EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

targets/TARGET_TOSHIBA/TARGET_TMPM066/pwmout_api.c@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 /* mbed Microcontroller Library
be_bryan 0:b74591d5ab33 2 * (C)Copyright TOSHIBA ELECTRONIC DEVICES & STORAGE CORPORATION 2017 All rights reserved
be_bryan 0:b74591d5ab33 3 *
be_bryan 0:b74591d5ab33 4 * Licensed under the Apache License, Version 2.0 (the "License");
be_bryan 0:b74591d5ab33 5 * you may not use this file except in compliance with the License.
be_bryan 0:b74591d5ab33 6 * You may obtain a copy of the License at
be_bryan 0:b74591d5ab33 7 *
be_bryan 0:b74591d5ab33 8 * http://www.apache.org/licenses/LICENSE-2.0
be_bryan 0:b74591d5ab33 9 *
be_bryan 0:b74591d5ab33 10 * Unless required by applicable law or agreed to in writing, software
be_bryan 0:b74591d5ab33 11 * distributed under the License is distributed on an "AS IS" BASIS,
be_bryan 0:b74591d5ab33 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
be_bryan 0:b74591d5ab33 13 * See the License for the specific language governing permissions and
be_bryan 0:b74591d5ab33 14 * limitations under the License.
be_bryan 0:b74591d5ab33 15 */
be_bryan 0:b74591d5ab33 16 #include "pwmout_api.h"
be_bryan 0:b74591d5ab33 17 #include "PeripheralNames.h"
be_bryan 0:b74591d5ab33 18 #include "pinmap.h"
be_bryan 0:b74591d5ab33 19 #include "tmpm066_tmrb.h"
be_bryan 0:b74591d5ab33 20
be_bryan 0:b74591d5ab33 21 #define CLOCK_FREQUENCY SystemCoreClock // input source clock
be_bryan 0:b74591d5ab33 22 #define MAX_COUNTER_16B 0xFFFF
be_bryan 0:b74591d5ab33 23 #define DEFAULT_CLOCK_DIVISION 32
be_bryan 0:b74591d5ab33 24 #define DEFAULT_PERIOD 0.02f // 20ms
be_bryan 0:b74591d5ab33 25
be_bryan 0:b74591d5ab33 26 static const PinMap PinMap_PWM[] = {
be_bryan 0:b74591d5ab33 27 {PD1, PWM_0, PIN_DATA(1, 1)},
be_bryan 0:b74591d5ab33 28 {PD2, PWM_1, PIN_DATA(1, 1)},
be_bryan 0:b74591d5ab33 29 {PD3, PWM_2, PIN_DATA(1, 1)},
be_bryan 0:b74591d5ab33 30 {PF4, PWM_3, PIN_DATA(1, 1)},
be_bryan 0:b74591d5ab33 31 {PF5, PWM_4, PIN_DATA(1, 1)},
be_bryan 0:b74591d5ab33 32 {PJ0, PWM_5, PIN_DATA(1, 1)},
be_bryan 0:b74591d5ab33 33 {PJ1, PWM_6, PIN_DATA(1, 1)},
be_bryan 0:b74591d5ab33 34 {NC, NC, 0}
be_bryan 0:b74591d5ab33 35 };
be_bryan 0:b74591d5ab33 36
be_bryan 0:b74591d5ab33 37 static const uint32_t prescale_tbl[] = {
be_bryan 0:b74591d5ab33 38 2, 8, 32, 64, 128, 256, 512
be_bryan 0:b74591d5ab33 39 };
be_bryan 0:b74591d5ab33 40
be_bryan 0:b74591d5ab33 41 void pwmout_init(pwmout_t *obj, PinName pin)
be_bryan 0:b74591d5ab33 42 {
be_bryan 0:b74591d5ab33 43 uint16_t counter = 0;
be_bryan 0:b74591d5ab33 44 TMRB_FFOutputTypeDef FFStruct;
be_bryan 0:b74591d5ab33 45 TMRB_InitTypeDef m_tmrb;
be_bryan 0:b74591d5ab33 46
