#include "kernel.h"

unsigned int PWM_Buf[6];//6路PWM频率

unsigned long timer0_ticks;

unsigned long timer0_tickssec;

unsigned long timer1_ticks;

unsigned long timer1_ticksmin;

unsigned long timer2_ticks;

unsigned long timer2_tickssec;

unsigned long timer3_ticks;

unsigned long timer3_ticksmin;

unsigned long timer4_ticks;

unsigned long timer4_ticksmin;

unsigned long timer5_ticks;

unsigned long timer5_ticksmin;

void Timer0_Init(void)

{

    timer0_ticks = 0;

    timer0_tickssec = 0;

    TCCR0A = 0x00;

    TCCR0B = 0x00;

    TCNT0 = 0x00;

    OCR0A = F_CPU/(1024-1)/20;//频率F_PWM

    OCR0B = OCR0A/2;//占空比50%

    //TCCR0A = 0xA3;  //COM0A1 COM0A0 COM0B1 COM0B0 – – WGM01 WGM00

    TCCR0B = 0xCD;  //FOC0A FOC0B – – WGM02 CS02 CS01 CS00

    /*

    TCCR0A = 0x00;

    TCCR0B = 0x00;//stop

    TCNT0  = 0xE7;//25us

    OCR0A  = 0x18;

    OCR0B  = 0x18;

    TCCR0A = 0x03;

    TCCR0B = 0x02;//start,clkT0S/8

    TIMSK0|= 0x01;//enable 0verflow interrupt*/

}

void TC0_Set_PWM(unsigned int curF)

{//20~80为clkT0S/1024，80~300为clkT0S/256，300~2000为clkT0S/64

    if(curF==0)

    {

        OCR0A = 0;

        OCR0B = 0;

        TCCR0A = 0;

    }

    else if((curF>=20)&&(curF<80))

    {

        OCR0A = F_CPU/(1024-1)/curF;

        OCR0B = OCR0A/2;

        TCCR0A = 0xA3;

        TCCR0B = 0xCD;

    }

    else if((curF>=80)&&(curF<300))

    {

        OCR0A = F_CPU/(256-1)/curF;

        OCR0B = OCR0A/2;

        TCCR0A = 0xA3;

        TCCR0B = 0xCC;

    }

    else if((curF>=300)&&(curF<=2000))

    {

        OCR0A = F_CPU/(64-1)/curF;

        OCR0B = OCR0A/2;

        TCCR0A = 0xA3;

        TCCR0B = 0xCB;

    }

}

void Timer1_Init(void)

{

    unsigned int temp;

    timer1_ticks = 0;

    timer1_ticksmin = 0;

    TCCR1A = 0x00;

    TCCR1B = 0x00;

    TCCR1C = 0x00;

    TCNT1H = 0x00;

    TCNT1L = 0x00;

    temp = F_CPU/16/20;

    OCR1A=temp;

    //temp = temp/2;

    //OCR1B=temp;

    //OCR1C=temp;

    //TCCR1A=(0<

    TCCR1B=(1<

    /*

    TCCR1A = 0x00;//COM1A1 COM1A0 COM1B1 COM1B0 COM1C1 COM1C0 WGM11 WGM10

    TCCR1B = 0x00;//stop,ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10

    TCCR1C = 0x00;//FOC1A FOC1B FOC1C – – – – –

    TCNT1H = 0xE3;

    TCNT1L = 0xE0;

    OCR1AH = 0x1C;

    OCR1AL = 0x1F;

    OCR1BH = 0x1C;

    OCR1BL = 0x1F;

    OCR1CH = 0x1C;

    OCR1CL = 0x1F;

    ICR1H  = 0x00;

    ICR1L  = 0x00;

    TCCR1B = 0x05;

//    TIMSK |= 0x04;//enable 0verflow interrupt*/

}

void TC1_Set_PWM(unsigned int curF)

{

    unsigned int temp;

    if(curF==0)

    {

        //OCR1A = 0;

        //OCR1B = 0;

        TCCR1A=0;

    }

    else if((curF>=20)&&(curF<=2000))

    {

        temp = F_CPU/16/curF;

        OCR1A=temp;

        TCCR1A=(0<

    }

}

void Timer2_Init(void)

{

    timer2_ticks = 0;

    timer2_tickssec = 0;

    TCCR2A = 0x00;

    TCCR2B = 0x00;

    TCNT2 = 0x00;

    OCR2A = F_CPU/(1024-1)/20;//频率F_PWM

    OCR2B = OCR2A/2;//占空比50%

    //TCCR2A = 0xA3;  //COM2A1 COM2A0 COM2B1 COM2B0 – – WGM21 WGM20

    TCCR2B = 0xCF;  //FOC2A FOC2B – – WGM22 CS22 CS21 CS20

//    TCCR2 = 0x00;//stop,FOC2 WGM20 COM21 COM20 WGM21 CS22 CS21 CS20

//    TCNT2 = 0xB8;//set count 10ms

//    OCR2  = 0x47;

