From 4a89e24804b91902def506a9e898293fa36ccb59 Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Sat, 10 Jul 2021 11:52:25 +0800
Subject: [PATCH] 待调试电机转动
---
USR/SRC/pwm.c | 67 +++++++++++++++++++--------------
1 files changed, 39 insertions(+), 28 deletions(-)
diff --git a/USR/SRC/pwm.c b/USR/SRC/pwm.c
index fc83065..e33156e 100644
--- a/USR/SRC/pwm.c
+++ b/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;
+}
--
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