motor_ctl-4/User project/5.Api_rt/api_rt_pwm.c

#include "api_rt_pwm.h"
#include "api_rt_dbg.h"
#include "api_rt_timer.h"
#include "board_config.h"
#include "gd32f30x.h"
#include <stdint.h>
#include "api_rt_adc.h"
#include "classB.h"

ApiRtPwm_Handle Pwms[1];

/* ========================================================================== */
/* ============================ Api RT Functions ============================ */
/* ========================================================================== */

void iRtPwm_Init()
{
    Pwms[0].PwmBase = TIMER0;
    for (int i = 0; i < 6; i++)
    {
        Pwms[0].CompareValues[i]       = HW_INIT_HHPWM_PERIOD;
        Pwms[0].ActiveCompareValues[i] = HW_INIT_HHPWM_PERIOD;
    }
    Pwms[0].CountZeroISR.Enable = 0;
    Pwms[0].CountZeroISR.Action = 0;
    Pwms[0].CountMaxISR.Enable  = 0;
    Pwms[0].CountMaxISR.Action  = 0;
    Pwms[0].BreakISR.Enable     = 0;
    Pwms[0].BreakISR.Action     = 0;
    Pwms[0].OutputEnable        = 0;
    for (int i = 0; i < 4; i++)
    {
        Pwms[0].ChannelISR[i].Enable = 0;
        Pwms[0].ChannelISR[i].Action = 0;
        // Pwms[0].ChannelOutputEnable[i] = 0;
    }
#if API_FUNCTION_PWM_SYNC_MULTI_SAMPLING
    Pwms[0].SyncSamplingEnable        = 1;
    Pwms[0].SyncSamplingUpTickCount   = 1;
    Pwms[0].SyncSamplingUpTick[0]     = HW_INIT_HHPWM_PERIOD;
    Pwms[0].SyncSamplingDownTickCount = 1;
    Pwms[0].SyncSamplingDownTick[0]   = HW_SAMPLE_BEFORE_UPDATE_CNTS;
#endif

}
void iRtPwm_CountZeroIsr(uint8_t devIndex)
{
    if (Pwms[devIndex].CountZeroISR.Enable)
    {
        if (Pwms[devIndex].CountZeroISR.Action != 0)
        {
            Pwms[devIndex].CountZeroISR.Action();
        }
    }
}

void iRtPwm_CountMaxIsr(uint8_t devIndex)
{
    if (Pwms[devIndex].CountMaxISR.Enable)
    {
        if (Pwms[devIndex].CountMaxISR.Action != 0)
        {
            Pwms[devIndex].CountMaxISR.Action();
        }
    }
}

void iRtPwm_UpdateIsr(uint8_t devIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    uint32_t ulOvTimeCnt = 0;       
  
    if(TIMER_INTF(base) & TIMER_INT_FLAG_UP)
    {           
        if((TIMER_CTL0(base) & TIMER_CTL0_DIR) == 0) // When Counting Up
        { 
            /* TBC Up interrupt */
            iRtPwm_CountZeroIsr(devIndex);             
        }
        else
        {               
            /* Reset Timer6 counts*/
            iTimer_Reset(HW_TBC_HALF_UPDATE_TIMER); 
            /* TBC Down interrupt */
            iRtPwm_CountMaxIsr(devIndex);
            
            /* Timing management, refer to the Software design description for details */
            while ((iTimer_GetCount(HW_TBC_HALF_UPDATE_TIMER) < HW_INIT_PWM_PERIOD) && (ulOvTimeCnt < 10000))
            {
                ulOvTimeCnt++;
            };
            
            /* ADC0 trigger set */
            iPwm_SetCompareValueImmediate(0,3,Pwms[0].SyncSamplingUpTick[1]);
            /* ADC Enable*/
            iAdc_Enable(0);
            /* Software trigger for regular sampling*/
            iAdc_Convert(0);                
            /* Compara value load */   
            iRtPwm_ActivateCompareValues(0);             
            timer_dma_enable(base,TIMER_DMA_UPD);
            dma_channel_enable(DMA0,DMA_CH4);  
        }
    } 
    /* Timer0 update interrupt flag clear */
    TIMER_INTF(base) = ~(uint32_t)TIMER_INT_FLAG_UP;
}

void iRtPwm_SyncSamplingAdcIsr(uint8_t devIndex)
{
  
    if (ADC_STAT(ADC0) & ADC_INT_FLAG_EOIC)
    {         
        Adcs[1].Results[HW_ADC_IA_CH] = ADC_IDATA0(ADC0);
        Adcs[1].Results[HW_ADC_IB_CH] = ADC_IDATA1(ADC0);
        Adcs[1].Results[HW_ADC_IC_CH] = ADC_IDATA2(ADC0);  
                        
