Last Updated on 2026-02-09 by researcher
MOS-FET(Pch&Nch)のハーブリッジ回路の貫通電流対策用にとスイッチング出力の細かなタイミング調整が出来そうなTCDを試してみた。
通常のPWMは同期動作なので制御精度は周辺クロック(最大24MHz)までであるがTCDは出力も含めて非同期動作なのでPLLクロックの精度(最大48MHz)で制御できる。
【ハイサイド(黄色)／ローサイド(水色)用の２つの波形生成が可能】
【タイミング調整は最小約20ns(PLL48MHz駆動時)】
【サンプル】
立上がり／立下りの間隔をTcd:pwm(…)の最後の２つのパラメタ(クロック数指定)により制御できる。
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#include "avr8-tcd.h" int main(void) { #if 0 /* OSCHFクロック駆動 */ Tcd::begin(Tcd::WGMODE_ONERAMP); #else /* PLLクロック駆動(48MHz) */ Clock::pll(); Tcd::begin(Tcd::WGMODE_ONERAMP, Tcd::CLKSEL_PLL); #endif Tcd::output(Tcd::CMPA, true); Tcd::output(Tcd::CMPB, true); Tcd::pwm(Tcd::count(500000), Tcd::MAX_COUNT >> 1, 2, 1); Tcd::run(); while (1) yield(); return 0; } |
【ライブラリ】
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/* avr8_tcd.h - TCD Driver for Microchip AVR8 Series Copyright (c) 2026 Sasapea's Lab. All right reserved. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <https://www.gnu.org/licenses/>. */ #pragma once #include "avr8_config.h" #include "avr8_clock.h" #if defined(TCD0) class Tcd { public: static const uint16_t MAX_COUNT; typedef enum { CMPA, CMPB, CMPC, CMPD } CMP; /* Clock select */ typedef enum { CLKSEL_OSCHF = TCD_CLKSEL_OSCHF_gc, /* Internal High-Frequency Oscillator */ CLKSEL_PLL = TCD_CLKSEL_PLL_gc, /* PLL */ CLKSEL_EXTCLK = TCD_CLKSEL_EXTCLK_gc, /* External Clock */ CLKSEL_CLKPER = TCD_CLKSEL_CLKPER_gc /* Peripheral Clock */ } CLKSEL; /* Synchronization prescaler select */ typedef enum { SYNCPRES_DIV1 = TCD_SYNCPRES_DIV1_gc, /* Selected clock source divided by 1 */ SYNCPRES_DIV2 = TCD_SYNCPRES_DIV2_gc, /* Selected clock source divided by 2 */ SYNCPRES_DIV4 = TCD_SYNCPRES_DIV4_gc, /* Selected clock source divided by 4 */ SYNCPRES_DIV8 = TCD_SYNCPRES_DIV8_gc /* Selected clock source divided by 8 */ } SYNCPRES; /* Counter prescaler select */ typedef enum { CNTPRES_DIV1 = TCD_CNTPRES_DIV1_gc, /* Sync clock divided by 1 */ CNTPRES_DIV4 = TCD_CNTPRES_DIV4_gc, /* Sync clock divided by 4 */ CNTPRES_DIV32 = TCD_CNTPRES_DIV32_gc /* Sync clock divided by 32 */ } CNTPRES; /* Delay prescaler select */ typedef enum { DLYPRESC_DIV1 = TCD_DLYPRESC_DIV1_gc, /* No prescaling */ DLYPRESC_DIV2 = TCD_DLYPRESC_DIV2_gc, /* Prescale with 2 */ DLYPRESC_DIV3 = TCD_DLYPRESC_DIV4_gc, /* Prescale with 4 */ DLYPRESC_DIV8 = TCD_DLYPRESC_DIV8_gc /* Prescale with 8 */ } DLYPRESC; /* Waveform generation mode select */ typedef enum { WGMODE_ONERAMP = TCD_WGMODE_ONERAMP_gc, /* One ramp mode */ WGMODE_TWORAMP = TCD_WGMODE_TWORAMP_gc, /* Two ramp mode */ WGMODE_FOURRAMP = TCD_WGMODE_FOURRAMP_gc, /* Four ramp mode */ WGMODE_DS = TCD_WGMODE_DS_gc /* Dual slope mode */ } WGMODE; /* Dither select */ typedef enum { DITHERSEL_ONTIMEB = TCD_DITHERSEL_ONTIMEB_gc, /* On-time ramp B */ DITHERSEL_ONTIMEAB = TCD_DITHERSEL_ONTIMEAB_gc, /* On-time ramp A and B */ DITHERSEL_DEADTIMEB = TCD_DITHERSEL_DEADTIMEB_gc, /* Dead-time rampB */ DITHERSEL_DEADTIMEAB = TCD_DITHERSEL_DEADTIMEAB_gc /* Dead-time ramp A and B */ } DITHERSEL; /* TCD.CTRLE bit masks and bit positions */ typedef enum { CMD_SYNCEOC = TCD_SYNCEOC_bm, /* Synchronize end of cycle strobe bit mask. */ CMD_SYNC = TCD_SYNC_bm, /* synchronize strobe bit mask. */ CMD_RESTART = TCD_RESTART_bm, /* Restart strobe bit mask. */ CMD_SCAPTUREA = TCD_SCAPTUREA_bm, /* Software Capture A Strobe bit mask. */ CMD_SCAPTUREB = TCD_SCAPTUREB_bm, /* Software Capture B Strobe bit mask. */ CMD_DISEOC = TCD_DISEOC_bm, /* Disable at end of cycle bit mask. */ } CMD; /* Compare C output select */ typedef enum { CMPCSEL_PWMA = TCD_CMPCSEL_PWMA_gc, /* PWM A output */ CMPCSEL_PWMB = TCD_CMPCSEL_PWMB_gc /* PWM B output */ } CMPCSEL; /* Compare D output select */ typedef enum { CMPDSEL_PWMA = TCD_CMPDSEL_PWMA_gc, /* PWM A output */ CMPDSEL_PWMB = TCD_CMPDSEL_PWMB_gc /* PWM B output */ } CMPDSEL; /* Event config select */ typedef enum { CFG_NEITHER = TCD_CFG_NEITHER_gc, /* Neither Filter nor Asynchronous Event is enabled */ CFG_FILTER = TCD_CFG_FILTER_gc, /* Input Capture Noise Cancellation Filter enabled */ CFG_ASYNC = TCD_CFG_ASYNC_gc /* Asynchronous Event output qualification enabled */ } CFG; /* Event Input Edge select */ typedef enum { EDGE_FALL_LOW = TCD_EDGE_FALL_LOW_gc, /* The falling edge or low level of event generates retrigger or fault action */ EDGE_RISE_HIGH = TCD_EDGE_RISE_HIGH_gc /* The rising edge or high level of event generates retrigger or fault action */ } EDGE; /* Event action select */ typedef enum { ACTION_FAULT = TCD_ACTION_FAULT_gc, /* Event trigger a fault */ ACTION_CAPTURE = TCD_ACTION_CAPTURE_gc /* Event trigger a fault and capture */ } ACTION; /* Input mode select */ typedef enum { INPUTMODE_NONE = TCD_INPUTMODE_NONE_gc, /* Input has no actions */ INPUTMODE_JMPWAIT = TCD_INPUTMODE_JMPWAIT_gc, /* Stop output, jump to opposite compare cycle and wait */ INPUTMODE_EXECWAIT = TCD_INPUTMODE_EXECWAIT_gc, /* Stop output, execute opposite compare cycle and wait */ INPUTMODE_EXECFAULT = TCD_INPUTMODE_EXECFAULT_gc, /* stop output, execute opposite compare cycle while fault active */ INPUTMODE_FREQ = TCD_INPUTMODE_FREQ_gc, /* Stop all outputs, maintain frequency */ INPUTMODE_EXECDT = TCD_INPUTMODE_EXECDT_gc, /* Stop all outputs, execute dead time while fault active */ INPUTMODE_WAIT = TCD_INPUTMODE_WAIT_gc, /* Stop all outputs, jump to next compare cycle and wait */ INPUTMODE_WAITSW = TCD_INPUTMODE_WAITSW_gc, /* Stop all outputs, wait for software action */ INPUTMODE_EDGETRIG = TCD_INPUTMODE_EDGETRIG_gc, /* Stop output on edge, jump to next compare cycle */ INPUTMODE_EDGETRIGFREQ = TCD_INPUTMODE_EDGETRIGFREQ_gc, /* Stop output on edge, maintain frequency */ INPUTMODE_LVLTRIGFREQ = TCD_INPUTMODE_LVLTRIGFREQ_gc /* Stop output at level, maintain frequency */ } INPUTMODE; /* Delay trigger select */ typedef enum { DLYTRIG_CMPASET = TCD_DLYTRIG_CMPASET_gc, /* Compare A set */ DLYTRIG_CMPACLR = TCD_DLYTRIG_CMPACLR_gc, /* Compare A clear */ DLYTRIG_CMPBSET = TCD_DLYTRIG_CMPBSET_gc, /* Compare B set */ DLYTRIG_CMPBCLR = TCD_DLYTRIG_CMPBCLR_gc /* Compare B clear */ } DLYTRIG; /* Delay select */ typedef enum { DLYSEL_OFF = TCD_DLYSEL_OFF_gc, /* No delay */ DLYSEL_INBLANK = TCD_DLYSEL_INBLANK_gc, /* Input blanking enabled */ DLYSEL_EVENT = TCD_DLYSEL_EVENT_gc /* Event delay enabled */ } DLYSEL; /* TCD.INTCTRL bit masks and bit positions */ typedef enum { INTCTRL_OVF = TCD_OVF_bm, /* Overflow interrupt enable bit mask. */ INTCTRL_TRIGA = TCD_TRIGA_bm, /* Trigger A interrupt enable bit mask. */ INTCTRL_TRIGB = TCD_TRIGB_bm /* Trigger B interrupt enable bit mask. */ } INTCTRL; /* TCD.INTFLAGS bit masks and bit positions */ typedef enum { INTFLAGS_OVF = TCD_OVF_bm, /* Overflow interrupt enable bit mask. */ INTFLAGS_TRIGA = TCD_TRIGA_bm, /* Trigger A interrupt enable bit mask. */ INTFLAGS_TRIGB = TCD_TRIGB_bm /* Trigger B interrupt enable bit mask. */ } INTFLAGS; /* TCD.STATUS bit masks and bit positions */ typedef enum { STATUS_ENRDY = TCD_ENRDY_bm, /* Enable ready bit mask. */ STATUS_CMDRDY = TCD_CMDRDY_bm, /* Command ready bit mask. */ STATUS_PWMACTA = TCD_PWMACTA_bm, /* PWM activity on A bit mask. */ STATUS_PWMACTB = TCD_PWMACTB_bm /* PWM activity on B bit mask. */ } STATUS; /* TCD.FAULTCTRL bit masks and bit positions */ typedef enum { FAULTCTRL_CMPA = TCD_CMPA_bm, /* Compare A value bit mask. */ FAULTCTRL_CMPB = TCD_CMPB_bm, /* Compare B value bit mask. */ FAULTCTRL_CMPC = TCD_CMPC_bm, /* Compare C value bit mask. */ FAULTCTRL_CMPD = TCD_CMPD_bm, /* Compare D vaule bit mask. */ FAULTCTRL_CMPAEN = TCD_CMPAEN_bm, /* Compare A enable bit mask. */ FAULTCTRL_CMPBEN = TCD_CMPBEN_bm, /* Compare B enable bit mask. */ FAULTCTRL_CMPCEN = TCD_CMPCEN_bm, /* Compare C enable bit mask. */ FAULTCTRL_CMPDEN = TCD_CMPDEN_bm /* Compare D enable bit mask. */ } FAULTCTRL; /* Type of Callback Function */ typedef void (*callback_t)(INTFLAGS flags); Tcd(void) { } /* virtual */ ~Tcd(void) { } static void begin(WGMODE wgmode = WGMODE_ONERAMP, CLKSEL clksel = CLKSEL_OSCHF, SYNCPRES syncpres = SYNCPRES_DIV1, CNTPRES cntpres = CNTPRES_DIV1) { end(); TCD0.CTRLB = wgmode; TCD0.CTRLC = 0; TCD0.CTRLD = 0; TCD0.CTRLE = 0; TCD0.EVCTRLA = 0; TCD0.EVCTRLB = 0; TCD0.INTCTRL = 0; TCD0.INTFLAGS = 0xFF; TCD0.STATUS = 0xFF; TCD0.INPUTCTRLA = 0; TCD0.INPUTCTRLB = 0; TCD0.FAULTCTRL = 0; TCD0.DLYCTRL = 0; TCD0.DLYVAL = 0; TCD0.DITCTRL = 0; TCD0.DITVAL = 0; TCD0.DBGCTRL = 0; TCD0.CMPASET = 0; TCD0.CMPBSET = 0; TCD0.CMPACLR = 0; TCD0.CMPBCLR = 0; TCD0.CTRLA = clksel | cntpres | syncpres; _frequency = 0; _callback = 0; } static void end(void) { wait(TCD_ENRDY_bm); TCD0.CTRLA = 0; } static void output(CMP cmp, bool fcmpval = false, bool enable = true) { /* Static Registers */ uint8_t cmpen = FAULTCTRL_CMPAEN << cmp; uint8_t cmpval = FAULTCTRL_CMPA << cmp; faultctrl(cmpen | cmpval, enable ? (fcmpval ? cmpen | cmpval : cmpen) : 0); } static void output(CMPCSEL cmpc = CMPCSEL_PWMA, CMPDSEL cmpd = CMPDSEL_PWMB) { /* Static Registers */ TCD0.CTRLC = (TCD0.CTRLC & ~(TCD_CMPDSEL_bm | TCD_CMPCSEL_bm)) | cmpd | cmpc; } static void cmpovr(bool enable = true, uint8_t cmpaval = 0b1010, uint8_t cmpbval = 0b1010) { /* Static Registers */ if ((TCD0.CTRLA & TCD_WGMODE_gm) == WGMODE_ONERAMP) { cmpaval = (cmpaval & 0b0001 ? 0b0010 : 0) | (cmpaval & 0b0010 ? 0b0001 : 0); cmpbval = (cmpbval & 0b0001 ? 0b1000 : 0) | (cmpbval & 0b0010 ? 0b0100 : 0); } TCD0.CTRLC = (TCD0.CTRLC & ~TCD_CMPOVR_bm) | (enable ? TCD_CMPOVR_bm : 0); TCD0.CTRLD = ((cmpbval << TCD_CMPBVAL_gp) & TCD_CMPBVAL_gm) | ((cmpaval << TCD_CMPAVAL_gp) & TCD_CMPAVAL_gm); } static void fifty(bool enable = true) { /* Static Registers */ TCD0.CTRLC = (TCD0.CTRLC & ~TCD_FIFTY_bm) | (enable ? TCD_FIFTY_bm : 0); } static void aupdate(bool enable = true) { /* Static Registers */ TCD0.CTRLC = (TCD0.CTRLC & ~TCD_AUPDATE_bm) | (enable ? TCD_AUPDATE_bm : 0); } static void dither(DITHERSEL sel, uint8_t val, bool sync = true) { /* Double-Buffered Registers */ TCD0.DITCTRL = sel; TCD0.DITVAL = val > TCD_DITHER_gm ? TCD_DITHER_gm : val; if (sync) synchronize(); } static void compare(CMP cmp, uint16_t set, uint16_t clr) { /* Double-Buffered Registers */ switch (cmp) { case CMPA: TCD0.CMPASET = set; TCD0.CMPACLR = clr; break; case CMPB: TCD0.CMPBSET = set; TCD0.CMPBCLR = clr; synchronize(); break; default: break; } } static uint16_t count(uint32_t freq, bool diten = false) { uint32_t cnt; if (!diten) cnt = frequency() / freq; else { cnt = (frequency() << 4) / freq; dither(DITHERSEL_ONTIMEAB, (uint8_t)(cnt & 0x0F), false); cnt >>= 4; } return cnt > MAX_COUNT ? MAX_COUNT : cnt - 1; } static void pwm(uint16_t count, uint16_t duty, uint8_t rise = 0, uint8_t fall = 0) { if (duty > MAX_COUNT) duty = MAX_COUNT; uint16_t set = count - rise - fall; set -= (uint32_t)set * duty / MAX_COUNT; compare(CMPA, set + rise, count - fall); compare(CMPB, set, count); } static void event(CMP cmp, bool enable = true, CFG cfg = CFG_NEITHER, EDGE edge = EDGE_FALL_LOW, ACTION action = ACTION_FAULT) { /* Static Registers */ switch (cmp) { case CMPA: TCD0.EVCTRLA = cfg | edge | action | (enable ? TCD_TRIGEI_bm : 0); break; case CMPB: TCD0.EVCTRLB = cfg | edge | action | (enable ? TCD_TRIGEI_bm : 0); break; default: break; } } static void input(CMP cmp, INPUTMODE mode) { /* Static Registers */ switch (cmp) { case CMPA: TCD0.INPUTCTRLA = mode; break; case CMPB: TCD0.INPUTCTRLB = mode; break; default: break; } } static void delay(DLYPRESC presc, DLYTRIG trig, DLYSEL sel, uint8_t val, bool sync = true) { /* Double-Buffered Registers */ TCD0.DLYCTRL = presc | trig | sel; TCD0.DLYVAL = val; if (sync) synchronize(); } static void