*******************************************************************************  * File              main.c  * Owner             LaMa-TIC-RPR  * Version           1.1  * Date              Jun/17/2016  * Classification    General Business Information  * Brief             S12Z Frequency Measurement at PT0 (IOC0_0) by TIM module  *                   in input capture mode  *******************************************************************************  * Detailed Description:  * The code measures frequency at PT0  * It demonstrates  * - It measures frequency at PT0 by means of TIM module IOC0_0.  * - The measurement is sensitive on rising edges so duty cycle has no affect  *   to the measurement  * - Constants:  *           BUSCLOCK  *           MAX_OVERFLOWS  *           TIMER_PRESCALLER  *      must be defined  * - MAX_OVERFLOWS determines minimum measurable frequency.  *   It is max. allowed number of overflows. When overflows counter reaches  *   this value it the flag FREQUENCY_TOO_LOW is set. The message  *   PERIOD BETWEEN TWO EDGES IS TO WIDE is then written to a variable "str"  *   This value gives time interval:  *     T = TIMER_PRESCALER * MAX_OVERFLOWS * 65536 / BUSCLOCK      *     For example:  *      - TIMER_PRESCALER = 1  *      - MAX_OVERFLOWS   = 1000  *      - BUSCLOCK        = 16,000,000Hz  *      T = 1 * 1000 * 65536 / 16,000,000 = 4,096s  => f=0,244140625Hz  * - TIMER_PRESCALER = { 1,2,4,8,16,32,64,128} - smaller values give more  *   precise values but it generates timer overflow more frequently  * - the physical representation of the measured frequency is stored in the  *   string "str"  *  * - The measurement precision is df which can be expressed as:  *  *    df = BUSCLK / ((n^2 + n) * PRESCALER); n = measured number of TCNT periods  *               *   For example: BUSCLK = 16MHz, n = 399, PRESCALER = 1  *     *     *             df = 16,000,000 / ((399^2 + 399) * 1) = 100.25Hz  *               *             so, count 399 means f=BUSCL/399=16,000,000/399 = 40,100.25Hz  *             so, count 400 means f=BUSCL/400=16,000,000/399 = 40,000.00Hz  *                   * So this method is not suitable for large frequencies as can be seen in  * following table (percentual error we can get is df/f):  * n   f[Hz]      df[Hz]                        n   f[Hz] df[Hz]  * 1   8000000   5333333,3           101 1553,0 30,1  * 2   2666666,6 1333333,3           102 1522,9 29,2  * 3   1333333,3  533333,3           103 1493,6 28,4  * 4    800000    266666,6             104 1465,2 27,6  * 5    533333,3  152380,9            105 1437,5 26,8  * 6    380952,3   95238,0             106 1410,6 26,1  * 7    285714,2   63492,0             107 1384,5 25,4  * 8    222222,2   44444,4             108 1359,1 24,7  * 9    177777,7   32323,2             109 1334,4 24,0  * 10   145454,5   24242,4            110 1310,4 23,4  * 11   121212,1   18648,0            111 1287,0 22,7  * 12   102564,1   14652,0            112 1264,2 22,1  * 13    87912,0   11721,6             113 1242,0 21,6  * 14    76190,4    9523,8             114 1220,4 21,0  * 15    66666,6    7843,1             115 1199,40,502  * 16    58823,5    6535,9             116 1178,8 19,9  * 17    52287,5    5503,9             117 1158,9 19,4  * 18    46783,6    4678,3             118 1139,4 18,9  * 19    42105,2    4010,0             119 1120,4 18,5  * 20    38095,2    3463,2             120 1101,9 18,0  * 21    34632,0    3011,4             121 1083,8 17,6  * 22    31620,5    2635,0             122 1066,2 17,1  * 23    28985,5    2318,8             123 1049,0 16,7  * 24    26666,6    2051,2             124 1032,2 16,3  * 25    24615,3    1823,3             125 1015,8 15,9  *  * - PCB setup:  *   - J35 is disconnected because measurement is done on PT0  *   - pulse generator is connected to the J35 pin 1. (PT0)  *    * - Reference to documentation: MC9S12ZVLMR1.pdf Rev. 1.02  * - Tested on TRK-S12ZVL  * - MCU MC9S12ZVL32 0N22G  * - OSCCLK = 4MHz  * - BUSCLK = 16MHz (set by PLL)  *  * The info about frequency and count is transmitted over the SCI0 Tx which is  * routed (MODRR) to PS1 pin  *  *******************************************************************************  Revision History:  Version Date          Author            Description of Changes  1.0     Jun/17/2016   LaMa-TIC-RPR      Initial version  ******************************************************************************/

