Balogh at 21:44, 24 March 2009

2009-03-24T21:44:58Z
Balogh: New page: `/****************************************************************************** * * Freescale Semiconductor Inc. * (c) Copyright 2008 Freescale Semiconductor, Inc. * ALL RI...`


2009-03-24T21:43:47Z
New page: <code lang="c"> /****************************************************************************** * * Freescale Semiconductor Inc. * (c) Copyright 2008 Freescale Semiconductor, Inc. * ALL RI...
New page
<code lang="c">

/******************************************************************************

*

* Freescale Semiconductor Inc.

* (c) Copyright 2008 Freescale Semiconductor, Inc.

* ALL RIGHTS RESERVED.

*

*******************************************************************************

*

* File      main.c

*

* Author    Milan Brejl

* 

* Version   0.2

* 

* Date      19-Nov-2008

* 

* Brief     Quick start with the Self-Driven Slot Car development

*

*******************************************************************************

* History:

* 0.1 (14-Oct-2008) Initial version

* 0.2 (19-Nov-2008) 

*******************************************************************************

*

* This file includes initialization code and macros enabling to quickly start

* with the development of a Self-Driven Slot Car.

*

* At the current state, the application branches into one of 2 modes, based on

* the slot car vertical position. If the car is placed on the track, it slowly

* starts up, drives the car by a 50% voltage, samples all analog signals (motor

* current, X, Y, and Z accelerations, and DC-Bus voltage) and stores the X

* acceleration into the EEPROM. In the wheels-up position, detected using the

* gravitational acceleration in Z axis, the data from EEPROM can be downloaded

* into an Excel sheet using the ReadEEPROM.pmp FreeMASTER project.

*

* Notes:

* 1) The MCU S08JM32 is configured to run at 48MHz CPU clock and 24MHz BUS 

*    clock. 

*    The OSBDM debugger can be used to program the flash and run the  

*    application, but it can not step and break the code at such a high rate.

* 2) The motor is controlled in one direction only, using a motorVoltage

*    unsigned int variable (range 0 to 6000) and a PWM signal of corresponding

*    duty-cycle. 

*    In order to control the motor in both directions (active breaking), the

*    initialization of the TPM1 module needs to be modified for a generation of

*    2 PWM signals. For more information refer to the MC33887 H-bridge manual.

* 3) The external EEPROM is handled by the Jaroslav Necesany's driver 

*    eeprom.c/.h, included into the project.

*

******************************************************************************/



#include <hidef.h>          /* for EnableInterrupts macro */

#include "derivative.h"     /* include peripheral declarations */

#include "slotcarutils.h"   /* utilities */

#include "eeprom.h"         /* driver for external EEPROM via IIC */



/******************************************************************************

* Constants and macros

******************************************************************************/



/* LEDs */

/* 

 * There are 4 LEds build into the head and break lights.

 *   HL = head light - left, HR = head light - right, 

 *   BL = break light - left, BR = break light - right 

 * The following macros control the LEDs state, ON or OFF.

 */

#define SET_LED_HL_ON          PTAD_PTAD0 = 1

#define SET_LED_HL_OFF         PTAD_PTAD0 = 0

#define SET_LED_HR_ON          PTAD_PTAD1 = 1

#define SET_LED_HR_OFF         PTAD_PTAD1 = 0

#define SET_LED_BL_ON          PTAD_PTAD2 = 1

#define SET_LED_BL_OFF         PTAD_PTAD2 = 0

#define SET_LED_BR_ON          PTAD_PTAD3 = 1

#define SET_LED_BR_OFF         PTAD_PTAD3 = 0



/* SWITCH */

/*

 * There is a 2-position switch.

 * The following macro reads the switch position, returning 1 or 0.

 */

#define GET_SWITCH_STATE       PTCD_PTCD6



/* ACCELEROMETER */

/*

 * There is a 3-axis accelerometer with analog outputs.

 * The accelerometer range is configurable for either +/- 1.5g or +/- 6g.

 * The accelerometer analog outputs can be sampled by the on-chip Analog-to-

 * -Digital Converter.

 * The following macros set the accelerometer range and define the ADC 

 * channels of the X, Y and Z accelerometer outputs:

 *   X ... left and right (+ left, - right)

 *   Y ... ahead and back (+ ahead, - back)

 *   Z ... up and down (+ down, - up)

 */

#define SET_ACC_RANGE_1_5_G    PTCD_PTCD2 = 0

#define SET_ACC_RANGE_6_G      PTCD_PTCD2 = 1

#define ACC_X                  2

#define ACC_Y                  1

#define ACC_Z                  0



/* MOTOR */

/*

 * There is an H-brigde driving the DC motor.

