void PWM_Init(void){
for(uint8_t i=0; i < NUM_OF_MOTORS; i++){
PWM_CCU4_Init(pwms[i]);
PWM_CCU4_SetFreqAndDutyCycle(pwms[i], 50, 0);
PWM_CCU4_Start(pwms[i]);
}
}
/* This function initializes the app */
PWM_CCU4_STATUS_t PWM_CCU4_Init(PWM_CCU4_t* handle_ptr)
{
PWM_CCU4_STATUS_t status;
GLOBAL_CCU4_STATUS_t status_ccu4_global;
uint32_t frequency_module;
uint32_t prescalar;
status = PWM_CCU4_STATUS_FAILURE;
status_ccu4_global = GLOBAL_CCU4_STATUS_FAILURE;
XMC_ASSERT("PWM_CCU4_Init:handle_ptr is NULL", (handle_ptr != NULL));
if (PWM_CCU4_STATE_UNINITIALIZED == handle_ptr->state)
{
/* Initialize consumed Apps */
status_ccu4_global = GLOBAL_CCU4_Init(handle_ptr->config_ptr->global_ccu4_handle);
/* Initialize CCU4x_CC4y slice */
if (GLOBAL_CCU4_STATUS_SUCCESS == status_ccu4_global)
{
XMC_DEBUG("PWM_CCU4_Init:Initilizing slice");
/* Configure CCU4x_CC4y slice as timer */
XMC_CCU4_SLICE_CompareInit(handle_ptr->ccu4_slice_ptr, handle_ptr->config_ptr->ccu4_cc4_slice_timer_ptr);
/* Set period match value of the timer */
XMC_CCU4_SLICE_SetTimerPeriodMatch(handle_ptr->ccu4_slice_ptr, handle_ptr->config_ptr->period_value);
/* Set timer compare match value for channel 1 */
XMC_CCU4_SLICE_SetTimerCompareMatch(handle_ptr->ccu4_slice_ptr, (uint16_t) handle_ptr->config_ptr->compare_value);
if (1U == handle_ptr->config_ptr->ccu4_cc4_slice_timer_ptr->mcm_enable)
{
XMC_CCU4_SetMultiChannelShadowTransferMode(handle_ptr->ccu4_module_ptr,
(uint32_t) handle_ptr->config_ptr->mcm_shadow_txfr_mode);
}
#if (UC_SERIES == XMC14) /*below feature available in XMC14xx devices */
XMC_CCU4_SLICE_SetShadowTransferMode(handle_ptr->ccu4_slice_ptr, handle_ptr->config_ptr->shadow_transfer_mode);
XMC_CCU4_SLICE_WriteImmediateAfterShadowTransfer(handle_ptr->ccu4_slice_ptr,
handle_ptr->config_ptr->immediate_write);
XMC_CCU4_SLICE_EnableAutomaticShadowTransferRequest(handle_ptr->ccu4_slice_ptr,
handle_ptr->config_ptr->automatic_shadow_transfer);
if((bool)true == handle_ptr->config_ptr->cascaded_shadow_txfr_enable)
{
XMC_CCU4_SLICE_EnableCascadedShadowTransfer(handle_ptr->ccu4_slice_ptr);
}
#endif
/* Transfer value from shadow timer registers to actual timer registers */
XMC_CCU4_EnableShadowTransfer(handle_ptr->ccu4_module_ptr, handle_ptr->shadow_txfr_msk);
XMC_CCU4_EnableShadowTransfer(handle_ptr->ccu4_module_ptr, handle_ptr->dither_shadow_txfr_msk);
/* Configure events */
PWM_CCU4_lConfigure_Events(handle_ptr);
/* Enable the interrupts */
PWM_CCU4_lInit_Interrupt(handle_ptr);
/*Initializes the GPIO*/
if ((bool) true == handle_ptr->config_ptr->gpio_ch_out_enable)
{
XMC_GPIO_Init(handle_ptr->config_ptr->gpio_ch_out_ptr, handle_ptr->config_ptr->gpio_ch_out_pin,
handle_ptr->config_ptr->gpio_ch_out_config_ptr);
}
frequency_module = handle_ptr->config_ptr->global_ccu4_handle->module_frequency;
prescalar = (uint32_t) handle_ptr->config_ptr->ccu4_cc4_slice_timer_ptr->prescaler_initval;
frequency_module = frequency_module / ((uint32_t) 1 << prescalar);
handle_ptr->frequency_tclk = frequency_module;
handle_ptr->state = PWM_CCU4_STATE_INITIALIZED;
status = PWM_CCU4_STATUS_SUCCESS;
/* Start the PWM generation if start at initialization is enabled */
if ((bool) true == handle_ptr->config_ptr->start_control)
{
status = PWM_CCU4_Start(handle_ptr);
}
}
else
{
handle_ptr->state = PWM_CCU4_STATE_UNINITIALIZED;
}
}
else
{
status = PWM_CCU4_STATUS_ALREADY_INITIALIZED;
XMC_DEBUG("PWM_CCU4_Init:PWM_CCU4_STATUS_ALREADY_INITIALIZED");
}
return (status);
} /* end of PWM_CCU4_Init() api */
