void purpinsMotors::configurePWM(){
//Configure PWM Clock
MAP_SysCtlPWMClockSet(SYSCTL_PWMDIV_2);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
pwmPeriod = MAP_SysCtlClockGet() / 2 / PWM_FREQUENCY; //PWM frequency
MAP_GPIOPinConfigure(GPIO_PF1_M1PWM5);
MAP_GPIOPinConfigure(GPIO_PF2_M1PWM6);
MAP_GPIOPinConfigure(GPIO_PF3_M1PWM7);
MAP_GPIOPinConfigure(GPIO_PC4_M0PWM6);
MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
MAP_GPIOPinTypePWM(GPIO_PORTC_BASE, GPIO_PIN_4);
//gen 3 for m0pwm6
MAP_PWMGenConfigure(PWM0_BASE, PWM_GEN_3, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//gen 3 for m1pwm6 and m1pwm7
MAP_PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//gen 2 for m1pwm5
MAP_PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//Set the Period (expressed in clock ticks)
MAP_PWMGenPeriodSet(PWM0_BASE, PWM_GEN_3, pwmPeriod);
MAP_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, pwmPeriod);
MAP_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, pwmPeriod);
//Set PWM duty-0%
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7 , 0);
MAP_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_6 , 0);
// Enable the PWM generators
MAP_PWMGenEnable(PWM1_BASE, PWM_GEN_2);
MAP_PWMGenEnable(PWM1_BASE, PWM_GEN_3);
MAP_PWMGenEnable(PWM0_BASE, PWM_GEN_3);
// Turn on the Output pins
MAP_PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT, true);
MAP_PWMOutputState(PWM1_BASE, PWM_OUT_6_BIT, true);
MAP_PWMOutputState(PWM1_BASE, PWM_OUT_7_BIT, true);
MAP_PWMOutputState(PWM0_BASE, PWM_OUT_6_BIT, true);
}
void rgb_init(void)
{
/* Set PWM clock to system clock */
MAP_SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
/* Make sure thet all required peripherals are enabled */
if (!MAP_SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOF))
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
if (!MAP_SysCtlPeripheralReady(SYSCTL_PERIPH_PWM1))
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
/* Configure pins to PWM output function */
MAP_GPIOPinConfigure(GPIO_PF1_M1PWM5);
MAP_GPIOPinConfigure(GPIO_PF2_M1PWM6);
MAP_GPIOPinConfigure(GPIO_PF3_M1PWM7);
MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1);
MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_2);
MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_3);
/* Configure PWM module */
MAP_PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_DOWN |
PWM_GEN_MODE_GEN_SYNC_LOCAL);
MAP_PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_DOWN |
PWM_GEN_MODE_GEN_SYNC_LOCAL);
MAP_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, RGB_PWM_PERIOD);
MAP_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, RGB_PWM_PERIOD);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6, 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7, 0);
//PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT|PWM_OUT_6_BIT|PWM_OUT_7_BIT, true);
MAP_PWMGenEnable(PWM1_BASE, PWM_GEN_2);
MAP_PWMGenEnable(PWM1_BASE, PWM_GEN_3);
MAP_PWMSyncTimeBase(PWM1_BASE, PWM_GEN_2_BIT|PWM_GEN_3_BIT);
g_rgb_data.c = 0;
g_rgb_data.i = 0;
}
//PWM = PF1/M1PWM5 & PC4/M0PWM6
void configurePWM(void)
{
//Configure PWM Clock to match system
MAP_SysCtlPWMClockSet(SYSCTL_PWMDIV_2);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
//PD6 & PD7 for direction
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE,GPIO_INT_PIN_6 |GPIO_INT_PIN_7);
MAP_GPIOPinWrite(GPIO_PORTD_BASE,GPIO_INT_PIN_6 |GPIO_INT_PIN_7,0);
ulPeriod = MAP_SysCtlClockGet() / 2 / PWM_FREQUENCY; //PWM frequency
MAP_GPIOPinConfigure(GPIO_PF1_M1PWM5);
MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1);
MAP_PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//Set the Period (expressed in clock ticks)
MAP_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, ulPeriod);
//Set PWM duty-0%
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5 , 0);
// Enable the PWM generator
MAP_PWMGenEnable(PWM1_BASE, PWM_GEN_2);
// Turn on the Output pins
MAP_PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT, true);
}
int main (int argc, char **argv)
{
GPIO_InitTypeDef GPIO_InitStruct;
board_init(); // Turn off WDT, init MCU clocks, ...
