/***********************************************************************************************************************
* Copyright (C) All rights reserved.
***********************************************************************************************************************/
/***********************************************************************************************************************
* @file timm_user.c
* @brief This file implements device driver for TMM module.
* @version 1.0.0
* @date 2020/04/02
***********************************************************************************************************************/
/***********************************************************************************************************************
Includes
***********************************************************************************************************************/
#include "BAT32A239.h"
#include "userdefine.h"
#include "timm.h"
/* Start user code for include. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
Pragma directive
***********************************************************************************************************************/
//void IRQ27_Handler(void) __attribute__((alias("tmm0_interrupt")));
//void IRQ28_Handler(void) __attribute__((alias("tmm1_interrupt")));
/* Start user code for pragma. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
Global variables and functions
***********************************************************************************************************************/
/* TMM0 input capture mode */
volatile uint16_t g_tmm0_intTaken_a = 0U;
volatile uint16_t g_tmm0_intTaken_b = 0U;
volatile uint32_t g_tmm0_active_width_a = 0UL;
volatile uint32_t g_tmm0_active_width_b = 0UL;
volatile uint32_t g_tmm0_active_width_c = 0UL;
volatile uint32_t g_tmm0_active_width_d = 0UL;
volatile uint32_t g_tmm0_active_width_elc = 0UL;
volatile uint32_t g_tmm0_overflow_count_a = 0UL;
volatile uint32_t g_tmm0_overflow_count_b = 0UL;
/* TMM1 input capture mode */
volatile uint16_t g_tmm1_intTaken_a = 0U;
volatile uint16_t g_tmm1_intTaken_b = 0U;
volatile uint32_t g_tmm1_active_width_a = 0UL;
volatile uint32_t g_tmm1_active_width_b = 0UL;
volatile uint32_t g_tmm1_active_width_c = 0UL;
volatile uint32_t g_tmm1_active_width_d = 0UL;
volatile uint32_t g_tmm1_active_width_elc = 0UL;
volatile uint32_t g_tmm1_overflow_count_a = 0UL;
volatile uint32_t g_tmm1_overflow_count_b = 0UL;
/* Motor Driver */
volatile uint16_t g_u2_pwm_duty; /* PWM duty : No scaling */
volatile uint8_t g_u1_v_pattern; /* voltage pattern */
volatile uint8_t g_u1_direction; /* rotation direction (0:CW ,1:CCW) */
volatile uint8_t g_u1_v_pattern_open[2][7] = {
{0,
MTR_PATTERN_CW_U_V, /* 5 */
MTR_PATTERN_CW_W_V, /* 1 */
MTR_PATTERN_CW_W_U, /* 3 */
MTR_PATTERN_CW_V_U, /* 2 */
MTR_PATTERN_CW_V_W, /* 6 */
MTR_PATTERN_CW_U_W}, /* 4 */
{0,
MTR_PATTERN_CCW_U_W, /* 4 */
MTR_PATTERN_CCW_V_W, /* 6 */
MTR_PATTERN_CCW_V_U, /* 2 */
MTR_PATTERN_CCW_W_U, /* 3 */
MTR_PATTERN_CCW_W_V, /* 1 */
MTR_PATTERN_CCW_U_V} /* 5 */
}; /* array of voltage pattern for openloop drive */
/* Start user code for global. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
* Function Name: tmm0_interrupt
* @brief timm0 interrupt service routine for input capture mode
* @param None
* @return None
