Freescale Semiconductor Application Note

Document Number: AN2841 Rev. 1, 04/2005

Using the Hall Decoder (HD) eTPU Function

Covers the MCF523x, MPC5500, and all eTPU-equipped Devices
by: Milan Brejl, Michal Princ System Application Engineers, Roznov Czech System Center Valeriy Phillipov System Application Engineer, Kiev Embedded Software Lab

Introduction

Table of Contents
1 2 3 4 5 6 7 Introduction..........................................................1 Function Overview...............................................1 Function Description............................................2 C Level API for Function......................................9 Example Use of Function ..................................17 Summary and Conclusions ...............................19 References ........................................................19

The Hall decoder (HD) enhanced time processor unit (eTPU) function is one of the functions included in the DC motor control eTPU function set (set3). This application note is intended to provide simple C interface routines to the HD eTPU function. The routines are targeted at the MCF523x and MPC5500 families of devices, but they could be easily used with any device that has an eTPU.

Function Overview

The HD eTPU function is intended to process signals generated by Hall sensors in motion control systems. It uses one, two, three, or four channels to decode Hall sensor signals, and to produce position and direction information for the CPU. HD also provides a capability to commutate motor phases driven by the PWMC function.

Freescale Semiconductor, Inc., 2005. All rights reserved.

Function Description

PWMC

PWMC

PWMC

Commutation of PWM Phases Sector Direction Revolution_period Sector_period Revolution_counter Sector_period Sector_period Sector_period HD

Figure 1. Functionality of HD

Function Description

The HD function uses one to four eTPU channels configured as inputs. The primary purpose of this function is to decode the signals derived from Hall effect sensors used with a brushless motor, and perform commutations of PWM phases. HD function calculates the following parameters for the CPU: Sector - This parameter determines the position of the motion system in one of the sectors. Sector parameter value is encoded based on the input signal states; see Figure 2.
Bit: 7 Not Used Phase D Pin State Phase C Pin State Phase B Pin State Phase A Pin State 4 3 2 1 0

Figure 2. Encoding Sector Parameter

Direction - This parameter determines the direction of the motion system either positive (incremental) or negative (decremental). The direction is calculated only in configurations with 3 or 4 input channels (phases). Revolution Counter - This parameter determines the number of electrical revolutions. The revolution counter is incremented or decremented on each revolution, based on the current direction. The revolution counter is calculated only in configurations with 3 or 4 input channels (phases).
Using the Hall Decoder (HD) eTPU Function, Rev. 1

Freescale Semiconductor

Function Description

Revolution Period - This parameter determines the TCR time of the last revolution. The parameter value is updated each time the sector is changed. The revolution period is measured from the last edge of similar type (low-high / high-low), on the same channel, to the current edge. Sector Period - This parameter determines the TCR time between the last two changes of the sector. The parameter value is updated each time the sector is changed. The sector period is measured from the last edge to the current edge; see Figure 3.

Hall Sensor Signals

Revolution Periods

Sector Periods

Figure 3. Measuring Revolution Period and Sector Period

Last Edge Time - This parameter stores the TCR time of the last incoming edge.

The HD function is capable of performing commutations to PWMC phases. A detailed description of commutation is in Section 3.2, Commutation.

3.1

Example Configurations

The HD function has been designed to provide as much flexibility as possible in processing the Hall sensor signals and driving the commutations. This flexibility may allow the HD function to meet the needs of unusual drive schemes, for example, when used in driving an SR motor. However, since the primary purpose of the HD function is to drive BLDC motors in a conventional manner, there are several pre-defined configurations. The Hall sensor positions on stator and generated Hall sensor signals of the pre-defined configurations are illustrated in Figure 4 through 9. Each of the pre-defined configuration covers the number of phases, internal masks for setting the direction, and other settings.

