模块 13

讲解:定时器

| PWM and Periodic interrupts using Timers Texas Instruments

 使用定时器的周期性中断

在本模块中您将学到：
 TI MSP432上的Timer A
• 时钟输入，预分频
• 计数器

 周期性中断
• 额外的线程
• 优先级

2 | PWM and Periodic interrupts using Timers Texas Instruments

 Timer - A用于输入和输出
TAxCCR0
Timer A特性
 引脚
• 输入捕获
• 输出比较 TAxR

 精度
• 16位

 分辨率
• 时钟周期
• 预分频

SMCLK = 48MHz/4 = 12 MHz, 83.33ns

3 | PWM and Periodic interrupts using Timers Texas Instruments

 Timer - A 寄存器
15-10 9-8 7-6 5-4 3 2 1 0 Name
$4000.0000 TASSEL ID MC TACLR TAIE TAIFG TA0CTL

15-14 13-12 11 10 9 8 7-5 4 3 2 1 0

$4000.0002 CM CCIS SCS SCCI CAP OUTMOD CCIE CCI OUT COV CCIFG TA0CCTL0
$4000.0004 CM CCIS SCS SCCI CAP OUTMOD CCIE CCI OUT COV CCIFG TA0CCTL1
$4000.0006 CM CCIS SCS SCCI CAP OUTMOD CCIE CCI OUT COV CCIFG TA0CCTL2
$4000.0008 CM CCIS SCS SCCI CAP OUTMOD CCIE CCI OUT COV CCIFG TA0CCTL3
$4000.000A CM CCIS SCS SCCI CAP OUTMOD CCIE CCI OUT COV CCIFG TA0CCTL4
$4000.000C CM CCIS SCS SCCI CAP OUTMOD CCIE CCI OUT COV CCIFG TA0CCTL5
$4000.000E CM CCIS SCS SCCI CAP OUTMOD CCIE CCI OUT COV CCIFG TA0CCTL6

15–0
$4000.0010 16-bit counter TA0R
$4000.0012 16-bit Capture/Compare 0 Register TA0CCR0
$4000.0014 16-bit Capture/Compare 1 Register TA0CCR1
$4000.0016 16-bit Capture/Compare 2 Register TA0CCR2
$4000.0018 16-bit Capture/Compare 3 Register TA0CCR3
$4000.001A 16-bit Capture/Compare 4 Register TA0CCR4
$4000.001C 16-bit Capture/Compare 5 Register TA0CCR5
$4000.001E 16-bit Capture/Compare 6 Register TA0CCR6

15-3 2-0
$4000.0020 TAIDEX TA0EX0

15-0
$4000.002E TAIV TA0IV

4 | PWM and Periodic interrupts using Timers Texas Instruments

 时钟和预分频

TASSEL Selected Clock ID Prescale

00 TAxCLK 00 /1
01 ACLK 01 /2
10 SMCLK 10 /4
11 INCLK 11 /8

分辨率 = T * 2ID * (TAIDEX+1)

范围=精度*分辨率

5 | PWM and Periodic interrupts using Timers Texas Instruments

 Timer - A 模式

MC Mode control
00 Stop
01 Up mode: Timer counts up to TAxCCR0
10 Continuous mode: Timer counts up to 0xFFFF

11 Up/down mode: Timer counts up to TAxCCR0 then down to 0x0000

OUTMOD On match to TAxCCRy On match to TAxCCR0

000 OUT bit value
001 Set
010 Toggle Reset
011 Set Reset
100 Toggle
101 Reset
110 Toggle Set
111 Reset Set

6 | PWM and Periodic interrupts using Timers Texas Instruments

 时钟和预分频

0）停止定时器（MC = 00）
1）设置定时器时钟和预分频
2）设置子模块0进行比较，arm中断
3）将TAxCCR0设置为中断周期减1
4）在正确的NVIC优先级寄存器中设置优先级
5）使能NVIC中断使能寄存器中的中断
6）复位定时器并以向上模式启动
7）启用中断（在所有设备初始化后的主程序中）

