491 lines
15 KiB
C
491 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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PWM_TIMER_REG *get_pwm_timer_reg(pwm_ch_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_ch0:
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reg = (PWM_TIMER_REG *)(&(JL_MCPWM->TMR0_CON));
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break;
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case pwm_ch1:
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reg = (PWM_TIMER_REG *)(&(JL_MCPWM->TMR1_CON));
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break;
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case pwm_ch2:
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reg = (PWM_TIMER_REG *)(&(JL_MCPWM->TMR2_CON));
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break;
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case pwm_ch3:
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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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/*
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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_ch_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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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 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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u32 clk = MCPWM_CLK;
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for (i = 0; i < 16; i++) {
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mcpwm_fre_min = clk / (65536 * (1 << 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 = clk / (1 << 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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static u32 old_mcpwm_clk = 0;
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static void clock_critical_enter(void)
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{
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old_mcpwm_clk = clk_get("mcpwm");
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}
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static void clock_critical_exit(void)
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{
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u32 new_mcpwm_clk = clk_get("mcpwm");
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if (new_mcpwm_clk == old_mcpwm_clk) {
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return;
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}
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PWM_CH_REG *pwm_reg = NULL;
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PWM_TIMER_REG *timer_reg = NULL;
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for (u8 ch = 0; ch < 4; ch++) {
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if (JL_MCPWM->MCPWM_CON0 & BIT(ch + 8)) {
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pwm_reg = get_pwm_ch_reg(ch);
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timer_reg = get_pwm_timer_reg(ch);
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if (new_mcpwm_clk > old_mcpwm_clk) {
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timer_reg->tmr_pr = timer_reg->tmr_pr * (new_mcpwm_clk / old_mcpwm_clk);
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pwm_reg->ch_cmpl = pwm_reg->ch_cmpl * (new_mcpwm_clk / old_mcpwm_clk);
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} else {
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timer_reg->tmr_pr = timer_reg->tmr_pr / (old_mcpwm_clk / new_mcpwm_clk);
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pwm_reg->ch_cmpl = pwm_reg->ch_cmpl / (old_mcpwm_clk / new_mcpwm_clk);
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}
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pwm_reg->ch_cmph = pwm_reg->ch_cmpl;
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}
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}
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}
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CLOCK_CRITICAL_HANDLE_REG(mcpwm, clock_critical_enter, clock_critical_exit)
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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, u16 duty)
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{
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PWM_TIMER_REG *timer_reg = get_pwm_timer_reg(pwm_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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timer_reg->tmr_cnt = 0;
