1 | void PWM_Init(unsigned int channel)
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2 | {
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3 | // Enable Periphal clock in PMC for PWMC
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4 | AT91F_PWMC_CfgPMC();
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5 |
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6 | // Configure PIO controllers to drive PWM signals
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7 | AT91F_PIO_CfgPeriph(AT91C_BASE_PIOA,
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8 | ((unsigned int) AT91C_PA0_PWM0) |
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9 | ((unsigned int) AT91C_PA1_PWM1) |
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10 | ((unsigned int) AT91C_PA2_PWM2),
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11 | ((unsigned int) AT91C_PA7_PWM3));
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12 | switch (channel)
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13 | {
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14 | // Motor PWM
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15 | case 0: // Stop PWM Channel 0
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16 | AT91F_PWMC_StopChannel(AT91C_BASE_PWMC, AT91C_PWMC_CHID0);
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17 | AT91C_BASE_PWMC_CH0->PWMC_CMR = MCKtoPWM | CPD_OFF | CPOL_ON | CALG_ON;
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18 |
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19 | // setup the period registers
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20 | AT91C_BASE_PWMC_CH0->PWMC_CPRDR = P_MOTOR;
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21 |
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22 | // setup the duty cycle registers (first value)
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23 | AT91C_BASE_PWMC_CH0->PWMC_CDTYR = P_MOTOR/3;
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24 |
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25 | //enable PWM channel 0
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26 | AT91F_PWMC_StartChannel( AT91C_BASE_PWMC, AT91C_PWMC_CHID0);
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27 | break;
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28 |
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29 | // PWM Faraday Modulator (sine wave)
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30 | case 1: // Stop PWM Channel 1
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31 | AT91F_PWMC_StopChannel(AT91C_BASE_PWMC, AT91C_PWMC_CHID1);
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32 |
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33 | // setup sine wave
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34 | //PWM_InitSinewave();
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35 |
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36 | // setup the channel mode registers
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37 | AT91C_BASE_PWMC_CH1->PWMC_CMR = MCKtoPWM | CPD_OFF | CPOL_ON | CALG_ON;
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38 |
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39 | // setup the period registers
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40 | AT91C_BASE_PWMC_CH1->PWMC_CPRDR = EXT_OSC / SINE.PWMFREQ1 / 2;
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41 |
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42 | // setup the duty cycle registers (first value)
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43 | AT91C_BASE_PWMC_CH1->PWMC_CDTYR = EXT_OSC / SINE.PWMFREQ1 / 4;
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44 |
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45 | // Prevent any bad state of this register: Read it clear all set bit
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46 | AT91C_BASE_PWMC->PWMC_ISR;
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47 |
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48 | AT91F_AIC_ConfigureIt(AT91C_BASE_AIC,
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49 | AT91C_ID_PWMC,
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50 | AT91C_AIC_PRIOR_HIGHEST,
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51 | AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL,
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52 | PWM_Interrupt);
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53 |
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54 | AT91F_AIC_EnableIt(AT91C_BASE_AIC, AT91C_ID_PWMC);
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55 | //enable PWM channel 1
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56 | AT91F_PWMC_StartChannel( AT91C_BASE_PWMC, AT91C_PWMC_CHID1 );
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57 |
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58 | AT91F_PWMC_InterruptEnable(AT91C_BASE_PWMC,AT91C_PWMC_CHID1);
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59 | break;
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60 | }
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61 | }
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