86 lines
2.3 KiB
C++
86 lines
2.3 KiB
C++
#include "stm32g4xx.h"
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#include "gpio.h"
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#include "pwm.h"
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bool PWM_Enable=false;
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short PWM_work_min = 1050;//???
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inline static unsigned short Mid(unsigned short Val, unsigned short Min, unsigned short Max)
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{
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if(Val<Min) return Min;
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if(Val>Max) return Max;
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return Val;
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}
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void PWM_Init(unsigned long Freq)
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{
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GPIO_InitPin(GPIO_PIN_0 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
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GPIO_InitPin(GPIO_PIN_1 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
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GPIO_InitPin(GPIO_PIN_2 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
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GPIO_InitPin(GPIO_PIN_3 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1);
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RCC->APB1ENR1 |= RCC_APB1ENR1_TIM2EN;
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TIM2->CR2 = 0;
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TIM2->ARR = 1000 - 1; //The comparison range is 100
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TIM2->PSC = (16'000'000/1000/16000)-1; // The divider is set to 16000Hz
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TIM2->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1PE; //PWM mode 1 for CH1
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TIM2->CCMR1|= TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2PE; // PWM mode 1 for CH2
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TIM2->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3PE; // PWM mode 1 for CH3
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TIM2->CCMR2|= TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE; // PWM mode 1 for CH4
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TIM2->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E |TIM_CCER_CC4E; // CH1 and CH2 outputs are active
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TIM2->BDTR = TIM_BDTR_MOE; // Allow active outputs to work
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TIM2->CR1 = TIM_CR1_CEN; // Timer is running
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for(int a=0; a<100000; a++) { asm volatile("NOP");}
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}
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//------------------------------------------------------------------------------
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static void Stop()
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{
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PWM_Enable=false;
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TIM2->CCER=0;
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}
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//------------------------------------------------------------------------------
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void PWM_SetQuad(short Pow[4], unsigned short Min, unsigned short Max)
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{
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if(!Pow) { Stop(); return; }
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TIM2->CCR1 = Mid(Pow[0], Min, Max); //M1
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TIM2->CCR2 = Mid(Pow[1], Min, Max); //M2
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TIM2->CCR3 = Mid(Pow[2], Min, Max); //M3
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TIM2->CCR4 = Mid(Pow[3], Min, Max); //M4
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bool en=false;
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for(int a=0; a<4; a++) if(Pow[a]>PWM_work_min) en=true;
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PWM_Enable=en;
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}
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//------------------------------------------------------------------------------
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void PWM_SetAll(unsigned short Pow)
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{
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TIM2->CCR1 = Pow;
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TIM2->CCR2 = Pow;
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TIM2->CCR3 = Pow;
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TIM2->CCR4 = Pow;
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bool en=false;
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if(Pow>PWM_work_min) en=true;
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PWM_Enable=en;
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}
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//------------------------------------------------------------------------------
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