469 lines
15 KiB
C
469 lines
15 KiB
C
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#include "asm/mcpwm.h"
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#include "asm/clock.h"
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#include "asm/gpio.h"
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#define MCPWM_DEBUG_ENABLE 0
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#if MCPWM_DEBUG_ENABLE
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#define mcpwm_debug(fmt, ...) printf("[MCPWM] "fmt, ##__VA_ARGS__)
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#else
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#define mcpwm_debug(...)
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#endif
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#define MCPWM_CLK clk_get("mcpwm")
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/*mcpwm硬件引脚，上下为一对：---CH0--- ---CH1--- ---CH2--- ---CH3--- */
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static u8 pwm_hw_h_pin[4] = {IO_PORTA_00, IO_PORTA_07, IO_PORTB_02, IO_PORTB_04};
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static u8 pwm_hw_l_pin[4] = {IO_PORTA_03, IO_PORTA_08, IO_PORTB_03, IO_PORTB_05};
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//fpin
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static u8 pwm_fpin[4] = {IO_PORTA_02, IO_PORTA_04, IO_PORTB_07, IO_PORTA_01};
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//mctmr extern clk in pin
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static u8 mctmr_clkin_pin[4] = {IO_PORTA_05, IO_PORTA_06, IO_PORTB_00, IO_PORTB_06};
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//output_channle
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static u8 CHx_CHx_PWM_H[3][3] = {CH0_CH0_PWM_H, CH0_CH1_PWM_H, CH0_CH2_PWM_H, CH1_CH0_PWM_H, CH1_CH1_PWM_H, CH1_CH2_PWM_H, CH2_CH0_PWM_H, CH2_CH1_PWM_H, CH2_CH2_PWM_H};
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static u8 CHx_CHx_PWM_L[3][3] = {CH0_CH0_PWM_L, CH0_CH1_PWM_L, CH0_CH2_PWM_L, CH1_CH0_PWM_L, CH1_CH1_PWM_L, CH1_CH2_PWM_L, CH2_CH0_PWM_L, CH2_CH1_PWM_L, CH2_CH2_PWM_L};
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PWM_TIMER_REG *get_pwm_timer_reg(pwm_timer_num_type index)
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{
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PWM_TIMER_REG *reg = NULL;
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switch (index) {
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case pwm_timer0:
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reg = (PWM_TIMER_REG *)(&(JL_MCPWM->TMR0_CON));
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break;
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case pwm_timer1:
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reg = (PWM_TIMER_REG *)(&(JL_MCPWM->TMR1_CON));
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break;
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case pwm_timer2:
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reg = (PWM_TIMER_REG *)(&(JL_MCPWM->TMR2_CON));
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break;
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case pwm_timer3:
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reg = (PWM_TIMER_REG *)(&(JL_MCPWM->TMR3_CON));
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break;
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default:
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break;
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}
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return reg;
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}
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PWM_CH_REG *get_pwm_ch_reg(pwm_ch_num_type index)
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{
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PWM_CH_REG *reg = NULL;
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switch (index) {
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case pwm_ch0:
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reg = (PWM_CH_REG *)(&(JL_MCPWM->CH0_CON0));
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break;
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case pwm_ch1:
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reg = (PWM_CH_REG *)(&(JL_MCPWM->CH1_CON0));
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break;
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case pwm_ch2:
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reg = (PWM_CH_REG *)(&(JL_MCPWM->CH2_CON0));