This example simulates ECC issue by cumulative write into the same Flash area without an erasing.   The Flash erase operation set all bits into log1. The Flash program operation may keep bit cells in log1 state or change it into log0 state, but not in opposite way.   The S12Z MCU Flash is protected by 39-Bit ECC Scheme. Every aligned 32bits is protected by additional 7 bits with ECC checksum. The ECC values are not accessible for users. Every Flash reading triggers also ECC check by internal logic. The single bit error in user data may be corrected by ECC checksum. The double bit error cannot be corrected.   The ECC protection is implemented also at flash controller commands and results are signaling by MGSTAT bits.     The first case simulates Single-bit ECC error during reading. The MGSTAT bits after the second write are 0b10 due to fact that just 1 bit is different during write verification (correctable error)   The second case simulates Single-bit ECC error during reading. The MGSTAT bits after the second write are 0b11 due to fact that more than 1 bits are different during write verification (non-correctable error)   The third case simulates Double bit ECC error during reading. The MGSTAT bits after the second write are 0b11 due to fact that more than 1 bits are different during write verification (non-correctable error)     The flash patterns are selected for highlighted described behavior and they don't have any real meaning.   The cumulative write is not allowed for normal operation!!! The code from this example should be used only for design testing - not in production!!!   Please, see the prm file. Address range 0xFF0000-0xFF01FF is excluded from default ROM and is used as user flash memory The size of sectors is 512 bytes = 64 phrases.   Note: The PFLASH_Program() function was updated - erase verification is skipped     I hope it helps you. Radek

Attached zip file contains three Code Warrior project for MagniV devices (S12ZVM, S12ZVL and S12ZVC). Each of them demonstrates usage of High Voltage Input feature. Find detailed description in the header of main.c file of the CW project.

The example code shows how to invoke single or double bit RAM ECC error at S12Z devices.   Some basic overview about S12Z ECC codes may be found in thread AM/FLASH ECC Error handling .

Interrupt catcher you can use for debugging or directly in your software. Few notes: 1. You should replace lines for expected interrupt by your interrupts routines as in example of SCI0 interrupt routine. 2. All interrupt vectors are only 16bit addresses, therefore all your interrupt routines must be placed in non banked memory (for example by #pragma commands) 3. Interrupt number 0 presents POR reset vector, 1 is CM reset, 2 is COP reset, … , 119 is Spurious Interrupt. Interrupt number = (0xFE-Vector Address)/2. See Table Interrupt Vector Locations at RM. For Example: Interrupt number of SCI0 = (0xFE-D6)/2 = 0x14 = 20.

