TI-AM335X A8的EHRPWM双路输出代码分享 - 平头弟

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TI-AM335X A8的EHRPWM双路输出代码分享

2019-07-15 15:25发布

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TI-AM335X A8的EHRPWM双路输出代码分享

分享一个做A8控制两路电机的写的一个驱动

/*****************************************Copyright(C)******************************************
*******************************************XXXX*********************************************
**-----------------------------------------文件信息---------------------------------------------
**文件名: bsp_pwm.c
**硬件: am335x
**创建人: WB
**创建日期: 2015-01-21
**最新版本: V0.1
**描述: EHRPWM配置文件
**---------------------------------------历史版本信息-------------------------------------------
**修改人:
**日期:
**版本:
**描述:
**----------------------------------------------------------------------------------------------
***********************************************************************************************/
/* Includes-----------------------------------------------------------------------------------*/
#include "include.h"
#include "bsp_pwm.h"
#include "soc_AM335x.h"
#include "evmAM335x.h"
#include "ehrpwm.h"
#include "hw_control_AM335x.h"
#include "hw_cm_per.h"
#include "hw_types.h"
/* Private define-----------------------------------------------------------------------------*/
#define CLOCK_DIV_VAL (10) //分频，也就是计数时钟（SOC_EHRPWM_2_MODULE_FREQ/CLOCK_DIV_VAL）
#define SOC_EHRPWM_2_MODULE_FREQ (100000000) //模块时钟
/* Private typedef----------------------------------------------------------------------------*/
/* Private macro------------------------------------------------------------------------------*/
//PWMSS基地址
const INT32U PWMSS_REGS_Table[3] = {
SOC_PWMSS0_REGS,
SOC_PWMSS1_REGS,
SOC_PWMSS2_REGS,
};
//EHRPWM基地址
const INT32U EPWM_REGS_Table[3] = {
SOC_EPWM_0_REGS,
SOC_EPWM_1_REGS,
SOC_EPWM_2_REGS,
};
/* Private variables--------------------------------------------------------------------------*/
/* Private function prototypes----------------------------------------------------------------*/
/* Private functions--------------------------------------------------------------------------*/
/***********************************************************************************************
* Function Name : EHRPWMConfigure
* Description :PWM配置主要是配置占空比
* Input :
* Return :
* Note(s) :
* Contributor : 150204 WB
***********************************************************************************************/
void EHRPWMConfigure(_BSPEHRPWM_CONFIG *epwmconfig)
{
/* TimeBase configuration */
/* Configure the clock frequency */
EHRPWMTimebaseClkConfig(EPWM_REGS_Table[epwmconfig->EPWMOutNum],
SOC_EHRPWM_2_MODULE_FREQ/CLOCK_DIV_VAL,
SOC_EHRPWM_2_MODULE_FREQ);
/* Configure the period of the output waveform */
EHRPWMPWMOpFreqSet(EPWM_REGS_Table[epwmconfig->EPWMOutNum],
SOC_EHRPWM_2_MODULE_FREQ/CLOCK_DIV_VAL,//计数时钟
(unsigned int)(SOC_EHRPWM_2_MODULE_FREQ/CLOCK_DIV_VAL)/epwmconfig->EPWMLoad,//255计数重载
(unsigned int)EHRPWM_COUNT_UP,//向上计数
(bool)EHRPWM_SHADOW_WRITE_DISABLE);
/* Disable synchronization*/
EHRPWMTimebaseSyncDisable(EPWM_REGS_Table[epwmconfig->EPWMOutNum]);
/* Disable syncout*/
EHRPWMSyncOutModeSet(EPWM_REGS_Table[epwmconfig->EPWMOutNum], EHRPWM_SYNCOUT_DISABLE);
/* Configure the emulation behaviour*/
EHRPWMTBEmulationModeSet(EPWM_REGS_Table[epwmconfig->EPWMOutNum], EHRPWM_STOP_AFTER_NEXT_TB_INCREMENT);
/* Configure Counter compare cub-module */
/* Load Compare A value *///配置A的比较计数值
EHRPWMLoadCMPA(EPWM_REGS_Table[epwmconfig->EPWMOutNum],
epwmconfig->LoadCMPA,
(bool)EHRPWM_SHADOW_WRITE_DISABLE,
(unsigned int)EHRPWM_COMPA_NO_LOAD,
(bool)EHRPWM_CMPCTL_OVERWR_SH_FL);
