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motors.c
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motors.c
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/*============================================================================*
___ ___ ___ _ _ *
/ \ | _ ) | _ \ ___ | |__ ___ | |_ o O O *
| - | | _ \ | / / _ \ | '_ \ / _ \ | _| o *
|_|_| |___/ |_|_\ \___/ |_.__/ \___/ _\__| TS__[O] *
_|"""""|_|"""""|_|"""""|_|"""""|_|"""""|_|"""""|_|"""""| {======| *
"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'./o--000' *
* *
* Auto Balance Robot controller firmware for Nuvoton Cortex M4 series *
* *
* Written by T.L. Shen for Nuvoton Technology. *
* tlshen@nuvoton.com/tzulan611126@gmail.com *
* *
*============================================================================*
*/
#ifdef M451
#include "M451Series.h"
#else
#include "Driver\DrvGPIO.h"
#include "Driver\DrvPWM.h"
#endif
#include "Def.h"
#include "motors.h"
uint8_t volatile g_u8PWMCount = 1;
uint16_t g_u16Frequency;
#ifdef M451
uint32_t PWM_ConfigOutputChannelf(PWM_T *pwm, uint32_t u32ChannelNum, uint32_t u32Frequency, float u32DutyCycle)
{
uint32_t u32Src;
uint32_t u32PWMClockSrc;
uint32_t i;
uint16_t u16Prescale = 1, u16CNR = 0xFFFF;
if(pwm == PWM0)
u32Src = CLK->CLKSEL2 & CLK_CLKSEL2_PWM0SEL_Msk;
else//(pwm == PWM1)
u32Src = CLK->CLKSEL2 & CLK_CLKSEL2_PWM1SEL_Msk;
if(u32Src == 0) {
//clock source is from PLL clock
u32PWMClockSrc = CLK_GetPLLClockFreq();
}
else {
//clock source is from PCLK
SystemCoreClockUpdate();
u32PWMClockSrc = SystemCoreClock;
}
for(u16Prescale = 1; u16Prescale < 0xFFF; u16Prescale++) {
i = (u32PWMClockSrc / u32Frequency) / u16Prescale;
if(i > (0x10000))
continue;
u16CNR = i;
break;
}
i = u32PWMClockSrc / ((u16Prescale + 1) * u16CNR);
PWM_SET_PRESCALER(pwm, u32ChannelNum, --u16Prescale);
/* Set Counter to upcount */
(pwm)->CTL1 = ((pwm)->CTL1 & ~(PWM_CTL1_CNTTYPE0_Msk << (2 * u32ChannelNum))) | (0UL << (2 * u32ChannelNum));
(pwm)->CTL1 &= ~(PWM_CTL1_CNTMODE0_Msk << u32ChannelNum);
if(u32DutyCycle == 100)
{
PWM_SET_CMR(pwm, u32ChannelNum, u16CNR);
PWM_SET_CNR(pwm, u32ChannelNum, --u16CNR);
}
else
{
PWM_SET_CMR(pwm, u32ChannelNum, (uint32_t)(u32DutyCycle * (u16CNR + 1) / 100 - 1));
PWM_SET_CNR(pwm, u32ChannelNum, --u16CNR);
}
(pwm)->WGCTL0 = ((pwm)->WGCTL0 & ~(PWM_WGCTL0_ZPCTL0_Msk << (u32ChannelNum * 2 + PWM_WGCTL0_ZPCTL0_Msk)))
| (PWM_OUTPUT_HIGH << (u32ChannelNum * 2 + PWM_WGCTL0_ZPCTL0_Pos));
(pwm)->WGCTL1 = ((pwm)->WGCTL1 & ~(PWM_WGCTL1_CMPUCTL0_Msk << (u32ChannelNum * 2 + PWM_WGCTL1_CMPUCTL0_Pos)))
| (PWM_OUTPUT_LOW << (u32ChannelNum * 2 + PWM_WGCTL1_CMPUCTL0_Pos));
return(i);
}
#else
static uint32_t s_u32Pulse = 0;
static S_DRVPWM_TIME_DATA_T sPt;
/*---------------------------------------------------------------------------------------------------------*/
/* PWM Timer Callback function */
/*---------------------------------------------------------------------------------------------------------*/
void DRVPWM_PwmIRQHandler()
{
if(s_u32Pulse == 1 * g_u16Frequency /10) {
DrvPWM_SetTimerCounter(DRVPWM_TIMER0, 0);
}
if (s_u32Pulse == 1 * g_u16Frequency /10 + 1)
g_u8PWMCount = 0;
s_u32Pulse++;
}
#endif
void motorsStart()
{
#ifdef M451
PWM_Start(PWM0, PWM_CH_0_MASK);
PWM_Start(PWM0, PWM_CH_1_MASK);
PWM_Start(PWM0, PWM_CH_2_MASK);
PWM_Start(PWM0, PWM_CH_3_MASK);
#ifdef HEX6X
PWM_Start(PWM0, PWM_CH_4_MASK);
PWM_Start(PWM0, PWM_CH_5_MASK);
#endif
#else
DrvPWM_Enable(DRVPWM_TIMER0, 1);
DrvPWM_Enable(DRVPWM_TIMER1, 1);
DrvPWM_Enable(DRVPWM_TIMER2, 1);
