Freescale Semiconductor
Application Note
AN2368/D
Rev. 0, 10/2002
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Using the Hall Effect
Decode (HALLD) TPU
Function with the
MPC500 Family
Ken Terry
TECD
This TPU Programming Note is intended to provide simple C interface routines to the Hall
effect decode function (HALLD). 1 The routines are targeted for the MPC500 family of
devices, but they should be easy to use with any device that has a TPU.
1
Functional Overview
The Hall effect decode function is a TPU input function that uses two or three channels to
decode the signals from hall effect sensors into a state number. It has been primarily designed
for use with the COMM TPU function in brushless motor applications but can also be applied
to other applications requiring the decoding of multiple digital inputs.
2
Detailed Description
The HALLD function uses two or three adjacent TPU channels configured as inputs. The
choice of two or three-channel mode is made during initialization. The primary purpose of this
function is to decode the digital signals derived from hall effect sensors in a brushless motor,
along with a direction input from the CPU, into a state number that is passed to the
commutation output TPU function (COMM) via a link request. The state number therefore
represents the current angular position of the rotor. In response to the link, the COMM
function outputs the commutation signals corresponding to this state in order to turn the motor
in the required direction. A PWM function is also required, the output of which is gated by the
COMM signals onto the motor phases. Figure 1 shows such an application with the associated
signals.
1
The information in this Programming Note is based on TPUPN10. It is intended to
compliment the information found in that Programming Note.
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Figure 1. Hall Effect Sensor Application
The direction input from the CPU is supplied to the function via the parameter RAM of the HALLD channel
A (the one with the lowest channel number). The function effectively performs a 3 to 8 or 4 to 16 decode
with the CPU direction input being the third or fourth input depending on the mode. In two channel mode,
the output of the function is a state number from 0 to 7 and in three channel mode the output is a state number
from 0 to 15. Table 1 and Table 2 show the state numbers produced by HALLD for the various input
conditions in the two modes - channel A is the HALLD channel with the lowest channel number, channel
B the next lowest and channel C the highest (3 channel mode only).
Table 1. HALLD Decoding Result in 2-Channel Mode
2
Channel B
Channel A
DIRECTION
Decoded STATE_NO
0
0
0
0
0
1
0
2
1
0
0
4
1
1
0
6
0
0
1
1
0
1
1
3
1
0
1
5
1
1
1
7
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T
HALLD Routines
Table 2. HALLD Decoding Result in 3 Channel Mode
Channel C
Channel B
Channel A
DIRECTION
Decoded STATE_NO
0
0
0
0
0
0
0
1
0
2
0
1
0
0
4
0
1
1
0
6
1
0
0
0
8
1
0
1
0
10
1
1
0
0
12
1
1
1
0
14
0
0
0
1
1
0
0
1
1
3
0
1
0
1
5
0
1
1
1
7
1
0
0
1
9
1
0
1
1
11
1
1
0
1
13
1
1
1
1
15
The state number output of the HALLD function can be stored in any location in TPU PRAM via a user
programmed pointer. When used with the COMM function the pointer is programmed to store the state
number in the COMM master channel PRAM. Note that the HALLD function performs a straight decode
and does not reject the invalid sensor states found in some motor applications - these must be handled by
correct set-up of the COMM function state table- see 'Notes on Use and Performance of HALLD' and
COMM function documentation for more details.
Other uses of the HALLD function are possible, such as reducing the I/O requirements of the main CPU.
For example, many applications offer the user a series of switches to set up options. Normally these switches
require one I/O line each so that 8 options use 8 input pins on an I/O port (or three switches plus some CPU
overhead). In many applications I/O is at a premium and the whole TPU may not be fully utilized for timing
tasks. In these cases, with the HALLD function, the number of switches can be reduced to 3 and placed on
spare TPU pins. The TPU will decode the required option number, which the CPU can read at any time. In
this mode the HALLD function would be programmed to store the state number in a spare PRAM location
of one of its own channels and therefore link to itself. A pinstate parameter for each HALLD channel is also
maintained by the TPU and this can be read directly by the CPU to determine the level of that channel pin
after the last transition on that channel.
2.1
HALLD Routines
This Programming Note describes a number of routines which can be used to provide a simple and easy to
use interface. There are seven routines in total, and these are contained in two files – tpu_halld.h and
tpu_halld.c. The routines are defined in tpu_halld.c and the function prototypes are contained in tpu_halld.h.
