enf Sb' 903 9"143,,S I I I ' 4x3 1N~1 er.A X.I}.0 I A4wno'-) t!q - 9 o 1 Z„ o. 3 oot:F bKg%c .Yp~"aa}X 7 lJ U Pas n r° d a%J ~. 0 1 '° b%jIc s uC Sjdfl)'aft'.1 s ,~o~ ~S~b a~ l11

`ri Mi n ~ Generayon 2- ~teqAcJrvv\enf S

•

Ihpuf op Pure

4oth It 0

. Odfpuf corn fore 't o

'V\C~s

}gyp{ or0(q

The.~, ~ nne r s ~s~en~5 o K

V ersa

I enerafe tnferrupfs

jer'Od orpu rs e wCd4h

rleo uCe

I sC ce afe pcr' o 4" +'"+

P

~C eKe~dfes~v4AC

waYeo

w%a Ke ~ kx(' 6le

'rdb Vst

,heao urunCKt S46Sfen~S

ye t

have

c.a/p a

pct Con" kQ1ters

h°Ale- r

efv 11

6 c ddei

6een ,1aJeboss,

~ o f t ~ Me ,, s~ s few:iii fi

ROM-8K BYTES

RAM-256 BYTES

COP WATCHDOG

EEPROM-512 BYTES

wI --Cr

OSCILLATOR

PULSE ACCUMULATOR

PERIODIC INTERRUPT

TIMER

Port B

SPI

PM

O OC3

OC5

IC2IC3

SCKMOSTMISO

TxD

11111111DATA DIRECTION C

PORT C

SINGLECHIP

c) C,5 loci

oc.t /cc- ,

acs/oct

oca loci

? \1/oct

1~R ° ~ Tc 3

pz

-S C

M68HC11CPU

cc' ooS 13:U3 EXPANDED« « « «

FIGUIIIE 1 .2 1Mernal block diagram of the MC68HC11A8 microcontroller (Courtesy of Motorola, Inc .)

progrQ„hMa(,(e- timer O perct,~fov~S ;

This svbsyftM Sao hnoref rea' trs *kar, Tt,t otkevs

Cov4fo.Q fea i s4 tv S

7C T L

Tiv~e~. COhiro.Q re4l3~P/,,

-T C T L 1

T ttsk I

t"lo.i" }frrlt/t, ihf'errvet wwok r~9is~Pr+, f

T t{ sK 2

rAi scel(6cKeovs tiwtev I, vj t-evtrclef. mask Ire,

p A C T L

eukSe occuMvt&J-or cov fel_f re-9 is+a1

ac 1 M

R CiiaH r"as k rtti34.&t

C) C t b

ft cln'ovt (J a ~a r e% i,fej

Q(X4 Q & c3 t e)L.o

T C N T

T irhei cauhfei,. rc15 is+e1

TIC 4- TICS

Tiwte ivPvt capbtite. re-S''S4*U ', 2,3

70c1- TO C 5

Ti rntn, ov~wt compw re-6 ~sf-ers t . X. 3i 4, S'

PAC N T

p JIse o ccvww( dor cook t re.ji et

~ ~-ct,+vs ~ i s+Q~o

T F- L G- I

T F L G-~

hl a.ih 4 wtU, ih+errva t

g1113 re q

KI S C t (("c ov % +i YWOL 9 1aq rcg I's fel,, t

FIGURE 11-1 Bit assignments for the Timer Control, Mask, and Flag Register

* Allo ,,ls 0 Se- -t o ?ra9rawl

OCI - o C-

c ah~Pi

s Q<6 ~ca ca9e-

LL Pin Cat) C T IC rt9is 4N

-to (4. '' i~L r4 . r~rhtK~

Gov~k

b u1r~hlot~ a bt

-tp

t1SK1

0 11 Z

4.QC" ih?u

C

uhc~loa }has t t 5 Duh

Si'u~VIs

l(At

-rkis

w ken ' S~lct~ Sc} s

~ furci„ ut

cqpC.our~-Ur

Pat I~ ~'

S ~GCt~ I~P ; A tot,

Peter SpasovMlcrocontroller Technology : The 68HC11,Fourth Edition

[' fir''=

«M~'

Ol 4 OMS0

Output Compare Specification,see Figure 11 .4

as

OMx,OLa -

TCTt .2

EDG1B0

0

0

0E001A

EDGxB,EDGXA -

TMSK1

0

0

0

OCII - OCSI ∎

ICII - IC31 .

Input capture specification .see Figure 11 .5

Output Compare Interrupt enable,see Figure 11 .4kiput capture Interrupt enable,see Figure 11 .50 ∎ Interrupt inhibit1 ∎ Interrupt enable

Output Compare Flag,see Figure 11 .4

IC1F - IC3F ∎

Input Capture Flag .see Figure 1 1 .S

•

Write with bit(s) set to clear corresponding flag(s) .

