/* * Copyright (c) 2020 Texas Instruments Incorporated - http://www.ti.com * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * * Neither the name of Texas Instruments Incorporated nor the names of * its contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * */ #include "board.h" //***************************************************************************** // // Board Configurations // Initializes the rest of the modules. // Call this function in your application if you wish to do all module // initialization. // If you wish to not use some of the initializations, instead of the // Board_init use the individual Module_inits // //***************************************************************************** void Board_init() { EALLOW; PinMux_init(); SYNC_init(); ASYSCTL_init(); ADC_init(); CAN_init(); EPWM_init(); GPIO_init(); SD_init(); SPI_init(); INTERRUPT_init(); EDIS; } //***************************************************************************** // // PINMUX Configurations // //***************************************************************************** void PinMux_init() { // // PinMux for modules assigned to CPU1 // // // ANALOG -> myANALOGPinMux0 Pinmux // // Analog PinMux for A0/B15/C15/DACA_OUT GPIO_setPinConfig(GPIO_231_GPIO231); // AIO -> Analog mode selected GPIO_setAnalogMode(231, GPIO_ANALOG_ENABLED); // Analog PinMux for A1/B7/DACB_OUT GPIO_setPinConfig(GPIO_232_GPIO232); // AIO -> Analog mode selected GPIO_setAnalogMode(232, GPIO_ANALOG_ENABLED); // Analog PinMux for A10/B1/C10 GPIO_setPinConfig(GPIO_230_GPIO230); // AIO -> Analog mode selected GPIO_setAnalogMode(230, GPIO_ANALOG_ENABLED); // Analog PinMux for A11/B10/C0 GPIO_setPinConfig(GPIO_237_GPIO237); // AIO -> Analog mode selected GPIO_setAnalogMode(237, GPIO_ANALOG_ENABLED); // Analog PinMux for A12, C5 GPIO_setPinConfig(GPIO_238_GPIO238); // AIO -> Analog mode selected GPIO_setAnalogMode(238, GPIO_ANALOG_ENABLED); // Analog PinMux for A14/B14/C4 GPIO_setPinConfig(GPIO_239_GPIO239); // AIO -> Analog mode selected GPIO_setAnalogMode(239, GPIO_ANALOG_ENABLED); // Analog PinMux for A2/B6/C9 GPIO_setPinConfig(GPIO_224_GPIO224); // AIO -> Analog mode selected GPIO_setAnalogMode(224, GPIO_ANALOG_ENABLED); // Analog PinMux for A3, C7/B9 GPIO_setPinConfig(GPIO_229_GPIO229); // AIO -> Analog mode selected GPIO_setAnalogMode(229, GPIO_ANALOG_ENABLED); // Analog PinMux for A4/B8 GPIO_setPinConfig(GPIO_225_GPIO225); // AIO -> Analog mode selected GPIO_setAnalogMode(225, GPIO_ANALOG_ENABLED); // Analog PinMux for A5 GPIO_setPinConfig(GPIO_249_GPIO249); // AIO -> Analog mode selected GPIO_setAnalogMode(249, GPIO_ANALOG_ENABLED); // Analog PinMux for A6 GPIO_setPinConfig(GPIO_228_GPIO228); // AIO -> Analog mode selected GPIO_setAnalogMode(228, GPIO_ANALOG_ENABLED); // Analog PinMux for A8 GPIO_setPinConfig(GPIO_240_GPIO240); // AIO -> Analog mode selected GPIO_setAnalogMode(240, GPIO_ANALOG_ENABLED); // Analog PinMux for A9 GPIO_setPinConfig(GPIO_227_GPIO227); // AIO -> Analog mode selected GPIO_setAnalogMode(227, GPIO_ANALOG_ENABLED); // Analog PinMux for B0/C11 GPIO_setPinConfig(GPIO_253_GPIO253); // AIO -> Analog mode selected GPIO_setAnalogMode(253, GPIO_ANALOG_ENABLED); // Analog PinMux for B11 GPIO_setPinConfig(GPIO_251_GPIO251); // AIO -> Analog mode selected