Diff: PWM.cpp

Revision:

9:d9ce965299d2

Child:

11:1539d181e159

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PWM.cpp	Sat Sep 22 06:16:15 2012 +0000
@@ -0,0 +1,79 @@
+#include "PWM.h"
+
+//static menber variable
+volatile uint8_t PWM::SRV_Idx = 0;
+volatile uint32_t PWM::SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];
+
+PWM::PWM()
+{
+    for (int i = 0; i < SRV_CH_NUM; i++) {
+        SetDuty(i, (SRV_MAX_DUTY + SRV_MIN_DUTY) / 2);
+    }
+    InitPWM();
+}
+
+void PWM::InitPWM()
+{
+    LPC_PINCON->PINSEL3 &= ~(3 << 4); // GPIO (00)
+    LPC_GPIO1->FIODIR |= (1 << 18);  // output
+    
+    LPC_PINCON->PINSEL4 |= 0x555; // GPIO (00)
+    LPC_GPIO2->FIODIR |= 0x3F;  // output
+
+    LPC_SC->PCLKSEL0 &= ~(3 << 12); // PCLK_TIMER0 ck/4 (00)
+    LPC_SC->PCONP |= (1 << 6); // PCPWM1
+    
+    LPC_PWM1->IR |= (1<<0);//reset PWMMR0 flag
+    LPC_PWM1->TCR = (1 << 1);//reset
+    LPC_PWM1->PR = SystemCoreClock / 4 / 1000000 - 1; // prescale 1000kHz
+    LPC_PWM1->CTCR = 0;
+    LPC_PWM1->MCR |= (1 << 1)|(1 << 0); // MR0R, MR0
+
+    LPC_PWM1->MR0 = SRV_PERIOD;
+
+    LPC_PWM1->TCR = (1 << 0)|(1 << 3); // enable
+    LPC_PWM1->PCR |= (0x3F << 9);//1-6 pwm
+    LPC_PWM1->LER |= 0x7E;
+    
+    NVIC_SetPriority(PWM1_IRQn,0);//priority level (high)0~255(low)
+    NVIC_EnableIRQ(PWM1_IRQn);//enable
+}
+
+void PWM::SetDuty(uint8_t ch, uint32_t duty)
+{
+    if (ch >= SRV_CH_NUM) {
+        return;
+    } else if (duty < SRV_MIN_DUTY) {
+        duty = SRV_MIN_DUTY;
+    } else if (duty > SRV_MAX_DUTY) {
+        duty = SRV_MAX_DUTY;
+    }
+    
+    SRV_dutyTable[ch >> SRV_IDX_SHIFT][ch & SRV_IDX_MASK] = duty;
+}
+
+void PWM1_IRQHandler (void)
+{
+    const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM] = {
+    {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD},
+    {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD},
+    {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD}
+    };
+    
+    LPC_PWM1->MR1 = SRV_PWMTable[0][PWM::SRV_Idx];
+    LPC_PWM1->MR2 = SRV_PWMTable[1][PWM::SRV_Idx];
+    LPC_PWM1->MR3 = SRV_PWMTable[2][PWM::SRV_Idx];
+    LPC_PWM1->MR4 = PWM::SRV_dutyTable[0][PWM::SRV_Idx];
+    LPC_PWM1->MR5 = PWM::SRV_dutyTable[1][PWM::SRV_Idx];
+    LPC_PWM1->MR6 = PWM::SRV_dutyTable[2][PWM::SRV_Idx];
+    
+    LPC_PWM1->LER |= 0x7E;
+    
+    LPC_PWM1->IR |= (1<<0); // reset PWMMR0 flag
+    
+    PWM::SRV_Idx++;
+
+    if(PWM::SRV_Idx >= SRV_IDX_NUM) {
+        PWM::SRV_Idx = 0;
+    }
+}
\ No newline at end of file