/*******************************************************************************
* Description : PLC_Tx_begin
* Syntax :
* Parameters I:
* Parameters O:
* return :
*******************************************************************************/
void PLC_Tx_begin(u8 *data)
{
PLC_Tx_bitCnt = 0u;
PLC_Tx_byteCnt = 0u;
if (((*data) & 0x80) == 0x80)
{
TIMER_SET_PRESCALE_VALUE(TIMER1, 0);
TIMER_SET_CMP_VALUE(TIMER1, 98); //285KHz(0,98)
Freq_cnt = MAX_285K;
}
else
{
TIMER_SET_PRESCALE_VALUE(TIMER1, 0);
TIMER_SET_CMP_VALUE(TIMER1, 500); //255KHz(0,88)
Freq_cnt = MAX_255K;
}
// digitalWrite(0, HIGH); //P0.0 = 1 SCC
// digitalWrite(1, HIGH); //P0.1 = 1 SCCOUT
digitalWrite(36, HIGH); //P0.1 = 1 SCCOUT
// Freq_cnt = 0;
/* Start Timer1 counting */
TIMER_Start(TIMER1);
}
/*******************************************************************************
* Description : PLC Tx ISR
* Syntax :
* Parameters I:
* Parameters O:
* return :
*******************************************************************************/
void TMR1_IRQHandler(void)
{
u8 temp_bit = 0u;
// if(TIMER_GetIntFlag(TIMER1) == 1)
if ((TIMER1->TISR & TIMER_TISR_TIF_Msk) == 1)
{
/* Clear Timer1 time-out interrupt flag */
//TIMER_ClearIntFlag(TIMER1);
TIMER1->TISR = TIMER_TISR_TIF_Msk;
// TimerIntCnt[1]++;
Freq_cnt--;
// Freq_cnt ^= 1;
P36 ^= HIGH; //P0.1 = 1 SCCOUT
/* Tx running */
if (Freq_cnt < 0)
{
PLC_Tx_bitCnt++;
if (PLC_Tx_bitCnt >= 8u)
{
PLC_Tx_bitCnt = 0u;
PLC_Tx_byteCnt++;
}
temp_bit = (PLC_Tx_PN9[PLC_Tx_byteCnt] << PLC_Tx_bitCnt) & 0x80;
if (0x80 == temp_bit)
{
// TIMER_SET_PRESCALE_VALUE(TIMER1, 0);
TIMER_SET_CMP_VALUE(TIMER1, 98); //285KHz(0,98)
Freq_cnt = MAX_285K;
}
else
{
// TIMER_SET_PRESCALE_VALUE(TIMER1, 0);
TIMER_SET_CMP_VALUE(TIMER1, 500); //255KHz(0,88)
Freq_cnt = MAX_255K;
}
}
else
{
}
/* check Tx ending */
if (PLC_Tx_byte <= PLC_Tx_byteCnt)
{
/* Stop Timer1 counting */
TIMER_Close(TIMER1);
P36 = 0; //P0.0 = 0
}
}
}
__INLINE void PhaseChangedRoutine(void)
{
FLAG_PHASE_CHANGED = RESET;
tMotor.structMotor.unPhaseChangeCNT++;
if (TRUE == tMotor.structMotor.MSR.bZeroCrossDetecting)
{
// iPhaseChangeTime = TIMER_GetCounter(TIMER1);
// Miss ZXD or ZXD success filter
// If continuously detected more than MIN_SUCC_ZXD_THRESHOLD ZX, OK! GOOD!!
