Embedded Control Applications I MP9-1

week lecture topics

9 Embedded - DC motor speed control:
Control Potentiometer  C  PWM
Applications - Output of clear text log messages to the
I terminal (background communication)
Embedded Control Applications I MP9-2

PWM control of a DC motor

- The control of a DC motor is very common task in
robotics / mechatronics; the velocity of a DC motor
is proportional to the applied DC voltage
- Microcontrollers usually do not come with on-chip
D/A converters; therefore, a way has to be found to
interface the microcontroller to the amplifier which
drives the motor (H-bridge amplifier, transistor, etc.)
- The most widely used approach is to produce a Pulse
Width Modulated (PWM) signal and turn it into a
DC-voltage by filtering out the DC component
Embedded Control Applications I MP9-3

PWM control of a DC motor

- A PWM signal is a pulse sequence and, as such, it
has an amplitude spectrum which can be described
by the well-known sinc function (sin(x)/x)

DC component 2.5f0
1.5f0

f0 2f0 3f0
Embedded Control Applications I MP9-4

PWM control of a DC motor

- The amount of power concentrated at DC depends on
the duty cycle (relative pulse width)

10% duty cycle 90% duty cycle

average average
Embedded Control Applications I MP9-5

PWM control of a DC motor

- Filtering PWM signal with a low-pass filter reduces
it to its DC component – the amplitude of this DC
signal is proportional to the duty cycle
- The cut-off frequency of
the filter has to be chosen
with respect to the
frequency of the PWM
signal; a compromise
between signal strength
and residual ripple has to
be found 50% duty cycle
Embedded Control Applications I MP9-6

PWM control of a DC motor

- The inertia of the rotor of a DC motor presents a
(mechanical) low-pass filter; many robotics
application therefore pass the PWM signal straight to
the motor – this works fine, provided the frequency
of the PWM signal is sufficiently above the cut-off
frequency of the low-pass characteristic of the motor
- DC motor speed control using microcontrollers is
therefore a straight-forward task
- This lecture will outline how a simple speed control
of a DC motor can be implemented on a C167
Embedded Control Applications I MP9-7

PWM control of a DC motor

A small DC-motor is to be driven using an edge aligned
PWM signal on P7.3 (period: 100 ms). The duty cycle
is to be controlled by the analogue voltage applied to
ADC channel 4. This voltage should also be logged on
a terminal connected to ASC port S0 (57600 bps)
P5.4 5V
PORT 5
0V
PORT 3

PORT 7

M
RxD
P7.3
TxD
0V
Embedded Control Applications I MP9-8

PWM control of a DC motor

- All required software components have already been
developed (PWM, ADC, serial communication
routines); it is therefore just a matter of “putting the
bits together”
- Keeping functionally distinct parts of the program in
separate modules (i. e. separate source code files) will
greatly improve its readability and maintainability
- The functions defined in one module are then made
available to other modules via a header file which
declares all public symbols (functions, globals, etc.)
Embedded Control Applications I MP9-9

Modular programming: Exporting shared symbols

File: adc.c File: main.c

/* read ADC channel ‘chan’ */ /* externally defined functions */

unsigned int ADC_Read(unsigned int chan) { #include “adc.h”

(…)
/* main */
} void main(void) {

/* initialize ADC */ (…)

void ADC_Init(void) {
}
(…)
File: adc.h
}
/* declare ADC_Read */
extern unsigned int ADC_Read(unsigned int chan);

/* declare ADC_Init */
extern void ADC_Init(void);
Embedded Control Applications I MP9-10

PWM control of a DC motor

4 source
code files
(modules)
need to be
defined:
serial.c,
pwm.c,
adc.c and
DCMot.c
(the main
program)
Embedded Control Applications I MP9-11

PWM control of a DC motor

- Module serial.c takes care of the (background)
communication with the host; all public functions
defined in serial.c are declared to the calling
modules in header file serial.h
/* header file for serial.c, fw-01-02 */
It is good programming style
#ifndef _SERIAL_H_
to avoid recursive inclusions; #define _SERIAL_H_
these three lines do just that
/* I/O interface */
void serInit(void);
int serOutchar(char);
The declaration of all public char serInchar(void);
functions of serial.c… int serOutstring(char *);

void myPrintf(char *fmt, ...);