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timer_reg->tmr_con |= 0b01;
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if (duty == 10000) {
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timer_reg->tmr_cnt = 0;
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timer_reg->tmr_con &= ~(0b11);
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} else if (duty == 0) {
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timer_reg->tmr_cnt = pwm_reg->ch_cmpl;
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timer_reg->tmr_con &= ~(0b11);
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}
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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_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 + 8); //TnEN
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} else {
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JL_MCPWM->MCPWM_CON0 &= (~BIT(pwm_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)
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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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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 |= (pwm_ch << 8); //sel mctmr
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mcpwm_ch_open_or_close(pwm_ch, 1);
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mctimer_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)
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{
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mctimer_ch_open_or_close(pwm_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)
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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(pwm_ch);
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mcpwm_debug("tmr%d con0 = 0x%x", pwm_ch, timer_reg->tmr_con);
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mcpwm_debug("tmr%d pr = 0x%x", pwm_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("mcpwm clk = %d", 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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//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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//set mctimer frequency
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mcpwm_set_frequency(arg->pwm_ch_num, arg->pwm_aligned_mode, arg->frequency);
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pwm_reg->ch_con0 = 0;
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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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mcpwm_open(arg->pwm_ch_num); //mcpwm enable
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//set duty
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mcpwm_set_duty(arg->pwm_ch_num, arg->duty);
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//H:
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if (arg->h_pin < IO_MAX_NUM) { //任意引脚
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pwm_reg->ch_con0 |= BIT(2); //H_EN
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gpio_set_fun_output_port(arg->h_pin, FO_MCPWM_CH0H + 2 * arg->pwm_ch_num, 0, 1);
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gpio_set_direction(arg->h_pin, 0); //DIR output
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}
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//L:
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if (arg->l_pin < IO_MAX_NUM) { //任意引脚
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pwm_reg->ch_con0 |= BIT(3); //L_EN
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gpio_set_fun_output_port(arg->l_pin, FO_MCPWM_CH0L + 2 * arg->pwm_ch_num, 0, 1);
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gpio_set_direction(arg->l_pin, 0); //DIR output
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}
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log_pwm_info(arg->pwm_ch_num);
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}
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///////////// for test code //////////////////
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void mcpwm_test(void)
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{
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#define PWM_CH0_ENABLE 1