The file tpu_halld.h needs to be included in any file that uses the routines.
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HALLD Routines
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The routines are written in C and examples of their use are provided. The examples make use of the standard
header files provided for the MPC555 and the MPC500 utility routines.
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The following routines are described in detail in the sections below:
•
void tpu_halld_init(struct TPU3_tag *tpu, UINT8 channel, INT16 direction, INT16
state_no_address, UINT8 mode);
•
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_state_no_address(struct TPU3_tag *tpu, UINT8 channel, INT16
state_no_address)
•
void tpu_halld_set_direction(struct TPU3_tag *tpu, UINT8 channel, INT16 direction)
•
INT16 tpu_halld_get_state_no(struct TPU3_tag *tpu, UINT8 channel)
•
INT16 tpu_halld_get_pinstate(struct TPU3_tag *tpu, UINT8 channel)
2.1.1
void tpu_halld_init
This function is used to set up and initialize the selected channels for the HALLD function. In order to avoid
any unpredictable operation of the TPU, the function disables the selected channels before configuring them
for the HALLD function. Clearing the appropriate bits in the CPRO registers disables TPU channels. If any
function state is executing at the time a channel is disabled, it will continue until it is completed. It is
therefore advisable that, if the channels are used for any other TPU function prior to their configuration for
HALLD, an appropriate delay is implemented before calling the tpu_halld_init function.
The function has five parameters:
4
•
*tpu – This is a pointer to the TPU3 module to be used. It is of type TPU3_tag which is defined in
the standard header file m_tpu3.h
•
channel – This is the channel selected as channel A for the HALLD function. HALLD uses either
two or three channels depending on the mode selected. These channels are adjacent and follow
channel A.
•
direction – This is a 16 bit parameter used by the HALLD function. In a brushless motor
application, direction allows the direction of rotation to be specified as it decodes the lsb of the
decoded state number. The parameter has two legal values, 0x0000 and 0x0001, defined as
HALLD_DIRECTION_0 and HALLD_DIRECTION_1 in halld.h. The translation of these values
into motor direction is dependent on the programming of the state table in the COMM function.
The parameter is used only by channel A.
•
state_no_address – This defines which parameter RAM address is used to store the decoded
STATE_NO. The channel associated with the address also receives a link request each time
STATE_NO is written by HALLD. Although state_no_address is a 16 bit integer value, only the
lower 8 bits are used. These represent the lower eight bits of address within the parameter RAM
where STATE_NO is written. For example the value 0x0032 selects parameter 1 of channel 3.
•
mode – This selects either two channel or three channel mode of operation. The values
HALLD_TWO_CHANNEL_MODE and HALLD_THREE_CHANNEL_MODE are defined in
halld.h. The value of mode is stored in the parameter RAM (parameter 2) of the channel assigned
as channel A. It is important that this location is not overwritten by the CPU or by any other TPU
function.
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2.1.2
HALLD Routines
void tpu_halld_enable
This function is used to enable the channels assigned to the HALLD function and is called after
tpu_halld_init to enable HALLD operation.
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The function has three parameters.
•
*tpu - This is a pointer to the TPU3 module to be used. It is of type TPU3_tag, which is defined in
m_tpu3.h
•
channel – This is the channel selected as channel A for the HALLD function. The parameter
should always be Channel A for both two and three channel mode.
•
priority – This parameter selects the priority to be assigned to the channels. There are three priority
levels. These are defined as TPU_PRIORITY_HIGH, TPU_PRIORITY_MIDDLE and
TPU_PRIORITY_LOW in the header file mpc500_util.h.
2.1.3
void tpu_halld_disable
This function is used to disable the channels assigned to the HALLD function. It has two parameters.
•
*tpu - This is a pointer to the TPU3 module to be used. It is of type TPU3_tag, which is defined in
m_tpu3.h
•
channel – This is the channel selected as channel A for the HALLD function. The parameter
should always be Channel A for both two and three channel mode.
2.1.4
void tpu_halld_set_state_no_address
This function is used to set the state_no_address parameter. This defines the location in the TPU parameter
RAM where STATE_NO is written. The function has three parameters.
•
*tpu - This is a pointer to the TPU3 module to be used. It is of type TPU3_tag which is defined in
m_tpu3.h
•
channel – This is the channel selected as channel A for the HALLD function. The parameter
should always be Channel A for both two and three channel mode.