GPIO_setAnalogMode(251, GPIO_ANALOG_ENABLED); // Analog PinMux for B11, GPIO21 GPIO_setPinConfig(GPIO_21_GPIO21); // AGPIO -> Analog mode selected // On 100PZ package for F28003x, if both "B5, GPIO20" and "B5" are selected as analog, // "B5, GPIO20" will drive the ADC instead of "B5" // On 100PZ package for F28003x, if both "B11, GPIO21" and "B11" are selected as analog, // "B11, GPIO21" will drive the ADC instead of "B11" GPIO_setAnalogMode(21, GPIO_ANALOG_ENABLED); // Analog PinMux for B2/C6 GPIO_setPinConfig(GPIO_226_GPIO226); // AIO -> Analog mode selected GPIO_setAnalogMode(226, GPIO_ANALOG_ENABLED); // Analog PinMux for B3/VDAC GPIO_setPinConfig(GPIO_242_GPIO242); // AIO -> Analog mode selected GPIO_setAnalogMode(242, GPIO_ANALOG_ENABLED); // Analog PinMux for B4/C8 GPIO_setPinConfig(GPIO_236_GPIO236); // AIO -> Analog mode selected GPIO_setAnalogMode(236, GPIO_ANALOG_ENABLED); // Analog PinMux for B5 GPIO_setPinConfig(GPIO_252_GPIO252); // AIO -> Analog mode selected GPIO_setAnalogMode(252, GPIO_ANALOG_ENABLED); // Analog PinMux for B5, GPIO20 GPIO_setPinConfig(GPIO_20_GPIO20); // AGPIO -> Analog mode selected // On 100PZ package for F28003x, if both "B5, GPIO20" and "B5" are selected as analog, // "B5, GPIO20" will drive the ADC instead of "B5" // On 100PZ package for F28003x, if both "B11, GPIO21" and "B11" are selected as analog, // "B11, GPIO21" will drive the ADC instead of "B11" GPIO_setAnalogMode(20, GPIO_ANALOG_ENABLED); // Analog PinMux for C1 GPIO_setPinConfig(GPIO_248_GPIO248); // AIO -> Analog mode selected GPIO_setAnalogMode(248, GPIO_ANALOG_ENABLED); // Analog PinMux for C14 GPIO_setPinConfig(GPIO_247_GPIO247); // AIO -> Analog mode selected GPIO_setAnalogMode(247, GPIO_ANALOG_ENABLED); // Analog PinMux for C2/B12 GPIO_setPinConfig(GPIO_244_GPIO244); // AIO -> Analog mode selected GPIO_setAnalogMode(244, GPIO_ANALOG_ENABLED); // Analog PinMux for C3/A7 GPIO_setPinConfig(GPIO_245_GPIO245); // AIO -> Analog mode selected GPIO_setAnalogMode(245, GPIO_ANALOG_ENABLED); // // CANA -> CAN_A Pinmux // GPIO_setPinConfig(CAN_A_CANRX_PIN_CONFIG); GPIO_setPadConfig(CAN_A_CANRX_GPIO, GPIO_PIN_TYPE_STD | GPIO_PIN_TYPE_PULLUP); GPIO_setQualificationMode(CAN_A_CANRX_GPIO, GPIO_QUAL_ASYNC); GPIO_setPinConfig(CAN_A_CANTX_PIN_CONFIG); GPIO_setPadConfig(CAN_A_CANTX_GPIO, GPIO_PIN_TYPE_STD | GPIO_PIN_TYPE_PULLUP); GPIO_setQualificationMode(CAN_A_CANTX_GPIO, GPIO_QUAL_ASYNC); // // EPWM1 -> DELTA_SIG_PWM Pinmux // GPIO_setPinConfig(DELTA_SIG_PWM_EPWMA_PIN_CONFIG); GPIO_setPadConfig(DELTA_SIG_PWM_EPWMA_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(DELTA_SIG_PWM_EPWMA_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(DELTA_SIG_PWM_EPWMB_PIN_CONFIG); GPIO_setPadConfig(DELTA_SIG_PWM_EPWMB_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(DELTA_SIG_PWM_EPWMB_GPIO, GPIO_QUAL_SYNC); // // EPWM8 -> INT_TIMER Pinmux // GPIO_setPinConfig(INT_TIMER_EPWMA_PIN_CONFIG); GPIO_setPadConfig(INT_TIMER_EPWMA_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(INT_TIMER_EPWMA_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(INT_TIMER_EPWMB_PIN_CONFIG); GPIO_setPadConfig(INT_TIMER_EPWMB_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(INT_TIMER_EPWMB_GPIO, GPIO_QUAL_SYNC); // GPIO12 -> GPIO_12 Pinmux GPIO_setPinConfig(GPIO_12_GPIO12); // // SD2 -> SDFM_A Pinmux // GPIO_setPinConfig(SDFM_A_SDC1_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDC1_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDC1_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(SDFM_A_SDD1_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDD1_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDD1_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(SDFM_A_SDC2_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDC2_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDC2_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(SDFM_A_SDD2_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDD2_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDD2_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(SDFM_A_SDC3_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDC3_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDC3_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(SDFM_A_SDD3_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDD3_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDD3_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(SDFM_A_SDC4_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDC4_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDC4_GPIO, GPIO_QUAL_SYNC); GPIO_setPinConfig(SDFM_A_SDD4_PIN_CONFIG); GPIO_setPadConfig(SDFM_A_SDD4_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SDFM_A_SDD4_GPIO, GPIO_QUAL_SYNC); // // SPIB -> SPI_B Pinmux // GPIO_setPinConfig(SPI_B_SPIPICO_PIN_CONFIG); GPIO_setPadConfig(SPI_B_SPIPICO_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_B_SPIPICO_GPIO, GPIO_QUAL_ASYNC); GPIO_setPinConfig(SPI_B_SPIPOCI_PIN_CONFIG); GPIO_setPadConfig(SPI_B_SPIPOCI_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_B_SPIPOCI_GPIO, GPIO_QUAL_ASYNC); GPIO_setPinConfig(SPI_B_SPICLK_PIN_CONFIG); GPIO_setPadConfig(SPI_B_SPICLK_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_B_SPICLK_GPIO, GPIO_QUAL_ASYNC); GPIO_setPinConfig(SPI_B_SPIPTE_PIN_CONFIG); GPIO_setPadConfig(SPI_B_SPIPTE_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_B_SPIPTE_GPIO, GPIO_QUAL_ASYNC); // // SPIA -> SPI_A Pinmux // GPIO_setPinConfig(SPI_A_SPIPICO_PIN_CONFIG); GPIO_setPadConfig(SPI_A_SPIPICO_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_A_SPIPICO_GPIO, GPIO_QUAL_ASYNC); GPIO_setPinConfig(SPI_A_SPIPOCI_PIN_CONFIG); GPIO_setPadConfig(SPI_A_SPIPOCI_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_A_SPIPOCI_GPIO, GPIO_QUAL_ASYNC); GPIO_setPinConfig(SPI_A_SPICLK_PIN_CONFIG); GPIO_setPadConfig(SPI_A_SPICLK_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_A_SPICLK_GPIO, GPIO_QUAL_ASYNC); GPIO_setPinConfig(SPI_A_SPIPTE_PIN_CONFIG); GPIO_setPadConfig(SPI_A_SPIPTE_GPIO, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(SPI_A_SPIPTE_GPIO, GPIO_QUAL_ASYNC); } //***************************************************************************** // // ADC Configurations // //***************************************************************************** void ADC_init(){ myADC0_init(); myADC1_init(); } void myADC0_init(){ // // ADC Initialization: Write ADC configurations and power up the ADC // // Set the analog voltage reference selection and ADC module's offset trims. // This function sets the analog voltage reference to internal (with the reference