采用三个外部中断触发

tao_z

2021-07-03 1a4ea70147216f586f1341d4f1981733ed2c203c

采用三个外部中断触发

 USR/INC/bldc_ctrl.h

@@ -4,8 +4,8 @@
//Òý½Å¶¨Òå
/*******************************************************/
// Á¬½ÓÇý¶¯°åµÄ SD ½Å
#define SHUTDOWN_PIN GPIO_PIN_15
#define SHUTDOWN_GPIO_PORT GPIOD
#define SHUTDOWN_PIN GPIO_PIN_6
#define SHUTDOWN_GPIO_PORT GPIOA
// #define SHUTDOWN_GPIO_CLK_ENABLE() __HAL_RCC_GPIOD_CLK_ENABLE()
/*******************************************************/


 USR/INC/pwm.h

@@ -5,7 +5,7 @@
#define PERIOD_CAP (30000U)

//48Mzhz / 3000 = 16Khz = 62.5us
#define PERIOD_CMP (4000u)
#define PERIOD_CMP (3000u)

void TimerInit(void);
void SetPwmDuty(uint16_t ch, uint32_t duty);

 USR/SRC/Clock.c

@@ -38,7 +38,7 @@
            ;
    }
    /* configure the systick handler priority */
    NVIC_SetPriority(SysTick_IRQn, 0x00);
    NVIC_SetPriority(SysTick_IRQn, 0x01);
}

/*!

 USR/SRC/GPIO.c

@@ -6,35 +6,34 @@
{
    rcu_periph_clock_enable(RCU_GPIOA);
    rcu_periph_clock_enable(RCU_GPIOB);
    rcu_periph_clock_enable(RCU_GPIOF);

    // rcu_periph_clock_enable(RCU_GPIOF);
    /* enable the CFGCMP clock */
    rcu_periph_clock_enable(RCU_CFGCMP);
    //初始化配置霍尔输入引脚
    gpio_mode_set(HALL_SENSOR_A_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_A_PIN);
    gpio_mode_set(HALL_SENSOR_B_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_B_PIN);
    gpio_mode_set(HALL_SENSOR_C_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_C_PIN);
    /* enable the CFGCMP clock */
    rcu_periph_clock_enable(RCU_CFGCMP);
    nvic_irq_enable(EXTI4_15_IRQn, 0U);

    /* connect EXTI line to GPIO pin */
    syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN4);
    syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN5);
    syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN15);

    exti_init(EXTI_4 | EXTI_5 | EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING); //配置外部上升沿中断
    exti_init(EXTI_4, EXTI_INTERRUPT, EXTI_TRIG_RISING);  //配置外部上升沿中断
    exti_init(EXTI_5, EXTI_INTERRUPT, EXTI_TRIG_RISING);  //配置外部上升沿中断
    exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING); //配置外部上升沿中断
    nvic_irq_enable(EXTI4_15_IRQn, 0U);
    exti_interrupt_flag_clear(EXTI_4 | EXTI_5 | EXTI_15);

    //初始化PWM引脚
    gpio_mode_set(PWM_HIN1_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_HIN1_PIN);
    gpio_af_set(PWM_HIN1_PORT, GPIO_AF_2, PWM_HIN1_PIN);
    gpio_output_options_set(PWM_HIN1_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_HIN1_PIN);

    gpio_mode_set(PWM_HIN2_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_HIN2_PIN);
    gpio_af_set(PWM_HIN2_PORT, GPIO_AF_2, PWM_HIN2_PIN);
    gpio_output_options_set(PWM_HIN2_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_HIN2_PIN);

    gpio_mode_set(PWM_HIN3_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_HIN3_PIN);
    gpio_af_set(PWM_HIN3_PORT, GPIO_AF_2, PWM_HIN3_PIN);
    gpio_output_options_set(PWM_HIN3_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_HIN3_PIN);