OC1 F - OCSF -

. .,Cf. A chIaM

o

MC aCAON

o

I

T 031'e Oct

(

0

c 1C a/1, 0C -V

SCE OcxI

EflG><8 En~xA

a c.f~

0

LaP Av'rlt0

disabd

O

(

l

vI

(

bd r'

Copyright 02002 by Pearson Education, Inc .Upper Saddle River, New Jersey 07458

All rights reserved .

FIGURE 11.1 (continued)

>;v.ab~C"WOr k-S

9r.C e t

Peter SpesovMkrocongroller Technology: The 68HCl1,Fourth Edition

TOI =

Timer Overflow enable, -,-1 RTII

Real Time Interrupt (RTII) enablePAOVI =

Pulse Accumulator Overflow Interrupt enable,see Figure 11 .9

--~ PAII -

Pulse Accumulator Interrupt enable,see Figure 11 .90 - Interrupt inhibit1 - Interrupt enable

PR1, PRO = Timer Prescale select (Time protected), V'see Figure 11 .2

TFLG2

Miscellaneous Timer Interrupt Flag Register 2B7

$1025

RESET =

TOF =

RTIF =PAOVF =PAIF =

* Write with bit(s) set to clear corresponding flag(s) .

s.&C' ih ray

t.o u~ truts all

QoQ s

TMSK2

Miscellaneous Timer Interrupt Mask Register 2 87V BO

$1024

ITOIIRTIIIPAOVI IPAIIIIIPR1IPRORESET =

0

0

0

0

0

0

10--- 0

TOF

I RTIF

I PAOVF I PAIF

0

BO

0



0 0

0

0 0

0

Timer Overflow Flea,see Figure 11 .2Real Time (periodic) Interrupt FlatPulse Accumulator Overflow Flab,Pulse Accumulator Input edgeFlag

FIGURE 11-2 Free-Running Counter (TCNT)

Peter SpasovMicrocontroller Technology: The 68HCI1,Fourth Edition

Before

After

TCNT

TCNT

TMSK2

Divide-by-Prescale

(a) Counter System

IFFHFFI

1001 001

(b) Overflow Action

f TCNT

I1High Byte Low Byte

TFL02

C

Bit TOF sets

Copyright 02002 by Pearson Education, Inc .

Upper Saddle River, New Jersey 07438


Foctor PR 1 PRO

1 04 0 18 1 0

16 1 1

C ltariK~ Timer IF I aq S

7 {~~

la bl fs ,n bo t h r~q isfelt~ TF L G l L T F r L Cr. z

0 .

Ba

T FL (rI

locic tocar ocas ocqFOcSF orb 1CaFIcac

a

0

0

0

O O o

d

B T 8o

TFL GL

4 Tof JKTIFj1'*ow PAlx

o

°

o

0

e 00

to the b ,f-to be c (ectweJ I

O.r e-

e .ICko$S +imer

ovvfuw 0`3IOF

TirAe pro tcckej 131 fS

ckOuta b~ w{ ;v I

aK~

64

wood I c ckho„

Al

-r-U

ro+~c 11p„ i 5

LDAA

STAA

TFLG,1,f -K

rl"

-. 410

re

bi4-S P R (

Rd

CL(

t 1 %

~re~cc4)

}-STimer

S cacJ~fl

.e

these bi4-s eav, vh~`~ be mad ` ~-ej c Ce

w,vs~ 6e Jo

wI ;n rtL. firS~

_ c 6CIkS

.her reset .

i~Q E b;4 ;K Ire 15je, Of I SON

-t~.eh

Z C~ cah be erode &dDe s pSuhVC .

P roVI-d ej ay- 'tine se 6;h LJ ko SC

e,4 to b e c r ; i- ~cJ.

^----~

9 "I

x S»vu

Li J 1 H

Flb' 903

9"143

,,SIII'

4 x3

1N~1

e r .A ( ) X.I }.0

IA4wno'-) t!q - 9

o 1 Z„

o . 3 oot :F

bKg%c .Yp~"aa}X7lJ

U

Pas n

r°

d a%J ~.

