I am using the InstaSpin FOC with the TMS320F28027F processor. I needed to move the PWMs from PWM1,2,3 to PWM2,3,4 for my design to drive a 130 volt motor. I also move some of the ADC channels around. Attached are my hal.c and hal.h files with my changes to setup the PWMs and the ADC. I started with the Lab7 code when I was using the HVKit from TI. The software ran fine. I then moved to my board where the only thing that changes is the PWM and ADC pins used. When I run the unchanged Lab7 cod on the TI HVKit with no motor attached I get the expected sinewave signals on the Voltage feedback pins. However, on my board when running my modified code, I only get a 15kHz PWM signals with no sinewave generated. It looks like it is just a fixed PWM frequency.
My main question is if I move the PWM pins from PWM1,2,3 to PWM2,3,4 are there any other functions that need to be changed. If you search on the word ForeverFlo in the hal.c and hal.h file, you will see all my modifications. I have verified that I am getting the interrupt and the ADC channels are getting converted. I was able to verify the ADC by looking at the gAdcData in debug mode. It seems the PWMs are setup OK, but not getting updated properly.
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(C) Copyright 2011, Texas Instruments, Inc. // ************************************************************************** // the includes // drivers // modules // platforms #include "hal.h" #include "user.h" #include "hal_obj.h" #ifdef FLASH #pragma CODE_SECTION(HAL_setupFlash,"ramfuncs"); #endif // ************************************************************************** // the defines // ************************************************************************** // the globals HAL_Obj hal; // ************************************************************************** // the functions void HAL_cal(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; // enable the ADC clock CLK_enableAdcClock(obj->clkHandle); // Run the Device_cal() function // This function copies the ADC and oscillator calibration values from TI reserved // OTP into the appropriate trim registers // This boot ROM automatically calls this function to calibrate the interal // oscillators and ADC with device specific calibration data. // If the boot ROM is bypassed by Code Composer Studio during the development process, // then the calibration must be initialized by the application ENABLE_PROTECTED_REGISTER_WRITE_MODE; (*Device_cal)(); DISABLE_PROTECTED_REGISTER_WRITE_MODE; // run offsets calibration in user's memory HAL_AdcOffsetSelfCal(handle); // run oscillator compensation HAL_OscTempComp(handle); // disable the ADC clock CLK_disableAdcClock(obj->clkHandle); return; } // end of HAL_cal() function void HAL_OscTempComp(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; uint16_t Temperature; // disable the ADCs ADC_disable(obj->adcHandle); // power up the bandgap circuit ADC_enableBandGap(obj->adcHandle); // set the ADC voltage reference source to internal ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int); // enable the ADC reference buffers ADC_enableRefBuffers(obj->adcHandle); // Set main clock scaling factor (max45MHz clock for the ADC module) ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2); // power up the ADCs ADC_powerUp(obj->adcHandle); // enable the ADCs ADC_enable(obj->adcHandle); // enable non-overlap mode ADC_enableNoOverlapMode(obj->adcHandle); // connect channel A5 internally to the temperature sensor ADC_setTempSensorSrc(obj->adcHandle, ADC_TempSensorSrc_Int); // set SOC0 channel select to ADCINA5 ADC_setSocChanNumber(obj->adcHandle, ADC_SocNumber_0, ADC_SocChanNumber_A5); // set SOC0 acquisition period to 26 ADCCLK ADC_setSocSampleDelay(obj->adcHandle, ADC_SocNumber_0, ADC_SocSampleDelay_64_cycles); // connect ADCINT1 to EOC0 ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC0); // clear ADCINT1 flag ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1); // enable ADCINT1 ADC_enableInt(obj->adcHandle, ADC_IntNumber_1); // force start of conversion on SOC0 ADC_setSocFrc(obj->adcHandle, ADC_SocFrc_0); // wait