voltage of 1.65V or 2.5V) or external for ADC // which is same as ASysCtl APIs. // ADC_setVREF(myADC0_BASE, ADC_REFERENCE_INTERNAL, ADC_REFERENCE_3_3V); // // Configures the analog-to-digital converter module prescaler. // ADC_setPrescaler(myADC0_BASE, ADC_CLK_DIV_2_0); // // Sets the timing of the end-of-conversion pulse // ADC_setInterruptPulseMode(myADC0_BASE, ADC_PULSE_END_OF_CONV); // // Powers up the analog-to-digital converter core. // ADC_enableConverter(myADC0_BASE); // // Delay for 1ms to allow ADC time to power up // DEVICE_DELAY_US(5000); // // SOC Configuration: Setup ADC EPWM channel and trigger settings // // Disables SOC burst mode. // ADC_disableBurstMode(myADC0_BASE); // // Sets the priority mode of the SOCs. // ADC_setSOCPriority(myADC0_BASE, ADC_PRI_ALL_ROUND_ROBIN); // // Start of Conversion 0 Configuration // // // Configures a start-of-conversion (SOC) in the ADC and its interrupt SOC trigger. // SOC number : 0 // Trigger : ADC_TRIGGER_EPWM1_SOCA // Channel : ADC_CH_ADCIN12 // Sample Window : 84 SYSCLK cycles // Interrupt Trigger: ADC_INT_SOC_TRIGGER_NONE // ADC_setupSOC(myADC0_BASE, ADC_SOC_NUMBER0, ADC_TRIGGER_EPWM1_SOCA, ADC_CH_ADCIN12, 84U); ADC_setInterruptSOCTrigger(myADC0_BASE, ADC_SOC_NUMBER0, ADC_INT_SOC_TRIGGER_NONE); // // ADC Interrupt 1 Configuration // Source : ADC_SOC_NUMBER0 // Interrupt Source: enabled // Continuous Mode : disabled // // ADC_setInterruptSource(myADC0_BASE, ADC_INT_NUMBER1, ADC_SOC_NUMBER0); ADC_clearInterruptStatus(myADC0_BASE, ADC_INT_NUMBER1); ADC_disableContinuousMode(myADC0_BASE, ADC_INT_NUMBER1); ADC_enableInterrupt(myADC0_BASE, ADC_INT_NUMBER1); } void myADC1_init(){ // // ADC Initialization: Write ADC configurations and power up the ADC // // Set the analog voltage reference selection and ADC module's offset trims. // This function sets the analog voltage reference to internal (with the reference voltage of 1.65V or 2.5V) or external for ADC // which is same as ASysCtl APIs. // ADC_setVREF(myADC1_BASE, ADC_REFERENCE_INTERNAL, ADC_REFERENCE_3_3V); // // Configures the analog-to-digital converter module prescaler. // ADC_setPrescaler(myADC1_BASE, ADC_CLK_DIV_2_0); // // Sets the timing of the end-of-conversion pulse // ADC_setInterruptPulseMode(myADC1_BASE, ADC_PULSE_END_OF_ACQ_WIN); // // Sets the timing of early interrupt generation. // ADC_setInterruptCycleOffset(myADC1_BASE, 0U); // // Powers up the analog-to-digital converter core. // ADC_enableConverter(myADC1_BASE); // // Delay for 1ms to allow ADC time to power up // DEVICE_DELAY_US(5000); // // SOC Configuration: Setup ADC EPWM channel and trigger settings // // Disables SOC burst mode. // ADC_disableBurstMode(myADC1_BASE); // // Sets the priority mode of the SOCs. // ADC_setSOCPriority(myADC1_BASE, ADC_PRI_ALL_ROUND_ROBIN); // // Start of Conversion 0 Configuration // // // Configures a start-of-conversion (SOC) in the ADC and its interrupt SOC trigger. // SOC number : 0 // Trigger : ADC_TRIGGER_EPWM8_SOCA // Channel : ADC_CH_ADCIN0 // Sample Window : 12 SYSCLK cycles // Interrupt Trigger: ADC_INT_SOC_TRIGGER_NONE // ADC_setupSOC(myADC1_BASE, ADC_SOC_NUMBER0, ADC_TRIGGER_EPWM8_SOCA, ADC_CH_ADCIN0, 12U); ADC_setInterruptSOCTrigger(myADC1_BASE, ADC_SOC_NUMBER0, ADC_INT_SOC_TRIGGER_NONE); } //***************************************************************************** // // ASYSCTL