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break;
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case pwm_ch3:
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reg = (PWM_CH_REG *)(&(JL_MCPWM->CH3_CON0));
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break;
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default:
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break;
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}
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return reg;
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}
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static u32 _pow(u32 num, int n)
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{
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u32 powint = 1;
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int i;
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for (i = 1; i <= n; i++) {
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powint *= num;
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}
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return powint;
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}
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/*
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* @brief 更改MCPWM的频率
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* @parm frequency 频率
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*/
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void mcpwm_set_frequency(pwm_timer_num_type ch, pwm_aligned_mode_type align, u32 frequency)
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{
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PWM_TIMER_REG *reg = get_pwm_timer_reg(ch);
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if (reg == NULL) {
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return;
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}
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u32 i = 0;
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u32 mcpwm_div_clk = 0;
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u32 mcpwm_tmr_pr = 0;
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u32 mcpwm_fre_min = 0;
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reg->tmr_con = 0;
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reg->tmr_cnt = 0;
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reg->tmr_pr = 0;
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u32 clk = MCPWM_CLK;
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for (i = 0; i < 16; i++) {
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mcpwm_fre_min = clk / (65536 * _pow(2, i));
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if ((frequency >= mcpwm_fre_min) || (i == 15)) {
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break;
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}
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}
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reg->tmr_con |= (i << 3); //div 2^i
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//mcpwm_div_clk = MCPWM_CLK / _pow(2, i);
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mcpwm_div_clk = clk / _pow(2, i);
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if (frequency == 0) {
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mcpwm_tmr_pr = 0;
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} else {
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if (align == pwm_center_aligned) { //中心对齐
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mcpwm_tmr_pr = mcpwm_div_clk / (frequency * 2) - 1;
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} else {
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mcpwm_tmr_pr = mcpwm_div_clk / frequency - 1;
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}
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}
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reg->tmr_pr = mcpwm_tmr_pr;
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//timer mode
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if (align == pwm_center_aligned) { //中心对齐
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reg->tmr_con |= 0b10;
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} else {
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reg->tmr_con |= 0b01;
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}
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}
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/*
