void MOTOR_Init(uint32_t motor) {
if(motor == MOTOR_RIGHT) {
PWM_Init(PWM1, 20);
LPC_PINCON->PINSEL4 &= 0xFFFC0FFF; // P2.6/7/8 are configured as GPIO.
LPC_GPIO2->FIODIR0 |= (1<<6) | (1<<7) ; // P2.6/7 are configured as output.
LPC_GPIO2->FIODIR1 |= (1<<0); // P2.8 is configured as output.
LPC_GPIO2->FIOSET0 &= (0<<6) ; // P2.6 is set to 1. InA
LPC_GPIO2->FIOSET0 |= (1<<7 ); //P2.7 is set to 0. InB
LPC_GPIO2->FIOSET1 |= (1<< 0); //P2.8 is set to 1. Diag
} else if(motor == MOTOR_LEFT) {
PWM_Init(PWM2, 20);
LPC_PINCON->PINSEL4 &= 0xFC0FFFFF;
LPC_GPIO2->FIODIR1 |= (1<<2) | (1<<3) | (1<<4); // P2.10/11/12 are configured as output.
LPC_GPIO2->FIOSET1 |= (1<<2); // P2.10 is set to 1.
LPC_GPIO2->FIOSET1 |= (1<<3 ); //P2.11 is set to 0. DIAG
LPC_GPIO2->FIOSET1 |= (1<< 4); //P2.12 is set to 1.INb
int i=0;
for ( i = 0 ;i==10000;i++)
{asm("nop");}
//LPC_GPIO2->FIOSET1 &= (0<<2); // P2.10 is set to 1.
LPC_GPIO2->FIOCLR1 |= (1<<3 ); //P2.11 is set to 0.DIAG
//LPC_GPIO2->FIOSET1 &= (0<< 4); //P2.12 is set to 1. INb
}
}
void MOTOR_Init(Motor motor) {
if(motor == RIGHT_MOTOR) {
PWM_Init(PWM1, 20);
LPC_PINCON->PINSEL4 &= 0xFFFC0FFF; // P2.6/7/8 are configured as GPIO.
LPC_GPIO2->FIODIR0 |= (1<<6) | (1<<7) ; // P2.6/7 are configured as output.
LPC_GPIO2->FIODIR1 |= (1<<0); // P2.8 is configured as output.
LPC_GPIO2->FIOCLR0 |= (1<<6) ; // P2.6 is set to 0. InA
LPC_GPIO2->FIOSET0 |= (1<<7 ); //P2.7 is set to 1. InB
LPC_GPIO2->FIOSET1 |= (1<< 0); //P2.8 is set to 1. Diag
} else if(motor == LEFT_MOTOR) {
PWM_Init(PWM2, 20);
LPC_PINCON->PINSEL4 &= 0xFC0FFFFF;
LPC_GPIO2->FIODIR1 |= (1<<2) | (1<<3) | (1<<4); // P2.10/11/12 are configured as output.
