MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NXP/TARGET_LPC11U6X/pwmout_api.c@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16
sahilmgandhi 18:6a4db94011d3 17 #include "pwmout_api.h"
sahilmgandhi 18:6a4db94011d3 18 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 19 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 20 #include "mbed_error.h"
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22 #if DEVICE_PWMOUT
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 #define SCT_CHANNELS 2
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 static const PinMap PinMap_PWM[] = {
sahilmgandhi 18:6a4db94011d3 27 {P1_19, SCT0_0, 2},
sahilmgandhi 18:6a4db94011d3 28 {P2_2 , SCT0_1, 3},
sahilmgandhi 18:6a4db94011d3 29 {P2_7 , SCT0_2, 2},
sahilmgandhi 18:6a4db94011d3 30 {P1_13, SCT0_3, 2},
sahilmgandhi 18:6a4db94011d3 31 {P2_16, SCT1_0, 1},
sahilmgandhi 18:6a4db94011d3 32 {P2_17, SCT1_1, 1},
sahilmgandhi 18:6a4db94011d3 33 {P2_18, SCT1_2, 1},
sahilmgandhi 18:6a4db94011d3 34 {P2_19, SCT1_3, 1},
sahilmgandhi 18:6a4db94011d3 35 {NC , NC ,0}
sahilmgandhi 18:6a4db94011d3 36 };
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38
sahilmgandhi 18:6a4db94011d3 39 static LPC_SCT0_Type *SCTs[SCT_CHANNELS] = {
sahilmgandhi 18:6a4db94011d3 40 (LPC_SCT0_Type*)LPC_SCT0,
sahilmgandhi 18:6a4db94011d3 41 (LPC_SCT0_Type*)LPC_SCT1,
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 };
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 // bit flags for used SCTs
sahilmgandhi 18:6a4db94011d3 46 static unsigned char sct_used = 0;
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 static int get_available_sct(void) {
sahilmgandhi 18:6a4db94011d3 49 int i;
sahilmgandhi 18:6a4db94011d3 50 for (i=0; i<SCT_CHANNELS; i++) {
sahilmgandhi 18:6a4db94011d3 51 if ((sct_used & (1 << i)) == 0)
sahilmgandhi 18:6a4db94011d3 52 return i;
sahilmgandhi 18:6a4db94011d3 53 }
sahilmgandhi 18:6a4db94011d3 54 return -1;
sahilmgandhi 18:6a4db94011d3 55 }
sahilmgandhi 18:6a4db94011d3 56
sahilmgandhi 18:6a4db94011d3 57 void pwmout_init(pwmout_t* obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 58 // determine the SPI to use
sahilmgandhi 18:6a4db94011d3 59 PWMName pwm_mapped = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
sahilmgandhi 18:6a4db94011d3 60 if (pwm_mapped == (PWMName)NC) {
sahilmgandhi 18:6a4db94011d3 61 error("PwmOut pin mapping failed");
sahilmgandhi 18:6a4db94011d3 62 }
sahilmgandhi 18:6a4db94011d3 63 int sct_n = get_available_sct();
sahilmgandhi 18:6a4db94011d3 64 if (sct_n == -1) {
sahilmgandhi 18:6a4db94011d3 65 error("No available SCT");
sahilmgandhi 18:6a4db94011d3 66 }
sahilmgandhi 18:6a4db94011d3 67
sahilmgandhi 18:6a4db94011d3 68 sct_used |= (1 << sct_n);
sahilmgandhi 18:6a4db94011d3 69 obj->pwm = SCTs[sct_n];