board_systick_timer_config(); // configure 1 ms timer
LED1_INIT(); // Setup LED1 for output
// LED2_INIT(); // Setup LED2 for output not on STM32
#if (UART_CHECKOUT)
while (uart_test1) // TEMP DEBUG of Baud Rate
CONSOLE_WRITE ("\n\rInitialization complete. Type in a config parm:\n\r");
while ( ! CONSOLE_CHECK_FOR_INPUT() )
; // loop till get some data
CONSOLE_READ_STRING ((char*) uart_cmd_buf, 12);
CONSOLE_WRITE ("Type in a single char: ");
ret_code = 0;
while (ret_code == 0) // wait till we get a char in
ret_code = CONSOLE_GET_CHAR();
CONSOLE_WRITE_CHAR (ret_code); // echo it
#endif
//-------------------------------------------------------------
// Setup GPIOs to operate in Timer/PWM mode
//
// Start with PA8 (Arduino D7) = TIM1_CH1
//-------------------------------------------------------------
/* TIM1 module - Channel 1 output */
GPIO_InitStruct.Pin = GPIO_PIN_8; // PA8 = Arduino D7
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; // Alt Func = Timer/PWM
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init (GPIOA, &GPIO_InitStruct);
/* TIM1 module - Channel 1 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_13; // PB13 - not on Arduino - Morpho CN10 - 30
HAL_GPIO_Init (GPIOB, &GPIO_InitStruct);
//------------------------------------
// Configure PWM module to be used
//------------------------------------
// SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
uwPeriod = (SystemCoreClock / 20000 ) - 1; // set period = 20 K Hz
ret_code = board_pwm_init_module (PWM_MODULE_1, PWM_COUNT_DOWN,
uwPeriod, 0);
//------------------------------------
// Configure PWM channel(s) to be used
//------------------------------------
ret_code = board_pwm_config_channel (PWM_MODULE_1, PWM_CHANNEL_1,
(uwPeriod/4), 0); // 25 % duty cycle
//---------------------------------------------------
// Enable the PWM module and its associated channels
//---------------------------------------------------
ret_code = board_pwm_enable (PWM_MODULE_1, 0);
while (1)
{
// initial checkout - see if PWM is working
LED1_TOGGLE(); // show activity
board_delay_ms (1000);
}
// ----- INITIAL CHECKOUT -----
#if (LATER)
//-------------------------------------------------------------
// Ensure DRV8848 is OFF during config.
// setup nSLEEP PB_2 pin (J2-2) to LOW to turn off the DRV8848
//-------------------------------------------------------------
pin_Config (Pin19, GPIO_OUTPUT);
pin_Low (Pin19);
//-----------------------------------------------------------------
// Setup PWMs to drive the DRV8711 Stepper
//-----------------------------------------------------------------
// first, get the period for a 20 K Hz PWM frequency
pwm_period = board_frequency_to_period_ticks (PWM_20K_FREQUENCY);
// then initialize the needed PWMs, passing in startup period
//-------------------------------------------------------------
// do basic setup for PWM and Interval Timer (turn on clocks)
// Skipping the /32 gives better accuracy (20.004 KHz vs 20.81 K Hz using /32)
//-------------------------------------------------------------
// MAP_SysCtlPWMClockSet (SYSCTL_PWMDIV_32); // do not do / 32 of Master clock and see results
MAP_SysCtlPWMClockSet (SYSCTL_PWMDIV_1); // Setup Master PWM I/O clock
MAP_SysCtlPeripheralEnable (SYSCTL_PERIPH_PWM1); // turn on PWM module 1 clock
// mg_PWMclock = MAP_SysCtlClockGet() / 32; // save Max PWM Clock value
mg_PWMclock = MAP_SysCtlClockGet(); // save Max PWM Clock value
mg_Sysclock = MAP_SysCtlClockGet(); // This says 80 MHz
nmap_SysClkTicks = MAP_SysCtlClockGet(); // This says 80 MHz after switching over to MAP_ version.