•
state_no_address – This defines which parameter RAM address is used to store the decoded
STATE_NO. The channel associated with the address also receives a link request each time
STATE_NO is written by HALLD. Although state_no_address is a 16 bit integer value, only the
lower 8 bits are used. These represent the lower eight bits of address within the parameter RAM
where STATE_NO is written. For example the value 0x0032 selects parameter 1 of channel 3.
2.1.5
void tpu_halld_set_direction
This function sets the direction parameter. It has three parameters.
•
*tpu – This is a pointer to the TPU3 module to use. It is of type TPU3_tag which is defined in
m_tpu3.h
•
channel – This is the channel selected as channel A for the HALLD function.
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Speed
•
direction – This is a 16 bit parameter used by the HALLD function. In brushless motor control
applications it allows the CPU to specify the direction of rotation dependant on the state table
within the COMM function which is used in conjunction with HALLD. The parameter has two
legal values, 0x0000 and 0x0001, defined as HALLD_DIRECTION_0 and
HALLD_DIRECTION_1 in halld.h
2.1.6
INT16 tpu_halld_get_state_no
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This function returns the decoded STATE_NO value. It has two parameters.
•
*tpu – This is a pointer to the TPU3 module to use. It is of type TPU3_tag which is defined in
m_tpu3.h
•
channel – This is the channel selected as channel A for the HALLD function.
2.1.7
INT16 tpu_halld_get_pinstate
This function returns the PINSATE value for the selected HALLD channel. It has two parameters.
•
*tpu – This is a pointer to the TPU3 module to use. It is of type TPU3_tag, which is defined in
m_tpu3.h
•
channel – This is can be any one of the channels selected for the HALLD function.
3
Performance and Use of the HALLD Function
3.1
Speed
Like all TPU functions, the performance limit of the HALLD function in a given application is dependent
on the service time (latency) of other active TPU channels. This is due to the operational nature of the
scheduler. When HALLD is the only function running on the TPU, it can decode state changes at
approximately 540KHz in two channel mode and 470 kHz in three channel mode with a CPU bus speed of
40 MHz.
When more TPU channels are active, this performance will be degraded. The scheduler however, assures
that the worst case latencies in any TPU application can be closely estimated. It is therefore recommended
that the guidelines given in the TPU reference manual are used, along with the figures given in the HALLD
state timing table, to perform an analysis on any proposed TPU application that appears to approach the
performance limits of the TPU.
Table 3. Hall Effect Decode Function—State Timing
State Number & Name
Max. CPU Clock Cycles
RAM accesses by TPU
S1 INIT_2CH_HALLD
60
8
S2 INIT_3CH_HALLD
74
10
S3 TRANS_HALLD
i) 2 Channel Mode
ii) 3 Channel Mode
56
70
8
10
NOTE: Execution times do not include the time slot transition time (TST= 10 or 14 CPU clocks)
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Using HALLD with the COMM TPU Function
3.2
Using HALLD with the COMM TPU Function
HALLD has been primarily designed for use with COMM in a brushless motor application. Observing the
following points will greatly improve the performance of the combination.
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During initialization of the HALLD function, a link request to the COMM function will be generated when
each channel is initialized. This means that in a 3-channel case, COMM would receive 3 links. In addition
STATE_NO is only valid after all the channels have been initialized so that the first two links are associated
with an invalid STATE_NO. To avoid COMM responding to these links, it is best to initialize HALLD first
and then initialize COMM after all HALLD HSRs have been cleared. In this way COMM will use a valid
STATE_NO from initialization onwards.
In some motor applications, not all sensor states are valid. For example in a 3 phase brushless motor the
three hall effect sensors produce only six valid states, but the other two can occur momentarily due to noise.
Since HALLD performs a straight binary decode of the sensor inputs and does not reject invalid states, these
erroneous states can be passed on to the COMM function. The COMM function allows for this eventuality
via the programmable state table. The entries in the state table corresponding to the invalid states should be
configured to take the appropriate action (usually to turn off the phase drivers). Refer to the Programming
Note “Multiphase Motor Commutation TPU Function (COMM)” (TPUPN09/D) for more detail.
3.3
Using HALLD for General Purpose Input Pins
As previously mentioned, HALLD can be used as a type of input port. In this configuration
STATE_NO_ADDR is programmed to store STATE_NO into one of the spare parameter RAM locations of
one of the HALLD channels. This means that a HALLD channel will receive the link request, but link
requests are ignored by the function. There are two ways of using HALLD for general-purpose inputs. The
first, where the inputs are used in encoded form, has already been described. HALLD can be used more
simply to read the state of the pins directly, using the PINSTATE parameter and ignoring the value of
STATE_NO. After initialization the CPU can read the PINSTATE parameter of the channels at any time
(using function tpu_get_pinstate) and obtain the level of the channel pin after the last edge was serviced.
3.4
Example 1
The following example shows how to set up and configure the HALLD function using the interface routines.
Once the HALLD function has been configured the program runs a small loop of code which fetches the
decoded state_no value.
3.4.1
Program
/**************************************************************************/
/* FILE NAME: halld_ex1.c
COPYRIGHT (c)
2002 */
/* VERSION: 1.0
*/
/*
*/
/* DESCRIPTION: This program is a simple example of using the HALLD
*/
/*
interface routine to configure the HALLD function for
*/
/*
three-channel mode
*/
/*========================================================================*/
/* COMPILER: Diab Data
VERSION: 4.3f
Using the Hall Effect Decode TPU Function
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*/
7
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Example 1
/*
*/
/* HISTORY
*/
/* REV
AUTHOR
/* ---
-----------
/* 1.1
K Terry
DATE
--------25/7/02
DESCRIPTION OF CHANGE
*/
---------------------
*/
Demo program for HALLD setup
*/
/*
*/
/**************************************************************************/
#include "mpc555.h"
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#include "tpu_halld.h"
#include "mpc500.c"
/* Configuration routines for MPC555 EVB */
#include "mpc500_util.h"
/* Utility routines for using MPC500 devices */
struct TPU3_tag *tpua = &TPU_A;
/* pointer for TPU routines */
void delay (void)
{
int delay;
for (delay = 0; delay < 0x100; delay++);
}
void main ()
{
int state = 0;
INT16 state_no;
setup_mpc500(40);
/*Setup device and programm PLL to 40MHz*/
/* configure TPU channels 3, 4 and 5 to run the HALLD function in
three-channel mode, state no is stored in the low order eight bits
of parameter 3 in channel 5 */
tpu_halld_init(tpua, 3, HALLD_DIRECTION_0, 0x0055,
HALLD_THREE_CHANNEL_MODE);
tpu_halld_enable(tpua, 3, TPU_PRIORITY_MIDDLE);
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Example 2
while(1)
{
state_no = tpu_halld_get_state_no(tpua, 3);
delay();
}
3.5
Example 2
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The following example shows how the HALLD function can be configured to work with the COMM
function (in sensored mode). Table 4 shows a possible state table for a three-phase motor using sensored
mode and HALLD.
Table 4. Example State Table for 3-Phase Motor Using in Sensored Mode and HALLD
HALL C
HALL B
HALL A
DIRECTION
STATE_NO
COMM State Table
0
0
0
0
0
XXXXXXXX XX101100
0
0
0
1
1
XXXXXXXX XX011010
0
0
1
0
2
XXXXXXXX XX110100
0
0
1
1
3
XXXXXXXX XX011001
0
1
0
0
4
XXXXXXXX XXNNNNNN
0
1
0
1
5
XXXXXXXX XXNNNNNN
0
1
1
0
6
XXXXXXXX XX110010
0
1
1
1
7
XXXXXXXX XX101001
1
0
0
0
8
XXXXXXXX XX101001
1
0
0
1
9
XXXXXXXX XX110010
1
0
1
0
10
XXXXXXXX XXNNNNNN
1
0
1
1
11
XXXXXXXX XXNNNNNN
1
1
0
0
12
XXXXXXXX XX011001
1
1
0
1
13
XXXXXXXX XX110100
1
1
1
0
14
XXXXXXXX XX011010
1
1
1
1
15
XXXXXXXX XX101100
The program configures the HALLD Function to operate in three-channel mode with TPU channel 3
assigned as Channel A.
The COMM Function is set to use 6 pins to drive the commutation states. Sixteen commutation states are
defined. TPU channel 8 is assigned as the master channel.
The program includes a small piece of demonstration code which uses the QADC_A PORTQA[0:2] pins to
drive state values. If these pins are connected to the HALLD TPU channels, the HALLD function will
decode the states and provide a state number to the COMM function, which will in turn drive the appropriate
commutation state values on the TPU COMM channel pins.
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Program
The user should refer to the Programming Notes “Multiphase Motor Commutation TPU Function
(COMM)” and “Using the Multiphase Motor Commutation TPU Function (COMM)” for information on
the COMM interface routines.