Introduction In many old-fashioned automotive motor control systems, PWM command communication is still preferred over LIN or CAN. Even for in-lab application debugging, it is very convenient to use PWM command communication to control the motor placed in a test-bench or in an acoustic or thermal chamber, especially when the BDM debugger or the SCI/RS232 communication is not available. PWM control is usually specified on the OEM level and it is not provided as a public standard. Nevertheless, adjustable software driver can be created to help the PWM command signal to be detected. The following code has been developed for S12ZVM, but it can be easily adopted to fit in whatever device with a timer input capture feature. Hardware specification may be different for many cases and the implementation is the matter of proper design case-by-case and may be a very easy task for a skilled designer. However, software design can be abstracted and reused for different hardware implementation. In order to help you use the PWM control signal, the following description is provided. The example provided is targeting NXP MagniV S12ZVML devices, but may be used along with any device accordingly. The S12ZVML MCU contains LIN physical layer which will be used as PWM input in our case. PWM Signal Specification Since there is no public standard specification on PWM signal, let's target a general case with adjustable parameters. Since the PWM control signal is being replaced by LIN communication, the specification may be based on 5.5V to 18V voltage range with nominal 12V level. PWM frequency varies from 10 Hz to 1 kHz (or more), but it really depends on the requirements of the application, compatibility, etc. Duty-cycle range of the PWM signal might be from 15% to 90% from stand-by to full speed. Hysteresis at low duty-cycle range (between 10 and 15%) prevents the system from periodic on/off switching at the lowest duty-cycle. Duty-cycles outside of this range may be identified as not valid and appropriate action may be taken (e.g. full speed command to an engine cooling fan). The signal definition should consider some specific values to help with the signal reading. Following values are defined: Label Description noSignalLevel No signal detected below this duty cycle noSignalOutput Output on "no signal" detected lowSignalOutput Output on "low signal" detected hystLowSignalOff Low level of the hysteresis. Smaller duty-cycle means "low signal" state, higher duty-cycle enters the hysteresis range (min speed or stand-by) hystLowSignalOn High level of the hysteresis. Smaller duty-cycle means "hysteresis area: min speed or stand-by", higher duty-cycle means "run"  in the linear signal range, with the speed given by the duty-cycle. linearSignalOutputMin Low level of the linear mode linearSignalLevelMax High level of the linear mode Considering normal operation in stand-by mode, the duty-cycle is between noSignalLevel and hystLowSignalOff. In order to add some distortion-proof feature, the duty-cycle can go up to the hystLowSignalOn and the stand-by mode would be still detected. In order to engage the "run" state, the duty-cycle has to exceed the hystLowSignalOn value and the linear area is reached. Corresponding output is calculated to meet the linearSignalOutputMin at the hystLowSignalOn value and linearSignalOutputMax at the linearSignalLevelMax. System keeps the output at linearSignalOutputMax for duty-cycles higher than linearSignalLevelMax. When slowing down, reaching the hystLowSignalOn sets the output to linearSignalOutputMin and keeps this output until the hystLowSignalOff is reached. This way, the hysteresis feature is provided in order to prevent motors from randomly switch on and off in case the PWM signal is noisy. Lowering the duty-cycle below the hystLowSignalOff, zero output is set, which represents the stand- by mode. Duty-cycles below the noSignalLevel are treated as not valid and noSignalOutput is engaged (which can be set to zero or to max, according to the application requirements). Requirements on Timer In order to correctly detect PWM signal frequency and duty-cycle, hardware timer with input capture feature and rising/falling edges detection shall be used. Timing and chaining of multiple timer channels may be needed to increase the frequency range or duty-cycle resolution. Following example will be simplified to use just one 16-bit timer channel (timer module TIM16B4CV3 used in S12ZVML128). The input of the timer shall be routed to an input pin, on which the PWM signal will be sensed. Integrated LIN physical layer module of S12ZVML128 device can be used for signal conditioning since the signal voltage range is up to 18V. In the example, LINPhy module has to be enabled and the LPRXD0 signal is routed to the timer T0 input capture channel 3 by setting "T0IC3RR1-0" of the MODRR2 register to 0b01. Input capture and timer overflow interrupts are used to detect correct or faulty signal. Requirements on Application Software PWM signal detection is called within the Timer Input Capture interrupt. This way, the duty-cycle is calculated immediately. Signal lost event is detected within the Timer overflow interrupt. It is recommended that the detected duty-cycle is filtered by a low-pass filter (moving average or IIR), which is usually called within some real-time interrupt routine, such as PWM reload or ADC end-of-scan interrupt. Reading of the output value can be done anytime within the code, e.g. within a speed loop to read the demanded speed command. Algorithm Description Frequency and Duty-cycle Detection Frequency of PWM signal is given by the time between two consecutive rising edges or two falling edges. The duty-cycle is a ratio between the time of high-level state over the entire period, as indicated below. The key is to capture the time of the rising edge tR1, change the detection mode to the falling edge to capture the time of the falling edge tF1, again change the detection mode to rising edge, etc. This detection can be easily done within the input capture timer interrupt. The time values captured are then used to calculate "High" and "Period" values. Frequency and duty-cycle is calculated based on the following equations. The timer settings should follow requirements on