hpw422移植新的sdk

2026-07-03 18:08:25 +08:00
commit 945a5a5b0b
2583 changed files with 713209 additions and 0 deletions
@@ -0,0 +1,117 @@
+
+#include    "Includes.h"
+
+#define ENABLE_PWMS()     *PWMx_EN(0)|=(0x40)      //enable all select pwm  
+#define DISABLE_PWMS()   *PWMx_EN(0)&=(~0x40) 
+
+void init_pwm(uint32_t ch,uint32_t ocpy,uint32_t period)
+{
+ 
+//config pwm clk
+	*CPR_CTLAPBCLKEN_GRCTL=0x10001000; //enable pwm pclk
+	*CPR_PWM_CLK_CTL=0x80000009;       //pwm_clk=mclk_in(24M)/(2*(9+1))=1.2M
+//config regs
+/*PWMx_EN(0)
+  6 pwm_en_all        
+  ............*/	
+ /*PWMx_EN(ch)
+  5      sleep_en
+  4      sleep_incr
+  3      pwm_en_sel[0：select pwm_en、1：select pwm_en_all]
+  2:1    pwm_mode[0:100、1:1000、2:4000、3:occupy_ratio_config+1]
+  0      pwm_en */	
+    *PWMx_EN(ch)&=(~0x01);   //disable pwm	
+#if 1
+	 *PWMx_P(ch)=period;                        //freq(HZ)=pwm_clk/((period + 1)*100)) 
+	 *PWMx_OCPY(ch)=ocpy;                       //set pwm ocpy  
+     *PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x06))|(0<<1);//bit2:1 pwm_mode[0:100、1:1000、2:4000、3:occupy_ratio_config+1]
+#else	
+	
+	*PWMx_P(ch)=2;                              //freq(HZ)=pwm_clk/((period + 1)*100))
+	*PWMx_OCPY(ch)=(199<<16)|ocpy;               //set pwm ocpy  
+     *PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x06))|(3<<1);//bit2:1 pwm_mode[0:100、1:1000、2:4000、3:occupy_ratio_config+1]
+#endif	
+	*PWMx_UP(ch)=0x1;        //update ocpy period  
+
+//  *PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x30))|(2<<4);
+	*PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x08))|(1<<3); //bit3 pwm_en_sel[0：select pwm_en、1：select pwm_en_all]
+//  *PWMx_EN(ch)|=(0x1);//enable pwm(ch)  
+
+	
+#if 1   //enable pwm0_inv/pwm1_inv/pwm2_inv/pwm3_inv 
+   if(ch<4)
+   {
+	   *PWMCOMPEN(ch)=0x01;   //enable PWM 0 1 2 3 complementary signal output
+	   *PWMCOMPTIME(ch)=0x01; //[bit2:0]
+   }
+#endif
+   
+#if 1
+/*PWM_BREAK_CTL 
+  19:17  pwm_brk_enable  RW  使能pwm的刹车功能， 1使能
+  16     pwm_brk_sync    R   内部硬件刹车信号的值,用于软件判断硬件刹车状态1:硬件刹车信号有效,0:硬件刹车信号无效
+  14:12  pwm_brk_mask    RW  PWM_BRK信号屏蔽，每位分别屏蔽一路,0:不屏蔽1:屏蔽
+  11:9   pwm_brk_inv     RW  PWM_BRK信号反向，每位分别反向一路,0:不反向1:反向
+  8      brk_mode        RW  硬件恢复模式和软件恢复模式选择：
+  7      brk_dbc_en      RW  PWM_BRK信号的滤毛刺使能
+  6:1    brk_dbc_step    RW  PWM_BRK信号的滤毛刺步长。步长为1个pwm_clk时钟周期
+  0      brk_clear       RC1 软件恢复模式退出刹车模式：1：退出刹车模式 0：无效*/	
+
+    *PWM_BREAK_CTL=0; //clear regs
+    *PWM_BREAK_CTL=(2<<1)|(1<<7)|(0<<8)|(0<<9)|(6<<12)|(7<<17);
+   
+
+#endif   
+   
+}
+
+void test_pwm(void)
+{
+    gpio_mux_ctl(0,2);//pwm2
+	gpio_mux_ctl(1,2);//pwm3
+	gpio_mux_ctl(2,0);gpio_fun_inter(2,0);gpio_fun_sel(2,PWM0);//pwm0
+	gpio_mux_ctl(8,0);gpio_fun_inter(8,0);gpio_fun_sel(8,PWM1);//PWM1  
+	
+	gpio_mux_ctl(3,0);gpio_fun_inter(3,0);gpio_fun_sel(3,PWM0_INV);//pwm0_INV    
+//	gpio_mux_ctl(4,0);gpio_fun_inter(4,0);gpio_fun_sel(4,PWM2_INV);//PWM2_INV  gpio_mux_ctl(4,1);//
+	gpio_mux_ctl(9,0);gpio_fun_inter(9,0);gpio_fun_sel(9,PWM1_INV);//PWM1_INV
+
+//三路刹车单独使用	
+	gpio_mux_ctl(4,1);//pwm_brk[0] 
+//  gpio_mux_ctl(5,1);//pwm_brk[1]
+//	gpio_mux_ctl(6,1);//pwm_brk[2]
+	
+	
+	
+    init_pwm(0,22,119);//100HZ
+	init_pwm(1,33,119);//100HZ
+	init_pwm(2,44,119);//100HZ
+	init_pwm(3,55,119);//100HZ
+	ENABLE_PWMS();  //enable all select pwm  
+	
+    while(1);
+	{
+//		ENABLE_PWMS();  //enable all select pwm  
+		for(int i=0;i<0xA550;i++);
+//		DISABLE_PWMS(); 
+		for(int i=0;i<0xA550;i++);
+		 
+		__NOP();
+		__NOP();
+		__NOP();
+		__NOP();
+		__NOP();
+		__WFI();
+		__NOP();
+		__NOP();
+		__NOP();
+		__NOP();
+		__NOP();
+		printf("sleep...\n");
+		__NOP();
+		__NOP();
+		__NOP();
+		__NOP();
+		__NOP();
+	}
+}