Stefan Poels / Mbed 2 deprecated MLX8030x_B6PV_Demo

MLX8030x_B6PV_Demo

Dependencies:   mbed

main.cpp@0:f0d7e4b016ce, 2014-09-05 (annotated)

Committer:
StefanP
Date:
Fri Sep 05 13:28:28 2014 +0000
Revision:
0:f0d7e4b016ce
MLX8030x_B6PV_Demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
StefanP 0:f0d7e4b016ce 1 #include "mbed.h"
StefanP 0:f0d7e4b016ce 2 #include "LPC17xx.h"
StefanP 0:f0d7e4b016ce 3
StefanP 0:f0d7e4b016ce 4 #define GUI 1
StefanP 0:f0d7e4b016ce 5 #define TeraTerm 0
StefanP 0:f0d7e4b016ce 6
StefanP 0:f0d7e4b016ce 7 LocalFileSystem local("local");
StefanP 0:f0d7e4b016ce 8
StefanP 0:f0d7e4b016ce 9 Serial pc(USBTX, USBRX);
StefanP 0:f0d7e4b016ce 10
StefanP 0:f0d7e4b016ce 11 DigitalOut LedSpi(LED1); // LED active during SPI communication
StefanP 0:f0d7e4b016ce 12 PwmOut LedDiagn(LED2); // LED active with duty cycle of B6PV "DIAG"-pin
StefanP 0:f0d7e4b016ce 13 DigitalOut LedUSB(LED3); // LED active if USB connection is established with GUI
StefanP 0:f0d7e4b016ce 14 DigitalOut LedApplication(LED4); // LED active when application is running
StefanP 0:f0d7e4b016ce 15
StefanP 0:f0d7e4b016ce 16 PwmOut pwmon(p26); // B6PV "PWMON"-pin
StefanP 0:f0d7e4b016ce 17 DigitalIn spibusy(p9); // B6PV "SPI_BUSY"-pin
StefanP 0:f0d7e4b016ce 18 SPI spi(p5, p6, p7); // B6PV "MOSI", "MISO", "CLK"-pins
StefanP 0:f0d7e4b016ce 19 DigitalOut cs(p8); // B6PV "CS"-pin
StefanP 0:f0d7e4b016ce 20
StefanP 0:f0d7e4b016ce 21 DigitalOut OCsimulation(p24);
StefanP 0:f0d7e4b016ce 22
StefanP 0:f0d7e4b016ce 23 int iPWMPeriod = 1000; // Set initial PWM period to 1000us or 1kHz
StefanP 0:f0d7e4b016ce 24 float fPWMDutyCycle = 0.0; // Set initial duty cycle to 0.0 or 0% -> OFF
StefanP 0:f0d7e4b016ce 25
StefanP 0:f0d7e4b016ce 26 volatile uint32_t u32DiagnDC = 0; // Duty cycle from the diagnostics input
StefanP 0:f0d7e4b016ce 27 const uint16_t DUTY_CYCLE_ACCURACY = 1000; // Used to enhance the duty cycle calculation (HighTime * 1000)/Period
StefanP 0:f0d7e4b016ce 28 volatile uint32_t u32DiagnPeriod = 0; // Period from the diagnostics input
StefanP 0:f0d7e4b016ce 29 const uint32_t u32DiagnMaxPeriod = 9600000;// Minimum 10Hz diagnostics frequeny (96MHz/10Hz=9.6e6)
StefanP 0:f0d7e4b016ce 30 volatile uint32_t u32DiagnCapA = 0; // Timer capture for a falling edge of diagnostics input
StefanP 0:f0d7e4b016ce 31 volatile uint32_t u32DiagnCapB = 0; // Timer capture for a rising edge of diagnostics input
StefanP 0:f0d7e4b016ce 32 volatile bool bTimer2MR0 = false; // Timer2 reached match register MR0 (used to detect 0% and 100% duty cycle)
StefanP 0:f0d7e4b016ce 33
StefanP 0:f0d7e4b016ce 34 volatile uint32_t u32SpeedCapA = 0; // Timer capture for a 1st edge of speed feedback
StefanP 0:f0d7e4b016ce 35 volatile uint32_t u32SpeedCapB = 0; // Timer capture for a 2nd edge of speed feedback
StefanP 0:f0d7e4b016ce 36 volatile uint32_t u32Speed = 0; // Minimum speed
StefanP 0:f0d7e4b016ce 37 const uint32_t u32SpeedMaxPeriod= 16000000;// Minum 1eHz = 6Hz commutation speed (96MHz/6Hz=16e6)
StefanP 0:f0d7e4b016ce 38 volatile bool bTimer2MR1 = false; // Timer2 reached match register MR1 (used to detect 0eHz speed = motor still)
StefanP 0:f0d7e4b016ce 39
StefanP 0:f0d7e4b016ce 40 bool bUsbConnected = false; // Boolean to indicate USB connection with GUI
StefanP 0:f0d7e4b016ce 41
StefanP 0:f0d7e4b016ce 42 void SpiInit(void); // SPI initialization
StefanP 0:f0d7e4b016ce 43 void Timer2Init(void); // Timer 2 initialization
StefanP 0:f0d7e4b016ce 44 void SerialUSBInit(void); // Serial USB intialization
StefanP 0:f0d7e4b016ce 45 void TIMER2_IRQHandler(void); // Timer 2 interrupt handler for determining diagnostics duty cycle
StefanP 0:f0d7e4b016ce 46 uint32_t TransceiveSpiFrame(uint32_t); // Transceive one SPI frame: Transmit MOSI - Receive MISO
StefanP 0:f0d7e4b016ce 47
StefanP 0:f0d7e4b016ce 48 int main() {
StefanP 0:f0d7e4b016ce 49
StefanP 0:f0d7e4b016ce 50 SpiInit();
StefanP 0:f0d7e4b016ce 51 Timer2Init();
StefanP 0:f0d7e4b016ce 52 SerialUSBInit();
StefanP 0:f0d7e4b016ce 53
StefanP 0:f0d7e4b016ce 54 int iCnt = 0;
StefanP 0:f0d7e4b016ce 55 uint32_t u32SPIframe = 0;
StefanP 0:f0d7e4b016ce 56 uint32_t u32result = 0;