LPC_GPIO2->FIOSET1 |= (1<<2); // P2.10 is set to 1.INa
LPC_GPIO2->FIOCLR1 |= (1 << 3 ); //P2.11 is set to 0. INb
LPC_GPIO2->FIOSET1 |= (1<< 4); //P2.12 is set to 1.DIAG
}
}
void PWM_Set(int moto1, int moto2, int moto3, int moto4)
{
PWM_Init(GPIO_Pin_3);
/*output*/
TIM_SetCompare2(TIM8,moto1);
PWM_Init(GPIO_Pin_4);
TIM_SetCompare2(TIM8,moto2);
PWM_Init(GPIO_Pin_5);
TIM_SetCompare2(TIM8,moto3);
PWM_Init(GPIO_Pin_6);
TIM_SetCompare2(TIM8,moto4);
}
/*************************************************************
//! 函数名：void main (void)
//! 函数说明：主程序
*************************************************************/
void main (void)
{
unsigned char i,max_data_chn;
struct movement_info *car_cmd;
PCA0MD &= ~0x40; //关闭看门狗
Oscillator_Init(); //时钟晶振初始化
// ADC_PortInit();
Timer1_Init(); //定时器1初始化
//Timer3_Init ();
SMBus_Init (); //SMBus初始化（IIC控制器）
PWM_Init(); //PWM初始化
servo_init(); //舵机控制初始化
//Watchdog_Init();
EA = 1; // 开中断
do
{
Flag = 0;
while (!rec_flag) ; //检测接收控制数据的标志
rec_flag = 0;
car_cmd = (struct movement_info *)Data; //若接收到数据，则从全局区取出
car_movement_control(car_cmd); //根据控制信息执行车体控制代码
}while(1);
}
void BSP_InitIO (void)
{
#ifdef _TARGET_440H
BSP_IO_Init();
LCD_Init();
Tmr_Init();
LED_Init(); /* Initialize LEDs */
LS2_UART_Init();
#else
SYSTEMConfig(BSP_CLK_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
BSP_IO_Init();
#ifndef AX12_REG_PROGRAMMING // Initialize the board's I/Os
Tmr_Init(); // Initialize the timers
BSP_InitIntCtrl(); // Initialize the interrupt controller
#endif
LED_Init(); // Initialize LEDs
//PB_Init(); // Initialize the push buttons
ADC_Init();
PMP_Init();
LS2_UART_Init();
PWM_Init();
#endif
}
/****************************************************************************
Function
Roach_Init
Parameters
None.
Returns
SUCCESS if operation successful
ERROR otherwise
Description
Performs all the initialization necessary for the roach.
this includes initializing the PWM module, the A/D converter, the
data directions on some pins, and setting the initial motor directions.
Notes
None.
Author
Max Dunne, 2012.01.06
****************************************************************************/
char Roach_Init(void) {
//Initialize the serial port
SERIAL_Init();
TIMERS_Init();
//set the control pins for the motors
PWM_Init(LEFT_PWM | RIGHT_PWM, 200);
LEFT_DIR_TRIS = 0;
LEFT_DIR_INV_TRIS = 0;
RIGHT_DIR_TRIS = 0;
RIGHT_DIR_INV_TRIS = 0;
LEFT_DIR = 0;
LEFT_DIR_INV = ~LEFT_DIR;
RIGHT_DIR = 0;
RIGHT_DIR_INV = ~RIGHT_DIR;
//set up the hall effect and divorce all the A/D pins
AD1PCFG = 0xFF;
HALL_FRONT_LEFT_TRIS = 1;
HALL_FRONT_RIGHT_TRIS = 1;
HALL_REAR_RIGHT_TRIS = 1;
HALL_REAR_LEFT_TRIS = 1;
//Initialize the light sensor
AD_Init(LIGHT_SENSOR);
//enable interrupts
INTEnableSystemMultiVectoredInt();
}
void main(void)
{
// int temp_laserStatus; //定义一个数组用来接受 上下舵机值
DisableInterrupts;
SetBusCLK_40M(); // 设置时钟初始化。40MHz.