0

1

'°

b%jIc s

uC

Sjdfl)'aft'.1s ,~o~ ~S~b a~

l11 3N »,

rw,1 s h s?J4/ 'b -0 ? A O/ a • a y J-

~,,s ;e -)I `

03'1T-car/ oed

r:lZ/idd

)1 %. 9121AV cl

S 8) ~ Paul Xd 7!C/b'J

1 0

'1fp'r~' as~ndMC,s p^-a1-1 11

o

nau, asn M-0

aM

ao

R6

-T c N rI

0

04

v

ig

~

oE

(6

1 ~

N .,h

Free runniK

Cd VV6-ft T C N T

wken MCV is reset, •T c NT

a e r e g r avVA C,aO.n4 f W r ; {,e -t o

--,`V\ -rt-tSK2 -*(0L4

L0W

t's &(%a rese.+ -t o

tke rM is ~fA

only stskm ctoC(t cah d rive T C N T

CO-k de~crw~; c~ 6

R( e R o

O T C A/r

i s a 4- 63 ke

fe9 %s iec„

(- cat"

i'mcrtw%, v p -t o 6 5, 5 3 1-

b eloe t f Over f (oW 3

Q Ah ove, to (4) occurs tyl ti"w- TCA/T

FFFF to

A oooa .

TN1;5 CaUSed

oYeAF,O(,l f (aJ CTa F) ;

rt9,'sfpt

TFLG2

4 (oas --c, seE

PR(, PRO aAe -'iwte pro4tc+ec) 6(Fs C aptly, w•o dI'fi•cd

0 ffice wj44.j tke ors+ 4f4 clock elc(rt age. rose&)

C ouK+S

ZEYLO

Fro)

h 9 IdA&.a.V!

o-yd

I'M

r -Vd

J F DS 3 tai J) ~r

ot'd 1

,va

tIVoI *

iicDT I r :>.r

O

(N] i sf -os

o

z

s

9

L

`- ~ j -L L f"rn 9 r a ~n~' ° O' M }titan a

rydr }pd' wo ~! a14! aafaP tir orn}4os ano

z bd

? 1 Jz

Aa+r, 1 Pai

aAn.}c1 b' f nb"_

u o 7aRq

AO )Afl+d »)

a' 0 IV

d~~a3ldCPa drn.-r

aP° ~daP ~ dd

~P° tddQ

1

b 9

d

9

d

9v:io3 45903 t 99 3x903

1943 I')Q3

P `"10

3S,30

e

E

1N) L

js ,o

1-4 >0 =SDo

ti s

WI's , p ~AO

jr?o

I Y~O 117 o

9 L

Oo

t 9

s ;p I -.) .} b 1

}"1 ~'

an,1{'7)'0 ?Mf

!'ads

alt

-TL4-t o

U Frr tke Po`lccq,ue S4 ecJ o v

O 9er for vv1 tw O

Coop4-Vè

tO

a r three O C fiQK s

10 C-urren{ TCNT vc*ive wi(I bQ co pied iKfo i4ekli

ca p+ure rep le.r

cqp+V(e f to- 3

Cs ) ft p in+Crrvpt IS r e I veS}eJ(' f r+1as k

-rv%rce Cowwoot o phll c4.

Lr l per cac01

ca r~Si1e.d le, CAP +ure

t I

7't~tr A tq din e.d i e C-a p u e

s clbfr0.ctt (4 e k QO nne.a~ovreme A + S

a

8

1.S

ce$ (Jl f

w Cqp I-ure a Ve"

Set

bib so -f. Lt*

a"

a c "e cdI a of

r

r

r

5v b+ru t 4. tke -two wteaourewteK i s

FIGURE 11.7 Input Capture Sequence

d W ktM td 9e. s

c e4ccota b y Ic PIN

TC N T -, kftkcd ~A4 0

TICX

11C'YF F 143 isSet

I F 1c x 1 ~itkvvup{

ehable- bid h $

6 C &

+ 4 t de4ec}tJ

eJ a also 9thevo&5

0.n i h}errve('

Peter SpdovMicrocontroller Technology: The 68HCI1,

Fourth Edition

ETCNT

I-LF -~

ICx Input

none

either

Counting

TCTL2

EDGxB EDGxA

Input Capture

TMSK1

Latch T

TICx

-~

Read by software

TFLG1

Flog sets whenedge detected .

low

GenerateInterrupt



S, OPV) -f

40f lb) and 41

?I4fc/r 9 ic4 / 7 74

?V-,L y-'f1'/

3

J''"c,ls I-F

Z)/S14_L.

fo Vol '

44-01 AD

}as~~

ID )Qh 0./c ?9 919wwO]

E--/ 'P

WYO

~z i 'r .>J L 'r

If 21 ,/,4 1 N ~1 .7. /f7 -9

}asI1'r' ) ) S 9

u i s an7 ,> o 3 4?A 3

zbd / 'dd> oydo } . P" gr s 1J. _ L -

Nb ~77W*A0'

PL

PYol

/I P A*

~s,l .?/14-90) ei*4is vn r,"9 -9/) 1 N ) .L

aY,L

s~rbiapa~nfd~~ fnSW,r I13f-I g 9W

t4J k aa+ c kppen.s tj kevt T C N T re 3 i 5kv 0 Jer' f lvw S Fro"

0

Tlnf,

a, 0 0

T k *- 'T'O '57

-rMSK 2-

cF F F F

-t c

-C o F" 1 i n *he

rr t a, Co Kd i 4 foM

1'F L, c

re-5 i s{er is SeC

Will Gadse i' fernvfl 6T 01' = /

1

$ (o z. S-

-t FIG 2

rC 3 r ~ i4tis ?

