[原创] cc2640r2f的project_zero增加pwm输出给外围电路驱动小电机

cc2640r2f的project_zero增加pwm输出给外围电路驱动小电机功能：cc2640r2f输出4路可控PWM，2路信号可以驱动一个小电机正反转的信号

1、端口初始化
CC2640R2_PWMPIN0  | PIN_GPIO_OUTPUT_EN | PIN_GPIO_LOW | PIN_PUSHPULL | PIN_DRVSTR_MAX,
    CC2640R2_PWMPIN1 | PIN_GPIO_OUTPUT_EN | PIN_GPIO_LOW | PIN_PUSHPULL | PIN_DRVSTR_MAX,
    CC2640R2_PWMPIN2 | PIN_GPIO_OUTPUT_EN | PIN_GPIO_LOW | PIN_PUSHPULL | PIN_DRVSTR_MAX,
    CC2640R2_PWMPIN3 | PIN_GPIO_OUTPUT_EN | PIN_GPIO_LOW | PIN_PUSHPULL | PIN_DRVSTR_MAX,
2PWM初始化
PWM_Params params;

  /* Call driver init functions. */
  PWM_init();

  PWM_Params_init(¶ms);
  params.dutyUnits = PWM_DUTY_US;
  params.dutyValue = 0;
  params.periodUnits = PWM_PERIOD_US;
  params.periodValue = 3000;
  params.idleLevel=PWM_IDLE_LOW;
//***********************************************
  pwm1 = PWM_open(Board_PWM0, ¶ms);
    if (pwm1 == NULL) {
        /* Board_PWM0 did not open */
        while (1);
    }

    PWM_start(pwm1);

    if (Board_PWM1 != Board_PWM0) {
        pwm2 = PWM_open(Board_PWM1, ¶ms);

        if (pwm2 == NULL) {
            /* Board_PWM0 did not open */
            while (1);
        }

        PWM_start(pwm2);
    }
//**********************************************
    pwm3 = PWM_open(Board_PWM2, ¶ms);
      if (pwm3 == NULL) {
          /* Board_PWM3 did not open */
          while (1);
      }

      PWM_start(pwm3);

      if (Board_PWM3 != Board_PWM2) {
          pwm4 = PWM_open(Board_PWM3, ¶ms);

          if (pwm4 == NULL) {
              /* Board_PWM0 did not open */
              while (1);
          }

          PWM_start(pwm4);
      }

3、改变占空比输出
void set_Lmotors(signed int m1)
{
    if(m1>=0)
    {
        PWM_setDuty(pwm1, m1);
        if (pwm2)
        {PWM_setDuty(pwm2, 0);}
    }
    else
    {
        m1= -m1;
        PWM_setDuty(pwm1, 0);
        if (pwm2)
        {PWM_setDuty(pwm2, m1);}
    }
}

void set_Rmotors(signed int m2)
{
    if(m2>=0)
    {
        PWM_setDuty(pwm3, m2);
        if (pwm4)
        {PWM_setDuty(pwm4, 0);}
    }
    else
    {
        m2= -m2;
        PWM_setDuty(pwm3, 0);
        if (pwm4)
        {PWM_setDuty(pwm4, m2);}
    }
}



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