/*!
Sets the frequency of PWM waveform according to gear specified and applies the duty cycle.
\param duty: A value between 0-255
\param gear: Gear(frequency) that should be used (USE \link GEAR1 \endlink,
\link GEAR2 \endlink, \link GEAR3 \endlink, \link GEAR4 \endlink)
\note: This function does not implement any protections while applying the duty and frequency.
*/
void Motor::applyPWM(int16_t duty, uint16_t gear){
// Set the frequency of PWM according to said gear.
_gear = gear;
setPWMFrequency(pinPWM, gear);
// Free Run
if (abs(duty) > 255) {
pinMode(pinPWM, INPUT);
return;
}
// Braking
else if (abs(duty) == 0) {
pinMode(pinPWM, OUTPUT);
digitalWrite(pinIN1, HIGH);
digitalWrite(pinIN2, HIGH);
return;
}
// Run Mode
else {
pinMode(pinPWM, OUTPUT);
digitalWrite(pinIN1, (duty > 0));
digitalWrite(pinIN2, !(duty > 0));
analogWrite(pinPWM, abs(duty));
}
}
/*******************************************************************************//**
* \brief Setup the PWM peripheral frequency and default duty cycle
*
* > This function is called to initialize the PWM peripheral frequency and default
* > duty cycle. The frequency can be set between 1.22kHz and 200kHz with 10Hz resolution,
* > while the duty cycle has a 0.1% resolution
*
* > <BR>
* > **Syntax:**<BR>
* > setupPWM(module, frequency, dutycycle)
* > <BR><BR>
* > **Parameters:**<BR>
* > module - PWM module assignment, PWM0, PWM1 <BR>
* > frequency - the required PWM frequency in 10Hz resolution <BR>
* > dutycycle - the required PWM duty cycle in 0.1% resolution
* > <BR><BR>
* > **Returns:**<BR>
* > none
* > <BR><BR>
***********************************************************************************/
void setupPWM(enum PWMModules_et ePWM_Module, uint16_t ui16Frequency, uint16_t ui16DutyCycle)
{
/* Disable PWM Timer Interrupt */
hal_disablePWMTmrInt();
/* Set the PWM period */
setPWMFrequency(ui16Frequency); // Common for CCP1 and CCP2
/* Load the default PWM duty value */
setPWMDuty(ePWM_Module,ui16DutyCycle);
/* Configure Timer */
/* Select Source */
//mc_PWMClk_Source(CCP_PWM_CLOCK); // not for PIC16F877A
/* Clear TMRxIF */
hal_clrPWMTmrIntFlag() ; // not critical
/* Configure Prescaler value */
hal_initPWMTimer(ui8PreScalerVal); // Common for CCP1 and CCP2
/* Configure CCP to PWM mode */
if(PWM0 == ePWM_Module)
{
hal_configCCP1Mode(CCP_PWM_MODE);
mc_makeOutput(D2);
}
else if(PWM1 == ePWM_Module)
{
hal_configCCP2Mode(CCP_PWM_MODE);
mc_makeOutput(D1);
}
else
{
/* Invalid PWM Module */
/* Do Nothing */
}
/* Enable Timer */
hal_enablePWMTmr(); // Common for CCP1 and CCP2
}
