tpu_comm.c

mpc564 时钟中断 时钟中断

/**************************************************************************/
/* FILE NAME: tpu_comm.c                      COPYRIGHT (c) MOTOROLA 2002 */
/*                                                All Rights Reserved     */
/*                                                                        */
/* DESCRIPTION: This file contains the TPU COMM interface functions.      */
/* These functions allow the user to control control TPU channels running */
/* the COMM function.                                                     */
/* The functions included are as follows:                                 */
/*                                                                        */
/* tpu_comm_init_sensored                                                 */
/* tpu_comm_force_state                                                   */
/* tpu_comm_init_sensorless_match                                         */
/* tpu_comm_write_upper                                                   */
/* tpu_comm_write_lower                                                   */
/* tpu_comm_write_offset                                                  */
/* tpu_comm_get_state_no                                                  */
/* tpu_comm_start_update                                                  */
/*                                                                        */
/*========================================================================*/
/* HISTORY           ORIGINAL AUTHOR: Ken Terry                           */
/* REV      AUTHOR      DATE       DESCRIPTION OF CHANGE                  */
/* ---   -----------  ---------    ---------------------                  */
/* 1.0   K Terry      28/Aug/02    Initial version of function.           */
/**************************************************************************/
#include "tpu_comm.h"
#include "mpc500_util.h"

/*******************************************************************************
FUNCTION      : tpu_comm_init_sensored
PURPOSE       : Initialises the TPU to run the COMM function in sensored mode
INPUTS NOTES  : This function has 4 parameters:

                 *tpu    	- This is a pointer to the TPU3 module to use. It is of
                           	type TPU3_tag which is defined in m_tpu3.h

                 channel 	- This is the channel number of the master COMM
                           	channel.

                 no_of_pins 	- This parameter determines the number of TPU channels
                 	    	required to generate the commutation signal. The maximum
                 	    	number of channels that can be used is 8.
                 	   
                 update_period 	- This parameter is used to schedule an update of all channels
                 	    	when a link is received by the master channel so that the
                 	    	new pin states occur simultaneously on all channels.
                 	   
                 comm_state[] 	- This is an array of values which are written to the parameter
                	    	RAM. Each comm_state value defines an output state in the
                	    	commutation sequence. No checking is done to determine if the
                	    	parameter RAM of channels beyond those used by the COMM function
                	    	are written. The user must ensure that the state_table fits into
                	    	the available channel parameter RAM.
                	    
                 no_of_states 	- This parameter defines the number of comm_state[] elements
                	    	to be written tot he parameter RAM 

RETURNS NOTES : none

*******************************************************************************/
void tpu_comm_init_sensored (struct TPU3_tag *tpu, UINT8 channel, INT16 no_of_pins,   
                    INT16 update_period, INT16 comm_states[], INT16 no_of_states)
{

	UINT8	chan_index;
	UINT8	act_channel;
	UINT8	state_index;
	INT16	no_pins_pram;

/* Disable all channels required for the COMM function */
	for (chan_index = 0; chan_index < no_of_pins; chan_index++)
	{
		act_channel = (channel+chan_index) & 0xf;
		tpu_disable(tpu, act_channel);
	}

/* Select COMM function on master COMM channel */
	tpu_func( tpu, channel, TPU_FUNCTION_COMM);


/* Select Sensored Mode for Host Sequence Register */	
	tpu_hsq(tpu, channel, COMM_SENSORED);

/* Write NO_OF_PINS and UPDATE_PERIOD to parameter RAM */
	no_pins_pram = (VUINT16)(no_of_pins<<8 & 0x0f00);
	tpu->PARM.R[channel][COMM_NO_OF_PINS] = no_pins_pram;
	tpu->PARM.R[channel][COMM_UPDATE_PERIOD] = update_period;
	
/* Write state values to the Parameter RAM */
	
	state_index = 0;	
	while(state_index < no_of_states)
	{
		tpu->PARM.R[(channel + 1 + state_index/8)][state_index - (state_index/8)*8] = comm_states[state_index];
		state_index++;
	}

}


/*******************************************************************************
FUNCTION      : tpu_comm_force_state
PURPOSE       : This function updates the STATE_NO parameter in the master COMM channel
		and then issues an hsr request to force the COMM channels to the required
		state
INPUTS NOTES  : This function has 3 parameters:

                 *tpu    	- This is a pointer to the TPU3 module to use. It is of
                           	type TPU3_tag which is defined in m_tpu3.h

                 channel 	- This is the channel number of the master COMM
                          	channel.

                 state_no 	- This parameter selects the required STATEx value to be output
                 		on the COMM channel pins
                 	   
RETURNS NOTES : none

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


void tpu_comm_force_state (struct TPU3_tag *tpu, UINT8 channel, INT16 state_no)
{

INT16	no_of_states_pram;


	no_of_states_pram = tpu->PARM.R[channel][COMM_NO_OF_STATES];
	no_of_states_pram = (no_of_states_pram & 0xff00) | (state_no & 0x00ff);
	tpu->PARM.R[channel][COMM_STATE_NO] = no_of_states_pram;
    	tpu_hsr(tpu, channel, COMM_FORCE_STATE);
}


/*******************************************************************************
FUNCTION      : tpu_comm_init_sensorless_match
PURPOSE       : Initialises the TPU to run the COMM function in sensorless match update mode
INPUTS NOTES  : This function has 5 parameters:

                *tpu    	- This is a pointer to the TPU3 module to use. It is of
                           	type TPU3_tag which is defined in m_tpu3.h

                channel 	- This is the channel number of the master COMM
                           	channel.

                no_of_pins 	- This parameter determines the number of TPU channels
                 	    	required to generate the commutation signal. The maximum
                 	    	number of channels that can be used is 8.

		counter-addr	- This parameter contains the address in parameter RAM of
				of the angualr position counter - POSITION_COUNT - used for
				state tests on sensorless mode.                 	   

                update_period 	- This parameter is used to schedule an update of all channels
                 	    	when a link is received by the master channel so that the
                 	    	new pin states occur simultaneously on all channels.

                comm_state[] 	- This is an array of values which are written to the parameter
                	    	RAM. Each comm_state value defines an output state in the
                	    	commutation sequence. No checking is done to determine if the
                	    	parameter RAM of channels beyond those used by the COMM function
                	    	are written. The user must ensure that the state_table fits into
                	    	the available channel parameter RAM.
                	    
                no_of_states 	- This parameter defines the number of comm_state[] elements
                	    	to be written tot he parameter RAM 

RETURNS NOTES : none

*******************************************************************************/
void tpu_comm_init_sensorless_match (struct TPU3_tag *tpu, UINT8 channel, INT16 no_of_pins,   
                    INT16 counter_addr, INT16 update_period, INT16 comm_states[],
                    INT16 no_of_states)
{

	UINT8	chan_index;
	UINT8	act_channel;
	UINT8	state_index;
	INT16	no_pins_pram;
	

/* Disable all channels required for the COMM function */
	for (chan_index = 0; chan_index < no_of_pins; chan_index++)
	{
		act_channel = (channel+chan_index) & 0xf;
		tpu_disable(tpu, act_channel);
	}

/* Select COMM function on master COMM channel */