Marlin 2.0 for Flying Bear 4S/5
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/**********************************************************************
* $Id$ lpc17xx_mcpwm.c 2010-05-21
*//**
* @file lpc17xx_mcpwm.c
* @brief Contains all functions support for Motor Control PWM firmware
* library on LPC17xx
* @version 2.0
* @date 21. May. 2010
* @author NXP MCU SW Application Team
*
* Copyright(C) 2010, NXP Semiconductor
* All rights reserved.
*
***********************************************************************
* Software that is described herein is for illustrative purposes only
* which provides customers with programming information regarding the
* products. This software is supplied "AS IS" without any warranties.
* NXP Semiconductors assumes no responsibility or liability for the
* use of the software, conveys no license or title under any patent,
* copyright, or mask work right to the product. NXP Semiconductors
* reserves the right to make changes in the software without
* notification. NXP Semiconductors also make no representation or
* warranty that such application will be suitable for the specified
* use without further testing or modification.
* Permission to use, copy, modify, and distribute this software and its
* documentation is hereby granted, under NXP Semiconductors'
* relevant copyright in the software, without fee, provided that it
* is used in conjunction with NXP Semiconductors microcontrollers. This
* copyright, permission, and disclaimer notice must appear in all copies of
* this code.
**********************************************************************/
/* Peripheral group ----------------------------------------------------------- */
/** @addtogroup MCPWM
* @{
*/
/* Includes ------------------------------------------------------------------- */
#include "lpc17xx_mcpwm.h"
#include "lpc17xx_clkpwr.h"
/* If this source file built with example, the LPC17xx FW library configuration
* file in each example directory ("lpc17xx_libcfg.h") must be included,
* otherwise the default FW library configuration file must be included instead
*/
#ifdef __BUILD_WITH_EXAMPLE__
#include "lpc17xx_libcfg.h"
#else
#include "lpc17xx_libcfg_default.h"
#endif /* __BUILD_WITH_EXAMPLE__ */
#ifdef _MCPWM
/* Public Functions ----------------------------------------------------------- */
/** @addtogroup MCPWM_Public_Functions
* @{
*/
/*********************************************************************//**
* @brief Initializes the MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected,
* Should be: LPC_MCPWM
* @return None
**********************************************************************/
void MCPWM_Init(LPC_MCPWM_TypeDef *MCPWMx)
{
/* Turn On MCPWM PCLK */
CLKPWR_ConfigPPWR (CLKPWR_PCONP_PCMC, ENABLE);
/* As default, peripheral clock for MCPWM module
* is set to FCCLK / 2 */
// CLKPWR_SetPCLKDiv(CLKPWR_PCLKSEL_MC, CLKPWR_PCLKSEL_CCLK_DIV_2);
MCPWMx->MCCAP_CLR = MCPWM_CAPCLR_CAP(0) | MCPWM_CAPCLR_CAP(1) | MCPWM_CAPCLR_CAP(2);
MCPWMx->MCINTFLAG_CLR = MCPWM_INT_ILIM(0) | MCPWM_INT_ILIM(1) | MCPWM_INT_ILIM(2) \
| MCPWM_INT_IMAT(0) | MCPWM_INT_IMAT(1) | MCPWM_INT_IMAT(2) \
| MCPWM_INT_ICAP(0) | MCPWM_INT_ICAP(1) | MCPWM_INT_ICAP(2);
MCPWMx->MCINTEN_CLR = MCPWM_INT_ILIM(0) | MCPWM_INT_ILIM(1) | MCPWM_INT_ILIM(2) \
| MCPWM_INT_IMAT(0) | MCPWM_INT_IMAT(1) | MCPWM_INT_IMAT(2) \
| MCPWM_INT_ICAP(0) | MCPWM_INT_ICAP(1) | MCPWM_INT_ICAP(2);
}
/*********************************************************************//**
* @brief Configures each channel in MCPWM peripheral according to the
* specified parameters in the MCPWM_CHANNEL_CFG_Type.
* @param[in] MCPWMx Motor Control PWM peripheral selected
* should be: LPC_MCPWM
* @param[in] channelNum Channel number, should be: 0..2.
* @param[in] channelSetup Pointer to a MCPWM_CHANNEL_CFG_Type structure
* that contains the configuration information for the
* specified MCPWM channel.