#endif /* _SERIAL_H_ */
Embedded Control Applications I MP9-12

PWM control of a DC motor

- Module pwm.c takes care of the (background)
generation of the PWM signal on port P7.3; all
public functions defined in pwm.c are declared to
the calling modules in header file pwm.h
/* header file for pwm.c, fw-01-05 */

#ifndef _PWM_H_
#define _PWM_H_

#define PWMPERIOD (20e6/64)*100e-3 /* 100 ms */

void pwm_init(void);
void pwm_set(unsigned int off_phase);

#endif /* _PWM_H_ */

Macro PWMPERIOD has been moved into the header file to make it
available to the calling modules
Embedded Control Applications I MP9-13

PWM control of a DC motor

- Initialization and the setting of the duty cycle have
been implemented in two separate functions:
#include <reg167.h>
#include "pwm.h" /* macro PWMPERIOD */

void pwm_init(void) {

DP7 |= 0x08; /* P7.3 : output associated with CC7 (CC7IO) */

P7 &= ~0x08; /* set P7.3 low -> motor off */

PP3 = PWMPERIOD; /* initialize channel 3 period register */

PW3 = PWMPERIOD/2; /* initialize channel 3 pulse width register */

PWMCON1 = 0x0008; /* channel 3: edge aligned PWM, o/p enabled */

PWMCON0 = 0x0088; /* channel 3 operates of fCPU/64, timer is running */

} /* pwm_init */

void pwm_set(unsigned int off_phase) {

PW3 = off_phase; /* initialize channel 3 pulse width register */

} /* pwm_set */
Embedded Control Applications I MP9-14

PWM control of a DC motor

- Module adc.c takes care of the reading of ADC
channel 4 (P5.4); all public functions defined in
adc.c are declared to the calling modules in header
file adc.h
/* header file for adc.c, fw-02-05 */

#ifndef _ADC_H_
#define _ADC_H_

void adc_init(unsigned int channel);

void adc_read(float *result);

#endif /* _ADC_H_ */

- Module DCMotorController.c includes the header

files of all of the above modules
Embedded Control Applications I MP9-15

PWM control of a DC motor

- Initialization and the reading of the ADC result have
been implemented in two separate functions:
#include <reg167.h>

/* reg167.h doesn't seem to define P5DIDIS... */

#define P5DIDIS (*((unsigned int volatile sdata *) 0xFFA4))

void adc_init(unsigned int channel) {

P5DIDIS |= channel; /* disable input buffer in parallel w/h channel */

ADCON = channel; /* select channel for single conversion */

} /* adc_init */

void adc_read(float *result) {

ADCON |= 0x0080; /* start ADC */

while(ADCON & 0x0100); /* loop in this line until ADBSY is clear */

/* retrieve result, eliminate channel number and rescale to 0 ... 5 */

*result = ((float)(ADDAT & 0x03FF))/1023*5;

} /* adc_read */
Embedded Control Applications I MP9-16

PWM control of a DC motor

- With these modules in place, the main program
becomes very simple:
#include <reg167.h>
#include <math.h> /* fabs */
#include "serial.h" /* S0 communication routines */
#include "adc.h" /* adc_init, adc_read */
#include "pwm.h" /* pwm_init, pwm_set */

/* control of the on-board LED */

void blinky(long duration) {
long i;

DP2 |= 0x0001; /* make sure P2.0 is an output */

P2 &= ~0x0001; /* LED on (active low) */
for(i=0; i<duration; i++); /* wait (on phase) */
P2 |= 0x0001; /* LED off */
for(i=0; i<duration; i++); /* wait (off phase) */
}
(…)

Function blinky has been defined to flash the on-board LED (connected
to port P2.0); it is used during the debugging stage of this project
Embedded Control Applications I MP9-17

PWM control of a DC motor

(…)
void main(void) {

float myVoltage, myVoltage_old = 2.5;

/* say hello... */
blinky(10000);

serInit(); /* initialize S0, 1-N-57600 */

adc_init(4); /* initialize ADC channel 4 */
pwm_init(); /* initialize PWM unit */

IEN = 1; /* allow interrupts to happen */

/* display message */
myPrintf("\r\nDC Motor controller \n\r");
(…)

- The call to function blinky reveals whether the target is running or not;
this is particularly important when working on a new microcontroller
and/or when modifying the settings of the startup module
- The program initializes the serial interface ASC0, the ADC and the
PWM unit; it then sends a welcome message to a terminal on ASC0
Embedded Control Applications I MP9-18

