microchip-application-pec930-pec930_peripheral/ttt.c

/**
 * Copyright (c) 2026 Wisetop. All Rights Reserved.
 */
/** @file main.c
 *
 * @version 0.0.1
 * @date 2026/04/22
 * @license
 * @description
 */
#include "main.h"

#include "hal_gpio.h"
#include "hal_tim.h"
#include "uart_cmd_srv.h"
//=============================================================================
//                  Constant Definition
//=============================================================================
#define EPWM_TARGET_FREQ_HZ (24000U)
#define EPWM_TIM_CLOCK_HZ   (60000000U)
#define PWM_TABLE_SIZE      (64U)

// Example: 50Hz electrical frequency in Q0.32 phase accumulator domain.
#define PHASE_TARGET_FREQ_HZ (50U)

#define PHASE_OFFSET_120_DEG_Q32 (0x55555555UL)
#define PHASE_OFFSET_240_DEG_Q32 (0xAAAAAAAAUL)

//=============================================================================
//                  Macro Definition
//=============================================================================

//=============================================================================
//                  Structure Definition
//=============================================================================

//=============================================================================
//                  Global Data Definition
//=============================================================================
static const uint16_t pwm_table[PWM_TABLE_SIZE]
  = { 1250, 1372, 1493, 1612, 1728, 1839, 1944, 2042, 2133, 2216, 2289,
      2352, 2404, 2446, 2475, 2493, 2499, 2493, 2475, 2446, 2404, 2352,
      2289, 2216, 2133, 2042, 1944, 1839, 1728, 1612, 1493, 1372, 1250,
      1127, 1006, 887,  771,  660,  555,  457,  366,  283,  210,  147,
      95,   53,   24,   6,    0,    6,    24,   53,   95,   147,  210,
      283,  366,  457,  555,  660,  771,  887,  1006, 1127 };

static volatile uint32_t phase_acc_base = 0U;
static uint32_t phase_acc_step          = 0U;

//=============================================================================
//                  Private Function Definition
//=============================================================================
static void epwm_set_3phase_duty_from_phase(uint32_t phase_q32)
{
  const uint16_t idx_a = (uint16_t)(phase_q32 >> 26U);
  const uint16_t idx_b = (uint16_t)((phase_q32 + PHASE_OFFSET_120_DEG_Q32) >> 26U);
  const uint16_t idx_c = (uint16_t)((phase_q32 + PHASE_OFFSET_240_DEG_Q32) >> 26U);

  EPWM->CCR1 = pwm_table[idx_a & (PWM_TABLE_SIZE - 1U)];
  EPWM->CCR2 = pwm_table[idx_b & (PWM_TABLE_SIZE - 1U)];
  EPWM->CCR3 = pwm_table[idx_c & (PWM_TABLE_SIZE - 1U)];
}

__INTERRUPT static void epwm_irq_handler(void)
{
  if ((EPWM->SR & 0x10000U) == 0x10000U)
  {
    phase_acc_base += phase_acc_step;
    epwm_set_3phase_duty_from_phase(phase_acc_base);
    TIM_ClearITPendingBit(EPWM, 0x10000U); // clear EPWM OVIF
  }
}

static uint16_t epwm_calc_prescaler(uint32_t tim_clk_hz, uint32_t pwm_freq_hz,
                                    uint16_t period)
{
  const uint32_t denom = pwm_freq_hz * ((uint32_t)period + 1U);
  uint32_t psc         = (tim_clk_hz + (denom / 2U)) / denom;

  if (psc == 0U)
  {
    psc = 1U;
  }
  return (uint16_t)(psc - 1U);
}

static uint16_t epwm_calc_max_period(uint32_t tim_clk_hz, uint32_t pwm_freq_hz)
{
  uint32_t period = (tim_clk_hz / pwm_freq_hz);

  if (period == 0U)
  {
    return 0U;
  }

  period -= 1U;
  if (period > 0xFFFFU)
  {
    period = 0xFFFFU;
  }
  return (uint16_t)period;
}

static uint32_t phase_acc_calc_step(uint32_t target_freq_hz,
                                    uint32_t update_freq_hz)
{
  return (uint32_t)(((uint64_t)target_freq_hz << 32) / update_freq_hz);
}

static void epwm_init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct            = { 0 };
  TIM_OCInitTypeDef TIM_OCInitStruct          = { 0 };
  TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStr = { 0 };
  sys_irq_attr_t irq_attr                     = { 0 };
  const uint16_t period = epwm_calc_max_period(EPWM_TIM_CLOCK_HZ,
                                                EPWM_TARGET_FREQ_HZ);
  const uint16_t prescaler = epwm_calc_prescaler(EPWM_TIM_CLOCK_HZ,
                                                 EPWM_TARGET_FREQ_HZ, period);