PITInit(); //PIT初始
PWM_Init();
LIGHT_Init();
SCI_Init();
Tect_Speed_Init(); //ECT 捕捉初始
// AD_Init();
delayms(3200);
Laser_num();
EnableInterrupts;
for(;;)
{
TestSMinfo(test_info_send);
}
// _FEED_COP(); /*看门狗，防死循环用的 */
/* loop forever */
/* please make sure that you never leave main */
}
void init_MDB(void){
PWM_Init();
PWM_AddPins(PWM_PORTY04);// this is J5-03 on the uno or RD3 (this is the same one we use for slave select in SPI mode)
PWM_SetFrequency(PWM_500HZ);
TRISDbits.TRISD10 = 0; // this is the one that we'll use for direction
DIRECTION = FORWARD;
}
void Init_Dev(void)
{
setbusclock();
Port_Init();
SCI_Init();
PWM_Init();
}
char Bot_Init(void)
{
// Initialize modules
AD_Init();
PWM_Init();
// Configure digital pins
IO_PortsSetPortOutputs(MUX_PINS_PORT, MUX_PINS_OR);
IO_PortsSetPortOutputs(MOTOR_PINS_PORT, MOTOR_PINS_LEFT_DIR |
MOTOR_PINS_RIGHT_DIR | MOTOR_PINS_LIFT_DIR | MOTOR_PINS_LIFT_EN);
IO_PortsSetPortOutputs(SENSOR_PINS_PORT, SENSOR_PINS_LEDS);
IO_PortsSetPortInputs(SENSOR_PINS_PORT, SENSOR_PINS_BUMP | SENSOR_PINS_TRACK);
// Init lift motor to off
IO_PortsClearPortBits(MOTOR_PINS_PORT, MOTOR_PINS_LIFT_EN);
// Configure PWM pins
// PWM_SetFrequency(PWM_BOT_FREQUENCY);
// PWM_AddPins(MOTOR_PINS_LEFT_EN | MOTOR_PINS_RIGHT_EN);
// Configure AD pins
AD_AddPins(SENSOR_PINS_BEACON | SENSOR_PINS_TAPE);
return SUCCESS;
}
int main(void) {
//preparing the chip & board
SystemCoreClockUpdate();
Board_Init();
PWM_Init();
PWM_SetCycle(400,1000);
//the actual code
Chip_ADC_Init(_LPC_ADC_ID, &ADCSetup);
Chip_ADC_EnableChannel(_LPC_ADC_ID, _ADC_CHANNLE, ENABLE);
Chip_ADC_SetBurstCmd(_LPC_ADC_ID, ENABLE);
//int i;
SysTick_Config(SystemCoreClock / TICKRATE_HZ1);
while(1) {
__WFI();
/*
if(rotation_counter==MEMORY_CAPACITY){ //not rotation_cycle?
for(i=0;i<MEMORY_CAPACITY;i++){
DEBUGOUT("%d \n",rotation_debug_holder[i]);//,rotation_debug_holder2[i]);
}
rotation_counter++;
}
*/
}
return 0 ;
}
static void DoSleep (void) {
while (PWM_Busy()); // wait for PWM to complete
PWM_Set(0, 0, 0, 0);
__delay_ms(50);
TRISBbits.TRISB4 = 1; // change SDA to input temporarily
TRISBbits.TRISB6 = 1; // change SCL to input temporarily
TRISAbits.TRISA0 = 1; // temporarily make JTAG pins inputs
TRISAbits.TRISA1 = 1;
WPUAbits.WPUA0 = 1; // enable pull-ups
WPUAbits.WPUA1 = 1;
IOCANbits.IOCAN0 = 1; // enable interrupt on negative edge on pin A0
TRISBbits.TRISB5 = 1; // Set as pulled up digital inputs
WPUBbits.WPUB5 = 1;
TMR4IE = 0; // Disable Timer4 interrupts
TMR6IE = 0; // Disable Timer6 interrupts
FVRCON = 0; // Disable voltage reference
IOCIE = 1; // Enable I/O interrupts
//*************************************************************************************
SLEEP(); // processor goes into sleep mode and clears watchdog
//*************************************************************************************
NOP();
IOCIE = 0;
SBUS_Init();
PWM_Init();
PushButtons_Init();
NightSense_Init();
ConfirmCommand();
}
// --------------------------------------------------
// Initialization of the backlight LCD. Using PWM.
void Init_LCD_BackLight(void)
{
uint32_t pclk;
PWM_TIMERCFG_Type PWMCfgDat;
PWM_MATCHCFG_Type PWMMatchCfgDat;
pclk = CLKPWR_GetCLK(CLKPWR_CLKTYPE_PER);
PWMCfgDat.PrescaleOption = PWM_TIMER_PRESCALE_TICKVAL;
PWMCfgDat.PrescaleValue = 1;
PWM_Init(LCD_BL_PWM_PERI_ID, PWM_MODE_TIMER, (void *) &PWMCfgDat);
PINSEL_ConfigPin(LCD_BL_PWM_PORT, LCD_BL_PWM_PIN, 1); // funct.no.1 - PWM1[2] — Pulse Width Modulator 1, channel 2 output.