StefanP 0:f0d7e4b016ce 57
StefanP 0:f0d7e4b016ce 58 pwmon.period_us(iPWMPeriod);
StefanP 0:f0d7e4b016ce 59 pwmon.write(fPWMDutyCycle);
StefanP 0:f0d7e4b016ce 60
StefanP 0:f0d7e4b016ce 61 while(1)
StefanP 0:f0d7e4b016ce 62 {
StefanP 0:f0d7e4b016ce 63 LedApplication = 1;
StefanP 0:f0d7e4b016ce 64 LedDiagn = float(u32DiagnDC)/DUTY_CYCLE_ACCURACY;
StefanP 0:f0d7e4b016ce 65
StefanP 0:f0d7e4b016ce 66 #if GUI
StefanP 0:f0d7e4b016ce 67 char strCommand[8];
StefanP 0:f0d7e4b016ce 68 if (pc.readable())
StefanP 0:f0d7e4b016ce 69 {
StefanP 0:f0d7e4b016ce 70 int err = pc.scanf("%s",&strCommand);
StefanP 0:f0d7e4b016ce 71 if ((strCommand[0] == 'I') && (strCommand[1] == 'D'))
StefanP 0:f0d7e4b016ce 72 {
StefanP 0:f0d7e4b016ce 73 if (pc.writeable())
StefanP 0:f0d7e4b016ce 74 pc.printf("MBED\n");
StefanP 0:f0d7e4b016ce 75
StefanP 0:f0d7e4b016ce 76 int err = pc.scanf("%s",&strCommand);
StefanP 0:f0d7e4b016ce 77 if ((strCommand[0] == 'O') && (strCommand[1] == 'K'))
StefanP 0:f0d7e4b016ce 78 {
StefanP 0:f0d7e4b016ce 79 bUsbConnected = true;
StefanP 0:f0d7e4b016ce 80 LedUSB = 1;
StefanP 0:f0d7e4b016ce 81 }
StefanP 0:f0d7e4b016ce 82 }
StefanP 0:f0d7e4b016ce 83 else if (strCommand[0] == 'X')
StefanP 0:f0d7e4b016ce 84 {
StefanP 0:f0d7e4b016ce 85 bUsbConnected = false;
StefanP 0:f0d7e4b016ce 86 LedUSB = 0;
StefanP 0:f0d7e4b016ce 87 }
StefanP 0:f0d7e4b016ce 88 }
StefanP 0:f0d7e4b016ce 89 #endif //GUI
StefanP 0:f0d7e4b016ce 90
StefanP 0:f0d7e4b016ce 91 #ifdef TeraTerm
StefanP 0:f0d7e4b016ce 92 char c = pc.getc();
StefanP 0:f0d7e4b016ce 93 switch (c)
StefanP 0:f0d7e4b016ce 94 {
StefanP 0:f0d7e4b016ce 95 case '\r': // If 'enter' is pressed, send the SPI MOSI-frame
StefanP 0:f0d7e4b016ce 96 if (!spibusy)
StefanP 0:f0d7e4b016ce 97 {
StefanP 0:f0d7e4b016ce 98 // Show SPI communication active via LED
StefanP 0:f0d7e4b016ce 99 LedSpi = 1;
StefanP 0:f0d7e4b016ce 100 wait(0.1);
StefanP 0:f0d7e4b016ce 101 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 102 LedSpi = 0;
StefanP 0:f0d7e4b016ce 103
StefanP 0:f0d7e4b016ce 104 pc.printf("\nThe SPI MOSI-frame send = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 105 pc.printf("The SPI MISO-frame received = 0x%.8X\n", u32result);
StefanP 0:f0d7e4b016ce 106
StefanP 0:f0d7e4b016ce 107 iCnt = 0;
StefanP 0:f0d7e4b016ce 108 //u32SPIframe = 0;
StefanP 0:f0d7e4b016ce 109 }
StefanP 0:f0d7e4b016ce 110 else
StefanP 0:f0d7e4b016ce 111 {
StefanP 0:f0d7e4b016ce 112 pc.printf("\nSPI busy \nPress enter to try again \n");
StefanP 0:f0d7e4b016ce 113 }
StefanP 0:f0d7e4b016ce 114
StefanP 0:f0d7e4b016ce 115 pc.printf("The diagnostics frequency is %uHz \n", SystemCoreClock/u32DiagnPeriod);
StefanP 0:f0d7e4b016ce 116 pc.printf("The diagnostics duty cycle is %.1f%%\n\n", float(u32DiagnDC)/DUTY_CYCLE_ACCURACY*100);
StefanP 0:f0d7e4b016ce 117 //pc.printf("The speed is %u eHz \n", u32Speed);
StefanP 0:f0d7e4b016ce 118
StefanP 0:f0d7e4b016ce 119 break;
StefanP 0:f0d7e4b016ce 120
StefanP 0:f0d7e4b016ce 121 case '1': // Set '1' in SPI MOSI-frame to be send
StefanP 0:f0d7e4b016ce 122 if (iCnt == 0)
StefanP 0:f0d7e4b016ce 123 u32SPIframe = (1<<31);
StefanP 0:f0d7e4b016ce 124 else
StefanP 0:f0d7e4b016ce 125 u32SPIframe |= (1<<(31-iCnt)); // shift bits: first entered is MSB
StefanP 0:f0d7e4b016ce 126 iCnt++;
StefanP 0:f0d7e4b016ce 127 pc.printf("%c",c); // print entered character
StefanP 0:f0d7e4b016ce 128 if (iCnt > 31) // 32-bits can be entered (circular)
StefanP 0:f0d7e4b016ce 129 iCnt = 0;
StefanP 0:f0d7e4b016ce 130 else if (((iCnt) % 4) == 0) // print space every 4-bits
StefanP 0:f0d7e4b016ce 131 pc.printf(" ");
StefanP 0:f0d7e4b016ce 132 break;
StefanP 0:f0d7e4b016ce 133
StefanP 0:f0d7e4b016ce 134 case '0': // Set '0' in SPI MOSI-frame to be send
StefanP 0:f0d7e4b016ce 135 if (iCnt == 0)
StefanP 0:f0d7e4b016ce 136 u32SPIframe = 0;
StefanP 0:f0d7e4b016ce 137 else
StefanP 0:f0d7e4b016ce 138 u32SPIframe &=~ (1<<(31-iCnt)); // shift bits: first entered is MSB
StefanP 0:f0d7e4b016ce 139 iCnt++;
StefanP 0:f0d7e4b016ce 140 pc.printf("%c",c); // print entered character
StefanP 0:f0d7e4b016ce 141 if (iCnt > 31) // 32-bits can be entered (circular)
StefanP 0:f0d7e4b016ce 142 iCnt = 0;
