int main(void)
{
uint32_t LPTM_Value = 0;
LPTM_InitTypeDef LPTM_InitStruct1;
FTM_InitTypeDef FTM_InitStruct1;
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
DelayInit();
LED_Init(LED_PinLookup_CHK60EVB, kNumOfLED);
UART_DebugPortInit(UART4_RX_C14_TX_C15, 115200);
DisplayCPUInfo();
//在PC3上产生 1KHz 占空比50%的 方波
FTM_InitStruct1.Frequency = 1000;
FTM_InitStruct1.FTMxMAP = FTM0_CH3_PC4;
FTM_InitStruct1.FTM_Mode = FTM_Mode_EdgeAligned;
FTM_InitStruct1.InitalDuty = 5000;
FTM_Init(&FTM_InitStruct1);
//开启PTC5上的脉冲计数引脚
LPTM_InitStruct1.LPTMxMap = LPTM_CH2_PC5;
LPTM_InitStruct1.LPTM_InitCompareValue = 200; //在脉冲计数模式下无意义
LPTM_InitStruct1.LPTM_Mode = LPTM_Mode_PC_FALLING; //下降沿触发计数
LPTM_Init(&LPTM_InitStruct1);
while(1)
{
//读取脉冲技术值
LPTM_Value = LPTM_GetTimerCounterValue(LPTMR0);
//清空技术值
LPTM_ResetTimeCounter(LPTMR0);
UART_printf("LPTMR:%dHz\r\n", LPTM_Value);
DelayMs(1000);
}
}
/*!
* @brief Main function
*/
void test_audio(void) {
if(!yesno("Audio?")) return;
const gpio_pin_config_t OUTFALSE = {kGPIO_DigitalOutput, 0};
CLOCK_EnableClock(kCLOCK_PortC);
PORT_SetPinMux(PORTC, 12U, kPORT_MuxAsGpio);
PORT_SetPinMux(PORTC, 13U, kPORT_MuxAsGpio);
GPIO_PinInit(GPIOC, 12U, &OUTFALSE);
GPIO_PinInit(GPIOC, 13U, &OUTFALSE);
GPIO_WritePinOutput(GPIOC, 12, true);
GPIO_WritePinOutput(GPIOC, 13, true);
i2c_init(&i2c_config_default);
uint8_t cmd[1] = {0b00001111};
send_cmd(cmd, sizeof(cmd));
GPIO_WritePinOutput(GPIOC, 12, false);
PORT_SetPinMux(PORTC, 9U, kPORT_MuxAlt3);
ftm_config_t ftmInfo;
uint8_t updatedDutycycle = 100U;
ftm_chnl_pwm_signal_param_t ftmParam[2];
/* Configure ftm params with frequency 24kHZ */
ftmParam[0].chnlNumber = (ftm_chnl_t) BOARD_SECOND_FTM_CHANNEL;
ftmParam[0].level = kFTM_LowTrue;
ftmParam[0].dutyCyclePercent = 0U;
ftmParam[0].firstEdgeDelayPercent = 0U;
FTM_GetDefaultConfig(&ftmInfo);
FTM_Init(BOARD_FTM_BASEADDR, &ftmInfo);
FTM_SetupPwm(BOARD_FTM_BASEADDR, ftmParam, 1U, kFTM_EdgeAlignedPwm, 1000000, FTM_SOURCE_CLOCK);
FTM_StartTimer(BOARD_FTM_BASEADDR, kFTM_SystemClock);
FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t) BOARD_SECOND_FTM_CHANNEL, kFTM_EdgeAlignedPwm,
updatedDutycycle);
int idx = 0;
int cnt = 0;
while (1) {
if(cnt++ % 100 == 0) {
uint8_t duty_cycle = (uint8_t) abs((sin(idx++ * 3.14159265358979f / 180) * 100.0));
if (idx > 360) idx = 0;
FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t) BOARD_SECOND_FTM_CHANNEL, kFTM_EdgeAlignedPwm,
(uint8_t) (duty_cycle++ % 100));
/* Software trigger to update registers */
FTM_SetSoftwareTrigger(BOARD_FTM_BASEADDR, true);
