/** * \file * * \brief SAM Timer Counter (TC) driver. * * Copyright (c) 2011-2015 Atmel Corporation. All rights reserved. * * \asf_license_start * * \page License * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * * 3. The name of Atmel may not be used to endorse or promote products derived * from this software without specific prior written permission. * * 4. This software may only be redistributed and used in connection with an * Atmel microcontroller product. * * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE * EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * \asf_license_stop * */ /* * Support and FAQ: visit Atmel Support */ #ifndef TC_H_INCLUDED #define TC_H_INCLUDED /** * \defgroup asfdoc_sam_drivers_tc_group SAM3/4S/4L/4E/4N/4CM/4C/G Timer Counter (TC) Driver * * This driver for Atmel® | SMART ARM®-based microcontrollers * provides an interface for the configuration and management of the * device's Timer Counter functionality. * * The Timer Counter (TC) includes several identical 16-bit or 32-bit * Timer Counter channels. Each channel can be independently programmed * to perform a wide range of functions that includes frequency * measurement, event counting, interval measurement, pulse generation, * delay timing, and pulse width modulation. * * Devices from the following series can use this module: * - Atmel | SMART SAM3 * - Atmel | SMART SAM4S * - Atmel | SMART SAM4L * - Atmel | SMART SAM4E * - Atmel | SMART SAM4N * - Atmel | SMART SAM4CM * - Atmel | SMART SAM4C * - Atmel | SMART SAMG * * The outline of this documentation is as follows: * - \ref asfdoc_sam_drivers_tc_prerequisites * - \ref asfdoc_sam_drivers_tc_module_overview * - \ref asfdoc_sam_drivers_tc_special_considerations * - \ref asfdoc_sam_drivers_tc_extra_info * - \ref asfdoc_sam_drivers_tc_examples * - \ref asfdoc_sam_drivers_tc_api_overview * * * \section asfdoc_sam_drivers_tc_prerequisites Prerequisites * * There are no prerequisites for this module. * * * \section asfdoc_sam_drivers_tc_module_overview Module Overview * The Timer Counter (TC) includes several identical 16-bit or 32-bit Timer * Counter channels. The number of TC channels is device specific, refer * to the device-specific datasheet for more information. * * Each channel can be independently programmed to perform a wide range of * functions that includes frequency measurement, event counting, interval measurement, * pulse generation, delay timing, and pulse width modulation. * * Each channel has three external clock inputs, five internal clock inputs, * and two multi-purpose input/output signals which can be configured by the user. * Each channel drives an internal interrupt signal which can be programmed to * generate processor interrupts. * * The Timer Counter (TC) embeds a quadrature decoder logic connected in front of * the timers. When enabled, the quadrature decoder performs the input line * filtering, decoding of quadrature signals and connects to the timers/counters * in order to read the position and speed of the motor. * * * \section asfdoc_sam_drivers_tc_special_considerations Special Considerations * \subsection asfdoc_sam_drivers_tc_special_considerations_clock External Clock * In all cases, if an external clock is used, the duration of each of its levels * must be longer than the master clock (MCLK) period. The external clock frequency * must be at least 2.5 times lower than the master clock. * * \subsection asfdoc_sam_drivers_tc_special_considerations_trigger