/* Funktionen initierar PWM-signalen */
void pwm_setup(void)
{
pmc_enable_periph_clk(ID_PWM);
pwm_channel_disable(PWM, PWM_CHANNEL);
pwm_clock_t clock_setting = {
.ul_clka = PWM_FREQUENCY * PWM_PERIOD,
.ul_clkb = 0,
.ul_mck = SYS_CLOCK
};
pwm_init(PWM, &clock_setting);
pwm_channel_instance.alignment = PWM_ALIGN_LEFT;
pwm_channel_instance.polarity = PWM_LOW;
pwm_channel_instance.ul_prescaler = PWM_CMR_CPRE_CLKA;
pwm_channel_instance.ul_period = PWM_PERIOD;
pwm_channel_instance.ul_duty = PWM_INIT_DUTY_CYCLE;
pwm_channel_instance.channel = PWM_CHANNEL;
pwm_channel_init(PWM, &pwm_channel_instance);
pio_set_peripheral(PWM_PIO, PWM_PERIPHERAL, PWM_PIN);
pwm_channel_enable(PWM, PWM_CHANNEL);
}
/* Funktionen uppdaterar PWM-signalens duty-cycle */
void update_pwm(int ul_duty)
{
// Kontrollerar så att angiven duty-cycle befinner sig inom rätt område (0-1000).
if(ul_duty < PWM_MIN_DUTY_CYCLE)
{
pwm_channel_update_duty(PWM, &pwm_channel_instance, PWM_MIN_DUTY_CYCLE);
}
else if(ul_duty > PWM_MAX_DUTY_CYCLE)
{
pwm_channel_update_duty(PWM, &pwm_channel_instance, PWM_MAX_DUTY_CYCLE);
}
else
{
pwm_channel_update_duty(PWM, &pwm_channel_instance, ul_duty);
}
}
/* Funktionen initierar motor-shielden */
void motor_shield_setup(void)
{
ioport_set_pin_dir(PIO_PD8_IDX, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(PIO_PD8_IDX, IOPORT_PIN_LEVEL_HIGH);
ioport_set_pin_dir(PIO_PC21_IDX, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(PIO_PC21_IDX, IOPORT_PIN_LEVEL_LOW);
}
void PWM_Handler(void)
#endif
{
static uint32_t ul_count = 0; /* PWM counter value */
static uint32_t ul_duty = INIT_DUTY_VALUE; /* PWM duty cycle rate */
static uint8_t fade_in = 1; /* LED fade in flag */
#if (SAMV70 || SAMV71 || SAME70 || SAMS70)
uint32_t events = pwm_channel_get_interrupt_status(PWM0);
#else
uint32_t events = pwm_channel_get_interrupt_status(PWM);
#endif
/* Interrupt on PIN_PWM_LED0_CHANNEL */
if ((events & (1 << PIN_PWM_LED0_CHANNEL)) ==
(1 << PIN_PWM_LED0_CHANNEL)) {
ul_count++;
/* Fade in/out */
if (ul_count == (PWM_FREQUENCY / (PERIOD_VALUE - INIT_DUTY_VALUE))) {
/* Fade in */
if (fade_in) {
ul_duty++;
if (ul_duty == PERIOD_VALUE) {
fade_in = 0;
}
} else {
/* Fade out */
ul_duty--;
if (ul_duty == INIT_DUTY_VALUE) {
fade_in = 1;
}
}
/* Set new duty cycle */
ul_count = 0;
g_pwm_channel_led.channel = PIN_PWM_LED0_CHANNEL;
#if (SAMV70 || SAMV71 || SAME70 || SAMS70)
pwm_channel_update_duty(PWM0, &g_pwm_channel_led, ul_duty);
#else
pwm_channel_update_duty(PWM, &g_pwm_channel_led, ul_duty);
#endif
g_pwm_channel_led.channel = PIN_PWM_LED1_CHANNEL;
#if (SAMV70 || SAMV71 || SAME70 || SAMS70)
pwm_channel_update_duty(PWM0, &g_pwm_channel_led, ul_duty);
#else
pwm_channel_update_duty(PWM, &g_pwm_channel_led, ul_duty);
#endif
}
}
}
/**
* \brief Interrupt handler for the PWM controller.