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#define PWM_CH1_ENABLE 1
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#define PWM_CH2_ENABLE 1
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#define PWM_CH3_ENABLE 1
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struct pwm_platform_data pwm_p_data;
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#if PWM_CH0_ENABLE
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pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
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pwm_p_data.pwm_ch_num = pwm_ch0; //通道号
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pwm_p_data.frequency = 1000; //1KHz
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pwm_p_data.duty = 5000; //占空比50%
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pwm_p_data.h_pin = IO_PORTA_06; //任意引脚
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pwm_p_data.l_pin = -1; //任意引脚,不需要就填-1
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pwm_p_data.complementary_en = 0; //两个引脚的波形, 0: 同步, 1: 互补，互补波形的占空比体现在H引脚上
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mcpwm_init(&pwm_p_data);
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#endif
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#if PWM_CH1_ENABLE
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pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
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pwm_p_data.pwm_ch_num = pwm_ch1; //通道号
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pwm_p_data.frequency = 1000; //1KHz
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pwm_p_data.duty = 2500; //占空比25%
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pwm_p_data.h_pin = IO_PORTA_01; //任意引脚
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pwm_p_data.l_pin = IO_PORTA_02; //任意引脚,不需要就填-1
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pwm_p_data.complementary_en = 1; //两个引脚的波形, 0: 同步, 1: 互补，互补波形的占空比体现在H引脚上
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mcpwm_init(&pwm_p_data);
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#endif
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#if PWM_CH2_ENABLE
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pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
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pwm_p_data.pwm_ch_num = pwm_ch2; //通道号
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pwm_p_data.frequency = 10000; //10KHz
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pwm_p_data.duty = 5000; //占空比50%
|
|||
|
|
pwm_p_data.h_pin = IO_PORTA_03; //任意引脚
|
|||
|
|
pwm_p_data.l_pin = -1; //任意引脚,不需要就填-1
|
|||
|
|
mcpwm_init(&pwm_p_data);
|
|||
|
|
#endif
|
|||
|
|
#if PWM_CH3_ENABLE
|
|||
|
|
pwm_p_data.pwm_aligned_mode = pwm_edge_aligned; //边沿对齐
|
|||
|
|
pwm_p_data.pwm_ch_num = pwm_ch3; //通道号
|
|||
|
|
pwm_p_data.frequency = 10000; //10KHz
|
|||
|
|
pwm_p_data.duty = 7500; //占空比75%
|
|||
|
|
pwm_p_data.h_pin = IO_PORTA_04; //任意引脚
|
|||
|
|
pwm_p_data.l_pin = IO_PORTA_05; //任意引脚,不需要就填-1
|
|||
|
|
pwm_p_data.complementary_en = 0; //两个引脚的波形, 0: 同步, 1: 互补，互补波形的占空比体现在H引脚上
|
|||
|
|
mcpwm_init(&pwm_p_data);
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
extern void clk_out(u8 gpio, enum CLK_OUT_SOURCE clk);
|
|||
|
|
clk_out(IO_PORTA_07, LSB_CLK_OUT);
|
|||
|
|
extern void wdt_clear();
|
|||
|
|
while (1) {
|
|||
|
|
wdt_clear();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
/******************************* 外部引脚中断参考代码 ***************************/
|
|||
|
|
|
|||
|
|
void (*io_isr_cbfun)(u8 index) = NULL;
|
|||
|
|
void set_io_ext_interrupt_cbfun(void (*cbfun)(u8 index))
|
|||
|
|
{
|
|||
|
|
io_isr_cbfun = cbfun;
|
|||
|
|
}
|
|||
|
|
___interrupt
|
|||
|
|
void io_interrupt(void)
|
|||
|
|
{
|
|||
|
|
u32 io_index = -1;
|
|||
|
|
if (JL_MCPWM->CH0_CON1 & BIT(15)) {
|
|||
|
|
JL_MCPWM->CH0_CON1 |= BIT(14);
|
|||
|
|
io_index = 0;
|
|||
|
|
} else if (JL_MCPWM->CH1_CON1 & BIT(15)) {
|
|||
|
|
JL_MCPWM->CH1_CON1 |= BIT(14);
|
|||
|
|
io_index = 1;
|
|||
|
|
} else if (JL_MCPWM->CH2_CON1 & BIT(15)) {
|
|||
|
|
JL_MCPWM->CH2_CON1 |= BIT(14);
|
|||
|
|
io_index = 2;
|
|||
|
|
} else if (JL_MCPWM->CH3_CON1 & BIT(15)) {
|
|||
|
|
JL_MCPWM->CH3_CON1 |= BIT(14);
|
|||
|
|
io_index = 3;
|
|||
|
|
} else {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if (io_isr_cbfun) {
|
|||
|
|
io_isr_cbfun(io_index);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
void io_ext_interrupt_init(u8 index, u8 port, u8 trigger_mode)