Using the Hall Decoder (HD) eTPU Function, Rev. 1 Freescale Semiconductor 3

Function Description

Hall Sensor Signal

A
1 0 1 0

Sector

A 1
1

+
0

0
Figure 4. Pre-defined Configurations: One Phase

Hall Sensor Signal Hall Sensor Signal

A B
0 2 3 1 0 2 3 1 0 2 3

Sector

3
11

+ 1
01 10

00

0
Figure 5. Pre-defined Configurations: Two Phases

Using the Hall Decoder (HD) eTPU Function, Rev. 1 4 Freescale Semiconductor

Function Description

Hall Sensor Signal Hall Sensor Signal Hall Sensor Signal

A B C
0 4 6 7 3 1 0 4 6 7 3

Sector

A 3
011

001

+
100

111

000

110

4
Figure 6. Pre-defined Configurations: Three Phases - by 60 Deg

Hall Sensor Signal Hall Sensor Signal Hall Sensor Signal

A B C
4 6 2 3 1 5 4 6 2 3 1

Sector

A 1
001

101

+
110

011

100

010

6
Figure 7. Pre-defined Configurations: Three Phases - by 120 Deg

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Function Description

Hall Sensor Signal Hall Sensor Signal Hall Sensor Signal Hall Sensor Signal

A B C D
0 1 8 12 14 15 7 3 1 0 8 12 14 15 7 3 1 0 8 12 14 15 7

Sector

A 3
0011

7
0111

B 15
1111

1
0001 0000

+
1000 1100

C
1110

0 8

14 12 D

Figure 8. Pre-defined Configurations: Four Phases - by 45 Deg

Hall Sensor Signal Hall Sensor Signal Hall Sensor Signal Hall Sensor Signal

A B C D
9 8 12 4 6 7 3 11 9 8 12 4 6 7 3 11 9 8 12 4 6 7 3

Sector

A 11
1011

3
0011

B 7
0111 0110

9
1001

+
1100 0100

D
1000

8 12

6 4 C

Figure 9. Pre-defined Configurations: Four Phases - by 90 and 45 Deg

Using the Hall Decoder (HD) eTPU Function, Rev. 1 6 Freescale Semiconductor

Function Description

3.2

Commutation

The HD function has optional support for commutation capability using the PWMC function. The user should create 1, 2, 3, or 4 commutation tables, according to the number of HD phases and pass their pointers to the HD initialization function. When an edge of any input Hall sensor signal is detected, a commutation command to one or more PWMC phases is sent, and then the sector value is changed. The commutation tables must be defined as structures of uint32_t. Each phases commutation table consists of eight commutation commands. Each table entry is one commutation command. The order of table entries is as follows: 1) Commutation command to execute on LH transition, on incremental direction, as first (lh_i_0). 2) Commutation command to execute on LH transition, on incremental direction, as second (lh_i_1). 3) Commutation command to execute on LH transition, on decremental direction, as first (lh_d_0). 4) Commutation command to execute on LH transition, on decremental direction, as second (lh_d_1). 5) Commutation command to execute on HL transition, on incremental direction, as first (hl_i_0). 6) Commutation command to execute on HL transition, on incremental direction, as second (hl_i_1). 7) Commutation command to execute on HL transition, on decremental direction, as first (hl_d_0). 8) Commutation command to execute on HL transition, on decremental direction, as second (hl_d_1).
PWMC

PWMC

PWMC

Commutation of PWM Phases HD Commutation Tables (etpu_hd_phase_commut_cmds_t structures) Phase A Phase B Phase C lh_i_0 lh_i_1 lh_d_0 lh_d_1 hl_i_0 hl_i_1 hl_d_0 hl_d_1 lh_i_0 lh_i_1 lh_d_0 lh_d_1 hl_i_0 hl_i_1 hl_d_0 hl_d_1 lh_i_0 lh_i_1 lh_d_0 lh_d_1 hl_i_0 hl_i_1 hl_d_0 hl_d_1

Legend: lh ... low-high edge hl ... high-low edge i ... incremental direction d ... decremental direction 0 ... first commut. command 1 ... second commut. command

