117 lines
3.7 KiB
C
117 lines
3.7 KiB
C
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#include "Includes.h"
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#define ENABLE_PWMS() *PWMx_EN(0)|=(0x40) //enable all select pwm
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#define DISABLE_PWMS() *PWMx_EN(0)&=(~0x40)
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void init_pwm(uint32_t ch,uint32_t ocpy,uint32_t period)
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{
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//config pwm clk
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*CPR_CTLAPBCLKEN_GRCTL=0x10001000; //enable pwm pclk
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*CPR_PWM_CLK_CTL=0x80000009; //pwm_clk=mclk_in(24M)/(2*(9+1))=1.2M
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//config regs
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/*PWMx_EN(0)
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6 pwm_en_all
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............*/
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/*PWMx_EN(ch)
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5 sleep_en
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4 sleep_incr
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3 pwm_en_sel[0：select pwm_en、1：select pwm_en_all]
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2:1 pwm_mode[0:100、1:1000、2:4000、3:occupy_ratio_config+1]
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0 pwm_en */
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*PWMx_EN(ch)&=(~0x01); //disable pwm
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#if 1
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*PWMx_P(ch)=period; //freq(HZ)=pwm_clk/((period + 1)*100))
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*PWMx_OCPY(ch)=ocpy; //set pwm ocpy
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*PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x06))|(0<<1);//bit2:1 pwm_mode[0:100、1:1000、2:4000、3:occupy_ratio_config+1]
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#else
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*PWMx_P(ch)=2; //freq(HZ)=pwm_clk/((period + 1)*100))
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*PWMx_OCPY(ch)=(199<<16)|ocpy; //set pwm ocpy
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*PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x06))|(3<<1);//bit2:1 pwm_mode[0:100、1:1000、2:4000、3:occupy_ratio_config+1]
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#endif
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*PWMx_UP(ch)=0x1; //update ocpy period
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// *PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x30))|(2<<4);
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*PWMx_EN(ch)=(*PWMx_EN(ch)&(~0x08))|(1<<3); //bit3 pwm_en_sel[0：select pwm_en、1：select pwm_en_all]
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// *PWMx_EN(ch)|=(0x1);//enable pwm(ch)
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#if 1 //enable pwm0_inv/pwm1_inv/pwm2_inv/pwm3_inv
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if(ch<4)
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{
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*PWMCOMPEN(ch)=0x01; //enable PWM 0 1 2 3 complementary signal output
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*PWMCOMPTIME(ch)=0x01; //[bit2:0]
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}
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#endif
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#if 1
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/*PWM_BREAK_CTL
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19:17 pwm_brk_enable RW 使能pwm的刹车功能， 1使能
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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
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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
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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
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8 brk_mode RW 硬件恢复模式和软件恢复模式选择：
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7 brk_dbc_en RW PWM_BRK信号的滤毛刺使能
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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
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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*/
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*PWM_BREAK_CTL=0; //clear regs
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*PWM_BREAK_CTL=(2<<1)|(1<<7)|(0<<8)|(0<<9)|(6<<12)|(7<<17);
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#endif
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}
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void test_pwm(void)
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{
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gpio_mux_ctl(0,2);//pwm2
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gpio_mux_ctl(1,2);//pwm3
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gpio_mux_ctl(2,0);gpio_fun_inter(2,0);gpio_fun_sel(2,PWM0);//pwm0
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gpio_mux_ctl(8,0);gpio_fun_inter(8,0);gpio_fun_sel(8,PWM1);//PWM1
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gpio_mux_ctl(3,0);gpio_fun_inter(3,0);gpio_fun_sel(3,PWM0_INV);//pwm0_INV
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// gpio_mux_ctl(4,0);gpio_fun_inter(4,0);gpio_fun_sel(4,PWM2_INV);//PWM2_INV gpio_mux_ctl(4,1);//
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gpio_mux_ctl(9,0);gpio_fun_inter(9,0);gpio_fun_sel(9,PWM1_INV);//PWM1_INV
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//三路刹车单独使用
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gpio_mux_ctl(4,1);//pwm_brk[0]
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// gpio_mux_ctl(5,1);//pwm_brk[1]
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// gpio_mux_ctl(6,1);//pwm_brk[2]
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init_pwm(0,22,119);//100HZ
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init_pwm(1,33,119);//100HZ
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init_pwm(2,44,119);//100HZ
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init_pwm(3,55,119);//100HZ
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ENABLE_PWMS(); //enable all select pwm
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while(1);
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{
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// ENABLE_PWMS(); //enable all select pwm
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for(int i=0;i<0xA550;i++);
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// DISABLE_PWMS();
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for(int i=0;i<0xA550;i++);
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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__WFI();
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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printf("sleep...\n");
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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}
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} |