sahilmgandhi 18:6a4db94011d3 70 obj->pwm_ch = sct_n;
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 // Enable the SCT clock
sahilmgandhi 18:6a4db94011d3 73 LPC_SYSCON->SYSAHBCLKCTRL |= (1UL << 31);
sahilmgandhi 18:6a4db94011d3 74
sahilmgandhi 18:6a4db94011d3 75 // Clear peripheral reset the SCT:
sahilmgandhi 18:6a4db94011d3 76 LPC_SYSCON->PRESETCTRL |= (1 << (obj->pwm_ch + 9));
sahilmgandhi 18:6a4db94011d3 77 pinmap_pinout(pin, PinMap_PWM);
sahilmgandhi 18:6a4db94011d3 78 LPC_SCT0_Type* pwm = obj->pwm;
sahilmgandhi 18:6a4db94011d3 79
sahilmgandhi 18:6a4db94011d3 80 // Unified 32-bit counter, autolimit
sahilmgandhi 18:6a4db94011d3 81 pwm->CONFIG |= ((0x3 << 17) | 0x01);
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 // halt and clear the counter
sahilmgandhi 18:6a4db94011d3 84 pwm->CTRL |= (1 << 2) | (1 << 3);
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 switch(pwm_mapped) {
sahilmgandhi 18:6a4db94011d3 87 case SCT0_0:
sahilmgandhi 18:6a4db94011d3 88 case SCT1_0:
sahilmgandhi 18:6a4db94011d3 89 pwm->OUT0_SET = (1 << 0); // event 0
sahilmgandhi 18:6a4db94011d3 90 pwm->OUT0_CLR = (1 << 1); // event 1
sahilmgandhi 18:6a4db94011d3 91 break;
sahilmgandhi 18:6a4db94011d3 92 case SCT0_1:
sahilmgandhi 18:6a4db94011d3 93 case SCT1_1:
sahilmgandhi 18:6a4db94011d3 94 pwm->OUT1_SET = (1 << 0); // event 0
sahilmgandhi 18:6a4db94011d3 95 pwm->OUT1_CLR = (1 << 1); // event 1
sahilmgandhi 18:6a4db94011d3 96 break;
sahilmgandhi 18:6a4db94011d3 97 case SCT0_2:
sahilmgandhi 18:6a4db94011d3 98 case SCT1_2:
sahilmgandhi 18:6a4db94011d3 99 pwm->OUT2_SET = (1 << 0); // event 0
sahilmgandhi 18:6a4db94011d3 100 pwm->OUT2_CLR = (1 << 1); // event 1
sahilmgandhi 18:6a4db94011d3 101 break;
sahilmgandhi 18:6a4db94011d3 102 case SCT0_3:
sahilmgandhi 18:6a4db94011d3 103 case SCT1_3:
sahilmgandhi 18:6a4db94011d3 104 pwm->OUT3_SET = (1 << 0); // event 0
sahilmgandhi 18:6a4db94011d3 105 pwm->OUT3_CLR = (1 << 1); // event 1
sahilmgandhi 18:6a4db94011d3 106 break;
sahilmgandhi 18:6a4db94011d3 107 default:
sahilmgandhi 18:6a4db94011d3 108 break;
sahilmgandhi 18:6a4db94011d3 109 }
sahilmgandhi 18:6a4db94011d3 110 // Event 0 : MATCH and MATCHSEL=0
sahilmgandhi 18:6a4db94011d3 111 pwm->EV0_CTRL = (1 << 12);
sahilmgandhi 18:6a4db94011d3 112 pwm->EV0_STATE = 0xFFFFFFFF;
sahilmgandhi 18:6a4db94011d3 113 // Event 1 : MATCH and MATCHSEL=1
sahilmgandhi 18:6a4db94011d3 114 pwm->EV1_CTRL = (1 << 12) | (1 << 0);
sahilmgandhi 18:6a4db94011d3 115 pwm->EV1_STATE = 0xFFFFFFFF;
sahilmgandhi 18:6a4db94011d3 116
sahilmgandhi 18:6a4db94011d3 117 // default to 20ms: standard for servos, and fine for e.g. brightness control
sahilmgandhi 18:6a4db94011d3 118 pwmout_period_ms(obj, 20);
sahilmgandhi 18:6a4db94011d3 119 pwmout_write (obj, 0);
sahilmgandhi 18:6a4db94011d3 120 }