for end of conversion while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){} // clear ADCINT1 flag ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1); Temperature = ADC_readResult(obj->adcHandle, ADC_ResultNumber_0); HAL_osc1Comp(handle, Temperature); HAL_osc2Comp(handle, Temperature); return; } // end of HAL_OscTempComp() function void HAL_osc1Comp(HAL_Handle handle, const int16_t sensorSample) { int16_t compOscFineTrim; HAL_Obj *obj = (HAL_Obj *)handle; ENABLE_PROTECTED_REGISTER_WRITE_MODE; compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc1FineTrimSlope() + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc1FineTrimOffset() - OSC_POSTRIM; if(compOscFineTrim > 31) { compOscFineTrim = 31; } else if(compOscFineTrim < -31) { compOscFineTrim = -31; } OSC_setTrim(obj->oscHandle, OSC_Number_1, HAL_getOscTrimValue(getOsc1CoarseTrim(), compOscFineTrim)); DISABLE_PROTECTED_REGISTER_WRITE_MODE; return; } // end of HAL_osc1Comp() function void HAL_osc2Comp(HAL_Handle handle, const int16_t sensorSample) { int16_t compOscFineTrim; HAL_Obj *obj = (HAL_Obj *)handle; ENABLE_PROTECTED_REGISTER_WRITE_MODE; compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc2FineTrimSlope() + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc2FineTrimOffset() - OSC_POSTRIM; if(compOscFineTrim > 31) { compOscFineTrim = 31; } else if(compOscFineTrim < -31) { compOscFineTrim = -31; } OSC_setTrim(obj->oscHandle, OSC_Number_2, HAL_getOscTrimValue(getOsc2CoarseTrim(), compOscFineTrim)); DISABLE_PROTECTED_REGISTER_WRITE_MODE; return; } // end of HAL_osc2Comp() function uint16_t HAL_getOscTrimValue(int16_t coarse, int16_t fine) { uint16_t regValue = 0; if(fine < 0) { regValue = ((-fine) | 0x20) << 9; } else { regValue = fine << 9; } if(coarse < 0) { regValue |= ((-coarse) | 0x80); } else { regValue |= coarse; } return regValue; } // end of HAL_getOscTrimValue() function void HAL_AdcOffsetSelfCal(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; uint16_t AdcConvMean; // disable the ADCs ADC_disable(obj->adcHandle); // power up the bandgap circuit ADC_enableBandGap(obj->adcHandle); // set the ADC voltage reference source to internal ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int); // enable the ADC reference buffers ADC_enableRefBuffers(obj->adcHandle); // power up the ADCs ADC_powerUp(obj->adcHandle); // enable the ADCs ADC_enable(obj->adcHandle); //Select VREFLO internal connection on B5 ADC_enableVoltRefLoConv(obj->adcHandle); //Select channel B5 for all SOC HAL_AdcCalChanSelect(handle, ADC_SocChanNumber_B5); //Apply artificial offset (+80) to account for a negative offset that may reside in the ADC core ADC_setOffTrim(obj->adcHandle, 80); //Capture ADC conversion on VREFLO AdcConvMean = HAL_AdcCalConversion(handle); //Set offtrim register with new value (i.e remove artical offset (+80) and create a two's compliment of the offset error) ADC_setOffTrim(obj->adcHandle, 80 - AdcConvMean); //Select external ADCIN5 input pin on B5 ADC_disableVoltRefLoConv(obj->adcHandle); return; } // end of HAL_AdcOffsetSelfCal() function void HAL_AdcCalChanSelect(HAL_Handle handle, const ADC_SocChanNumber_e chanNumber) { HAL_Obj *obj = (HAL_Obj *)handle; ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,chanNumber); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,chanNumber); return; } // end of HAL_AdcCalChanSelect() function uint16_t HAL_AdcCalConversion(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; uint16_t index, SampleSize, Mean; uint32_t Sum; ADC_SocSampleDelay_e ACQPS_Value; index = 0; //initialize index to 0 SampleSize = 256; //set sample size to 256 (**NOTE: Sample size must be multiples of 2^x where is an integer >= 4) Sum = 0; //set sum to 0 Mean = 999; //initialize mean to known value //Set the ADC sample window to the desired value (Sample window = ACQPS + 1) ACQPS_Value = ADC_SocSampleDelay_7_cycles; ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ACQPS_Value); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ACQPS_Value); // Enabled ADCINT1 and ADCINT2 ADC_enableInt(obj->adcHandle, ADC_IntNumber_1); ADC_enableInt(obj->adcHandle, ADC_IntNumber_2); // Disable