External Trigger * If an external trigger is used, the duration of its pulses must be longer than * the master clock (MCLK) period in order to be detected. * * * \section asfdoc_sam_drivers_tc_extra_info Extra Information * * For extra information, see \ref asfdoc_sam_drivers_tc_extra. This includes: * - \ref asfdoc_sam_drivers_tc_extra_acronyms * - \ref asfdoc_sam_drivers_tc_extra_dependencies * - \ref asfdoc_sam_drivers_tc_extra_errata * - \ref asfdoc_sam_drivers_tc_extra_history * * \section asfdoc_sam_drivers_tc_examples Examples * * For a list of examples related to this driver, see * \ref asfdoc_sam_drivers_tc_exqsg. * * * \section asfdoc_sam_drivers_tc_api_overview API Overview * @{ */ #include /// @cond /**INDENT-OFF**/ #ifdef __cplusplus extern "C" { #endif /**INDENT-ON**/ /// @endcond void tc_init(Tc *p_tc, uint32_t ul_Channel, uint32_t ul_Mode); void tc_sync_trigger(Tc *p_tc); void tc_set_block_mode(Tc *p_tc, uint32_t ul_blockmode); #if (!SAM3U) || defined(__DOXYGEN__) uint32_t tc_init_2bit_gray(Tc *p_tc, uint32_t ul_channel, uint32_t ul_steppermode); #endif /* (!SAM3U) || defined(__DOXYGEN__) */ void tc_start(Tc *p_tc, uint32_t ul_channel); void tc_stop(Tc *p_tc, uint32_t ul_channel); uint32_t tc_read_cv(Tc *p_tc, uint32_t ul_channel); uint32_t tc_read_ra(Tc *p_tc, uint32_t ul_channel); uint32_t tc_read_rb(Tc *p_tc, uint32_t ul_channel); uint32_t tc_read_rc(Tc *p_tc, uint32_t ul_channel); void tc_write_ra(Tc *p_tc, uint32_t ul_channel, uint32_t ul_value); void tc_write_rb(Tc *p_tc, uint32_t ul_channel, uint32_t ul_value); void tc_write_rc(Tc *p_tc, uint32_t ul_channel, uint32_t ul_value); uint32_t tc_find_mck_divisor(uint32_t ul_freq, uint32_t ul_mck, uint32_t *p_uldiv, uint32_t *ul_tcclks, uint32_t ul_boardmck); void tc_enable_interrupt(Tc *p_tc, uint32_t ul_channel, uint32_t ul_sources); void tc_disable_interrupt(Tc *p_tc, uint32_t ul_channel, uint32_t ul_sources); uint32_t tc_get_interrupt_mask(Tc *p_tc, uint32_t ul_channel); uint32_t tc_get_status(Tc *p_tc, uint32_t ul_channel); #if (!SAM4L && !SAMG) || defined(__DOXYGEN__) void tc_enable_qdec_interrupt(Tc *p_tc, uint32_t ul_sources); void tc_disable_qdec_interrupt(Tc *p_tc, uint32_t ul_sources); uint32_t tc_get_qdec_interrupt_mask(Tc *p_tc); uint32_t tc_get_qdec_interrupt_status(Tc *p_tc); #endif /* (!SAM4L && !SAMG) || defined(__DOXYGEN__) */ #if (!SAM3U) void tc_set_writeprotect(Tc *p_tc, uint32_t ul_enable); #endif /* (!SAM3U) */ #if SAM4L || defined(__DOXYGEN__) uint32_t tc_get_feature(Tc *p_tc); uint32_t tc_get_version(Tc *p_tc); #endif /* SAM4L || defined(__DOXYGEN__) */ /// @cond /**INDENT-OFF**/ #ifdef __cplusplus } #endif /**INDENT-ON**/ /// @endcond /** @} */ /** * \page asfdoc_sam_drivers_tc_extra Extra Information for Timer Counter Driver * * \section asfdoc_sam_drivers_tc_extra_acronyms Acronyms * Below is a table listing the acronyms used in this module, along with their * intended meanings. * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
AcronymDefinition
MCKMaster Clock
PBAPeripheral Bus A clock
PHAQuadrature Decoder input signal Phase A
PHBQuadrature Decoder input signal Phase B
QDECQuadrature Decoder
QSGQuick Start Guide
RARegister A
RBRegister B
RCRegister C
TIOBTimer Input Output B
