hpm6750/controller_yy_app/v8/v8m_yy/bsp_V8M_YY_pwm.c

#include "board.h"
#include "hpm_pwm_drv.h"
// #include "hpm_trgm_drv.h"
#include "bsp_V8M_YY_pwm.h"
#include "hpm_gpio_drv.h"
#include "hpm_gpiom_drv.h"
#include "ver_config.h"
#include "test.h"
#include "main.h"
// PB16 PWM0 PB17 PWM0  PB18 PWM1  PB19 PWM1 
// motor用的ahb时钟，还有其他外设也用的这个，不对其进行分频了 保留200M
// 2.5ms * 200 000000 => period =  500 000 - 1
// 不要对ahb时钟进行修改

#define PWM_MOTOR1              HPM_PWM1
#define PWM_MOTOR1_CLK_NAME     
#define PWM_MOTOR1_OUT           1
#define PWM_MOTOR1_CMP           0 

#define PWM_MOTOR2              HPM_PWM1
#define PWM_MOTOR2_CLK_NAME     
#define PWM_MOTOR2_OUT           0
#define PWM_MOTOR2_CMP           1 

#define PWM_MOTOR3              HPM_PWM1
#define PWM_MOTOR3_CLK_NAME     
#define PWM_MOTOR3_OUT           3
#define PWM_MOTOR3_CMP           2 

#define PWM_MOTOR4              HPM_PWM3
#define PWM_MOTOR4_CLK_NAME     
#define PWM_MOTOR4_OUT           2
#define PWM_MOTOR4_CMP           3 

#define PWM_MOTOR5              
#define PWM_MOTOR5_CLK_NAME     
#define PWM_MOTOR5_OUT           
#define PWM_MOTOR5_CMP           4

#define PWM_MOTOR6              
#define PWM_MOTOR6_CLK_NAME     
#define PWM_MOTOR6_OUT           
#define PWM_MOTOR6_CMP           5 

#define PWM_EN_GPIO_CTRL     HPM_GPIO0
#define PWM_EN_GPIO_INDEX    GPIO_DI_GPIOB
#define PWM_EN_GPIO_PIN      3
#define GPIOM_BASE           HPM_GPIOM
#define GPIOM_PORT_ASSIGN    GPIOM_ASSIGN_GPIOB

/*------------------ Macros definitions --------------------------------------*/

#define V8M_MOTOR_PERIOD (2500*PRESCALER_FACTOR) /* PWM输出的周期，单位 us */

#define V8M_PWM_DEF_VALUE (1000*PRESCALER_FACTOR) /* 默认初始化的 PWM 占空比 */

/**----------------- Variables definitions -----------------------------------*/

/*------------------ Functions definitions -----------------------------------*/

static void __motor_pwm_gpio_config(void);
static void __motor_pwm_timer_config(void);

static void gen_pwm_to_motor(PWM_Type *pwm_x, uint8_t pwm_out, uint8_t cmp_index, uint32_t reload, uint32_t set_cmp_value )
{
    
    pwm_cmp_config_t cmp_config = {0};
    pwm_config_t pwm_config = {0};

    // 准备pwm_config
    pwm_get_default_pwm_config(pwm_x, &pwm_config); // 填充 pwm_config_t 默认值
    pwm_config.enable_output = true;
    pwm_config.dead_zone_in_half_cycle = 0;
#ifdef WAVE_INV 
    pwm_config.invert_output = true;
#else
    pwm_config.invert_output = false;
#endif
    // 准备cmp_config
    pwm_get_default_cmp_config(pwm_x, &cmp_config); // 填充 pwm_cmp_config_t 默认值
    cmp_config.mode = pwm_cmp_mode_output_compare; // 设置PWM工作模式为输出
    cmp_config.cmp = set_cmp_value;  // 设置初始CMP值，这样直接设置为 1/2 则后续不需要更新即可生成 50% 占空比
    // cmp_config.cmp = pwm_reload + 1; // CMP > RLD, 由于计数器值 CNT 始终达不到 CMPx，比较器输出 OCx 会保持逻辑 0
    cmp_config.update_trigger = pwm_shadow_register_update_on_modify; // 设置CMP影子寄存器值生效时刻为 更新后的下一个周期
    // pwm_shadow_register_update_on_modify 这种方式下一个指令周期就会重装CMP，可能会导致PWM波形不完整，手册不推荐这种方式

    pwm_stop_counter(pwm_x); // 停止计数（没有也可以）
    pwm_set_reload(pwm_x, 0, reload); // 设置RLD寄存器
    pwm_set_start_count(pwm_x, 0, 0); // 设置STA寄存器