    // gpio_mode_set(PWM_LIN1_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN1_PIN);
    // gpio_af_set(PWM_LIN1_PORT, GPIO_AF_2, PWM_LIN1_PIN);
@@ -87,13 +86,19 @@
}
extern uint8_t Get_HallSensorA_State(void)
{
    return (uint8_t)(gpio_input_bit_get(HALL_SENSOR_A_PORT, HALL_SENSOR_A_PIN));
    uint8_t rtn = 0;
    rtn = (SET == gpio_input_bit_get(HALL_SENSOR_A_PORT, HALL_SENSOR_A_PIN)) ? 1 : 0;
    return rtn;
}
extern uint8_t Get_HallSensorB_State(void)
{
    return (uint8_t)(gpio_input_bit_get(HALL_SENSOR_B_PORT, HALL_SENSOR_B_PIN));
    uint8_t rtn = 0;
    rtn = (SET == gpio_input_bit_get(HALL_SENSOR_B_PORT, HALL_SENSOR_B_PIN)) ? 1 : 0;
    return rtn;
}
extern uint8_t Get_HallSensorC_State(void)
{
    return (uint8_t)(gpio_input_bit_get(HALL_SENSOR_C_PORT, HALL_SENSOR_C_PIN));
    uint8_t rtn = 0;
    rtn = (SET == gpio_input_bit_get(HALL_SENSOR_C_PORT, HALL_SENSOR_C_PIN)) ? 1 : 0;
    return rtn;
}

 USR/SRC/Motor.c

@@ -8,7 +8,8 @@
#include "SEGGER_RTT_Conf.h"
#include "SEGGER_RTT.h"
static volatile motor_rotate_t motor_drive = {0};
static uint32_t motor_pluse = 0;
static uint32_t motor_pluse = 1500;
static volatile uint8_t motor_step = 0;
static void motor_phasechange(void);
static void update_speed_dir(uint8_t dir_in);

@@ -33,7 +34,7 @@
    exti_interrupt_enable(HALL_B_EXTI);
    exti_interrupt_enable(HALL_C_EXTI);
    StartSpeedTime();    //start speed timer
    motor_phasechange(); // Ö´ÐÐÒ»´Î»»Ïà
    // motor_phasechange(); // Ö´ÐÐÒ»´Î»»Ïà

    motor_drive.enable_flag = 1;
}
@@ -61,19 +62,19 @@
    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ U µÄ״̬ */
    if (Get_HallSensorA_State())
    {
        state |= 0x01U << 0;
        state |= (0x01U << 0);
    }

    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ V µÄ״̬ */
    if (Get_HallSensorB_State())
    {
        state |= 0x01U << 1;
        state |= (0x01U << 1);
    }

    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ W µÄ״̬ */
    if (Get_HallSensorC_State())
    {
        state |= 0x01U << 2;
        state |= (0x01U << 2);
    }

    return state; // ·µ»Ø´«¸ÐÆ÷״̬
@@ -206,16 +207,21 @@
void HAL_HallExti_TriggerCallback(void)
{
    uint8_t step = 0;
    step = get_hall_state();
    /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú

    // /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    // if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú
    // {

    //     // exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    // }
    for (step = 0; step < 30; step++)
    {
        // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO Ö÷¶¨Ê±Æ÷´¦»ñµÃ¼ÆÊýʱ¼ä
        update_motor_speed(step, 300u * GetSpeedTimerOutcnt() + timer_counter_read(TIMER2));
        SEGGER_RTT_printf(0, "Speed is:%d!\n", motor_drive.speed);
        motor_drive.timeout = 0;
        exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    }
    motor_step = get_hall_state();
    // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO Ö÷¶¨Ê±Æ÷´¦»ñµÃ¼ÆÊýʱ¼ä
    // update_motor_speed(step, 300u * GetSpeedTimerOutcnt() + timer_counter_read(TIMER2));
    SEGGER_RTT_printf(0, "Hall state is:%d!\n", motor_step);
    motor_drive.timeout = 0;
    // if (RESET != exti_interrupt_flag_get(EXTI_4))
    // {
    //     SEGGER_RTT_printf(0, "HALL_A_EXTI  triggle!\n");
@@ -228,7 +234,7 @@
    // {
    //     SEGGER_RTT_printf(0, "HALL_B_EXTI  triggle!\n");
    // }
    motor_phasechange();
    // motor_phasechange();
    // HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // Èí¼þ²úÉú»»Ïàʼþ£¬´Ëʱ²Å½«ÅäÖÃдÈë
}