* * * \section asfdoc_sam_drivers_tc_extra_dependencies Dependencies * This driver has the following dependencies: * * - \ref clk_group "System Clock Management (sysclock)" * - \ref asfdoc_sam_drivers_gpio_group "General Purpose I/O (GPIO) driver" * - \ref asfdoc_sam_drivers_pmc_group "Power Manager Controller (PMC) driver" * * * \section asfdoc_sam_drivers_tc_extra_errata Errata * There are no errata related to this driver. * * * \section asfdoc_sam_drivers_tc_extra_history Module History * An overview of the module history is presented in the table below, with * details on the enhancements and fixes made to the module since its first * release. The current version of this corresponds to the newest version in * the table. * * * * * * * * *
Changelog
Initial document release
*/ /** * \page asfdoc_sam_drivers_tc_exqsg Examples for Timer Counter * * This is a list of the available Quick Start Guides (QSGs) and example * applications for \ref asfdoc_sam_drivers_tc_group. QSGs are simple examples with * step-by-step instructions to configure and use this driver in a selection of * use cases. Note that a QSG can be compiled as a standalone application or be * added to the user application. * * - \subpage asfdoc_sam_drivers_tc_qsg * - \subpage asfdoc_sam_drivers_tc_example * * \page asfdoc_sam_drivers_tc_document_revision_history Document Revision History * * * * * * * * * * * * * * *
Doc. Rev. * Date * Comments *
42301B07/2015Updated title of application note and added list of supported devices
42301A05/2014Initial document release
* */ /** * \page asfdoc_sam_drivers_tc_qsg Quick Start Guide for the TC driver * * This is the quick start guide for the \ref asfdoc_sam_drivers_tc_group, with * step-by-step instructions on how to configure and use the driver for * a specific use case. The code examples can be copied into the main * application loop or any other function that will need to control the * AST module. * * \section asfdoc_sam_drivers_tc_qsg_use_cases Use Cases * - \ref asfdoc_sam_drivers_tc_qsg_basic_capture * - \ref asfdoc_sam_drivers_tc_qsg_basic_waveform * * \section asfdoc_sam_drivers_tc_qsg_basic_capture TC Capture Mode Basic Usage * * This use case will demonstrate how to initialize the TC module to * operate in capture mode using interrupts. Note, that the macros * used to select the TC channel are device specific. Refer to the * appropriate device-specific datasheet for more information. * * * \section asfdoc_sam_drivers_tc_qsg_basic_capture_setup Setup Steps * * \subsection asfdoc_sam_tc_qsg_basic_capture_prereq Prerequisites * * This module requires the following services: * - \ref clk_group "System Clock Management (sysclock)" * - \ref asfdoc_sam_drivers_gpio_group "General Purpose I/O (GPIO) driver" * * \subsection asfdoc_sam_drivers_tc_qsg_basic_capture_setup_code Setup Code * * Add these macros to the top of your main application C-file: * \snippet conf_board.h tc_define_peripheral * \snippet conf_board.h tc_define_ch2 * \snippet conf_board.h tc_define_irq_handler * * Add this macro and functions to your main application C-file: * \snippet tc_capture_waveform_example.c tc_capture_selection * \snippet tc_capture_waveform_example.c tc_capture_init * \snippet tc_capture_waveform_example.c tc_capture_irq_handler_start * \snippet tc_capture_waveform_example.c tc_capture_irq_handler_end * * \subsection asfdoc_sam_drivers_tc_qsg_basic_capture_setup_workflow Workflow * * -# Enable the TC module's capture pin: * \snippet tc_capture_waveform_example.c tc_capture_gpio * -# Initialize the capture channel to the following: * - Load RA on the rising edge of TIOA * - Load RB on the falling edge of TIOA * - Set