void MotorInit(uint8_t report)
{
SystickInit(1);
// 设置PWM时钟和系统时钟一致
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
// 使能PWM外设
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
// 使能外设端口
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//设置对应管脚的PWM信号功能
GPIOPinConfigure(GPIO_PB4_M0PWM2);
GPIOPinConfigure(GPIO_PB5_M0PWM3);
GPIOPinConfigure(GPIO_PB6_M0PWM0);
GPIOPinConfigure(GPIO_PB7_M0PWM1);
//设置PWM信号端口
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
//PWM生成器配置
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//设置PWM信号周期
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, PERIOD_TIME);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, PERIOD_TIME);
//设置PWM信号占空比
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, 0);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, 0);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, 0);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3, 0);
// 使能PWM输出端口
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT|PWM_OUT_1_BIT|PWM_OUT_2_BIT|PWM_OUT_3_BIT, true);
// 使能PWM生成器
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
// 使能PWm生成器模块的及时功能.
PWMSyncTimeBase(PWM0_BASE, PWM_GEN_0);
PWMSyncTimeBase(PWM0_BASE, PWM_GEN_1);
if(report)
UARTprintf("PWM初始化完成！\r\n");
}
/***********************************************
函数名：MotorPwmFlash(short MOTO1_PWM,short MOTO2_PWM,short MOTO3_PWM,short MOTO4_PWM)
功能：更新四路PWM值
输入参数：MOTO1_PWM,MOTO2_PWM,MOTO3_PWM,MOTO4_PWM
输出:无
描述：四路PWM由定时器2输出，输入范围0-999
备注：
***********************************************/
void MotorPwmFlash(short MOTO1_PWM,short MOTO2_PWM,short MOTO3_PWM,short MOTO4_PWM)
{
// 调整占空比
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, PERIOD_TIME);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, PERIOD_TIME);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, ((float)MOTO1_PWM/1000)*PERIOD_TIME);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, ((float)MOTO2_PWM/1000)*PERIOD_TIME);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, ((float)MOTO3_PWM/1000)*PERIOD_TIME);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3, ((float)MOTO4_PWM/1000)*PERIOD_TIME);
PWMSyncTimeBase(PWM0_BASE, PWM_GEN_0_BIT|PWM_GEN_1_BIT);
;
}
void camera_init()
{
Serial_puts(UART_DEBUG_MODULE, "inside \"camera_init\"\r\n", 100);
// Calculate the PWM clock frequency
camera_PWMClockFreq = SysCtlClockGet() / CAMERA_CLOCK_DIV;
DEBUG_LINE("camera_init");
// Enable the PWM peripheral
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
// Enable the GPIO port
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// Configure PD0 as the PWM output for the drive motor
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7);
GPIOPinConfigure(GPIO_PB7_M0PWM1);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4);
GPIOPinConfigure(GPIO_PB4_M0PWM2);
// Set the camera clock pulse period
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, CAMERA_SAMPLE_PERIOD - 1);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, (CAMERA_SAMPLE_PERIOD / 2) - 1);
// Set the camera enable pulse period
PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, (CAMERA_SAMPLE_PERIOD * CAMERA_SAMPLES) - 1);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, ((CAMERA_SAMPLE_PERIOD / 2) * 2) - 1);
DEBUG_LINE("camera_init");
// Enable the PWM output
PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT | PWM_OUT_2_BIT, true);
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
PWMSyncTimeBase(PWM0_BASE, PWM_GEN_0_BIT | PWM_GEN_1_BIT);
// Enable PWM trigger on zero count on Generator 0
PWMGenIntTrigEnable(PWM0_BASE, PWM_GEN_0, PWM_TR_CNT_ZERO); // PWM_TR_CNT_ZERO/PWM_TR_CNT_LOAD
// Trigger an interrupt on GEN1 load (to setup the uDMA transfer on a consistent time boundary)
PWMGenIntTrigEnable(PWM0_BASE, PWM_GEN_1, PWM_INT_CNT_LOAD);
DEBUG_LINE("camera_init");
/********************************************
* ADC CONFIGURATION *
********************************************
*/
// Enable ADC0 module
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
DEBUG_LINE("camera_init");
ADCClockConfigSet(ADC0_BASE, ADC_CLOCK_SRC_PIOSC | ADC_CLOCK_RATE_FULL, 1);
DEBUG_LINE("camera_init");
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
// Camera Far
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_3);
// Camera Near
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_2);