6 ~ e.

c ~ F ~

1

~~Fotk,c s Pe,ci 6-c

pulse ask ex0. P

„ rff 6conf;~,Nt cgp+urc ov r . six$ eat.

c%ftr CAP

wait_for_riseIf flag a 1,

then risetime = capture timeelse repeat wait_forrise

Configure : capture on falling edgeClear capture flag

wait_forfallIf flag - 1,

then fall_time - capture timeelse repeat waitfor_fall

pulse-width - fall-time - risetime

There are limitations . If the pulse is too short, the second edge occurs before the soft-

ware can capture it . One way to remedy this is to use two input capture functions . One is con-

figured for a rising edge and the other is configured for a falling edge . ff the pulse is longer

than 65,536 TC NT cycles, overflow will give erroneous results. The program will have to

count how many times the timer overflow bit (bit T OF in-mtister TFLG2) has set.

We can write the pseudocode of Listing 11 .7 in assembly language (Listing 11 .8).

'Listing 11.8*Measure time between a rising and a falling edge on IC1 .

BRCLRLDDSUBDSTDBRA

TFLG1,X $04 POLLFALLTIC1,X

;read the fall timeRISETIME

;width - fall - risePULSEWIDTH store width•

;stop here for now

442

Chapter 11 : Programmable Timer Operators

RISETIME

EQUPULSEWIDTH EQU

ORG

LDAASTAALDAASTAR

'wart for rising edgePOLLRISE

$10$12

$100

#$10TCTL2,X#$04TFLG1,X

;confg. to capture rising edge

;clear flag 1C1F if set

BRCLRLDDSTDLDAA

TFLG1,X $04 POLLRISETIC1,X

;store the rise timeRISETIME#$20 ;config. to capture falling edge

STAALDAA

TCTL2,X#$04 clear flag IC1F

STAR'wait for falling edgePOLLFALL

TFLG1,X

Exavv P le

I

OR C, o

IC-1 OVA/

KIi e

1

Tc1 Mod

RM8

I

PEI

RM6 a

p vcoc ( ~lr cIveIAc ) nea'sUfew cn i

C

S U br'0uF

S K i fC I

Co K F1 *3 vreo irl p U f Cap ~vvC

USII ihftvvuj3fT

t iV ITCf

p 5 14 A

p rcserke ce g is 44

L a Pr A

4 4 to

; EDGl8 = 60C. 1 .4

o :l Per

ST 4A

LOA fF

TCTLJ, ,r

I ctfoPI c- t 13 vN

$ T4A

cLR

13CLR TFLG!,X,#Fe ;

65 T T 17Ski, x, .fo4 :C LlP ULR i

P I ccS . O -, KoJ J .0 Ke , 4

•

mode Ia~ = Ff - a Ff , O -+ , $44 i- /sot

A tl,I ,d' l! Al Fs

i cf -to wntasure kI~h pUISs

w, oIt F/7 o Jf

s,1nJ P e' w'oJ h o f c/o me

Clta"L rc fc IF re {e, K a Ile rc 1 i a f~Crrv~o/

L'hK t!c %K~err,fl/f

r C S 1o rt r ~Si~erT

S'eJ1,vi c f

A71C1

4t

proLesS

EDG~~

k P roLCSS

EOCrE2

r0vA'xe R TIC l

L DY

S A(G

8 NE

.# Rb6 BAS

Ic1 HOD

Ep6E2

.

FF-~ a o.,f ors/ e dje

.