* @return None
**********************************************************************/
void MCPWM_ConfigChannel(LPC_MCPWM_TypeDef *MCPWMx, uint32_t channelNum,
MCPWM_CHANNEL_CFG_Type * channelSetup)
{
if (channelNum <= 2) {
if (channelNum == 0) {
MCPWMx->MCTIM0 = channelSetup->channelTimercounterValue;
MCPWMx->MCPER0 = channelSetup->channelPeriodValue;
MCPWMx->MCPW0 = channelSetup->channelPulsewidthValue;
} else if (channelNum == 1) {
MCPWMx->MCTIM1 = channelSetup->channelTimercounterValue;
MCPWMx->MCPER1 = channelSetup->channelPeriodValue;
MCPWMx->MCPW1 = channelSetup->channelPulsewidthValue;
} else if (channelNum == 2) {
MCPWMx->MCTIM2 = channelSetup->channelTimercounterValue;
MCPWMx->MCPER2 = channelSetup->channelPeriodValue;
MCPWMx->MCPW2 = channelSetup->channelPulsewidthValue;
} else {
return;
}
if (channelSetup->channelType /* == MCPWM_CHANNEL_CENTER_MODE */){
MCPWMx->MCCON_SET = MCPWM_CON_CENTER(channelNum);
} else {
MCPWMx->MCCON_CLR = MCPWM_CON_CENTER(channelNum);
}
if (channelSetup->channelPolarity /* == MCPWM_CHANNEL_PASSIVE_HI */){
MCPWMx->MCCON_SET = MCPWM_CON_POLAR(channelNum);
} else {
MCPWMx->MCCON_CLR = MCPWM_CON_POLAR(channelNum);
}
if (channelSetup->channelDeadtimeEnable /* == ENABLE */){
MCPWMx->MCCON_SET = MCPWM_CON_DTE(channelNum);
MCPWMx->MCDEADTIME &= ~(MCPWM_DT(channelNum, 0x3FF));
MCPWMx->MCDEADTIME |= MCPWM_DT(channelNum, channelSetup->channelDeadtimeValue);
} else {
MCPWMx->MCCON_CLR = MCPWM_CON_DTE(channelNum);
}
if (channelSetup->channelUpdateEnable /* == ENABLE */){
MCPWMx->MCCON_CLR = MCPWM_CON_DISUP(channelNum);
} else {
MCPWMx->MCCON_SET = MCPWM_CON_DISUP(channelNum);
}
}
}
/*********************************************************************//**
* @brief Write to MCPWM shadow registers - Update the value for period
* and pulse width in MCPWM peripheral.
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] channelNum Channel Number, should be: 0..2.
* @param[in] channelSetup Pointer to a MCPWM_CHANNEL_CFG_Type structure
* that contains the configuration information for the
* specified MCPWM channel.
* @return None
**********************************************************************/
void MCPWM_WriteToShadow(LPC_MCPWM_TypeDef *MCPWMx, uint32_t channelNum,
MCPWM_CHANNEL_CFG_Type *channelSetup)
{
if (channelNum == 0){
MCPWMx->MCPER0 = channelSetup->channelPeriodValue;
MCPWMx->MCPW0 = channelSetup->channelPulsewidthValue;
} else if (channelNum == 1) {
MCPWMx->MCPER1 = channelSetup->channelPeriodValue;
MCPWMx->MCPW1 = channelSetup->channelPulsewidthValue;
} else if (channelNum == 2) {
MCPWMx->MCPER2 = channelSetup->channelPeriodValue;
MCPWMx->MCPW2 = channelSetup->channelPulsewidthValue;
}
}
/*********************************************************************//**
* @brief Configures capture function in MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] channelNum MCI (Motor Control Input pin) number
* Should be: 0..2
* @param[in] captureConfig Pointer to a MCPWM_CAPTURE_CFG_Type structure
* that contains the configuration information for the
* specified MCPWM capture.