    // 使用给定参数对PWM通道进行设置
    if (status_success != pwm_setup_waveform(pwm_x, pwm_out, &pwm_config, cmp_index, &cmp_config, 1)) {
        printf("failed to setup waveform\\n");
        while(1);
    }
   
    pwm_start_counter(pwm_x); // 开始计数（PWM输出开始）
    pwm_issue_shadow_register_lock_event(pwm_x); // 锁定影子寄存器

    // 和 cmp = pwm_reload + 1 一起使用，也可以得到 50% 占空比的 PWM波形
    // 在这里更新CMP影子寄存器，下一个周期CMP寄存器会得到更新，这种方式便于动态更新PWM波形
    // pwm_update_raw_cmp_edge_aligned(pwm_x, cmp_index, pwm_reload / 2); // 50 % HIGH
}
/**
 * @brief pwm 初始化
 */
void Bsp_V8M_YY_PwmInit(void)
{
    __motor_pwm_gpio_config();
    __motor_pwm_timer_config();

    // 输出默认值
    for (uint8_t i = V8M_PWM_YY_CH1; i <= V8M_PWM_YY_CH4; ++i)
        Bsp_V8M_YY_PwmSetCHValue(i, V8M_PWM_DEF_VALUE);
}


/**
 * @brief 配置PWM GPIO引脚
 */
static void __motor_pwm_gpio_config(void)
{
    

    HPM_IOC->PAD[IOC_PAD_PB18].FUNC_CTL = IOC_PB18_FUNC_CTL_PWM1_P_1;

    HPM_IOC->PAD[IOC_PAD_PB19].FUNC_CTL = IOC_PB19_FUNC_CTL_PWM1_P_0;

    HPM_IOC->PAD[IOC_PAD_PB21].FUNC_CTL = IOC_PB21_FUNC_CTL_PWM1_P_3;

    HPM_IOC->PAD[IOC_PAD_PE06].FUNC_CTL = IOC_PE06_FUNC_CTL_PWM3_P_2;
    
    HPM_IOC->PAD[IOC_PAD_PB03].FUNC_CTL = IOC_PB03_FUNC_CTL_GPIO_B_03;
    // PWM 使能引脚 失能后pwm信号无效 修改引脚后这里要修改  https://tools.hpmicro.com/pinmux
    gpiom_set_pin_controller(GPIOM_BASE, GPIOM_PORT_ASSIGN, PWM_EN_GPIO_PIN, gpiom_soc_gpio0);
    gpio_set_pin_output(PWM_EN_GPIO_CTRL, PWM_EN_GPIO_INDEX, PWM_EN_GPIO_PIN);
    gpio_write_pin(PWM_EN_GPIO_CTRL, PWM_EN_GPIO_INDEX, PWM_EN_GPIO_PIN, 1);
   
}


/**
 * @brief pwm 定时器初始化
 *
 */
static void __motor_pwm_timer_config(void)
{

    uint32_t freq0, freq1, freq2, freq3;
    freq0 = clock_get_frequency(clock_mot0);
    freq1 = clock_get_frequency(clock_mot1);
    freq2 = clock_get_frequency(clock_mot2);
    freq3 = clock_get_frequency(clock_mot3);
    printf("PWM0,1,2,3时钟频率: %d %d %d %d Hz\n", freq0, freq1, freq2, freq3);
    gen_pwm_to_motor(PWM_MOTOR1, PWM_MOTOR1_OUT, PWM_MOTOR1_CMP, V8M_MOTOR_PERIOD, V8M_PWM_DEF_VALUE);
    gen_pwm_to_motor(PWM_MOTOR2, PWM_MOTOR2_OUT, PWM_MOTOR2_CMP, V8M_MOTOR_PERIOD, V8M_PWM_DEF_VALUE);
    gen_pwm_to_motor(PWM_MOTOR3, PWM_MOTOR3_OUT, PWM_MOTOR3_CMP, V8M_MOTOR_PERIOD, V8M_PWM_DEF_VALUE);
    gen_pwm_to_motor(PWM_MOTOR4, PWM_MOTOR4_OUT, PWM_MOTOR4_CMP, V8M_MOTOR_PERIOD, V8M_PWM_DEF_VALUE);  
}