 * The motor drive can be enabled or disabled. When enabled, the applied motor

 * voltage is controlled by a PWM duty-cycle.

 * The H-brigde circuit returns a fault status in case of undervoltage,

 * short circuit, or overtemperature condition.

 * The motor current feedback can be sampled by the on-chip Analog-to-Digital

 * Converter.

 * The following macros enable or disable the motor drive, set the motor 

 * voltage, get the motor fault status and define the ADC channel of

 * the motor current.

 */

#define MOTOR_ENABLE           PTCD_PTCD4 = 1

#define MOTOR_DISABLE          PTCD_PTCD4 = 0

#define SET_MOTOR_VOLTAGE(x)   TPM1C2V = (x)

#define GET_MOTOR_VOLTAGE      TPM1C2V

#define GET_MOTOR_FAULT_STATUS PTGD_PTGD2

#define MOTOR_STATUS_OK        1

#define MOTOR_STATUS_FAULT     0

#define MOTOR_CURRENT          5



/* DC-BUS VOLTAGE */

/*

 * There is a circuit which enables to measure the DC-Bus voltage.

 * The DC-Bus Voltage Compensation technique enables to set a correct motor 

 * voltage and keep it independent of a the actual DC-Bus voltage.

 * The following macros defines the ADC channel of the DC-Bus voltage.

 */

#define DC_BUS_VOLTAGE         11



/* ADC */

/*

 * The following macros enable to initializes the sampling and 

 * conversion of an analog signal a defined read a conversion result - a 12-bit sample,

 * to check if the Analog-to-Digital Converter is busy by an active conversion, and

 * switch conversion resolution (8/10/12-bit mode)

 */

#define START_CONV(channel)    ADCSC1 = ADCSC1_AIEN_MASK | (channel)

#define READ_ADC_SAMPLE        ADCR

#define GET_ADC_ACTIVE_FLAG    ADCSC2_ADACT

#define SET_ADC_MODE_8_BIT     ADCCFG_MODE = 0

#define SET_ADC_MODE_10_BIT    ADCCFG_MODE = 2

#define SET_ADC_MODE_12_BIT    ADCCFG_MODE = 1



/* OUTAGE */

/*

 * There is a circuit which enables to detect a power supply outage

 * on the line change or crossover track pieces.

 */

#define GET_OUTAGE_DIR1        PTGD_PTGD0

#define GET_OUTAGE_DIR2        PTGD_PTGD1



/******************************************************************************

* Global variables

******************************************************************************/



/* application */

enum {

  APP_MODE_RUN,

  APP_MODE_DOWNLOAD

} appMode;



/* accelerometer */

unsigned int accX, accY, accZ;   /* 12-bit unsigned samples */



/* motor */

unsigned int motorVoltage;       /* range 0 to 6000 */

unsigned int motorCurrent;       /* 12-bit unsigned sample */



/* dc-bus */

unsigned int dcBus;              /* 12-bit unsigned sample */



/* global time */

unsigned int timeCounter;        /* global free-running 1/2ms counter */



/* extern global variables */

extern enum SEMAPHORE semaphore1;



/******************************************************************************

* Functions

******************************************************************************/



/******************************************************************************

* Interrupt Handlers

******************************************************************************/



/* Timer/PWM Interrupt */

interrupt VectorNumber_Vtpm1ovf void Vtpm1ovf_isr(void) 

{

  /* clear interrupt flag */

  TPM1SC_TOF = 0;

  

  /* update PWM duty-cycle according to the global variable motorVoltage */

  SET_MOTOR_VOLTAGE(motorVoltage);

  

  /* Start sequence of analog inputs sampling */

  START_CONV(MOTOR_CURRENT);

  

  /* Update the global 1/2ms timeCounter */

  timeCounter++;

}



/* ADC Conversion Complete Interrupt */

interrupt VectorNumber_Vadc void Vadc_isr(void)

{

  /* 

   * Read the new sample using GET_ADC_SAMPLE macro.

   * The reading also clears the interrupt flag.

   * Put all samples into the buffer.

   */

  switch(ADCSC1_ADCH)

  {

  case MOTOR_CURRENT:

    motorCurrent = READ_ADC_SAMPLE;

    START_CONV(ACC_X);

    break;

  case ACC_X:

    accX = READ_ADC_SAMPLE;

    START_CONV(ACC_Y);

    PutToBuffer16(accX);  /* store accX to EEPROM */

    break;

  case ACC_Y:

    accY = READ_ADC_SAMPLE;

    START_CONV(ACC_Z);

    break;

  case ACC_Z:

    accZ = READ_ADC_SAMPLE;

    START_CONV(DC_BUS_VOLTAGE);

    break;

  case DC_BUS_VOLTAGE:

    dcBus = READ_ADC_SAMPLE;

    break;

  }

}



/* Keyboard Interrupt */

interrupt VectorNumber_Vkeyboard void Vkeyboard_isr(void)

{

  /* clear interrupt flag */

  KBISC_KBACK=1;

}



/******************************************************************************

* Main

******************************************************************************/



void main(void) 

{

  /********** Device Initialization **********/



  /* initialize the Multi-Purpose Clock Generator (MCG) 

     for 48MHz CPU clock and 24MHz bus clock */

  MCGC2 = 0x36;   /* MCGC2: BDIV=0,RANGE=1,HGO=1,LP=0,EREFS=1,ERCLKEN=1,EREFSTEN=0 */

  MCGC1 = 0xB8;   /* MCGC1: CLKS=2,RDIV=7,IREFS=0,IRCLKEN=0,IREFSTEN=0 */

  while(!MCGSC_OSCINIT);  /* Wait until external reference is stable */

  while(MCGSC_IREFST);    /* Wait until external reference is selected */

  while((MCGSC & 0x0C) != 0x08);  /* Wait until external clock is selected as a bus clock reference */

  MCGC2 = 0x3E;   /* MCGC2: BDIV=0,RANGE=1,HGO=1,LP=1,EREFS=1,ERCLKEN=1,EREFSTEN=0 */

  MCGC1 = 0x88;   /* MCGC1: CLKS=2,RDIV=1,IREFS=0,IRCLKEN=0,IREFSTEN=0 */

  MCGC3 = 0x46;   /* MCGC3: LOLIE=0,PLLS=1,CME=0,VDIV=6 */

  MCGC2 &= (unsigned char)~0x08;   /* MCGC2: LP=0 */

  while(!MCGSC_PLLST);    /* Wait until PLL is selected */

  while(!MCGSC_LOCK);     /* Wait until PLL is locked */

  MCGC1 = 0x08;   /* MCGC1: CLKS=0,RDIV=1,IREFS=0,IRCLKEN=0,IREFSTEN=0 */

  while((MCGSC & 0x0C) != 0x0C);  /* Wait until PLL clock is selected as a bus clock reference */



  /* disable the COP watchdog */

  SOPT1_COPT = 0;

  

  /* initialize the LEDs as outputs */

  PTADD_PTADD0 = 1; /* output to LED1 */

  PTADD_PTADD1 = 1; /* output to LED2 */

  PTADD_PTADD2 = 1; /* output to LED3 */

  PTADD_PTADD3 = 1; /* output to LED4 */



  /* initialize the SWITCH as an input with pull-up */

  PTCDD_PTCDD6 = 0; /* input from switch */

  PTCPE_PTCPE6 = 1; /* pull-up enable */



  /* initialize the ACCELEROMETER range select as an output */

  PTCDD_PTCDD2 = 1; /* output to G-select */

  

  /* initialize the MOTOR driver inputs as outputs */

  PTCDD_PTCDD4 = 1; /* output to EN */

  PTADD_PTADD5 = 1; /* output to D1 */

  PTADD_PTADD4 = 1; /* output to D2 */

  PTFDD_PTFDD2 = 1; /* output to IN2 */

  

  /* initialize the MOTOR driver fault status output as an input */

  PTFDD_PTFDD1 = 0; /* input from fault status */

  

  /* initialize TPM1 for PWM generation */

  TPM1SC = 0;

  TPM1MOD = 6000;     /* Modulo = 6000 => f = 24MHz/1/(6000*2) = 2kHz */

  TPM1SC_CLKSx = 1;   /* clock source = bus clock */

  TPM1SC_PS = 0;      /* prescaler divider = 1 */

  TPM1SC_CPWMS = 1;   /* center-aligned PWM */

  TPM1C2SC_ELS2x = 2; /* low-true pulses */

  TPM1SC_TOIE = 1;    /* enable overflow interrupt */



  /* initialize the ADC */

  ADCCFG_ADICLK = 1;/* input clock = bus clock divided by 2 */

  ADCCFG_ADIV = 1;  /* input clock div = 2 */

  ADCCFG_ADLSMP = 1;/* long sample time enabled */

  ADCCFG_MODE = 1;  /* 12-bit mode */

  ADCSC2_ADTRG = 0; /* software trigger */

  APCTL1_ADPC0 = 1; /* pin ADP0 is ADC input - accelerometer Z */

  APCTL1_ADPC1 = 1; /* pin ADP1 is ADC input - accelerometer Y */

  APCTL1_ADPC2 = 1; /* pin ADP2 is ADC input - accelerometer X */

  APCTL1_ADPC5 = 1; /* pin ADP5 is ADC input - motor current */

  APCTL2_ADPC11 = 1; /* pin ADP11 is ADC input - dc-bus voltage */

  

