].channelTimercounterValue = 0;
channelsetup[2].channelPeriodValue = 300;
channelsetup[2].channelPulsewidthValue = 200;
MCPWM_ConfigChannel(LPC_MCPWM, MCPWM_CHANNEL_0, &channelsetup[0]);
MCPWM_ConfigChannel(LPC_MCPWM, MCPWM_CHANNEL_1, &channelsetup[1]);
MCPWM_ConfigChannel(LPC_MCPWM, MCPWM_CHANNEL_2, &channelsetup[2]);
#if (MCPWM_WORKING_MODE == DC_MODE_TEST)
/*
* - DC mode enabled.
* - Invert Output enabled
* - A0 and A1 output pin is internally routed to A0 signal
*/
MCPWM_DCMode(LPC_MCPWM, ENABLE, ENABLE, (MCPWM_PATENT_A0|MCPWM_PATENT_A1));
#elif (MCPWM_WORKING_MODE == AC_MODE_TEST)
// AC mode is enabled.
MCPWM_ACMode(LPC_MCPWM, ENABLE);
#endif
#if CAPTURE_MODE_TEST
/*
* Capture mode in this case is used to detect the falling edge on MCO0B output pin.
* The MCFB0 input pin therefore must be connected to MCO0B. (P1.20 - P1.22)
* - Capture Channel 0.
* - Capture falling edge on MCFB0 input pin.
* - Interrupt enabled on capture event.
*/
captureCfg.captureChannel = MCPWM_CHANNEL_0;
captureCfg.captureFalling = ENABLE;
captureCfg.captureRising = DISABLE;
captureCfg.hnfEnable = DISABLE;
captureCfg.timerReset = DISABLE;
MCPWM_ConfigCapture(LPC_MCPWM, MCPWM_CHANNEL_0, &captureCfg);
// Reset flag for the first time
CapFlag = RESET;
// Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
/* Enable interrupt for MCPWM */
NVIC_EnableIRQ(MCPWM_IRQn);
#endif
MCPWM_Start(LPC_MCPWM, ENABLE, ENABLE, ENABLE);
// Main loop
while (1)
{
//delay
for(i = 0; i < 100000; i++);
channelsetup[0].channelPulsewidthValue = (channelsetup[0].channelPulsewidthValue >= 300) ?
0 : channelsetup[0].channelPulsewidthValue + 20;
channelsetup[1].channelPulsewidthValue = (channelsetup[1].channelPulsewidthValue >= 300) ?
0 : channelsetup[1].channelPulsewidthValue + 20;
channelsetup[2].channelPulsewidthValue = (channelsetup[2].channelPulsewidthValue >= 300) ?
0 : channelsetup[2].channelPulsewidthValue + 20;
_DBG_("Update!");
MCPWM_WriteToShadow(LPC_MCPWM, MCPWM_CHANNEL_0, &channelsetup[0]);
MCPWM_WriteToShadow(LPC_MCPWM, MCPWM_CHANNEL_1, &channelsetup[1]);
MCPWM_WriteToShadow(LPC_MCPWM, MCPWM_CHANNEL_2, &channelsetup[2]);
#if CAPTURE_MODE_TEST
// Check capture flag is set or not
if (CapFlag)
{
// Print out the value
_DBG("Capture Value: ");
_DBD32(CapVal); _DBG_("");
// Must be re-configure the Capture Feature as below for the next capturing,
//unless, it will not capture anything more.
// Setup a new capture event
MCPWM_ConfigCapture(LPC_MCPWM, MCPWM_CHANNEL_0, &captureCfg);
// Re-Enable interrupt for capture event on MCI0 (MCFB0)
MCPWM_IntConfig(LPC_MCPWM, MCPWM_INTFLAG_CAP0, ENABLE);
// Reset flag
CapFlag = RESET;
}
#endif
}
}