}
}
}
void FTM_Configuration (void)
{
FTM_InitTypeDef FTM_InitStruct;
FTM_PWM_MapTypeDef* pFTM_Map = (FTM_PWM_MapTypeDef*) FTM1;
FTM_InitStruct.Frequency = (uint32_t)(4096*5); //
FTM_InitStruct.FTMxMAP = FTM1_CH1_PB1; //
FTM_InitStruct.FTM_Mode = FTM_Mode_EdgeAligned; //
FTM_InitStruct.InitalDuty = FTM_DUTY; //0~10000
FTM_Init(&FTM_InitStruct);
AD7687_CNV_PORT->PCR[AD7687_CNV_Pin]|= PORT_PCR_ODE_MASK;
FTM_PWM_ChangeDuty(FTM1_CH1_PB1,0);
}
void PWM_Init(uint8_t instance)
{
#if FSL_FEATURE_SOC_FTM_COUNT
ftm_config_t config;
FTM_GetDefaultConfig(&config);
FTM_Init(mFtmBase[instance], &config);
/* Enable TPM compatibility. Free running counter and synchronization compatible with TPM */
mFtmBase[instance]->MODE &= ~(FTM_MODE_FTMEN_MASK);
FTM_StartTimer(mFtmBase[instance], kFTM_SystemClock);
#else
tpm_config_t config;
TPM_GetDefaultConfig(&config);
TPM_Init(mTpmBase[instance], &config);
TPM_StartTimer(mTpmBase[instance], kTPM_SystemClock);
#endif
}
/************************************************************************************
*************************************************************************************
* Public functions
*************************************************************************************
************************************************************************************/
void StackTimer_Init(void (*cb)(void))
{
IRQn_Type irqId;
#if FSL_FEATURE_SOC_FTM_COUNT
FTM_Type *ftmBaseAddr = (FTM_Type*)mFtmBase[gStackTimerInstance_c];
FTM_Init(ftmBaseAddr, &mFtmConfig);
FTM_StopTimer(ftmBaseAddr);
ftmBaseAddr->MOD = 0xFFFF;
/* Configure channel to Software compare; output pin not used */
FTM_SetupOutputCompare(ftmBaseAddr, (ftm_chnl_t)gStackTimerChannel_c, kFTM_NoOutputSignal, 0x01);
/* Install ISR */
irqId = mFtmIrqId[gStackTimerInstance_c];
FTM_EnableInterrupts(ftmBaseAddr, kFTM_TimeOverflowInterruptEnable | (1 << gStackTimerChannel_c));
#else
TPM_Type *tpmBaseAddr = (TPM_Type*)mTpmBase[gStackTimerInstance_c];
TPM_Init(tpmBaseAddr, &mTpmConfig);
TPM_StopTimer(tpmBaseAddr);
/* Set the timer to be in free-running mode */
tpmBaseAddr->MOD = 0xFFFF;
/* Configure channel to Software compare; output pin not used */
TPM_SetupOutputCompare(tpmBaseAddr, (tpm_chnl_t)gStackTimerChannel_c, kTPM_NoOutputSignal, 0x01);
/* Install ISR */
irqId = mTpmIrqId[gStackTimerInstance_c];
TPM_EnableInterrupts(tpmBaseAddr, kTPM_TimeOverflowInterruptEnable | (1 << gStackTimerChannel_c));
#endif
/* Overwrite old ISR */
OSA_InstallIntHandler(irqId, cb);