o

l

of

``

o they +his ~'s Ji

~~~oKcc) cJ~Gv~5~5km c c.cfcc)

ea ~e

ad;,, t to r y,skrl

I*f pro t

Ai,csf eJae

CaP re firstLDp

T TC

t19e - f', c!' x

. pond 54 rc i E

5 Tb

e ERLOAA

* $o

s TA A

T FLGI, 4

}vY nRT S

s e.Caj ed 8e

lodcqP ~v~ a

LDD

TZcI,Y:5e-Co .j

T"'ce - ~irs{ Ti wo

s ~eD

p ER

5T D

E

i'5 low a Iyk s °f .ewl

Q CSR

T CTL.?, X, #3O .S ~'° P coca ~

`~

S?AA

Ic1DuN

~

L04A

41

Ohe QO~S~ ~¢.0.5urc

8 c I?

T F LGl, x, AFB

cleanL

f lad IC~F

R T S

i ne+vr.

o+h 1 S R

e J3t firm

,~ Ro }atk~ trlc chai,w' u; pwten l 1\avQ s e,"Sor5 t 6% 4

~evcra+e

c

pulse Sor e. very ~~L O,c p ro ~a~o~t .

t

ii c V cam

s e

e 1" 1' } ca p ire

uv~L~

1O rnea-SUre

i pee / d-ccf MpficN

tc Corcl tLe. 4'Sct ce- trgvCIec _

A u ~oM,,,o b; les

Rn};5 k,'d bra k w

s +ew

C A BS)

t ek e~~ ro fi t o de~c r w,,,,c i h .S y5,rtm SensesU

bra Ki+1

rc s5vre •fv a P?

Tr0.ve~iK

5 Qe~ d c kh& C`

cj+orh.o bile S rAea.5utej

(~

~ tk

to tk e C4 heeiS •

b~ S CKSOr 5 °1

MCVcan use tk's ~dY

Cruise co~ ,~J

FIGURE 11.8 Optoelectronic Position/Motion Detection

IK M4 M C-A&M t k e

MCU uses inpu}

Cgp4ure ltd nôhtior

could for COh Cj Specd •

A co irtort -tye o cspeed seAsor i s ah

etyludGt diSK rrour}ed

Oh o skaf i

3' Oisli i s Iota ed be~weew

c- sld+ftd c, pdr'caJ swi 1 cti

Qy whey, eh(oJei. dis) ro1-a ks

ahe sw,+ clt otiipuh pulses

Peter SpasovMlerocontroller Technology: The 68HC11,Fourth Edition

I. . cc) tMt }S i h fra+c

(a) Encoder DiskFront Mew

(c) Schematic

(b) Slotted optical SwitchSide View

OpticalCenter Line

Phototronsistor

UQ To Mea0or .. ~0(W04j o+'

reverse C bidire-C- Kaj ) s Peed

Usc d u .JS1644-td

0 P -VCj s%o i 4ch .

e l lh ~

pt) lses r-orves PC-Ad

-t c) apte c)tS K revdh h t4

's o pulse c'9uoic . + S

rela lrcrj 3 ;4f-COy t a

speec) d c reVdLJhatl

- So we- c 4Yt CQKira

s ~ex.d a Ced ra c l~ .

ti ,Acader disk kain ttO(eo tka4

aIIdW If gh{ to pano tltradg 11

pl,ototrans ;S+cr $wifches an oKIy,

u) ketj cl I's Ic r e k }es -t o

. P o S464

such -tka.1 a disk hole ~'s

Jt'3kd bti+•re4it Iota E -trart.S.


All rights reserved.

v

~ 5s~e 5

VSe t I wtef d We-f t 'Zo

,~ Z

e e~

i t~*te- bekweeK ~~ tscs 7 6 5~ 5en,

s p

C~L)

tl l se 7 re t/ekC - O46 k h !

Mcasurewte 4 o f time

be4,Îeer poses be cowtcs

impre ci se .

-lY~~iskcc br4Ki l s~skm 1. 1

T o preveAE S k i ddi K q ; }~'S ~+e.et~.oa .

to ?reve,Kt a,t~ 0 f tke wkcels

lockin UP -

Rea9 Time ivx}erfv p t

;,,Jut Ck I(Jre

P11o /1t3

Per iof e F SSS

An i^PufC(& t' C

r , • S e o F 4L.

5 55

ste

v

amout

65-

I. S o,d93 x CT X ( Xq {AN '

Y f j

O GCur S

OK

e- CL C tr

5 VahL w ave

C~terc~~c~

o -+ker A li C."'onS

--.~ 5~Q bdo K

Sect °"

if

F - pulse w ~ . 44t r(C QAUrem

S-C

boo kS e-c +'o~ ~ ~ • 3 .3

p 4't3

~a r

~er~'o

iMew u ire- +1!E '; 4

xi I se A cc v w~ u la4a c

1, 45

OL

SS - Oi

c o uK key -t ka E

e. J . !aell

o r nn Laoure

mode .

TzS cax app)t"c(,j o' S

O moni vorlll -r A pl° p0 Sl }iovi

Cc ,

Courli

i K q U 3c

pulse wla 14i dcPekd ;1 o V., 0~e cLkixq,

Q Mow +06 tai v'o Ivwe o f PA f (ow ;v,

w

~ loci wk e- dear

o ,r Qu j to i ( f-

0 d o iekv

-t ~rovl 4

t5e c&cCuw~ula~Y hqp OKe ~~ fut Phi (R A t)-T ke ~U

~0.~ 1o` L-

fl

,; v,

A 1

(

I, tS

dcc 'cn C&V\ 6c- dekefAivLea b

(p A C TL) Ipt ecc~

A &CCUwAvl0.Jor co,fi'0J rc_b s+e&v

S~ psCTL ~a°

DISC A CC

Pc E N) WW., \, Hn u s t b e.

t o91 C 'L

all

EDGE

bi ~s

~slQSA M

6(is~ tke c'"r-ch'Qt s

o tea'

x

p R C A (r C C o uti.1 r c3 Sl6L Cq`^ 6 e- read .6 ,t w ee 4E fl to

FIGURE 11-9 Pulse Accumulator in Event Counting Mode

K(,pR C N) bit i n (p OIL)

en &6 O I kt P 6 5ds}e~

Peter SpasovMicrocontroller Technology: The 68HC11,Fourth Edition

-~ PAIInput

0PACTL

PEDGE

1

ai 1eTMSK2Q ( "}`CtvP{Y °'`"

PAOVI