DEBUG_LINE("camera_init");
// Configure and enable the ADC sequence; single sample
ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_PWM0, 0);
ADCSequenceStepConfigure(ADC0_BASE, 3, 0, ADC_CTL_CH0 | ADC_CTL_IE | ADC_CTL_END);
ADCSequenceEnable(ADC0_BASE, 3);
DEBUG_LINE("camera_init");
ADCSequenceDMAEnable(ADC0_BASE, 3);
DEBUG_LINE("camera_init");
// Start writing into the first buffer
camera_DBSelected = 0;
current_Camera = FAR;
// Expose the other buffer
camera_buffer = camera_DoubleBuffer[1];
/********************************************
* uDMA CONFIGURATION *
********************************************
*/
// Enable the uDMA for normal and sleep operation
SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UDMA);
uDMAEnable();
DEBUG_LINE("camera_init");
// Set the position of the uDMA control table
uDMAControlBaseSet(uDMAControlTable);
// Put the uDMA table entry for ADC3 into a known state
uDMAChannelAttributeDisable(UDMA_CHANNEL_ADC3,
UDMA_ATTR_USEBURST |
UDMA_ATTR_ALTSELECT |
UDMA_ATTR_HIGH_PRIORITY |
UDMA_ATTR_REQMASK);
// Configure the primary and alternate uDMA channel structures
uDMAChannelControlSet(UDMA_CHANNEL_ADC3 | UDMA_PRI_SELECT, UDMA_SIZE_16 | UDMA_SRC_INC_NONE | UDMA_DST_INC_16 | UDMA_ARB_1);
uDMAChannelControlSet(UDMA_CHANNEL_ADC3 | UDMA_ALT_SELECT, UDMA_SIZE_16 | UDMA_SRC_INC_NONE | UDMA_DST_INC_16 | UDMA_ARB_1);
// Configure the primary and alternate transfers for ping-pong operation
uDMAChannelTransferSet(UDMA_CHANNEL_ADC3 | UDMA_PRI_SELECT, UDMA_MODE_PINGPONG, (void*) (ADC0_BASE + ADC_O_SSFIFO3), camera_DoubleBuffer[0], CAMERA_SAMPLES);
uDMAChannelTransferSet(UDMA_CHANNEL_ADC3 | UDMA_ALT_SELECT, UDMA_MODE_PINGPONG, (void*) (ADC0_BASE + ADC_O_SSFIFO3), camera_DoubleBuffer[1], CAMERA_SAMPLES);
DEBUG_LINE("camera_init");
// Enable the ADC3 uDMA channel
uDMAChannelEnable(UDMA_CHANNEL_ADC3);
// Enable interrupts
// IntEnable(INT_ADC0SS3);
// ADCIntEnableEx(ADC0_BASE, ADC_INT_DMA_SS3);
IntEnable(INT_PWM0_1);
PWMIntEnable(PWM0_BASE, PWM_INT_GEN_1);
DEBUG_LINE("camera_init");
}
void pwm_init_and_run(void){
volatile uint32_t ui32PWMClock; //Частота тактового генератора ШИМ
volatile uint32_t ui32Load; //Количестов тактов тактового генератора ШИМ за период
volatile uint32_t ui32DutyCycle; //Скважность импульсов ШИМ
//Для тактирования ШИМ-генератора используется сигнал
//системного тактового генератора с коэффициентом деления 1.
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
//Тактирование периферии. Используется модуль ШИМ PWM0
//(см. документацию на контроллер). Для вывода сигнала ШИМ
//используются пины порта B.
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// На порт B (пин 6) выводится сигнал первого канала модуля PWM0
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_0);
GPIOPinConfigure(GPIO_PB6_M0PWM0);
//На порт B (пин 7) выводится сигнал третьего канала модуля PWM0
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_1);
GPIOPinConfigure(GPIO_PB7_M0PWM1);
//На порт B (пин 4) выводится сигнал четвёртого канала модуля PWM0
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOPinConfigure(GPIO_PB4_M0PWM2);
// ui32PWMClock = SysCtlClockGet();
ui32PWMClock = CPU_CLOCK;
ui32Load = ui32PWMClock / PWM_FREQUENCY;
ui32DutyCycle = ui32Load/2;
//Установка счетчиков ШИМ первого и второго генератора в режим
//убывающего счёта. Режим синхронизации - локальный, обновление
//компараторов выполняется при обнулении счетчиков.
PWMGenConfigure(PWM1_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN);
PWMGenConfigure(PWM1_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN|
PWM_GEN_MODE_GEN_SYNC_LOCAL);
//Установка периода ШИМ для первого и второго генератора
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_0, ui32Load);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_1, ui32Load);
//Установка начальной скважности ШИМ 50%
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_0, ui32DutyCycle);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_1, ui32DutyCycle);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2, ui32DutyCycle);
//Разрешение вывода сигнала с генератора на линии портов.
PWMOutputState(PWM1_BASE, PWM_OUT_0_BIT, true);
PWMOutputState(PWM1_BASE, PWM_OUT_1_BIT, true);
PWMOutputState(PWM1_BASE, PWM_OUT_2_BIT, true);
//Запуск первого и второго генератора.
PWMGenEnable(PWM1_BASE, PWM_GEN_0);
PWMGenEnable(PWM1_BASE, PWM_GEN_1);
//Синхронный сброс счётчиков.
PWMSyncTimeBase(PWM1_BASE, PWM_GEN_0_BIT|PWM_GEN_1_BIT);
}
//*****************************************************************************
//
//! Initializes the PWM control routines.
//!
//! This function initializes the PWM module and the control routines,
//! preparing them to produce PWM waveforms to drive the power module.
//!
//! \return None.
//
//*****************************************************************************
void
PWMInit(void)
{
//
// Make the PWM pins be peripheral function.
//
GPIOPinTypePWM(PIN_PHASEA_LOW_PORT,
PIN_PHASEA_LOW_PIN | PIN_PHASEA_HIGH_PIN);
GPIOPinTypePWM(PIN_PHASEB_LOW_PORT,
PIN_PHASEB_LOW_PIN | PIN_PHASEB_HIGH_PIN);
GPIOPinTypePWM(PIN_PHASEC_LOW_PORT,
PIN_PHASEC_LOW_PIN | PIN_PHASEC_HIGH_PIN);
//
// Configure the three PWM generators for up/down counting mode,
// synchronous updates, and to stop at zero on debug events.
//
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, (PWM_GEN_MODE_UP_DOWN |
PWM_GEN_MODE_SYNC |
PWM_GEN_MODE_DBG_STOP));
PWMGenConfigure(PWM0_BASE, PWM_GEN_1, (PWM_GEN_MODE_UP_DOWN |
PWM_GEN_MODE_SYNC |
PWM_GEN_MODE_DBG_STOP));
PWMGenConfigure(PWM0_BASE, PWM_GEN_2, (PWM_GEN_MODE_UP_DOWN |
PWM_GEN_MODE_SYNC |
PWM_GEN_MODE_DBG_STOP));
//
// Set the initial duty cycles to 50%.
//
g_ulPWMDutyCycleA = 32768;
g_ulPWMDutyCycleB = 32768;
g_ulPWMDutyCycleC = 32768;
//
// Configure the PWM period, duty cycle, and dead band. The initial period
// is 1 KHz (for triggering the ADC), which will be increased when the
// motor starts running.
//
PWMClearDeadBand();
PWMSetFrequency();
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, PWM_CLOCK / 1000);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, PWM_CLOCK / 1000);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_2, PWM_CLOCK / 1000);
PWMUpdateDutyCycle();
//
// Enable the PWM generators.
//
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
PWMGenEnable(PWM0_BASE, PWM_GEN_2);
//
// Synchronize the time base of the generators.
//
PWMSyncTimeBase(PWM0_BASE, PWM_GEN_0_BIT | PWM_GEN_1_BIT | PWM_GEN_2_BIT);
//
// Configure an interrupt on the zero event of the first generator, and an
// ADC trigger on the load event of the first generator.
//
PWMGenIntClear(PWM0_BASE, PWM_GEN_0, PWM_INT_CNT_ZERO);
PWMGenIntTrigEnable(PWM0_BASE, PWM_GEN_0,
PWM_INT_CNT_ZERO | PWM_TR_CNT_LOAD);
PWMGenIntTrigEnable(PWM0_BASE, PWM_GEN_1, 0);
PWMGenIntTrigEnable(PWM0_BASE, PWM_GEN_2, 0);
PWMIntEnable(PWM0_BASE, PWM_INT_GEN_0);
IntEnable(INT_PWM0_0);
IntEnable(INT_PWM0_1);
IntEnable(INT_PWM0_2);
//
// Set all six PWM outputs to go to the inactive state when a fault event
// occurs (which includes debug events).
//
PWMOutputFault(PWM0_BASE, (PWM_OUT_0_BIT | PWM_OUT_1_BIT | PWM_OUT_2_BIT |
PWM_OUT_3_BIT | PWM_OUT_4_BIT | PWM_OUT_5_BIT),
true);
//
// Disable all six PWM outputs.
//
PWMOutputState(PWM0_BASE, (PWM_OUT_0_BIT | PWM_OUT_1_BIT | PWM_OUT_2_BIT |
PWM_OUT_3_BIT | PWM_OUT_4_BIT | PWM_OUT_5_BIT),
false);
//
// Ensure that all outputs are not-inverted.
//
PWMOutputInvert(PWM0_BASE, (PWM_OUT_0_BIT | PWM_OUT_1_BIT | PWM_OUT_2_BIT |
PWM_OUT_3_BIT | PWM_OUT_4_BIT | PWM_OUT_5_BIT),
false);
}