        /* ADC0 disable */
        ADC_CTL1(ADC0) &= ~((uint32_t)ADC_CTL1_ADCON);
        /* ADC1 trigger set */
        iPwm_SetCompareValueImmediate(0,3,Pwms[0].SyncSamplingUpTick[0]);
         /* ADC1 enable */
        ADC_CTL1(ADC1) |= (uint32_t)ADC_CTL1_ADCON;
        /* ADC0 interrupt flag clear */
        ADC_STAT(ADC0) &= ~((uint32_t)ADC_INT_FLAG_EOIC);
    }
    else if (ADC_STAT(ADC1) & ADC_INT_FLAG_EOIC)
    {         
        if (Pwms[0].SyncSamplingUpTick[0] != HW_INIT_HHHPWM_PERIOD)
        {
             Adcs[2].Results[HW_ADC_IDC_CH] = ADC_IDATA0(ADC1);
        }           
        /* ADC1 disable */
        ADC_CTL1(ADC1) &= ~((uint32_t)ADC_CTL1_ADCON);
        /* ADC1 interrupt flag clear */
        ADC_STAT(ADC1) &= ~((uint32_t)ADC_INT_FLAG_EOIC); 
    }
    else
    {
        //do noting
    }

}

void iRtPwm_ActivateCompareValues(uint8_t devIndex)
{
    ASSERT_LESS(devIndex, 1);
    for (int i = 0; i < 6; i++)
    {
        Pwms[devIndex].ActiveCompareValues[i] = Pwms[devIndex].CompareValues[i];
    }
}


/* ========================================================================== */
/* ============================== API Functions ============================= */
/* ========================================================================== */

uint32_t iPwm_GetClock(uint8_t devIndex)
{
    return HW_TIM_CLOCK_HZ;
}

void iPwm_EnableCount(uint8_t devIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    TIMER_CTL0(base) |= (uint32_t)BIT(0);
}

void iPwm_DisableCount(uint8_t devIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    TIMER_CTL0(base) &= ~(uint32_t)BIT(0);
}

uint32_t iPwm_GetCountMax(uint8_t devIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    uint32_t count_value = 0U;
    count_value = TIMER_CAR(base);
    return count_value;
}

void iPwm_SetCountMax(uint8_t devIndex, uint32_t countMax)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    TIMER_CAR(base)= countMax;
}

uint32_t iPwm_GetCount(uint8_t devIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    uint32_t count_value = 0U;
    count_value = TIMER_CNT(base);
    return count_value;
}

void iPwm_SetCount(uint8_t devIndex, uint32_t count)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    TIMER_CNT(base)= count;
}

ApiPwm_CountMode iPwm_GetCountMode(uint8_t devIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    ApiPwm_CountMode mode = ApiPwm_CountUp;    
    
    if ((TIMER_CTL0(base) & (uint16_t)0x0060) == (uint16_t)0x0000)
    {
        if ((TIMER_CTL0(base) & (uint16_t)0x0010) != 0)
        {
            mode = ApiPwm_CountUp;
        }
#if API_FUNCTION_PWM_COUNTDOWN == SUPPORT
        else
        {
            mode = ApiPwm_CountDown;
        }
#endif
    }
    else
    {
        mode = ApiPwm_CountUpDown;
    }
    return mode;
}

void iPwm_SetCountMode(uint8_t devIndex, ApiPwm_CountMode mode)
{  
    uint32_t base = Pwms[devIndex].PwmBase;
    switch (mode)
    {
    case ApiPwm_CountUp:
        TIMER_CTL0(base) &= ~((uint16_t)0x0060);
        TIMER_CTL0(base) &= ~(uint16_t)0x0010;
        break;
#if FUNCTION_PWM_COUNTDOWN == SUPPORT
    case ApiPwm_CountDown:
        TIMER_CTL0(base) &= ~((uint16_t)0x0060);
        TIMER_CTL0(base) |= (uint16_t)0x0010;
        break;
#endif
    case ApiPwm_CountUpDown:
        TIMER_CTL0(base) |= ((uint16_t)0x0060);
        break;
    default:
        break;
    }
}