7 | PWM and Periodic interrupts using Timers Texas Instruments

 中断向量，数字，名称和优先级
Vector Number IRQ ISR name NVIC priority Priority
0x0000002C 11 -5 SVC_Handler SCB_SHPR2 31 – 29
0x00000038 14 -2 PendSV_Handler SCB_SHPR3 23 – 21
0x0000003C 15 -1 SysTick_Handler SCB_SHPR3 31 – 29
0x00000060 24 8 TA0_0_IRQHandler NVIC_IPR2 7–5
0x00000064 25 9 TA0_N_IRQHandler NVIC_IPR2 15 – 13
0x00000068 26 10 TA1_0_IRQHandler NVIC_IPR2 23 – 21
0x0000006C 27 11 TA1_N_IRQHandler NVIC_IPR2 31 – 29
0x00000070 28 12 TA2_0_IRQHandler NVIC_IPR3 7–5
0x00000074 29 13 TA2_N_IRQHandler NVIC_IPR3 15 – 13
0x00000078 30 14 TA3_0_IRQHandler NVIC_IPR3 23 –TA2_0_IRQHandler(void){
21
TA3_N_IRQHandler NVIC_IPR3
void
0x0000007C 31 15 31 – 29
0x00000080 32 16 EUSCIA0_IRQHandler NVIC_IPR4 TIMER_A2->CCTL[0]
7–5 &= ~0x0001; // ack
0x00000084 33 17 EUSCIA1_IRQHandler NVIC_IPR4 15 –
// body 13
0x00000088 34 18 EUSCIA2_IRQHandler NVIC_IPR4 23 – 21
0x0000008C 35 19 EUSCIA3_IRQHandler NVIC_IPR4 } 31 – 29
0x00000090 36 20 EUSCIB0_IRQHandler NVIC_IPR5 7–5
0x00000094 37 21 EUSCIB1_IRQHandler NVIC_IPR5 15 – 13
0x00000098 38 22 EUSCIB2_IRQHandler NVIC_IPR5 23 – 21
0x0000009C 39 23 EUSCIB3_IRQHandler NVIC_IPR5 31 – 29
0x000000CC 51 35 PORT1_IRQHandler NVIC_IPR8 31 – 29
0x000000D0 52 36 PORT2_IRQHandler NVIC_IPR9 7–5
0x000000D4 53 37 PORT3_IRQHandler NVIC_IPR9 15 – 13
0x000000D8 54 38 PORT4_IRQHandler NVIC_IPR9 23 – 21
0x000000DC 55 39 PORT5_IRQHandler NVIC_IPR9 31 – 29
0x000000E0 56 40 PORT6_IRQHandler NVIC_IPR10 7–5

寻找interruptVectors []
在文件startup_msp432p401r_ccs.c中

8 | PWM and Periodic interrupts using Timers Texas Instruments

 周期性的中断
void (*TimerA2Task)(void); // user function
void TimerA2_Init(void(*task)(void), uint16_t period){ 在所有设备初始化后，在主程序
TimerA2Task = task; // user function 中启用中断
// bits9-8=10, clock source to SMCLK
// bits7-6=10, input clock divider /4
// bits5-4=00, stop mode
// bit2=0, set this bit to clear
// bit1=0, no interrupt on timer T * 2ID * (TAIDEX+1)(TAxCCR0+1)
TIMER_A2->CTL = 0x0280; = 2µs*period
// bits15-14=00, no capture mode
// bit8=0, compare mode
// bit4=1, enable capture/compare interrupt on CCIFG
// bit2=0, output this value in output mode 0 void TA2_0_IRQHandler(void){
// bit0=0, clear capture/compare interrupt pending TIMER_A2->CCTL[0] &= ~0x0001;
TIMER_A2->CCTL[0] = 0x0010; *TimerA2Task();
TIMER_A2->CCR[0] = (period - 1); // compare match value }
TIMER_A2->EX0 = 0x0005; // configure for input clock divider /6
NVIC->IP[3] = (NVIC->IP[3]&0xFFFFFF00)|0x00000040; // priority 2
NVIC->ISER[0] = 0x00001000; // enable interrupt 12 in NVIC
TIMER_A2->CTL |= 0x0014; // reset and start Timer A in up mode
}

NVIC->IP[2]= (NVIC->IP[2]&0xFF00FFFF)|0x00400000;
NVIC->ISER[0] = 0x00000400; // enable interrupt 10 in NVIC
9 | PWM and Periodic interrupts using Timers Texas Instruments
 总结

Timer 概述
 时钟输入
 预分频
 计数器

void TA0_0_IRQHandler(void){ TimerA0.c

周期性中断 TIMER_A0->CCTL[0] &= ~0x0001;
 额外线程 // ack
// body
 优先级
} TimerA1.c
void TA1_0_IRQHandler(void){
TIMER_A1->CCTL[0] &= ~0x0001;
// ack
// body
}
void TA2_0_IRQHandler(void){ TimerA2.c
TIMER_A2->CCTL[0] &= ~0x0001;
// ack
// body
}

