MC9S12_增强型捕捉定时器模块

Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. TM Freescale HCS12 微控制器 微控制器 MC9S12DP256 2005年年8月月 Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. TM Enhanced Capture Timer Module 增强型捕捉定时器模块增强型捕捉定时器模块 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 2 ECT 模块结构模块结构 一个16位向上带可编程 预分频的主计数器. 一个16位的带可编程预 分频的模数向下计数器 8个独立的定时器通 道，每个通道具备输入 捕捉和输出比较功能 4个8位脉冲累加器，也 可设置成2个16位脉冲 累加器. 通过对寄存器编程可以 实现不同的功能 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 3 定时器结构定时器结构 预分频选择 PR2:0 M Clock 1 2 4 8 16 32 64 128 TCNT 15.0 DATA BUS PIN RRRR 1 计数器使能 0 计数器禁止 TEN TSWAI TSFRZ TFFCA TSCR1 -定时器控制寄存器定时器控制寄存器 RST: 0 0 0 0 0 0 0 0 TCNT CLK . TEN B0.B7 B8.B15 R = Reserved $0006 Address Offset $0004, 05 $FFFE $FFFF$0000 * * * * TOF 模块时钟模块时钟 计数器寄存器 脉冲累加器 计数器寄存器 脉冲累加器 计时器溢出时，对溢出标志位 置位，如允许中断，则向CPU 发出中断请求 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 4 定时器，预分频，计数器定时器，预分频，计数器 寄存器: 1. TCNT 16 位自由运行/模计数器 B15.B0 RST: 0.0 Address Offset $0004, $0005 1 定时器溢出中断使能 0 定时器中断禁止 $000D 3. TSCR2 RST: 0 0 0 0 0 0 0 0 1 定时器由OC7比较符合时复位 0 定时器自由运行 TCRE - 允许使用PWM功能 B7.B0 TOI 0 0 0 TCRE PR2 PR1 PR0 2. TFLG2 定时器溢出标志位，写 1 清零 TOF 0 0 0 0 0 0 0 B7.B0 RST: 0 0 0 0 0 0 0 0 $000F 标志寄存器标志寄存器 除以 1 2 4 8 16 32 64 128 0 0 0 0 1 1 1 1 0 1 0 1 0 1 0 1 0 0 1 1 0 0 1 1 PR2 PR1 PR0 预分频系数选择预分频系数选择 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 5 定时器编程步骤定时器编程步骤 用途： 产生周期中断 初始化 1. 设定预分频系数 2. 定时器溢出中断使能 3. 定时器使能 中断函数 1. 清标志位 2. 用户自己的代码 void ECT_Init(void) TSCR2_PR = 7; /prescale factor is 8, bus clock/128=8Mhz/8 TSCR2_TOI = 1; /timer overflow interrupt enable TSCR1_TEN = 1; /timer enable #pragma CODE_SEG NON_BANKED #pragma TRAP_PROC void Int_TimerOverFlow(void) TFLG2_TOF = 1; /clear timer overflow flag /用户自己的代码 . #pragma CODE_SEG DEFAULT 在PRM文件中，加入 VECTOR ADDRESS 0 xFFDE Int_TimerOverFlow TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 6 输出比较功能输出比较功能 16位自由运行计数器 16位输出比较寄存器 比如：0 x5678 软件可以修改 引脚控制逻辑 中断请求 OCxF状态标志位置位， 当比较发生时（值相等时） OCxI 中断屏蔽 (通过软件使能) 共有8个输出比较通道 每个通道有自己的向量表和控制寄存器 在特定的时刻输出一个信号在特定的时刻输出一个信号 当比较寄存器的值和计数 器的值相等时，采取行动 比如：当TCNT=0 x5678 TCNT TOCx Pin OCx 比较比较 比较器 相等相等 置位置位 OR OR 清零 翻转 清零 翻转 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 7 输出比较寄存器输出比较寄存器 C7F C6F C5F C4F C3F C2F C1F C0F OM7OL7OM6OL6OM5OL5OM4OL4 1. TC7 TC0 2. TFLG1 3. TIE 4. TCTL1 比较/捕捉标志位 写 1清除中断状态标志位 比较/捕捉屏蔽位 0 = 屏蔽中断请求 1 = 中断请求允许 OMXOLXAction on OCx 0 0 1 1 0 1 0 1 No Action OCx Toggle OCx Drive OCx