Unstable debug changes

- Unstable version.
- Enabled more debug pins to investigate malfunctioning.
- Played around with comparator filter settings.

Author: Youri-NXP

.settings/language.settings.xml

@@ -4,8 +4,8 @@
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuildCommandParser" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser" keep-relative-paths="false" name="CDT GCC Build Output Parser" parameter="([^/\\\\]*)((g?cc)|([gc]\+\+)|(clang))" prefer-non-shared="true"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-221202164080" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1606774695304" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

Mcu/a153/Src/comparator.c

@@ -14,9 +14,18 @@ LPCMP_Type *MAIN_COMP = CMP0;
 //int filt_cnt = 5;			//Set to 5 so we sample at 60kHz which causes it to precisely trigger only once every rising/falling BEMF
 //int sample_en = 0;
 
-int filt_sample_per = 4;	//4 = 3MHz
-int filt_cnt = 5;			//Set a sampling freq of 600kHz, so 5*600kHz = 3MHz total sampling freq
-int sample_en = 0;
+//int filt_sample_per = 4;	//4 = 3MHz
+//int filt_cnt = 5;			//Set a sampling freq of 600kHz, so 5*600kHz = 3MHz total sampling freq
+//int sample_en = 0;
+
+//int filt_sample_per = 2;
+//int filt_cnt = 7;
+//int sample_en = 0;
+
+int filt_sample_per = 0;
+int filt_cnt = 1;
+int sample_en = 1;
+int cmp_hpmd = 0;
 
 //int filt_sample_per = 0;
 //int filt_cnt = 0;
@@ -51,7 +60,7 @@ void initComp0(void)
 	modifyReg32(&CMP0->CCR2, LPCMP_CCR2_PSEL_MASK, LPCMP_CCR2_PSEL(COMMON_COMP0_INP));
 
 	//Enable high speed comparator mode
-//	modifyReg32(&CMP0->CCR2, LPCMP_CCR2_CMP_HPMD_MASK, LPCMP_CCR2_CMP_HPMD(1));
+	modifyReg32(&CMP0->CCR2, LPCMP_CCR2_CMP_HPMD_MASK, LPCMP_CCR2_CMP_HPMD(cmp_hpmd));
 
 	//Set filter sample period to x clock cycles
 	modifyReg32(&CMP0->CCR1, LPCMP_CCR1_FILT_PER_MASK, LPCMP_CCR1_FILT_PER(filt_sample_per));
@@ -95,7 +104,7 @@ void initComp1(void)
 	modifyReg32(&CMP1->CCR2, LPCMP_CCR2_PSEL_MASK, LPCMP_CCR2_PSEL(COMMON_COMP1_INP));
 
 	//Enable high speed comparator mode
-//	modifyReg32(&CMP1->CCR2, LPCMP_CCR2_CMP_HPMD_MASK, LPCMP_CCR2_CMP_HPMD(1));
+	modifyReg32(&CMP1->CCR2, LPCMP_CCR2_CMP_HPMD_MASK, LPCMP_CCR2_CMP_HPMD(cmp_hpmd));
 
 	//Set filter sample period to x clock cycles
 	modifyReg32(&CMP1->CCR1, LPCMP_CCR1_FILT_PER_MASK, LPCMP_CCR1_FILT_PER(filt_sample_per));

Mcu/a153/Src/mcxa153_it.c

@@ -32,7 +32,7 @@ char input_ready = 0;
 void CMP0_IRQHandler(void)
 {
 	//TODO remove this
-	GPIO3->PTOR = (1 << 27);	//ENC_A
+//	GPIO3->PTOR = (1 << 27);	//ENC_A
 
 	//Call function from main.c
 	interruptRoutine();
@@ -47,7 +47,7 @@ void CMP0_IRQHandler(void)
 void CMP1_IRQHandler(void)
 {
 	//TODO remove this
-	GPIO3->PTOR = (1 << 27);	//ENC_A
+//	GPIO3->PTOR = (1 << 27);	//ENC_A
 
 	//Call function from main.c
 	interruptRoutine();

Mcu/a153/Src/peripherals.c

@@ -193,6 +193,12 @@ void initGPIO(void)
 			PORT_PCR_MUX(0) | PORT_PCR_PE(1) | PORT_PCR_PS(0));
 	modifyReg32(&GPIO3->PDDR, 0, (1 << 28));
 	GPIO3->PCOR = (1 << 28);
+
+	modifyReg32(&PORT2->PCR[12],	//SPI_SCK
+				PORT_PCR_MUX_MASK | PORT_PCR_PE_MASK | PORT_PCR_PS_MASK,
+				PORT_PCR_MUX(0) | PORT_PCR_PE(1) | PORT_PCR_PS(0));
+	modifyReg32(&GPIO2->PDDR, 0, (1 << 12));
+	GPIO2->PCOR = (1 << 12);
 }
 
 void enableCorePeripherals()

Src/main.c

@@ -823,8 +823,9 @@ void commutate()
     if (!prop_brake_active) {
         comStep(step);
     }
-    __enable_irq();
     changeCompInput();
+    __enable_irq();
+//    changeCompInput();	//TODO change this back
 #ifndef NO_POLLING_START
 	if (average_interval > 2500) {
       old_routine = 1;
@@ -853,6 +854,9 @@ void PeriodElapsedCallback()
 {
     DISABLE_COM_TIMER_INT(); // disable interrupt
 
+    //TODO Remove this
+    GPIO2->PTOR = (1 << 12); //SPI_SCK
+
     commutate();
 //    commutation_interval = (3 * commutation_interval + thiszctime) >> 2;
     commutation_interval = ((commutation_interval)+((lastzctime + thiszctime) >> 1)) >> 1;
@@ -879,6 +883,9 @@ void PeriodElapsedCallback()
  */
 void interruptRoutine()
 {
+	//TODO remove this
+	GPIO3->PTOR = (1 << 27);	//ENC_A
+
    if (average_interval > 125) {
         if ((INTERVAL_TIMER_COUNT < 125) && (duty_cycle < 600) && (zero_crosses < 500)) { // should be impossible, desync?exit anyway
            return;
@@ -1673,11 +1680,11 @@ int main(void)
     eepromBuffer.variable_pwm = 1;
 
     eepromBuffer.stuck_rotor_protection = 0;//1;	//Causes input = 0; when this is 1
-    eepromBuffer.advance_level = 2;
+    eepromBuffer.advance_level = 2;//2;
 //    eepromBuffer.auto_advance = 1;
-    eepromBuffer.pwm_frequency = 24;
+    eepromBuffer.pwm_frequency = 24;//24;
     eepromBuffer.startup_power = 100;
-    eepromBuffer.motor_kv = 55;
+    eepromBuffer.motor_kv = 255;//55;
     eepromBuffer.motor_poles = 14;//14;
     eepromBuffer.beep_volume = 5;
     eepromBuffer.servo.low_threshold = 128;