* @return
**********************************************************************/
void MCPWM_ConfigCapture(LPC_MCPWM_TypeDef *MCPWMx, uint32_t channelNum,
MCPWM_CAPTURE_CFG_Type *captureConfig)
{
if (channelNum <= 2) {
if (captureConfig->captureFalling /* == ENABLE */) {
MCPWMx->MCCAPCON_SET = MCPWM_CAPCON_CAPMCI_FE(captureConfig->captureChannel, channelNum);
} else {
MCPWMx->MCCAPCON_CLR = MCPWM_CAPCON_CAPMCI_FE(captureConfig->captureChannel, channelNum);
}
if (captureConfig->captureRising /* == ENABLE */) {
MCPWMx->MCCAPCON_SET = MCPWM_CAPCON_CAPMCI_RE(captureConfig->captureChannel, channelNum);
} else {
MCPWMx->MCCAPCON_CLR = MCPWM_CAPCON_CAPMCI_RE(captureConfig->captureChannel, channelNum);
}
if (captureConfig->timerReset /* == ENABLE */){
MCPWMx->MCCAPCON_SET = MCPWM_CAPCON_RT(captureConfig->captureChannel);
} else {
MCPWMx->MCCAPCON_CLR = MCPWM_CAPCON_RT(captureConfig->captureChannel);
}
if (captureConfig->hnfEnable /* == ENABLE */){
MCPWMx->MCCAPCON_SET = MCPWM_CAPCON_HNFCAP(channelNum);
} else {
MCPWMx->MCCAPCON_CLR = MCPWM_CAPCON_HNFCAP(channelNum);
}
}
}
/*********************************************************************//**
* @brief Clears current captured value in specified capture channel
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] captureChannel Capture channel number, should be: 0..2
* @return None
**********************************************************************/
void MCPWM_ClearCapture(LPC_MCPWM_TypeDef *MCPWMx, uint32_t captureChannel)
{
MCPWMx->MCCAP_CLR = MCPWM_CAPCLR_CAP(captureChannel);
}
/*********************************************************************//**
* @brief Get current captured value in specified capture channel
* @param[in] MCPWMx Motor Control PWM peripheral selected,
* Should be: LPC_MCPWM
* @param[in] captureChannel Capture channel number, should be: 0..2
* @return None
**********************************************************************/
uint32_t MCPWM_GetCapture(LPC_MCPWM_TypeDef *MCPWMx, uint32_t captureChannel)
{
if (captureChannel == 0){
return (MCPWMx->MCCR0);
} else if (captureChannel == 1) {
return (MCPWMx->MCCR1);
} else if (captureChannel == 2) {
return (MCPWMx->MCCR2);
}
return (0);
}
/*********************************************************************//**
* @brief Configures Count control in MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] channelNum Channel number, should be: 0..2
* @param[in] countMode Count mode, should be:
* - ENABLE: Enables count mode.
* - DISABLE: Disable count mode, the channel is in timer mode.
* @param[in] countConfig Pointer to a MCPWM_COUNT_CFG_Type structure
* that contains the configuration information for the
* specified MCPWM count control.
* @return None
**********************************************************************/
void MCPWM_CountConfig(LPC_MCPWM_TypeDef *MCPWMx, uint32_t channelNum,
uint32_t countMode, MCPWM_COUNT_CFG_Type *countConfig)
{
if (channelNum <= 2) {
if (countMode /* == ENABLE */){
MCPWMx->MCCNTCON_SET = MCPWM_CNTCON_CNTR(channelNum);
if (countConfig->countFalling /* == ENABLE */) {
MCPWMx->MCCNTCON_SET = MCPWM_CNTCON_TCMCI_FE(countConfig->counterChannel,channelNum);
} else {
MCPWMx->MCCNTCON_CLR = MCPWM_CNTCON_TCMCI_FE(countConfig->counterChannel,channelNum);
}
if (countConfig->countRising /* == ENABLE */) {
MCPWMx->MCCNTCON_SET = MCPWM_CNTCON_TCMCI_RE(countConfig->counterChannel,channelNum);
} else {
MCPWMx->MCCNTCON_CLR = MCPWM_CNTCON_TCMCI_RE(countConfig->counterChannel,channelNum);
}
} else {
MCPWMx->MCCNTCON_CLR = MCPWM_CNTCON_CNTR(channelNum);
}
}
}
/*********************************************************************//**
* @brief Start MCPWM activity for each MCPWM channel
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] channel0 State of this command on channel 0:
* - ENABLE: 'Start' command will effect on channel 0
* - DISABLE: 'Start' command will not effect on channel 0
* @param[in] channel1 State of this command on channel 1:
* - ENABLE: 'Start' command will effect on channel 1
* - DISABLE: 'Start' command will not effect on channel 1
* @param[in] channel2 State of this command on channel 2:
* - ENABLE: 'Start' command will effect on channel 2
* - DISABLE: 'Start' command will not effect on channel 2
* @return None
**********************************************************************/
void MCPWM_Start(LPC_MCPWM_TypeDef *MCPWMx, uint32_t channel0,
uint32_t channel1, uint32_t channel2)
{
uint32_t regVal = 0;
regVal = (channel0 ? MCPWM_CON_RUN(0) : 0) | (channel1 ? MCPWM_CON_RUN(1) : 0) \
| (channel2 ? MCPWM_CON_RUN(2) : 0);
MCPWMx->MCCON_SET = regVal;
}
/*********************************************************************//**
* @brief Stop MCPWM activity for each MCPWM channel
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] channel0 State of this command on channel 0:
* - ENABLE: 'Stop' command will effect on channel 0
* - DISABLE: 'Stop' command will not effect on channel 0
* @param[in] channel1 State of this command on channel 1:
* - ENABLE: 'Stop' command will effect on channel 1
* - DISABLE: 'Stop' command will not effect on channel 1
* @param[in] channel2 State of this command on channel 2:
* - ENABLE: 'Stop' command will effect on channel 2
* - DISABLE: 'Stop' command will not effect on channel 2
* @return None
**********************************************************************/
void MCPWM_Stop(LPC_MCPWM_TypeDef *MCPWMx, uint32_t channel0,
uint32_t channel1, uint32_t channel2)
{
uint32_t regVal = 0;
regVal = (channel0 ? MCPWM_CON_RUN(0) : 0) | (channel1 ? MCPWM_CON_RUN(1) : 0) \
| (channel2 ? MCPWM_CON_RUN(2) : 0);
MCPWMx->MCCON_CLR = regVal;
}
/*********************************************************************//**
* @brief Enables/Disables 3-phase AC motor mode on MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] acMode State of this command, should be:
* - ENABLE.
