void motorsInit()
{
#ifdef M451
CLK_EnableModuleClock(PWM0_MODULE);
CLK_SetModuleClock(PWM0_MODULE, CLK_CLKSEL2_PWM0SEL_PCLK0, 0);
SYS->GPC_MFPL = (SYS->GPC_MFPL
& (~SYS_GPC_MFPL_PC0MFP_Msk)
& (~SYS_GPC_MFPL_PC1MFP_Msk)
& (~SYS_GPC_MFPL_PC2MFP_Msk)
& (~SYS_GPC_MFPL_PC3MFP_Msk)
#ifdef HEX6X
& (~SYS_GPC_MFPL_PC4MFP_Msk)
#endif
);
#ifdef HEX6X
SYS->GPD_MFPL = (SYS->GPD_MFPL
& (~SYS_GPD_MFPL_PD7MFP_Msk)
);
#endif
SYS->GPC_MFPL |= (SYS_GPC_MFPL_PC0MFP_PWM0_CH0|SYS_GPC_MFPL_PC1MFP_PWM0_CH1|
SYS_GPC_MFPL_PC2MFP_PWM0_CH2|SYS_GPC_MFPL_PC3MFP_PWM0_CH3
#ifdef HEX6X
|SYS_GPC_MFPL_PC4MFP_PWM0_CH4
#endif
);
#ifdef HEX6X
SYS->GPD_MFPL |= (SYS_GPD_MFPL_PD7MFP_PWM0_CH5);
#endif
PWM_ConfigOutputChannelf(PWM0, 0, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 1, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 2, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 3, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
#ifdef HEX6X
PWM_ConfigOutputChannelf(PWM0, 4, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 5, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
#endif
motorsSetRatio(MOTOR_M1, 0);
motorsSetRatio(MOTOR_M2, 0);
motorsSetRatio(MOTOR_M3, 0);
motorsSetRatio(MOTOR_M4, 0);
#ifdef HEX6X
motorsSetRatio(MOTOR_M5, 0);
motorsSetRatio(MOTOR_M6, 0);
#endif
PWM_EnableOutput(PWM0, PWM_CH_0_MASK);
PWM_EnableOutput(PWM0, PWM_CH_1_MASK);
PWM_EnableOutput(PWM0, PWM_CH_2_MASK);
PWM_EnableOutput(PWM0, PWM_CH_3_MASK);
#ifdef HEX6X
PWM_EnableOutput(PWM0, PWM_CH_4_MASK);
PWM_EnableOutput(PWM0, PWM_CH_5_MASK);
#endif
#else
uint8_t u8Timer;
DrvPWM_Open();
DrvGPIO_InitFunction(E_FUNC_PWM01);
DrvGPIO_InitFunction(E_FUNC_PWM23);
s_u32Pulse = 0;
g_u8PWMCount = 1;
g_u16Frequency = ESC_UPDATE_FREQ;
sPt.u8Mode = DRVPWM_AUTO_RELOAD_MODE;
sPt.u32Frequency = g_u16Frequency;
sPt.u8HighPulseRatio = 1;
sPt.u8HighPulseBase = 1000000/g_u16Frequency;
sPt.i32Inverter = 0;
u8Timer = DRVPWM_TIMER0;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
u8Timer = DRVPWM_TIMER1;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
u8Timer = DRVPWM_TIMER2;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
u8Timer = DRVPWM_TIMER3;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
#endif
}
char PWM_Single_out(uint32_t Frequency,uint8_t port,uint8_t period)
{
S_DRVPWM_TIME_DATA_T sPt;
uint8_t u8Timer;
if(port<1&&port>4) return 1;
if(period<1&&port>99) return 1;
DrvGPIO_InitFunction(E_FUNC_PWM0);
DrvGPIO_InitFunction(E_FUNC_PWM1);
DrvGPIO_InitFunction(E_FUNC_PWM2);
DrvGPIO_InitFunction(E_FUNC_PWM3);
DrvGPIO_InitFunction(E_FUNC_PWM4);
DrvGPIO_InitFunction(E_FUNC_PWM5);
DrvGPIO_InitFunction(E_FUNC_PWM6);
DrvGPIO_InitFunction(E_FUNC_PWM7);
sPt.u8Mode = DRVPWM_AUTO_RELOAD_MODE;
sPt.u32Frequency = Frequency;
sPt.u8HighPulseRatio = period; /* High Pulse peroid : Total Pulse peroid = 1 : 100 */
sPt.i32Inverter = 0;
if(port==1)
{
u8Timer=DRVPWM_TIMER0;
}
else if(port==2)
{
u8Timer=DRVPWM_TIMER1;
}
else if(port==3)
{
u8Timer=DRVPWM_TIMER2;
}
else if(port==4)
{
u8Timer=DRVPWM_TIMER3;
}
else if(port==5)
{
u8Timer=DRVPWM_TIMER4;
}
else if(port==6)
{
u8Timer=DRVPWM_TIMER5;
}
else if(port==7)
{
u8Timer=DRVPWM_TIMER6;
}
else if(port==8)
{
u8Timer=DRVPWM_TIMER7;
}
/* Select PWM engine clock */
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
/* Set PWM Timer0 Configuration */
DrvPWM_SetTimerClk(u8Timer, &sPt);
/* Enable Output for PWM Timer0 */
DrvPWM_SetTimerIO(u8Timer, port);
/* Enable Interrupt Sources of PWM Timer0 and install call back function */
/* Enable the PWM Timer 0 */
DrvPWM_Enable(u8Timer, port);
/*--------------------------------------------------------------------------------------*/
/* Stop PWM Timer0 (Recommended procedure method 2) */
/* Set PWM Timer counter as 0, When interrupt request happen, disable PWM Timer */
/* Set PWM Timer counter as 0 in Call back function */
/*--------------------------------------------------------------------------------------*/
/* Disable the PWM Timer 0 */
return 0;
}