Figure 10. Commutation

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Function Description

8
// defines channel numbers like PWMMDC0_PHASEA_BASE_CHANNEL,... // defines phase commutation commands structure type etpu_hd_phase_commut_cmds_t // defines commutation commands and phase options <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEB_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEA_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEB_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEA_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEC_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEB_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEC_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEB_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEA_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEC_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEA_BASE_CHANNEL, <<16)+(FS_ETPU_PWMMDC_OFF_LOW <<8)+PWMMDC0_PHASEC_BASE_CHANNEL,

Example of Commutation Tables definition:

#include "HD_etpu_gct.h"

#include "etpu_hd.h"

#include "etpu_pwmmdc.h"

etpu_hd_phase_commut_cmds_t phaseA_commut_cmds = {

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEA_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEB_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEA_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEB_BASE_CHANNEL

};

etpu_hd_phase_commut_cmds_t phaseB_commut_cmds = {

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEB_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEC_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEB_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEC_BASE_CHANNEL

Using the Hall Decoder (HD) eTPU Function, Rev. 1

};

etpu_hd_phase_commut_cmds_t phaseC_commut_cmds = {

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEC_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEA_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEC_BASE_CHANNEL,

(FS_ETPU_PWMMDC_DUTY_POS<<24)+(FS_ETPU_PWMMDC_OFF_LOW

(FS_ETPU_PWMMDC_DUTY_NEG<<24)+(FS_ETPU_PWMMDC_ON_ACTIVE_LOW<<16)+(FS_ETPU_PWMMDC_ON_ACTIVE_HIGH<<8)+PWMMDC0_PHASEA_BASE_CHANNEL

Freescale Semiconductor

};

C Level API for Function

3.3 3.4

Interrupts Performance

The HD function generates an interrupt service request to the CPU on each detected edge.

Like all eTPU functions, the HD function performance in an application is to some extent dependent upon the service time (latency) of other active eTPU channels. This is due to the operational nature of the scheduler. The influence of the HD function on the overall eTPU performance can be expressed by the following parameter: maximum eTPU busy-time per sector This value determines the eTPU time necessary for processing one transition of a Hall sensor signal. Table 1 lists the maximum eTPU busy-times per sector in eTPU cycles that depend on the mode of commutation processing. Where commutation processing is enabled, the value also covers the processing of two commutation commands performed by the PWMC function.
Table 1. Maximum eTPU Busy-Time per Sector
Maximum eTPU Busy-time per Sector [eTPU cycles] 56 308

Commutation Processing Mode

Commutation processing disabled Commutation processing enabled

The eTPU module clock is equal to the CPU clock on MPC5500 devices, as well as the peripheral clock (half of the CPU clock) on MCF523x devices. For example, the eTPU module clock is 132 MHz on a 132-MHz MPC5554, and one eTPU cycle takes 7.58ns; it is only 75 MHz on a 150-MHz MCF5235, and one eTPU cycle takes 13.33ns. The performance is influenced by compiler efficiency. The above numbers, measured on the code compiled by eTPU compiler version 1.0.0.5, are given for guidance only and are subject to change. For up to date information, refer to the information provided in the particular eTPU function set release available from Freescale.

C Level API for Function

The following routines provide the application developer easy access to the HD function. Use of these functions eliminates the need to directly control the eTPU registers. There are 17 functions added to the application programming interface (API). The routines can be found in the etpu_hd.h and etpu_hd.c files, which should be included in the link file along with the top level development file(s).