Configurations // //***************************************************************************** void ASYSCTL_init(){ // // asysctl initialization // // Enables the temperature sensor output to the ADC. // ASysCtl_enableTemperatureSensor(); DEVICE_DELAY_US(500); // // Set the analog voltage reference selection to internal. // ASysCtl_setAnalogReferenceInternal( ASYSCTL_VREFHI ); // // Set the internal analog voltage reference selection to 1.65V. // ASysCtl_setAnalogReference1P65( ASYSCTL_VREFHI ); } //***************************************************************************** // // CAN Configurations // //***************************************************************************** void CAN_init(){ CAN_A_init(); } void CAN_A_init(){ CAN_initModule(CAN_A_BASE); // // Refer to the Driver Library User Guide for information on how to set // tighter timing control. Additionally, consult the device data sheet // for more information about the CAN module clocking. // CAN_setBitTiming(CAN_A_BASE, 9, 0, 14, 7, 3); // // Start CAN module operations // CAN_startModule(CAN_A_BASE); } //***************************************************************************** // // EPWM Configurations // //***************************************************************************** void EPWM_init(){ EPWM_setClockPrescaler(DELTA_SIG_PWM_BASE, EPWM_CLOCK_DIVIDER_1, EPWM_HSCLOCK_DIVIDER_1); EPWM_setTimeBasePeriod(DELTA_SIG_PWM_BASE, 11); EPWM_setTimeBaseCounter(DELTA_SIG_PWM_BASE, 0); EPWM_setTimeBaseCounterMode(DELTA_SIG_PWM_BASE, EPWM_COUNTER_MODE_UP); EPWM_disablePhaseShiftLoad(DELTA_SIG_PWM_BASE); EPWM_setPhaseShift(DELTA_SIG_PWM_BASE, 0); EPWM_enableSyncOutPulseSource(DELTA_SIG_PWM_BASE, EPWM_SYNC_OUT_PULSE_ON_CNTR_COMPARE_B); EPWM_setCounterCompareValue(DELTA_SIG_PWM_BASE, EPWM_COUNTER_COMPARE_A, 6); EPWM_setCounterCompareShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_COUNTER_COMPARE_A, EPWM_COMP_LOAD_ON_CNTR_ZERO); EPWM_setCounterCompareValue(DELTA_SIG_PWM_BASE, EPWM_COUNTER_COMPARE_B, 0); EPWM_setCounterCompareShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_COUNTER_COMPARE_B, EPWM_COMP_LOAD_ON_CNTR_ZERO); EPWM_disableActionQualifierShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_ACTION_QUALIFIER_A); EPWM_setActionQualifierShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_ACTION_QUALIFIER_A, EPWM_AQ_LOAD_ON_CNTR_ZERO); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB); EPWM_disableActionQualifierShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_ACTION_QUALIFIER_B); EPWM_setActionQualifierShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_ACTION_QUALIFIER_B, EPWM_AQ_LOAD_ON_CNTR_ZERO); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_LOW, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_HIGH, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB); EPWM_setActionQualifierAction(DELTA_SIG_PWM_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB); EPWM_setRisingEdgeDelayCountShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_RED_LOAD_ON_CNTR_ZERO); EPWM_disableRisingEdgeDelayCountShadowLoadMode(DELTA_SIG_PWM_BASE); EPWM_setFallingEdgeDelayCountShadowLoadMode(DELTA_SIG_PWM_BASE, EPWM_FED_LOAD_ON_CNTR_ZERO); EPWM_disableFallingEdgeDelayCountShadowLoadMode(DELTA_SIG_PWM_BASE); EPWM_setClockPrescaler(INT_TIMER_BASE, EPWM_CLOCK_DIVIDER_64, EPWM_HSCLOCK_DIVIDER_2); EPWM_setClockPrescaler(INT_TIMER_BASE, EPWM_CLOCK_DIVIDER_64, EPWM_HSCLOCK_DIVIDER_2); EPWM_setTimeBasePeriod(INT_TIMER_BASE, 