基于 FPGA 的电机控制

#include <stdio.h>
#include "platform.h"
#include "xil_printf.h"

#include "xtmrctr.h"

#define TMRCTR_DEVICE_ID        XPAR_TMRCTR_0_DEVICE_ID
#define PWM_PERIOD              1000000    /* PWM period in (500 ms) */
#define TMRCTR_0                0            /* Timer 0 ID */
#define TMRCTR_1                1            /* Timer 1 ID */
#define CYCLE_PER_DUTYCYCLE     10           /* Clock cycles per duty cycle */
#define MAX_DUTYCYCLE           100          /* Max duty cycle */
#define DUTYCYCLE_DIVISOR       2            /* Duty cycle Divisor */

XTmrCtr TimerCounterInst;

void display_menu()
{
//Clear the screen
xil_printf("\033[2J");
//Display the main menu
xil_printf("*******************************************\n\r");
xil_printf("****      www.adiuvoengineering.com    ****\n\r");
xil_printf("****      Motor Control Example        ****\n\r");
xil_printf("*******************************************\n\r");
xil_printf("\n\r");
xil_printf("   MM10 Motor Control   \n\r");
xil_printf("------------------------------------------\n");
xil_printf("\n\r");
xil_printf("Select a Speed:\n\r");
xil_printf("  (1)   - Stop\n\r");
xil_printf("  (2)   - 25 % \n\r");
xil_printf("  (3)   - 33 % \n\r");
xil_printf("  (4)   - 50 % \n\r");
xil_printf("  (5)   - 66 % \n\r");
xil_printf("  (6)   - 75 % \n\r");
xil_printf("  (7)   - 100 % \n\r");
xil_printf("\n");
}

void set_pwm(u32 cycle)
{
 u32 HighTime;
 XTmrCtr_PwmDisable(&TimerCounterInst);
 HighTime = PWM_PERIOD * (( float) cycle / 100.0 );
 XTmrCtr_PwmConfigure(&TimerCounterInst, PWM_PERIOD, HighTime);
 XTmrCtr_PwmEnable(&TimerCounterInst);
}

int main()
{
 u8  Div;
 u32 Period;
 u32 HighTime;
 char key_input;
 u8 DutyCycle;
    init_platform();

    print("Hello World\n\r");
    print("Successfully ran Hello World application");

    XTmrCtr_Initialize(&TimerCounterInst, TMRCTR_DEVICE_ID);


    Div = DUTYCYCLE_DIVISOR;
    XTmrCtr_PwmDisable(&TimerCounterInst);
 Period = PWM_PERIOD;
 HighTime = PWM_PERIOD / Div--;
 XTmrCtr_PwmConfigure(&TimerCounterInst, Period, HighTime);
 XTmrCtr_PwmEnable(&TimerCounterInst);
 while(1){
  display_menu();
  read(1, (char*)&key_input, 1);
  xil_printf("Echo %c\n\r",key_input);
  switch (key_input) {
  case '1': //stop
  XTmrCtr_PwmDisable(&TimerCounterInst);
  break;
  case '2': //25%
   xil_printf("25%\n\r");
  DutyCycle = 25;
  set_pwm(DutyCycle);
  break;
  case '3': //33%
  DutyCycle = 33;
  set_pwm(DutyCycle);
  break;
  case '4': //50%
  DutyCycle = 50;
  set_pwm(DutyCycle);
  break;
  case '5': //66%
  DutyCycle = 66;
  set_pwm(DutyCycle);
  break;
  case '6': //75%
  DutyCycle = 75;
  set_pwm(DutyCycle);
  break;
  case '7': //100%
  DutyCycle = 100;
  set_pwm(DutyCycle);
  break;
  }
 }

    cleanup_platform();
    return 0;
}