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* @brief 设置一个通道的占空比
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* @parm pwm_ch_num 通道号：pwm_ch0，pwm_ch1，pwm_ch2
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* @parm duty 占空比：0 ~ 10000 对应 0% ~ 100%
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*/
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void mcpwm_set_duty(pwm_ch_num_type pwm_ch, pwm_timer_num_type timer_ch, u16 duty)
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{
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PWM_TIMER_REG *timer_reg = get_pwm_timer_reg(timer_ch);
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PWM_CH_REG *pwm_reg = get_pwm_ch_reg(pwm_ch);
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if (pwm_reg && timer_reg) {
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pwm_reg->ch_cmpl = timer_reg->tmr_pr * duty / 10000;
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pwm_reg->ch_cmph = pwm_reg->ch_cmpl;
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//pwm_reg->ch_cmph = timer_reg->tmr_pr * 8000 / 10000; //%80 for test 互补
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//printf("cmpl = %d, cmph = %d, tmr_pr = %d", pwm_reg->ch_cmpl, pwm_reg->ch_cmph, timer_reg->tmr_pr);
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timer_reg->tmr_cnt = 0;
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}
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}
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/*
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* @brief 打开或者关闭一个时基
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* @parm pwm_ch_num 通道号：pwm_ch0，pwm_ch1，pwm_ch2
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* @parm enable 1：打开 0：关闭
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*/
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void mctimer_ch_open_or_close(pwm_timer_num_type timer_ch, u8 enable)
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{
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if (timer_ch > pwm_timer_max) {
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return;
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}
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if (enable) {
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JL_MCPWM->MCPWM_CON0 |= BIT(timer_ch + 8); //TnEN
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} else {
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JL_MCPWM->MCPWM_CON0 &= (~BIT(timer_ch + 8)); //TnDIS
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}
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}
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/*
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* @brief 打开或者关闭一个通道
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* @parm pwm_ch_num 通道号：pwm_ch0，pwm_ch1，pwm_ch2
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* @parm enable 1：打开 0：关闭
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*/
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void mcpwm_ch_open_or_close(pwm_ch_num_type pwm_ch, u8 enable)
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{
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if (pwm_ch >= pwm_ch_max) {
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return;
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}
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if (enable) {
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JL_MCPWM->MCPWM_CON0 |= BIT(pwm_ch); //PWMnEN
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} else {
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JL_MCPWM->MCPWM_CON0 &= (~BIT(pwm_ch)); //PWMnDIS
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}
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}
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/*
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* @brief 关闭MCPWM模块
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*/
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void mcpwm_open(pwm_ch_num_type pwm_ch, pwm_timer_num_type timer_ch)
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{
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if ((pwm_ch >= pwm_ch_max) || (timer_ch >= pwm_timer_max)) {
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return;
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}
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PWM_CH_REG *pwm_reg = get_pwm_ch_reg(pwm_ch);