continuous sampling for ADCINT1 and ADCINT2 ADC_setIntMode(obj->adcHandle, ADC_IntNumber_1, ADC_IntMode_EOC); ADC_setIntMode(obj->adcHandle, ADC_IntNumber_2, ADC_IntMode_EOC); //ADCINTs trigger at end of conversion ADC_setIntPulseGenMode(obj->adcHandle, ADC_IntPulseGenMode_Prior); // Setup ADCINT1 and ADCINT2 trigger source ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC6); ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_2, ADC_IntSrc_EOC14); // Setup each SOC's ADCINT trigger source ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_Int2TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_Int1TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_Int1TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_Int1TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_Int1TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_Int1TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_Int1TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_Int1TriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_Int1TriggersSOC); // Delay before converting ADC channels usDelay(ADC_DELAY_usec); ADC_setSocFrcWord(obj->adcHandle, 0x00FF); while( index < SampleSize ) { //Wait for ADCINT1 to trigger, then add ADCRESULT0-7 registers to sum while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){} //Must clear ADCINT1 flag since INT1CONT = 0 ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_0); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_1); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_2); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_3); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_4); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_5); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_6); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_7); //Wait for ADCINT2 to trigger, then add ADCRESULT8-15 registers to sum while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_2) == 0){} //Must clear ADCINT2 flag since INT2CONT = 0 ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_2); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_8); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_9); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_10); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_11); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_12); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_13); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_14); Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_15); index+=16; } // end data collection //Disable ADCINT1 and ADCINT2 to STOP the ping-pong sampling ADC_disableInt(obj->adcHandle, ADC_IntNumber_1); ADC_disableInt(obj->adcHandle, ADC_IntNumber_2); //Calculate average ADC sample value Mean = Sum / SampleSize; // Clear start of conversion trigger ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_NoIntTriggersSOC); ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_NoIntTriggersSOC); //return the average return(Mean); } // end of HAL_AdcCalConversion() function void HAL_disableWdog(HAL_Handle halHandle) { HAL_Obj *hal = (HAL_Obj *)halHandle; WDOG_disable(hal->wdogHandle); return; } // end of HAL_disableWdog() function void HAL_disableGlobalInts(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; CPU_disableGlobalInts(obj->cpuHandle); return; } // end of HAL_disableGlobalInts() function void HAL_enableAdcInts(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; // enable the PIE interrupts associated with the ADC interrupts PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1); // enable the ADC interrupts ADC_enableInt(obj->adcHandle,ADC_IntNumber_1); // enable the cpu interrupt for ADC interrupts CPU_enableInt(obj->cpuHandle,CPU_IntNumber_10); return; } // end of HAL_enableAdcInts() function void HAL_enableDebugInt(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; CPU_enableDebugInt(obj->cpuHandle); return; } // end of HAL_enableDebugInt() function void HAL_enableGlobalInts(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; CPU_enableGlobalInts(obj->cpuHandle); return; } // end