* MSP432E401Y
* Description:本函数实现定时和测速功能
* 引脚：PD0->编码器输入信号
*
* Author: Robin.J
***************************************************************************/
/* DriverLib Includes */
#include <ti/devices/msp432e4/driverlib/driverlib.h>
/* Standard Includes */
#include <common.h>
uint32_t count = 0;
//uint32_t count1 = 0;
//uint32_t count2 = 0;
uint32_t CNT1 = 0;
uint32_t CNT2 = 0;
int speed = 0;
uint32_t time1 = 0;
void TIMER2A_IRQHandler(void)
{
uint32_t getTimerInterrupt;
count++;//脉冲计数，高电平触发
// count1 = MAP_TimerValueGet(TIMER2_BASE,TIMER_B);
// count2 = MAP_TimerLoadGet(TIMER2_BASE,TIMER_B);
/* Get timer interrupt status and clear the same */
getTimerInterrupt = MAP_TimerIntStatus(TIMER2_BASE, true);
MAP_TimerIntClear(TIMER2_BASE, getTimerInterrupt);
}
void TIMER1A_IRQHandler(void)
{
uint32_t getTimerInterrupt;
// CNT1 = count;
// CNT2 = CNT1;
// speed = ((CNT1 - CNT2)/506) * 6000;
// count = 0;
time1++;//计时，每10ms增1
if(time1 == 10){
CNT1 = count;
}if(time1 == 20){
CNT2 = count;
//count1 = CNT2 - CNT1;
speed = (int)(((CNT2 - CNT1)/506.0) * 600);
//count = 0;
time1 = 0;
count = 0;
}
// s_r = speed;
// pid_r = IncPIDCalc_r(s_r);
// pid_r *= 0.01;
// pwm_pidr += pid_r;
// if(pwm_pidr > 0.99){
//
// pwm_pidr = 0.99;
//
// }
//
// PWM_init(pwm_pidl,0.8);
/* Get timer interrupt status and clear the same */
getTimerInterrupt = MAP_TimerIntStatus(TIMER1_BASE, true);
MAP_TimerIntClear(TIMER1_BASE, getTimerInterrupt);
}
void GPT_init(void)
{
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
while(!(SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOA)))
{
}
MAP_GPIOPinConfigure(GPIO_PA4_T2CCP0);
MAP_GPIOPinTypeTimer(GPIO_PORTA_BASE, GPIO_PIN_4);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
while(!(SysCtlPeripheralReady(SYSCTL_PERIPH_TIMER2)))
{
}
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
while(!(SysCtlPeripheralReady(SYSCTL_PERIPH_TIMER1)))
{
}
MAP_TimerConfigure(TIMER2_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_CAP_TIME_UP);
MAP_TimerIntEnable(TIMER2_BASE, TIMER_CAPA_EVENT);
MAP_TimerControlEvent(TIMER2_BASE, TIMER_A, TIMER_EVENT_POS_EDGE);
MAP_TimerConfigure(TIMER1_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PERIODIC);
MAP_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
/* Since the 16-bit timer can count only 65536 value, we use the pre
* scaler of 256 to divide down the count rate by 256. Thus the actual
* count load is16e6/256 = 62500. Now when to count at 0.1 sec the
* load value in the timer would be 62500 * 0.1 =6250. */
MAP_TimerPrescaleSet(TIMER1_BASE, TIMER_A, 255);
MAP_TimerLoadSet(TIMER1_BASE, TIMER_A, 625);//10ms
/* Enable Timer Interrupt */
MAP_IntEnable(INT_TIMER2A);
MAP_IntEnable(INT_TIMER1A);
/* Enable the timer count */
MAP_TimerEnable(TIMER2_BASE, TIMER_A);
MAP_TimerEnable(TIMER1_BASE, TIMER_A);
}
/******************* (C) COPYRIGHT 2018 DY EleTe *****END OF FILE************/ |
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