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pwm_reg->ch_con1 &= ~(0b111 << 8);
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pwm_reg->ch_con1 |= (timer_ch << 8); //sel mctmr
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mctimer_ch_open_or_close(timer_ch, 1);
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mcpwm_ch_open_or_close(pwm_ch, 1);
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}
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/*
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* @brief 关闭MCPWM模块
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*/
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void mcpwm_close(pwm_ch_num_type pwm_ch, pwm_timer_num_type timer_ch)
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{
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mctimer_ch_open_or_close(timer_ch, 0);
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mcpwm_ch_open_or_close(pwm_ch, 0);
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}
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void log_pwm_info(pwm_ch_num_type pwm_ch, pwm_timer_num_type timer_ch)
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{
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PWM_CH_REG *pwm_reg = get_pwm_ch_reg(pwm_ch);
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PWM_TIMER_REG *timer_reg = get_pwm_timer_reg(timer_ch);
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mcpwm_debug("pwm_ch %d @ 0x%x, timer_ch %d @ 0x%x", pwm_ch, pwm_reg, timer_ch, timer_reg);
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mcpwm_debug("tmr%d con0 = 0x%x", timer_ch, timer_reg->tmr_con);
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mcpwm_debug("tmr%d pr = 0x%x", timer_ch, timer_reg->tmr_pr);
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mcpwm_debug("pwm ch%d_con0 = 0x%x", pwm_ch, pwm_reg->ch_con0);
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mcpwm_debug("pwm ch%d_con1 = 0x%x", pwm_ch, pwm_reg->ch_con1);
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mcpwm_debug("pwm ch%d_cmph = 0x%x, pwm ch%d_cmpl = 0x%x", pwm_ch, pwm_reg->ch_cmph, pwm_ch, pwm_reg->ch_cmpl);
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mcpwm_debug("MCPWM_CON0 = 0x%x", JL_MCPWM->MCPWM_CON0);
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mcpwm_debug("pwm clk = %d\n\n", MCPWM_CLK);
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}
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void mcpwm_init(struct pwm_platform_data *arg)
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{
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u8 use_output_ch_flag = 0;
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//set mctimer frequency
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mcpwm_set_frequency(arg->pwm_timer_num, arg->pwm_aligned_mode, arg->frequency);
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//set duty
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mcpwm_set_duty(arg->pwm_ch_num, arg->pwm_timer_num, arg->duty);
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//set output IO
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PWM_CH_REG *pwm_reg = get_pwm_ch_reg(arg->pwm_ch_num);
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if (pwm_reg == NULL) {
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return;
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}
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pwm_reg->ch_con0 = 0;
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//H:
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if (arg->h_pin == pwm_hw_h_pin[arg->pwm_ch_num]) { //硬件引脚
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pwm_reg->ch_con0 |= BIT(2); //H_EN
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gpio_set_direction(arg->h_pin, 0); //DIR output
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} else {
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pwm_reg->ch_con0 &= ~BIT(2); //H_DISABLE
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if (arg->h_pin < IO_MAX_NUM) { //任意引脚
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//TODO: output_channle
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if (arg->pwm_ch_num >= pwm_ch3) {
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printf("error: mcpwm ch %d not support output_channel", arg->pwm_ch_num);
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goto _CH_L_SET;
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}