frequency range and duty-cycle resolution. It is recommended that the timer settings allow detecting frequencies slightly beyond the required frequency range. Let's consider an example of: Limit Specified frequency limits Detected frequency Detected period Minimal PWM frequency 20 Hz 19.5 Hz 0.051282 s Maximal PWM frequency 1000 Hz 1010 Hz 0.00099 s Based on these limits, Timer settings can be calculated, considering the MCU clock settings and prescalers: For example, if the fbus = 50 MHz and the TimerPrescaler = 50, MinPeriodTicks for MaxDetectedFreq = 1010 Hz equals 495 ticks of the timer. The duty-cycle resolution at 1010 Hz is then 1/495, which is 0.202%. MaxPeriodTicks is key information for the timer settings since it needs to fit in the 16bit range with no overflow. In this case, the number of ticks is 25641 for 19.5Hz, which is suitable for 16-bit range with no issues. If the detected period (number of timer ticks) is outside of this range, the algorithm should go to the noSignalLevel state with defined noSignalOutput. Finally, if the PWM signal is lost or corrupted, timer overflow event occurs and corresponding interrupt is called. Within the interrupt routine, the entire algorithm should be reset to wait for another rising edge, while turned in the noSignalLevel state with defined noSignalOutput. Selecting Detected State Based on the PWM signal condition, frequency and duty-cycle detected, the algorithm state is selected. Following states are defined to help users with state identification: State Description Output  PWM_NoSignalDetect PWM signal is not detected or the PWM period is outside of the range noSignalOutput, usually zero or full command (according to the application requirements) PWM_LowSignalDetect PWM signal is detected, the duty-cycle is within the noSignalLevel and hystLowSignalOn or hystLowSignalOff (depends on the hysteresis) lowSignalOutput, usually zero/stand-by PWM_LinearCtrlDetect PWM signal is detected, the duty-cycle is within the hystLowSignalOn and linearSignalLevelMax output = (dutyCycle * linearSignalSlope + linearSignalOffset) << linearSignalNshift, from linearSignalOutputMin to linearSignalOutputMax PWM_HighSignalDetect PWM signal is detected, the duty-cycle is higher than linearSignalLevelMax linearSignalOutputMax Linear Output Calculation Linear output calculation is an easy way of interpolating two endpoints by a linear equation. In order to calculate the coefficients (slope and offset) and to improve the fixed point range, shifting is implemented as well. Algorithm Integration Interfaces The algorithm is designed as a set of static functions with a structure of settings as a parameter to all the interfaces. This way, the same functionality can be used in multiple instances.  /* PWM Control data structure */ typedef struct { pwmControlStatus_t flags; //Control status bits pwmControlConfig_t config; //Configuration unsigned int period; //Modulation period unsigned int dutyCycle; //dutyCycle unsigned int hystDutyCycle; //previous hysteresis of duty cycle #ifndef PWM_CONTROL_SW unsigned int overflowCntr; //timer overflow counter #endif tFrac16 outputValue; //Output value unsigned int ControlInputClass; //Classification of the input signal } pwmControl_t;‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ The input-output characteristics are defined by a set of parameters as discussed earlier using the following structure: typedef struct { /* No signal definition */ tFrac16 noSignalLevel; //Level of the duty cycle for NoSignal detection tFrac16 noSignalOutput; //Output when NoSignal is detected /* Low signal definition */ tFrac16 lowSignalOutput; //Output when LowSignal is detected /* Linear signal definition */ tFrac16 hystLowSignalOff; //LowSignal-to-NoSignal hysteresis level tFrac16 hystLowSignalOn; //NoSignal-to-LowSignal hysteresis level tFrac16 linearSignalLevelMax; //Level of the duty cycle for LinearSignal saturation tFrac16 linearSignalOutputMin; //Output at hystLowSignalOn tFrac16 linearSignalOutputMax; //Output at linearSignalLevelMax tFrac16 linearSignalSlope; // ((linearSignalOutputMax - linearSignalOutputMin)/(hystLowSignalOn - linearSignalLevelMax)))*2^(-linearSignalNshift) tFrac16 linearSignalOffset; // (linearSignalOutputMax - (linearSignalSlope * linearSignalLevelMax))*2^(-linearSignalNshift) tU16 linearSignalNshift; // scaling shift of the linear curve /* timing settings */ unsigned int minPeriod; //minimal period of the signal to be detected, shorter period leads to PWM_NoSignalDetect unsigned int maxPeriod; //maximal period of the signal to be detected, longer period leads to PWM_NoSignalDetect } pwmControlConfig_t;‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ More details on the structures and values are described in the header file in attachment. There is a set of exported functions to be integrated into the application. /* Exported function headers */ extern void PWMControlInit(pwmControl_t * data); //Clears all the internal accumulators and prepars the algorithm for usage extern unsigned int PWMControlUpdate(unsigned int pin, pwmControl_t * data); //To be called within the timer input capture interrupt, updates the internal values and calculates the PWM frequency and duty-cycle extern tFrac16 PWMControlGetOutputValue(pwmControl_t * data); //To be called where necessary by the application to get the output value extern void PWMControlTimerOverflow(pwmControl_t * data);‍‍‍‍‍ //To be called within the timer overflow interrupt to indicate that the signal is lost‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Integration The PWM control source and header files should be included in the project to be compiled. The project uses NXP Automotive Math and Motor Control Library Set (AMMCLib version v1.1.17 or higher), which needs to be added to the project as well. For more information, please visit https://www.nxp.com/support/developer-resources/run-time-software/automotive-software-and-tools/automotive-math-and-motor-control-library-set:AUTOMATH_MCL?lang=en&lang_cd=en& The next step is to include the header file in the main application source code: #include "pwm_control.h"‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ In order to provide necessary settings and to handle the output, the following global variables are recommended: // PWM Control data pwmControl_t pwmControlData; //PWM input control data structure static tBool pwmControlEnabled = false; // Off by default‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Device initialization should include clock settings, timer, and input pin routing settings accordingly. For S12ZVML device, the configuration of TIM, PIM and LIN modules is following: Within the initialization part of the application, the following code should be placed to initialize the PWM control. Please consider the values as an example only.  // PWM control initial settings pwmControlData.config.minPeriod = 495; //Period of the max frequency pwmControlData.config.maxPeriod = 25641; //Period of the min frequency pwmControlData.config.noSignalLevel = FRAC16(0.05); //No signal detected below this duty cycle pwmControlData.config.noSignalOutput = FRAC16(0); //Output on ""no signal"" detected pwmControlData.config.lowSignalOutput = FRAC16(0); //Output on ""low signal"" detected pwmControlData.config.hystLowSignalOff = FRAC16(0.1); //Low level of the hysteresis. Smaller duty cycle means ""low signal"", higher duty cycle means ""switch on"" pwmControlData.config.hystLowSignalOn = FRAC16(0.15); //High level of the hysteresis. Smaller duty cycle means ""min speed or off"", higher duty cycle means ""switch on and linear"" pwmControlData.config.linearSignalLevelMax = FRAC16(0.85); //High level of the linear mode pwmControlData.config.linearSignalOutputMin = FRAC16(0.116666666666667); //Output within the hysteresis mode pwmControlData.config.linearSignalOutputMax = FRAC16(0.833333333333333); //Output at the linearSignalLevelMax pwmControlData.config.linearSignalSlope = FRAC16(0.511904761904762); //Linear signal slope = (linearSignalOutputMax - linearSignalOutputMin) / (linearSignalLevelMax - hystLowSignalOn) * 2^(-linearSignalNshift) pwmControlData.config.linearSignalOffset = FRAC16(-0.018452380952381); //Linear signal offset = (linearSignalOutputMin - (linearSignalOutputMax - linearSignalOutputMin) / (linearSignalLevelMax - hystLowSignalOn) * hystLowSignalOn) * 2^(-linearSignalNshift) pwmControlData.config.linearSignalNshift = 1; //Linear signal shift pwmControlData.config.f16pwmInputMA.u16NSamples = 5; //Moving average filter settings 2^n samples PWMControlInit(&pwmControlData);‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ The configuration can be generated using an Excel sheet in the attachment. Content of the cell "D34" can be copied-pasted in the code. Name of the structure can be changed in "H1" cell. Orange-colored cells are customizable, while grey-colored cells use formulas to calculate output. Timer input capture interrupt routine should call the PWM control "Update" routine and switch the input capture mode between the rising edge and falling edge detection. In the case of S12ZVML device, the timer interrupt example follows: INTERRUPT void TIM0chan3_ISR(void) { // Read PWM input control pin and update status PWMControlUpdate(TIM0TC3, &pwmControlData); // Read the PWM Control output pwmControlData.outputValue = PWMControlGetOutputValue(&pwmControlData); // Toggle edge detection if(pwmControlData.flags.risingEdge) { TIM0TCTL4_EDG3A = 1; TIM0TCTL4_EDG3B = 0; } if(pwmControlData.flags.fallingEdge) { TIM0TCTL4_EDG3A = 0; TIM0TCTL4_EDG3B = 1; } // Clear interrupt flag TIM0TFLG1 = TIM0TFLG1_C3F_MASK; //TIM0TFLG1_C0F_MASK | TIM0TFLG1_C1F_MASK | TIM0TFLG1_C2F_MASK | TIM0TFLG1_C3F_MASK; }‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Timer overflow interrupt routine shall implement PWM control "Overflow" handler as follows (again, for S12ZVML device). Output value updater should be called as well to update the output value. INTERRUPT void TIM0overflow_ISR(void) { // Detect PWM input control period overflow (ultra low frequencies PWMControlTimerOverflow(&pwmControlData); pwmControlData.outputValue = PWMControlGetOutputValue(&pwmControlData); // Clear interrupt flag TIM0TFLG2 = TIM0TFLG2_TOF_MASK; }‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Finally, within the application task, the PWM control data can be accessed and used in the application. For example, based on the ControlInputClass, the input signal processing may be enabled or disabled and the output value can be used as the required speed value of an engine cooling fan. [Application Task] { // ... // PWM Control // If no signal is detected, enable manual switch (using FreeMASTER) if(pwmControlData.ControlInputClass == PWM_NoSignalDetect) { if(pwmControlEnabled == true) { cntrState.usrControl.switchAppOnOff = 0; pwmControlEnabled = false; } } else { pwmControlEnabled = true; } // If PWM input control enabled, update the demanded speed if(pwmControlEnabled) { //If the linear or high signal is detected, switch the app on if(pwmControlData.ControlInputClass >= PWM_LinearCtrlDetect) { cntrState.usrControl.switchAppOnOff = 1; //Store the demanded speed drvFOC.pospeControl.wRotElReq = pwmControlData.outputValue; } //else switch off the app... else { cntrState.usrControl.switchAppOnOff = 0; //...and if a fault is indicated, clear the fault if(cntrState.state == fault) { cntrState.usrControl.switchFaultClear = true; } } } // ... }‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Example code Example code is provided for S12ZVML-MINIKIT. The code is a modified devkit SW, which is available here (and related AN5327 here). The FreeMASTER project file is included with added PWM Control subblock. If there is no PWM signal detected, the application can be controlled via FreeMASTER on/off button. If the PWM signal is detected (even with a duty-cycle below the minimal value), the application listens and reacts as defined by the signal definition. Conclusion PWM control is still being used as one of the control signals to control auxiliary electric drives in automotive. Even if being replaced by LIN or CAN communication, there are still facilities which can benefit from software drivers enabling such a feature. In this document, a software driver is provided to be integrated within the application. The example is provided for S12ZVML devices, however, it can be easily adopted to any device which meets the hardware requirements necessary for such PWM control signal detection.

