TI-RSLK

Texas Instruments Robotics System Learning Kit

 Module 9
Lecture: SysTick Timer - Theory

Texas Instruments Robotics System Learning Kit: The Maze Edition

| SysTick Timer - Theory SWRP171
 SysTick Timer

You will learn in this module

 Fundamentals of SysTick Timer
 Measure elapsed time
• Precision
• Range
• Resolution
 Software delay

Texas Instruments Robotics System Learning Kit: The Maze Edition

2 | SysTick Timer - Theory SWRP171
 SysTick Timer :
SysTick performs Timer/Counter operation in all ARM
 Create time delays
 Generate periodic interrupts

How it works
 24-bit down counter decrements at bus clock frequency
 With a 48 MHz bus clock, decrements every 20.83 ns
LOAD
 Software sets a 24-bit LOAD value of n
 The counter, VAL, goes from n → 0
VAL
• Sequence: n, n-1, n-2, n-3… 2, 1, 0, n, n-1…
 SysTick is a modulo n+1 counter:
 VAL = (VAL - 1) mod (n+1)

Texas Instruments Robotics System Learning Kit: The Maze Edition

3 | SysTick Timer - Theory SWRP171
 SysTick Timer Initialization Bus clock Turn on
Flag

31-24 23-17 16 15-3 2 1 0 Name

0 0 COUNT 0 CLK_SRC INTEN ENABLE SysTick->CTRL

0 24-bit RELOAD value SysTick->LOAD

0 24-bit CURRENT value of SysTick counter SysTick->VAL

Table 9.0 SysTick Registers

void SysTick_Init(void){
SysTick->LOAD = 0x00FFFFFF;
SysTick->CTRL = 0x00000005;
}

At 48 MHz, it rolls over about every 349ms

Texas Instruments Robotics System Learning Kit: The Maze Edition

4 | SysTick Timer - Theory SWRP171
 Measure Elapsed Time

Time to
Start = SysTick->VAL; execute?
SystemUnderTest();
Stop = SysTick->VAL;
Delta = 0x00FFFFFF&(Start-Stop);

At 48 MHz
# of distinct measurements
• 24-bit precision
Smallest change
• 20.83ns resolution
Largest possible
• 349ms range

Texas Instruments Robotics System Learning Kit: The Maze Edition

5 | SysTick Timer - Theory SWRP171
 SysTick Timer Wait

Resistor
Wait(n)
void SysTick_Wait(uint32_t n){
SysTick->LOAD = n-1;
SysTick->VAL = 0; // clear Count
LOAD=n-1 while((SysTick->CTRL&0x00010000)== 0){};
}

Clear Count Flag

At 48 MHz, it works up to 349ms
Doesn’t work for n=0 or n=1 Count is in
bit 16
Read Count flag

0
Count

return

Texas Instruments Robotics System Learning Kit: The Maze Edition

6 | SysTick Timer - Theory SWRP171
 SysTick Timer : Generate 10 ms Wait

Wait10ms(delay) void SysTick_Wait10ms(uint32_t delay){

for(uint32_t i=0; i<delay; i++){
SysTick_Wait(480000);
i=0 }
}

i >= delay
i 48 cycles is 1us

i < delay
48,000 cycles is 1ms
480,000 cycles is 10ms
Wait(480000)

i=i+1

return

Texas Instruments Robotics System Learning Kit: The Maze Edition

7 | SysTick Timer - Theory SWRP171
 Summary

 SysTick is a built in timer Wait(n)

• Measuring elapsed time
• Creating software delay LOAD=n-1

Clear Count Flag

Read Count flag

0
Count

return

Texas Instruments Robotics System Learning Kit: The Maze Edition

8 | SysTick Timer - Theory SWRP171
 Module 9
Lecture: SysTick Timer - PWM

Texas Instruments Robotics System Learning Kit: The Maze Edition

1 | SysTick Timer - PWM SWRP171
 SysTick Timer
You will learn in this module
 Concept of Pulse Width Modulation ( PWM) and Duty Cycle
 Create pulse width modulated (PWM) signals using SysTick Timer Delay
 Use PWM to control brightness of an LED
 Apply PWM to create digital to analog converter ( DAC)

Period Period

High Low High Low

Texas Instruments Robotics System Learning Kit: The Maze Edition

2 | SysTick Timer - PWM SWRP171
 How fast is the device?

Change the input (step change)

Measure the output response

Input

Out Output

time

Out(t) = A + Be-t/
Time constant, , is the time to reach 0.63 of final

Time constant , 
HLMP-4700 LED 90ns
DC motor 100ms

Texas Instruments Robotics System Learning Kit: The Maze Edition

3 | SysTick Timer - PWM SWRP171
 Pulse Width Modulation

while(1){ High High

P1->OUT |= 0x01; // red LED on Dutycycle = =
High + Low Period
SysTick_Wait(High);
P1->OUT &= ~0x01; // red LED off
SysTick_Wait(Low);
}

Period Period
Input

Output
High Low High Low
time
High+Low is a constant
If fast enough, the device responses to the average

Texas Instruments Robotics System Learning Kit: The Maze Edition

4 | SysTick Timer - PWM SWRP171
 PWM - Digital to Analog Converter
PWM + low pass filter 10ms

1s

P1.0

Static Linearity LPF cutoff:

DAC output (volts)

4.0 fc = 1/(2πRC)
3.0 fc > analog wave
2.0 y=3x+0
R² = 1 fc < digital frequency
1.0
0.0
0 0.5 1
Duty Cycle

Texas Instruments Robotics System Learning Kit: The Maze Edition

5 | SysTick Timer - PWM SWRP171
 Applications of PWM:

 Control brightness of LEDS

 120V /60Hz appliances
 Use it to make a DAC
 Transfer power to control motors
Motor driver TI DRV8838

TA0CCR2 TA0CCR0
Driver Dutycycle=
TA0CCR2
TA0CCR0
TA0CCR1 TA0CCR0

Dutycycle=
TA0CCR1
TA0CCR0

Interface TI Launchpad with Motor driver TI DRV8838 using PWM

Texas Instruments Robotics System Learning Kit: The Maze Edition

6 | SysTick Timer - PWM SWRP171
 Summary
Vout
 SysTick is a built in timer
PWM
• Measuring elapsed time Vout
• Creating software delay PWM

 PWM
Vout
• Implemented with software delays
(inefficient)
• Choose the fixed frequency faster than Vout
the device
• Device responds linearly to duty cycle
• Provides for high precision outputs

 Applications
• Dimming
• DAC
• Motors
Texas Instruments Robotics System Learning Kit: The Maze Edition
7 | SysTick Timer - PWM SWRP171
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