  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_00 | GPIO_Pin_01 | GPIO_Pin_02
                           | GPIO_Pin_03 | GPIO_Pin_04 | GPIO_Pin_05;
  GPIO_InitStruct.GPIO_Mode    = GPIO_Mode_AF;
  GPIO_InitStruct.GPIO_AF_Mode = GPIO_AF_6;
  GPIO_Init(GPIOA, &GPIO_InitStruct);

  irq_attr.disable_vector = false;
  irq_attr.trig_mode      = SYS_IRQ_TRIGGER_LEVEL;
  irq_attr.level          = SYS_IRQ_LEVEL_H;
  irq_attr.priority       = SYS_IRQ_PRIORITY_MIDDEN;
  sys_register_IRQ(EPWM_IRQn, epwm_irq_handler, &irq_attr);

  TIM_DeInit(EPWM);

  TIM_TimeBaseStructInit(&TIM_TimeBaseInitStr);
  TIM_TimeBaseInitStr.TIM_Prescaler         = prescaler;
  TIM_TimeBaseInitStr.TIM_CounterMode       = TIM_CounterMode_Up;
  TIM_TimeBaseInitStr.TIM_Period            = period;
  TIM_TimeBaseInitStr.TIM_ClockDivision     = TIM_CKD_Div1;
  TIM_TimeBaseInitStr.TIM_RepetitionCounter = 0;
  TIM_TimeBaseInit(EPWM, &TIM_TimeBaseInitStr);
  TIM_ARRPreloadConfig(EPWM, ENABLE);

  TIM_OCStructInit(&TIM_OCInitStruct);
  TIM_OCInitStruct.TIM_OCMode       = TIM_OCMode_PWM1;
  TIM_OCInitStruct.TIM_OutputState  = TIM_OutputState_Enable;
  TIM_OCInitStruct.TIM_OutputNState = TIM_OutputNState_Enable;
  TIM_OCInitStruct.TIM_Pulse        = pwm_table[0];
  TIM_OCInitStruct.TIM_OCPolarity   = TIM_OCPolarity_High;
  TIM_OCInitStruct.TIM_OCNPolarity  = TIM_OCNPolarity_High;
  TIM_OCInitStruct.TIM_OCIdleState  = TIM_OCIdleState_Reset;
  TIM_OCInitStruct.TIM_OCNIdleState = TIM_OCNIdleState_Reset;

  TIM_OC1Init(EPWM, &TIM_OCInitStruct);
  TIM_OC2Init(EPWM, &TIM_OCInitStruct);
  TIM_OC3Init(EPWM, &TIM_OCInitStruct);

  EPWM->CCMR1_OUTPUT_b.OC1PE = 1U;
  EPWM->CCMR1_OUTPUT_b.OC2PE = 1U;
  EPWM->CCMR2_OUTPUT_b.OC3PE = 1U;

  EPWM->DIER |= 0x0800U; // overflow interrupt enable
  TIM_ClearITPendingBit(EPWM, 0x10000U);

  TIM_Cmd(EPWM, ENABLE);
  TIM_CtrlPWMOutputs(EPWM, ENABLE);
  epwm_set_3phase_duty_from_phase(phase_acc_base);
  __enable_irq();
}

static void sysclk_init(void)
{
  SYSCFG_ClkInitTypeDef SysClkInit = { 0 };
  SysClkInit.ClkSource = SYSCFG_ClkSrc_HSI;
  SYSCFG_SysClkConfig(&SysClkInit);

  sys_config_systick(SYS_TICK_1_MS);
}

//=============================================================================
//                  Public Function Definition
//=============================================================================
int main(void)
{
  sysclk_init();
  phase_acc_step = phase_acc_calc_step(PHASE_TARGET_FREQ_HZ, EPWM_TARGET_FREQ_HZ);
  epwm_init();

  uart_init();
  uart_send_msg("%s\r\n", "uart ok");

  while (1)
  {
    uart_cmd_process();
  }
  return 0;
}