if (TRUE == tMotor.structMotor.MSR.bThisPhaseDetectedZX)
{
tMotor.structMotor.MSR.unMissedZXD_CNT = 0;
if (tMotor.structMotor.MSR.unSuccessZXD_CNT > MIN_SUCC_ZXD_THRESHOLD)
{
tMotor.structMotor.MSR.bLocked = TRUE;
}
else
{
tMotor.structMotor.MSR.unSuccessZXD_CNT++;
}
}
else // If continuously missing detected more than MAX_MISS_ZXD_THRESHOLD ZX, loss lock
{
tMotor.structMotor.MSR.unSuccessZXD_CNT = 0;
// If ZX was not detected in last phase, unLastZXDetectedTime was also not updated
// Guess one value
unLastZXDetectedTime = GET_TIMER_DIFF((tMotor.structMotor.unActualPeriod >> 2), TIMER_GetCounter(TIMER1));
if (tMotor.structMotor.MSR.unMissedZXD_CNT > MAX_MISS_ZXD_THRESHOLD)
{
if (TRUE == tMotor.structMotor.MSR.bLocked)
{
tMotor.structMotor.MSR.bLocked = FALSE;
MOTOR_SHUT_DOWN;
setError(ERR_INTERNAL);
}
}
else
{
tMotor.structMotor.MSR.unMissedZXD_CNT++;
}
}
}
if (TRUE == tMotor.structMotor.MSR.bLocked)
{
// Set a rough next phase change time as the same with last phase
// After detected ZX in TIM1 interrupt, next phase change time will be re-configured
TIMER_SET_CMP_VALUE(TIMER0, tMotor.structMotor.unActualPeriod << 1);
}
tMotor.structMotor.MSR.bThisPhaseDetectedZX = FALSE;
// For debug
GPIO_TOGGLE(P50);
}
int Timer_InterTimerTriggerMode(void)
{
int volatile i;
/* Init System, IP clock and multi-function I/O
In the end of SYS_Init() will issue SYS_LockReg()
to lock protected register. If user want to write
protected register, please issue SYS_UnlockReg()
to unlock protected register if necessary */
SysInit();
/* Init UART to 115200-8n1 for print message */
UART_Open(UART0, 115200);
/* This sample code demonstrate inter timer trigger mode using Timer0 and Timer1
* In this mode, Timer0 is working as counter, and triggers Timer1. Using Timer1
* to calculate the amount of time used by Timer0 to count specified amount of events.
* By dividing the time period recorded in Timer1 by the event counts, we get
* the event frequency.
*/
printf("Inter timer trigger mode demo code\n");
printf("Please connect input source with Timer 0 counter pin PB.8, press any key to continue\n");
UART_GetChar();
// Give a dummy target frequency here. Will over write prescale and compare value with macro
TIMER_Open(TIMER0, TIMER_ONESHOT_MODE, 100);
// Update prescale and compare value. Calculate average frequency every 1000 events
TIMER_SET_PRESCALE_VALUE(TIMER0, 0);
TIMER_SET_CMP_VALUE(TIMER0, 1000);
// Update Timer 1 prescale value. So Timer 1 clock is 1MHz
TIMER_SET_PRESCALE_VALUE(TIMER1, 11);
// We need capture interrupt
NVIC_EnableIRQ(TMR1_IRQn);
while(1) {
complete = 0;
// Count event by timer 0, disable drop count (set to 0), disable timeout (set to 0). Enable interrupt after complete
TIMER_EnableFreqCounter(TIMER0, 0, 0, TRUE);
while(complete == 0);
}
}
int Timer_FreeCountingMode(void)
{
int volatile i;
/* Init System, IP clock and multi-function I/O
In the end of SYS_Init() will issue SYS_LockReg()
to lock protected register. If user want to write
protected register, please issue SYS_UnlockReg()
to unlock protected register if necessary */
SysInit();
/* Init UART to 115200-8n1 for print message */
UART_Open(UART0, 115200);
printf("\nThis sample code demonstrate timer free counting mode.\n");
printf("Please connect input source with Timer 0 capture pin PD.11, press any key to continue\n");
UART_GeyChar();
// Give a dummy target frequency here. Will over write capture resolution with macro
TIMER_Open(TIMER0, TIMER_PERIODIC_MODE, 1000000);
// Update prescale to set proper resolution.