IncrementCount

PACNT

Input EdgeDetection

8-Bit Counter

Overflow

GenerateInterrupt

TFLG2

ty PAOVF

TFLG2

PAIF

• •

b~}se-~Xdh

+0

k

e e TMSK2

PAII

Generate

PACTL

Interrupt1

V

PAEN - I , PAMOD - 0

,eVe t

COUVA

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1

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ASS

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FIGURE 11-10 Pulse Accumulator in Gated-Time Accumulation Mode

E/64 Clock

Peter SpasovMicrocontroller Technology : The 68HCI /,Fourth Edition

PAI

Input PACTL

PWGE

1

Overflow Systemas in Fig. 11 .9

PACNT

8-Bit Counter

Input Edge DetectionSystem as in Fig . 11 .9

PACTL

PAEN = 1

PAMOD i- 1

a /1/ T ~Q N ~

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e vex

6' 4c (oC ~' c1 c led



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0C- -5F Set wke"70C5 = TCNT

oF (a~5 Cte.~vc

6~

11 4

FIGURE 11-3 Output Compare Action

TOCx

Write

SpssovMicrocontroller Technology : The 68HCI1,Fourth Edition

TCNT

x=1,2,3,4,5,

P -two"t0 Wrlk.

C) 'r-cam -+hvu., nA cve 00i-PU4 comPatc

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s}eti (yc CX)

vi kevt -rc/Vr

To Cn

--~

OCxF ~-1a6 isSeb

sUCc 4u-pcowtip~

Written to by software

TFLG1

OCxF

Flag sets when TCNTincrements to TOCx

Counting

40k : t o w f1' fea vajxe to Tocxuse- a douh (e 6 ke ihSi

seParak i n3rucfion S ayc used2_ bjl& -the fc ~S a possi6ili

5T D Toe 5,n

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at

d 0c ReI

mas k

Q

~^3

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a Paced i i

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•

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G) A Force compare (o, + of bi 1

con+ro2 bits

i6_ bit TCAl T

j5 vs'c

a. cla1 bit

a.K ivLftrrvpt mask 611

0

cor

o n,Fi

F'o C

IJ FO C„l

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1eSmad

COMP

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6 q < < of-#

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f-'~

(jr; }.mssS o

(; .e

01(-put coMpare pin isCL

V'

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uti of tkc co w,P" 'he~tc

Can b e used to con+re9 °L n

\A3- WkCA aloe's aK ou%pL1f co ,,neQife event

pen?

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ti FFcc{poeShoE ofc OchTv g91e OCn

C, I Cox OcK = a

t C ~ Ocvt = 1

Q w k ew D Cx F s Q-}-s/ i t- caAA wA

FIGURE 11.4

a,h a vw l t o O CC UY d C. f ena) Oo h

-th a coK F'9urai4ah Sei~4t'k~ ; vt tie

TC.TL1 % TrSk

TFLG1

OCxF

Flag sets

TMSK1

OCxl

InterruptEnable

x = 2, 3, 4, 5

Peter SpasovMkroeontroler Technology : The 68HC11,

Fourth Edition

TCTL1

OCx Output

No OutputToggle OutputDrive Output LowDrive Output High

Generate Interrupt



OMx OLx

0 00 11 01 1

JJkCd

o"s)

a, re,

d T k e Och

(D v(i fpuf

(S set the-

e cc r *ke

tke aCfiaKs reSV(~*VL1 frow

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oufpti

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re7vesfeJ (wkek

G. K

Crtafe a. ~'xr~ tlme delay ,

5{eps

Q . R~.ad the Current v&Qve oc I6_bit T(N ('

ca l cU (u ~-~

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ou~pu4 compare rei%s+ev

Xe J .;. T C N T i

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s e t

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l octn3 cx.tn6 lactiolocir4oa - -- - j

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.

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t/d c ;~e fA3 • Y ~'`''9t,

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o R G

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T oCai X

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drive p A Cf 0C-2ki

p~A • '~• x `1 0

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j t j i S (~h«{ o +%U4, OCXS

