//*****************************************************************************
//
//! \brief Using PWM to Driver Motor.
//!
//! \param None
//!
//! \note None.
//!
//! \return None.
//
//*****************************************************************************
void xPWMotorControl(void)
{
xSysCtlAndPwmInit();
//
// Set invert, dead zone and mode
//
xPWMInitConfigure(xPWMB_BASE, xPWM_CHANNEL7, xPWM_TOGGLE_MODE |
xPWM_OUTPUT_INVERTER_DIS |
xPWM_DEAD_ZONE_DIS);
//
// Set CNR, Prescale and Divider
//
xPWMFrequencyConfig(xPWMB_BASE, xPWM_CHANNEL7, xPWM_FREQ_CONFIG(16,150,5000));
//
// Set CMR
//
xPWMDutySet(xPWMB_BASE, xPWM_CHANNEL7, 50);
//
// Set output enable
//
xPWMOutputEnable(xPWMB_BASE, xPWM_CHANNEL7);
//
// start PWM
//
xPWMStart(xPWMB_BASE, xPWM_CHANNEL7);
}
// init servo signal and pin
// does not check arguments, make sure to pass valide arguments
void servo_init(void)
{
xSysCtlPeripheralClockSourceSet(xSYSCTL_PWMB_MAIN, 1);
// Enable PWM peripheral
xSysCtlPeripheralEnable(SYSCTL_PERIPH_PWMB);
// Enable gpio pin peripheral
xSysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// Enable PWM and set GPIO Pin as PWM
xSPinTypePWM(TIM1CH0, PB0);
// xSPinTypePWM(TIM0CH3, PE30);
// Set invert, dead zone and mode
xPWMInitConfigure(xPWMB_BASE, xPWM_CHANNEL0, xPWM_TOGGLE_MODE);
// Set CNR, Prescale and Divider. FHz = 50Hz
xPWMFrequencySet(xPWMB_BASE, xPWM_CHANNEL0, 50);
// Set CMR, high pulse @ 1,5 ms middle position
servo_angle(0);
// Set output enable
xPWMOutputEnable(xPWMB_BASE, xPWM_CHANNEL0);
// start pwm
xPWMStart(xPWMB_BASE, xPWM_CHANNEL0);
// initialization ok
}
static void xpwm002Execute(void)
{
unsigned long ulBase;
int i, j;
for(i = 0; i < 2; i++)
{
for(j = 0; j < 4; j++)
{
ulBase = PWMBase[i];
//
// Set invert, dead zone and mode
//
xPWMInitConfigure(ulBase, PWMChannel[i], xPWM_TOGGLE_MODE |
xPWM_OUTPUT_INVERTER_DIS | xPWM_DEAD_ZONE_DIS);
// Set CNR, Prescale and Divider
xPWMFrequencyConfig(ulBase, PWMChannel[i], 0x0E100028);
//
// Set CMR
//
xPWMDutySet(ulBase, PWMChannel[i], 40);
//
// Set output enable
//
xPWMOutputEnable(ulBase, PWMChannel[i]);
//
// Set interrupt call back
//
xPWMIntCallbackInit(ulBase, user_Callback);
//
// PWM output interrupt enable
//
xPWMIntEnable(ulBase, PWMChannel[i], xPWM_INT_PWM);
//
// NVIC interrupt enable
//
xIntEnable(xINT_TIMER1);
xIntEnable(xINT_TIMER2);
xIntEnable(xINT_TIMER3);
xIntEnable(xINT_TIMER4);
//
// start pwm
//
xPWMStart(ulBase, PWMChannel[i]);
TestAssertQBreak("a", " pwm intterupt test error!", 0xffffffff);
}
}
}
void pwmInit(){
xSysCtlPeripheralClockSourceSet(xSYSCTL_PWMA_HCLK, 1);
xSysCtlPeripheralEnable(SYSCTL_PERIPH_PWMA);
xSysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
xSPinTypePWM(TIM0CH0, PB11);
xSPinTypePWM(TIM0CH1, PB10);
xPWMInitConfigure(xPWMA_BASE, xPWM_CHANNEL0, xPWM_TOGGLE_MODE);
xPWMInitConfigure(xPWMA_BASE, xPWM_CHANNEL1, xPWM_TOGGLE_MODE);
xPWMFrequencySet(xPWMA_BASE, xPWM_CHANNEL0, 50);
xPWMDutySetPrec(xPWMA_BASE, xPWM_CHANNEL0, 750);
xPWMOutputEnable(xPWMA_BASE, xPWM_CHANNEL0);
xPWMStart(xPWMA_BASE, xPWM_CHANNEL1);
xPWMFrequencySet(xPWMA_BASE, xPWM_CHANNEL1, 50);
xPWMDutySetPrec(xPWMA_BASE, xPWM_CHANNEL1, 750 + STEER_OFFSET);
xPWMOutputEnable(xPWMA_BASE, xPWM_CHANNEL1);
xPWMStart(xPWMA_BASE, xPWM_CHANNEL1);
}
//*****************************************************************************
//
//! \brief PWM output function example.
//!
//! \return None.
//
//*****************************************************************************
void PWM_Output()
{
//
// Initionalize system clock and I/O port.
//
IOInit();
PrintLine( "*** Cox PWM example ***" );
//
// Set GPIO Pin as PWM and enable PWM
//
xSPinTypePWM(PWM2, PA14);
xSysCtlPeripheralEnable(xSYSCTL_PERIPH_PWMA);
//
// Set invert, dead zone and mode
//
xPWMInitConfigure(xPWMA_BASE, xPWM_CHANNEL2, xPWM_TOGGLE_MODE |
xPWM_OUTPUT_INVERTER_DIS | xPWM_DEAD_ZONE_DIS );
// Set CNR, Prescale and Divider
xPWMFrequencyConfig(xPWMA_BASE, xPWM_CHANNEL2, 0x3FF1111);
//
// Set CMR
//
xPWMDutySet(xPWMA_BASE, xPWM_CHANNEL2, 40);
//
// Set output enable
//
xPWMOutputEnable(xPWMA_BASE, xPWM_CHANNEL2);
// Set interrupt call back
xPWMIntCallbackInit(xPWMA_BASE, user_Callback);
//
// PWM output interrupt enable
//
xPWMIntEnable(xPWMA_BASE, xPWM_CHANNEL2, xPWM_INT_PWM);
//
// NVIC interrupt enable
//
xIntEnable(xINT_PWMA);
//
// start pwm
//
xPWMStart(xPWMA_BASE, xPWM_CHANNEL2);
}