StefanP 0:f0d7e4b016ce 143 else if (((iCnt) % 4) == 0) // print space every 4-bits
StefanP 0:f0d7e4b016ce 144 pc.printf(" ");
StefanP 0:f0d7e4b016ce 145 break;
StefanP 0:f0d7e4b016ce 146
StefanP 0:f0d7e4b016ce 147 case 'h': // PWM higher frequency
StefanP 0:f0d7e4b016ce 148 if ((iPWMPeriod - 10) > 100) // max 10kHz or 100us
StefanP 0:f0d7e4b016ce 149 { iPWMPeriod -= 10;}
StefanP 0:f0d7e4b016ce 150 else
StefanP 0:f0d7e4b016ce 151 { iPWMPeriod = 100;}
StefanP 0:f0d7e4b016ce 152 pwmon.period_us(iPWMPeriod);
StefanP 0:f0d7e4b016ce 153 pwmon.write(fPWMDutyCycle); // bug in mbed that duty cycle is not maintained on update of period
StefanP 0:f0d7e4b016ce 154 break;
StefanP 0:f0d7e4b016ce 155
StefanP 0:f0d7e4b016ce 156 case 'l': // PWM lower frequency
StefanP 0:f0d7e4b016ce 157 if ((iPWMPeriod + 10) < 10000) // min 100Hz or 10000us
StefanP 0:f0d7e4b016ce 158 { iPWMPeriod += 10;}
StefanP 0:f0d7e4b016ce 159 else
StefanP 0:f0d7e4b016ce 160 { iPWMPeriod = 10000;}
StefanP 0:f0d7e4b016ce 161 pwmon.period_us(iPWMPeriod);
StefanP 0:f0d7e4b016ce 162 pwmon.write(fPWMDutyCycle); // bug in mbed that duty cycle is not maintained on update of period
StefanP 0:f0d7e4b016ce 163 break;
StefanP 0:f0d7e4b016ce 164
StefanP 0:f0d7e4b016ce 165 case 'b': // PWM bigger duty cycle
StefanP 0:f0d7e4b016ce 166 if ((fPWMDutyCycle + 0.001) < 1) // max 100% duty cycle
StefanP 0:f0d7e4b016ce 167 { fPWMDutyCycle += 0.001;}
StefanP 0:f0d7e4b016ce 168 else
StefanP 0:f0d7e4b016ce 169 { fPWMDutyCycle = 1;}
StefanP 0:f0d7e4b016ce 170 pwmon.write(fPWMDutyCycle);
StefanP 0:f0d7e4b016ce 171 break;
StefanP 0:f0d7e4b016ce 172
StefanP 0:f0d7e4b016ce 173 case 's': // PWM smaller duty cycle
StefanP 0:f0d7e4b016ce 174 if ((fPWMDutyCycle - 0.001) > 0) // min 0% duty cycle
StefanP 0:f0d7e4b016ce 175 { fPWMDutyCycle -= 0.001;}
StefanP 0:f0d7e4b016ce 176 else
StefanP 0:f0d7e4b016ce 177 { fPWMDutyCycle = 0;}
StefanP 0:f0d7e4b016ce 178 pwmon.write(fPWMDutyCycle);
StefanP 0:f0d7e4b016ce 179 break;
StefanP 0:f0d7e4b016ce 180
StefanP 0:f0d7e4b016ce 181 case 'r': // read
StefanP 0:f0d7e4b016ce 182 //pc.printf("Read FPGA register 1");
StefanP 0:f0d7e4b016ce 183 //u32SPIframe = 0xCF020000;
StefanP 0:f0d7e4b016ce 184 //u32SPIframe |= (1<<16);
StefanP 0:f0d7e4b016ce 185 //u32SPIframe |= 0x00000000;
StefanP 0:f0d7e4b016ce 186 u32result = TransceiveSpiFrame(0xCF090000);//(0xCC290000);
StefanP 0:f0d7e4b016ce 187 pc.printf("Read FPGA register 4 returns 0x%.8X \n",u32result);
StefanP 0:f0d7e4b016ce 188
StefanP 0:f0d7e4b016ce 189 break;
StefanP 0:f0d7e4b016ce 190
StefanP 0:f0d7e4b016ce 191 case 'w': //write
StefanP 0:f0d7e4b016ce 192 //pc.printf("Write 0xA16C to FPGA register 1");
StefanP 0:f0d7e4b016ce 193 //u32SPIframe = 0xCF020000;
StefanP 0:f0d7e4b016ce 194 //u32SPIframe |= (0<<16);
StefanP 0:f0d7e4b016ce 195 //u32SPIframe |= 0x0000A16C;
StefanP 0:f0d7e4b016ce 196 u32result = TransceiveSpiFrame(0xCF083182);//(0xCC28FFFF);
StefanP 0:f0d7e4b016ce 197 pc.printf("Write FPGA register 4 returns 0x%.8X \n",u32result);
StefanP 0:f0d7e4b016ce 198 break;
StefanP 0:f0d7e4b016ce 199
StefanP 0:f0d7e4b016ce 200 case 'i': // read ID from B6PV
StefanP 0:f0d7e4b016ce 201 u32result = TransceiveSpiFrame(0xCC810000);
StefanP 0:f0d7e4b016ce 202 if (u32result == 0x00000000)
StefanP 0:f0d7e4b016ce 203 pc.printf("B6PV - DOE1 \n");
StefanP 0:f0d7e4b016ce 204 else if (u32result == 0x00000001)
StefanP 0:f0d7e4b016ce 205 pc.printf("B6PV - DOE2 \n");
StefanP 0:f0d7e4b016ce 206 else if (u32result == 0x00000002)
StefanP 0:f0d7e4b016ce 207 pc.printf("B6PV - DOE3 \n");
StefanP 0:f0d7e4b016ce 208 else if (u32result == 0x00000003)
StefanP 0:f0d7e4b016ce 209 pc.printf("B6PV - DOE4 \n");
StefanP 0:f0d7e4b016ce 210 else
StefanP 0:f0d7e4b016ce 211 pc.printf("B6PV - Read ID error \n B6PV returns 0x%.8X \n",u32result);
StefanP 0:f0d7e4b016ce 212 break;
StefanP 0:f0d7e4b016ce 213
StefanP 0:f0d7e4b016ce 214 case 't': // trim B6PV and configure FPGA
StefanP 0:f0d7e4b016ce 215 u32result = TransceiveSpiFrame(0xCC0A0001); // DOE1_IC5_TRIM_VDDA
StefanP 0:f0d7e4b016ce 216 u32result = TransceiveSpiFrame(0xCC0C0001); // DOE1_IC5_TRIM_VDDD