***********************************************************************************************************************/
void tmm0_interrupt(void)
{
INTC_ClearPendingIRQ(TMM0_IRQn); /* clear INTTMM0 interrupt flag */
uint8_t tmsr0_temp = TMM->TMSR0;
uint8_t tmier0_temp = TMM->TMIER0;
TMM->TMIER0 = 0x00U;
if ((TMM->TMSR0 & _10_TMM0_INTOV_GENERATE_FLAG) == _10_TMM0_INTOV_GENERATE_FLAG)
{
TMM->TMSR0 = tmsr0_temp & (uint8_t)~_10_TMM0_INTOV_GENERATE_FLAG;
g_tmm0_overflow_count_a += 1U;
g_tmm0_overflow_count_b += 1U;
}
if ((TMM->TMSR0 & _01_TMM0_INTA_GENERATE_FLAG) == _01_TMM0_INTA_GENERATE_FLAG)
{
TMM->TMSR0 = tmsr0_temp & (uint8_t)~_01_TMM0_INTA_GENERATE_FLAG;
g_tmm0_intTaken_a++;
if (g_tmm0_overflow_count_a == 0U)
{
g_tmm0_active_width_a = (TMM->TMGRA0 - TMM->TMGRC0);
}
else
{
g_tmm0_active_width_a = (TMM->TMGRA0 - TMM->TMGRC0) + (0x10000UL * g_tmm0_overflow_count_a);
g_tmm0_overflow_count_a = 0U;
}
}
if ((TMM->TMSR0 & _02_TMM0_INTB_GENERATE_FLAG) == _02_TMM0_INTB_GENERATE_FLAG)
{
TMM->TMSR0 = tmsr0_temp & (uint8_t)~(_02_TMM0_INTB_GENERATE_FLAG);
g_tmm0_intTaken_b++;
if (g_tmm0_overflow_count_b == 0U)
{
g_tmm0_active_width_b = (TMM->TMGRB0 - TMM->TMGRD0);
}
else
{
g_tmm0_active_width_b = (TMM->TMGRB0 - TMM->TMGRD0) + (0x10000UL * g_tmm0_overflow_count_b);
g_tmm0_overflow_count_b = 0U;
}
}
if ((TMM->TMSR0 & _04_TMM0_INTC_GENERATE_FLAG) == _04_TMM0_INTC_GENERATE_FLAG)
{
TMM->TMSR0 = tmsr0_temp & (uint8_t)~_04_TMM0_INTC_GENERATE_FLAG;
}
if ((TMM->TMSR0 & _08_TMM0_INTD_GENERATE_FLAG) == _08_TMM0_INTD_GENERATE_FLAG)
{
TMM->TMSR0 = tmsr0_temp & (uint8_t)~_08_TMM0_INTD_GENERATE_FLAG;
}
TMM->TMIER0 = tmier0_temp;
}
/***********************************************************************************************************************
* Function Name: tmm1_interrupt
* @brief timm1 interrupt service routine for input capture mode
* @param None
* @return None
***********************************************************************************************************************/
void tmm1_interrupt(void)
{
INTC_ClearPendingIRQ(TMM1_IRQn); /* clear INTTMM0 interrupt flag */
uint8_t tmsr1_temp = TMM->TMSR1;
uint8_t tmier1_temp = TMM->TMIER1;
TMM->TMIER1 = 0x00U;
if ((TMM->TMSR1 & _10_TMM1_INTOV_GENERATE_FLAG) == _10_TMM1_INTOV_GENERATE_FLAG)
{
TMM->TMSR1 = tmsr1_temp & (uint8_t)~_10_TMM1_INTOV_GENERATE_FLAG;
g_tmm1_overflow_count_a += 1U;
g_tmm1_overflow_count_b += 1U;
}
if ((TMM->TMSR1 & _01_TMM1_INTA_GENERATE_FLAG) == _01_TMM1_INTA_GENERATE_FLAG)
{
TMM->TMSR1 = tmsr1_temp & (uint8_t)~_01_TMM1_INTA_GENERATE_FLAG;
g_tmm1_intTaken_a++;
if (g_tmm1_overflow_count_a == 0U)
{
g_tmm1_active_width_a = (TMM->TMGRA1 - TMM->TMGRC1);
}
else
{
g_tmm1_active_width_a = (TMM->TMGRA1 - TMM->TMGRC1) + (0x10000UL * g_tmm1_overflow_count_a);
g_tmm1_overflow_count_a = 0U;
}
}
if ((TMM->TMSR1 & _02_TMM1_INTB_GENERATE_FLAG) == _02_TMM1_INTB_GENERATE_FLAG)
{
TMM->TMSR1 = tmsr1_temp & (uint8_t)~(_02_TMM1_INTB_GENERATE_FLAG);
g_tmm1_intTaken_b++;
if (g_tmm1_overflow_count_b == 0U)
{
g_tmm1_active_width_b = (TMM->TMGRB1 - TMM->TMGRD1);
}
else
{
g_tmm1_active_width_b = (TMM->TMGRB1 - TMM->TMGRD1) + (0x10000UL * g_tmm1_overflow_count_b);
g_tmm1_overflow_count_b = 0U;
}
}
if ((TMM->TMSR1 & _04_TMM1_INTC_GENERATE_FLAG) == _04_TMM1_INTC_GENERATE_FLAG)
{
TMM->TMSR1 = tmsr1_temp & (uint8_t)~_04_TMM1_INTC_GENERATE_FLAG;
}
if ((TMM->TMSR1 & _08_TMM1_INTD_GENERATE_FLAG) == _08_TMM1_INTD_GENERATE_FLAG)
