智能车制作

标题: kL25 PWM [打印本页]

作者: admingj 时间: 2015-5-20 14:17
标题: kL25 PWM
KL25 调pwm遇到了问题，初始化成功了，改变占空比时用的改变 TPM C3V 的值可是发现跟变不是  if(left>=1999)       left=1999;  TPM_CnV_REG(TPMN[tpmn], ch) = (unsigned int)left;

  ch=TPM_CH4;
  if(right>=1999)    right=1999;
  TPM_CnV_REG(TPMN[tpmn], ch) = (unsigned int)right;

这样就能行的，监视CnV发现它压根没变，除非在每次改变CnV是来一句
TPM_CNT_REG(TPMN[tpmn]) = 0;

但这样对于有深度强迫症的我是没法接受的，因为这样的话每次调用这个函数就会影响周期与波形，
KL系列同学们有无遇到类似问题啊？

作者: admingj 时间: 2015-5-20 14:18
CODE
void  DiverMotorsAndPluse_Init(void)
{
   TPMn_e tpmn=TPM0;
   TPM_CHn_e ch=TPM_CH3;

   gpio_init(PTB16 ,GPO,LOW) ;
   gpio_init(PTC0 ,GPO,LOW) ;

   tpm_port_mux(tpmn,ch);

   TPM_SC_REG(TPMN[tpmn]) = ( 0
                                 | TPM_SC_CPWMS_MASK       //0：上升沿计数模式，1：跳变沿计数模式选择（注释了表示 0）
                                 | TPM_SC_PS(2)          //分频因子，分频系数 = 2^PS
                                 | TPM_SC_CMOD(1)
                              );
   TPM_MOD_REG(TPMN[tpmn]) = 1999;                      //模数, EPWM的周期为：MOD - CNTIN + 0x0001
   TPM_CNT_REG(TPMN[tpmn]) = 0;                         //计数器。只有低16位可用（写任何值到此寄存器，都会清0）

   TPM_CnSC_REG(TPMN[tpmn], ch) &= ~TPM_CnSC_ELSB_MASK;
   TPM_CnSC_REG(TPMN[tpmn], ch)  = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK;
   // MSnB:MSnA = 1x    边沿对齐PWM
   // ELSnB:ELSnA = 10    先高后低
   // ELSnB:ELSnA = 11    先低后高

   TPM_CnV_REG(TPMN[tpmn], ch) = 2;

   ch=TPM_CH4;
   tpm_port_mux(tpmn,ch);
   TPM_CnSC_REG(TPMN[tpmn], ch) &= ~TPM_CnSC_ELSB_MASK;
   TPM_CnSC_REG(TPMN[tpmn], ch)  = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK;
   TPM_CnV_REG(TPMN[tpmn], ch) = 2;
}
void  DirectMotor_Init(void)
{

}

void  DiverMotors(int left,int right)
{
   TPMn_e tpmn=TPM0;
   TPM_CHn_e ch=TPM_CH3;
   //TPM_CNT_REG(TPMN[tpmn]) = 0;
  if(left>=0)
  {
left+=LeftAdd;

//ELSnB:ELSnA  10 高真脉冲 x1 低真脉冲
  //  TPM_CnSC_REG(TPMN[TPM0], TPM_CH3)|= TPM_CnSC_ELSB_MASK;
// TPM_CnSC_REG(TPMN[TPM0], TPM_CH3) &= ~TPM_CnSC_ELSA_MASK;
MOTOR_L=0;
  }
  else
  {
left=LeftAdd-left;
  //  TPM_CnSC_REG(TPMN[TPM0], TPM_CH3) &= ~TPM_CnSC_ELSB_MASK;
  //  TPM_CnSC_REG(TPMN[TPM0], TPM_CH3)|= TPM_CnSC_ELSA_MASK;
MOTOR_L=1;
  }

  if(right>=0)
  {
right+=RightAdd;
  //  TPM_CnSC_REG(TPMN[TPM0], TPM_CH4) |= TPM_CnSC_ELSB_MASK;
// TPM_CnSC_REG(TPMN[TPM0], TPM_CH4) &= ~TPM_CnSC_ELSA_MASK;
MOTOR_R=0;
  }
  else
  {
right=RightAdd-right;
  //  TPM_CnSC_REG(TPMN[TPM0], TPM_CH4) &= ~TPM_CnSC_ELSB_MASK;
  //  TPM_CnSC_REG(TPMN[TPM0], TPM_CH4) |= TPM_CnSC_ELSA_MASK;
MOTOR_R=1;
  }

  if(left>=1999)       left=1999;
  TPM_CnV_REG(TPMN[tpmn], ch) = (unsigned int)left;

  ch=TPM_CH4;
  if(right>=1999)    right=1999;
  TPM_CnV_REG(TPMN[tpmn], ch) = (unsigned int)right;

}

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