//----------------------------------------------------------------------------------------------------
void PWM_Init(void)
{
//电机
ftm_init_struct0.FTM_Ftmx = FTM0; //使能FTM0通道
ftm_init_struct0.FTM_Mode = FTM_MODE_PWM; //输出PWM模式
ftm_init_struct0.FTM_PwmFreq = 20000; //PWM频率18000Hz
ftm_init_struct0.FTM_PwmDeadtimeCfg=DEADTIME_CH45|DEADTIME_CH67;
//编码器 FTM1:A12 A13
ftm_init_struct1.FTM_Ftmx = FTM1; //只有FTM1和FTM2有正交解码功能
ftm_init_struct1.FTM_Mode = FTM_MODE_QD; //正交解码功能
ftm_init_struct1.FTM_QdMode = QD_MODE_PHAB; //AB相输入模式
//编码器 FTM2:A10 A11
ftm_init_struct2.FTM_Ftmx = FTM2; //只有FTM1和FTM2有正交解码功能
ftm_init_struct2.FTM_Mode = FTM_MODE_QD; //正交解码功能
ftm_init_struct2.FTM_QdMode = QD_MODE_PHAB; //AB相输入模式
LPLD_FTM_Init(ftm_init_struct0);
LPLD_FTM_Init(ftm_init_struct1);
LPLD_FTM_Init(ftm_init_struct2);
LPLD_FTM_PWM_Enable(FTM0, FTM_Ch4, 0, PTD4, ALIGN_LEFT);
LPLD_FTM_PWM_Enable(FTM0, FTM_Ch5, 0, PTD5, ALIGN_LEFT);
LPLD_FTM_PWM_Enable(FTM0, FTM_Ch6, 0, PTD6, ALIGN_LEFT);
LPLD_FTM_PWM_Enable(FTM0, FTM_Ch7, 0, PTD7, ALIGN_LEFT);
LPLD_FTM_QD_Enable(FTM1, PTA12, PTA13);//右电机
LPLD_FTM_QD_Enable(FTM2, PTA10, PTA11);//左电机
}
void Motor_Init(void)
{
ftm_init_struct.FTM_Ftmx = FTM0;
ftm_init_struct.FTM_Mode = FTM_MODE_PWM;
ftm_init_struct.FTM_PwmFreq = 7500 ;
LPLD_FTM_Init(ftm_init_struct);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch0,
0,
PTC1,
ALIGN_LEFT
);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch1,
0,
PTC2,
ALIGN_LEFT
);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch2,
0,
PTC3,
ALIGN_LEFT
);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch3,
0,
PTC4,
ALIGN_LEFT
);
}
/*
* 初始化FTM的PWM输出功能
*
*/
void pwm_init(void)
{
#if defined(CPU_MK60DZ10) || defined(CPU_MK60D10)
ftm_init_struct.FTM_Ftmx = FTM0; //使能FTM0通道
ftm_init_struct.FTM_Mode = FTM_MODE_PWM; //使能PWM模式
ftm_init_struct.FTM_PwmFreq = 50; //PWM频率50Hz
LPLD_FTM_Init(ftm_init_struct);
LPLD_FTM_PWM_Enable(FTM0, //使用FTM0
FTM_Ch0, //使能Ch0通道
angle_to_period(0), //初始化角度0度
PTC1, //使用Ch0通道的PTC1引脚
ALIGN_LEFT //脉宽左对齐
);
#elif defined(CPU_MK60F12) || defined(CPU_MK60F15)
ftm_init_struct.FTM_Ftmx = FTM2; //使能FTM0通道
ftm_init_struct.FTM_Mode = FTM_MODE_PWM; //使能PWM模式
ftm_init_struct.FTM_PwmFreq = 50; //PWM频率50Hz
LPLD_FTM_Init(ftm_init_struct);
LPLD_FTM_PWM_Enable(FTM2, //使用FTM0
FTM_Ch0, //使能Ch0通道
angle_to_period(0), //初始化角度0度
PTD0, //使用Ch0通道的PTD0引脚
ALIGN_LEFT //脉宽左对齐
);
#endif
}
void pwm_init()
{
FTM_InitTypeDef ftm_init_struct={0};
ftm_init_struct.FTM_Ftmx = FTM0; //使能FTM0通道
ftm_init_struct.FTM_Mode = FTM_MODE_PWM; //使能PWM模式
ftm_init_struct.FTM_PwmFreq = 15000;
LPLD_FTM_Init(ftm_init_struct);
//FTM0 ch4右前 ch5右后 ch6左后 ch7左前
LPLD_FTM_PWM_Enable(FTM0,FTM_Ch4,0, PTD4,ALIGN_LEFT);
LPLD_FTM_PWM_Enable(FTM0,FTM_Ch5,0, PTD5,ALIGN_LEFT);
LPLD_FTM_PWM_Enable(FTM0,FTM_Ch6,0, PTD6,ALIGN_LEFT);
LPLD_FTM_PWM_Enable(FTM0,FTM_Ch7,0, PTD7,ALIGN_LEFT);
}
void Motor_Init(void)
{
/* Initial motor pwm */
FTM_InitTypeDef motorInitStruct;
motorInitStruct.FTM_Ftmx = FTM0;
motorInitStruct.FTM_Mode = FTM_MODE_PWM;
motorInitStruct.FTM_PwmFreq = MOTOR_FRE;
motorInitStruct.FTM_PwmDeadtimeCfg = DEADTIME_CH01;
motorInitStruct.FTM_PwmDeadtimeDiv = DEADTIME_DIV1;
motorInitStruct.FTM_PwmDeadtimeVal = 0;
LPLD_FTM_Init(motorInitStruct);
/*----------left motor backward initial--------*/
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch1,
0,
MOTOR_LEFT_BACKWARD, //PTA4
ALIGN_LEFT
);
/*----------left motor forward initial--------*/
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch2,
PWM_Expect,
MOTOR_LEFT_FORWARD, //PTA5
ALIGN_LEFT
);
/*----------right motor backward initial--------*/
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch3,
0,
MOTOR_RIGHT_BACKWARD, //PTA6
ALIGN_LEFT
);
/*----------righ motor forward initial--------*/
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch4,
PWM_Expect,
MOTOR_RIGHT_FORWARD, //PTA7
ALIGN_LEFT
);
}
status ftm_pwm_init(mypwm *pwm, uint32 FTM_PwmFreq, uint32 duty)
{
pwm_init_struct.FTM_Ftmx = pwm->FTM_Ftmx; //使能FTM1通道
pwm_init_struct.FTM_Mode = FTM_MODE_PWM; //使能PWM模式
pwm_init_struct.FTM_PwmFreq = FTM_PwmFreq; //PWM频率100Hz
pwm_init_struct.FTM_PwmDeadtimeCfg = DEADTIME_CH01;
pwm_init_struct.FTM_PwmDeadtimeDiv = DEADTIME_DIV16;
pwm_init_struct.FTM_PwmDeadtimeVal = 63;
if( LPLD_FTM_Init(pwm_init_struct) && \
LPLD_FTM_PWM_Enable(pwm->FTM_Ftmx, //使用FTM1
pwm->chn, //使能Ch1通道
duty, //初始化角度30度
pwm->pin, //使用Ch1通道的PTD1引脚
ALIGN_LEFT //脉宽左对齐
) )
{
return SUCCESS;
}
else
{
return ERROR;
}
}
/*
* === FUNCTION ======================================================================
* Name: Motor_Set
* Description: Set PWM to Motor
* =====================================================================================
*/
void Motor_Set(INT32S pwm,INT8U dir)// Called by Strategy Controller . Called Routine.
{
//Dead Area fixed
if(pwm > 0 && dir == MOTOR_LEFT ) pwm +=900;
if(pwm < 0 && dir == MOTOR_LEFT ) pwm -=850;
if(pwm > 0 && dir == MOTOR_RIGHT) pwm +=750;
if(pwm < 0 && dir == MOTOR_RIGHT) pwm -=700;
if(pwm >=10000) pwm = 10000;
if(pwm <= -10000) pwm = -10000;
if(MOTOR_LEFT == dir)
{
if(pwm>0)
{
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch0,
pwm,
PTC1,
ALIGN_LEFT
);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch1,
0,
PTC2,
ALIGN_LEFT
);
}
else
{
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch0,
0,
PTC1,
ALIGN_LEFT
);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch1,
-pwm,
PTC2,
ALIGN_LEFT
);
}
}
else
{
if(pwm>0)
{
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch2,
0,
PTC3,
ALIGN_LEFT
);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch3,
pwm,
PTC4,
ALIGN_LEFT
);
}
else
{
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch2,
-pwm,
PTC3,
ALIGN_LEFT
);
LPLD_FTM_PWM_Enable(FTM0,
FTM_Ch3,
0,
PTC4,
ALIGN_LEFT
);
}
}
}