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gpio_output_channle(arg->h_pin, CHx_CHx_PWM_H[arg->h_pin_output_ch_num][arg->pwm_ch_num]);
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use_output_ch_flag = 1;
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}
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}
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_CH_L_SET:
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//L:
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if (arg->l_pin == pwm_hw_l_pin[arg->pwm_ch_num]) { //硬件引脚
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pwm_reg->ch_con0 |= BIT(3); //L_EN
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gpio_set_direction(arg->l_pin, 0); //DIR output
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} else {
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pwm_reg->ch_con0 &= ~BIT(3); //L_DISABLE
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if (arg->l_pin < IO_MAX_NUM) { //任意引脚
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//TODO:
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if (arg->pwm_ch_num >= pwm_ch3) {
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printf("error: mcpwm ch %d not support output_channel", arg->pwm_ch_num);
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goto _PWM_OPEN;
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}
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if ((use_output_ch_flag == 1) && (arg->h_pin_output_ch_num == arg->l_pin_output_ch_num)) {
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arg->l_pin_output_ch_num ++;
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if (arg->l_pin_output_ch_num > 2) {
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arg->l_pin_output_ch_num = 0;
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}
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}
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gpio_output_channle(arg->l_pin, CHx_CHx_PWM_L[arg->l_pin_output_ch_num][arg->pwm_ch_num]);
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}
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}
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if (arg->complementary_en) { //是否互补
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pwm_reg->ch_con0 &= ~(BIT(5) | BIT(4));
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pwm_reg->ch_con0 |= BIT(5); //L_INV
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} else {
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pwm_reg->ch_con0 &= ~(BIT(5) | BIT(4));
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}
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_PWM_OPEN:
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mcpwm_open(arg->pwm_ch_num, arg->pwm_timer_num); //mcpwm enable
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log_pwm_info(arg->pwm_ch_num, arg->pwm_timer_num);
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}
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void mcpwm_test(void)
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|
{
|
|||
|
|
#define PWM_CH0_ENABLE 1
|
|||
|
|
#define PWM_CH1_ENABLE 1
|
|||
|
|
#define PWM_CH2_ENABLE 0 //一般不使用
|
|||
|
|
#define PWM_CH3_ENABLE 1
|
|||
|
|
|
|||
|
|
struct pwm_platform_data pwm_p_data;
|
|||
|
|
//io_test();
|
|||
|
|
#if PWM_CH0_ENABLE
|
|||
|
|
//CH0
|
|||
|
|
pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
|
|||
|
|
pwm_p_data.frequency = 1000; //1KHz
|
|||
|
|
|
|||
|
|
pwm_p_data.pwm_ch_num = pwm_ch0; //通道0
|
|||
|
|
pwm_p_data.pwm_timer_num = pwm_timer0; //时基选择通道0
|
|||
|
|
pwm_p_data.duty = 5000; //占空比50%
|
|||
|
|
//hw
|
|||
|
|
pwm_p_data.h_pin = IO_PORTA_00; //没有则填 -1。h_pin_output_ch_num无效，可不配置
|
|||
|
|
pwm_p_data.l_pin = IO_PORTA_03; //硬件引脚，l_pin_output_ch_num无效，可不配置
|
|||
|
|
//output_channel
|
|||
|
|
/* pwm_p_data.h_pin = IO_PORTB_00; //没有则填 -1。h_pin_output_ch_num无效，可不配置 */
|
|||
|
|
/* pwm_p_data.l_pin = IO_PORTB_01; //硬件引脚，l_pin_output_ch_num无效，可不配置 */
|
|||
|
|
/* pwm_p_data.h_pin_output_ch_num = 0; //output channel0 */
|
|||
|
|
/* pwm_p_data.l_pin_output_ch_num = 1; //output channel1 */
|
|||
|
|
pwm_p_data.complementary_en = 1; //两个引脚的波形, 1: 互补, 0: 同步;
|
|||
|
|
|
|||
|
|
mcpwm_init(&pwm_p_data);
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#if PWM_CH1_ENABLE
|
|||
|
|
//CH1
|
|||
|
|
pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
|
|||
|
|
pwm_p_data.frequency = 1000; //1KHz
|
|||
|
|
|
|||
|
|
pwm_p_data.pwm_ch_num = pwm_ch1; //通道0
|
|||
|
|
pwm_p_data.pwm_timer_num = pwm_timer0; //时基选择通道0
|
|||
|
|
pwm_p_data.duty = 5000; //占空比50%