PWM control of a DC motor

(…)
while(1) {

/* read ADC (channel 4) */

adc_read(&myVoltage);

/* adjust duration of off_phase */

if(fabs(myVoltage_old-myVoltage) > 0.02) {

/* flash LED to give some feedback */

blinky(1000);

myPrintf("Voltage on channel 4: %1.2f volts\r\n", myVoltage);

pwm_set((unsigned int)(myVoltage/5*PWMPERIOD));
myVoltage_old = myVoltage;

} /* if */
} /* while */
} /* main */

ADC channel 4 is read and the result compared to the previously read
value; if there is a difference of more than 0.02 V, the duty cycle of the
PWM is changed and a log message is sent to the terminal
Embedded Control Applications I MP9-19

PWM control of a DC motor

Simulation
allows the
program
structure to
be checked;
however,
its timing
can only be
checked on
the real
hardware
Embedded Control Applications I MP9-20

PWM control of a DC motor

- A downloadable output file needs to be generated;
the KEIL tools make use of the Intel HEX format
Embedded Control Applications I MP9-21

PWM control of a DC motor

- The correct memory map has to be specified – this
information is found in the manual of the dev. board
Embedded Control Applications I MP9-22

PWM control of a DC motor

- Once generated, the HEX output file has to be burnt
into the Flash EEPROM of the controller/board
Embedded Control Applications I MP9-23

PWM control of a DC motor

- Finally, the program can be run out of Flash ROM –
a hardware reset should initialize the controller and
divert execution to the destination address of the
RESET vector; if everything has worked, this should
be the startup routine which, in turn, calls main
- This is where the on-board LED becomes an
invaluable debugging tool – if it stays dark, then
there is a problem with the initialization of the chip;
the latter could be due to incorrectly set flags ( see
startup file) or because of a problem with the
memory map ( see linker map file)
Embedded Control Applications I MP9-24

PWM control of a DC motor

- Assuming everything has worked properly, the
terminal (57600 bps, 8/N, 1 stop bit, no protocol)
should show the welcome message and possibly a
few lines with voltage values
- More values are
printed when P5.3
is interfaced to an
external voltage
source (e.g. a
potentiometer,
between 0 and 5 V)
Embedded Control Applications I MP9-25

PWM control of a DC motor

- The timing of the PWM signal can only be verified
using an oscilloscope; on the phyCORE-167 all
processor pins have been broken out to an expansion
board – this is very useful to avoid short circuits…

Verifying the timing of a

PWM signal requires an
oscilloscope; note that the
requested period of 100 ms
has been achieved; the
picture shows a duty cycle
of approximately 1/3 of the
period (33 ms)
Embedded Control Applications I MP9-26

PWM control of a DC motor

- Module adc.c could have used an Interrupt Service
Routine (ISR) to read out the conversion result:
(…)
unsigned int ADC_result; /* global result register */

/* ADC interrupt service routine (ISR) */

void ADC_ISR(void) interrupt 0x28 {

ADC_result = ADDAT & 0x03FF; /* fetch result and store in global */

void adc_init(unsigned int channel) {

P5DIDIS |= channel; /* disable input buffer in parallel w/h channel */

ADCON = channel|0x0090; /* select channel for continuous conversion */
ADCIC = 0x0044; /* enable ADC interrupt, ILVL = 1, GLVL = 0 */

} /* adc_init */

Note that the ADC has been set up for continuous conversion, i. e. the
ADC is immediately restarted following the completion of a conversion
Embedded Control Applications I MP9-27

PWM control of a DC motor

- The main program now simply processes the
continuously updated global variable ADC_result
(…)
while(1) {

/* read ADC (channel 4) */

myVoltage = (float)(ADC_result)/1023*5;

/* adjust duration of off_phase */

if(fabs(myVoltage_old-myVoltage) > 0.02) {

/* flash LED to give some feedback */

blinky(1000);

myPrintf("Voltage on channel 4: %1.2f volts\r\n", myVoltage);

pwm_set((unsigned int)(myVoltage/5*PWMPERIOD));
myVoltage_old = myVoltage;

} /* if */
} /* while */
} /* main */
Embedded Control Applications I MP9-28

PWM control of a DC motor

- Even better performance can be achieved using the
so-called Peripheral Event Controller (PEC)
- PECs implement a very fast Direct Memory Access
(DMA) scheme; PEC transfers can transport one or
more data bytes or words from a source area to a
destination area
- This transfer is extremely fast (a single CPU cycle!)
and can simply be set up by specifying source and
destination pointers and choosing the interrupt level
(ILVL) which corresponds to PEC transfers
Embedded Control Applications I MP9-29