// Timer 0 clock source is 12MHz, to set resolution to 1us, we need to
// set clock divider to 12. e.g. set prescale to 12 - 1 = 11
TIMER_SET_PRESCALE_VALUE(TIMER0, 11);
// Set compare value as large as possible, so don't need to worry about counter overrun too frequently.
TIMER_SET_CMP_VALUE(TIMER0, 0xFFFFFF);
// Configure Timer 0 free counting mode, capture TDR value on rising edge
TIMER_EnableCapture(TIMER0, TIMER_CAPTURE_FREE_COUNTING_MODE, TIMER_CAPTURE_RISING_EDGE);
// Start Timer 0
TIMER_Start(TIMER0);
// Enable timer interrupt
TIMER_EnableCaptureInt(TIMER0);
NVIC_EnableIRQ(TMR0_IRQn);
while(1);
}
__INLINE void BLDCRampUp_Manager(void)
{
if (SET == FLAG_PHASE_CHANGED)
{
PhaseChangedRoutine();
if (unPhaseChangeCNT_AtCurrentPeriod > CHANGE_DT_PR_AFTER_PHASE_CHANGED_NUM)
{
unPhaseChangeCNT_AtCurrentPeriod = 0;
// Change duty and period
// MOTOR_RAMPUP_DT_INCR(tMotor.structMotor.ACT_DUTY);
MOTOR_RAMPUP_PR_DCR(tMotor.structMotor.unActualPeriod);
if (tMotor.structMotor.unActualPeriod <= MOTOR_RAMPUP_PR_MIN)
{
unPeriodChangeCNT_AfterPR_ReachMini++;
}
}
unPhaseChangeCNT_AtCurrentPeriod++;
// MOTOR_SET_DUTY(tMotor.structMotor.ACT_DUTY);
TIMER_SET_CMP_VALUE(TIMER0, tMotor.structMotor.unActualPeriod);
PHASE_INCREASE(unCurrentPhase);
// Modify PWM->PHCHGNXT at last because I don't know how long needed to reload PHCH with PHCHNEXT after TIM0 time-out
PWM->PHCHGNXT = GET_PHASE_VALUE(unCurrentPhase);
}
}
// Take charge of all Motot control
void BLDC_SensorLessManager(void)
{
uint16_t unMotorAlreadyRotatingPhaseTime;
static uint32_t iEnterTimeBeforeWait;
dutyProtection();
phaseDurationProtection(unLastPhaseChangeTime);
switch (tMotorState)
{
case MOTOR_IDLE:
if (tMotor.structMotor.MCR.bMotorNeedToRun && NO_MOTOR_EEROR)
{
unRotateDetectStartTime = unSystemTick;
tRotateDetectState = DETECT_START;
tMotorState = MOTOR_START;
}
break;
case MOTOR_START:
if (tMotor.structMotor.MCR.bMotorNeedToRun && NO_MOTOR_EEROR)
{
// Later implement this when motor can rotate
// Then stop it while rotating to measure the waveform
// Manually rotate it is too slow
unMotorAlreadyRotatingPhaseTime = canMotorContinueRunning();
if (unMotorAlreadyRotatingPhaseTime != IS_ROTATING_DETECTING)
{
if (unMotorAlreadyRotatingPhaseTime > 0)
{
// 1 to 65534
tMotorState = MOTOR_LOCKED;
}
else
{
// When back to Idle state the motor was already shut down
// MOTOR_SHUT_DOWN;
unCurrentPhase = 0;
unLocateIndex = 0;
tMotor.structMotor.MSR.unMissedZXD_CNT = 0;
unLastPhaseChangeTime = unSystemTick;
tMotor.structMotor.MSR.bMotorPowerOn = TRUE;
// Clear start detect zero cross flag
tMotor.structMotor.MSR.bZeroCrossDetecting = FALSE;
tMotor.structMotor.MSR.bLocked = FALSE;
//setPhaseManually(tMotor.structMotor.LCT_DUTY, unCurrentPhase);
BRG_ENABLE;
tMotorState = MOTOR_LOCATE;
}
}
}
else
{
BLDC_stopMotor();
}
break;
case MOTOR_LOCATE:
if (tMotor.structMotor.MCR.bMotorNeedToRun && NO_MOTOR_EEROR)