{
TMM->TMSR1 = tmsr1_temp & (uint8_t)~_08_TMM1_INTD_GENERATE_FLAG;
}
TMM->TMIER1 = tmier1_temp;
}
/******************************************************************************
* Function Name : mtr_init_trd
* @brief Initialize Timer M
* @param none
* @return none
******************************************************************************/
void mtr_init_tmm(void)
{
TMM0_PWM_Complementary_3Phase(TMM_CLOCK_FCLK, MTR_CARRIER_SET, MTR_DEADTIME_SET);
}
/******************************************************************************
* Function Name : mtr_change_pattern
* @brief Change voltage pattern
* @param u1_pattern - Voltage pattern
* @return none
******************************************************************************/
void mtr_change_pattern(uint8_t u1_pattern)
{
/*========================*/
/* stop PWM timer */
/*========================*/
//TMM->TMSTR = 0x0C; /* stop TM0 */
/*======================*/
/* set register */
/*======================*/
/* PWM output arm setting */
switch (u1_pattern)
{
case MTR_V_PWM_WN_ON:
TMM->TMOER1 = 0xAF; /* Vp/Vn : PWM output enable */
MTR_PORT_UP_CLR(); /* Up = OFF("Low") */
MTR_PORT_UN_CLR(); /* Un = OFF("Low") */
MTR_PORT_VP_CLR(); /* Vp = OFF("Low") */
MTR_PORT_VN_CLR(); /* Vn = OFF("Low") */
MTR_PORT_WP_CLR(); /* Wp = OFF("Low") */
MTR_PORT_WN_SET(); /* Wn = ON ("High") */
break;
case MTR_W_PWM_VN_ON:
TMM->TMOER1 = 0x5F; /* Wp/Wn : PWM output enable */
MTR_PORT_UP_CLR(); /* Up = OFF("Low") */
MTR_PORT_UN_CLR(); /* Un = OFF("Low") */
MTR_PORT_VP_CLR(); /* Vp = OFF("Low") */
MTR_PORT_VN_SET(); /* Vn = ON ("High") */
MTR_PORT_WP_CLR(); /* Wp = OFF("Low") */
MTR_PORT_WN_CLR(); /* Wn = OFF("Low") */
break;
case MTR_W_PWM_UN_ON:
TMM->TMOER1 = 0x5F; /* Wp/Wn : PWM output enable */
MTR_PORT_UP_CLR(); /* Up = OFF("Low") */
MTR_PORT_UN_SET(); /* Un = ON ("High") */
MTR_PORT_VP_CLR(); /* Vp = OFF("Low") */
MTR_PORT_VN_CLR(); /* Vn = OFF("Low") */
MTR_PORT_WP_CLR(); /* Wp = OFF("Low") */
MTR_PORT_WN_CLR(); /* Wn = OFF("Low") */
break;
case MTR_U_PWM_WN_ON:
TMM->TMOER1 = 0xF5; /* Up/Un : PWM output enable */
MTR_PORT_UP_CLR(); /* Up = OFF("Low") */
MTR_PORT_UN_CLR(); /* Un = OFF("Low") */
MTR_PORT_VP_CLR(); /* Vp = OFF("Low") */
MTR_PORT_VN_CLR(); /* Vn = OFF("Low") */
MTR_PORT_WP_CLR(); /* Wp = OFF("Low") */
MTR_PORT_WN_SET(); /* Wn = ON ("High") */
break;
case MTR_U_PWM_VN_ON:
TMM->TMOER1 = 0xF5; /* Up/Un : PWM output enable */
MTR_PORT_UP_CLR(); /* Up = OFF("Low") */
MTR_PORT_UN_CLR(); /* Un = OFF("Low") */
MTR_PORT_VP_CLR(); /* Vp = OFF("Low") */
MTR_PORT_VN_SET(); /* Vn = ON ("High") */
MTR_PORT_WP_CLR(); /* Wp = OFF("Low") */
MTR_PORT_WN_CLR(); /* Wn = OFF("Low") */
break;
case MTR_V_PWM_UN_ON:
TMM->TMOER1 = 0xAF; /* Vp/Vn : PWM output enable */
MTR_PORT_UP_CLR(); /* Up = OFF("Low") */
MTR_PORT_UN_SET(); /* Un = ON ("High") */
MTR_PORT_VP_CLR(); /* Vp = OFF("Low") */
MTR_PORT_VN_CLR(); /* Vn = OFF("Low") */
MTR_PORT_WP_CLR(); /* Wp = OFF("Low") */
MTR_PORT_WN_CLR(); /* Wn = OFF("Low") */
break;
/* the default case is intentionally combined */
default:
break;
}
TMM->TMGRD0 = (int16_t)MTR_CARRIER_SET - g_u2_pwm_duty; /* duty of U phase */
TMM->TMGRC1 = (int16_t)MTR_CARRIER_SET - g_u2_pwm_duty; /* duty of V phase */
TMM->TMGRD1 = (int16_t)MTR_CARRIER_SET - g_u2_pwm_duty; /* duty of W phase */
