static void pwm_init(void) {
uint32_t frequency = 50;
uint32_t period1 = SysCtlClockGet() / frequency;
uint32_t extender1 = period1 >> 16;
period1 &= 0xFFFF;
uint32_t period2 = SysCtlClockGet() / frequency;
uint32_t extender2 = period2 >> 16;
period2 &= 0xFFFF;
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
GPIOPinConfigure(GPIO_PB2_T3CCP0);
GPIOPinTypeTimer(GPIO_PORTB_BASE, GPIO_PIN_2);
// Configure timer
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3);
TimerConfigure(TIMER3_BASE, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM);
HWREG(TIMER3_BASE + TIMER_O_CTL) |= (TIMER_CTL_TAPWML);
//set period
TimerPrescaleSet(TIMER3_BASE, TIMER_A, extender1);
TimerLoadSet(TIMER3_BASE, TIMER_A, period1);
//set default value A
TimerPrescaleMatchSet(TIMER3_BASE, TIMER_A, extender2);
TimerMatchSet(TIMER3_BASE, TIMER_A, period2);
TimerEnable(TIMER3_BASE, TIMER_A);
}
void control_init() {
//// laser control
// Setup Timer0 for a 488.28125Hz "phase correct PWM" wave (assuming a 16Mhz clock)
// Timer0 can pwm either PD5 (OC0B) or PD6 (OC0A), we use PD6
// TCCR0A and TCCR0B are the registers to setup Timer0
// see chapter "8-bit Timer/Counter0 with PWM" in Atmga328 specs
// OCR0A sets the duty cycle 0-255 corresponding to 0-100%
// also see: http://arduino.cc/en/Tutorial/SecretsOfArduinoPWM
GPIOPinTypeGPIOOutput(LASER_EN_PORT, LASER_EN_MASK);
GPIOPinWrite(LASER_EN_PORT, LASER_EN_MASK, LASER_EN_INVERT);
// Configure timer
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(LASER_TIMER, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM|TIMER_CFG_B_ONE_SHOT);
TimerControlLevel(LASER_TIMER, TIMER_A, 1);
// PPI = PWMfreq/(feedrate/MM_PER_INCH/60)
// Set PPI Pulse timer
ppi_cycles = SysCtlClockGet() / 1000 * CONFIG_LASER_PPI_PULSE_MS;
ppi_divider = ppi_cycles >> 16;
ppi_cycles /= (ppi_divider + 1);
TimerPrescaleSet(LASER_TIMER, TIMER_B, ppi_divider);
TimerLoadSet(LASER_TIMER, TIMER_B, ppi_cycles);
// Setup ISR
TimerIntRegister(LASER_TIMER, TIMER_B, laser_isr);
TimerIntEnable(LASER_TIMER, TIMER_TIMB_TIMEOUT);
IntPrioritySet(INT_TIMER0B, CONFIG_LASER_PRIORITY);
// Set PWM refresh rate
laser_cycles = SysCtlClockGet() / CONFIG_LASER_PWM_FREQ; /*Hz*/
laser_divider = laser_cycles >> 16;
laser_cycles /= (laser_divider + 1);
// Setup Laser PWM Timer
TimerPrescaleSet(LASER_TIMER, TIMER_A, laser_divider);
TimerLoadSet(LASER_TIMER, TIMER_A, laser_cycles);
TimerPrescaleMatchSet(LASER_TIMER, TIMER_A, laser_divider);
laser_intensity = 0;
// Set default value
control_laser_intensity(0);
control_laser(0, 0);
TimerEnable(LASER_TIMER, TIMER_A);
// ToDo: Map the timer ccp pin sensibly
GPIOPinConfigure(GPIO_PB6_T0CCP0);
GPIOPinTypeTimer(LASER_PORT, (1 << LASER_BIT));
//// air and aux assist control
GPIOPinTypeGPIOOutput(ASSIST_PORT, ASSIST_MASK);
control_air_assist(false);
control_aux1_assist(false);
}
void T0Init_sample(uint32 Periodic)
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, TIMER_CFG_16_BIT_PAIR|TIMER_CFG_A_PERIODIC);
TimerPrescaleMatchSet(TIMER0_BASE, TIMER_A,0x00 );//SysCtlClockGet()/(Periodic*sample_nub))/0x10000);
TimerLoadSet(TIMER0_BASE, TIMER_A, Periodic); //
TimerEnable(TIMER0_BASE, TIMER_A);
}
/*
Sets a given motor to a given percent value
\param motor is the motor number (1-4)
\param percent is the percentage to set (0-100)
\return none
*/
void motorSet(int motor, float percent)
{
//sterilize input
if (percent > 100) percent = 100;
if (percent < 0) percent = 0;
//prepare prescale and match values
uint32_t cycles_per_ms = SysCtlClockGet() / 1000;
//*debug: straight pwm leds- */uint32_t matchl = SysCtlClockGet() / MOTORUPDATE / 100 * percent;
uint32_t matchl = cycles_per_ms + (uint32_t)(percent * (cycles_per_ms / 100));
uint8_t matchh = matchl >> 16;
matchl &= 0xFFFF;
//write to correct pwm module
switch (motor) {
case 1: { TimerPrescaleMatchSet(TIMER1_BASE, TIMER_A, matchh); TimerMatchSet(TIMER1_BASE, TIMER_A, matchl); }
case 2: { TimerPrescaleMatchSet(TIMER1_BASE, TIMER_B, matchh); TimerMatchSet(TIMER1_BASE, TIMER_B, matchl); }
case 3: { TimerPrescaleMatchSet(TIMER2_BASE, TIMER_A, matchh); TimerMatchSet(TIMER2_BASE, TIMER_A, matchl); }
case 4: { TimerPrescaleMatchSet(TIMER2_BASE, TIMER_B, matchh); TimerMatchSet(TIMER2_BASE, TIMER_B, matchl); }
}
}
static void pwm_set_width(uint32_t pulse_duration, uint8_t pulse_unit) {
uint32_t pwm_period;
switch(pulse_unit) {
case PULSE_100NS:
pwm_period = tics_100ns*pulse_duration;
break;
case PULSE_MS:
pwm_period = tics_ms*pulse_duration;
break;
case PULSE_US:
default:
pwm_period = tics_us*pulse_duration;
break;
}
uint16_t pwm_extender = pwm_period >> 16;
pwm_period &= 0xFFFF;
//uint8_t pwm_extender = 0;
TimerPrescaleMatchSet(TIMER3_BASE, TIMER_A, pwm_extender);
TimerMatchSet(TIMER3_BASE, TIMER_A, pwm_period);
}