PWM_MatchUpdate(LCD_BL_PWM_PERI_ID, LCD_BL_PWM_PERI_CHA, pclk / LCD_BL_PWM_BASE, PWM_MATCH_UPDATE_NOW);
// UPDATE VALUE OF THE PWM DUTY CYCLE
PWM_MatchUpdate(LCD_BL_PWM_PERI_ID, LCD_BL_PWM_PERI_CHB , 0 *(( pclk / LCD_BL_PWM_BASE) / 100), PWM_MATCH_UPDATE_NOW); // switch off backlight
PWMMatchCfgDat.IntOnMatch = DISABLE; // without interrupt
PWMMatchCfgDat.MatchChannel = LCD_BL_PWM_PERI_CHB; // Match channel register - duty cycle - xx %
PWMMatchCfgDat.ResetOnMatch = DISABLE; //
PWMMatchCfgDat.StopOnMatch = DISABLE;
PWM_ConfigMatch(LCD_BL_PWM_PERI_ID, &PWMMatchCfgDat); // store it
PWM_ChannelCmd(LCD_BL_PWM_PERI_ID, LCD_BL_PWM_PERI_CHB, ENABLE); // Enable PWM Channel Output
PWM_ResetCounter(LCD_BL_PWM_PERI_ID); // reset and start counter
PWM_CounterCmd(LCD_BL_PWM_PERI_ID, ENABLE); // start PWM Counter
PWM_Cmd(LCD_BL_PWM_PERI_ID, ENABLE); // start PWM
}
//=======================================================================================
int main(void)
{
Puissance=0;
UpDown=0;
PWM_Init(4, 4, 20.0, 8000.0 );
Port_IO_Init('B', 9, 'o', 2);
Port_IO_Init('B', 8, 'o', 0);
Port_IO_Init('B', 10, 'i', 2);
Port_IO_Init('B', 11, 'i', 2);
Port_IO_Init('B', 12, 'i', 2);
Port_IO_Init('B', 13, 'i', 2);
Port_IO_Init('B', 14, 'i', 2);
Port_IO_Init('B', 15, 'i', 2);
// Gestion du Systick
Systick_Prio_IT(2);
Systick_Period(8.0,20000.0); // 20ms seconde
SysTick_CkSource_ProcessorClk;
SysTick_Enable_IT;
SysTick_On;
while(1)
{
}
}
int main(void)
{
stdout = &mystdout;
general_init();
UART_INIT();
PWM_Init();
ADC_Init();
_delay_ms(250);
Interrupt_Init();
//beep();
printf("Initialization Complete\n");
for(;;){
if(Serial_Finish){
serialDecodify();
actuateMotors();
//sonarRead();
//if( (sonarReading0 < 1000) | (sonarReading1 < 1000) | (sonarReading2 < 1000)) sonarReading0 = sonarReading1 = sonarReading2 = 1000;
//printf("%u%u%u", sonarReading0, sonarReading1, sonarReading2); //might get an error here because needs interrupts to send data through UART
ledCounter--;
if(!ledCounter){
toggle_leds();
ledCounter = 5;
}
}
}
}
void main(void)
{
//initialize portc
PORTC = 0x00;
TRISC = 0x00;
//initialize pwm
PWM_Init(5000); //initialize pwm at 5khz
PWM1_Duty(0); //set initial duty cycle at 0 on pin RC2
PWM2_Duty(0);
//start pwm
PWM1_Start();
PWM2_Start();
while (1)
{
for (int i=0; i<1023; i+=4)
{
PWM1_duty();
PWM2_Duty(1023-i);
__delay_ms(2);
}
}
}
// Helper function: set timer clock
u32 platform_pwm_set_clock( unsigned id, u32 clock )
{
PWM_TIMERCFG_Type PWMCfgDat;
PWMCfgDat.PrescaleOption = PWM_TIMER_PRESCALE_USVAL;
PWMCfgDat.PrescaleValue = 1000000ULL / clock;