sahilmgandhi 18:6a4db94011d3 121
sahilmgandhi 18:6a4db94011d3 122 void pwmout_free(pwmout_t* obj) {
sahilmgandhi 18:6a4db94011d3 123 sct_used &= ~(1 << obj->pwm_ch);
sahilmgandhi 18:6a4db94011d3 124 if (sct_used == 0) {
sahilmgandhi 18:6a4db94011d3 125 // Disable the SCT clock
sahilmgandhi 18:6a4db94011d3 126 LPC_SYSCON->SYSAHBCLKCTRL &= ~(1UL << 31);
sahilmgandhi 18:6a4db94011d3 127 }
sahilmgandhi 18:6a4db94011d3 128 }
sahilmgandhi 18:6a4db94011d3 129
sahilmgandhi 18:6a4db94011d3 130 void pwmout_write(pwmout_t* obj, float value) {
sahilmgandhi 18:6a4db94011d3 131 LPC_SCT0_Type* pwm = obj->pwm;
sahilmgandhi 18:6a4db94011d3 132 if (value < 0.0f) {
sahilmgandhi 18:6a4db94011d3 133 value = 0.0;
sahilmgandhi 18:6a4db94011d3 134 } else if (value > 1.0f) {
sahilmgandhi 18:6a4db94011d3 135 value = 1.0;
sahilmgandhi 18:6a4db94011d3 136 }
sahilmgandhi 18:6a4db94011d3 137 uint32_t t_on = (uint32_t)((float)(pwm->MATCHREL0 + 1) * value);
sahilmgandhi 18:6a4db94011d3 138 if (t_on > 0) {
sahilmgandhi 18:6a4db94011d3 139 pwm->MATCHREL1 = t_on - 1;
sahilmgandhi 18:6a4db94011d3 140
sahilmgandhi 18:6a4db94011d3 141 // Un-halt the timer and ensure the new pulse-width takes immediate effect if necessary
sahilmgandhi 18:6a4db94011d3 142 if (pwm->CTRL & (1 << 2)) {
sahilmgandhi 18:6a4db94011d3 143 pwm->MATCH1 = pwm->MATCHREL1;
sahilmgandhi 18:6a4db94011d3 144 pwm->CTRL &= ~(1 << 2);
sahilmgandhi 18:6a4db94011d3 145 }
sahilmgandhi 18:6a4db94011d3 146 } else {
sahilmgandhi 18:6a4db94011d3 147 // Halt the timer and force the output low
sahilmgandhi 18:6a4db94011d3 148 pwm->CTRL |= (1 << 2) | (1 << 3);
sahilmgandhi 18:6a4db94011d3 149 pwm->OUTPUT = 0x00000000;
sahilmgandhi 18:6a4db94011d3 150 }
sahilmgandhi 18:6a4db94011d3 151 }
sahilmgandhi 18:6a4db94011d3 152
sahilmgandhi 18:6a4db94011d3 153 float pwmout_read(pwmout_t* obj) {
sahilmgandhi 18:6a4db94011d3 154 LPC_SCT0_Type* pwm = obj->pwm;
sahilmgandhi 18:6a4db94011d3 155 uint32_t t_off = pwm->MATCHREL0 + 1;
sahilmgandhi 18:6a4db94011d3 156 uint32_t t_on = (!(pwm->CTRL & (1 << 2))) ? pwm->MATCHREL1 + 1 : 0;
sahilmgandhi 18:6a4db94011d3 157 float v = (float)t_on/(float)t_off;
sahilmgandhi 18:6a4db94011d3 158 return (v > 1.0f) ? (1.0f) : (v);
sahilmgandhi 18:6a4db94011d3 159 }
sahilmgandhi 18:6a4db94011d3 160
sahilmgandhi 18:6a4db94011d3 161 void pwmout_period(pwmout_t* obj, float seconds) {
sahilmgandhi 18:6a4db94011d3 162 pwmout_period_us(obj, seconds * 1000000.0f);
sahilmgandhi 18:6a4db94011d3 163 }
sahilmgandhi 18:6a4db94011d3 164
sahilmgandhi 18:6a4db94011d3 165 void pwmout_period_ms(pwmout_t* obj, int ms) {
sahilmgandhi 18:6a4db94011d3 166 pwmout_period_us(obj, ms * 1000);
sahilmgandhi 18:6a4db94011d3 167 }
sahilmgandhi 18:6a4db94011d3 168
sahilmgandhi 18:6a4db94011d3 169 // Set the PWM period, keeping the duty cycle the same.
