Implementation
;X indicate the coil to be driven ;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SetPWM:
mov | #255, MTIMMOD |
| ; OF period |
mov | #(mMTIMSC_TRSTmMTIMSC_TOIE), MTIMSC; Reset and Start Timer | ||
lda | #20 |
| ; Enable Interrupt & Edge only |
mov | #(mKBISC_KBIE), KBISC | ||
bset | KBISC_KBACK, KBISC | ; Clear Flag | |
stx | PTAD |
| ; Drive coil |
TimingLoop: | MTIMSC_TOF, MTIMSC | ; Clear TOF | |
bclr | |||
wait | KBISC_KBF, KBISC, HallFound | ; HALL sensor edge found | |
brset | |||
dbnza | TimingLoop | ; If no HALL output, Stop the driving | |
jmp | MotorHang | ||
HallFound: | MTIMCNT, DriveTime |
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mov |
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cbeqa | #20, StableDrive |
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mov | #MaxDeadTime, DriveTime |
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StableDrive: | DeadTime |
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lda |
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add | DriveTime |
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sta | ActualPeriod |
| ; Disconnect coil |
clr | PTAD |
| |
mov | #(mKBISC_KBACK), KBISC | ; Clear Flag and mask interrupt | |
mov | #(mMTIMSC_TSTPmMTIMSC_TRST), MTIMSC; mask interrupt and clear flag | ||
rts |
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;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
;Read Temperature Sensor Value
;Timer prescalar=8
;Bus = 2MHz
;Max OF period = 1.02ms
;Timer resolution = 4us ;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% ReadSensor:
mov | #(MTIM_BUS_CLKMTIM_DIV_8), MTIMCLK; Change Timer resolution | |
mov | #63, MTIMMOD | ; OF period |
mov | #(mMTIMSC_TRSTmMTIMSC_TOIE), MTIMSC; Reset and Start Timer | |
mov | #(mACMPSC_ACMEmACMPSC_ACIEACMP_OUTPUT_RAISING), ACMPSC | |
bset | ; Enable ACMP, start RC rise | |
ACMPSC_ACF, ACMPSC | ; Clear ACMP Flag | |
wait | ; delay to OF and make the read process deterministic | |
brclr | ACMPSC_ACF, ACMPSC, NoReading |
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mov | MTIMCNT, SensorReading | ; Clear ACMP Flag |
bset | ACMPSC_ACF, ACMPSC | |
clr | ACMPSC | ; disable ACMP |
wait | #(mMTIMSC_TSTPmMTIMSC_TRST), MTIMSC; mask interrupt and clear flag | |
mov | ||
mov | #(MTIM_BUS_CLKMTIM_DIV_256), MTIMCLK; Reset Timer resolution | |
rts |
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30 | Freescale Semiconductor |