PWM_Init( LPC_PWM1, PWM_MODE_TIMER, &PWMCfgDat );
return clock;
}
void main(void)
{
EnableInterrupts;
setbusclock();
SCI_Init();
PWM_Init();
DDRB=0xff;
for(;;) {
}
}
uint8_t initMotors() {
PWM_Init();
PWM_SetFrequency(PWM_FREQ);
//set I/O direction for h-bridge directions pins
RIGHT_MOTOR_PIN_DIR = OUTPUT;
LEFT_MOTOR_PIN_DIR = OUTPUT;
return (PWM_AddPins(LEFT_MOTOR_ENABLE | RIGHT_MOTOR_ENABLE));
}
void pwm_init(void)
{
PWM_TIMERCFG_Type PWMCfgDat;
PWM_MATCHCFG_Type PWMMatchCfgDat;
PINSEL_CFG_Type PinCfg;
/* Initialize PWM peripheral, timer mode
* PWM prescale value = 1 (absolute value - tick value) */
PWMCfgDat.PrescaleOption = PWM_TIMER_PRESCALE_TICKVAL;
PWMCfgDat.PrescaleValue = 500;
PWM_Init(LPC_PWM1, PWM_MODE_TIMER, (void *) &PWMCfgDat);
/* Initialize PWM pin connect for PWM1[4] on P2[3] */
PinCfg.Funcnum = 1;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 2;
PinCfg.Pinnum = (EN_PWM_CHN - 1); // hack
PINSEL_ConfigPin(&PinCfg);
/* Set match value for PWM match channel 0 = 256, update immediately */
PWM_MatchUpdate(LPC_PWM1, 0, 256, PWM_MATCH_UPDATE_NOW);
/* PWM Timer/Counter will be reset when channel 0 matching
* no interrupt when match
* no stop when match */
PWMMatchCfgDat.IntOnMatch = DISABLE;
PWMMatchCfgDat.MatchChannel = 0;
PWMMatchCfgDat.ResetOnMatch = ENABLE;
PWMMatchCfgDat.StopOnMatch = DISABLE;
PWM_ConfigMatch(LPC_PWM1, &PWMMatchCfgDat);
/* Configure PWM channel edge option for EN_PWM_CHN */
PWM_ChannelConfig(LPC_PWM1, EN_PWM_CHN, PWM_CHANNEL_SINGLE_EDGE);
/* Set initial match value for EN_PWM_CHN to disable output change */
PWM_MatchUpdate(LPC_PWM1, EN_PWM_CHN, 0, PWM_MATCH_UPDATE_NOW);
/* Configure match option for EN_PWM_CHN*/
PWMMatchCfgDat.IntOnMatch = DISABLE;
PWMMatchCfgDat.MatchChannel = EN_PWM_CHN;
PWMMatchCfgDat.ResetOnMatch = DISABLE;
PWMMatchCfgDat.StopOnMatch = DISABLE;
PWM_ConfigMatch(LPC_PWM1, &PWMMatchCfgDat);
/* Enable PWM Channel Output for EN_PWM_CHN */
PWM_ChannelCmd(LPC_PWM1, EN_PWM_CHN, ENABLE);
/* Reset and Start counter */
PWM_ResetCounter(LPC_PWM1);
PWM_CounterCmd(LPC_PWM1, ENABLE);
/* Start PWM now */
PWM_Cmd(LPC_PWM1, ENABLE);
}
/*******************************************************************************
* Function Name: PWM_Start
********************************************************************************
*
* Summary:
* The start function initializes the pwm with the default values, the
* enables the counter to begin counting. It does not enable interrupts,
* the EnableInt command should be called if interrupt generation is required.