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-r c

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b

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porT A, A 40

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be- Pcres -TAA

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16C LK T CTL(,X X80~i S cohKec''~M~ aC~

9KA

A-A-

L p0

aoo 0

Sib

20,000 G cycle"

S Q U

W GvQ. G~~Qn i~~

4 CA- +m Q ~C

*Listing 11 .3*Shows routines for generating square waves*using output OC3 .*A main application program varies frequency*by modifying 16-bit data in addresses HPERIOD .*Frequency = U(2 * HPERIOD)*User responsibility to set up vector addresses*and other initialization as required by application .

ORG $180

*Subroutine INITOC3*Initializes timer output OC3 for*square-wave output, interrupt driven .*Calling registers*

IX = register block address*Return registers

*Service routine RTOC3*Drives OC3 output for square wave by scheduling*time delay for next edge to be toggled .*The minimum permissible half-period is the number of clock*cycles in this routine plus those required to enter*and exit the routine .*Static variable (2 bytes)*Address HPERIOD = OC3 half-period time duration

*This routine executed after TOC3 == TCNT occurs

RTOC3LDX #REGBAS ;point to registers

LDD HPERIOD ;update TOC3ADDD TOC3,X

;by adding half periodSTD TOC3,X

to latest TOC3 value;to schedule the next interrupt

BCLR TFLG1,X $DF;clear flag OC3F

RTI

;return from service

*INITOC3

None, except CCR affected

PSHA ;preserve registersPSHBLDAA #$10 ;OM3:OL3=0:1STAA TCTL1,X to toggle OC3LDAA #$20 ;clear OC3F if setSTAA TFLG1,XSTAA TMSK1,X ;set OC31 to enableCLI ;interruptPULB ;restore registersPULARTS ;return

T65 C.xa*kp Ie. tcvte.ro` JtO a vah+'aI fe d v I Cyc le

sa,,vA.'re wave

vsivta

001pit cowtfarc

9 9

6 I (I

see. prcgfgwt

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DJ+j c c(e

45006

I

Zoo C+

fvo.

In

+ (ow

IAJi(( JAAj aj 5

or 5 'n 5

\ITJIL. J

%ni }o IZe ,

1

FT

~'~`~a~~I a ~s k;h

51

to gera;i

cOwk ma

he3k t low

4ex b oo k

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TF I GI

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u

43 4

e-Ivj

10/

o 0, c~c(eo

041c%c V V% b i }-s

4

J e krW% .VLWc 4-o n

O C pin

c tears Pa-AS

*Listing 11.4*Shows routines for handling PWM using output OC2 .'A main application program varies the duty cycle*by modifying 16-bit data in addresses OC2HI and OC2LO .*Duty cycle =100% * OC2HV(OC2HI + OC2LO)*User responsibility to set up vector addresses*and other initialization as required by application .*

ORG $180

*Subroutine INITOC2*Initializes timer outgit OC2 forPWM output. interrupt driven .*C•

alling registersIX - register block address

*Return registers•

None, except CCR affectedINITOC2

PSHA

preserve registersPSHBLDD

TCNT,X

;delay PWM generationSTD TOC2,XLDAA #$CO

;0M2.01.2=1:1 to setSTAA TCTL1,X

,,OC2 high first timeLDAA I$40

;dear OC2F if setSTAA TFLG1,XSTAA TMSK1,X

met OC21 to enableCLI

interruptPULB

restore registersPULARTS

;return

*Service routine RTOC2*Drives OC2 output for PWM by schedulingtime delay for next edge. Also reconRgures

*next edge opposite to that of current edge .*Note that routine will not work property with*duty cycles dose to 0% or 100%.*Static variables (2 bytes each)*Address OC2HI - OC2 time duration for high pulse*Address OC2LO - OC2 dyne duration for low pulse

*This routine executed after TOM - TCNT occurs

OC21-11

EQU

$0006

OC2LO

RTOC2

**

EQU

LDX

$0008

#REGBAS ;point to registers;if low part of cyclethen load OC2L0

BRCLR TCTL1,X $40 GETOC2LOLDD OC2HI ; else load OC2HIBRA NEVVTOC2

GETOC2LOLOD OC2LO

*updaN TOC2NEWTOC2