ApiPwm_CompareMode iPwm_GetCompareMode(uint8_t devIndex, uint8_t channelIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;
    uint8_t      conf = 0;
    switch (channelIndex)
    {
    case 0:
        conf = TIMER_CHCTL0(base) & (uint32_t)0x000000F0UL;
        break;
    case 1:
        conf = (TIMER_CHCTL0(base) & (uint32_t)0x0000F000UL) >> 16;
        break;
    case 2:
        conf = TIMER_CHCTL1(base) & (uint32_t)0x000000F0UL;
        break;
    case 3:
        conf = (TIMER_CHCTL1(base) & (uint32_t)0x0000F000UL) >> 16;
        break;
    default:
        break;
    }

    ApiPwm_CompareMode mode = ApiPwm_NoAction;
    switch (conf >> 4)
    {
    case 0x00:
        mode = ApiPwm_NoAction;
        break;
    case 0x01:
        mode = ApiPwm_UpMatchSet;
#if FUNCTION_PWM_COUNTDOWN
        if (iPwm_GetCountMode(devIndex) == Pwm_CountDown)
            mode = ApiPwm_DownMatchSet;
#endif
        break;
    case 0x02:
        mode = ApiPwm_UpMatchClear;
#if FUNCTION_PWM_COUNTDOWN
        if (iPwm_GetCountMode(devIndex) == Pwm_CountDown)
            mode = ApiPwm_DownMatchClear;
#endif
        break;
    case 0x03:
        mode = ApiPwm_UpMatchToggle;
#if FUNCTION_PWM_COUNTDOWN
        if (iPwm_GetCountMode(devIndex) == Pwm_CountDown)
            mode = ApiPwm_DownMatchToggle;
#endif
        break;
    case 0x04:
        mode = ApiPwm_ForceClear;
        break;
    case 0x05:
        mode = ApiPwm_ForceSet;
        break;
    case 0x06:
        mode = ApiPwm_HigherClear;
        break;
    case 0x07:
        mode = ApiPwm_HigherSet;
        break;
    default:
        mode = ApiPwm_NoAction;
        break;
    }
    return mode;
}

void iPwm_SetCompareMode(uint8_t devIndex, uint8_t channelIndex, ApiPwm_CompareMode mode)
{
    uint32_t base = Pwms[devIndex].PwmBase;

    uint8_t conf = 0;
    switch (mode)
    {
    case ApiPwm_NoAction:
        conf = 0x00;
        break;
    case ApiPwm_UpMatchSet:
        conf = 0x01;
        break;
    case ApiPwm_UpMatchClear:
        conf = 0x02;
        break;
    case ApiPwm_UpMatchToggle:
        conf = 0x03;
        break;
    case ApiPwm_ForceClear:
        conf = 0x04;
        break;
    case ApiPwm_ForceSet:
        conf = 0x05;
        break;
    case ApiPwm_HigherClear:
        conf = 0x06;
        break;
    case ApiPwm_HigherSet:
        conf = 0x07;
        break;
    default:
        break;
    }

#if API_FUNCTION_PWM_COUNTDOWN
    if (iPwm_GetCountMode(devIndex) == ApiPwm_CountDown)
    {
        switch (mode)
        {
        case ApiPwm_DownMatchSet:
            conf = 0x01;
            break;
        case ApiPwm_DownMatchClear:
            conf = 0x02;
            break;
        case ApiPwm_DownMatchToggle:
            conf = 0x03;
            break;
        }
    }
#endif

    switch (channelIndex)
    {
    case 0:
        TIMER_CHCTL0(base) &= ~((uint32_t)0x000000F0UL);
        TIMER_CHCTL0(base) |= (((uint32_t)conf) << 4);
        break;
    case 1:
        TIMER_CHCTL0(base) &= ~((uint32_t)0x0000F000UL);
        TIMER_CHCTL0(base) |= (((uint32_t)conf) << (4 + 8));
        break;
    case 2:
        TIMER_CHCTL0(base) &= ~((uint32_t)0x000000F0UL);
        TIMER_CHCTL0(base) |= (((uint32_t)conf) << 4);
        break;
    case 3:
        TIMER_CHCTL0(base) &= ~((uint32_t)0x0000F000UL);
        TIMER_CHCTL0(base) |= (((uint32_t)conf) << (4 + 8));
        break;
    }
}

uint32_t iPwm_GetCompareValue(uint8_t devIndex, uint8_t channelIndex)
{
    uint32_t base = Pwms[devIndex].PwmBase;

    uint32_t value = 0;
    switch (channelIndex)
    {
    case 0:
        value = TIMER_CH0CV(base);
        break;
    case 1:
        value = TIMER_CH1CV(base);
        break;
    case 2:
        value = TIMER_CH2CV(base);
        break;
    case 3:
        value = TIMER_CH3CV(base);
        break;
    default:
        break;
    }