LO Drive OCx HI 输出模式和输出电平 (O7OC0) B6B5B4B3B7B2B1B0 5. TCTL2 B6B5B4B3B7B2B1B0 RST: 0 0 0 0 0 0 0 0 $0008 RST: 0 0 0 0 0 0 0 0 RST: 0 0 0 0 0 0 0 0 RST: 0 0 0 0 0 0 0 0 $000C $000E $0009 Address Offset $0010 - $0011 - - $001E - $001F 16 位捕捉/比较寄存器 (TC7) 16 位捕捉/比较寄存器 (TC0) - - C7F C6F C5F C4F C3F C2F C1F C0F B6B5B4B3B7B2B1B0 OM3OL3OM2OL2OM1OL1OM0OL0 B6B5B4B3B7B2B1B0 FOC7 FOC6 FOC5 FOC4 FOC3 FOC2 FOC1 FOC06. CFORC B7 B6 B5 B4 B3 B2 B1 B0 RST: 0 0 0 0 0 0 0 0 $0001 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 8 输出比较输出比较, OC7-OC0 中断: 清除中断，对TFLG1 其中的OCxF写1 不要使用位操作 使用OC7-OC0向量表 复位条件： 自由运行计数器(TCNT)被初始化为$0000，并且被禁止 输出比较寄存器被初始化为$0000 捕捉/比较引脚与比较功能断开 中断被禁止 标志位被清零 强制比较位被清零 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 9 输出比较输出比较, 通道通道7 OC7 (1 of 2) 用途: 1、多个输出比较引脚的控制 2、通过2个输出比较来控制1个引脚，可以输出短脉冲 在每个时钟周期内，输出比较寄存器7和自由运行的计数器进行比较 如果它们的值相等，则： 1、中断标志位被置1 2、输出引脚OC7-OC0的状态被改变 或/和 产生中断 OC7可以影响多个引脚（OC7-OC0） 当OC7和OC7-OC0某个引脚的动作有冲突时，OC7的动作将被执行 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 10 输出比较输出比较 7 (2 of 2) C7I C6F C5F C4F C3F C2F C1F C0F OC7M7 OC7M6 OC7M5 OC7M4 OC7M3 OC7M2 OC7M1 OC7M0 4. TIE 定时器中断允许使能 5. OC7M - OC7MASK B7.B0 1 - TC7 -16 位比较寄存器7. RST: 0 0 0 0 0 0 0 0 RST: 0 0 0 0 0 0 0 0 $0002 $000C C7F C6F C5F C4F C3F C2F C1F C0F RST: 0 0 0 0 0 0 0 0 $000E B7.B0 2. TCNT - 16-位计数器 B15.B0 RST: 0.0 $0004, $05 B7.B0 3. TFLG1 标志位 OC7D7 OC7D6 OC7D5 OC7D4 OC7D3 OC7D2 OC7D1 OC7D0 6. OC7D - OC7DATA RST: 0 0 0 0 0 0 0 0 $0003 B7.B0 OC7MASK 根据寄存器的设置，可以 控制任意一路或全部输出比较引脚 OC7DATA 当OC7比较事件 发生时，引脚的逻辑电平 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 11 定时器溢出时电平翻转定时器溢出时电平翻转 TOV7 TOV6 TOV5 TOV4 TOV3 TOV2 TOV1 TOV0 TOVx 定时器溢出时，电平翻转 只有当通道被配置成输出比较时，才有效 Address Offset $0007 RST: 0.0 1. TTOV-定时器溢出时电平翻转寄存器 $000D 2. TSCR2 定时器系统控制寄存器 RST: 0 0 0 0 0 0 0 0 B7.B0 TOI 0 0 0 TCRE PR2 PR1 PR0 1 定时器由 OC7 比较事件发生来复位 0 定时器自由运行 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 12 输入捕捉输入捕捉, IC7-IC0 (1 of 3) 用途用途: 1、测量事件发生的间隔时间、测量事件发生的间隔时间 2、对实时时间进行响应 输入捕捉能感应到引脚上的电平的变化 如果发现电平变化，则： 、对实时时间进行响应 输入捕捉能感应到引脚上的电平的变化 如果发现电平变化，则： 1、计数器的值被保存到到输入捕捉寄存器中，状态 标志位被置 、计数器的值被保存到到输入捕捉寄存器中，状态 标志位被置1 2、如果中断允许，则向、如果中断允许，则向CPU发出中断请求发出中断请求 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 13 输入捕捉功能输入捕捉功能 比较/捕捉 单元 16位自由运行计数器 16位输入捕捉锁存器 捕捉发生时，状态位置1 向CPU发出中断请求 Edge 沿选择 检测 ICx ICxF ICxI 上升/下降沿 可选中断屏蔽 当外部事件发生时，或外部信号输入发生变化时，记录当前时间 TCNT TICx 延时 计数器 0 0 0 0 0 0 DLY1 DLY0 Bit 7 6 5 4 3 2 1 0 DLYCT 延时计数器控制寄存器 DLY1:0 - Delay Counter Values 00 = Disabled 01 = 256 M Clocks 10 = 512 M Clocks 11 = 1024 M Clocks Address Offset $0029 注: 如果输入信号电平和跳变之前的电平相反时， 延时计数器在当前时钟计数时刻产生一个脉冲， 它用来去除噪声 OR OR 16位保持寄存器 应用: ABS 刹车. 