/**
 * @brief 改变 pwm 通道值
 */
void Bsp_V8M_YY_PwmSetCHValue(uint8_t m_ch, uint32_t m_value)
{
    if (m_value > V8M_MOTOR_PERIOD) {
        m_value = V8M_MOTOR_PERIOD; 
    }
    switch (m_ch)
    {
    case 1:
        
        pwm_cmp_update_cmp_value(PWM_MOTOR1, PWM_MOTOR1_CMP, m_value, 0);
        break;

    case 2:
        pwm_cmp_update_cmp_value(PWM_MOTOR2, PWM_MOTOR2_CMP, m_value, 0);
        break;
    case 3:
        pwm_cmp_update_cmp_value(PWM_MOTOR3, PWM_MOTOR3_CMP, m_value, 0);
        break;
    case 4:
        pwm_cmp_update_cmp_value(PWM_MOTOR4, PWM_MOTOR4_CMP, m_value, 0);
        break;
    //case 5:
    //    pwm_cmp_update_cmp_value(PWM_MOTOR5, PWM_MOTOR5_CMP, m_value, 0);
    //    break;
    //case 6:
    //    pwm_cmp_update_cmp_value(PWM_MOTOR6, PWM_MOTOR6_CMP, m_value, 0);
    //    break;

    default:
        break;
    }
}

/**
 * @brief 获取对应通道比较值
 */
uint32_t Bsp_V8M_YY_PwmGetCHValue(uint8_t m_ch) 
{
    uint16_t m_value = 0;
    switch (m_ch)
    {
    case 1:
        m_value = PWM_CMP_CMP_GET(PWM_MOTOR1->CMP[PWM_MOTOR1_CMP]);
        break;
    case 2:
        m_value = PWM_CMP_CMP_GET(PWM_MOTOR2->CMP[PWM_MOTOR2_CMP]);
        break;
    case 3:
        m_value = PWM_CMP_CMP_GET(PWM_MOTOR3->CMP[PWM_MOTOR3_CMP]);
        break;
    case 4:
        m_value = PWM_CMP_CMP_GET(PWM_MOTOR4->CMP[PWM_MOTOR4_CMP]);
        break;

    //case 5:
    //    m_value = PWM_CMP_CMP_GET(PWM_MOTOR5->CMP[PWM_MOTOR5_CMP]);
    //    break;
    //case 6:
    //    m_value = PWM_CMP_CMP_GET(PWM_MOTOR6->CMP[PWM_MOTOR6_CMP]);
    //    break;

    default:
        break;
    }

    return m_value;
}

static void print_pwm_cmp_values_direct(void)
{
    printf("=== PWM 通道比较值 ===\n");
    
    // 通道1
    uint32_t cmp1 = PWM_CMP_CMP_GET(PWM_MOTOR1->CMP[PWM_MOTOR1_CMP]);
    printf("通道1 比较值: 0x%06lX (%lu)\n", cmp1, cmp1);
    
    // 通道2
    uint32_t cmp2 = PWM_CMP_CMP_GET(PWM_MOTOR2->CMP[PWM_MOTOR2_CMP]);
    printf("通道2 比较值: 0x%06lX (%lu)\n", cmp2, cmp2);
    
    // 通道3
    uint32_t cmp3 = PWM_CMP_CMP_GET(PWM_MOTOR3->CMP[PWM_MOTOR3_CMP]);
    printf("通道3 比较值: 0x%06lX (%lu)\n", cmp3, cmp3);
    
    // 通道4
    uint32_t cmp4 = PWM_CMP_CMP_GET(PWM_MOTOR4->CMP[PWM_MOTOR4_CMP]);
    printf("通道4 比较值: 0x%06lX (%lu)\n", cmp4, cmp4);
    
    printf("====================\n");
}

void PWM_IS_ENABLE(void)
{
   gpio_write_pin(PWM_EN_GPIO_CTRL, PWM_EN_GPIO_INDEX, PWM_EN_GPIO_PIN, 1);
}

void PWM_IS_DISABLE(void)
{
   gpio_write_pin(PWM_EN_GPIO_CTRL, PWM_EN_GPIO_INDEX, PWM_EN_GPIO_PIN, 0);
}


/* motor_pwm_test 经过测试 2026/03/13 */
#ifdef PWM_TEST
void v8m_yy_motor_pwm_test(void)
{
    Bsp_V8M_YY_PwmInit();
    
    while(1)
    {
      board_delay_ms(500);
      print_pwm_cmp_values_direct();
     
    }
}
#endif