1562); EPWM_setTimeBaseCounter(INT_TIMER_BASE, 0); EPWM_setTimeBaseCounterMode(INT_TIMER_BASE, EPWM_COUNTER_MODE_STOP_FREEZE); EPWM_disablePhaseShiftLoad(INT_TIMER_BASE); EPWM_setPhaseShift(INT_TIMER_BASE, 0); EPWM_setCounterCompareValue(INT_TIMER_BASE, EPWM_COUNTER_COMPARE_A, 781); EPWM_setCounterCompareShadowLoadMode(INT_TIMER_BASE, EPWM_COUNTER_COMPARE_A, EPWM_COMP_LOAD_ON_CNTR_ZERO); EPWM_setCounterCompareValue(INT_TIMER_BASE, EPWM_COUNTER_COMPARE_B, 0); EPWM_setCounterCompareShadowLoadMode(INT_TIMER_BASE, EPWM_COUNTER_COMPARE_B, EPWM_COMP_LOAD_ON_CNTR_ZERO); EPWM_disableActionQualifierShadowLoadMode(INT_TIMER_BASE, EPWM_ACTION_QUALIFIER_A); EPWM_setActionQualifierShadowLoadMode(INT_TIMER_BASE, EPWM_ACTION_QUALIFIER_A, EPWM_AQ_LOAD_ON_CNTR_ZERO); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_A, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB); EPWM_disableActionQualifierShadowLoadMode(INT_TIMER_BASE, EPWM_ACTION_QUALIFIER_B); EPWM_setActionQualifierShadowLoadMode(INT_TIMER_BASE, EPWM_ACTION_QUALIFIER_B, EPWM_AQ_LOAD_ON_CNTR_ZERO); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_ZERO); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_PERIOD); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPA); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPA); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_UP_CMPB); EPWM_setActionQualifierAction(INT_TIMER_BASE, EPWM_AQ_OUTPUT_B, EPWM_AQ_OUTPUT_NO_CHANGE, EPWM_AQ_OUTPUT_ON_TIMEBASE_DOWN_CMPB); EPWM_setRisingEdgeDelayCountShadowLoadMode(INT_TIMER_BASE, EPWM_RED_LOAD_ON_CNTR_ZERO); EPWM_disableRisingEdgeDelayCountShadowLoadMode(INT_TIMER_BASE); EPWM_setFallingEdgeDelayCountShadowLoadMode(INT_TIMER_BASE, EPWM_FED_LOAD_ON_CNTR_ZERO); EPWM_disableFallingEdgeDelayCountShadowLoadMode(INT_TIMER_BASE); } //***************************************************************************** // // GPIO Configurations // //***************************************************************************** void GPIO_init(){ GPIO_12_init(); } void GPIO_12_init(){ GPIO_writePin(GPIO_12, 0); GPIO_setPadConfig(GPIO_12, GPIO_PIN_TYPE_STD); GPIO_setQualificationMode(GPIO_12, GPIO_QUAL_SYNC); GPIO_setDirectionMode(GPIO_12, GPIO_DIR_MODE_OUT); GPIO_setControllerCore(GPIO_12, GPIO_CORE_CPU1); } //***************************************************************************** // // INTERRUPT Configurations // //***************************************************************************** void INTERRUPT_init(){ // Interrupt Settings for INT_myADC0_1 // ISR need to be defined for the registered interrupts Interrupt_register(INT_myADC0_1, &adcC1ISR); Interrupt_enable(INT_myADC0_1); } //***************************************************************************** // // SDFM Configurations // //***************************************************************************** void SD_init() { SDFM_A_init(); } //**************************************** // SDFM_A initialization //**************************************** void SDFM_A_init(void) { // // Set modulator clock