* - DISABLE.
* @return None
**********************************************************************/
void MCPWM_ACMode(LPC_MCPWM_TypeDef *MCPWMx, uint32_t acMode)
{
if (acMode){
MCPWMx->MCCON_SET = MCPWM_CON_ACMODE;
} else {
MCPWMx->MCCON_CLR = MCPWM_CON_ACMODE;
}
}
/*********************************************************************//**
* @brief Enables/Disables 3-phase DC motor mode on MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] dcMode State of this command, should be:
* - ENABLE.
* - DISABLE.
* @param[in] outputInvered Polarity of the MCOB outputs for all 3 channels,
* should be:
* - ENABLE: The MCOB outputs have opposite polarity
* from the MCOA outputs.
* - DISABLE: The MCOB outputs have the same basic
* polarity as the MCOA outputs.
* @param[in] outputPattern A value contains bits that enables/disables the specified
* output pins route to the internal MCOA0 signal, should be:
- MCPWM_PATENT_A0: MCOA0 tracks internal MCOA0
- MCPWM_PATENT_B0: MCOB0 tracks internal MCOA0
- MCPWM_PATENT_A1: MCOA1 tracks internal MCOA0
- MCPWM_PATENT_B1: MCOB1 tracks internal MCOA0
- MCPWM_PATENT_A2: MCOA2 tracks internal MCOA0
- MCPWM_PATENT_B2: MCOB2 tracks internal MCOA0
* @return None
*
* Note: all these outputPatent values above can be ORed together for using as input parameter.
**********************************************************************/
void MCPWM_DCMode(LPC_MCPWM_TypeDef *MCPWMx, uint32_t dcMode,
uint32_t outputInvered, uint32_t outputPattern)
{
if (dcMode){
MCPWMx->MCCON_SET = MCPWM_CON_DCMODE;
} else {
MCPWMx->MCCON_CLR = MCPWM_CON_DCMODE;
}
if (outputInvered) {
MCPWMx->MCCON_SET = MCPWM_CON_INVBDC;
} else {
MCPWMx->MCCON_CLR = MCPWM_CON_INVBDC;
}
MCPWMx->MCCCP = outputPattern;
}
/*********************************************************************//**
* @brief Configures the specified interrupt in MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be: LPC_MCPWM
* @param[in] ulIntType Interrupt type, should be:
* - MCPWM_INTFLAG_LIM0: Limit interrupt for channel (0)
* - MCPWM_INTFLAG_MAT0: Match interrupt for channel (0)
* - MCPWM_INTFLAG_CAP0: Capture interrupt for channel (0)
* - MCPWM_INTFLAG_LIM1: Limit interrupt for channel (1)
* - MCPWM_INTFLAG_MAT1: Match interrupt for channel (1)
* - MCPWM_INTFLAG_CAP1: Capture interrupt for channel (1)
* - MCPWM_INTFLAG_LIM2: Limit interrupt for channel (2)
* - MCPWM_INTFLAG_MAT2: Match interrupt for channel (2)
* - MCPWM_INTFLAG_CAP2: Capture interrupt for channel (2)
* - MCPWM_INTFLAG_ABORT: Fast abort interrupt
* @param[in] NewState New State of this command, should be:
* - ENABLE.
* - DISABLE.
* @return None
*
* Note: all these ulIntType values above can be ORed together for using as input parameter.