StefanP 0:f0d7e4b016ce 217 u32result = TransceiveSpiFrame(0xCC0E0001); // DOE1_IC5_TRIM_VBG
StefanP 0:f0d7e4b016ce 218 u32result = TransceiveSpiFrame(0xCC100004); // DOE1_IC5_TRIM_IBIAS
StefanP 0:f0d7e4b016ce 219 u32result = TransceiveSpiFrame(0xCC3A0016); // DOE1_IC5_TRIM_RCO
StefanP 0:f0d7e4b016ce 220
StefanP 0:f0d7e4b016ce 221 u32result = TransceiveSpiFrame(0xCF000200); // Set PWM mode
StefanP 0:f0d7e4b016ce 222 u32result = TransceiveSpiFrame(0xCF02FFFF); // Set current limit to max
StefanP 0:f0d7e4b016ce 223 u32result = TransceiveSpiFrame(0xCF04FFFF); // Set current limit to max
StefanP 0:f0d7e4b016ce 224 u32result = TransceiveSpiFrame(0xCF06FFFF); // Set
StefanP 0:f0d7e4b016ce 225 u32result = TransceiveSpiFrame(0xCF083182); // Set ALIGN1-2_TIME, STEP1_TIME
StefanP 0:f0d7e4b016ce 226 u32result = TransceiveSpiFrame(0xCF0A0CE9); // Set STEP2-4_TIME
StefanP 0:f0d7e4b016ce 227 u32result = TransceiveSpiFrame(0xCF0C0010); // Set wait time to ???
StefanP 0:f0d7e4b016ce 228 u32result = TransceiveSpiFrame(0xCF0E0000); // Set timer6-7
StefanP 0:f0d7e4b016ce 229 u32result = TransceiveSpiFrame(0xCF100000); // Set CW
StefanP 0:f0d7e4b016ce 230 u32result = TransceiveSpiFrame(0xCF120003); // Set rotor trials to 3
StefanP 0:f0d7e4b016ce 231
StefanP 0:f0d7e4b016ce 232 u32result = TransceiveSpiFrame(0xCF3A0001); // Set EE_READY
StefanP 0:f0d7e4b016ce 233
StefanP 0:f0d7e4b016ce 234 pc.printf("\nTrimming of B6PV and start-up configuration in FPGA done \n");
StefanP 0:f0d7e4b016ce 235 break;
StefanP 0:f0d7e4b016ce 236
StefanP 0:f0d7e4b016ce 237 case 'g': // trim B6PV and configure FPGA
StefanP 0:f0d7e4b016ce 238 if (fPWMDutyCycle == 0)
StefanP 0:f0d7e4b016ce 239 {
StefanP 0:f0d7e4b016ce 240 fPWMDutyCycle = 0.5;
StefanP 0:f0d7e4b016ce 241 pwmon.write(fPWMDutyCycle);
StefanP 0:f0d7e4b016ce 242 }
StefanP 0:f0d7e4b016ce 243 else
StefanP 0:f0d7e4b016ce 244 {
StefanP 0:f0d7e4b016ce 245 fPWMDutyCycle = 0.0;
StefanP 0:f0d7e4b016ce 246 pwmon.write(fPWMDutyCycle);
StefanP 0:f0d7e4b016ce 247 }
StefanP 0:f0d7e4b016ce 248 pc.printf("\nSet PWM/ON to %1.1f%% duty cycle on PWM-ON pin\n",fPWMDutyCycle*100);
StefanP 0:f0d7e4b016ce 249
StefanP 0:f0d7e4b016ce 250 break;
StefanP 0:f0d7e4b016ce 251
StefanP 0:f0d7e4b016ce 252 case 'n': //write to FPGA to turn LED on
StefanP 0:f0d7e4b016ce 253 u32SPIframe = 0xCF3E8000;
StefanP 0:f0d7e4b016ce 254 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 255 pc.printf("\nLED on \n");
StefanP 0:f0d7e4b016ce 256 break;
StefanP 0:f0d7e4b016ce 257
StefanP 0:f0d7e4b016ce 258 case 'f': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 259 u32SPIframe = 0xCF3E0000;//0xCF3E0000;
StefanP 0:f0d7e4b016ce 260 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 261 pc.printf("\nLED off \n");
StefanP 0:f0d7e4b016ce 262 break;
StefanP 0:f0d7e4b016ce 263
StefanP 0:f0d7e4b016ce 264 case '2': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 265 u32SPIframe = 0xCF360081;
StefanP 0:f0d7e4b016ce 266 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 267 pc.printf("\nInduce soft error 0 by sending MOSI frame = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 268 break;
StefanP 0:f0d7e4b016ce 269 case '3': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 270 u32SPIframe = 0xCF360082;
StefanP 0:f0d7e4b016ce 271 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 272 pc.printf("\nInduce soft error 1 by sending MOSI frame = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 273 break;
StefanP 0:f0d7e4b016ce 274 case '4': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 275 u32SPIframe = 0xCF360084;
StefanP 0:f0d7e4b016ce 276 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 277 pc.printf("\nInduce soft error 2 by sending MOSI frame = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 278 break;
StefanP 0:f0d7e4b016ce 279 case '5': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 280 u32SPIframe = 0xCF360088;
StefanP 0:f0d7e4b016ce 281 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 282 pc.printf("\nInduce soft error 3 by sending MOSI frame = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 283 break;