// Before that, non MAP_ version was saying 66 MHz, which is whacked out
//------------------------------------------------------------------------------
// Setup PWM pins that are used by DRV8848
//
// PWM A / AIN1 = PA_4 TA1.2 J2-8 PWM B / BIN1 = PA_6 TA1.1 J1-9
// DIR A / AIN2 = PA_3 TA1CCR2 J2-9 DIR B / BIN2 = PA_7 TA1CCR1 J1-10
// nSLEEP = PB_2 J2-2 nFAULT = PE_0 J2-3
// VREF = PE_4 Adc9 J1-5
//------------------------------------------------------------------------------
// setup DRV8701 STEP_AIN1 PA_6 pin (J1-9) for PWM mode
// setup DRV8848 BIN1 PA_6 pin (J1-9) for PWM mode
MAP_GPIOPinTypePWM (GPIO_PORTA_BASE, GPIO_PIN_6); // setup BIN1 PWM (J1-9)
MAP_GPIOPinConfigure (GPIO_PA6_M1PWM2);
//------------------------------------------------
// Setup PWM and associated Count mode.
// Tiva only supports DOWN counts, not UP counts
//------------------------------------------------
MAP_PWMGenConfigure (PWM1_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN);
// setup default PWM Period and duty cycle
mg_PWMperiod = (mg_PWMclock / PWM_20K_FREQUENCY) - 1; // default period /32 = 124 (125 - 1)
// default period /1 = 3999 (4000 - 1)
MAP_PWMGenPeriodSet (PWM1_BASE, PWM_GEN_1, mg_PWMperiod);
MAP_PWMPulseWidthSet (PWM1_BASE, PWM_OUT_2, mg_PWMperiod / 4); // duty of 25 %
pwm_duty_value = mg_PWMperiod / 4; // save it for ADC checks
//-----------------------
// Start up the PWM
//-----------------------
MAP_PWMGenEnable (PWM1_BASE, PWM_GEN_1); // start up the PWM ??? need ???
MAP_PWMOutputState (PWM1_BASE, PWM_OUT_2_BIT, true); // Enable PWM pin output
//-----------------------------------------
// setup DIR BIN2 PA_7 pin (J1-10) to LOW
//-----------------------------------------
pin_Config (Pin10, GPIO_OUTPUT); // setup BIN2 DIR (J1-10)
pin_Low (Pin10);
//-----------------------------------------
// Turn off AIN1 PWM and AIN2 DIR pins PA_4 / PA_3 pins (J2-8/J2-9) to LOW
//-----------------------------------------
pin_Config (Pin13, GPIO_OUTPUT); // setup AIN1 PWM (J2-8)
pin_Low (Pin13);
pin_Config (Pin12, GPIO_OUTPUT); // setup AIN2 DIR (J2-9)
pin_Low (Pin12);
//-------------------------------------------------------------
// set nSLEEP PB_2 pin (J2-2) to HIGH to turn on the DRV8848
//-------------------------------------------------------------
pin_High (Pin19);
while (1)
{
// LED1_TOGGLE(); // Setup LED1 for output
if (adc_Check_All_Complete())
{ // we have a completed ADC reading. Pull in the latest reading
adc_Read (&adc_value);
if ( (adc_value > (adc_cur_value +10)) || (adc_value < (adc_cur_value - 1)) )
{ // we have a major change in valu. Update the PWM
adc_cur_value = adc_value;
// scale the PWM Duty_Cycle (o - 4000) value to match the ADC value (0-4096)
if (adc_cur_value > 3999)
pwm_duty_value = 3999;
else pwm_duty_value = adc_value;
// set the new PWM duty ccyle
MAP_PWMPulseWidthSet (PWM1_BASE, PWM_OUT_2, pwm_duty_value);
// start a new ADC sampling cycle
adc_Trigger_Start();
}
}
board_delay_ms (250); // wait 250 ms (1/4 sec) between samples
}
#endif
}
//*****************************************************************************
//
// This example demonstrates how to send a string of data to the UART.
