EECS192 Lecture 2
Jan. 23, 2018
• Checkoff 1/26: Hello World/LED Blink
• Checkoff 2/2: car built/stripped+proposal
• Project proposal– Documentation
– Block Diagram/Software Model
• LED/Port Information
• PWM Intro
• Motor Model
Notes:
Check off- Hello World+LED blink
``look don’t touch’’
Github repo
Eagle: File → export → image (300 dpi png)
Black: tNames, tValues, tPlace
White or off: tOrigins, Unrouted
Eagle parts layout- no copper
Project Proposal: Documentation
Project Proposal: Documentation
Motor Drive Quick and Dirty w/ Op Amp
11v
LiPo+
Vm
-
+
VDS
-
VGS
+
-
+
-
Details On board….Checklist:
1) Emergency stop
2) Reset Protection
3) SnubbingTLC084 or TLC074 quad op amp
Project Proposal: Input/Output
https://www.sparkfun.com/tutorials/283
Thrun et al
Stanley 2005
Project Proposal: Block Diagram/Software Model
Project Proposal: Timing and priority of processes
test_thread1
test_thread1
RealTime
RealTime1
Main() idle
Project Proposal: RTOS timer and threads example
LED & CPU Port Information
https://www.electronicshub.org/light-
emitting-diode-basics/
Connecting LED & CPU Port Information
3.3V
3.3V
LED & CPU Port Information
LATCHUP!
LED & CPU Port Information
LED & CPU Port Information
PWM and Timer Intro: e.g. periodic interrupt
0x0000
0x0004TOF= Timer OverFlow
PWM and Timer Intro: PWM Generation
PWM and Timer Intro: Code
Quick Start -> Import SDK Examples -> driver_examples -> ftm -> ftm_simple_pwm
ftm_config_t ftmInfo;
ftm_chnl_pwm_signal_param_t ftmParam;
ftm_pwm_level_select_t pwmLevel = kFTM_LowTrue;
/* Configure ftm params with frequency 24kHZ */
ftmParam.chnlNumber = BOARD_FTM_CHANNEL;
ftmParam.level = pwmLevel;
ftmParam.dutyCyclePercent = updatedDutycycle;
ftmParam.firstEdgeDelayPercent = 0U;
FTM_GetDefaultConfig(&ftmInfo);
/* Initialize FTM module */
FTM_Init(BOARD_FTM_BASEADDR, &ftmInfo);
FTM_SetupPwm(BOARD_FTM_BASEADDR, &ftmParam,
1U, kFTM_CenterAlignedPwm, 24000U, FTM_SOURCE_CLOCK);
PWM and Timer Intro: Flexible Timer Module
Clock Choice for K64 CPU
• CPU and system clocks = 100 MHz
• Bus clock = 50 MHz
• FlexBus clock = 50 MHz
• Flash clock = 25 MHz
kCLOCK_CoreSysClk, /*!< Core/system clock */
kCLOCK_PlatClk, /*!< Platform clock */
kCLOCK_BusClk, /*!< Bus clock */
kCLOCK_FlexBusClk, /*!< FlexBus clock */
kCLOCK_FlashClk, /*!< Flash clock */
Example to choose clock frequency#FTM_SOURCE_CLOCK CLOCK_GetFreq(kCLOCK_BusClk)
Motor Model
On board….
http://inst.eecs.berkeley.edu/~ee192/sp18/files/NiseAppendixI.pdf
http://inst.eecs.berkeley.edu/~ee192/sp13/pdf/motor_modeling.pdf
Extra Slides
PWM and Timer Intro: PWM (edge)
PWM and Timer Intro
PWM and Timer Intro: Dead Time Insertion