StefanP 0:f0d7e4b016ce 284 case '6': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 285 u32SPIframe = 0xCF360090;
StefanP 0:f0d7e4b016ce 286 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 287 pc.printf("\nInduce soft error 4 by sending MOSI frame = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 288 break;
StefanP 0:f0d7e4b016ce 289 case '7': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 290 u32SPIframe = 0xCF3600A0;
StefanP 0:f0d7e4b016ce 291 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 292 pc.printf("\nInduce soft error 5 by sending MOSI frame = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 293 break;
StefanP 0:f0d7e4b016ce 294 case '8': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 295 u32SPIframe = 0xCF3600C0;
StefanP 0:f0d7e4b016ce 296 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 297 pc.printf("\nInduce soft error 6 by sending MOSI frame = 0x%.8X \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 298 break;
StefanP 0:f0d7e4b016ce 299 case '9': //write to FPGA to turn LED off
StefanP 0:f0d7e4b016ce 300 u32SPIframe = 0xCF3600FF;
StefanP 0:f0d7e4b016ce 301 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 302 wait(0.0011);
StefanP 0:f0d7e4b016ce 303 u32SPIframe = 0xCF360080;
StefanP 0:f0d7e4b016ce 304 u32result = TransceiveSpiFrame(u32SPIframe);
StefanP 0:f0d7e4b016ce 305 pc.printf("\nInduce all soft errors by sending MOSI frame = 0x%.8X followed by removing all soft errors \n", u32SPIframe);
StefanP 0:f0d7e4b016ce 306 break;
StefanP 0:f0d7e4b016ce 307
StefanP 0:f0d7e4b016ce 308 case 'o': // give a pulse on FPGA OC-pin to simulate over current error
StefanP 0:f0d7e4b016ce 309 OCsimulation = 1;
StefanP 0:f0d7e4b016ce 310 wait(0.0001);
StefanP 0:f0d7e4b016ce 311 OCsimulation = 0;
StefanP 0:f0d7e4b016ce 312 break;
StefanP 0:f0d7e4b016ce 313
StefanP 0:f0d7e4b016ce 314 case 'a': //try to write 0xFFFF to all FPGA register addresses [31:0]
StefanP 0:f0d7e4b016ce 315 int iSpiErrCnt = 0;
StefanP 0:f0d7e4b016ce 316 for (uint32_t i3=0; i3<0x0000FFFF; i3+=0x00000155)
StefanP 0:f0d7e4b016ce 317 {
StefanP 0:f0d7e4b016ce 318 uint32_t u32MosiWriteFrame = 0xCF000000;
StefanP 0:f0d7e4b016ce 319 uint32_t u32MosiReadFrame = 0xCF010000;
StefanP 0:f0d7e4b016ce 320 pc.printf("Using data 0x%.8X to test read instruction \n", i3);
StefanP 0:f0d7e4b016ce 321 for (int i2=0; i2<32; i2++)
StefanP 0:f0d7e4b016ce 322 {
StefanP 0:f0d7e4b016ce 323 //pc.printf("Testing address %i\n", i2);
StefanP 0:f0d7e4b016ce 324 for (int i1=0; i1<0x0000FFFF; i1++)
StefanP 0:f0d7e4b016ce 325 {
StefanP 0:f0d7e4b016ce 326 uint32_t u32MisoWriteFrame = TransceiveSpiFrame(u32MosiWriteFrame+i1);
StefanP 0:f0d7e4b016ce 327 //pc.printf("The SPI MOSI-frame to write = 0x%.8X \nThe SPI MISO-frame received = 0x%.8X \n", u32SPIframe,u32result);
StefanP 0:f0d7e4b016ce 328 wait(0.00001);
StefanP 0:f0d7e4b016ce 329 uint32_t u32MisoReadFrame = TransceiveSpiFrame(u32MosiReadFrame+i3);
StefanP 0:f0d7e4b016ce 330 //pc.printf("The SPI MOSI-frame to read = 0x%.8X \nThe SPI MISO-frame received = 0x%.8X \n", u32SPIframe,u32result);
StefanP 0:f0d7e4b016ce 331 if ((u32MisoReadFrame & 0x0000FFFF) != i1)
StefanP 0:f0d7e4b016ce 332 {
StefanP 0:f0d7e4b016ce 333 iSpiErrCnt++;
StefanP 0:f0d7e4b016ce 334 pc.printf("The SPI MOSI-frame to write = 0x%.8X \nThe SPI MISO-frame received to write = 0x%.8X \n", u32MosiWriteFrame+i1,u32MisoWriteFrame);
StefanP 0:f0d7e4b016ce 335 pc.printf("The SPI MOSI-frame to read = 0x%.8X \nThe SPI MISO-frame received to read = 0x%.8X \n", u32MosiReadFrame+i3,u32MisoReadFrame);
StefanP 0:f0d7e4b016ce 336 }
StefanP 0:f0d7e4b016ce 337 }
StefanP 0:f0d7e4b016ce 338 u32MosiWriteFrame += 0x00020000;
StefanP 0:f0d7e4b016ce 339 u32MosiReadFrame += 0x00020000;
StefanP 0:f0d7e4b016ce 340 }
StefanP 0:f0d7e4b016ce 341 pc.printf("The number of SPI errors = %i \n", iSpiErrCnt);
StefanP 0:f0d7e4b016ce 342 }
StefanP 0:f0d7e4b016ce 343 break;
StefanP 0:f0d7e4b016ce 344
StefanP 0:f0d7e4b016ce 345 case 'p': //PWM decoder test [31:0]
StefanP 0:f0d7e4b016ce 346 u32result = TransceiveSpiFrame(0xCF000200);
StefanP 0:f0d7e4b016ce 347 FILE *Datalogging = fopen("/local/PWMDecoder.csv", "w");