/*===========================*/
/* restart PWM timer */
/*===========================*/
//TMM->TM0 = (uint16_t)MTR_DEADTIME_SET; /* reset TM0 */
//TMM->TM1 = 0;
//TMM->TMSTR = 0x0F; /* start TM0 */
}
/******************************************************************************
* Function Name : mtr_pattern_up_chopping
* @brief Set voltage pattern upper arm chopping PWM
* @param u1_pattern : voltage pattern
* @return none
******************************************************************************/
void mtr_pattern_up_chopping(uint8_t u1_pattern)
{
/*** set voltage pattern ***/
if (MTR_CW == g_u1_direction) /* check rotation direction */
{
switch (u1_pattern)
{
case MTR_PATTERN_CW_W_V: /* from W phase to V phase */
g_u1_v_pattern = MTR_W_PWM_VN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_WP);
break;
case MTR_PATTERN_CW_U_V: /* from U phase to V phase */
g_u1_v_pattern = MTR_U_PWM_VN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_UP);
break;
case MTR_PATTERN_CW_U_W: /* from U phase to W phase */
g_u1_v_pattern = MTR_U_PWM_WN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_UP);
break;
case MTR_PATTERN_CW_V_W: /* from V phase to W phase */
g_u1_v_pattern = MTR_V_PWM_WN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_VP);
break;
case MTR_PATTERN_CW_V_U: /* from V phase to U phase */
g_u1_v_pattern = MTR_V_PWM_UN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_VP);
break;
case MTR_PATTERN_CW_W_U: /* from W phase to U phase */
g_u1_v_pattern = MTR_W_PWM_UN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_WP);
break;
default: /* pseudo Hall signal pattern error */
g_u1_v_pattern = MTR_PATTERN_ERROR;
break;
}
}
else if (MTR_CCW == g_u1_direction) /* check rotation direction */
{
switch (u1_pattern)
{
case MTR_PATTERN_CCW_W_V: /* from W phase to V phase */
g_u1_v_pattern = MTR_W_PWM_VN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_WP);
break;
case MTR_PATTERN_CCW_W_U: /* from W phase to U phase */
g_u1_v_pattern = MTR_W_PWM_UN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_WP);
break;
case MTR_PATTERN_CCW_V_U: /* from V phase to U phase */
g_u1_v_pattern = MTR_V_PWM_UN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_VP);
break;
case MTR_PATTERN_CCW_V_W: /* from V phase to W phase */
g_u1_v_pattern = MTR_V_PWM_WN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_VP);
break;
case MTR_PATTERN_CCW_U_W: /* from U phase to W phase */
g_u1_v_pattern = MTR_U_PWM_WN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_UP);
break;
case MTR_PATTERN_CCW_U_V: /* from U phase to V phase */
g_u1_v_pattern = MTR_U_PWM_VN_ON;
//mtr_set_tau_window_signal(MTR_TAU_TIMER_UP);
break;
default: /* pseudo Hall signal pattern error */
g_u1_v_pattern = MTR_PATTERN_ERROR;
break;
}
}
else
{
/* Do Nothing */
}
}
/******************************************************************************
* Function Name : mtr_pattern_set
* @brief Set voltage pattern
* @param u1_pattern - voltage pattern value
* @return none
******************************************************************************/
void mtr_pattern_set(uint8_t u1_pattern)
{
/*** set voltage pattern ***/
mtr_pattern_up_chopping(u1_pattern); /* Upper arm chopping pattern */
mtr_change_pattern(g_u1_v_pattern); /* change voltage pattern */
}
/* Start user code for adding. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */