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/* ==================================================================================
File name: DSP281x_Hall3.C
Originator: Digital Control Systems Group
Texas Instruments
Description: This file contains source for the Capture drivers for the F281X
Target: TMS320F281x family
=====================================================================================
History:
-------------------------------------------------------------------------------------
04-15-2005 Version 3.20: Using DSP281x v. 1.00 or higher
------------------------------------------------------------------------------------*/
#include "DSP281x_Device.h"
#include "DSP281x_Hall3.h"
void F281X_EV1_HALL3_Init(HALL3 *p)
{
F281X_EV1_HALL3_Determine_State(p);
p->HallGpioBuffer = p->HallGpio; // Init with current CAP/GPIO logic levels
p->HallGpioAccepted = p->HallGpio; // Init with current CAP/GPIO logic levels
EvaRegs.CAPCONA.all = HALL3_INIT_STATE; // Set up capture units, CAP1-3 using GP timer 2
EvaRegs.CAPFIFOA.all = 0x1500; // Write "01" each CAPxFIFO for EV to believe that there is already an entry in the FIFO
EALLOW; // Enable EALLOW
GpioMuxRegs.GPAMUX.all |= 0x0700; // Set up the capture 1-3 pins to primary functions
EDIS; // Disable EALLOW
}
void F281X_EV1_HALL3_Read(HALL3 *p)
{
p->CapFlag = EvaRegs.EVAIFRC.all; // Save capture flag register, convenient for Watch Window
if (p->CapFlag==0) // NO_EDGE_DETECTED: No hall signal edges detected on CAP1-3 (bits 0-2)
{
p->CmtnTrigHall = 0; // Reset trigger, it only handshakes with calling program.
if (p->EdgeDebounced==0) // If motor has not moved then debounce current position.
{
F281X_EV1_HALL3_Debounce(p);
p->CmtnTrigHall = p->EdgeDebounced; // Set Commutation trigger here
}
else // If current position is debounced, find match in table
F281X_EV1_HALL3_Next_State_Ptr(p); // and return pointer to current state. Ptr to be incremented
// by MOD6CNT after RET.
p->EdgeDebounced = 0; // Reset trigger
}
else // EDGE_DETECTED: Any hall signal edges detected on CAP1-3
{
p->StallCount = 0xFFFF; // On new edge, reset stall counter
EvaRegs.EVAIFRC.all = 0x0007; // Clear all CAP1-3 Int-flags
F281X_EV1_HALL3_Determine_State(p); // Since motor has moved, determine state (read HallGpio)
p->CapCounter += 1; // Increment running edge detection counter
}
}
void F281X_EV1_HALL3_Determine_State(HALL3 *p)
{
EALLOW; // Enable EALLOW
// Configure CAP1-3 as GPIO-inputs (GPIO8-GPIO10)
GpioMuxRegs.GPAMUX.all &= 0xF8FF;
// config GPIO8-GPIO10 as inputs
GpioMuxRegs.GPADIR.bit.GPIOA8 = 0;
GpioMuxRegs.GPADIR.bit.GPIOA9 = 0;
GpioMuxRegs.GPADIR.bit.GPIOA10 = 0;
EDIS; // Disable EALLOW
p->HallGpio = GpioDataRegs.GPADAT.all&0x0700; // HallGpio.2-0 = GPIO10-GPIO8
p->HallGpio = p->HallGpio>>8;
EALLOW; // Enable EALLOW
GpioMuxRegs.GPAMUX.all |= 0x0700; // Set up the CAP1-3 pins to primary functions
EDIS; // Disable EALLOW
}
void F281X_EV1_HALL3_Debounce(HALL3 *p)
{
if (p->HallGpio == p->HallGpioAccepted) // GPIO_UNCHANGED: Current GPIO reading == debounced GPIO reading?
{
if (p->Revolutions <= 0) // Only create hall map during initial Revolutions
F281X_EV1_HALL3_Create_Map(p);
p->StallCount -= 1; // Decrement stall counter
if (p->StallCount == 0)
{
p->EdgeDebounced = 0x7FFF; // If motor has stalled, then user trigger to commutate
p->StallCount = 0xFFFF; // Reset counter to starting value
}
}
else // GPIO_CHANGED: If not zero, then the motor has moved to a new position.
{
if (p->HallGpio == p->HallGpioBuffer) // Current GPIO reading == previous GPIO reading?
{
if (p->DebounceCount >= p->DebounceAmount) // If equal, is current GPIO reading debounced?
{
p->HallGpioAccepted = p->HallGpioBuffer; // Current GPIO reading is now debounced
p->EdgeDebounced = 0x7FFF; // Edge/position debounced, trigger commutation
p->DebounceCount = 0; // Reset debounce counter
if (p->HallMapPointer==0)
p->Revolutions += 1; // Increment on every rev (HallMapPointer = 0)
}
else // DEBOUNCE_MORE
p->DebounceCount += 1; // Increment debounce counter
}
else // NEW_READING
{
p->HallGpioBuffer = p->HallGpio; // Save new reading and reset debounce counter
p->DebounceCount = 0;
}
}
}
void F281X_EV1_HALL3_Next_State_Ptr(HALL3 *p)
{
int16 i, HallPointer;
if (p->Revolutions>0) // Only run function after map has been created.
{
for (i=0;i<=5;i++) // Search for a match of current debounced GPIO position
{ // and the table entries.
if (p->HallMap[i] == p->HallGpioAccepted) // Match_Found
HallPointer = i;
}
p->HallMapPointer = HallPointer; // On match, save pointer position. Pointer will be incremented
} // by 1 since MOD6CNT will receive a positive trigger
} // and pointer as inputs.
void F281X_EV1_HALL3_Create_Map(HALL3 *p)
{
p->HallMap[p->HallMapPointer] = p->HallGpioAccepted; // Save debounced GPIO to table.
}