雷达测距，发动机 引脚 共有8个输入捕捉通道 每个通道有自己的向量表和控制寄存器 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 14 输入捕捉输入捕捉, IC7-IC0 (2 of 3) B2B1B0 EDGxB 输入捕捉沿控制(IC7IC0) EDGxAICx EDGE 0 1 0 1 无边沿 ICx 禁止 上升沿 下降沿 任何沿 4. TCTL3 C7F C6F C5F C4F C3F C2F C1F C0F C7I C6I C5I C4I C3I C2I C1I C0I 2. TFLG1 3. TMSK1 1. TC7 TC0 EDG7B EDG7A EDG6B EDG6A EDG5B EDG5A EDG4B EDG4A 5. TCTL4 EDG3B EDG3A EDG2B EDG2A EDG1B EDG1A EDG0B EDG0A B6B5B4B3B7B2B1B0 RST: 0 0 0 0 0 0 0 0 RST: 0 0 0 0 0 0 0 0 RST: 0 0 0 0 0 0 0 0 RST: 0 0 0 0 0 0 0 0 B6B5B4B3B7B2B1B0 B6B5B4B3B7B2B1B0 B6B5B4B3B7B2B1B0 $000E $000C $000A $000B Address Offset $0010 - $0011 - - $001E - $001F 16 位捕捉/比较寄存器 (TC7) 16 位捕捉比较寄存器 (TC0) - - 比较/捕捉标志位 写 1清除中断状态标志位 比较/捕捉屏蔽位 0 = 屏蔽中断请求 1 = 中断请求允许 0 0 1 1 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 15 输入捕捉输入捕捉/输出比较选择输出比较选择 IOS7 IOS6 IOS5 IOS4 IOS3 IOS2 IOS1 IOS0 TIOS 定时器输入捕捉定时器输入捕捉/输出比较选择寄存器输出比较选择寄存器 IOSx = 1 输出比较功能 = 0 输入捕捉功能 RST: 0 0 0 0 0 0 0 0 $0000 B6B5B4B3B7B2B1B0 TIMER 定时器使能 1 计数器使能 0 计数器禁止 TSCR 定时器系统控制寄存器 RST: 00 $0006 TEN TSWAI TSFRZ TFFCA Reserved TSWAI 在WAIT模式时，定时器停止 0 = 不停止 1 = 停止 TSBCK 在DEBUG模式时， 定时器停止 0 = 不停止 1 = 停止 TFFCA 定时器快速标志位清除使能 0 = 定时器标志位正常清零 1 = 输入捕捉时读取寄存器, 输出比较时写寄存器，可以对相应通道标志位清零 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 16 脉冲累加模式脉冲累加模式 8 位计数器 PA7/PAI 脉冲累加器输入引脚 事件计数模式 引脚作为计数器时钟 软件选择以什么沿来计数 计数器溢出时，产生中断（可选） 在PAI引脚每个主动电平将产生中断 8 位计数器 PA7/PAI 脉冲累加器输入引脚 时间累加模式 引脚作为计数器 软件选择主动电平作为门的输入 当计数器溢出时产生中断 在使能的引脚上后面的边缘时产生中断 自由运行 E/64时钟 对事件计数模式，PEDGE 选 择哪个PAI的沿用来增加 PACNT寄存器 对门累加模式，PEDGE选择哪 个PAI 状态用来禁止计数 (比如. PEDGE = 1 -? 禁止计 数 当PAI = HI). TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 17 脉冲累加结构脉冲累加结构 PIN TCx PIN Logic DIV by 64 Control Reg. + 8/16 BIT CNTR Holding Register POLARITY CONTROL PTx IRQ D A T A B U S 注1: PTx 可以被用作脉冲累加， 输入捕捉或输出比较 这里PTx = PT0 - PT3 SELECTED CLOCK Delay Counter Edge Detector 0 0 0 0 0 0 DLY1 DLY0 Bit 7 6 5 4 3 2 1 0 DLYCT - Delay Counter Control Register DLY1:0 - Delay Counter Values 00 = Disabled 01 = 256 M Clocks 10 = 512 M Clocks 11 = 1024 M Clocks Address Offset $0029 注: 如果输入信号电平和跳变之前的电平相反时， 延时计数器在当前时钟计数时刻产生一个脉冲， 它用来去除噪声 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 18 增强型捕捉增强型捕捉 ECT比标准的比标准的TIM增强的特点增强的特点 4个输入捕捉通道有16位缓冲寄存器 4个8位 / 2个16位脉冲累加器 16位带4位预分频的模数向下计数器 4个用户选择的延时计数器用来消除噪声 主定时器预分频扩展至7位 队列和锁定模式 主定时器 输入捕捉寄存器 保持寄存器 外部事件外部事件 拷贝拷贝拷贝拷贝 拷贝拷贝 读取数据 读取数据 读取数据 读取数据 外部事件外部事件 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 19 模向下计数器模向下计数器 二进制向下计数器. 