void DRV8833_InitMotorB(){
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_PWM0))
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOB))
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlDelay(3);
GPIOPinConfigure(GPIO_PB4_M0PWM2);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_4,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMClockSet(PWM0_BASE, PWM_SYSCLK_DIV_1);
PWMGenConfigure(PWM0_BASE, PWM_GEN_1,
PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
uint32_t duty = 0;
PWMOutputUpdateMode(PWM0_BASE,PWM_OUT_2_BIT|PWM_OUT_3_BIT,PWM_OUTPUT_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, freq);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT, true);
GPIOPinConfigure(GPIO_PB5_M0PWM3);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_5);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_5,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_3_BIT, true);
HWREG(GPIO_PORTB_BASE+GPIO_O_AFSEL) &= ~0x30;
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
}
void DRV8833_InitMotorA(){
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_PWM0))
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOB))
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlDelay(3);
GPIOPinConfigure(GPIO_PB6_M0PWM0);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_6,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMClockSet(PWM0_BASE, PWM_SYSCLK_DIV_1);
PWMGenConfigure(PWM0_BASE, PWM_GEN_0,
PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
uint32_t duty = 0;
PWMOutputUpdateMode(PWM0_BASE,PWM_OUT_0_BIT|PWM_OUT_1_BIT,PWM_OUTPUT_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, freq);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, true);
GPIOPinConfigure(GPIO_PB7_M0PWM1);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_7,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, true);
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
}
void PWM_Setup()
{
SysCtlPWMClockSet(PWM_SYSCLK_DIV_64);
//
// Configure the PWM generator for count down mode with immediate updates
// to the parameters.
//
PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
// Set the period. For a 50 KHz frequency, the period = 1/50,000, or 20
// microseconds. For a 20 MHz clock, this translates to 400 clock ticks.
// Use this value to set the period.
//
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, MAXPERIOD);
//
// Set the pulse width of PWM1 for a 75% duty cycle.
//
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6, 0);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, 0);
// 50MHZ is to fast
PWMClockSet(PWM1_BASE,PWM_SYSCLK_DIV_64);
//
// Start the timers in generator 3.
//
PWMGenEnable(PWM1_BASE, PWM_GEN_3);
//
// Enable the outputs.
//
PWMOutputState(PWM1_BASE, PWM_OUT_6_BIT , true);
}
/*
* ======== PWMTiva_setPrescalar ========
* Set PWM prescalar for a given peripheral.
*
* @param pwmBase PWM period in timer ticks
* @param presRegVal prescalar register value
*/
static inline void PWMTiva_setPrescalar(uint32_t pwmBase, uint32_t presRegVal)
{
/* Set PWM prescalar - device dependent */
if ((HWREG(SYSCTL_DID0) & SYSCTL_DID0_CLASS_M) ==
SYSCTL_DID0_CLASS_TM4C129) {
/* TM4C129 device */
PWMClockSet(pwmBase, presRegVal);
}
else {
/* TM4C123 device */
SysCtlPWMClockSet(presRegVal);
}
}
void bsp_pwm0_init(void)
{
/*Enable device*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
/*Set clock divider*/
PWMClockSet(PWM0_BASE,PWM_SYSCLK_DIV_64);
/*Enable PWM pin*/
GPIOPinConfigure(LCD_PWM_CHANNEL);
GPIOPinTypePWM(LCD_PWM_PORT, LCD_PWM_PIN);
/*Configure PWM generator*/
PWMGenConfigure(PWM0_BASE, PWM_GEN_0,(PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC));
/*Set PWM timer period*/
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0,gSysClock/10000);
/*Set width for PWM0*/
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, 50*PWMGenPeriodGet(PWM0_BASE,PWM_GEN_0)/100);
/*Enable output*/
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, 0);
/*Enable Generator*/
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
}
void bsp_pwm_for_sense_init(void)
{
/*Enable device*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
/*Set clock divider*/
PWMClockSet(PWM0_BASE,PWM_SYSCLK_DIV_1);
/*Enable PWM pin*/
GPIOPinConfigure(GPIO_PK5_M0PWM7);
GPIOPinTypePWM(SENSE_THRES_PORT, SENSE_THRES_PIN);
/*Configure PWM generator*/
PWMGenConfigure(PWM0_BASE, PWM_GEN_3,(PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC));
/*Set PWM timer period*/
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_3,gSysClock/1000000);
/*Set width for PWM0*/
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_7, 1*PWMGenPeriodGet(PWM0_BASE,PWM_GEN_3)/5);
/*ensable output*/
PWMOutputState(PWM0_BASE, PWM_OUT_7_BIT, 1);
/*Enable Generator*/
PWMGenEnable(PWM0_BASE, PWM_GEN_3);
}