//    TCCR2 = 0x05;//start,clkT0S/1024

//    TIMSK|= 0x40;//enable 0verflow interrupt 

}

void TC2_Set_PWM(unsigned int curF)

{//20~80为clkT0S/1024，80~300为clkT0S/256，300~2000为clkT0S/64

    if(curF==0)

    {

        OCR2A = 0;

        OCR2B = 0;

        TCCR2A = 0;

    }

    else if((curF>=20)&&(curF<80))

    {

        OCR2A = F_CPU/(1024-1)/curF;

        OCR2B = OCR2A/2;

        TCCR2A = 0xA3;

        TCCR2B = 0xCF;

    }

    else if((curF>=80)&&(curF<300))

    {

        OCR2A = F_CPU/(256-1)/curF;

        OCR2B = OCR2A/2;

        TCCR2A = 0xA3;

        TCCR2B = 0xCE;

    }

    else if((curF>=300)&&(curF<=2000))

    {

        OCR2A = F_CPU/(64-1)/curF;

        OCR2B = OCR2A/2;

        TCCR2A = 0xA3;

        TCCR2B = 0xCC;

    }

}

void Timer3_Init(void)

{

    unsigned int temp;

    timer3_ticks = 0;

    timer3_ticksmin = 0;

    TCCR3A = 0x00;

    TCCR3B = 0x00;

    TCCR3C = 0x00;

    TCNT3H = 0x00;

    TCNT3L = 0x00;

    temp = F_CPU/16/20;

    OCR3A=temp;

    //temp = temp/2;

    //OCR3B=temp;

    //OCR3C=temp;

    //TCCR3A=(0<

    TCCR3B=(1<

    /*

    TCCR3A = 0x00;//COM3A1 COM3A0 COM3B1 COM3B0 COM3C1 COM3C0 WGM31 WGM30

    TCCR3B = 0x00;//stop,ICNC3 ICES3 – WGM33 WGM32 CS32 CS31 CS30

    TCCR3C = 0x00;//FOC3A FOC3B FOC3C – – – – –

    TCNT3H = 0xE3;

    TCNT3L = 0xE0;//set count 1s

    OCR3AH = 0x1C;

    OCR3AL = 0x1F;

    OCR3BH = 0x1C;

    OCR3BL = 0x1F;

    OCR3CH = 0x1C;

    OCR3CL = 0x1F;

    ICR3H  = 0x00;

    ICR3L  = 0x00;

    TCCR3B = 0x05;//start,clkT0S/1024

//    ETIMSK|= 0x04;//enable 0verflow interrupt*/

}

void TC3_Set_PWM(unsigned int curF)

{

    unsigned int temp;

    if(curF==0)

    {

        //OCR3A = 0;

        //OCR3B = 0;

        TCCR3A=0;

    }

    else if((curF>=20)&&(curF<=2000))

    {

        temp = F_CPU/16/curF;

        OCR3A=temp;

        TCCR3A=(0<

    }

}

void Timer4_Init(void)

{

    unsigned int temp;

    timer4_ticks = 0;

    timer4_ticksmin = 0;

    TCCR4A = 0x00;

    TCCR4B = 0x00;

    TCCR4C = 0x00;

    TCNT4H = 0x00;

    TCNT4L = 0x00;

    temp = F_CPU/16/20;

    OCR4A=temp;

    //temp = temp/2;

    //OCR4B=temp;

    //OCR4C=temp;

    //TCCR4A=(0<

    TCCR4B=(1<

}

void TC4_Set_PWM(unsigned int curF)

{

    unsigned int temp;

    if(curF==0)

    {

        //OCR4A = 0;

        //OCR4B = 0;

        TCCR4A=0;

    }

    else if((curF>=20)&&(curF<=2000))

    {

        temp = F_CPU/16/curF;

        OCR4A=temp;

        TCCR4A=(0<

    }

}

void Timer5_Init(void)

{

    unsigned int temp;

    timer5_ticks = 0;

    timer5_ticksmin = 0;

    TCCR5A = 0x00;

    TCCR5B = 0x00;

    TCCR5C = 0x00;

    TCNT5H = 0x00;

    TCNT5L = 0x00;

    temp = F_CPU/16/20;

    OCR5A=temp;

    //temp = temp/2;

    //OCR5B=temp;

    //OCR5C=temp;

    //TCCR5A=(0<

    TCCR5B=(1<

}

void TC5_Set_PWM(unsigned int curF)

{

    unsigned int temp;

    if(curF==0)

    {

        //OCR5A = 0;

//OC