PWM control of a DC motor

- Saving the ADC conversion result via PEC transfer
on PEC channel 0 (ILVL: 14, GLVL: 0)
(…)
#include <reg167.h>
#include <intrins.h> /* _sof_ : segment offset (-> segment 0) */

unsigned int ADC_result; /* global result variable */

void adc_init(unsigned int channel) {

ADCON = channel|0x0090; /* select channel for continuous conversion */

SRCP0 = (unsigned int)&ADDAT; /* PEC0 transfer from ADDAT... */

DSTP0 = _sof_ (&ADC_result); /* to ADC_result, 16-bit address, segment 0 */
PECC0 = 0x00FF; /* PEC0 Word transfer, continuous operation */
ADCIC = 0x0078; /* enable ADC -> PEC0 : .0011.1000 = 0x78 */

} /* adc_init */

The ADC Interrupt Service Routine is no longer required; PEC transfers

only work with source/destination pointers in segment 0; operator _sof_
extracts the segment offset of a variable – this is what is required here
Embedded Control Applications I MP9-30

PWM control of a DC motor

Simulation
shows how
the PEC
operates;
notice the
almost
permanent
availability
of ADC
conversion
data
Embedded Control Applications I MP9-31

PWM control of a DC motor

- Upon downloading the modified code to the target
the PWM appears to be stuck, i. e. it does no longer
change with the voltage of the potentiometer
- Considering that the program was working before, it
must be suspected that the PEC transfer does not
function as expected
- A logical conclusion would be to look for the fault
in the way memory is accessed; PEC transfers
require linear 16-bit addresses in segment 0 – it is
conceivable that variable ADC_result has not been
placed there
Embedded Control Applications I MP9-32

PWM control of a DC motor

- The linker map file confirms this suspicion:
START STOP LENGTH TYPE RTYP ALIGN TGR GRP COMB CLASS SECTION NAME
=====================================================================================
000000H 000003H 000004H --- --- --- --- --- --- * INTVECTOR TABLE *
000004H 000013H 000010H XDATA REL WORD --- --- GLOB --- ?C_INITSEC
000014H 000023H 000010H CONST ABS WORD --- --- PRIV --- ?C_CLRMEMSEC
000024H 00007DH 00005AH DATA REL WORD --- --- PUBL FCONST ?FC??PRNFMT
00007EH 000099H 00001CH DATA REL BYTE --- --- PUBL FCONST ?FC?SERIAL
0000A8H 0000AFH 000008H --- --- --- --- --- --- * INTVECTOR TABLE *
0000B0H 0000ECH 00003DH DATA REL BYTE --- --- PUBL FCONST ?FC?DCMOTORCONTROLLER
0000EEH 00011DH 000030H DATA REL WORD --- 3 PUBL NCONST ?C_LIB_NCONST
00011EH 000243H 000126H CODE REL WORD --- --- PRIV ICODE ?C_STARTUP_CODE
000244H 000C39H 0009F6H CODE REL WORD --- 1 PUBL NCODE ?C_LIB_CODE
000C3AH 000F99H 000360H CODE REL WORD --- 1 PUBL NCODE ?PR?SERIAL
000F9AH 00107FH 0000E6H CODE REL WORD --- 1 PUBL NCODE ?PR?DCMOTORCONTROLLER
001080H 0010ADH 00002EH CODE REL WORD --- 1 PUBL NCODE ?PR?ADC
0010AEH 0010D3H 000026H CODE REL WORD --- 1 PUBL NCODE ?PR?FABS
0010D4H 0010F5H 000022H CODE REL WORD --- 1 PUBL NCODE ?PR?PWM
0010F6H 001105H 000010H CODE REL WORD --- 1 PUBL NCODE ?PR?STRLEN
00FA00H 00FBFFH 000200H --- --- --- --- --- --- * SYSTEM STACK *
00FC00H 00FC1FH 000020H DATA --- BYTE --- --- --- *REG* ?C_MAINREGISTERS
100000H 100FFFH 001000H DATA REL WORD --- 2 PUBL NDATA ?C_USERSTACK
101000H 101005H 000006H DATA REL WORD --- 2 PUBL NDATA0 ?ND0?SERIAL
101006H 101007H 000002H DATA REL WORD --- 2 PUBL NDATA0 ?ND0?ADC
101008H 1012EFH 0002E8H DATA REL WORD --- --- PUBL FDATA0 ?FD0?SERIAL