This short video demonstrates a path through NXP website to the CodeWarrior v5.1 download link. On the final place other downloads are available such as service packs, updates, patches etc. Login to NXP site is required.

Have you ever wondered what is the difference between the electric motors included in those two Development Kit with S12 MagniV?     MTRCKTSBNZVM128: 3-phase Sensorless BLDC Development Kit with S12 MagniV S12ZVM MTRCKTSPNZVM128: 3-phase Sensorless PMSM Development Kit with S12 MagniV MC9S12ZVML128 MCU   Well frankly writing none. They include the same motor model 45ZWN24-90       . So the motors are same from physics perspective, only the flux distribution in an air gap is different. It is sinusoidal for PMSM whereas it is trapezoidal for BLDC motor. The powerstage is same for both but what is different however is the control strategy. The Linix motor equipped with the DevKits is in fact somewhere between PMSM and BLDC, The flux is not sinusoidal nor trapezoidal.   Further information and motor parameters can be found at manufacturer product pages:                          http://www.linixmotor.com/3-3-Tool-Motor.html

The example code demonstrates MCU low power modes: STOP and WAIT. For detailed description see main.c file of the project. * - tested on X-VLG-S12ZVC board * - BUSCLK = 6.25MHz based on internal oscillator clock IRCCLK = 1MHz.The PLL set by default in PEI mode. * - Reference documentation: MC9S12ZVCRMV1.pdf (REV 1.9) VLG-MC9S12ZVC-SCH.pdf (Document Number SCH-28038, SPF-28038)