**********************************************************************/
void MCPWM_IntConfig(LPC_MCPWM_TypeDef *MCPWMx, uint32_t ulIntType, FunctionalState NewState)
{
if (NewState) {
MCPWMx->MCINTEN_SET = ulIntType;
} else {
MCPWMx->MCINTEN_CLR = ulIntType;
}
}
/*********************************************************************//**
* @brief Sets/Forces the specified interrupt for MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected
* Should be LPC_MCPWM
* @param[in] ulIntType Interrupt type, should be:
* - MCPWM_INTFLAG_LIM0: Limit interrupt for channel (0)
* - MCPWM_INTFLAG_MAT0: Match interrupt for channel (0)
* - MCPWM_INTFLAG_CAP0: Capture interrupt for channel (0)
* - MCPWM_INTFLAG_LIM1: Limit interrupt for channel (1)
* - MCPWM_INTFLAG_MAT1: Match interrupt for channel (1)
* - MCPWM_INTFLAG_CAP1: Capture interrupt for channel (1)
* - MCPWM_INTFLAG_LIM2: Limit interrupt for channel (2)
* - MCPWM_INTFLAG_MAT2: Match interrupt for channel (2)
* - MCPWM_INTFLAG_CAP2: Capture interrupt for channel (2)
* - MCPWM_INTFLAG_ABORT: Fast abort interrupt
* @return None
* Note: all these ulIntType values above can be ORed together for using as input parameter.
**********************************************************************/
void MCPWM_IntSet(LPC_MCPWM_TypeDef *MCPWMx, uint32_t ulIntType)
{
MCPWMx->MCINTFLAG_SET = ulIntType;
}
/*********************************************************************//**
* @brief Clear the specified interrupt pending for MCPWM peripheral
* @param[in] MCPWMx Motor Control PWM peripheral selected,
* should be: LPC_MCPWM
* @param[in] ulIntType Interrupt type, should be:
* - MCPWM_INTFLAG_LIM0: Limit interrupt for channel (0)
* - MCPWM_INTFLAG_MAT0: Match interrupt for channel (0)
* - MCPWM_INTFLAG_CAP0: Capture interrupt for channel (0)
* - MCPWM_INTFLAG_LIM1: Limit interrupt for channel (1)
* - MCPWM_INTFLAG_MAT1: Match interrupt for channel (1)
* - MCPWM_INTFLAG_CAP1: Capture interrupt for channel (1)
* - MCPWM_INTFLAG_LIM2: Limit interrupt for channel (2)
* - MCPWM_INTFLAG_MAT2: Match interrupt for channel (2)
* - MCPWM_INTFLAG_CAP2: Capture interrupt for channel (2)
* - MCPWM_INTFLAG_ABORT: Fast abort interrupt
* @return None
* Note: all these ulIntType values above can be ORed together for using as input parameter.
**********************************************************************/
void MCPWM_IntClear(LPC_MCPWM_TypeDef *MCPWMx, uint32_t ulIntType)
{
MCPWMx->MCINTFLAG_CLR = ulIntType;
}
/*********************************************************************//**
* @brief Check whether if the specified interrupt in MCPWM is set or not
* @param[in] MCPWMx Motor Control PWM peripheral selected,
* should be: LPC_MCPWM
* @param[in] ulIntType Interrupt type, should be:
* - MCPWM_INTFLAG_LIM0: Limit interrupt for channel (0)
* - MCPWM_INTFLAG_MAT0: Match interrupt for channel (0)
* - MCPWM_INTFLAG_CAP0: Capture interrupt for channel (0)
* - MCPWM_INTFLAG_LIM1: Limit interrupt for channel (1)
* - MCPWM_INTFLAG_MAT1: Match interrupt for channel (1)
* - MCPWM_INTFLAG_CAP1: Capture interrupt for channel (1)
* - MCPWM_INTFLAG_LIM2: Limit interrupt for channel (2)
* - MCPWM_INTFLAG_MAT2: Match interrupt for channel (2)
* - MCPWM_INTFLAG_CAP2: Capture interrupt for channel (2)
* - MCPWM_INTFLAG_ABORT: Fast abort interrupt
* @return None
**********************************************************************/
FlagStatus MCPWM_GetIntStatus(LPC_MCPWM_TypeDef *MCPWMx, uint32_t ulIntType)
{
return ((MCPWMx->MCINTFLAG & ulIntType) ? SET : RESET);
}
/**
* @}
*/
#endif /* _MCPWM */
/**
* @}
*/
/* --------------------------------- End Of File ------------------------------ */