Using the Hall Decoder (HD) eTPU Function, Rev. 1 Freescale Semiconductor 9

C Level API for Function

Figure 11 shows the HD API state flow and lists API functions which can be used in each of its states.

fs_etpu_hd_init_1ph() fs_etpu_hd_init_2ph() fs_etpu_hd_init_3ph60() fs_etpu_hd_init_3ph120() fs_etpu_hd_init_4ph45() fs_etpu_hd_init_4ph90and45() fs_etpu_hd_set_commut_on(...)

fs_etpu_hd_set_direction(...) fs_etpu_hd_set_revolution_counter(...) fs_etpu_hd_state_struct_addr(...) fs_etpu_hd_get_sector(...) fs_etpu_hd_get_direction(...) fs_etpu_hd_get_revolution_counter(...) fs_etpu_hd_get_revolution_period(...) fs_etpu_hd_get_sector_period(...) fs_etpu_hd_get_pin_state(...)

fs_etpu_hd_set_direction(...) fs_etpu_hd_set_revolution_counter(...) fs_etpu_hd_state_struct_addr(...) fs_etpu_hd_get_sector(...) fs_etpu_hd_get_direction(...) fs_etpu_hd_get_revolution_counter(...) fs_etpu_hd_get_revolution_period(...) fs_etpu_hd_get_sector_period(...) fs_etpu_hd_get_pin_state(...)

fs_etpu_hd_set_commut_off(...)

Figure 11. HD API State Flow

All HD API routines will be described in order and are listed below: Initialization Functions:
int32_t fs_etpu_hd_init_1ph( uint8_t channel_phaseA, uint8_t priority, uint8_t timer, uint8_t direction, uint8_t PWMMDC_chan, etpu_hd_phase_commut_cmds_t *phaseA_commut_cmds); int32_t fs_etpu_hd_init_2ph( uint8_t channel_phaseA, uint8_t channel_phaseB, uint8_t priority, uint8_t timer, uint8_t direction, uint8_t PWMMDC_chan, etpu_hd_phase_commut_cmds_t *phaseA_commut_cmds,

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C Level API for Function

etpu_hd_phase_commut_cmds_t *phaseB_commut_cmds); int32_t fs_etpu_hd_init_3ph60( uint8_t channel_phaseA, uint8_t channel_phaseB, uint8_t channel_phaseC, uint8_t priority, uint8_t timer, uint8_t revolution_on_off, uint8_t direction_on_off, uint8_t direction, uint8_t PWMMDC_chan, etpu_hd_phase_commut_cmds_t *phaseA_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseB_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseC_commut_cmds); int32_t fs_etpu_hd_init_3ph120( uint8_t channel_phaseA, uint8_t channel_phaseB, uint8_t channel_phaseC, uint8_t priority, uint8_t timer, uint8_t revolution_on_off, uint8_t direction_on_off, uint8_t direction, uint8_t PWMMDC_chan, etpu_hd_phase_commut_cmds_t *phaseA_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseB_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseC_commut_cmds); int32_t fs_etpu_hd_init_4ph45( uint8_t channel_phaseA, uint8_t channel_phaseB, uint8_t channel_phaseC, uint8_t channel_phaseD, uint8_t priority, uint8_t timer, uint8_t revolution_on_off, uint8_t direction_on_off, uint8_t direction, uint8_t PWMMDC_chan, etpu_hd_phase_commut_cmds_t *phaseA_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseB_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseC_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseD_commut_cmds);

Using the Hall Decoder (HD) eTPU Function, Rev. 1 Freescale Semiconductor 11

C Level API for Function

int32_t fs_etpu_hd_init_4ph90and45( uint8_t channel_phaseA, uint8_t channel_phaseB, uint8_t channel_phaseC, uint8_t channel_phaseD, uint8_t priority, uint8_t timer, uint8_t revolution_on_off, uint8_t direction_on_off, uint8_t direction, uint8_t PWMMDC_chan, etpu_hd_phase_commut_cmds_t *phaseA_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseB_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseC_commut_cmds, etpu_hd_phase_commut_cmds_t *phaseD_commut_cmds);

Change Operation Functions:

int32_t fs_etpu_hd_set_commut_on ( uint8_t channel) int32_t fs_etpu_hd_set_commut_off( uint8_t channel) int32_t fs_etpu_hd_set_direction( uint8_t channel, uint8_t direction) int32_t fs_etpu_hd_set_revolution_counter(uint8_t channel, int24_t value)

