1. Timer & Watch Dog Test UNIT 16 로봇 SW 교육원 조용수

2. 학습 목표 Timer Init Timer Delay Test Timer Interrupt Test –One Shot Mode –Periodic Mode Watch Dog Test 시계 만들어 보기 2

3. Timer Init Timer Clock Enable 3 void TMR0_Init(void) { CLK_EnableModuleClock(TMR0_MODULE); CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0_S_HIRC, 4); }

4. Timer Delay Test Delay 함수 제작 Time-out period = (Period time of timer clock input) * (8-bit pre-scale counter + 1) * (24-bit TCMP) Timer 1ms Period Value = System Clock / (pre-scale + 1) / 1000 System Clock : 22,118,400 Hz 4

5. Timer Delay Test 5 int delay(int ms) { int prescaler =3; TIMER0->TCSR &=~(0xFF); TIMER0->TCSR |= prescaler; // Set Prescaler : 1ms period TIMER0->TCMPR = ms * (SystemCoreClock / (prescaler + 1)) / 1000; //printf("Timer Register TCSR = 0x%x\n", TIMER0->TCSR); //printf("Timer Register TCMPR = %d\n", TIMER0->TCMPR); TIMER0->TCSR &= ~(0x3 << 27) ; // One shot Mode TIMER0->TCSR |= (0x1 << 30 ); // Start Counting; while(TIMER0->TCSR & TIMER_TCSR_CACT_Msk); }

6. Timer Interrupt Test Timer Handler 6 void TMR0_IRQHandler(void) { /* Clears Timer time-out interrupt flag */ TIMER_ClearIntFlag(TIMER0); Count++; P2->DOUT &= ~0x7; if(Count > 0x7) { Count = 0x0; } P2->DOUT |= Count; }

7. Timer Interrupt Test One Shot Mode 7 void TMR0_Init(void) { CLK_EnableModuleClock(TMR0_MODULE); CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0_S_HIRC, 4); TIMER_Open(TIMER0, TIMER_ONESHOT_MODE, 1); /* Enable the Timer time-out interrupt */ TIMER_EnableInt(TIMER0); /* Start Timer counting */ TIMER_Start(TIMER0); /* Enable TMR0 Interrupt */ NVIC_EnableIRQ(TMR0_IRQn); }

8. Timer Interrupt Test Periodic Mode 8 void TMR0_Init(void) { CLK_EnableModuleClock(TMR0_MODULE); CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0_S_HIRC, 4); TIMER_Open(TIMER0, TIMER_PERIODIC_MODE, 1); /* Enable the Timer time-out interrupt */ TIMER_EnableInt(TIMER0); /* Start Timer counting */ TIMER_Start(TIMER0); /* Enable TMR0 Interrupt */ NVIC_EnableIRQ(TMR0_IRQn); }

9. Watch Dog Test Init 9 void WDT_Init(void) { SYS_UnlockReg(); CLK_EnableModuleClock(WDT_MODULE); CLK_SetModuleClock(WDT_MODULE, CLK_CLKSEL1_WDT_S_HCLK_DIV2048, 1); WDT->WTCR &= ~(0x7 << 8); WDT->WTCR |= (0x6 << 8); WDT->WTCR |= 0x3 << 6; WDT->WTCR |= 0x1 << 1; NVIC_EnableIRQ(WDT_IRQn); SYS_LockReg(); }

10. Watch Dog Test Watch Dog Handler 10 void WDT_IRQHandler(void) { WDT_CLEAR_TIMEOUT_INT_FLAG(); printf("WDT_Interrupt!!\n"); WDT->WTCR |= 0x1; // Reset WDT Counter }

11. Watch Dog Test Watch Dog Counter Clear 11 void WDT_Clear(void) { SYS_UnlockReg(); WDT->WTCR |= 0x1; SYS_LockReg(); }

12. Watch Dog Test Watch Dog Counter Clear (main) 12 int main(void) { int count = 0; SYS_Init(); … while(1) { … WDT_Clear(); }

13. Timer 를 이용한 시계 제작 Timer 를 이용하여 Uart 로 출력하는 시계를 작성하세요 13