{
if (BLDC_LocatingManager() == STATUS_FINISHED)
{
iEnterTimeBeforeWait = unSystemTick;
tMotorState = MOTOR_WAIT_AFTER_LOCATE;
}
}
else
{
BLDC_stopMotor();
}
break;
case MOTOR_WAIT_AFTER_LOCATE:
if (tMotor.structMotor.MCR.bMotorNeedToRun && NO_MOTOR_EEROR)
{
if ((uint32_t)(unSystemTick - iEnterTimeBeforeWait) >= WAIT_AFTER_LOCATE_TIME)
{
tMotor.structMotor.unActualDuty = tMotor.structMotor.unRampUpDuty;
tMotor.structMotor.unActualPeriod = tMotor.structMotor.unRampUpPeriod;
tMotor.structMotor.MSR.bMotorPowerOn = TRUE;
PHASE_INCREASE(unCurrentPhase);
setPhaseManually(tMotor.structMotor.unActualDuty, unCurrentPhase);
BRG_ENABLE;
// Set timer 0 valure, use timer 0 to change phase automatically
// ************************************************************************
// ----==== From here current unCurrentPhase is actually next phase ====----
// ----==== Because we want to use the HW auto phase changer (PWM->PHCHGNXT) ====----
// So increase unCurrentPhase again. Want to get real current phase value? Read PWM->PHCHG.
// ************************************************************************
PHASE_INCREASE(unCurrentPhase);
PWM->PHCHGNXT = GET_PHASE_VALUE(unCurrentPhase);
// !!!! Need to make sure CPU runs to here every min tMotor.structMotor.ACT_PERIOD time !!!
// !!!! If not , timer counter may already passed tMotor.structMotor.ACT_PERIOD, !!!!
// !!!! then need to count to max timer counter number (which is 2^24), !!!!
// !!!! go back to 0 and triger interrupt when reach ACT_PERIOD again !!!!
TIMER_SET_CMP_VALUE(TIMER0, tMotor.structMotor.unActualPeriod);
TIMER_Start(TIMER0); // Once started, running and interrupting until Motor stop
TIMER_EnableInt(TIMER0);
unPeriodChangeCNT_AfterPR_ReachMini = 0;
unPhaseChangeCNT_AtCurrentDuty = 0;
unPhaseChangeCNT_AtCurrentPeriod = 0;
tMotorState = MOTOR_RAMPUP_WO_ZXD;
}
}
else
{
BLDC_stopMotor();
}
break;
case MOTOR_RAMPUP_WO_ZXD: // without zero cross detection
if (tMotor.structMotor.MCR.bMotorNeedToRun && NO_MOTOR_EEROR)
{
BLDCRampUp_Manager();
if (tMotor.structMotor.unActualPeriod <= MOTOR_START_ZXD_SPEED) //(iRampUpPeriodMiniCNT > MOTOR_START_ZXD_MINROT_CNT) //
{
tMotor.structMotor.MSR.bThisPhaseDetectedZX = FALSE;
tMotor.structMotor.MSR.bZeroCrossDetecting = TRUE;
// Speed is enough for zero cross detecting
// Prepare everything
// T0 used to change phase automatically -- already configured
// T1 used to filter ZX
// TIMER_SET_CMP_VALUE(TIMER1, GET_TIM1_CMP_VALUE(TIMER1->TDR + AVOID_ZXD_AFTER_PHCHG));
// FLAG_TIM1_USEAGE = ENUM_TIM1_AVOID_ZXD;
ACMP0_ENABLE;
TIMER_Start(TIMER1); // Once started, running until Motor stop
// TIMER_EnableInt(TIMER1);
// Suppose last ZX detected time
// unLastZXDetectedTime = MINI51_TIM_CNT_MAX - tMotor.structMotor.ACT_PERIOD / 2;
tMotorState = MOTOR_RAMPUP_W_ZXD;
}
}
else
{
BLDC_stopMotor();
}
break;
case MOTOR_RAMPUP_W_ZXD: // with zero cross detection