|
|||
|
|
{
|
|||
|
|
if (port > IO_PORT_MAX) {
|
|||
|
|
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->FPINCON &= ~BIT(16 + index);//下降沿触发
|
|||
|
|
} else {
|
|||
|
|
gpio_set_pull_up(port, 0);
|
|||
|
|
gpio_set_pull_down(port, 1);
|
|||
|
|
JL_MCPWM->FPINCON |= BIT(16 + index);//上升沿触发
|
|||
|
|
}
|
|||
|
|
JL_MCPWM->FPINCON |= BIT(8 + index);//开启滤波
|
|||
|
|
JL_MCPWM->FPINCON |= (0b111111 << 0); //滤波时间 = 16 * 64 / hsb_clk (单位：s)
|
|||
|
|
|
|||
|
|
gpio_set_fun_input_port(port, PFI_MCPWM_FPIN_A + index * 4);
|
|||
|
|
request_irq(IRQ_CHX_PWM_IDX, 3, io_interrupt, 0); //注册中断函数
|
|||
|
|
PWM_CH_REG *pwm_reg = get_pwm_ch_reg(index);
|
|||
|
|
pwm_reg->ch_con1 = BIT(14) | BIT(11) | BIT(4) | (index << 0);
|
|||
|
|
JL_MCPWM->MCPWM_CON0 |= BIT(index);
|
|||
|
|
|
|||
|
|
printf("JL_MCPWM->CH%d_CON1 = 0x%x\n", index, pwm_reg->ch_con1);
|
|||
|
|
printf("JL_MCPWM->FPINCON = 0x%x\n", JL_MCPWM->FPINCON);
|
|||
|
|
printf("JL_MCPWM->MCPWM_CON0 = 0x%x\n", JL_MCPWM->MCPWM_CON0);
|
|||
|
|
}
|
|||
|
|
void io_ext_interrupt_close(u8 index, u8 port)
|
|||
|
|
{
|
|||
|
|
if (port > IO_PORT_MAX) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
gpio_set_die(port, 0);
|
|||
|
|
gpio_set_direction(port, 1);
|
|||
|
|
gpio_set_pull_up(port, 0);
|
|||
|
|
gpio_set_pull_down(port, 0);
|
|||
|
|
gpio_disable_fun_input_port(PFI_MCPWM_FPIN_A + index * 4);
|
|||
|
|
PWM_CH_REG *pwm_reg = get_pwm_ch_reg(index);
|
|||
|
|
pwm_reg->ch_con1 = BIT(14);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
///////////// 使用举例如下 //////////////////
|
|||
|
|
void my_io_isr_cbfun(u32 index)
|
|||
|
|
{
|
|||
|
|
printf("io index --> %d Hello world !\n", index);
|
|||
|
|
}
|
|||
|
|
void io_ext_interrupt_test(void)
|
|||
|
|
{
|
|||
|
|
set_io_ext_interrupt_cbfun(my_io_isr_cbfun);
|
|||
|
|
io_ext_interrupt_init(0, IO_PORTA_01, 1);
|
|||
|
|
io_ext_interrupt_init(1, IO_PORTA_02, 1);
|
|||
|
|
io_ext_interrupt_init(2, IO_PORTA_03, 1);
|
|||
|
|
io_ext_interrupt_init(3, IO_PORTA_04, 1);
|
|||
|
|
extern void wdt_clear();
|
|||
|
|
while (1) {
|
|||
|
|
wdt_clear();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
/******************************* 用timer做pwm的参考代码 ***************************/
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @param JL_TIMERx : JL_TIMER0/1/2/3
|
|||
|
|
* @param pwm_io : JL_PORTA_01, JL_PORTB_02,,,等等，支持任意普通IO
|
|||
|
|
* @param fre : 频率，单位Hz
|
|||
|
|
* @param duty : 初始占空比，0~10000对应0~100%
|
|||
|
|
*/
|
|||
|
|
void timer_pwm_init(JL_TIMER_TypeDef *JL_TIMERx, u32 pwm_io, u32 fre, u32 duty)
|
|||
|
|
{
|
|||
|
|
switch ((u32)JL_TIMERx) {
|
|||
|
|
case (u32)JL_TIMER0 :
|
|||
|
|
gpio_set_fun_output_port(pwm_io, FO_TMR0_PWM, 0, 1);
|
|||
|
|
break;
|
|||
|
|
case (u32)JL_TIMER1 :
|
|||
|
|
gpio_set_fun_output_port(pwm_io, FO_TMR1_PWM, 0, 1);
|
|||
|
|
break;
|
|||
|
|
case (u32)JL_TIMER2 :
|
|||
|
|
gpio_set_fun_output_port(pwm_io, FO_TMR2_PWM, 0, 1);
|
|||
|
|
break;
|
|||
|
|
case (u32)JL_TIMER3 :
|
|||
|
|
bit_clr_ie(IRQ_TIME3_IDX);
|
|||
|
|
gpio_set_fun_output_port(pwm_io, FO_TMR3_PWM, 0, 1);
|
|||
|
|
break;
|
|||
|
|
default:
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
u32 u_clk = 24000000;
|
|||
|
|
//初始化timer
|
|||
|
|
JL_TIMERx->CON = 0;
|
|||
|
|
JL_TIMERx->CON |= (0b110 << 10); //时钟源选择STD_24M时钟源
|
|||
|
|
JL_TIMERx->CON |= (0b0001 << 4); //时钟源再4分频
|
|||
|
|
JL_TIMERx->CNT = 0; //清计数值
|
|||
|
|
JL_TIMERx->PRD = u_clk / (4 * fre); //设置周期
|
|||
|
|
JL_TIMERx->PWM = (JL_TIMERx->PRD * duty) / 10000; //设置初始占空比，0~10000对应0~100%
|
|||
|
|
JL_TIMERx->CON |= (0b01 << 0); //计数模式
|
|||
|
|
JL_TIMERx->CON |= BIT(8); //PWM使能
|
|||
|
|
//设置引脚状态
|
|||
|
|
gpio_set_die(pwm_io, 1);
|
|||
|
|
gpio_set_pull_up(pwm_io, 0);
|
|||
|
|
gpio_set_pull_down(pwm_io, 0);
|
|||
|
|
gpio_set_direction(pwm_io, 0);
|
|||
|
|
|
|||
|
|
printf("JL_TIMERx->PRD = 0x%x\n", JL_TIMERx->PRD);
|
|||
|
|
printf("JL_TIMERx->CON = 0x%x\n", JL_TIMERx->CON);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void set_timer_pwm_duty(JL_TIMER_TypeDef *JL_TIMERx, u32 duty)
|
|||
|
|
{
|
|||
|
|
JL_TIMERx->PWM = (JL_TIMERx->PRD * duty) / 10000; //0~10000对应0~100%
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void timer_pwm_test(void)
|
|||
|
|
{
|
|||
|
|
timer_pwm_init(JL_TIMER2, IO_PORTA_01, 10000, 2000);
|
|||
|
|
timer_pwm_init(JL_TIMER3, IO_PORTA_02, 10000, 5000);
|
|||
|
|
extern void wdt_clear();
|
|||
|
|
while (1) {
|
|||
|
|
wdt_clear();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
|