@@ -245,7 +251,7 @@
    /* next step: step 2 configuration .A-C` breakover---------------------------- */
    case 1:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
        MOTOR_U_L_DISABLE;
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
@@ -256,7 +262,7 @@
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);

        /*  channel W configuration */
        // timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        // timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        MOTOR_W_L_ENABLE;
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
@@ -272,13 +278,13 @@
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
        MOTOR_V_L_DISABLE;

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
        MOTOR_W_L_ENABLE;
@@ -289,13 +295,13 @@
    /* next step: step 4 configuration .B-A` breakover---------------------------- */
    case 3:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
        MOTOR_U_L_ENABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
        MOTOR_V_L_DISABLE;
@@ -311,7 +317,7 @@
    /* next step: step 5 configuration .C-A` breakover---------------------------- */
    case 4:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
        MOTOR_U_L_ENABLE;
@@ -322,7 +328,7 @@
        MOTOR_V_L_DISABLE;

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_DISABLE;
@@ -338,13 +344,13 @@
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
        MOTOR_V_L_ENABLE;

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_DISABLE;
@@ -354,13 +360,13 @@
    /* next step: step 1 configuration .A-B` breakover---------------------------- */
    case 6:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
        MOTOR_V_L_ENABLE;
@@ -383,11 +389,14 @@
extern void stop_pwm_output(void)
{
    timer_channel_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCXN_DISABLE);
    // timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCXN_DISABLE);
    timer_channel_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCXN_DISABLE);
    // timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCXN_DISABLE);
    timer_channel_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
    // timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
    MOTOR_W_L_DISABLE;
    MOTOR_V_L_DISABLE;
    MOTOR_U_L_DISABLE;
}

/**
@@ -399,7 +408,10 @@
{
    /* ÉèÖö¨Ê±Æ÷ͨµÀÊä³ö PWM µÄÕ¼¿Õ±È */
    motor_pluse = pulse;
    //SetPwmDuty();
    SetPwmDuty(TIMER_CH_0, motor_pluse);
    SetPwmDuty(TIMER_CH_1, motor_pluse);
    SetPwmDuty(TIMER_CH_2, motor_pluse);

    if (motor_drive.enable_flag)
    {
        motor_phasechange();

 USR/SRC/bldc_ctrl.c

@@ -22,7 +22,12 @@
{
  // PWM_TIMx_Configuration(); // µç»ú¿ØÖƶ¨Ê±Æ÷£¬Òý½Å³õʼ»¯
  // hall_tim_config();        // »ô¶û´«¸ÐÆ÷³õʼ»¯
  sd_gpio_config(); // sd Òý½Å³õʼ»¯
  // sd_gpio_config(); // sd Òý½Å³õʼ»¯
  // Set_SDH2136_Enable();
  Set_SDH2136_Disable();
  bldcm_data.direction = MOTOR_FWD;
  bldcm_data.is_enable = 1;
  bldcm_data.dutyfactor = 1500;
}

/**

 USR/SRC/gd32e23x_it.c

@@ -157,10 +157,9 @@
    if (RESET != exti_interrupt_flag_get(EXTI_4 | EXTI_5 | EXTI_15))
    {
        HAL_HallExti_TriggerCallback();
    }

    exti_interrupt_flag_clear(EXTI_4 | EXTI_5 | EXTI_15);
}
}

/*!
    \brief      this function handles time2

 USR/SRC/main.c

@@ -10,9 +10,14 @@
#include "bsp_pid.h"
#include "os_task.h"
#include "RttTask.h"
#include "SEGGER_RTT_Conf.h"
#include "SEGGER_RTT.h"

static void Comm_Task(void *p)
{
    // uint8_t step = 0;
    // step = get_hall_state();
    // SEGGER_RTT_printf(0, "Hall state is:%d!\n", step);
}

int main()

 USR/SRC/pwm.c

@@ -48,7 +48,7 @@
*****************************************************************************************************/
static void Timer0Init(void)
{
    uint16_t Duty = PERIOD_CMP / 10;
    uint16_t Duty = PERIOD_CMP / 2;
    timer_parameter_struct timercontralcfg;
    timer_oc_parameter_struct timeroutcfg[3];
    timer_break_parameter_struct timer_breakpara;
@@ -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);

    /* 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);
@@ -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);
}