if (tMotor.structMotor.MCR.bMotorNeedToRun && NO_MOTOR_EEROR)
{
if (TRUE == tMotor.structMotor.MSR.bLocked)
{
// Finally, everything was prepared:
// T0 used to change phase automatically
// T1 used to filter ZX
tMotorState = MOTOR_LOCKED;
}
else
{
if (unPeriodChangeCNT_AfterPR_ReachMini < RAMP_UP_MIN_PERIOD_NUM_THRS)
{
BLDCRampUp_Manager();
}
else
{
setError(ERR_RAMPUP_FAIL);
}
}
}
else
{
BLDC_stopMotor();
}
break;
case MOTOR_LOCKED:
if (tMotor.structMotor.MCR.bMotorNeedToRun && NO_MOTOR_EEROR)
{
BLDCSpeedManager(); // Mainly PWM duty increase/decrease
}
else
{
BLDC_stopMotor();
}
break;
default:
break;
}
}
void HardwareTimer::setCompare(uint32_t val) {
TIMER_SET_CMP_VALUE(dev, val);
}
/*---------------------------------------------------------------------------------------------------------*/
int main(void)
{
volatile uint32_t u32InitCount;
/* Unlock protected registers */
SYS_UnlockReg();
/* Init System, peripheral clock and multi-function I/O */
SYS_Init();
/* Lock protected registers */
SYS_LockReg();
/* Init UART0 for printf */
UART0_Init();
printf("\n\nCPU @ %d Hz\n", SystemCoreClock);
printf("+-------------------------------------------------+\n");
printf("| Timer1 External Counter Input Sample Code |\n");
printf("+-------------------------------------------------+\n\n");
printf("# Timer Settings:\n");
printf(" Timer1: Clock source is HCLK(50 MHz); Continuous counting mode; Interrupt enable;\n");
printf(" External counter input enable; TCMP is 56789.\n");
printf("# Connect P2.0 to T1 pin and pull P2.0 High/Low as T1 counter input source.\n\n");
/* Configure P2.0 as GPIO output pin and pull pin status to Low first */
GPIO_SetMode(P2, 0, GPIO_PMD_OUTPUT);
P20 = 0;
/* Initial Timer1 default setting */
TIMER_Open(TIMER1, TIMER_CONTINUOUS_MODE, 1);
/* Configure Timer1 setting for external counter input function */
TIMER_SELECT_TOUT_PIN(TIMER1, TIMER_TOUT_PIN_FROM_TX_PIN);
TIMER_SET_PRESCALE_VALUE(TIMER1, 0);
TIMER_SET_CMP_VALUE(TIMER1, 56789);
TIMER_EnableEventCounter(TIMER1, TIMER_COUNTER_FALLING_EDGE);
TIMER_EnableInt(TIMER1);
/* Enable Timer1 NVIC */
NVIC_EnableIRQ(TMR1_IRQn);
/* Clear Timer1 interrupt counts to 0 */
g_au32TMRINTCount[1] = 0;
/* Start Timer1 counting */
TIMER_Start(TIMER1);
/* To check if TDR of Timer1 must be 0 as default value */
if(TIMER_GetCounter(TIMER1) != 0)
{
printf("Default counter value is not 0. (%d)\n", TIMER_GetCounter(TIMER1));
/* Stop Timer1 counting */
TIMER_Close(TIMER1);
while(1);
}
/* To generate one counter event to T1 pin */
GeneratePORT2Counter(0, 1);
/* To check if TDR of Timer1 must be 1 */
while(TIMER_GetCounter(TIMER1) == 0);
if(TIMER_GetCounter(TIMER1) != 1)
{
printf("Get unexpected counter value. (%d)\n", TIMER_GetCounter(TIMER1));
/* Stop Timer1 counting */
TIMER_Close(TIMER1);
while(1);
}
/* To generate remains counts to T1 pin */
GeneratePORT2Counter(0, (56789 - 1));
while(1)
{