/* Load Compare B value *///配置B的比较计数值
EHRPWMLoadCMPB(EPWM_REGS_Table[epwmconfig->EPWMOutNum],
epwmconfig->LoadCMPB,
(bool)EHRPWM_SHADOW_WRITE_DISABLE,
(unsigned int) EHRPWM_COMPB_NO_LOAD,
(bool)EHRPWM_CMPCTL_OVERWR_SH_FL);
/* Configure Action qualifier */
/* Toggle when CTR = CMPA *///设置A输出的一些配置，这里配置为ZRO即初始低，PRD即EHRPriod到低，CAU即A计数值到为高电平，其余节点不做
EHRPWMConfigureAQActionOnA(EPWM_REGS_Table[epwmconfig->EPWMOutNum],
EHRPWM_AQCTLA_ZRO_EPWMXALOW,
EHRPWM_AQCTLA_PRD_EPWMXALOW,
EHRPWM_AQCTLA_CAU_EPWMXAHIGH,
EHRPWM_AQCTLA_CAD_DONOTHING,
EHRPWM_AQCTLA_CBU_DONOTHING,
EHRPWM_AQCTLA_CBD_DONOTHING,
EHRPWM_AQSFRC_ACTSFA_DONOTHING);
/* Configure Action qualifier */
/* Toggle when CTR = CMPB *///设置B输出的一些配置，这里配置为ZRO初始低，PRD即EHRPriod到低，，CBU即B计数值到为高电平，其余节点不做
EHRPWMConfigureAQActionOnB(EPWM_REGS_Table[epwmconfig->EPWMOutNum],
EHRPWM_AQCTLB_ZRO_EPWMXBLOW,
EHRPWM_AQCTLB_PRD_EPWMXBLOW,
EHRPWM_AQCTLB_CAU_DONOTHING,
EHRPWM_AQCTLB_CAD_DONOTHING,
EHRPWM_AQCTLB_CBU_EPWMXBHIGH,
EHRPWM_AQCTLB_CBD_DONOTHING,
EHRPWM_AQSFRC_ACTSFB_DONOTHING);
/* Bypass dead band sub-module */
EHRPWMDBOutput(EPWM_REGS_Table[epwmconfig->EPWMOutNum], EHRPWM_DBCTL_OUT_MODE_BYPASS);
/* Disable Chopper sub-module */
EHRPWMChopperDisable(EPWM_REGS_Table[epwmconfig->EPWMOutNum]);
/* Disable trip events */
EHRPWMTZTripEventDisable(EPWM_REGS_Table[epwmconfig->EPWMOutNum],(bool)EHRPWM_TZ_ONESHOT);
EHRPWMTZTripEventDisable(EPWM_REGS_Table[epwmconfig->EPWMOutNum],(bool)EHRPWM_TZ_CYCLEBYCYCLE);
/* Event trigger */
/* Generate interrupt every 3rd occurance of the event */
//EHRPWMETIntPrescale(EPWM_REGS_Table[epwmconfig->EPWMOutNum], EHRPWM_ETPS_INTPRD_THIRDEVENT);
/* Generate event when CTR = CMPB */
// EHRPWMETIntSourceSelect(EPWM_REGS_Table[epwmconfig->EPWMOutNum], EHRPWM_ETSEL_INTSEL_TBCTREQUCMPBINC);
/* Disable High resolution capability 禁止高分辨率*/
EHRPWMHRDisable(EPWM_REGS_Table[epwmconfig->EPWMOutNum]);
}
/***********************************************************************************************
* Function Name : EPWMPinMuxSetup
* Description :
* Input :
* Return :
* Note(s) :
* Contributor : 150204 WB
***********************************************************************************************/
void EPWMPinMuxSetup(INT8U pwmnum)
{
switch (pwmnum)
{
case 0:
HWREG(SOC_CONTROL_REGS + CONTROL_CONF_MCASP0_ACLKX) = CONTROL_CONF_MUXMODE(1);
HWREG(SOC_CONTROL_REGS + CONTROL_CONF_MCASP0_FSX) = CONTROL_CONF_MUXMODE(1);
break;
case 1:
HWREG(SOC_CONTROL_REGS + CONTROL_CONF_LCD_DATA(10)) = CONTROL_CONF_MUXMODE(2);
HWREG(SOC_CONTROL_REGS + CONTROL_CONF_LCD_DATA(11)) = CONTROL_CONF_MUXMODE(2);
break;
case 2:
HWREG(SOC_CONTROL_REGS + CONTROL_CONF_GPMC_AD(9)) = CONTROL_CONF_MUXMODE(4);
HWREG(SOC_CONTROL_REGS + CONTROL_CONF_GPMC_AD(8)) = CONTROL_CONF_MUXMODE(4);
break;
default:
break;
}
}
/***********************************************************************************************
* Function Name : Bsp_PwmInit
* Description :PWM初始化配置
* Input :
* Return :
* Note(s) :
* Contributor : 150204 WB
***********************************************************************************************/
void Bsp_EhrPwmConfig(_BSPEHRPWM_CONFIG *epwmconfig)
{
PWMSSModuleClkConfig(epwmconfig->EPWMOutNum);
EPWMPinMuxSetup(epwmconfig->EPWMOutNum);
/* Enable Clock for EHRPWM in PWM sub system */
EHRPWMClockEnable(PWMSS_REGS_Table[epwmconfig->EPWMOutNum]);
/* Enable Timer Base Module Clock in control module */
PWMSSTBClkEnable(epwmconfig->EPWMOutNum);
/* EHRPWM is configured to generate PWM waveform on EPWMBxB Pin*/
EHRPWMConfigure(epwmconfig);
}
/************************(C)COPYRIGHT 2015 XXXX*****END OF FILE****************************/

