assign VOLATILE V2

2025-12-10 02:26:47 +09:00
parent 2ca19bf287
commit 3d8b12c321
14 changed files with 348 additions and 888 deletions
--- a/ccs/pwm.c
+++ b/ccs/pwm.c
@@ -0,0 +1,31 @@
+
+#include "pwm.h"
+
+void pwm_init_for_motors(uint16_t period) {
+    P2->DIR |= 0xc0;
+    P2->SEL0 |= 0xc0;
+    P2->SEL1 &= ~0xc0;
+
+    // 전체 주기 설정
+    TIMER_A0->CCTL[0] = 0x0080;
+    TIMER_A0->CCR[0] = period;
+    TIMER_A0->EX0 = 0x00000;
+    // 세부 주기 및 출력 설정
+    TIMER_A0->CCTL[3] = 0x0040;
+    TIMER_A0->CCR[3] = 0; // set duty left
+    TIMER_A0->CCTL[4] = 0x0040;
+    TIMER_A0->CCR[4] = 0; // set duty right
+    // 모드
+    TIMER_A0->CTL = 0x02f0;
+    // SMCLK 12MHz, divide by 8, up-down mode
+}
+
+void pwm_set_duty_right(uint16_t duty) {
+    if (duty > TIMER_A0->CCR[0]) duty = TIMER_A0->CCR[0];
+    TIMER_A0->CCR[3] = duty;
+}
+
+void pwm_set_duty_left(uint16_t duty) {
+    if (duty > TIMER_A0->CCR[0]) duty = TIMER_A0->CCR[0];
+    TIMER_A0->CCR[4] = duty;
+}