This example: 1. write unprotected P-Flash area 2. protect target P-Flash area 3. tries to write protected P-Flash area 4. call Protection Override command for temporary modify P-Flash protection 5. write into temporary unprotected P-Flash area 6. restore original P-Flash protection scheme The part of P-Flash memory used in this example for writing tests (0xFF8000..0xFF8FFFUL) is excluded from linker using. Please look at prm linker file for more details.   The flash_array constant with Protection Override Comparison Key is not directly referenced in the code, therefore we must enter the constant name into ENTRIES section in prm linker file for avoiding stripping it out as unused. Please look at P-Flash Protection Register (FPROT) chapter in the reference manual for more details about P-Flash protection. The key for Protection Override should be rather received from external source and used as PFLASH_Protection_Override() parameter. The correct Protection Override key is here hard-coded (err = PFLASH_Protection_Override(0xCAFE, 0xF...) for example code simplifying.   I hope it helps you. Radek

You can find here two example codes for API timer. G240-API-CW51.ZIP contains example code for trimming API timer to 10kHz (API isn't factory trimmed). G240-API+STOP-CW51.ZIP contains example code for enter to stop mode and periodical wakeup by API interrupt

S12 FAMILY DEVICES COP RECOGNITION CONSIDERATIONS SHOULD HELP YOU TO SET HW OF THE RESET PIN TO BE COP CORRECTLY RECOGNIZED The calculator can be found at S12 FAMILY DEVICES COP RECOGNITION CONSIDERATIONS - calculator.xlsx

A project presents control of the HD44780 driven display where it is assumed that RW pin of the LCD is permanently connected to “Write” level (GND). The SW contains mirror(s) of the LCD display as array of characters stored within RAM. Both read and write function can be used because writing is performed to the display and also to the array. Read functions are directed to the character array stored within RAM.

Work with pushbuttons and 7 segment display. Write assembly (ASM) and C programs for the HCS12, as well as to work with the pushbuttons and 7-segment display on the Dragon12-JR board.  The programs find the largest and smallest numbers from an arbitrary list of eight 8-bit unsigned numbers and displays them on the 7-segment display as outlined in the following.   1. Write a program to do the following, in both ASM and C. Do not use MINA, MINM, MAXA, and MAXM instructions.            a. Load an array of eight 8-bit unsigned numbers into RAM.            b. Find the largest of these numbers and store it.            c. Find the smallest of these numbers and store it.            d. Wait for the pushbuttons (S1 or S2) to be pressed.            e. The first time S1 is pressed, display the high nibble of the largest number; the second time S1 is pressed, display the low nibble of the largest number.                For example, if the largest number is 0x3F, the 7-segment display should show “3” the first time S1 is pressed and “F” the second time it is pressed.            f. Do the same for S2, except use the smallest number.  2. Explain why debouncing is used with switches. Optional: Implement software debouncing for switch used above.   Hints: These are unsigned numbers that your program will be searching through.  Make sure you are using the unsigned branch instructions in your ASM code. Your TA will be changing the numbers in your array to make sure it works for arbitrary 8-bit values. Please make sure the array is somewhere near the top of your program file. For interfacing to LEDs, 7 segment Displays, and pushbuttons see the schematic and manual of your development board. The type of the 7-segment LED on the Dragon12-JR board is common anode. All cathodes are driven individually by an output port and all anodes are internally connected together. The Dragon12-JR board uses port H to drive 7-segment cathodes. Skeleton files are provided to help you complete the asseignment. The 7-segment display communicates with the board via Port H whose address is $0260 (PTH).  Its data direction (input or output) is controlled by writing to Data Direction H register whose address is $0262 (DDRH). In order for PTH to be output (i.e. displaying something), you must set DDRH to $FF first (all bits high, all bits output).  The skeleton code does this for you this time. Almost every I/O port on the board works similarly to PTH; that is, you must set the direction of data on a corresponding data direction register before writing to or reading from it. The two pushbuttons (S1 and S2) are connected to PM6 and PM7. S1à PM6, S2à PM7 A subroutine that displays the low nibble of register A is included with the skeleton ASM code. Just store a value in register A and issue jsr seg7_out to display the low nibble of A. You are required to understand how it works and to write a similar routine for the C version of your code.   This document was generated from the following discussion: Professional Way to solve this HCS12 Dragon12-JR,Work with pushbottons and 7 segment display

TIC example code, v.1.1 * The SW: * demonstrates FLASH programming as a part of application * uses adjusted routines from AN2720 * writes a few words into FLASH locations Pages FE and E0~EF may be used for data storage.   Other pages are used for program storage (see PRM file)      * tested on: HCS12X STARTER KIT * OSCCLK = 16MHz, BUSCLK = 8MHz * Reference to documentation: MC9S12XDP512V2 Rev.2.17 Original Attachment has been moved to: XDP512-FLASH-E_W-CW47.ZIP

