k210定时器0 控制 定时器1的pwm

使用的是360度舵机，通过定时器0每隔10毫秒调速一次，通过调节定时器1的占空比 改变速度

 

#include <fpioa.h>

#include <plic.h>

#include <pwm.h>

#include <stdio.h>

#include <sysctl.h>

#include <syslog.h>

#include <timer.h>

 

#define TIMER_NOR (0) //定时器0

#define TIMER_CHN (0) //通道0

#define TIMER_PWM (1) // 定时器1为pwm mode

#define TIMER_PWM_CHN0 (0) // pwm通道0

#define TIMER_PWM_CHN1 (1)

 

#define SERVO_FREQ (50) //频率

#define SERVO0_DUTY_MAX (0.125) //最大占空比

#define SERVO0_DUTY_MIN (0.025) //最小占空比

#define SERVO1_DUTY_MAX (0.12)

#define SERVO1_DUTY_MIN (0.03)

 

#define SERVO0_STEP (0.001) //步进

#define SERVO1_STEP (0.001)

 

int timer_callback(void *ctx) {

static int count = 0;

static double cnt0 = (SERVO0_DUTY_MAX + SERVO0_DUTY_MIN) / 2; //中间占空比

static double cnt1 = (SERVO1_DUTY_MAX + SERVO1_DUTY_MIN) / 2;

static int flag0 = 0;

static int flag1 = 0;

 

count++;

if (count % 5 == 0) {

pwm_set_frequency(TIMER_PWM, TIMER_PWM_CHN0, SERVO_FREQ, cnt0);

pwm_set_frequency(TIMER_PWM, TIMER_PWM_CHN1, SERVO_FREQ, cnt1);

 

flag0 ? (cnt0 -= SERVO0_STEP) : (cnt0 += SERVO0_STEP);

flag1 ? (cnt1 -= SERVO1_STEP) : (cnt1 += SERVO1_STEP);

if (cnt0 > SERVO0_DUTY_MAX) { //大于最大的，占空比减  

cnt0 = SERVO0_DUTY_MAX;

flag0 = 1;

} else if (cnt0 < SERVO0_DUTY_MIN) { //小于最小的，占空比加   

cnt0 = SERVO0_DUTY_MIN;

flag0 = 0;

}

 

if (cnt1 > SERVO1_DUTY_MAX) {

cnt1 = SERVO1_DUTY_MAX;

flag1 = 1;

} else if (cnt1 < SERVO1_DUTY_MIN) {

cnt1 = SERVO1_DUTY_MIN;

flag1 = 0;

}

printf("Duty is %g, %g\n", cnt0 * 100, cnt1 * 100);

}

return 0;

}

 

int main(void) {

/*io口映射 */

fpioa_set_function(17, FUNC_TIMER1_TOGGLE1); // io17

fpioa_set_function(35, FUNC_TIMER1_TOGGLE2); // io35

/* Init 平台级中断控制器 */

plic_init();

/* 为RISC-V的机器模式启用全局中断 */

sysctl_enable_irq();

/* 初始化定时器0 */

timer_init(TIMER_NOR);

/* 设置定时器时间间隔 */

timer_set_interval(TIMER_NOR, TIMER_CHN, 10000000);

/* 设置定时器回调为重复模式 */

timer_irq_register(TIMER_NOR, TIMER_CHN, 0, 1, timer_callback, NULL);

/*使能定时器 */

timer_set_enable(TIMER_NOR, TIMER_CHN, 1);

/* Init PWM */

pwm_init(TIMER_PWM);

/* Set PWM to 50Hz */

pwm_set_frequency(TIMER_PWM, TIMER_PWM_CHN0, SERVO_FREQ,

(SERVO0_DUTY_MAX + SERVO0_DUTY_MIN) / 2);

pwm_set_enable(TIMER_PWM, TIMER_PWM_CHN0, 1);

/* Set PWM to 50Hz */

pwm_set_frequency(TIMER_PWM, TIMER_PWM_CHN1, SERVO_FREQ,

(SERVO1_DUTY_MAX + SERVO1_DUTY_MIN) / 2);

pwm_set_enable(TIMER_PWM, TIMER_PWM_CHN1, 1);

 

while (1) continue;

}