//
//*****************************************************************************
int
main(void)
{
uint32_t ui32_Period, ui32_PWM=0, ui32_PWM_step = 40, ui32_PWM_min=2000, ui32_PWM_max=4000;
uint32_t ui32_sw1;
uint32_t ui32_sw2;
//
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers, but at the expense of
// extra stack usage.
//
//MAP_FPUEnable();
//MAP_FPULazyStackingEnable();
//
// Set the clocking to run directly from the crystal.
//
MAP_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable the GPIO port that is used for the on-board LED.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable the GPIO pins for the LED (PF2).
//
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
// Configure UART
InitConsole();
// -----------------------------------------------------------------
// Configure PWM for servo control
// -----------------------------------------------------------------
// follow page 1240 of the datasheet:
ui32_Period = (MAP_SysCtlClockGet()/8) / 50; //PWM frequency 50HZ, T=20ms
// GOTO middle of servo in the beginning
ui32_PWM = ui32_PWM_min + (ui32_PWM_max - ui32_PWM_min) / 2;
ui32_PWM_max = ui32_Period*.1;
ui32_PWM_min = ui32_Period*.05;
//Configure PWM Clock to match system
MAP_SysCtlPWMClockSet(SYSCTL_PWMDIV_8);
// Enable system clock for PWM0 module
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
// Enable the GPIO port that is used for the PWM outputs
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//Configure PB5,PB5 Pins as PWM
MAP_GPIOPinConfigure(GPIO_PB4_M0PWM2);
MAP_GPIOPinConfigure(GPIO_PB5_M0PWM3);
MAP_GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4);
MAP_GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_5);
//Configure PWM Options
MAP_PWMGenConfigure(PWM0_BASE, PWM_GEN_1 , PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//
// Set the PWM period to 50Hz. To calculate the appropriate parameter
// use the following equation: N = (1 / f) * SysClk. Where N is the
// function parameter, f is the desired frequency, and SysClk is the
// system clock frequency.
// In this case you get: (1 / 50Hz) * 16MHz/8div = 40000 cycles. Note that
// the maximum period you can set is 2^16 - 1.
// TODO: modify this calculation to use the clock frequency that you are
// using.
//
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, ui32_Period);
//Set PWM duty - 25% and 75%
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, ui32_PWM);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3, ui32_PWM);
// Enable the PWM generator
MAP_PWMGenEnable(PWM0_BASE, PWM_GEN_1);
// Turn on the Output pins
MAP_PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT | PWM_OUT_3_BIT, true);
// -----------------------------------------------------------------
// Enable PORTF and Configure SW1 and SW2 as input
// -----------------------------------------------------------------
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIO_PORTF_LOCK_R = 0x4C4F434B; // unlock GPIO Port F
GPIO_PORTF_CR_R = 0x1F; // allow changes to PF4-0
MAP_GPIOPadConfigSet(GPIO_PORTF_BASE, (GPIO_PIN_4 | GPIO_PIN_0), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
MAP_GPIODirModeSet(GPIO_PORTF_BASE, (GPIO_PIN_4 | GPIO_PIN_0), GPIO_DIR_MODE_IN);
//
// Loop forever echoing data through the UART.
//
while(1)
{
// Get buttons:
ui32_sw1 = MAP_GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_4);
ui32_sw2 = MAP_GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0);
// if pressing SW1 on LaunchPad TM4C123G
if( ui32_sw1 == 0 )
{
if(ui32_PWM >= ui32_PWM_min+ui32_PWM_step) {
ui32_PWM -= ui32_PWM_step;
}
}
if( ui32_sw2 == 0 )
{
if(ui32_PWM <= ui32_PWM_max-ui32_PWM_step) {
ui32_PWM += ui32_PWM_step;
}
}
UARTprintf("Period: %d, PWM: %d\n", ui32_Period, ui32_PWM);
MAP_SysCtlDelay(2000000);
MAP_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2 , ui32_Period - ui32_PWM);
MAP_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3 , ui32_PWM);
}
}