3.6
Program
/****************************************************************************/
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/* FILE NAME: halld_comm_ex.c
COPYRIGHT (c)
2002
*/
/* VERSION: 1.0
*/
/*
*/
/* DESCRIPTION: This program demonstrates the use of the COMM and HALLD
*/
/*
TPU functions. It sets up HALLD for three-channel
*/
/*
operation and configures COMM to use a 16 entry commutation */
/*
state table running in sensored HALLD mode
*/
/*==========================================================================*/
/* COMPILER: Diab Data
VERSION: 4.3f
*/
/*
*/
/* HISTORY
*/
/* REV
AUTHOR
DATE
/* ---
-----------
/* 1.0
K Terry
--------30/8/02
/*
DESCRIPTION OF CHANGE
*/
---------------------
*/
Demo. Program for TPU COMM/HALLD
*/
Function
*/
/****************************************************************************/
#include "mpc555.h"
#include "tpu_halld.h"
#include "tpu_comm.h"
#include "mpc500.c"
/* Configuration routines for MPC555 EVB */
#include "mpc500_util.h"
/* Utility routines for using MPC500 devices */
void main ()
{
struct
TPU3_tag *tpua = &TPU_A;
struct
halld_func *halld1;
/* pointer for TPU routines */
INT16 state = 0;
INT16
state_no;
INT16
tpu_comm_states[16] = {0x002c, 0x001a, 0x0034, 0x0031,
0x0000, 0x0000, 0x0032, 0x0029,
0x0029, 0x0032, 0x0000, 0x0000,
0x0019, 0x0034, 0x001a, 0x002c
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Program
};
setup_mpc500(40);
/*
/* Setup device and programm PLL to 40MHz */
initialize tpu comm function for tpu_a,
master channel is 8
no_of_pins = 6
update_period = 37 = 0x0025 - for sensored mode
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UPDATE_PERIOD(min)(CPU clocks) = 64 + 14 * NO_OF_PINS
UPDATE_PERIOD(min)(TCR1 clocks) = (64 + 14 * NO_OF_PINS) / 4
- assumes DIV4 clock (TPUMCR3[EPSCKE] = 0, TPUMCR[PSCK] = 0
and TPUMCR[TCR1P] = 00)
*/
tpu_comm_init_sensored(tpua, 8, 6, 0x0025, tpu_comm_states, 16);
/*
force STATE_0 for COMM function on tpua, master channel 8 */
tpu_comm_force_state(tpua, 8, 0);
/*
enable COMM function master channel (8) for middle priority */
tpu_enable(tpua, 8, TPU_PRIORITY_MIDDLE);
/*
wait for end of service (force_state) */
while(tpu_get_hsr(tpua, 8)!=0);
/*
set up HALLD function for 3 channel mode using channels 3, 4 and 5
initial value of DIRECTION = 0, state_no_address is set to 0x0083
to place the decoded STATE_NO value from HALLD into the required COMM
parameter RAM location for STATE_NO
*/
tpu_halld_init(tpua, 3, HALLD_DIRECTION_0, 0x0083,
HALLD_THREE_CHANNEL_MODE);
tpu_halld_enable(tpua, 3, TPU_PRIORITY_MIDDLE);
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Program
/* The following loop of code is intended to demonstrate the operation of the
HALLD and COMM functions operating together. It will drive state values
onto the QADC_A PORTQA[0:2] pins. If these are connected to the HALLD
input channels(A, B and C], the HALLD function decodes the state values and
supplies the decoded state number to the COMM function which in turn drives
the appropriate commutation state value onto the TPU COMM channels */
QADC_A.PORTQA.R = 0;
QADC_A.DDRQA.R = 0xFF00;
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while(1)
{
tpu_halld_set_direction(tpua, 3, HALLD_DIRECTION_0);
for (state = 0; state < 8; state++)
{
QADC_A.PORTQA.R = state;
/* wait for completion of COMM function service */
while (!((tpua->CISR.R) & (0x0001 << 8)));
tpua->CISR.R = 0;
state_no = tpu_comm_get_state_no(tpua, 8);
}
tpu_halld_set_direction(tpua, 3, HALLD_DIRECTION_1);
for (state = 0; state < 8; state++)
{
QADC_A.PORTQA.R = state;
/* wait for completion of COMM function service */
while (!((tpua->CISR.R) & (0x0001 << 8)));
tpua->CISR.R = 0;
state_no = tpu_comm_get_state_no(tpua, 8);
}
}
}
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