  /* initialize Keyboard Interrupt to detect outage */

  KBIES_KBEDG0 = 0;  /* detect falling edge from OUTAGE_DIR1 */

  KBIES_KBEDG1 = 0;  /* detect falling edge from OUTAGE_DIR2 */

  KBISC_KBMOD = 0;   /* detect edge only */

  KBIPE_KBIPE0 = 1;  /* enable OUTAGE_DIR1 pin interrupt */

  KBIPE_KBIPE1 = 1;  /* enable OUTAGE_DIR2 pin interrupt */

  KBISC_KBIE = 1;    /* enable interrupts */

  

  /* enable interrupts */

  EnableInterrupts;



  /************ Board HW Initialization *************/



  /* initialize the Accelerometr */

  SET_ACC_RANGE_1_5_G;



  /* initialize the Motor H-bridge driver */

  PTAD_PTAD5 = 0;  /* set D1 low */

  PTAD_PTAD4 = 1;  /* set D2 high */

  PTFD_PTFD2 = 0;  /* set IN2 low */

  MOTOR_DISABLE;

  motorVoltage = 0;



  /* initialize EEPROM */

  EepromInit(0x45);  /* 400kbit/sec at 24MHz Bus clock */



  /************* Start-up *************/



  /* indicate the actual switch position */

  Wait(1000);

  if(GET_SWITCH_STATE == 1)

  {

    /* blink front lights once */

    SET_LED_HL_ON;

    SET_LED_HR_ON;

    Wait(300);

  }

  else

  {

    /* blink front lights twice */

    SET_LED_HL_ON;

    SET_LED_HR_ON;

    Wait(100);

    SET_LED_HL_OFF;

    SET_LED_HR_OFF;

    Wait(100);

    SET_LED_HL_ON;

    SET_LED_HR_ON;

    Wait(100);

  }

  SET_LED_HL_OFF;

  SET_LED_HR_OFF;



 

  /* test if the car is in the wheels up position and set application mode */

  if (accZ > 2048)

  {

    appMode = APP_MODE_DOWNLOAD;

    DisableInterrupts;

  }

  else

  {

    appMode = APP_MODE_RUN;

    /* slowly speed up */

    MOTOR_ENABLE;

    while(motorVoltage <= 3000)

    {

      motorVoltage++;

      Wait(1);

    }

  }



  /************* Background Loop *************/

  for(;;) 

  {

    switch(appMode)

    {

    case APP_MODE_DOWNLOAD:

      /* Download buffer from EEPROM if empty */

      LoadBufferFromEeprom();

      /* Show page-by-page downloading on break LEDs */

      if (semaphore1)

      {

        SET_LED_BR_ON;

        SET_LED_BL_OFF;

      }

      else

      {

        SET_LED_BR_OFF;

        SET_LED_BL_ON;

      }

      break;



    case APP_MODE_RUN:

      /* Upload buffer to EEPROM if filled up */

      StoreBufferToEeprom();

      /* Check motor fault status */

      if(GET_MOTOR_FAULT_STATUS == MOTOR_STATUS_FAULT)

      {

        motorVoltage = 0;

        SET_LED_BL_ON;

        SET_LED_BR_ON;

      }

      break;

    }

  } /* loop forever */

}

</code>
@@ Line 1: / Line 1: @@
-<code lang="c">
+<source lang="c">
 /******************************************************************************
+*
@@ Line 421: / Line 421: @@
    } /* loop forever */
+}
-</code>
+</source>
Frc Demo.c Ukážkový program - Revision history

Balogh at 21:44, 24 March 2009

Balogh: New page: /****************************************************************************** * * Freescale Semiconductor Inc. * (c) Copyright 2008 Freescale Semiconductor, Inc. * ALL RI...

Balogh: New page: `/****************************************************************************** * * Freescale Semiconductor Inc. * (c) Copyright 2008 Freescale Semiconductor, Inc. * ALL RI...`