可以完全控制计数起始值 应用于精确事件计时-用于产生周期性的标志位和中 断 主定时器单独运行。时钟来自总线时钟，并经过预分 频。 可以被设置为定时中断或产生标志位。或装载初始值 后向下计数到$0000。 ParameterValueUnits Crystal Frequency16MHz Bus Frequency8MHz Bus Tick Time125.0000nS Periodic Interrupt Time191uS Bus Ticks Required1528.00Ticks Modulus Counter Prescaler4 Modulus Counter Start Value382 装载 向下计数 至0 执行动作执行动作 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 20 ABS 应用举例应用举例 PT0 PT1 PT2 SENSOR 1 SENSOR 2 SENSOR 3 SENSOR 4 PB1 PB2 PB3 PB4 BRAKE FLUID PUMP SYSTEM SIGNAL CONDITIONING LOGIC IC/PA SIGNAL CONDITIONING LOGIC SIGNAL CONDITIONING LOGIC SIGNAL CONDITIONING LOGIC PT3 左前轮 右前轮 左前轮 右前轮 左后轮 右后轮 左后轮 右后轮 H C S 1 2 TIMER 定时器输入捕捉测量车轮转速 发送命令到刹车压力调节阀来调节压力 IC/PA IC/PA IC/PA 如果左右轮速脉冲周期不等 则则 调节电磁阀调节电磁阀 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 21 低功耗模式低功耗模式 TSCR 定时器系统控制寄存器 RST: 00 $0006 TEN TSWAI TSFRZ TFFCA Reserved TSWAI 在WAIT模式时，定时器停止 0 = 不停止 1 = 停止 TSBCK 在DEBUG模式时， 定时器停止 0 = 不停止 1 = 停止 TFFCA 定时器快速标志位清除使能 0 = 定时器标志位正常清零 1 = 输入捕捉时读取寄存器, 输出比较时写寄存器，可以对相应通道标志位清零 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 22 PULSE WIDTH MODULATION (PWM) 脉宽调制模块脉宽调制模块 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 23 什么是什么是PWM? period on T T =Ratio Width Pulse TonToff Tperiod Average 0 % 10 % 50 % 90 % 99 % 应用: ? D/A转换 ? 马达控制 ? 音调生成 ? 正弦波生成 占空比占空比=高电平时间高电平时间/周期 周期 =Ton /Tperiod TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 24 PWM信号的产生信号的产生(边缘对齐边缘对齐) 开始 周期 TPWM TPWM 占空比 TDuty PWMDTYx PWMPERxPWMPERx fClock , TClock 8-bit Counter PWMCNTx 时钟 8-bit Compare = PWMDTYx 8-bit Compare = PWMPERx 0 x000 x00 Reset Pin 当当8位计数器的值等于位计数器的值等于PWMDTY(duty cycle寄存器寄存器)时，电平从有效跳到无效；时，电平从有效跳到无效； 当当8位计数器的值等于位计数器的值等于PWMPER（周期寄存器）时，电平从无效跳到有效，然（周期寄存器）时，电平从无效跳到有效，然 后计数器清后计数器清0，重新开始计数，重新开始计数 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 25 PWM 模块特点模块特点 ? 8个带周期占空比可程控的PWM独立通道 ? 4个可程控选择的时钟源 ? 每个PWM通道有专用的计数器 ? PWM每个通道脉冲极性可以选择 ? 每个PWM通道可使能/禁止 ? 周期和占空比双缓冲 ? 每个通道有中心对齐和边缘对齐方式 ? 分辨率: 8位 (8通道), 16位 (4通道) ? 带中断功能的紧急切断 ? 工作模式 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005. Slide 26 PWM 结构框图结构框图 通道通道 7 周期和占空比计数器 通道通道 6 周期和占空比计数器 . 通道通道 0 周期和占空比计数器 管脚 使能选择 极性选择 对齐方式选择 管脚 管脚 TM Freescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. A