DrvPWM_Enable(DRVPWM_TIMER3, 1);
#ifdef HEX6X
DrvPWM_Enable(DRVPWM_TIMER4, 1);
DrvPWM_Enable(DRVPWM_TIMER5, 1);
#endif
#endif
}
void motorsInit()
{
#ifdef M451
CLK_EnableModuleClock(PWM0_MODULE);
CLK_SetModuleClock(PWM0_MODULE, CLK_CLKSEL2_PWM0SEL_PCLK0, 0);
SYS->GPC_MFPL = (SYS->GPC_MFPL
& (~SYS_GPC_MFPL_PC0MFP_Msk)
& (~SYS_GPC_MFPL_PC1MFP_Msk)
& (~SYS_GPC_MFPL_PC2MFP_Msk)
& (~SYS_GPC_MFPL_PC3MFP_Msk)
#ifdef HEX6X
& (~SYS_GPC_MFPL_PC4MFP_Msk)
#endif
);
#ifdef HEX6X
SYS->GPD_MFPL = (SYS->GPD_MFPL
& (~SYS_GPD_MFPL_PD7MFP_Msk)
);
#endif
SYS->GPC_MFPL |= (SYS_GPC_MFPL_PC0MFP_PWM0_CH0|SYS_GPC_MFPL_PC1MFP_PWM0_CH1|
SYS_GPC_MFPL_PC2MFP_PWM0_CH2|SYS_GPC_MFPL_PC3MFP_PWM0_CH3
#ifdef HEX6X
|SYS_GPC_MFPL_PC4MFP_PWM0_CH4
#endif
);
#ifdef HEX6X
SYS->GPD_MFPL |= (SYS_GPD_MFPL_PD7MFP_PWM0_CH5);
#endif
PWM_ConfigOutputChannelf(PWM0, 0, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 1, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 2, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 3, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
#ifdef HEX6X
PWM_ConfigOutputChannelf(PWM0, 4, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
PWM_ConfigOutputChannelf(PWM0, 5, ESC_UPDATE_FREQ, ESC_UPDATE_FREQ/10);
#endif
motorsSetRatio(MOTOR_M1, 0);
motorsSetRatio(MOTOR_M2, 0);
motorsSetRatio(MOTOR_M3, 0);
motorsSetRatio(MOTOR_M4, 0);
#ifdef HEX6X
motorsSetRatio(MOTOR_M5, 0);
motorsSetRatio(MOTOR_M6, 0);
#endif
PWM_EnableOutput(PWM0, PWM_CH_0_MASK);
PWM_EnableOutput(PWM0, PWM_CH_1_MASK);
PWM_EnableOutput(PWM0, PWM_CH_2_MASK);
PWM_EnableOutput(PWM0, PWM_CH_3_MASK);
#ifdef HEX6X
PWM_EnableOutput(PWM0, PWM_CH_4_MASK);
PWM_EnableOutput(PWM0, PWM_CH_5_MASK);
#endif
#else
uint8_t u8Timer;
DrvPWM_Open();
DrvGPIO_InitFunction(E_FUNC_PWM01);
DrvGPIO_InitFunction(E_FUNC_PWM23);
s_u32Pulse = 0;
g_u8PWMCount = 1;
g_u16Frequency = ESC_UPDATE_FREQ;
sPt.u8Mode = DRVPWM_AUTO_RELOAD_MODE;
sPt.u32Frequency = g_u16Frequency;
sPt.u8HighPulseRatio = 1;
sPt.u8HighPulseBase = 1000000/g_u16Frequency;
sPt.i32Inverter = 0;
u8Timer = DRVPWM_TIMER0;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
u8Timer = DRVPWM_TIMER1;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
u8Timer = DRVPWM_TIMER2;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
u8Timer = DRVPWM_TIMER3;
DrvPWM_SelectClockSource(u8Timer, DRVPWM_HCLK);
DrvPWM_SetTimerClk(u8Timer, &sPt);
DrvPWM_SetTimerIO(u8Timer, 1);
#endif
}
void motorsSetRatio(int id, uint16_t u16PulseWidth)
{
#ifdef M451
uint32_t u32CNR = 0, u32CMR = 0;
u32CNR = PWM_GET_CNR(PWM0, id);
if(u16PulseWidth >= MAX_PULSE_WIDTH)
u32CMR = u32CNR+1;
else if(u16PulseWidth == 0)
u32CMR = 0;
else
u32CMR = (float)u16PulseWidth*ESC_FREQ_UPDATE_FREQ_DIV_1000000* u32CNR; /* Duty cycle(%)= ratio*ESC_UPDATE_FREQ/1000000 */
PWM_SET_CMR(PWM0, id, u32CMR);
//PWM_ConfigOutputChannelf(PWM0, id, ESC_UPDATE_FREQ, (float)ratio*ESC_UPDATE_FREQ/10000);/*ratio*100*490/1000000*/
#else
uint8_t u8Timer;
switch(id) {
case MOTOR_M1:
u8Timer = DRVPWM_TIMER0;
break;
case MOTOR_M2:
u8Timer = DRVPWM_TIMER1;
break;
case MOTOR_M3:
u8Timer = DRVPWM_TIMER2;
break;
case MOTOR_M4:
u8Timer = DRVPWM_TIMER3;
break;
default :
u8Timer = 0;
}
sPt.u8HighPulseRatio = ratio;
DrvPWM_SetTimerClk(u8Timer, &sPt);
#endif
}
#ifdef ABROBOT
void ABRobotMotorInit()
{
GPIO_SetMode(IO_MR_CRTL0,GPIO_MODE_OUTPUT);
GPIO_SetMode(IO_MR_CRTL1,GPIO_MODE_OUTPUT);
GPIO_SetMode(IO_ML_CRTL0,GPIO_MODE_OUTPUT);
GPIO_SetMode(IO_ML_CRTL1,GPIO_MODE_OUTPUT);
GPIO_SetMode(IO_MC_CRTL0,GPIO_MODE_OUTPUT);
GPIO_SetMode(IO_MC_CRTL1,GPIO_MODE_OUTPUT);
}
#endif