if((g_au32TMRINTCount[1] == 1) && (TIMER_GetCounter(TIMER1) == 56789))
{
printf("Timer1 external counter input function ... PASS.\n");
break;
}
}
/* Stop Timer1 counting */
TIMER_Close(TIMER1);
while(1);
}
/*---------------------------------------------------------------------------------------------------------*/
int main(void)
{
volatile uint32_t u32InitCount;
uint32_t au32CAPValus[10];
/* Unlock protected registers */
SYS_UnlockReg();
/* Init System, peripheral clock and multi-function I/O */
SYS_Init();
/* Lock protected registers */
SYS_LockReg();
/* Init UART0 for printf */
UART0_Init();
printf("\n\nCPU @ %d Hz\n", SystemCoreClock);
printf("+---------------------------------------------------+\n");
printf("| Timer External Capture Function Sample Code |\n");
printf("+---------------------------------------------------+\n\n");
printf("# Timer Settings:\n");
printf(" Timer0: Clock source is 12 MHz; Toggle-output mode and frequency is 500 Hz.\n");
printf(" Timer3: Clock source is 12 MHz; Toggle-output mode and frequency is 1 Hz.\n");
printf(" Timer2: Clock source is HCLK(72 MHz); Continuous counting mode; TCMP is 0xFFFFFF;\n");
printf(" Counter pin enable; Capture pin and capture interrupt enable;\n");
printf("# Generate 500 Hz frequency from TM0 and connect TM0 pin to Timer2 counter pin.\n");
printf("# Generate 1 Hz frequency from TM3 and connect TM3 pin to TM2_EXT capture pin.\n");
printf("# Get 500 event counts from Timer2 counter pin when each TM2_EXT pin interrupt occurred.\n\n");
/* Initial Timer0 and Timer3 default setting */
TIMER_Open(TIMER0, TIMER_TOGGLE_MODE, 1000);
TIMER_Open(TIMER3, TIMER_TOGGLE_MODE, 2);
/* Initial Timer2 default setting */
TIMER_Open(TIMER2, TIMER_CONTINUOUS_MODE, 1);
/* Configure Timer2 setting for external counter input and capture function */
TIMER_SET_PRESCALE_VALUE(TIMER2, 0);
TIMER_SET_CMP_VALUE(TIMER2, 0xFFFFFF);
TIMER_EnableEventCounter(TIMER2, TIMER_COUNTER_FALLING_EDGE);
TIMER_EnableCapture(TIMER2, TIMER_CAPTURE_FREE_COUNTING_MODE, TIMER_CAPTURE_FALLING_EDGE);
TIMER_EnableCaptureInt(TIMER2);
/* Enable Timer2 NVIC */
NVIC_EnableIRQ(TMR2_IRQn);
/* Clear Timer2 interrupt counts to 0 */
u32InitCount = g_au32TMRINTCount[2] = 0;
/* Start Timer0, Timer2 and Timer3 counting */
TIMER_Start(TIMER0);
TIMER_Start(TIMER2);
TIMER_Start(TIMER3);
/* Check TM2_EXT interrupt counts */
while(1) {
if(g_au32TMRINTCount[2] != u32InitCount) {
au32CAPValus[u32InitCount] = TIMER_GetCaptureData(TIMER2);
printf("[%2d] - %4d\n", g_au32TMRINTCount[2], au32CAPValus[u32InitCount]);
if(u32InitCount > 1) {
if((au32CAPValus[u32InitCount] - au32CAPValus[u32InitCount - 1]) != 500) {
printf("*** FAIL ***\n");
while(1);
}
}
u32InitCount = g_au32TMRINTCount[2];
}
if(u32InitCount == 10)
break;
}
/* Stop Timer0, Timer2 and Timer3 counting */
TIMER_Close(TIMER0);
TIMER_Close(TIMER2);
TIMER_Close(TIMER3);
printf("*** PASS ***\n");
while(1);
}