of HAL_enableGlobalInts() function //Mosdified March 6 2015 by Gary for ForeverFlo Rev 0 void HAL_enablePwmInt(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; PIE_enablePwmInt(obj->pieHandle,PWM_Number_2); // enable the interrupt PWM_enableInt(obj->pwmHandle[PWM_Number_2]); // enable the cpu interrupt for EPWM2_INT CPU_enableInt(obj->cpuHandle,CPU_IntNumber_3); return; } // end of HAL_enablePwmInt() function void HAL_setupFaults(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; uint_least8_t cnt; // Configure Trip Mechanism for the Motor control software // -Cycle by cycle trip on CPU halt // -One shot fault trip zone // These trips need to be repeated for EPWM2 ,3 & 4 (cnt Modified for ForeverFlo) for(cnt=1;cnt<4;cnt++) { PWM_enableTripZoneSrc(obj->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ6_NOT); PWM_enableTripZoneSrc(obj->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ1_NOT); // What do we want the OST/CBC events to do? // TZA events can force EPWMxA // TZB events can force EPWMxB PWM_setTripZoneState_TZA(obj->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low); PWM_setTripZoneState_TZB(obj->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low); } return; } // end of HAL_setupFaults() function HAL_Handle HAL_init(void *pMemory,const size_t numBytes) { uint_least8_t cnt; HAL_Handle handle; HAL_Obj *obj; if(numBytes < sizeof(HAL_Obj)) return((HAL_Handle)NULL); // assign the handle handle = (HAL_Handle)pMemory; // assign the object obj = (HAL_Obj *)handle; // initialize the watchdog driver obj->wdogHandle = WDOG_init((void *)WDOG_BASE_ADDR,sizeof(WDOG_Obj)); // disable watchdog HAL_disableWdog(handle); // initialize the ADC obj->adcHandle = ADC_init((void *)ADC_BASE_ADDR,sizeof(ADC_Obj)); // initialize the SCI obj->sciHandle = SCI_init((void *)SCIA_BASE_ADDR,sizeof(SCI_Obj)); // initialize the clock handle obj->clkHandle = CLK_init((void *)CLK_BASE_ADDR,sizeof(CLK_Obj)); // initialize the CPU handle obj->cpuHandle = CPU_init(&cpu,sizeof(cpu)); // initialize the FLASH handle obj->flashHandle = FLASH_init((void *)FLASH_BASE_ADDR,sizeof(FLASH_Obj)); // initialize the GPIO handle obj->gpioHandle = GPIO_init((void *)GPIO_BASE_ADDR,sizeof(GPIO_Obj)); // initialize the current offset estimator handles for(cnt=0;cnt<USER_NUM_CURRENT_SENSORS;cnt++) { obj->offsetHandle_I[cnt] = OFFSET_init(&obj->offset_I[cnt],sizeof(obj->offset_I[cnt])); } // initialize the voltage offset estimator handles for(cnt=0;cnt<USER_NUM_VOLTAGE_SENSORS;cnt++) { obj->offsetHandle_V[cnt] = OFFSET_init(&obj->offset_V[cnt],sizeof(obj->offset_V[cnt])); } // initialize the oscillator handle obj->oscHandle = OSC_init((void *)OSC_BASE_ADDR,sizeof(OSC_Obj)); // initialize the PIE handle obj->pieHandle = PIE_init((void *)PIE_BASE_ADDR,sizeof(PIE_Obj)); // initialize the PLL handle obj->pllHandle = PLL_init((void *)PLL_BASE_ADDR,sizeof(PLL_Obj)); // initialize PWM handle // Modified March 6 2015 by Gary for ForeverFlo Rev 0 obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM1_BASE_ADDR,sizeof(PWM_Obj)); obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM2_BASE_ADDR,sizeof(PWM_Obj)); obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM3_BASE_ADDR,sizeof(PWM_Obj)); obj->pwmHandle[3] = PWM_init((void *)PWM_ePWM4_BASE_ADDR,sizeof(PWM_Obj)); // initialize power handle obj->pwrHandle = PWR_init((void *)PWR_BASE_ADDR,sizeof(PWR_Obj)); // initialize timer drivers obj->timerHandle[0] = TIMER_init((void *)TIMER0_BASE_ADDR,sizeof(TIMER_Obj)); obj->timerHandle[1] = TIMER_init((void *)TIMER1_BASE_ADDR,sizeof(TIMER_Obj)); obj->timerHandle[2] = TIMER_init((void *)TIMER2_BASE_ADDR,sizeof(TIMER_Obj)); return(handle); } // end of HAL_init() function void HAL_setParams(HAL_Handle handle,const USER_Params *pUserParams) { uint_least8_t cnt; HAL_Obj *obj = (HAL_Obj *)handle; _iq beta_lp_pu = _IQ(pUserParams->offsetPole_rps/(float_t)pUserParams->ctrlFreq_Hz); HAL_setNumCurrentSensors(handle,pUserParams->numCurrentSensors); HAL_setNumVoltageSensors(handle,pUserParams->numVoltageSensors); for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++) { HAL_setOffsetBeta_lp_pu(handle,HAL_SensorType_Current,cnt,beta_lp_pu); HAL_setOffsetInitCond(handle,HAL_SensorType_Current,cnt,_IQ(0.0)); HAL_setOffsetValue(handle,HAL_SensorType_Current,cnt,_IQ(0.0)); } for(cnt=0;cnt<HAL_getNumVoltageSensors(handle);cnt++) { HAL_setOffsetBeta_lp_pu(handle,HAL_SensorType_Voltage,cnt,beta_lp_pu); HAL_setOffsetInitCond(handle,HAL_SensorType_Voltage,cnt,_IQ(0.0)); HAL_setOffsetValue(handle,HAL_SensorType_Voltage,cnt,_IQ(0.0)); } // disable global interrupts CPU_disableGlobalInts(obj->cpuHandle); // disable cpu interrupts CPU_disableInts(obj->cpuHandle); // clear cpu interrupt flags CPU_clearIntFlags(obj->cpuHandle); // setup the clocks HAL_setupClks(handle); // Setup the PLL HAL_setupPll(handle,PLL_ClkFreq_60_MHz); // setup the PIE HAL_setupPie(handle); // run the device calibration HAL_cal(handle); // setup the peripheral clocks HAL_setupPeripheralClks(handle); // setup the GPIOs HAL_setupGpios(handle); // setup the flash HAL_setupFlash(handle); // setup the ADCs HAL_setupAdcs(handle); // setup the PWMs HAL_setupPwms(handle, pUserParams->systemFreq_MHz, pUserParams->pwmPeriod_usec, USER_NUM_PWM_TICKS_PER_ISR_TICK); // setup the timers HAL_setupTimers(handle, pUserParams->systemFreq_MHz); // set the default current bias { uint_least8_t cnt; _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams->current_sf)); for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++) { HAL_setBias(handle,HAL_SensorType_Current,cnt,bias); } } // set the current scale factor { _iq current_sf = _IQ(pUserParams->current_sf); HAL_setCurrentScaleFactor(handle,current_sf); } // set the default voltage bias { uint_least8_t cnt; _iq bias = _IQ(0.0); for(cnt=0;cnt<HAL_getNumVoltageSensors(handle);cnt++) { HAL_setBias(handle,HAL_SensorType_Voltage,cnt,bias); } } // set the voltage scale factor { _iq voltage_sf = _IQ(pUserParams->voltage_sf); HAL_setVoltageScaleFactor(handle,voltage_sf); } return; } // end of HAL_setParams() function void HAL_setupAdcs(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; // disable the ADCs ADC_disable(obj->adcHandle); // power up the bandgap circuit ADC_enableBandGap(obj->adcHandle); // set the ADC voltage reference source to internal ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int); // enable the ADC reference buffers ADC_enableRefBuffers(obj->adcHandle); // power up the ADCs ADC_powerUp(obj->adcHandle); // enable the ADCs ADC_enable(obj->adcHandle); // set the ADC interrupt pulse generation to prior ADC_setIntPulseGenMode(obj->adcHandle,ADC_IntPulseGenMode_Prior); // set the temperature sensor source to external ADC_setTempSensorSrc(obj->adcHandle,ADC_TempSensorSrc_Ext); // configure the interrupt sources ADC_disableInt(obj->adcHandle,ADC_IntNumber_1); ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag); ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7); //configure the SOCs for ForeverFlo // sample the first sample twice due to errata sprz342f ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_A3);//Dummy Read ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_7_cycles); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_A3);//IFB_U ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_7_cycles); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,ADC_SocChanNumber_A7);//IFB_V ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_2,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ADC_SocSampleDelay_7_cycles); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_A4);//IFB_W ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_7_cycles); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,ADC_SocChanNumber_B4);//VFB_U ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_4,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ADC_SocSampleDelay_7_cycles); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_B3);//VFB_V ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_7_cycles); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,ADC_SocChanNumber_B2);//VFB_W ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_6,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ADC_SocSampleDelay_7_cycles); ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_A0);//VFB_BUS ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM2_ADCSOCA); ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_7_cycles); return; } // end of HAL_setupAdcs() function void HAL_setupClks(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; // enable internal oscillator 1 CLK_enableOsc1(obj->clkHandle); // set the oscillator source CLK_setOscSrc(obj->clkHandle,CLK_OscSrc_Internal); // disable the external clock in CLK_disableClkIn(obj->clkHandle); // disable the crystal oscillator CLK_disableCrystalOsc(obj->clkHandle); // disable oscillator 2 CLK_disableOsc2(obj->clkHandle); // set the low speed clock prescaler CLK_setLowSpdPreScaler(obj->clkHandle,CLK_LowSpdPreScaler_SysClkOut_by_4); // set the clock out prescaler CLK_setClkOutPreScaler(obj->clkHandle,CLK_ClkOutPreScaler_SysClkOut_by_1); return; } // end of HAL_setupClks() function void HAL_setupFlash(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; FLASH_enablePipelineMode(obj->flashHandle); FLASH_setNumPagedReadWaitStates(obj->flashHandle,FLASH_NumPagedWaitStates_2); FLASH_setNumRandomReadWaitStates(obj->flashHandle,FLASH_NumRandomWaitStates_2); FLASH_setOtpWaitStates(obj->flashHandle,FLASH_NumOtpWaitStates_3); FLASH_setStandbyWaitCount(obj->flashHandle,FLASH_STANDBY_WAIT_COUNT_DEFAULT); FLASH_setActiveWaitCount(obj->flashHandle,FLASH_ACTIVE_WAIT_COUNT_DEFAULT); return; } // HAL_setupFlash() function //Modified March 6 2015 by Gary for ForeverFlo Rev 0 board void HAL_setupGpios(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; // O2 Sensor Drive PWM1 GPIO_setMode(obj->gpioHandle,GPIO_Number_0,GPIO_0_Mode_EPWM1A); // Fan Speed Control GPIO_setMode(obj->gpioHandle,GPIO_Number_1,GPIO_16_Mode_GeneralPurpose); GPIO_setLow(obj->gpioHandle,GPIO_Number_1); GPIO_setDirection(obj->gpioHandle,GPIO_Number_1,GPIO_Direction_Output); // PWM2A_UH GPIO_setMode(obj->gpioHandle,GPIO_Number_2,GPIO_2_Mode_EPWM2A); // PWM2B_UL GPIO_setMode(obj->gpioHandle,GPIO_Number_3,GPIO_3_Mode_EPWM2B); // PWM3A_VH GPIO_setMode(obj->gpioHandle,GPIO_Number_4,GPIO_4_Mode_EPWM3A); // PWM3B_VL GPIO_setMode(obj->gpioHandle,GPIO_Number_5,GPIO_5_Mode_EPWM3B); // PWM4A_WH GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_EPWM4A); // PWM4B_WL GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_EPWM4B); // TZ-1//GPIO_12_Mode_TZ1_NOT GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose); // Not Used GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_GeneralPurpose); GPIO_setPullUp(obj->gpioHandle, GPIO_Number_16, GPIO_PullUp_Disable); GPIO_setLow(obj->gpioHandle,GPIO_Number_16); GPIO_setDirection(obj->gpioHandle,GPIO_Number_16,GPIO_Direction_Output); // FAN_TACH input GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_GeneralPurpose); GPIO_setPullUp(obj->gpioHandle, GPIO_Number_17, GPIO_PullUp_Enable); GPIO_setDirection(obj->gpioHandle,GPIO_Number_17,GPIO_Direction_Input); // SOLCON (Balance Valve) GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_GeneralPurpose); GPIO_setPullUp(obj->gpioHandle, GPIO_Number_18, GPIO_PullUp_Disable); GPIO_setLow(obj->gpioHandle,GPIO_Number_18); GPIO_setDirection(obj->gpioHandle,GPIO_Number_18,GPIO_Direction_Output); // SOLBON (Valve B) GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_GeneralPurpose); GPIO_setPullUp(obj->gpioHandle, GPIO_Number_19, GPIO_PullUp_Disable); GPIO_setLow(obj->gpioHandle,GPIO_Number_19); GPIO_setDirection(obj->gpioHandle,GPIO_Number_19,GPIO_Direction_Output); // Setup GPIOs for SCI (Host/Bluetooth Comm) GPIO_setPullUp(obj->gpioHandle, GPIO_Number_28, GPIO_PullUp_Enable); GPIO_setPullUp(obj->gpioHandle, GPIO_Number_29, GPIO_PullUp_Enable); GPIO_setQualification(obj->gpioHandle, GPIO_Number_28, GPIO_Qual_ASync); GPIO_setMode(obj->gpioHandle, GPIO_Number_28, GPIO_28_Mode_SCIRXDA); GPIO_setMode(obj->gpioHandle, GPIO_Number_29, GPIO_29_Mode_SCITXDA); // I2C-SDA and CLK