StefanP 0:f0d7e4b016ce 348 for (int i1=10000; i1>80; i1=i1*0.90)
StefanP 0:f0d7e4b016ce 349 {
StefanP 0:f0d7e4b016ce 350 pwmon.period_us(i1);
StefanP 0:f0d7e4b016ce 351 for (float f1=0.2; f1>0; f1-=0.001)
StefanP 0:f0d7e4b016ce 352 {
StefanP 0:f0d7e4b016ce 353 pwmon.write(f1);
StefanP 0:f0d7e4b016ce 354 //float fWaitTime = (float)(i1*5)/(1000000);
StefanP 0:f0d7e4b016ce 355 wait(0.1);
StefanP 0:f0d7e4b016ce 356 fprintf(Datalogging, "%i-%.4f+%u*%.2f\n", i1,f1,u32DiagnPeriod,float(u32DiagnDC)/DUTY_CYCLE_ACCURACY*100);
StefanP 0:f0d7e4b016ce 357 }
StefanP 0:f0d7e4b016ce 358 for (float f1=0.0; f1<=1.001; f1+=0.001)
StefanP 0:f0d7e4b016ce 359 {
StefanP 0:f0d7e4b016ce 360 pwmon.write(f1);
StefanP 0:f0d7e4b016ce 361 //float fWaitTime = (float)(i1*5)/(1000000);
StefanP 0:f0d7e4b016ce 362 wait(0.1);
StefanP 0:f0d7e4b016ce 363 fprintf(Datalogging, "%i-%.4f+%u*%.2f\n", i1,f1,u32DiagnPeriod,float(u32DiagnDC)/DUTY_CYCLE_ACCURACY*100);
StefanP 0:f0d7e4b016ce 364 }
StefanP 0:f0d7e4b016ce 365 }
StefanP 0:f0d7e4b016ce 366 fclose(Datalogging);
StefanP 0:f0d7e4b016ce 367 break;
StefanP 0:f0d7e4b016ce 368
StefanP 0:f0d7e4b016ce 369
StefanP 0:f0d7e4b016ce 370 }
StefanP 0:f0d7e4b016ce 371 #endif //TeraTerm
StefanP 0:f0d7e4b016ce 372 }
StefanP 0:f0d7e4b016ce 373 }
StefanP 0:f0d7e4b016ce 374
StefanP 0:f0d7e4b016ce 375
StefanP 0:f0d7e4b016ce 376 /* **************************************************************************************
StefanP 0:f0d7e4b016ce 377 * Setup the spi for 16 bit data, high steady state clock,
StefanP 0:f0d7e4b016ce 378 * base value of the clock is zero CPOL = 0
StefanP 0:f0d7e4b016ce 379 * data captured on the rising edge and data propagated on a falling edge = CPHA = 0
StefanP 0:f0d7e4b016ce 380 * SPImode = [CPOL CPHA] = [01] = 1
StefanP 0:f0d7e4b016ce 381 * with a 1MHz clock rate
StefanP 0:f0d7e4b016ce 382 ****************************************************************************************/
StefanP 0:f0d7e4b016ce 383
StefanP 0:f0d7e4b016ce 384 void SpiInit() {
StefanP 0:f0d7e4b016ce 385 cs = 1;
StefanP 0:f0d7e4b016ce 386 spi.format(16,0);
StefanP 0:f0d7e4b016ce 387 spi.frequency(1000000);
StefanP 0:f0d7e4b016ce 388 }
StefanP 0:f0d7e4b016ce 389
StefanP 0:f0d7e4b016ce 390
StefanP 0:f0d7e4b016ce 391 uint32_t TransceiveSpiFrame(uint32_t u32MosiMessage){
StefanP 0:f0d7e4b016ce 392
StefanP 0:f0d7e4b016ce 393 // LPC_PINCON->PINSEL0 &=~ 0x0000C000; // Set p7(=P0.7) to GPIO mode
StefanP 0:f0d7e4b016ce 394 // LPC_GPIO0->FIODIR |= (1<<7); // Set p7 as output
StefanP 0:f0d7e4b016ce 395 // LPC_GPIO0->FIOSET = (1<<7); // Set p7 high
StefanP 0:f0d7e4b016ce 396 // LPC_GPIO0->FIOCLR = (1<<7); // Set p7 low
StefanP 0:f0d7e4b016ce 397 // LPC_PINCON->PINSEL0 |= 0x00008000; // Set p7(=P0.7) to SPI-SCK mode
StefanP 0:f0d7e4b016ce 398
StefanP 0:f0d7e4b016ce 399 // Select the device by seting chip select low
StefanP 0:f0d7e4b016ce 400 cs = 0;
StefanP 0:f0d7e4b016ce 401
StefanP 0:f0d7e4b016ce 402 // Send first 16 bit of 32-bit frame
StefanP 0:f0d7e4b016ce 403 uint32_t u32MisoMessage = (spi.write((uint16_t)(u32MosiMessage>>16))<<16);
StefanP 0:f0d7e4b016ce 404
StefanP 0:f0d7e4b016ce 405 // Send second 16 bit of 32-bit frame
StefanP 0:f0d7e4b016ce 406 u32MisoMessage |= spi.write((uint16_t)(u32MosiMessage));
StefanP 0:f0d7e4b016ce 407
StefanP 0:f0d7e4b016ce 408 // Deselect the device
StefanP 0:f0d7e4b016ce 409 wait(0.0000000000000001);
StefanP 0:f0d7e4b016ce 410 cs = 1;
StefanP 0:f0d7e4b016ce 411
StefanP 0:f0d7e4b016ce 412 return u32MisoMessage;
StefanP 0:f0d7e4b016ce 413 }
StefanP 0:f0d7e4b016ce 414
StefanP 0:f0d7e4b016ce 415 /* **************************************************************************************
StefanP 0:f0d7e4b016ce 416 * Setup the spi for 16 bit data, high steady state clock,
StefanP 0:f0d7e4b016ce 417 * base value of the clock is zero CPOL = 0
StefanP 0:f0d7e4b016ce 418 * data captured on the falling edge and data propagated on a rising edge = CPHA = 1
StefanP 0:f0d7e4b016ce 419 * SPImode = [CPOL CPHA] = [01] = 1
StefanP 0:f0d7e4b016ce 420 * with a 1MHz clock rate
StefanP 0:f0d7e4b016ce 421 ****************************************************************************************/