swcapture(CMP cmp) { switch (cmp) { case CMPA: command(CMD_SCAPTUREA); break; case CMPB: command(CMD_SCAPTUREB); break; default: break; } } static uint16_t capturea(CMP cmp) { switch (cmp) { case CMPA: return TCD0.CAPTUREA; case CMPB: return TCD0.CAPTUREB; default: break; } return 0; } static STATUS status(void) { return (STATUS)TCD0.STATUS; } static void run(void) { wait(TCD_ENRDY_bm); TCD0.CTRLA |= TCD_ENABLE_bm; } static void stop(void) { command(CMD_DISEOC); } static void restart(void) { command(CMD_RESTART); } static void callback(callback_t func) { _callback = func; } static void interrupt(INTCTRL ctrl, bool enable = true) { if (enable) { TCD0.INTFLAGS = ctrl; #if CONFIG_TCD_ISR TCD0.INTCTRL |= ctrl; #endif } else { #if CONFIG_TCD_ISR TCD0.INTCTRL &= ~ctrl; #endif TCD0.INTFLAGS = ctrl; } } static void dbgctrl(bool dbgrun = true, bool faultdet = false) { /* Double-Buffered Registers */ TCD0.DBGCTRL = (TCD0.DBGCTRL & ~(TCD_FAULTDET_bm | TCD_DBGRUN_bm)) | (faultdet ? TCD_FAULTDET_bm : 0) | (dbgrun ? TCD_DBGRUN_bm : 0); synchronize(); } static void poll(void) { #if !CONFIG_TCD_ISR isr(); #endif } private: static uint32_t _frequency; static callback_t _callback; #if !CONFIG_TCD_ISR friend void tcd_isr(void); #endif static inline void isr(void) { uint8_t flags; if ((flags = TCD0.INTFLAGS = TCD0.INTFLAGS)) { if (_callback) _callback((INTFLAGS)flags); } } static void faultctrl(/* FAULTCTRL */ uint8_t mask, /* FAULTCTRL */ uint8_t flag) { /* Static Registers */ _PROTECTED_WRITE(TCD0.FAULTCTRL, (TCD0.FAULTCTRL & ~mask) | flag); } static void synchronize(bool eoc = true) { command(eoc ? CMD_SYNCEOC : CMD_SYNC); } static void command(CMD cmd) { wait(TCD_CMDRDY_bm); TCD0.CTRLE = cmd; } static void wait(uint8_t status) { while ((TCD0.STATUS & status) == 0) yield(); } static uint32_t frequency(void) { if (_frequency == 0) { uint32_t clk = 0; switch (TCD0.CTRLA & TCD_CLKSEL_gm) { case CLKSEL_OSCHF : clk = Fuse::OSCCFG::frequency(); break; case CLKSEL_PLL : clk = Clock::pllfreq(); break; case CLKSEL_EXTCLK: clk = CONFIG_EXTCLK; break; case CLKSEL_CLKPER: clk = Clock::frequency(); break; } switch (TCD0.CTRLA & TCD_CNTPRES_gm) { default: break; case TCD_CNTPRES_DIV4_gc : clk >>= 2; break; case TCD_CNTPRES_DIV32_gc: clk >>= 5; break; } _frequency = clk; } return _frequency; } }; #endif |
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/* avr8_tcd.h - TCD Driver for Microchip AVR8 Series Copyright (c) 2026 Sasapea's Lab. All right reserved. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <https://www.gnu.org/licenses/>. */ #include "avr8_tcd.h" #if defined(TCD0) const uint16_t Tcd::MAX_COUNT = 0x0FFF; uint32_t Tcd::_frequency; Tcd::callback_t Tcd::_callback; #if CONFIG_TCD_ISR inline void tcd_isr(void) { Tcd::isr(); } ISR(TCD0_OVF_vect) { tcd_isr(); } ISR(TCD0_TRIG_vect) { tcd_isr(); } #endif #endif |
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