the external trigger to TIOA * - Set the external trigger to falling edge * \snippet tc_capture_waveform_example.c tc_capture_init_call * -# Enable the TC interrupt using NVIC: * \snippet tc_capture_waveform_example.c tc_capture_init_irq * -# Enable the capture channel interrupt: * \snippet tc_capture_waveform_example.c tc_capture_init_module_irq * -# In the \ref TC_Handler_null "TC_Handler()" function, the load. * RB interrupt can be checked by: * \snippet tc_capture_waveform_example.c tc_capture_irq_handler_status * \code } \endcode * -# In the \ref TC_Handler_null "TC_Handler()" function, the RA value. * can be read by: * \code uint32_t gs_ul_captured_ra; \endcode * \snippet tc_capture_waveform_example.c tc_capture_irq_handler_read_ra * -# In the \ref TC_Handler_null "TC_Handler()" function, the RB value. * can be read by: * \code uint32_t gs_ul_captured_rb; \endcode * \snippet tc_capture_waveform_example.c tc_capture_irq_handler_read_rb * * \section asfdoc_sam_drivers_tc_qsg_basic_waveform TC Waveform Mode Basic Usage * * This use case will demonstrate how to initialize the TC module to * operate in waveform mode. Note, that the macros used to select * the TC channel are device specific. Refer to the appropriate * device-specific datasheet for more information. * * * \section asfdoc_sam_drivers_tc_qsg_basic_waveform_setup Setup Steps * * \subsection asfdoc_sam_tc_qsg_basic_waveform_prereq Prerequisites * * This module requires the following services: * - \ref clk_group "System Clock Management (sysclock)" * - \ref asfdoc_sam_drivers_gpio_group "General Purpose I/O (GPIO) driver" * * \subsection asfdoc_sam_drivers_tc_qsg_basic_waveform_setup_code Setup Code * * Add these macros to the top of your main application C-file: * \snippet conf_board.h tc_define_peripheral * \snippet conf_board.h tc_define_ch1 * * Add these macros and function to your main application C-file: * \code #define TC_WAVEFORM_TIMER_SELECTION TC_CMR_TCCLKS_TIMER_CLOCK4 \endcode * \code #define TC_WAVEFORM_DIVISOR 128 \endcode * \code #define TC_WAVEFORM_FREQUENCY 178 \endcode * \code #define TC_WAVEFORM_DUTY_CYCLE 30 \endcode * \code * static void tc_waveform_initialize(void) * { * uint32_t ra, rc; * * // Configure the PMC to enable the TC module. * sysclk_enable_peripheral_clock(ID_TC_WAVEFORM); * * // Init TC to waveform mode. * tc_init(TC, TC_CHANNEL_WAVEFORM, * TC_WAVEFORM_TIMER_SELECTION // Waveform Clock Selection * | TC_CMR_WAVE // Waveform mode is enabled * | TC_CMR_ACPA_SET // RA Compare Effect: set * | TC_CMR_ACPC_CLEAR // RC Compare Effect: clear * | TC_CMR_CPCTRG // UP mode with automatic trigger on RC Compare * ); * * // Configure waveform frequency and duty cycle. * rc = (sysclk_get_peripheral_bus_hz(TC) / * TC_WAVEFORM_DIVISOR / * TC_WAVEFORM_FREQUENCY; * tc_write_rc(TC, TC_CHANNEL_WAVEFORM, rc); * ra = (100 - TC_WAVEFORM_FREQUENCY_DUTY_CYCLE * rc / 100; * tc_write_ra(TC, TC_CHANNEL_WAVEFORM, ra); * * // Enable TC TC_CHANNEL_WAVEFORM. * tc_start(TC, TC_CHANNEL_WAVEFORM); * } \endcode * * \subsection asfdoc_sam_drivers_tc_qsg_basic_waveform_setup_workflow Workflow * * -# Enable the TC module's waveform pin: * \snippet tc_capture_waveform_example.c tc_waveform_gpio * -# Initialize the waveform channel to the following: * - Output frequency of 178Hz, with a duty-cycle of 30% * - Use TC_CMR_TCCLKS_TIMER_CLOCK4, with a divisor of 128 * \snippet tc_capture_waveform_example.c tc_waveform_init_call */ #endif /* TC_H_INCLUDED */