StefanP 0:f0d7e4b016ce 422
StefanP 0:f0d7e4b016ce 423 void SerialUSBInit() {
StefanP 0:f0d7e4b016ce 424 pc.format(8, Serial::None, 1);
StefanP 0:f0d7e4b016ce 425 pc.baud(9600);
StefanP 0:f0d7e4b016ce 426 }
StefanP 0:f0d7e4b016ce 427
StefanP 0:f0d7e4b016ce 428
StefanP 0:f0d7e4b016ce 429 /* **************************************************************************************
StefanP 0:f0d7e4b016ce 430 * Setup TIMER2 to capture edges on two seperate channels
StefanP 0:f0d7e4b016ce 431 * - Channel 0 : B6PV "DIAG"-pin
StefanP 0:f0d7e4b016ce 432 * Capture alternating rising/falling edge to determine duty cycle
StefanP 0:f0d7e4b016ce 433 * - Channel 1 : B6PV "SPEED"-pin
StefanP 0:f0d7e4b016ce 434 * Capture rising/falling edges to determine average high-low time
StefanP 0:f0d7e4b016ce 435 ****************************************************************************************/
StefanP 0:f0d7e4b016ce 436 void Timer2Init(){
StefanP 0:f0d7e4b016ce 437
StefanP 0:f0d7e4b016ce 438 LPC_PINCON->PINSEL0 |= 0x00000300; // Set p30(=P0.4) to CAP2.0 = B6PV "DIAG"-pin
StefanP 0:f0d7e4b016ce 439 LPC_PINCON->PINMODE0 |= 0x00000200; // set p30(=P0.4) to have neither pull-up nor pull-down resistors
StefanP 0:f0d7e4b016ce 440
StefanP 0:f0d7e4b016ce 441 LPC_PINCON->PINSEL0 |= 0x00000C00; // set p29(=P0.5) to CAP2.1 = B6PV "SPEED"-pin
StefanP 0:f0d7e4b016ce 442 LPC_PINCON->PINMODE0 |= 0x00000800; // set p29(=P0.5) to have neither pull-up nor pull-down resistors
StefanP 0:f0d7e4b016ce 443
StefanP 0:f0d7e4b016ce 444 NVIC_SetVector(TIMER2_IRQn, uint32_t(TIMER2_IRQHandler));
StefanP 0:f0d7e4b016ce 445 NVIC_EnableIRQ(TIMER2_IRQn);
StefanP 0:f0d7e4b016ce 446 //NVIC_DisableIRQ(TIMER2_IRQn);
StefanP 0:f0d7e4b016ce 447
StefanP 0:f0d7e4b016ce 448 LPC_SC->PCONP |= (1 << 22); // Timer2 power on
StefanP 0:f0d7e4b016ce 449 LPC_SC->PCLKSEL1 |= (1 << 12); // Divide CCLK by 1 for Timer2
StefanP 0:f0d7e4b016ce 450
StefanP 0:f0d7e4b016ce 451 LPC_TIM2->TC = 0; // Clear timer counter
StefanP 0:f0d7e4b016ce 452 LPC_TIM2->PC = 0; // Clear prescale counter
StefanP 0:f0d7e4b016ce 453 LPC_TIM2->PR = 0; // Clear prescale register
StefanP 0:f0d7e4b016ce 454 LPC_TIM2->CTCR = 0x00; // Set timer mode
StefanP 0:f0d7e4b016ce 455 LPC_TIM2->TCR |= (1 << 1); // Reset timer
StefanP 0:f0d7e4b016ce 456 LPC_TIM2->TCR &=~(1 << 1); // Release reset
StefanP 0:f0d7e4b016ce 457 LPC_TIM2->IR = 0xFFFFFFFF; // Clear interrupt register
StefanP 0:f0d7e4b016ce 458
StefanP 0:f0d7e4b016ce 459 LPC_TIM2->CCR |=(1<<0); // Enable cap2.0 on rising edge
StefanP 0:f0d7e4b016ce 460 LPC_TIM2->CCR |=(1<<2); // Enable interrupt on cap2.0 event
StefanP 0:f0d7e4b016ce 461 LPC_TIM2->MR0 = u32DiagnMaxPeriod; // Match register 0 for 0%-100% detection
StefanP 0:f0d7e4b016ce 462 LPC_TIM2->MCR |=(1<<0); // Enable interrupt when TIM2 reaches MR0
StefanP 0:f0d7e4b016ce 463
StefanP 0:f0d7e4b016ce 464 LPC_TIM2->CCR |=((1<<3)|(1<<4)); // Enable cap2.1 on rising and falling edge
StefanP 0:f0d7e4b016ce 465 LPC_TIM2->CCR |=(1<<5); // Enable interrupt on cap2.1 event
StefanP 0:f0d7e4b016ce 466 LPC_TIM2->MR0 = u32SpeedMaxPeriod; // Match register 1 for motor speed 0 detection
StefanP 0:f0d7e4b016ce 467 LPC_TIM2->MCR |=(1<<3); // Enable interrupt when TIM2 reaches MR1
StefanP 0:f0d7e4b016ce 468
StefanP 0:f0d7e4b016ce 469 LPC_TIM2->TCR |= (1 << 0); // start Timer2
StefanP 0:f0d7e4b016ce 470 }
StefanP 0:f0d7e4b016ce 471
StefanP 0:f0d7e4b016ce 472
StefanP 0:f0d7e4b016ce 473 /* **********************************************************************************
StefanP 0:f0d7e4b016ce 474 *
StefanP 0:f0d7e4b016ce 475 ************************************************************************************/
StefanP 0:f0d7e4b016ce 476 void TIMER2_IRQHandler(void)
StefanP 0:f0d7e4b016ce 477 {
StefanP 0:f0d7e4b016ce 478 uint32_t pending = LPC_TIM2->IR;
StefanP 0:f0d7e4b016ce 479
StefanP 0:f0d7e4b016ce 480 /**********************************************************
StefanP 0:f0d7e4b016ce 481 * If timer2 capture channel 0 interrupt
StefanP 0:f0d7e4b016ce 482 * Used for edge detection on DIAG-pin (duty cycle)
StefanP 0:f0d7e4b016ce 483 **********************************************************/