    return value;
}

void iPwm_SetCompareValue(uint8_t devIndex, uint8_t channelIndex, uint32_t value)
{
    ASSERT_LESS(devIndex, 1);
    ASSERT_LESS(channelIndex, 3);
    Pwms[devIndex].CompareValues[channelIndex] = value;
}

void iPwm_SetCompareValueDelay(uint8_t devIndex, uint8_t channelIndex, uint32_t value)
{
    ASSERT_LESS(devIndex, 1);
    ASSERT_LESS(channelIndex, 3);
    Pwms[devIndex].CompareValues[channelIndex + 3] = value;
}

void iPwm_SetCompareGroupValues16(uint8_t devIndex, uint16_t* values)
{
    for (int i = 0; i < 6; i++)
    {
        Pwms[devIndex].CompareValues[i] = values[i];
    }
}


void iPwm_SetCompareValueImmediate(uint8_t devIndex, uint8_t channelIndex, uint32_t value)
{
    ASSERT_LESS(devIndex, 1);
    ASSERT_LESS(channelIndex, 4);  
    uint32_t base = Pwms[devIndex].PwmBase;

    switch (channelIndex)
    {
    case 0:
        TIMER_CH0CV(base) = value;
        break;
    case 1:
        TIMER_CH1CV(base) = value;
        break;
    case 2:
        TIMER_CH2CV(base) = value;
        break;
    case 3:
        TIMER_CH3CV(base) = value;
        break;
    default:
        break;
    }
}

int8_t iPwm_GetEnableState(uint8_t devIndex)
{
    ASSERT_LESS(devIndex, 1);

    return Pwms[devIndex].OutputEnable;
}

void iPwm_EnableOutput(uint8_t devIndex)
{
    ASSERT_LESS(devIndex, 1);

    uint32_t base = Pwms[devIndex].PwmBase;

    TIMER_CCHP(base) |= (uint32_t)0x00008000UL;

    Pwms[devIndex].OutputEnable = 1;
}

void iPwm_DisableOutput(uint8_t devIndex)
{
    ASSERT_LESS(devIndex, 1);

    uint32_t base = Pwms[devIndex].PwmBase;

    TIMER_CCHP(base) &= ~((uint32_t)0x00008000UL);

    Pwms[devIndex].OutputEnable = 0;
}

// // int8_t Pwm_GetChannelEnableState(uint8_t devIndex, uint8_t channelIndex)
// // {

// // }

// // void Pwm_EnableChannelOutput(uint8_t devIndex, uint8_t channelIndex)
// // {
// //     ASSERT_LESS(devIndex, 1);
// //     ASSERT_LESS(channelIndex, 4);

// //     TIM_TypeDef *base = Pwms[devIndex].PwmBase;

// //     if (channelIndex < 64)
// //     {
// //         base->CCER |= ((uint32_t)0x01) << (channelIndex * 4);
// //     }
// //     else
// //     {
// //         base->CCER |= ((uint32_t)0x04) << ((channelIndex - 64) * 4);
// //     }
// // }

// // void Pwm_DisableChannelOutput(uint8_t devIndex, uint8_t channelIndex)
// // {
// //     ASSERT_LESS(devIndex, 1);
// //     ASSERT_LESS(channelIndex, 4);

// //     TIM_TypeDef *base = Pwms[devIndex].PwmBase;

// //     if (channelIndex < 64)
// //     {
// //         base->CCER &= ~(((uint32_t)0x01) << (channelIndex * 4));
// //     }
// //     else
// //     {
// //         base->CCER &= ~(((uint32_t)0x04) << ((channelIndex - 64) * 4));
// //     }
// // }

void iPwm_EnableDeviceInterrupt(uint8_t devIndex, ApiPwm_DeviceInterrupt interrupt)
{
    ASSERT_LESS(devIndex, 1);

    switch (interrupt)
    {
    case ApiPwm_CountZeroInt:
        Pwms[devIndex].CountZeroISR.Enable = 1;
        break;
    case ApiPwm_CountMaxInt:
        Pwms[devIndex].CountMaxISR.Enable = 1;
        break;
    case ApiPwm_BreakInt:
        Pwms[devIndex].BreakISR.Enable = 1;
        break;
    default:
        break;
    }
}

void iPwm_DisableDeviceInterrupt(uint8_t devIndex, ApiPwm_DeviceInterrupt interrupt)
{
    ASSERT_LESS(devIndex, 1);