Value Return Functions:

uint32_t fs_etpu_hd_state_struct_addr( uint8_t channel) uint8_t fs_etpu_hd_get_sector( uint8_t channel) uint8_t fs_etpu_hd_get_direction( uint8_t channel) int24_t fs_etpu_hd_get_revolution_counter( uint8_t channel) uint24_t fs_etpu_hd_get_revolution_period( uint8_t channel) uint24_t fs_etpu_hd_get_sector_period( uint8_t channel) uint8_t fs_etpu_hd_get_pin_state( uint8_t channel)

4.1
4.1.1

Initialization Function
int32_t fs_etpu_hd_init_1ph(...), int32_t fs_etpu_hd_init_2ph(...), int32_t fs_etpu_hd_init_3ph60(...), int32_t fs_etpu_hd_init_3ph120(...), int32_t fs_etpu_hd_init_4ph45(...), int32_t fs_etpu_hd_init_4ph90and45(...)

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C Level API for Function

These routines are used to initialize the eTPU channel(s) for the HD function(s). They differ in the number of phases they initialize (1, 2, 3, or 4 phases) and the configuration of the Hall sensors (by 60deg, by 120deg, by 45deg, or by 90 and 45 deg). Because the revolution counter and direction are calculated only in configurations with 3 or 4 input channels (phases), both the revolution_on_off and direction_on_off parameters are not used in fs_etpu_hd_init_1ph(...) and fs_etpu_hd_init_2ph(...) functions dedicated for one and two phases; see Section 3, Function Description. The functions have the following parameters: channel_phaseA (uint8_t) - This is the phase A channel number. This parameter should be assigned a value of 0-31 for ETPU_A, and 64-95 for ETPU_B. channel_phaseB (uint8_t) - This is the phase B channel number. This parameter should be assigned a value of 0-31 for ETPU_A, and 64-95 for ETPU_B. channel_phaseC (uint8_t) - This is the phase C channel number. This parameter should be assigned a value of 0-31 for ETPU_A, and 64-95 for ETPU_B. channel_phaseD (uint8_t) - This is the phase D channel number. This parameter should be assigned a value of 0-31 for ETPU_A, and 64-95 for ETPU_B. priority (uint8_t) - This is the priority to assign to the all HD channels. This parameter should be assigned a value of: FS_ETPU_PRIORITY_HIGH, FS_ETPU_PRIORITY_MIDDLE OR FS_ETPU_PRIORITY_LOW. timer (uint8_t) - This is the timer used for period measurements. This parameter should be assigned a value of: FS_ETPU_HD_TCR1 or FS_ETPU_HD_TCR2. revolution_on_off (uint8_t) - This parameter enables/disables counting of motor revolutions. This parameter should be assigned a value of: FS_ETPU_HD_REV_COUNTING_ON or FS_ETPU_HD_REV_COUNTING_OFF. direction_on_off (uint8_t) - This parameter enables/disables automatic determination of motor direction. This parameter should be assigned a value of: FS_ETPU_HD_DIRECTION_AUTO_ON or FS_ETPU_HD_DIRECTION_AUTO_OFF. direction (uint8_t) - This is the initial direction value. This parameter should be assigned a value of: FS_ETPU_HD_DIRECTION_INC or FS_ETPU_HD_DIRECTION_DEC.