StefanP 0:f0d7e4b016ce 484 if(pending & (1<<4)) // if timer2 interrupt on capture channel 0 = DIAGNOSTICS
StefanP 0:f0d7e4b016ce 485 {
StefanP 0:f0d7e4b016ce 486 if(LPC_TIM2->CCR & (1<<0)) // if cap2.0 rising edge
StefanP 0:f0d7e4b016ce 487 {
StefanP 0:f0d7e4b016ce 488 LPC_TIM2->CCR &=~(1<<0); // disable cap2.0 rising edge
StefanP 0:f0d7e4b016ce 489
StefanP 0:f0d7e4b016ce 490 u32DiagnCapA = LPC_TIM2->CR0;
StefanP 0:f0d7e4b016ce 491
StefanP 0:f0d7e4b016ce 492 LPC_TIM2->CCR |= (1<<1); // enable cap2.0 falling edge
StefanP 0:f0d7e4b016ce 493 }
StefanP 0:f0d7e4b016ce 494 else if (LPC_TIM2->CCR & (1<<1)) // if cap2.0 falling edge
StefanP 0:f0d7e4b016ce 495 {
StefanP 0:f0d7e4b016ce 496 LPC_TIM2->CCR &=~(1<<1); // disable cap2.0 falling edge
StefanP 0:f0d7e4b016ce 497
StefanP 0:f0d7e4b016ce 498 uint32_t u32DiagnCapBtemp = LPC_TIM2->CR0;
StefanP 0:f0d7e4b016ce 499 uint32_t diagnHighT = u32DiagnCapBtemp - u32DiagnCapA;
StefanP 0:f0d7e4b016ce 500
StefanP 0:f0d7e4b016ce 501 if ((u32DiagnCapBtemp-u32DiagnCapB)>(u32DiagnPeriod+(u32DiagnPeriod>>1)))
StefanP 0:f0d7e4b016ce 502 u32DiagnPeriod = ((u32DiagnCapBtemp-u32DiagnCapB)>>1);
StefanP 0:f0d7e4b016ce 503 else
StefanP 0:f0d7e4b016ce 504 u32DiagnPeriod = u32DiagnCapBtemp-u32DiagnCapB;
StefanP 0:f0d7e4b016ce 505
StefanP 0:f0d7e4b016ce 506 if (diagnHighT<u32DiagnPeriod)
StefanP 0:f0d7e4b016ce 507 u32DiagnDC = (diagnHighT*DUTY_CYCLE_ACCURACY)/u32DiagnPeriod;
StefanP 0:f0d7e4b016ce 508
StefanP 0:f0d7e4b016ce 509 u32DiagnCapB = u32DiagnCapBtemp;
StefanP 0:f0d7e4b016ce 510
StefanP 0:f0d7e4b016ce 511 LPC_TIM2->CCR |= (1<<0); // enable cap2.0 rising edge
StefanP 0:f0d7e4b016ce 512 }
StefanP 0:f0d7e4b016ce 513
StefanP 0:f0d7e4b016ce 514 LPC_TIM2->IR |= (1<<4); // clear Timer2 interrupt flag for capture channel 0 event
StefanP 0:f0d7e4b016ce 515 LPC_TIM2->MR0 = LPC_TIM2->TC + (u32DiagnMaxPeriod<<1);
StefanP 0:f0d7e4b016ce 516 }
StefanP 0:f0d7e4b016ce 517 else if(pending & (1<<0))
StefanP 0:f0d7e4b016ce 518 {
StefanP 0:f0d7e4b016ce 519 if(LPC_TIM2->CCR & (1<<1))
StefanP 0:f0d7e4b016ce 520 u32DiagnDC = 1*DUTY_CYCLE_ACCURACY;
StefanP 0:f0d7e4b016ce 521 else
StefanP 0:f0d7e4b016ce 522 u32DiagnDC = 0;
StefanP 0:f0d7e4b016ce 523
StefanP 0:f0d7e4b016ce 524 u32DiagnPeriod = 0xFFFFFFFF;
StefanP 0:f0d7e4b016ce 525 LPC_TIM2->IR |= (1<<0); // clear Timer2 interrupt flag for match register 0 event
StefanP 0:f0d7e4b016ce 526 LPC_TIM2->MR0 = LPC_TIM2->TC + (u32DiagnMaxPeriod<<1);
StefanP 0:f0d7e4b016ce 527 }
StefanP 0:f0d7e4b016ce 528
StefanP 0:f0d7e4b016ce 529 /**********************************************************
StefanP 0:f0d7e4b016ce 530 * If timer2 capture channel 1 interrupt
StefanP 0:f0d7e4b016ce 531 * Used for edge detection on SPEED-pin (high / low time)
StefanP 0:f0d7e4b016ce 532 **********************************************************/
StefanP 0:f0d7e4b016ce 533 if(pending & (1<<5))
StefanP 0:f0d7e4b016ce 534 {
StefanP 0:f0d7e4b016ce 535 u32SpeedCapA = u32SpeedCapB;
StefanP 0:f0d7e4b016ce 536 u32SpeedCapB = LPC_TIM2->CR1;
StefanP 0:f0d7e4b016ce 537
StefanP 0:f0d7e4b016ce 538 // Calculate time between 2 edges = commutation time [us]
StefanP 0:f0d7e4b016ce 539 uint32_t tempCommTime = ((u32SpeedCapB-u32SpeedCapA)/96);
StefanP 0:f0d7e4b016ce 540
StefanP 0:f0d7e4b016ce 541 // Calculate averaged speed via 1/(6 x commutation time) [eHz]
StefanP 0:f0d7e4b016ce 542 u32Speed = ((u32Speed + (1000000000/(tempCommTime*6)))>>1);
StefanP 0:f0d7e4b016ce 543
StefanP 0:f0d7e4b016ce 544 // Clear timer2 chanel 1 interrupt flag
StefanP 0:f0d7e4b016ce 545 LPC_TIM2->IR |= (1<<5);
StefanP 0:f0d7e4b016ce 546
StefanP 0:f0d7e4b016ce 547 //
StefanP 0:f0d7e4b016ce 548 LPC_TIM2->MR1 = LPC_TIM2->TC + (u32SpeedMaxPeriod<<1);
StefanP 0:f0d7e4b016ce 549 }
StefanP 0:f0d7e4b016ce 550 else if(pending & (1<<1))
StefanP 0:f0d7e4b016ce 551 {
StefanP 0:f0d7e4b016ce 552 u32Speed = 0;
StefanP 0:f0d7e4b016ce 553 LPC_TIM2->IR |= (1<<1); // clear Timer2 interrupt flag for match register 0 event
StefanP 0:f0d7e4b016ce 554 LPC_TIM2->MR1 = LPC_TIM2->TC + (u32SpeedMaxPeriod<<1);
StefanP 0:f0d7e4b016ce 555 }
StefanP 0:f0d7e4b016ce 556 }
StefanP 0:f0d7e4b016ce 557