    switch (interrupt)
    {
    case ApiPwm_CountZeroInt:
        Pwms[devIndex].CountZeroISR.Enable = 0;
        break;
    case ApiPwm_CountMaxInt:
        Pwms[devIndex].CountMaxISR.Enable = 0;
        break;
    case ApiPwm_BreakInt:
        Pwms[devIndex].BreakISR.Enable = 0;
        break;
    default:
        break;
    }
}

void iPwm_EnableChannelInterrupt(uint8_t devIndex, uint8_t channelIndex, ApiPwm_ChannelInterrupt interrupt)
{
    ASSERT_LESS(devIndex, 1);
    ASSERT_LESS(channelIndex, 4);

    Pwms[devIndex].ChannelISR[channelIndex].Enable = 1;
}

void iPwm_DisableChannelInterrupt(uint8_t devIndex, uint8_t channelIndex, ApiPwm_ChannelInterrupt interrupt)
{
    ASSERT_LESS(devIndex, 1);
    ASSERT_LESS(channelIndex, 4);

    Pwms[devIndex].ChannelISR[channelIndex].Enable = 0;
}

void iPwm_BindDeviceInterrupt(uint8_t devIndex, ApiPwm_DeviceInterrupt interrupt, void (*action)())
{
    ASSERT_LESS(devIndex, 1);

    switch (interrupt)
    {
    case ApiPwm_CountZeroInt:
        Pwms[devIndex].CountZeroISR.Action = action;
        break;
    case ApiPwm_CountMaxInt:
        Pwms[devIndex].CountMaxISR.Action = action;
        break;
    case ApiPwm_BreakInt:
        Pwms[devIndex].BreakISR.Action = action;
        break;
    default:
        break;
    }
}

void iPwm_BindChannelInterrupt(uint8_t devIndex, uint8_t channelIndex, ApiPwm_DeviceInterrupt interrupt, void (*action)())
{
    ASSERT_LESS(devIndex, 1);
    ASSERT_LESS(channelIndex, 4);

    Pwms[devIndex].ChannelISR[channelIndex].Action = action;
}

int8_t iPwm_GetBreakState(uint8_t devIndex)
{
    ASSERT_LESS(devIndex, 1);

    uint32_t base = Pwms[devIndex].PwmBase;

    return (TIMER_INTF(base) & ((uint32_t)0x00000080UL)) ? 1 : 0;
}

void iPwm_ClearBreak(uint8_t devIndex)
{
    ASSERT_LESS(devIndex, 1);

    uint32_t base = Pwms[devIndex].PwmBase;

    TIMER_INTF(base) &= ~((uint32_t)0x00000080UL);
}

#if API_FUNCTION_PWM_SYNC_MULTI_SAMPLING

void iPwm_EnableSyncMultiSampling(uint8_t devIndex)
{
    Pwms[devIndex].SyncSamplingEnable = 1;
}

void iPwm_DisableSyncMultiSampling(uint8_t devIndex)
{
    Pwms[devIndex].SyncSamplingEnable        = 0;
    Pwms[devIndex].SyncSamplingUpTickCount   = 1;
    Pwms[devIndex].SyncSamplingUpTick[0]     = TIMER_CAR(Pwms[devIndex].PwmBase)>> 1;
    Pwms[devIndex].SyncSamplingDownTickCount = 1;
    Pwms[devIndex].SyncSamplingDownTick[0]   = TIMER_CAR(Pwms[devIndex].PwmBase)>> 1;
}

void iPwm_SyncMultiSamplingCountUp(uint8_t devIndex, uint32_t samplingTicks[], uint8_t samplingCounts)
{
    if (Pwms[devIndex].SyncSamplingEnable == 1)
    {
        Pwms[devIndex].SyncSamplingUpTickCount = samplingCounts;
        for (int i = 0; i < samplingCounts; i++)
        {
            Pwms[devIndex].SyncSamplingUpTick[i] = samplingTicks[i];
        }
    }
}

void iPwm_SyncMultiSamplingCountDown(uint8_t devIndex, uint32_t samplingTicks[], uint8_t samplingCounts)
{
    if (Pwms[devIndex].SyncSamplingEnable == 1)
    {
        Pwms[devIndex].SyncSamplingDownTickCount = samplingCounts;
        for (int i = 0; i < samplingCounts; i++)
        {
            Pwms[devIndex].SyncSamplingDownTick[i] = samplingTicks[i];
        }
    }
}

#endif