Using the Hall Decoder (HD) eTPU Function, Rev. 1 Freescale Semiconductor 13

C Level API for Function

PWMMDC_chan (uint8_t) - This is the number of PWMMDC channel. After commutation the PWMMDC channel is notified to update the PWM phases. 0-31 for ETPU_A and 64-96 for ETPU_B *phaseA_commut_cmds (etpu_hd_phase_commut_cmds_t) - Pointer to the commutation table for phase A; etpu_hd_phase_commut_cmds_t structure type is defined in etpu_hd.h file. It is defined as a structure of eight uint32_t commutation commands. *phaseB_commut_cmds (etpu_hd_phase_commut_cmds_t) - Pointer to the commutation table for phase B; etpu_hd_phase_commut_cmds_t structure type is defined in etpu_hd.h file. It is defined as a structure of eight uint32_t commutation commands. *phaseC_commut_cmds (etpu_hd_phase_commut_cmds_t) - Pointer to the commutation table for phase C; etpu_hd_phase_commut_cmds_t structure type is defined in etpu_hd.h file. It is defined as a structure of eight uint32_t commutation commands. *phaseD_commut_cmds (etpu_hd_phase_commut_cmds_t) - Pointer to the commutation table for phase D; etpu_hd_phase_commut_cmds_t structure type is defined in etpu_hd.h file. It is defined as a structure of eight uint32_t commutation commands.

4.2
4.2.1

Change Operation Functions

int32_t fs_etpu_hd_set_commut_on ( uint8_t channel)

This function enables commutation processing on one HD channel. It has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed.

4.2.2

int32_t fs_etpu_hd_set_commut_off ( uint8_t channel)

This function disables commutation processing on one HD channel. It has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed.

4.2.3

int32_t fs_etpu_hd_set_direction( uint8_t channel, uint8_t direction)

This function sets the direction value. Use this function when the automatic direction detection is off (direction_on_off=FS_ETPU_HD_DIRECTION_AUTO_OFF), in order to select which commutation command is used. This function has the following parameters:

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C Level API for Function

channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. direction (uint8_t) - This parameter should be assigned a value of: FS_ETPU_HD_DIRECTION_INC or FS_ETPU_HD_DIRECTION_DEC

4.2.4

int32_t fs_etpu_hd_set_revolution_counter( uint8_t channel, int24_t value)

This function changes the revolution counter value. This function has the following parameters: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. value (int24_t) - This is the revolution counter value to be set.

4.3
4.3.1

Value Return Function

uint32_t fs_etpu_hd_state_struct_addr( uint8_t channel)

This function returns address of the state structure beginning. This function has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed.

4.3.2

uint8_t fs_etpu_hd_get_sector( uint8_t channel)

This function returns the current sector value. This function has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. The sector value is returned as an uint8_t.

Using the Hall Decoder (HD) eTPU Function, Rev. 1 Freescale Semiconductor 15

C Level API for Function

4.3.3

uint8_t fs_etpu_hd_get_direction( uint8_t channel)

This function returns the motion system direction. This function has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. The returned value can be one of: FS_ETPU_HD_DIRECTION_INC or FS_ETPU_HD_DIRECTION_DEC

4.3.4

int24_t fs_etpu_hd_get_revolution_counter( uint8_t channel)

This function returns the revolution counter value. This function has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. The revolution counter value is returned as an int24_t.

4.3.5

uint24_t fs_etpu_hd_get_revolution_period( uint8_t channel)

This function returns the revolution period value. This function has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. The revolution period value is returned as an uint24_t.

4.3.6

uint24_t fs_etpu_hd_get_sector_period( uint8_t channel)

This function returns the sector period value. This function has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. The sector period value is returned as an uint24_t.

Using the Hall Decoder (HD) eTPU Function, Rev. 1 16 Freescale Semiconductor

Example Use of Function

4.3.7

uint8_t fs_etpu_hd_get_pin_state( uint8_t channel)

This function returns selected HD channel pin state. This function has the following parameter: channel (uint8_t) - This is the phase A channel number. This parameter must be assigned the same value as was assigned to the channel_phaseA parameter in the initialization routine. If there are more HDs running simultaneously on the eTPU(s), the channel parameter distinguishes which HD function is accessed. The HD channel pin state value is returned as an uint8_t.