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/*****************************************Copyright(C)******************************************
*******************************************XXXX*********************************************
**-----------------------------------------文件信息---------------------------------------------
**文件名: bsp_pwm.h
**硬件: am3352
**创建人: WB
**创建日期: 2015-01-21
**最新版本: V0.1
**描述: PWM
**---------------------------------------历史版本信息-------------------------------------------
**修改人:
**日期:
**版本:
**描述:
**----------------------------------------------------------------------------------------------
***********************************************************************************************/
#ifndef __BSP_PWM_H_
#define __BSP_PWM_H_
/* Includes-----------------------------------------------------------------------------------*/
#include "bsp_conf.h"
/* Private define-----------------------------------------------------------------------------*/
/* Private typedef----------------------------------------------------------------------------*/
/*EPWMLoad为一个周期，EPWMLoad-LoadCMP为一个周期内的高电平时间，其余周期内的时间
为低电平，这个就可以作为一个占空比的调节。PWM计数时钟默认为10M，可更改，若EPWMLoad=255，则
PWM频率为10M/255=39.215K*/
typedef struct
{
INT8U EPWMOutNum; //0~2输出号
INT8U EPWMLoad; //EPWM重载计数值,即分辨率
INT8U LoadCMPA; //A通道计数值
INT8U LoadCMPB; //B通道计数值
}_BSPEHRPWM_CONFIG;
/* Private macro------------------------------------------------------------------------------*/
/* Private variables--------------------------------------------------------------------------*/
/* Private function prototypes----------------------------------------------------------------*/
/* Private functions--------------------------------------------------------------------------*/
/***********************************************************************************************
* Function Name : Bsp_PwmInit
* Description :PWM初始化
* Input :
* Return :
* Note(s) :
* Contributor : 150120 WB
***********************************************************************************************/
void Bsp_EhrPwmConfig(_BSPEHRPWM_CONFIG *epwmconfig);
#endif //__BSP_PWM_H_
/************************(C)COPYRIGHT 2015 XXXX*****END OF FILE****************************/

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