*/
void PWM0_Handler(void)
{
static uint32_t ul_count = 0; /* PWM counter value */
static uint32_t ul_duty = INIT_DUTY_VALUE; /* PWM duty cycle rate */
static uint8_t fade_in = 1; /* LED fade in flag */
uint32_t events = pwm_channel_get_interrupt_status(PWM0);
/* Interrupt on PIN_PWM_LED0_CHANNEL */
if ((events & (1 << PIN_PWM_LED0_CHANNEL)) ==
(1 << PIN_PWM_LED0_CHANNEL)) {
ul_count++;
/* Fade in/out */
if (ul_count == (PWM_FREQUENCY / (PERIOD_VALUE - INIT_DUTY_VALUE))) {
/* Fade in */
if (fade_in) {
ul_duty++;
if (ul_duty == PERIOD_VALUE) {
fade_in = 0;
}
} else {
/* Fade out */
ul_duty--;
if (ul_duty == INIT_DUTY_VALUE) {
fade_in = 1;
}
}
/* Set new duty cycle */
ul_count = 0;
g_pwm_channel_led.channel = PIN_PWM_LED0_CHANNEL;
//jsi 16feb16 pwm_channel_update_duty(PWM0, &g_pwm_channel_led, ul_duty);
pwm_channel_update_duty(PWM0, &g_pwm_channel_led, (PERIOD_VALUE/2)); //jsi 16feb16 just fixed for now
//jsi 15feb16 g_pwm_channel_led.channel = PIN_PWM_LED1_CHANNEL;
//jsi 15feb16 pwm_channel_update_duty(PWM0, &g_pwm_channel_led, ul_duty);
}
}
}
void Hall_Phase(void)
{
static uint8_t hall_code = 0;
static uint32_t ul_duty1, ul_duty2, ul_duty3, high1, high2, low1;
hall_1 = ioport_get_pin_level(PIN_HALL_1);
hall_2 = ioport_get_pin_level(PIN_HALL_2);
hall_3 = ioport_get_pin_level(PIN_HALL_3);
hall_code = (hall_3<<2) | (hall_2<<1) | (hall_1);
if (sel_rot) hall_code = ~hall_code;
switch (hall_code & 0b00000111){
case 5 : //phase 1
phase=1;
ul_duty1 = ul_duty;
ul_duty2 = 0;
ul_duty3 = 0;
high1 = PIN_PWM_EN1_GPIO;
high2 = PIN_PWM_EN2_GPIO;
low1 = PIN_PWM_EN3_GPIO;
break;
case 1 : //phase 2
phase=2;
ul_duty1 = ul_duty;
ul_duty2 = 0;
ul_duty3 = 0;
high1 = PIN_PWM_EN1_GPIO;
high2 = PIN_PWM_EN3_GPIO;
low1 = PIN_PWM_EN2_GPIO;
break;
case 3 : //phase 3
phase=3;
ul_duty1 = 0;
ul_duty2 = ul_duty;
ul_duty3 = 0;
high1 = PIN_PWM_EN2_GPIO;
high2 = PIN_PWM_EN3_GPIO;
low1 = PIN_PWM_EN1_GPIO;
break;
case 2 : //phase 4
phase=4;
ul_duty1 = 0;
ul_duty2 = ul_duty;
ul_duty3 = 0;
high1 = PIN_PWM_EN1_GPIO;
high2 = PIN_PWM_EN2_GPIO;
low1 = PIN_PWM_EN3_GPIO;
break;
case 6 : //phase 5
phase=5;
ul_duty1 = 0;
ul_duty2 = 0;
ul_duty3 = ul_duty;
high1 = PIN_PWM_EN1_GPIO;
high2 = PIN_PWM_EN3_GPIO;
low1 = PIN_PWM_EN2_GPIO;
break;
case 4 : //phase 6
phase=6;
ul_duty1 = 0;
ul_duty2 = 0;
ul_duty3 = ul_duty;
high1 = PIN_PWM_EN2_GPIO;
high2 = PIN_PWM_EN3_GPIO;
low1 = PIN_PWM_EN1_GPIO;
break;
}
g_pwm_channel.channel = PIN_PWM_IN1_CHANNEL;
pwm_channel_update_duty(PWM, &g_pwm_channel, ul_duty1);
g_pwm_channel.channel = PIN_PWM_IN2_CHANNEL;
pwm_channel_update_duty(PWM, &g_pwm_channel, ul_duty2);
g_pwm_channel.channel = PIN_PWM_IN3_CHANNEL;
pwm_channel_update_duty(PWM, &g_pwm_channel, ul_duty3);
gpio_set_pin_high(high1);
gpio_set_pin_high(high2);
gpio_set_pin_low(low1);
}
void RightWheelPWM(uint32_t dutyCycle){
pwm_channel_update_duty(PWM, &PWMPin38, dutyCycle);
}
void LeftWheelPWM(uint32_t dutyCycle)
{
pwm_channel_update_duty(PWM, &PWMPin40, dutyCycle);
}