4.4

TPU-compatible C Level API for Function

The TPU-compatible API provides backward-compatibility from eTPU to TPU. The following functions allow control of the eTPU HD function using the TPU HALLD API function calls. Initialization Function:
void tpu_halld_init(struct TPU3_tag *tpu, UINT8 channel, INT16 direction, INT16 state_no_address, UINT8 mode)

Change Operation Functions:

void tpu_halld_enable(struct TPU3_tag *tpu, UINT8 channel, UINT8 priority) void tpu_halld_disable(struct TPU3_tag *tpu, UINT8 channel) void tpu_halld_set_direction(struct TPU3_tag *tpu, UINT8 channel, INT16 direction)

Value Return Functions:

INT16 tpu_halld_get_state_no(struct TPU3_tag *tpu, UINT8 channel) INT16 tpu_halld_get_pin_state(struct TPU3_tag *tpu, UINT8 channel)

NOTE tpu_halld_set_state_no_address(...) function is not implemented!

Example Use of Function

Using the Hall Decoder (HD) eTPU Function, Rev. 1 Freescale Semiconductor 17

Example Use of Function

5.1

Demo Applications

The usage of the HD eTPU function is demonstrated in the following applications: "3-Phase BLDC Motor with Speed Closed Loop, driven by eTPU on MCF523x," AN2892. "Three 3-Phase BLDC Motors with Speed Closed Loop, driven by eTPU on MCF523x," AN2948. "DC Motor with Speed and Current Closed Loop, driven by eTPU on MCF523x," AN2955. For a detailed description of the demo applications, refer to the mentioned application notes. The HD function is initialized in configuration with three phases and HD sensors by 120 degrees. Direction and revolution counting is enabled.

5.1.1

Function Calls

/* initialize the HD function */ err_code = fs_etpu_hd_init_3ph120 ( HD0_PHASEA,/* engine: A; channel: 1 */ HD0_PHASEB,/* engine: A; channel: 2 */ HD0_PHASEC,/* engine: A; channel: 3 */ FS_ETPU_PRIORITY_HIGH,/* priority: High */ FS_ETPU_HD_TCR2,/* timer: TCR2 */ FS_ETPU_HD_REV_COUNTING_ON,/* revolution_on_off: revolutions are counted */ FS_ETPU_HD_DIRECTION_AUTO_ON,/* direction_on_off: direction is calculated */ FS_ETPU_HD_DIRECTION_INC,/* direction: initial direction INC */ PWMMDC0_MASTER,/* PWMMDC_chan: PWMMDC0_MASTER */ &phaseA_commut_cmds,/* phaseA_commut_cmds: &phaseA_commut_cmds */ &phaseB_commut_cmds,/* phaseB_commut_cmds: &phaseB_commut_cmds */ &phaseC_commut_cmds);/* phaseC_commut_cmds: &phaseC_commut_cmds */

/* enable commutations by HD signals */ fs_etpu_hd_set_commut_on(HD0_PHASEA); fs_etpu_hd_set_commut_on(HD0_PHASEB); fs_etpu_hd_set_commut_on(HD0_PHASEC);

Using the Hall Decoder (HD) eTPU Function, Rev. 1 18 Freescale Semiconductor

Summary and Conclusions

Summary and Conclusions

This application note provides the user with a description of the Hall decoder (HD) eTPU function usage and examples. The simple C interface routines to the HD eTPU function enable easy implementation of the HD in applications. The demo application is targeted at the MCF523x family of devices, but it could be easily reused with any device that has an eTPU.

7
1. 2. 3. 4. 5. 6. 7.

References
The Essential of Enhanced Time Processing Unit, AN2353. General C Functions for the eTPU, AN2864. Using the DC Motor Control eTPU Function Set (set3), AN2958. Enhanced Time Processing Unit Reference Manual, ETPURM/D. eTPU Graphical Configuration Tool, http://www.freescale.com/etpu, ETPUGCT. 3-Phase BLDC Motors with Speed Closed Loop, driven by eTPU on MCF523x, AN2892. "Three 3-Phase BLDC Motors with Speed Closed Loop, driven by eTPU on MCF523x," AN2948. 8. "DC Motor with Speed and Current Closed Loop, driven by eTPU on MCF523x," AN2955.

Using the Hall Decoder (HD) eTPU Function, Rev. 1 Freescale Semiconductor 19

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