*
* Parameters:
* None
*
* Return:
* None
*
* Global variables:
* PWM_initVar: Is modified when this function is called for the
* first time. Is used to ensure that initialization happens only once.
*
*******************************************************************************/
void PWM_Start(void)
{
/* If not Initialized then initialize all required hardware and software */
if(PWM_initVar == 0u)
{
PWM_Init();
PWM_initVar = 1u;
}
PWM_Enable();
}
void initMoteur()
{
//Init GPIO
Port_IO_Init_Output(GPIOA, 2); // PA2 (sens)
Port_IO_Init_Alternate_Output(GPIOA, 1); // PA1 [PWM] (puissance)
//Configure TIMER
PWM_Init(TIM2, 2, 10);
commandeMoteur(0);
}
void configure_motor(GPIO_TypeDef* Port, u8 Pin, TIM_TypeDef * Timer, u8 Channel){
//init clocks
Port_IO_Init_Clock (Port);
Timer_Init_Clock (Timer);
//setting output pin as alternate function push pull
Port_IO_Init_Output (Port, Pin, AF_PUSHPULL, OUT_10MHZ);
//start pwm on the defined channel
PWM_Init (Timer, Channel, MOTOR_PWM_FREQ);
}
static void periphInit()
{
USART_Config(BT_USART, BT_BaudRate);
FileManager_Init();
PWM_Init(HEATER_PWM_FREQ);
Move_Init();
Extruder_Init();
HeatBed_Init();
USBDevice_Config();
Command_Init();
HostCtrl_Init();
}
int main(void)
{
SystemInit();
PWM_Init();//инициализация шим
IR_Control_Init();//инициализация ик управления
Vibration_Init();//инициализация вибродатчика
Effects_Init();//инициализация световых эффектов
vTaskStartScheduler();
while(1);
}
void Drive_Init(void)
{
// Configure PWM components
PWM_Init();
PWM_SetFrequency(PWM_BOT_FREQUENCY);
// Add motor pins
PWM_AddPins(MOTOR_PINS_LEFT_EN | MOTOR_PINS_RIGHT_EN | MOTOR_PINS_LIFT_EN);
// Configure direction pins
IO_PortsSetPortOutputs(MOTOR_PINS_PORT, MOTOR_PINS_RIGHT_DIR | MOTOR_PINS_LEFT_DIR |
MOTOR_PINS_LIFT_DIR);
}
static void buzzer_pwm_set_frequency (uint16_t frequency)
{
uint32_t match_value = (((float) 1/frequency)) * 1000000;
PWM_TIMERCFG_Type PWMCfgDat;
PWM_MATCHCFG_Type PWMMatchCfgDat;
/* PWM block section -------------------------------------------- */
/* Initialize PWM peripheral, timer mode
* PWM prescale value = 1 (absolute value - tick value) */
PWMCfgDat.PrescaleOption = PWM_TIMER_PRESCALE_USVAL;
PWMCfgDat.PrescaleValue = 1;
PWM_Init(LPC_PWM1, PWM_MODE_TIMER, (void *) &PWMCfgDat);
/* Set match value for PWM match channel 0 = match_value, update immediately */
PWM_MatchUpdate(LPC_PWM1, 0, match_value, PWM_MATCH_UPDATE_NOW);
/* PWM Timer/Counter will be reset when channel 0 matching
* no interrupt when match
* no stop when match */
PWMMatchCfgDat.IntOnMatch = DISABLE;
PWMMatchCfgDat.MatchChannel = 0;
PWMMatchCfgDat.ResetOnMatch = ENABLE;
PWMMatchCfgDat.StopOnMatch = DISABLE;
PWM_ConfigMatch(LPC_PWM1, &PWMMatchCfgDat);
/* Configure PWM channel: --------------------------------------------- */
/* - Single edge
* - PWM Duty on each PWM channel determined by
* the match on channel 0 to the match of that match channel.