The Address of variable ADC_result has been located at 0x101006, i. e.

outside segment 0; this is why the PEC transfer didn’t work as expected
Embedded Control Applications I MP9-33

PWM control of a DC motor

- The definition of ADC_result is extended by the
memory class specifier idata (non-ANSI, KEIL only)
(…)
#include <reg167.h>
#include <intrins.h> /* _sof_ : segment offset (-> segment 0) */

unsigned int idata ADC_result; /* global result variable in internal RAM */

void adc_init(unsigned int channel) {

ADCON = channel|0x0090; /* select channel for continuous conversion */

SRCP0 = (unsigned int)&ADDAT; /* PEC0 transfer from ADDAT... */

DSTP0 = _sof_ (&ADC_result); /* to ADC_result (16-bit address, seg. 0) */
PECC0 = 0x00FF; /* PEC0 Word transfer, continuous operation */
ADCIC = 0x0078; /* enable ADC -> PEC0 : .0011.1000 = 0x78 */

} /* adc_init */

Non-ANSI keyword idata causes the compiler to place ADC_result in

the internal RAM (0xF600 – 0xFFFF), i. e. into segment 0
Embedded Control Applications I MP9-34

PWM control of a DC motor

- The modified linker map file:
START STOP LENGTH TYPE RTYP ALIGN TGR GRP COMB CLASS SECTION NAME
=====================================================================================
000000H 000003H 000004H --- --- --- --- --- --- * INTVECTOR TABLE *
000004H 000013H 000010H XDATA REL WORD --- --- GLOB --- ?C_INITSEC
000014H 000023H 000010H CONST ABS WORD --- --- PRIV --- ?C_CLRMEMSEC
000024H 00007DH 00005AH DATA REL WORD --- --- PUBL FCONST ?FC??PRNFMT
00007EH 000099H 00001CH DATA REL BYTE --- --- PUBL FCONST ?FC?SERIAL
0000A8H 0000AFH 000008H --- --- --- --- --- --- * INTVECTOR TABLE *
0000B0H 0000ECH 00003DH DATA REL BYTE --- --- PUBL FCONST ?FC?DCMOTORCONTROLLER
0000EEH 00011DH 000030H DATA REL WORD --- 4 PUBL NCONST ?C_LIB_NCONST
00011EH 000243H 000126H CODE REL WORD --- --- PRIV ICODE ?C_STARTUP_CODE
000244H 000C39H 0009F6H CODE REL WORD --- 1 PUBL NCODE ?C_LIB_CODE
000C3AH 000F99H 000360H CODE REL WORD --- 1 PUBL NCODE ?PR?SERIAL
000F9AH 00107FH 0000E6H CODE REL WORD --- 1 PUBL NCODE ?PR?DCMOTORCONTROLLER
001080H 0010ADH 00002EH CODE REL WORD --- 1 PUBL NCODE ?PR?ADC
0010AEH 0010D3H 000026H CODE REL WORD --- 1 PUBL NCODE ?PR?FABS
0010D4H 0010F5H 000022H CODE REL WORD --- 1 PUBL NCODE ?PR?PWM
0010F6H 001105H 000010H CODE REL WORD --- 1 PUBL NCODE ?PR?STRLEN
00F600H 00F601H 000002H DATA REL WORD --- 3 PUBL IDATA0 ?ID0?ADC
00FA00H 00FBFFH 000200H --- --- --- --- --- --- * SYSTEM STACK *
00FC00H 00FC1FH 000020H DATA --- BYTE --- --- --- *REG* ?C_MAINREGISTERS
100000H 100FFFH 001000H DATA REL WORD --- 2 PUBL NDATA ?C_USERSTACK
101000H 101005H 000006H DATA REL WORD --- 2 PUBL NDATA0 ?ND0?SERIAL
101006H 1012EDH 0002E8H DATA REL WORD --- --- PUBL FDATA0 ?FD0?SERIAL

The Address of variable ADC_result has been located at 0xF600, i. e. in

segment 0; the PEC transfer now works as expected
Embedded Control Applications I MP9-35

PWM control of a DC motor

- The test set-up: