C++ (Cpp) set_pwm_duty_percent Examples

Example #1

File: actuator_driver.c Project: NissankaW/Mariokart3

//Sets up PWM output
//use_accelerator pwm should generally not be turned on un
void act_driver_init() {

    //sets up driver pins

    if (use_normal_pwm) {
        PIO_Configure(&pwm0_pin, 1);
    } else {
        PIO_Configure(&pwm2_pin, 1);
    }
    PIO_Configure(&pwm1_pin, 1);


    // Enable PWMC peripheral clock
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PWMC; // Power up PWM Controller. 


    if (use_normal_pwm) {
        AT91C_BASE_PWMC->PWMC_DIS = AT91C_PWMC_CHID0; //disable channel 0 - ACT_DRIVER_CHANNEL_CLOCKWISE
    } else {
        AT91C_BASE_PWMC->PWMC_DIS = AT91C_PWMC_CHID2; // disable channel 2 - ACT_DRIVER_ALTERNATE_PWM
    }
    
    
    AT91C_BASE_PWMC->PWMC_DIS = AT91C_PWMC_CHID1; //disable channel 1 - ACT_DRIVER_CHANNEL_ANTICLOCKWISE


    AT91C_BASE_PWMC->PWMC_MR = 0; // Clear mode register.


    if (use_normal_pwm) {
        AT91C_BASE_PWMC->PWMC_CH[0].PWMC_CMR = 0x00 | AT91C_PWMC_CPOL; // use board frequency and polarity 0.
        AT91C_BASE_PWMC->PWMC_CH[0].PWMC_CPRDR = FULL_DUTY_PERIOD; //set the period
        set_pwm_duty_percent(/*channel*/ACT_DRIVER_CHANNEL_CLOCKWISE,0);
    } else {
        AT91C_BASE_PWMC->PWMC_CH[2].PWMC_CMR = 0x00 | AT91C_PWMC_CPOL; // MCK and polarity 0.
        AT91C_BASE_PWMC->PWMC_CH[2].PWMC_CPRDR = FULL_DUTY_PERIOD; //set the period
        set_pwm_duty_percent(/*channel*/ACT_DRIVER_CHANNEL_ALTERNATE,0);
    }

    AT91C_BASE_PWMC->PWMC_CH[1].PWMC_CMR = 0x00 | AT91C_PWMC_CPOL; // MCK and polarity 0.
    AT91C_BASE_PWMC->PWMC_CH[1].PWMC_CPRDR = FULL_DUTY_PERIOD; //set the period
    set_pwm_duty_percent(/*channel*/ACT_DRIVER_CHANNEL_ANTICLOCKWISE,0);


    if (use_normal_pwm) {
        AT91C_BASE_PWMC->PWMC_ENA = AT91C_PWMC_CHID0; // Enable channel 0.
    } else {
        AT91C_BASE_PWMC->PWMC_ENA = AT91C_PWMC_CHID2; // Enable channel 2
    }

    AT91C_BASE_PWMC->PWMC_ENA = AT91C_PWMC_CHID1; // Enable channel 1
}

Example #2

File: actuator_driver.c Project: mataamad/Mariokart2

/*
drive the actuator at a percentage duty cycle; use negative numbers for reverse direction
The steering actuator overcurrents power supplies at 50% duty cycle, and the brake actuator
claimed that it should not be driven over 25% duty cycle in its spec sheet
*/
void act_driver_drive(int percent) {
    if (percent > MAX_DUTY_PERCENT) {
        percent = MAX_DUTY_PERCENT;
    }
    if (percent < -MAX_DUTY_PERCENT) {
        percent = -MAX_DUTY_PERCENT;
    }

    if (percent > 0) {

        if (use_normal_pwm) {
            set_pwm_duty_percent(ACT_DRIVER_CHANNEL_CLOCKWISE,percent);
        } else {
            set_pwm_duty_percent(ACT_DRIVER_CHANNEL_ALTERNATE,percent);
        }

        set_pwm_duty_percent(ACT_DRIVER_CHANNEL_ANTICLOCKWISE,0);
    } else {
        if (use_normal_pwm) {
            set_pwm_duty_percent(ACT_DRIVER_CHANNEL_CLOCKWISE,0);
        } else {
            set_pwm_duty_percent(ACT_DRIVER_CHANNEL_ALTERNATE,0);
        }

        set_pwm_duty_percent(ACT_DRIVER_CHANNEL_ANTICLOCKWISE,-percent);

    }
    /*
    Mat 21/07/2012 - need to somehow make pwm a hard 0 when percent is set to 0.
    might be best to disable, and renable once it's non-zero
    or could alternately try pulling both channels high instead of pulling them both low
    */
}