|
|||
|
|
//hw
|
|||
|
|
pwm_p_data.h_pin = IO_PORTA_07; //没有则填 -1。h_pin_output_ch_num无效，可不配置
|
|||
|
|
pwm_p_data.l_pin = IO_PORTA_08; //硬件引脚，l_pin_output_ch_num无效，可不配置
|
|||
|
|
//output_channel
|
|||
|
|
/* pwm_p_data.h_pin = IO_PORTA_00; //没有则填 -1。h_pin_output_ch_num无效，可不配置 */
|
|||
|
|
/* pwm_p_data.l_pin = IO_PORTA_04; //硬件引脚，l_pin_output_ch_num无效，可不配置 */
|
|||
|
|
/* pwm_p_data.h_pin_output_ch_num = 0; //output channel0 */
|
|||
|
|
/* pwm_p_data.l_pin_output_ch_num = 2; //output channel1 */
|
|||
|
|
pwm_p_data.complementary_en = 1; //两个引脚的波形同步
|
|||
|
|
|
|||
|
|
mcpwm_init(&pwm_p_data);
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#if PWM_CH2_ENABLE
|
|||
|
|
//CH2, BD29使用CH2需要注意,H硬件是PB2,mask设置为短按复位(2ms)，需要关闭才能使用
|
|||
|
|
//关闭PB2长按复位方法: p33_and_1byte(P3_PR_PWR, ~BIT(3));
|
|||
|
|
|
|||
|
|
pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
|
|||
|
|
pwm_p_data.frequency = 1000; //1KHz
|
|||
|
|
|
|||
|
|
pwm_p_data.pwm_ch_num = pwm_ch2; //通道0
|
|||
|
|
pwm_p_data.pwm_timer_num = pwm_timer0; //时基选择通道0
|
|||
|
|
pwm_p_data.duty = 5000; //占空比50%
|
|||
|
|
//hw
|
|||
|
|
pwm_p_data.h_pin = IO_PORTB_02; //没有则填 -1。h_pin_output_ch_num无效，可不配置
|
|||
|
|
pwm_p_data.l_pin = IO_PORTB_03; //硬件引脚，l_pin_output_ch_num无效，可不配置
|
|||
|
|
|
|||
|
|
//output_channel
|
|||
|
|
/* pwm_p_data.h_pin = IO_PORTB_00; //没有则填 -1。h_pin_output_ch_num无效，可不配置 */
|
|||
|
|
/* pwm_p_data.l_pin = IO_PORTB_04; //没有则填 -1。h_pin_output_ch_num无效，可不配置 */
|
|||
|
|
/* pwm_p_data.h_pin_output_ch_num = 0; //output channel0 */
|
|||
|
|
/* pwm_p_data.l_pin_output_ch_num = 1; //output channel0 */
|
|||
|
|
|
|||
|
|
pwm_p_data.complementary_en = 1; //两个引脚的波形同步
|
|||
|
|
|
|||
|
|
mcpwm_init(&pwm_p_data);
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
//注意: CH3, CH4, CH5不支持通过output channel输出
|
|||
|
|
#if PWM_CH3_ENABLE
|
|||
|
|
//CH3
|
|||
|
|
pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
|
|||
|
|
pwm_p_data.frequency = 1000; //1KHz
|
|||
|
|
|
|||
|
|
pwm_p_data.pwm_ch_num = pwm_ch3; //通道0
|
|||
|
|
pwm_p_data.pwm_timer_num = pwm_timer0; //时基选择通道0
|
|||
|
|
pwm_p_data.duty = 5000; //占空比50%
|
|||
|
|
//only support hw
|
|||
|
|
pwm_p_data.h_pin = IO_PORTB_04; //没有则填 -1。h_pin_output_ch_num无效，可不配置
|
|||
|
|
pwm_p_data.l_pin = IO_PORTB_05; //硬件引脚，l_pin_output_ch_num无效，可不配置
|
|||
|
|
|
|||
|
|
pwm_p_data.complementary_en = 1; //两个引脚的波形同步
|
|||
|
|
|
|||
|
|
mcpwm_init(&pwm_p_data);
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
while (1);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
/************************************** 外部引脚中断参考代码 **************************/
|
|||
|
|
static IO_ISR_FUNC io_isr_cbfun;
|
|||
|
|
___interrupt
|
|||
|
|
void io_interrupt(void)
|
|||
|
|
{
|
|||
|
|
JL_MCPWM->CH0_CON1 |= BIT(14);
|
|||
|
|
io_isr_cbfun();
|
|||
|
|
}
|
|||
|
|
void io_ext_interrupt_init(u8 port, trigger_mode_type trigger_mode, IO_ISR_FUNC cbfun)
|
|||
|
|
{
|
|||
|
|
if (port > IO_PORT_DM) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
gpio_set_die(port, 1);
|
|||
|
|
gpio_set_direction(port, 1);
|
|||
|
|
if (trigger_mode) {
|
|||
|
|
gpio_set_pull_up(port, 1);
|
|||
|
|
gpio_set_pull_down(port, 0);
|
|||
|
|
JL_MCPWM->FPIN_CON = 0;
|
|||
|
|
} else {
|
|||
|
|
gpio_set_pull_up(port, 0);
|
|||
|
|
gpio_set_pull_down(port, 1);
|
|||
|
|
JL_MCPWM->FPIN_CON = BIT(16);
|
|||
|
|
}
|
|||
|
|
if (port == IO_PORTA_02) {
|
|||
|
|
JL_IOMAP->CON3 &= ~BIT(12); //使用硬件引脚
|
|||
|
|
} else {
|
|||
|
|
JL_IOMAP->CON3 |= BIT(12); //使用input_channel 2
|
|||
|
|
JL_IOMAP->CON2 &= ~(0b111111 << 16);
|
|||
|
|
JL_IOMAP->CON2 |= (port << 16);
|
|||
|
|
}
|
|||
|
|
io_isr_cbfun = cbfun;
|
|||
|
|
request_irq(IRQ_MCPWMX_IDX, 3, io_interrupt, 0); //注册中断函数
|
|||
|
|
JL_MCPWM->CH0_CON1 = BIT(14) | BIT(11) | BIT(4);
|
|||
|
|
JL_MCPWM->MCPWM_CON0 |= BIT(0);
|
|||
|
|
}
|
|||
|
|
void io_ext_interrupt_close(u8 port)
|
|||
|
|
{
|
|||
|
|
if (port > IO_PORT_DM) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
gpio_set_die(port, 0);
|
|||
|
|
gpio_set_direction(port, 1);
|
|||
|
|
gpio_set_pull_up(port, 0);
|
|||
|
|
gpio_set_pull_down(port, 0);
|
|||
|
|
JL_MCPWM->CH0_CON1 = BIT(14);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
///////////// 使用举例如下 //////////////////
|
|||
|
|
void my_io_isr_cbfun(void)
|
|||
|
|
{
|
|||
|
|
printf("Hello world !\n");
|
|||
|
|
}
|
|||
|
|
void io_ext_interrupt_test(void)
|
|||
|
|
{
|
|||
|
|
io_ext_interrupt_init(IO_PORTA_09, rising_edge_trigger, my_io_isr_cbfun);
|
|||
|
|
while (1);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
|