GPIO_setPullUp(obj->gpioHandle, GPIO_Number_32, GPIO_PullUp_Enable); GPIO_setPullUp(obj->gpioHandle, GPIO_Number_33, GPIO_PullUp_Enable); GPIO_setQualification(obj->gpioHandle, GPIO_Number_32, GPIO_Qual_ASync); GPIO_setQualification(obj->gpioHandle, GPIO_Number_33, GPIO_Qual_ASync); GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_SDAA); GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_SCLA); // SOLAON (Valve A) GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose); GPIO_setLow(obj->gpioHandle,GPIO_Number_34); GPIO_setDirection(obj->gpioHandle,GPIO_Number_34,GPIO_Direction_Output); // -----------------------------Shared with JTAG----------------------------------- // BT_RESET (Bluetooth Reset line) GPIO_setMode(obj->gpioHandle,GPIO_Number_35,GPIO_35_Mode_JTAG_TDI); GPIO_setLow(obj->gpioHandle,GPIO_Number_35); GPIO_setDirection(obj->gpioHandle,GPIO_Number_35,GPIO_Direction_Output); //JTAG GPIO_setMode(obj->gpioHandle,GPIO_Number_36,GPIO_36_Mode_JTAG_TMS); GPIO_setMode(obj->gpioHandle,GPIO_Number_37,GPIO_37_Mode_JTAG_TDO); //LED_RED (Acually Green On Rev 0 board) GPIO_setMode(obj->gpioHandle,GPIO_Number_38,GPIO_38_Mode_JTAG_TCK); GPIO_setLow(obj->gpioHandle,GPIO_Number_38); GPIO_setDirection(obj->gpioHandle,GPIO_Number_38,GPIO_Direction_Output); return; } // end of HAL_setupGpios() function void HAL_setupPie(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; PIE_disable(obj->pieHandle); PIE_disableAllInts(obj->pieHandle); PIE_clearAllInts(obj->pieHandle); PIE_clearAllFlags(obj->pieHandle); PIE_setDefaultIntVectorTable(obj->pieHandle); PIE_enable(obj->pieHandle); return; } // end of HAL_setupPie() function void HAL_setupPeripheralClks(HAL_Handle handle) { HAL_Obj *obj = (HAL_Obj *)handle; CLK_enableAdcClock(obj->clkHandle); CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_1); CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_2); CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_3); CLK_enableEcap1Clock(obj->clkHandle); CLK_enablePwmClock(obj->clkHandle,PWM_Number_1); CLK_enablePwmClock(obj->clkHandle,PWM_Number_2); CLK_enablePwmClock(obj->clkHandle,PWM_Number_3); CLK_enablePwmClock(obj->clkHandle,PWM_Number_4); CLK_disableHrPwmClock(obj->clkHandle); CLK_disableI2cClock(obj->clkHandle); CLK_enableSciaClock(obj->clkHandle); CLK_disableSpiaClock(obj->clkHandle); CLK_enableTbClockSync(obj->clkHandle); return; } // end of HAL_setupPeripheralClks() function void HAL_setupPll(HAL_Handle handle,const PLL_ClkFreq_e clkFreq) { HAL_Obj *obj = (HAL_Obj *)handle; // make sure PLL is not running in limp mode if(PLL_getClkStatus(obj->pllHandle) != PLL_ClkStatus_Normal) { // reset the clock detect PLL_resetClkDetect(obj->pllHandle); // ??????? asm(" ESTOP0"); } // Divide Select must be ClkIn/4 before the clock rate can be changed if(PLL_getDivideSelect(obj->pllHandle) != PLL_DivideSelect_ClkIn_by_4) { PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_4); } if(PLL_getClkFreq(obj->pllHandle) != clkFreq) { // disable the clock detect PLL_disableClkDetect(obj->pllHandle); // set the clock rate PLL_setClkFreq(obj->pllHandle,clkFreq); } // wait until locked while(PLL_getLockStatus(obj->pllHandle) != PLL_LockStatus_Done) {} // enable the clock detect PLL_enableClkDetect(obj->pllHandle); // set divide select to ClkIn/2 to get desired clock rate // NOTE: clock must be locked before setting this register PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_2); return; } // end of HAL_setupPll() function //Modified MArch 6 2015 for ForeverFlo Rev 0 PCB void HAL_setupPwms(HAL_Handle handle, const uint_least16_t systemFreq_MHz, const float_t pwmPeriod_usec, const uint_least16_t numPwmTicksPerIsrTick) { HAL_Obj *obj = (HAL_Obj *)handle; uint16_t halfPeriod_cycles = (uint16_t)((float_t)systemFreq_MHz*pwmPeriod_usec) >> 1; uint_least8_t cnt; // turns off the outputs of the EPWM peripherals which will put the power switches // into a high impedance state. PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_2]); PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_3]); PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_4]); //setup PWM2,3,4 for ForeverFlo for(cnt=1;cnt<4;cnt++) { // setup the Time-Base Control Register (TBCTL) PWM_setCounterMode(obj->pwmHandle[cnt],PWM_CounterMode_UpDown); PWM_disableCounterLoad(obj->pwmHandle[cnt]); PWM_setPeriodLoad(obj->pwmHandle[cnt],PWM_PeriodLoad_Immediate); PWM_setSyncMode(obj->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC); PWM_setHighSpeedClkDiv(obj->pwmHandle[cnt],PWM_HspClkDiv_by_1); PWM_setClkDiv(obj->pwmHandle[cnt],PWM_ClkDiv_by_1); PWM_setPhaseDir(obj->pwmHandle[cnt],PWM_PhaseDir_CountUp); PWM_setRunMode(obj->pwmHandle[cnt],PWM_RunMode_FreeRun); // setup the Timer-Based Phase Register (TBPHS) PWM_setPhase(obj->pwmHandle[cnt],0); // setup the Time-Base Counter Register (TBCTR) PWM_setCount(obj->pwmHandle[cnt],0); // setup the Time-Base Period Register (TBPRD) // set to zero initially PWM_setPeriod(obj->pwmHandle[cnt],0); // setup the Counter-Compare Control Register (CMPCTL) PWM_setLoadMode_CmpA(obj->pwmHandle[cnt],PWM_LoadMode_Zero); PWM_setLoadMode_CmpB(obj->pwmHandle[cnt],PWM_LoadMode_Zero); PWM_setShadowMode_CmpA(obj->pwmHandle[cnt],PWM_ShadowMode_Shadow); PWM_setShadowMode_CmpB(obj->pwmHandle[cnt],PWM_ShadowMode_Immediate); // setup the Action-Qualifier Output A Register (AQCTLA) PWM_setActionQual_CntUp_CmpA_PwmA(obj->pwmHandle[cnt],PWM_ActionQual_Set); PWM_setActionQual_CntDown_CmpA_PwmA(obj->pwmHandle[cnt],PWM_ActionQual_Clear); // setup the Dead-Band Generator Control Register (DBCTL) PWM_setDeadBandOutputMode(obj->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling); PWM_setDeadBandPolarity(obj->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted); // setup the Dead-Band Rising Edge Delay Register (DBRED) PWM_setDeadBandRisingEdgeDelay(obj->pwmHandle[cnt],HAL_PWM_DBRED_CNT); // setup the Dead-Band Falling Edge Delay Register (DBFED) PWM_setDeadBandFallingEdgeDelay(obj->pwmHandle[cnt],HAL_PWM_DBFED_CNT); // setup the PWM-Chopper Control Register (PCCTL) PWM_disableChopping(obj->pwmHandle[cnt]); // setup the Trip Zone Select Register (TZSEL) PWM_disableTripZones(obj->pwmHandle[cnt]); } // setup the Event Trigger Selection Register (ETSEL) PWM_disableInt(obj->pwmHandle[PWM_Number_2]); PWM_setSocAPulseSrc(obj->pwmHandle[PWM_Number_2],PWM_SocPulseSrc_CounterEqualZero); PWM_enableSocAPulse(obj->pwmHandle[PWM_Number_2]); // setup the Event Trigger Prescale Register (ETPS) if(numPwmTicksPerIsrTick == 3) { PWM_setIntPeriod(obj->pwmHandle[PWM_Number_2],PWM_IntPeriod_ThirdEvent); PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_2],PWM_SocPeriod_ThirdEvent); } else if(numPwmTicksPerIsrTick == 2) { PWM_setIntPeriod(obj->pwmHandle[PWM_Number_2],PWM_IntPeriod_SecondEvent); PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_2],PWM_SocPeriod_SecondEvent); } else { PWM_setIntPeriod(obj->pwmHandle[PWM_Number_2],PWM_IntPeriod_FirstEvent); PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_2],PWM_SocPeriod_FirstEvent); } // setup the Event Trigger Clear Register (ETCLR) PWM_clearIntFlag(obj->pwmHandle[PWM_Number_2]); PWM_clearSocAFlag(obj->pwmHandle[PWM_Number_2]); // first step to synchronize the pwms CLK_disableTbClockSync(obj->clkHandle); // since the PWM is configured as an up/down counter, the period register is set to one-half // of the desired PWM period PWM_setPeriod(obj->pwmHandle[PWM_Number_2],halfPeriod_cycles); PWM_setPeriod(obj->pwmHandle[PWM_Number_3],halfPeriod_cycles); PWM_setPeriod(obj->pwmHandle[PWM_Number_4],halfPeriod_cycles); // last step to synchronize the pwms CLK_enableTbClockSync(obj->clkHandle); return; } // end of HAL_setupPwms() function void HAL_setupTimers(HAL_Handle handle,const uint_least16_t systemFreq_MHz) { HAL_Obj *obj = (HAL_Obj *)handle; uint32_t timerPeriod_cnts = ((uint32_t)systemFreq_MHz * 1000000) - 1; // use timer 0 for frequency diagnostics TIMER_setDecimationFactor(obj->timerHandle[0],0); TIMER_setEmulationMode(obj->timerHandle[0],TIMER_EmulationMode_RunFree); TIMER_setPeriod(obj->timerHandle[0],timerPeriod_cnts); TIMER_setPreScaler(obj->timerHandle[0],0); // use timer 1 for CPU usage diagnostics TIMER_setDecimationFactor(obj->timerHandle[1],0); TIMER_setEmulationMode(obj->timerHandle[1],TIMER_EmulationMode_RunFree); TIMER_setPeriod(obj->timerHandle[1],timerPeriod_cnts); TIMER_setPreScaler(obj->timerHandle[1],0); return; } // end of HAL_setupTimers() function // end of file