/* set interrupt priority */
NVIC_SetPriority(irqId, gStackTimer_IsrPrio_c >> (8 - __NVIC_PRIO_BITS));
NVIC_ClearPendingIRQ(irqId);
NVIC_EnableIRQ(irqId);
}
int main(void)
{
unsigned char i;
unsigned char Send_Count;
uint32_t DMA_Value0 = 0;
uint32_t DMA_Value1 = 0;
PIT_InitTypeDef PIT_InitStruct1;
GPIO_InitTypeDef GPIO_InitStruct1;
FTM_InitTypeDef FTM_InitStruct1;
DMACNT_InitTypeDef DMACNT_InitStruct1;
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
UART_DebugPortInit(UART0_RX_PA14_TX_PA15,115200);
DisplayCPUInfo();
DelayInit();
OLED_Init();
DMACNT_InitStruct1.DMACNT_Mode = DMACNT_MODE_FALLING; //ÉÏÉýÑؼÆÊý
DMACNT_InitStruct1.DMA_Chl = DMA_CH0; //ʹÓÃͨµÀ 0
DMACNT_InitStruct1.GPIOx = PTC; //PTC5
DMACNT_InitStruct1.GPIO_Pin = GPIO_Pin_5;
DMACNT_Init(&DMACNT_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStruct1.GPIO_InitState = Bit_RESET;
GPIO_InitStruct1.GPIO_IRQMode = GPIO_IT_DISABLE;
GPIO_InitStruct1.GPIO_Mode = GPIO_Mode_OPP;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStruct1.GPIO_InitState = Bit_SET;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
PIT_InitStruct1.PITx=PIT2;
PIT_InitStruct1.PIT_Interval=100;
PIT_Init(&PIT_InitStruct1);
NVIC_EnableIRQ(PIT2_IRQn);
PIT_ITConfig(PIT2,PIT_IT_TIF,ENABLE);
PIT_InitStruct1.PITx=PIT0;
PIT_InitStruct1.PIT_Interval=20000;
PIT_Init(&PIT_InitStruct1);
PIT_ITConfig(PIT0,PIT_IT_TIF,ENABLE);
NVIC_EnableIRQ(PIT0_IRQn);
FTM_InitStruct1.Frequency = 800;
FTM_InitStruct1.FTM_Mode = FTM_Mode_EdgeAligned;
// FTM_InitStruct1.InitalDuty = 10000;
FTM_InitStruct1.FTMxMAP = FTM0_CH0_PC1;
FTM_Init(&FTM_InitStruct1);
UART_printf("DMACNT_CH0_Value:%d \n",*Pid_Out);
while(1)
{
// if(key_detect1()){
// Pid_Set += 500;
// }
// if(key_detect3()){
// Pid_Set -= 500;
// }
GPIO_ResetBits(PTB,GPIO_Pin_0);
PidError[2] = Pid_Set - *Pid_Out;
PidOut = Kp * (PidError[2] - PidError[1]);
PidOut += Ki * PidError[2] * Td;
PidOut += Kd * (PidError[2] - 2 * PidError[1] + PidError[0]) / Td;
PidError[0] = PidError[1];
PidError[1] = PidError[2];
PID_FinalOut =PidOut*2;
//
// if(key_detect5()){
// Kd+=0.2;OLED_Clear();
// }
// else if(key_detect6()){
// Kd-=0.2;OLED_Clear();
// }
//
// OLED_Write_String(2,0,"Kp");
// OLED_Write_String(2,2,"Ki");
// OLED_Write_String(2,4,"Kd");
// OLED_Write_Num3(6,0,Kp*10);
// OLED_Write_Num3(6,2,Ki*10);
// OLED_Write_Num3(6,4,Kd*10);
// OLED_Write_Num4(9,6,*Pid_Out-1000);
//
if(PID_FinalOut>10000) PID_FinalOut=10000;
else if(PID_FinalOut<0) PID_FinalOut=0;
FTM_PWM_ChangeDuty(FTM0_CH0_PC1,PID_FinalOut);
}
}