10 | PWM and Periodic interrupts using Timers Texas Instruments

 模块 13
讲解：定时器

| PWM and Periodic interrupts using Timers Texas Instruments

 PWM使用定时器

在本模块中您将学到：
 TI MSP432上的Timer A
• 时钟输入，预分频
• 计数器

 PWM 输出
• 调整电机功率
• 两个独立的输出

Period Period

High Low High Low

12 | PWM and Periodic interrupts using Timers Texas Instruments

 使用电机驱动配电板的接口电路（概述）

PWM on
P2.6, P2.7

13 | PWM and Periodic interrupts using Timers Texas Instruments

 MSP432 输入/输出

Lab code
Starter code

14 | PWM and Periodic interrupts using Timers Texas Instruments

 使用Timer-A实现两个PWM输出 你将它转换为
TA0.4/P2.7
TA0.3/P2.6

TA0CCR2 TA0CCR0
Driver Duty cycle =
MSP432
Motor TA0CCR2
TA0CCR0
TA0.2/P2.5
TA0CCR1 TA0CCR0
Duty cycle =
Motor TA0CCR1
TA0.1/P2.4 TA0CCR0

15 | PWM and Periodic interrupts using Timers Texas Instruments

 High High
使用Timer-A实现两个PWM输出 Dutycycle  
High  Low Period

PWM模式 Period Period

 上/下计数
• 最高到CCR0（10） High Low High Low
• 最低降到0
 当定时器等于TA0CCR1（7）时，P2.4 = 1
 当定时器等于TA0CCR1（7）时，P2.4 = 0

T = 预分频/12MHz
周期 = 2*T*CCR0
16 | PWM and Periodic interrupts using Timers 占空比 = CCR1/CCR0 Texas Instruments
 P2.4和P2.5上的PWM输出
// SMCLK = 48MHz/4 = 12 MHz, 83.33ns
// Counter counts up to TA0CCR0 and back down
// Let Timerclock period T = 8/12MHz = 666.7ns 你将它转换为：
// Period of P2.4 is period*1.333us, duty cycle is duty1/period TA0.4/P2.7
// Period of P2.5 is period*1.333us, duty cycle is duty2/period TA0.3/P2.6
void PWM_Init12(uint16_t period, uint16_t duty1, uint16_t duty2){
P2->DIR |= 0x30; // P2.4, P2.5 output
P2->SEL0 |= 0x30; // P2.4, P2.5 Timer0A functions
P2->SEL1 &= ~0x30; // P2.4, P2.5 Timer0A functions
TIMER_A0->CCTL[0] = 0x0080; // CCI0 toggle
TIMER_A0->CCR[0] = period; // Period is 2*period*8*83.33ns is 1.333*period
TIMER_A0->EX0 = 0x0000; // divide by 1
TIMER_A0->CCTL[1] = 0x0040; // CCR1 toggle/reset
TIMER_A0->CCR[1] = duty1; // CCR1 duty cycle is duty1/period
TIMER_A0->CCTL[2] = 0x0040; // CCR2 toggle/reset
TIMER_A0->CCR[2] = duty2; // CCR2 duty cycle is duty2/period
TIMER_A0->CTL = 0x02F0; // SMCLK=12MHz, divide by 8, up-down mode
// bit mode
// 9-8 10 TASSEL, SMCLK=12MHz
// 7-6 11 ID, divide by 8 T = 8/12MHz
// 5-4 11 MC, up-down mode
周期 = 2*T*15000 = 10ms
// 2 0 TACLR, no clear
// 1 0 TAIE, no interrupt
占空比 = CCR1/15000
// 0 TAIFG
}
17 | PWM and Periodic interrupts using Timers Texas Instruments
 P2.4和P2.5上的PWM输出
你将它转换为：
TA0.4/P2.7
TA0.3/P2.6
//***************************PWM_Duty1*******************************
// change duty cycle of PWM output on P2.4
// Inputs: duty1
// Outputs: none
// period of P2.4 is 2*period*666.7ns, duty cycle is duty1/period
void PWM_Duty1(uint16_t duty1){
TIMER_A0->CCR[1] = duty1; // CCR1 duty cycle is duty1/period
}

//***************************PWM_Duty2*******************************
// change duty cycle of PWM output on P2.5
// Inputs: duty2
// Outputs: none// period of P2.5 is 2*period*666.7ns, duty cycle is duty2/period
void PWM_Duty2(uint16_t duty2){
TIMER_A0->CCR[2] = duty2; // CCR2 duty cycle is duty2/period
}

占空比
• 精确的14999种选择（0到14998）
• 范围0至99.99%
• 分辨率 0.0067%

18 | PWM and Periodic interrupts using Timers Texas Instruments

 总结

PWM 输出
 调整电机功率
 两个独立的输出

Period Period

High Low High Low

19 | PWM and Periodic interrupts using Timers Texas Instruments

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