mode // SDFM_setupModulatorClock(SDFM_A_BASE, SDFM_FILTER_1, SDFM_MODULATOR_CLK_EQUAL_DATA_RATE); SDFM_setupModulatorClock(SDFM_A_BASE, SDFM_FILTER_2, SDFM_MODULATOR_CLK_EQUAL_DATA_RATE); SDFM_setupModulatorClock(SDFM_A_BASE, SDFM_FILTER_3, SDFM_MODULATOR_CLK_EQUAL_DATA_RATE); SDFM_setupModulatorClock(SDFM_A_BASE, SDFM_FILTER_4, SDFM_MODULATOR_CLK_EQUAL_DATA_RATE); // // Set Input Synchronizer // SDFM_enableSynchronizer(SDFM_A_BASE, SDFM_FILTER_1, SDFM_CLOCK_SYNCHRONIZER | SDFM_DATA_SYNCHRONIZER); SDFM_enableSynchronizer(SDFM_A_BASE, SDFM_FILTER_2, SDFM_CLOCK_SYNCHRONIZER | SDFM_DATA_SYNCHRONIZER); SDFM_enableSynchronizer(SDFM_A_BASE, SDFM_FILTER_3, SDFM_CLOCK_SYNCHRONIZER | SDFM_DATA_SYNCHRONIZER); SDFM_enableSynchronizer(SDFM_A_BASE, SDFM_FILTER_4, SDFM_CLOCK_SYNCHRONIZER | SDFM_DATA_SYNCHRONIZER); // // Selects clock source for SDFM channels // SDFM_selectClockSource(SDFM_A_BASE, SDFM_FILTER_1, SDFM_CLK_SOURCE_SD1_CLK); SDFM_selectClockSource(SDFM_A_BASE, SDFM_FILTER_2, SDFM_CLK_SOURCE_SD1_CLK); SDFM_selectClockSource(SDFM_A_BASE, SDFM_FILTER_3, SDFM_CLK_SOURCE_SD1_CLK); SDFM_selectClockSource(SDFM_A_BASE, SDFM_FILTER_4, SDFM_CLK_SOURCE_SD1_CLK); // // Configure data filter settings // SDFM_configDataFilter(SDFM_A_BASE, (SDFM_FILTER_1 | SDFM_FILTER_SINC_3 | SDFM_SET_OSR(256)), (SDFM_FILTER_ENABLE | SDFM_DATA_FORMAT_32_BIT | SDFM_SHIFT_VALUE(10))); SDFM_configDataFilter(SDFM_A_BASE, (SDFM_FILTER_2 | SDFM_FILTER_SINC_3 | SDFM_SET_OSR(256)), (SDFM_FILTER_ENABLE | SDFM_DATA_FORMAT_16_BIT | SDFM_SHIFT_VALUE(10))); SDFM_configDataFilter(SDFM_A_BASE, (SDFM_FILTER_3 | SDFM_FILTER_SINC_3 | SDFM_SET_OSR(256)), (SDFM_FILTER_ENABLE | SDFM_DATA_FORMAT_16_BIT | SDFM_SHIFT_VALUE(10))); SDFM_configDataFilter(SDFM_A_BASE, (SDFM_FILTER_4 | SDFM_FILTER_SINC_3 | SDFM_SET_OSR(256)), (SDFM_FILTER_ENABLE | SDFM_DATA_FORMAT_16_BIT | SDFM_SHIFT_VALUE(10))); // // Main Filter Enable // SDFM_enableMainFilter(SDFM_A_BASE); } //***************************************************************************** // // SPI Configurations // //***************************************************************************** void SPI_init(){ SPI_B_init(); SPI_A_init(); } void SPI_B_init(){ SPI_disableModule(SPI_B_BASE); SPI_setConfig(SPI_B_BASE, DEVICE_LSPCLK_FREQ, SPI_PROT_POL0PHA0, SPI_MODE_CONTROLLER, SPI_B_BITRATE, SPI_B_DATAWIDTH); SPI_setPTESignalPolarity(SPI_B_BASE, SPI_PTE_ACTIVE_LOW); SPI_enableFIFO(SPI_B_BASE); SPI_disableLoopback(SPI_B_BASE); SPI_setEmulationMode(SPI_B_BASE, SPI_EMULATION_STOP_MIDWAY); SPI_enableModule(SPI_B_BASE); } void SPI_A_init(){ SPI_disableModule(SPI_A_BASE); SPI_setConfig(SPI_A_BASE, DEVICE_LSPCLK_FREQ, SPI_PROT_POL0PHA0, SPI_MODE_CONTROLLER, SPI_A_BITRATE, SPI_A_DATAWIDTH); SPI_setPTESignalPolarity(SPI_A_BASE, SPI_PTE_ACTIVE_LOW); SPI_enableFIFO(SPI_A_BASE); SPI_disableLoopback(SPI_A_BASE); SPI_setEmulationMode(SPI_A_BASE, SPI_EMULATION_STOP_MIDWAY); SPI_enableModule(SPI_A_BASE); } //***************************************************************************** // // SYNC Scheme Configurations // //***************************************************************************** void SYNC_init(){ SysCtl_setSyncOutputConfig(SYSCTL_SYNC_OUT_SRC_EPWM1SYNCOUT); // // SOCA // SysCtl_enableExtADCSOCSource(0); // // SOCB // SysCtl_enableExtADCSOCSource(0); }