* Example: PWM Duty on PWM channel 1 determined by
* the match on channel 0 to the match of match channel 1.
*/
/* Configure PWM channel edge option
* Note: PWM Channel 1 is in single mode as default state and
* can not be changed to double edge mode */
PWM_ChannelConfig(LPC_PWM1, 3, PWM_CHANNEL_SINGLE_EDGE);
/* Set up match value */
PWM_MatchUpdate(LPC_PWM1, 3, match_value/2, PWM_MATCH_UPDATE_NOW);
/* Configure match option */
PWMMatchCfgDat.IntOnMatch = DISABLE;
PWMMatchCfgDat.MatchChannel = 3;
PWMMatchCfgDat.ResetOnMatch = DISABLE;
PWMMatchCfgDat.StopOnMatch = DISABLE;
PWM_ConfigMatch(LPC_PWM1, &PWMMatchCfgDat);
/* Enable PWM Channel Output */
PWM_ChannelCmd(LPC_PWM1, 3, ENABLE);
}
//--------------------------------------------------------------------------------------------------------
void System_Init(void)
{
GPIO_Init();
UART_Init();
ADC_Init();
PIT_Init();
PWM_Init();
LED_Init();
InitFlashLed();
//----------进入按键调参--------
SetLED();
//---------初始化全局变量-------
CarControlStop();
g_nCarCount=0;
g_nSpeedControlCount=0;
g_nSpeedControlPeriod=0;
g_nDirectionControlCount=0;
g_nDirectionControlPeriod=0;
g_fAngleControlOut=0;
g_nLeftMotorPulse=0;
g_nRightMotorPulse=0;
g_fCarSpeed=0;
g_fSpeedControlOutNew=0;
g_fSpeedControlOutOld=0;
g_fSpeedControlIntegral=0;
g_fSpeedControlOut=0;
VOLTAGE_RIGHT=0;
VOLTAGE_LEFT=0;
DIR_LEFT_OFFSET=0;
DIR_RIGHT_OFFSET=0;
g_fDirectionControlOutP=0;
g_fDirectionControlOutD=0;
g_fDirectionControlOutOld=0;
g_fDirectionControlOutNew=0;
g_fDirection=0;
g_nDirectionGyro=0;
g_fDirectionControlOut=0;
g_fLeftMotorOut=0;
g_fRightMotorOut=0;
}
/***************************************************************************************************
void PWM_Start(uint32_t pin)
****************************************************************************************************
* I/P Arguments: none.
* Return value : none
* description :This function is used to start the pwm generation..
***************************************************************************************************/
void PWM_Start(uint32_t pin)
{
uint32_t pinSelect=0;
if(pwmInitDoneFlag_u32 == 0)
{
PWM_Init(PWM_CYCLE); // Set the PWM_CYCLE to 255 if user has not called the PWM_Init function.
pwmInitDoneFlag_u32 = 1;
}
pin = pin & PWM_CHANNEL_MASK; /* Ensure only supported channel bits are set */
while(pin)
{
pinSelect = ((~pin)+1) & pin; /* Extract the first bit from left side */
pin = pin & (~pinSelect); /* Clear the Bit after extracting, as it is being processed now*/
switch(pinSelect)
{
case PWM_1:
LPC_PWM1->PCR |= PWMENA1;
break;
case PWM_2:
LPC_PWM1->PCR |= PWMENA2;
break;
case PWM_3:
LPC_PWM1->PCR |= PWMENA3;
break;
case PWM_4:
LPC_PWM1->PCR |= PWMENA4;
break;
case PWM_5:
LPC_PWM1->PCR |= PWMENA5;
break;
case PWM_6:
LPC_PWM1->PCR |= PWMENA6;
break;
default :
break;
}
}
}
void HAL_LCD_initDisplay(void)
{
GPIO_Init();
usleep(100000);
HAL_LCD_enableDisplay();
usleep(100000);
SPI_Init();
usleep(100000);
PWM_Init();
usleep(100000);
PWM_Run();
Display_Init();
}