sahilmgandhi 18:6a4db94011d3 170 void pwmout_period_us(pwmout_t* obj, int us) {
sahilmgandhi 18:6a4db94011d3 171 LPC_SCT0_Type* pwm = obj->pwm;
sahilmgandhi 18:6a4db94011d3 172 uint32_t t_off = pwm->MATCHREL0 + 1;
sahilmgandhi 18:6a4db94011d3 173 uint32_t t_on = (!(pwm->CTRL & (1 << 2))) ? pwm->MATCHREL1 + 1 : 0;
sahilmgandhi 18:6a4db94011d3 174 float v = (float)t_on/(float)t_off;
sahilmgandhi 18:6a4db94011d3 175 uint32_t period_ticks = (uint32_t)(((uint64_t)SystemCoreClock * (uint64_t)us) / (uint64_t)1000000);
sahilmgandhi 18:6a4db94011d3 176 uint32_t pulsewidth_ticks = period_ticks * v;
sahilmgandhi 18:6a4db94011d3 177 pwm->MATCHREL0 = period_ticks - 1;
sahilmgandhi 18:6a4db94011d3 178 if (pulsewidth_ticks > 0) {
sahilmgandhi 18:6a4db94011d3 179 pwm->MATCHREL1 = pulsewidth_ticks - 1;
sahilmgandhi 18:6a4db94011d3 180
sahilmgandhi 18:6a4db94011d3 181 // Un-halt the timer and ensure the new period & pulse-width take immediate effect if necessary
sahilmgandhi 18:6a4db94011d3 182 if (pwm->CTRL & (1 << 2)) {
sahilmgandhi 18:6a4db94011d3 183 pwm->MATCH0 = pwm->MATCHREL0;
sahilmgandhi 18:6a4db94011d3 184 pwm->MATCH1 = pwm->MATCHREL1;
sahilmgandhi 18:6a4db94011d3 185 pwm->CTRL &= ~(1 << 2);
sahilmgandhi 18:6a4db94011d3 186 }
sahilmgandhi 18:6a4db94011d3 187 } else {
sahilmgandhi 18:6a4db94011d3 188 // Halt the timer and force the output low
sahilmgandhi 18:6a4db94011d3 189 pwm->CTRL |= (1 << 2) | (1 << 3);
sahilmgandhi 18:6a4db94011d3 190 pwm->OUTPUT = 0x00000000;
sahilmgandhi 18:6a4db94011d3 191
sahilmgandhi 18:6a4db94011d3 192 // Ensure the new period will take immediate effect when the timer is un-halted
sahilmgandhi 18:6a4db94011d3 193 pwm->MATCH0 = pwm->MATCHREL0;
sahilmgandhi 18:6a4db94011d3 194 }
sahilmgandhi 18:6a4db94011d3 195 }
sahilmgandhi 18:6a4db94011d3 196
sahilmgandhi 18:6a4db94011d3 197 void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
sahilmgandhi 18:6a4db94011d3 198 pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
sahilmgandhi 18:6a4db94011d3 199 }
sahilmgandhi 18:6a4db94011d3 200
sahilmgandhi 18:6a4db94011d3 201 void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
sahilmgandhi 18:6a4db94011d3 202 pwmout_pulsewidth_us(obj, ms * 1000);
sahilmgandhi 18:6a4db94011d3 203 }
sahilmgandhi 18:6a4db94011d3 204
sahilmgandhi 18:6a4db94011d3 205 void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
sahilmgandhi 18:6a4db94011d3 206 LPC_SCT0_Type* pwm = obj->pwm;
sahilmgandhi 18:6a4db94011d3 207 if (us > 0) {
sahilmgandhi 18:6a4db94011d3 208 pwm->MATCHREL1 = (uint32_t)(((uint64_t)SystemCoreClock * (uint64_t)us) / (uint64_t)1000000) - 1;
sahilmgandhi 18:6a4db94011d3 209
sahilmgandhi 18:6a4db94011d3 210 // Un-halt the timer and ensure the new pulse-width takes immediate effect if necessary
sahilmgandhi 18:6a4db94011d3 211 if (pwm->CTRL & (1 << 2)) {
sahilmgandhi 18:6a4db94011d3 212 pwm->MATCH1 = pwm->MATCHREL1;
sahilmgandhi 18:6a4db94011d3 213 pwm->CTRL &= ~(1 << 2);
sahilmgandhi 18:6a4db94011d3 214 }
sahilmgandhi 18:6a4db94011d3 215 } else {
sahilmgandhi 18:6a4db94011d3 216 // Halt the timer and force the output low
sahilmgandhi 18:6a4db94011d3 217 pwm->CTRL |= (1 << 2) | (1 << 3);
sahilmgandhi 18:6a4db94011d3 218 pwm->OUTPUT = 0x00000000;
sahilmgandhi 18:6a4db94011d3 219 }
sahilmgandhi 18:6a4db94011d3 220 }
sahilmgandhi 18:6a4db94011d3 221
sahilmgandhi 18:6a4db94011d3 222 #endif