待调试电机转动

tao_z

2021-07-10 4a89e24804b91902def506a9e898293fa36ccb59

 USR/SRC/pwm.c

@@ -9,7 +9,7 @@
 * 
 */
#include "pwm.h"

static volatile uint32_t timer_outcnt = 0;
/*****************************************************************************************************
Timer2 is used to speed cal
APB1 is 64M ,so Timer2 clock is 64M,after prescaler 480 is 0.1M(10us)
@@ -24,7 +24,7 @@

    timer_deinit(TIMER2);

    timercontralcfg.prescaler = 6399; //64Mhz /6400 =0.01Mhz = 100us
    timercontralcfg.prescaler = 4799; //48Mhz /4800 =0.01Mhz = 100us
    timercontralcfg.alignedmode = TIMER_COUNTER_EDGE;
    timercontralcfg.counterdirection = TIMER_COUNTER_UP;
    timercontralcfg.period = PERIOD_CAP; //100us*10000=1s
@@ -48,7 +48,7 @@
*****************************************************************************************************/
static void Timer0Init(void)
{
    uint16_t Duty = PERIOD_CMP + 1;
    uint16_t Duty = PERIOD_CMP / 2;
    timer_parameter_struct timercontralcfg;
    timer_oc_parameter_struct timeroutcfg[3];
    timer_break_parameter_struct timer_breakpara;
@@ -63,22 +63,22 @@

    timeroutcfg[0].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is high
    timeroutcfg[0].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
    timeroutcfg[0].outputstate = TIMER_CCX_ENABLE;   //channel enable
    timeroutcfg[0].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
    timeroutcfg[0].outputstate = TIMER_CCX_ENABLE;    //channel enable
    timeroutcfg[0].outputnstate = TIMER_CCXN_DISABLE; //channel complementary DISABLE
    timeroutcfg[0].ocidlestate = TIMER_OC_IDLE_STATE_LOW;
    timeroutcfg[0].ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

    timeroutcfg[1].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is high
    timeroutcfg[1].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
    timeroutcfg[1].outputstate = TIMER_CCX_ENABLE;   //channel enable
    timeroutcfg[1].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
    timeroutcfg[1].outputstate = TIMER_CCX_ENABLE;    //channel enable
    timeroutcfg[1].outputnstate = TIMER_CCXN_DISABLE; //channel complementary  DISABLE
    timeroutcfg[1].ocidlestate = TIMER_OC_IDLE_STATE_LOW;
    timeroutcfg[1].ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

    timeroutcfg[2].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is high
    timeroutcfg[2].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
    timeroutcfg[2].outputstate = TIMER_CCX_ENABLE;   //channel enable
    timeroutcfg[2].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
    timeroutcfg[2].outputstate = TIMER_CCX_ENABLE;    //channel enable
    timeroutcfg[2].outputnstate = TIMER_CCXN_DISABLE; //channel complementary  DISABLE
    timeroutcfg[2].ocidlestate = TIMER_OC_IDLE_STATE_LOW;
    timeroutcfg[2].ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

@@ -90,25 +90,25 @@
    timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1, Duty);
    timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_2, Duty);

    timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM1); //set pwm1 mode first low then high
    timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM1);
    timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM1);
    timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0); //set pwm1 mode first low then high
    timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
    timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);

    timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_ENABLE); //shadow ENable
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_ENABLE);
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_2, TIMER_OC_SHADOW_ENABLE);
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE); //shadow ENable
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE);
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_2, TIMER_OC_SHADOW_DISABLE);

    /* configure TIMER break function */
    timer_break_struct_para_init(&timer_breakpara);
    /* automatic output enable, break, dead time and lock configuration*/
    timer_breakpara.runoffstate = TIMER_ROS_STATE_DISABLE;
    timer_breakpara.ideloffstate = TIMER_IOS_STATE_DISABLE;
    timer_breakpara.deadtime = 255;
    timer_breakpara.breakpolarity = TIMER_BREAK_POLARITY_LOW;
    timer_breakpara.outputautostate = TIMER_OUTAUTO_ENABLE;
    timer_breakpara.protectmode = TIMER_CCHP_PROT_0;
    timer_breakpara.breakstate = TIMER_BREAK_ENABLE;
    timer_break_config(TIMER0, &timer_breakpara);
    // /* configure TIMER break function */
    // timer_break_struct_para_init(&timer_breakpara);
    // /* automatic output enable, break, dead time and lock configuration*/
    // timer_breakpara.runoffstate = TIMER_ROS_STATE_DISABLE;
    // timer_breakpara.ideloffstate = TIMER_IOS_STATE_DISABLE;
    // timer_breakpara.deadtime = 32;
    // timer_breakpara.breakpolarity = TIMER_BREAK_POLARITY_LOW;
    // timer_breakpara.outputautostate = TIMER_OUTAUTO_ENABLE;
    // timer_breakpara.protectmode = TIMER_CCHP_PROT_0;
    // timer_breakpara.breakstate = TIMER_BREAK_DISABLE;
    // timer_break_config(TIMER0, &timer_breakpara);

    timer_primary_output_config(TIMER0, ENABLE);
    timer_auto_reload_shadow_enable(TIMER0);
@@ -116,7 +116,7 @@

void TimerInit(void)
{
    // rcu_periph_clock_enable(RCU_TIMER2);
    rcu_periph_clock_enable(RCU_TIMER2);
    rcu_periph_clock_enable(RCU_TIMER0);
    Timer0Init();
    Timer2Init();
@@ -125,7 +125,7 @@

void SetPwmDuty(uint16_t ch, uint32_t duty)
{
    uint32_t duty_temp = (PERIOD_CMP >= duty) ? (PERIOD_CMP - duty) : 0;
    // uint32_t duty_temp = (PERIOD_CMP >= duty) ? (PERIOD_CMP - duty) : 0;
    timer_channel_output_pulse_value_config(TIMER0, ch, duty);
}

@@ -143,3 +143,14 @@
{
    timer_disable(TIMER2);
}
extern void TIMER2_IRQHandler_CallBack(void)
{
    timer_outcnt++;
}

extern uint32_t GetSpeedTimerOutcnt(void)
{
    uint32_t rtn = timer_outcnt;
    timer_outcnt = 0;
    return rtn;
}