ADDD TOC2.XLDAA TCTL1,X ;invert 012 to toggleEORA i%01000000 ;next OC2 edgeSTAA TCTL1,X ;by updating control reg .BCLR TFLG1,X $BF ;clear flag OC2FRTl ;return from service

W M Fuvtc fi'ah 5

•

OtJ4eu4- Cowead1Q fuWc{fovts owlk g(C. ;ble bu& ~or

aw M -tkov- ; s a s a f hwaAe o ven,kcaLd r c ( u irca(

-to %cvtvkA to

slva.t.Cc iQo vto oA% J p uJ M o V4 puts

M C 6 3 NC -7

k4o a. bull+ in P W Mport ti)

1 W t1 e.Lanvteb

CA vtjroQ rc9isters to select 9et+ucco svCk QA

0 cla cK s o u r CP

Q clock s caui"q . .

•

ea ck cG,tru1J kao Cc, scPOm~P

f! V41 C6 (L4-

reA i 5 -

a f

•

li

•

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-tke. ovfpv-s wtAko f - cvrAer s o c iwa44 ; n Fervev h'ot .

4QM di )PlicA1oh erayam hccds to Ck4v,e

1è period or duo a4C(e, if- Cah curl+e +a

't e,

rcspeC h ve rcs i S rs-

hl odu1C

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ire

be

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a,

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9'a 11 in 3 ed I e .

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6 '~ t t

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sfcppcr roi-Of S QA.C Ekcc+ft'c vwwofor5 tkaf 'o+a+e f-rdrA

orm fosifia%A to At Kex{ i h skis (C-t discrefe ihkrvJ)

wtb4,vr sfq

k cad

I s

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a

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Q Sow%e,

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'T3Pi cad( S4-CPS Qt~ft dlt 1 .1

3 . c,aKd 7.s -

-t k c

tke prihE

rabofs 'Se tkew, P'o,r poSi fiatiiKI

30 bM- mody X privi kcS u3e-

pge2r4, Pctd camaaC

sic pOlha

:Z---

me 4OrS -to

K /W

fa posy jnOr1

Yo 4-ct4e

kcaj kOr fzQh4 Q((1 re(a~we to tke Pgfaj

FIGURE 11-5 Four-Phase Stepper Motor

ImP)

A ~X(3~ .¢,VCQ

i s relvircd +0 Cause

Sko.R ro4o ovt (rus~ cucre.i)

DutjK~ tl,e period (A)kfA1

V%O 'r6fk oh OCCur S

skp S ; L e sPeter SpaeovMicrocontroller Technology : The 68HCI1,Fourth Edition

(a)

tke n+o+or w(*ndi1 mus4be. suppt(ed t i)I R Q 1ZouleA

Avd 0 F coveAt (kotd cufre,E)

TI

0

Schematic

Fl(b)

Step Sequenco

fA

:A 3 i

I

T3

ti

'Two sej-s o T

t

T2

r

I

1

T4

(c)

Sequence Waveforms (Forward Direction)

wihdin IS

c urrtHt throva 1)

the t j tJhi0, 5 d e4erw%int 1j ki ck

post 614 rke wAo4or s4cps 1-0 M ext

C rv s ~ c urrth 6 s)

Q The direcit'a' 0c

Q

4 a c It e lea, a 's[ p a kA 4~, a to

-tC.v1Miha) of a WitiatoSo

c a( (ea a s 4 a o p ttaQe,

0

swi F t,

t'go

t(,e . to arlve to

of a

(0-7 0

Oti_ti(VA i m14

3 ., 4/ (, 4, S/ if

K e ed

So a. SeIvencc 0 c logic

Pulses sites the Major

FIdwI Oh e post ~ch to akotht

* T lee p 64C s egventce nn.u,~

vvtus4 c-oKIiewe

s% x Skf5)



E

rH order .

11410P we TtUO~TLevels

I t

0

0

t

2 t

0

t

0

3 0

1

1

0

4 0

t

0

t

FIGURE 11 .6 Stepper Motor Drive Circuit

51hCe hj

curret4s

relUireCL to dYiv(f

s -eppe~, ,n,obr~ & MosFE -rc l1 LJik4 Opeh c c&1

ok}puk is used,

-to S-JpP(& 9 01 ses

io Tkt w ; K d ;Vkys

7prc .1u6(

infc(IsY4 f pourer

quad ¶'l os~ E T

6~ TtXm iks -

1 T Ca.h d ri 4e

' k loads C3A Swi+ 1 bui t i v ?f o edw'ovi

Peter SpasovMlcrocontroller Technology: The 68HC11,Fourth Edition

PhoaPB0

R3

R

PhasePei

Open-Groin

InvertingBuffer*

+24 V

CC CLR VOS

TPIC2406

1 IN

1 DRAIN

2 1N

2 DRAIN

3 IN

3 DRAIN

4 IN

4 DRAIN

VcLVCL

ENBL LONG GNO

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1

D1

D2

Cke4, pcte 437

t vs~ h l If. s. & (t.~

or 'Pro U(awl ~t o

c.chjw- skpp& vviofo+r

vsii ac

Copyright 02002 by Peuson Education, Inc .Upper Saddle River, New Jersey 07458


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c ,hb

a

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Clock to Crea..4-e ?exit i c

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5

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