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");
}
int main(void) {
// Setup
// activate grader and set system clock to 80 MHz
TExaS_Init(SW_PIN_PE210, LED_PIN_PB543210, ScopeOff);
PortsInit(); // Port B, Port F, and Port E initialization
SystickInit(); // SysTick timer initialization
this_state = GO_SOUTH; // GO_SOUTH is initial state
EnableInterrupts(); // enable interrupts for grader
// Loop
while (1) {
// make outputs
GPIO_PORTB_DATA_R = FSM[this_state].port_b_out; // to cars (port B)
GPIO_PORTF_DATA_R = FSM[this_state].port_f_out; // to pedestrians (port F)
SystickWait1mss(FSM[this_state].wait);
// get inputs
// if no switch is pressed
if (GPIO_PORTE_DATA_R == 0x00) {
switch_input = 0; // then it is case 0 of the next[] array...
} // ... all LEDs stay the way they are since the last pressing
// if south switch is pressed
else if (GPIO_PORTE_DATA_R == 0x02) {
switch_input = 1; // then it is case 1 of the next[] array...
} // ... all LEDs correspond to Go South mode
// if west switch is pressed
else if (GPIO_PORTE_DATA_R == 0x01) {
switch_input = 2; // then it is case 2 of the next[] array...
} // ... all LEDs correspond to Go West mode
// if pedestrian switch is pressed
else if (GPIO_PORTE_DATA_R == 0x04) {
switch_input = 3; // then it is case 3 of the next[] array...
} // ... all LEDs correspond to Go Pedestrian mode
// if all switches are pressed
else if (GPIO_PORTE_DATA_R == 0x07) {
switch_input = 4; // then it is case 4 of the next[] array...
} // ... all LEDs correspond periodically: South, West, Pedestrian
// change state based on input and current state
this_state = FSM[this_state].next[switch_input];
}
}
void InitializeSystem() {
#ifdef BOARD_UBW32
// Disable ADC port (allows PORTB to be used for digital I/O)
AD1PCFG = 0xFFFF;
TRISE = 0x0000;
TRISB = 0x0000;
TRISC = 0x0000;
TRISD = 0x0000;
LATE = 0x0000;
LATB = 0x0000;
LATC = 0x0000;
LATD = 0x0000;
#endif
#ifdef BOARD_HEXLIGHT
ANSELA = 0x0000;
ANSELB = 0x0000;
#endif
LATA = 0x0000;
LATB = 0x0000;
// Ensure LED drivers are driven low as soon as possible
// _TRIS(PIO_OC1) = 0;
// _TRIS(PIO_OC2) = 0;
// _TRIS(PIO_OC3) = 0;
// _TRIS(PIO_OC4) = 0;
// _LAT(PIO_OC1) = OUTPUT;
// _LAT(PIO_OC2) = OUTPUT;
// _LAT(PIO_OC3) = OUTPUT;
// _LAT(PIO_OC4) = OUTPUT;
// Force disconnect of USB bootloader
U1CON = 0x00000000;
U1PWRC = 0x00000000;
// LEDs
// _TRIS(PIO_LED1) = OUTPUT;
// _TRIS(PIO_LED2) = OUTPUT;
#ifdef BOARD_UBW32
_TRIS(PIO_LED3) = OUTPUT;
_TRIS(PIO_LED_USB) = OUTPUT;
_TRIS(PIO_BTN_PGM) = 1;
_TRIS(PIO_BTN_USR) = 1;
#elif BOARD_HEXLIGHT
_TRIS(PIO_BTN1) = INPUT;
_TRIS(PIO_BTN2) = INPUT;
#endif
// _TRIS(PIO_USBP) = INPUT;
// _TRIS(PIO_USBN) = INPUT;
// _LAT(PIO_LED1) = LOW;
// _LAT(PIO_LED2) = LOW;
#ifdef BOARD_UBW32
_LAT(PIO_LED3) = HIGH;
_LAT(PIO_LED_USB) = LOW;
#endif
mJTAGPortEnable(0);
// Initializethe PIC32 core
//OSCConfig(OSC_POSC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_2, OSC_FRC_POST_2);
sys_clock = F_SYSCLK;
mOSCSetPBDIV(OSC_PB_DIV_1);
pb_clock = SYSTEMConfig(sys_clock, SYS_CFG_ALL);
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableInterrupts();
// Initialize core time base
SystickInit();
}