The package contains of AN5327_SW ported to S12ZVML-MINIBRD hardware. Just minor changes are introduced, such as removing a button control, moving the LED light to another pin and using internal oscillator. This is just a working version, it is NOT an official release!!! AN5327_SW_CW11_MINIBRD.ZIP CodeWarrior 11.0 and AMMCLib 1.1.13 or higher is required to run this example. If you are not sure about the AMMCLib version, please download the general AN5327_SW from the www.nxp.com/automcdevkits first, install it and then unzip and use the example above.

Here is a SW example demonstrating measurement of the bandgap voltage featured on a microcontroller. The bandgap voltage is routed to an internal ATD channel. ATD converter measures the input voltage and stores it to a variable located in Flash memory. The SW example project is made in CodeWarrior v5.1 for MC9S12XEP100 device.

Hello Community user, This post is intended to show how to recovery from Bus-Off state using the MSCAN and CANPHY modules in the MagniV devices. This example is focused on S12ZVC due to the internal CANPHY so it makes easier to create a quick example. What is Bus-Off condition? The bus-off condition is a catastrophic condition where the node in this state does not transmit anything on the bus. How to enter in Bus-Off state? A node enters in this state if any of the two error counters, Transmit Error Counter (TEC) and Receive Error Counter (REC) raises above 255. How to recovery from Bus-Off? A note is permitted to become error-active (no longer bus-off) when its error counters both set to 0 after 128 occurrences of 11 consecutive recessive bits have been monitored on the bus. The MSCAN module implements two ways to recover from the fault, the automatic and the manual. The automatic bus-off recovery method puts the node into the error-active state after monitoring 128 occurrences of 11 consecutive bits on the bus. It's important to note that the CANPHY also reports errors on the bus so, the proper error flags must be clear to assure the correct functionality of the node if CANPHY is being used. The manual bus-off recovery method (which is used in this example) puts the note into the error-active state after both independent events have become true in any order: 128 occurrences of 11 consecutive recessive bits on the CAN bus have been monitored. (Cannot be consecutive). CANMISC[BOHOLD] bit has been cleared by the user. Implementation The project contains a header file called  "common.h" which contains three defines that are used to set the CAN nodes. Just one define must be active per node. NODE0_TX and NODE1_TX are transmitting messages on the CAN bus and the NODE_RX is receiving the messages. #define NODE0_TX #define NODE1_TX #define NODE_RX‍‍‍‍‍‍ All nodes are blinking the green led indicating the communication is stable and no errors have occurred. At this point, you should generate the bus-off condition. A way to generate a bus-off condition is grounding one of the two CAN lines (CAN_High or CAN_Low) which will cause a bus-off condition to the transmitters nodes. When the node is in the bus-off state, the yellow led is toggled. At this point, you should not be any message being transmitted on the bus due to the transmitter node is in bus-off. The bus-off condition is detected by the application in the bus-off interrupt (refers Events.c file) which triggers the yellow led toggling. void CAN0_OnBusOff(void) { /* Get CAN bus status */ CAN0_GetError(&gCANErrpr); /* If bus error is set, inform to the application*/ if(gCANErrpr.errName.BusOff){ gBusOffState = PENDING; } CAN0RFLG_CSCIF = 1; // Clear flag }‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ In the main.c file when the node transmitters are selected, there is a routine asking for a push-button event. This event triggers the bus-off recovery request by setting the CANMISC[BOHOLD]. At that point, the 128 occurrences of 11 consecutive recessive bits on the CAN bus should have passed and the green led will toggle again indicating the communication is stable again and no errors have occurred. At this point, you should see the messages on the CAN bus again. /* Read button to recovery from bus off condition*/ if(PushButton3_GetVal()){ CAN0_BusOffRecoveryRequest(); // Request get out of bus off gBusOffState = NONPENDING; /* Clear bus off LED indicator */ LED_YEL_OFF; }‍‍‍‍‍‍‍‍‍‍‍‍‍‍ ‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Note: The VLG-MC9S12ZVC was used for this example and the push button that must be pressed is SW12. Best Regards, Atzel Collazo

Theory described in S12 FAMILY DEVICES COP RECOGNITION CONSIDERATIONS_v2.0.pdf