be_bryan 0:b74591d5ab33 47 // Determine the pwm channel
be_bryan 0:b74591d5ab33 48 PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
be_bryan 0:b74591d5ab33 49 //Assert input is valid
be_bryan 0:b74591d5ab33 50 MBED_ASSERT(pwm != (PWMName)NC);
be_bryan 0:b74591d5ab33 51
be_bryan 0:b74591d5ab33 52 // Enable clock supply to TB0
be_bryan 0:b74591d5ab33 53 CG_SetFcPeriphA(CG_FC_PERIPH_TMRB0_3, ENABLE);
be_bryan 0:b74591d5ab33 54 CG_SetFcPeriphA(CG_FC_PERIPH_TMRB4_6, ENABLE);
be_bryan 0:b74591d5ab33 55
be_bryan 0:b74591d5ab33 56 switch (pwm) {
be_bryan 0:b74591d5ab33 57 case PWM_0:
be_bryan 0:b74591d5ab33 58 obj->channel = TSB_TB0;
be_bryan 0:b74591d5ab33 59 break;
be_bryan 0:b74591d5ab33 60 case PWM_1:
be_bryan 0:b74591d5ab33 61 obj->channel = TSB_TB1;
be_bryan 0:b74591d5ab33 62 break;
be_bryan 0:b74591d5ab33 63 case PWM_2:
be_bryan 0:b74591d5ab33 64 obj->channel = TSB_TB2;
be_bryan 0:b74591d5ab33 65 break;
be_bryan 0:b74591d5ab33 66 case PWM_3:
be_bryan 0:b74591d5ab33 67 obj->channel = TSB_TB3;
be_bryan 0:b74591d5ab33 68 break;
be_bryan 0:b74591d5ab33 69 case PWM_4:
be_bryan 0:b74591d5ab33 70 obj->channel = TSB_TB4;
be_bryan 0:b74591d5ab33 71 break;
be_bryan 0:b74591d5ab33 72 case PWM_5:
be_bryan 0:b74591d5ab33 73 obj->channel = TSB_TB5;
be_bryan 0:b74591d5ab33 74 CG_SetFcPeriphA(CG_FC_PERIPH_PORTJ, ENABLE);
be_bryan 0:b74591d5ab33 75 break;
be_bryan 0:b74591d5ab33 76 case PWM_6:
be_bryan 0:b74591d5ab33 77 obj->channel = TSB_TB6;
be_bryan 0:b74591d5ab33 78 CG_SetFcPeriphA(CG_FC_PERIPH_PORTJ, ENABLE);
be_bryan 0:b74591d5ab33 79 break;
be_bryan 0:b74591d5ab33 80 default:
be_bryan 0:b74591d5ab33 81 obj->channel = NULL;
be_bryan 0:b74591d5ab33 82 return;
be_bryan 0:b74591d5ab33 83 }
be_bryan 0:b74591d5ab33 84 // Set pin function as PWM
be_bryan 0:b74591d5ab33 85 pinmap_pinout(pin, PinMap_PWM);
be_bryan 0:b74591d5ab33 86 obj->pin = pin;
be_bryan 0:b74591d5ab33 87 obj->period = DEFAULT_PERIOD;
be_bryan 0:b74591d5ab33 88 // Enable channel
be_bryan 0:b74591d5ab33 89 TMRB_Enable(obj->channel);
be_bryan 0:b74591d5ab33 90 // Stops and clear count operation
be_bryan 0:b74591d5ab33 91 TMRB_SetRunState(obj->channel, TMRB_STOP);
be_bryan 0:b74591d5ab33 92 // Disables double buffering
be_bryan 0:b74591d5ab33 93 TMRB_SetDoubleBuf(obj->channel, DISABLE);
be_bryan 0:b74591d5ab33 94 // Set default period = 20ms, duty cycle = 0
be_bryan 0:b74591d5ab33 95 obj->divisor = DEFAULT_CLOCK_DIVISION;
be_bryan 0:b74591d5ab33 96 counter = (uint16_t)((DEFAULT_PERIOD * CLOCK_FREQUENCY) / obj->divisor);
be_bryan 0:b74591d5ab33 97
be_bryan 0:b74591d5ab33 98 // Init timer variable for using PPG mode
be_bryan 0:b74591d5ab33 99 m_tmrb.Mode = TMRB_INTERVAL_TIMER;
be_bryan 0:b74591d5ab33 100 m_tmrb.ClkDiv = TMRB_CLK_DIV_32;
be_bryan 0:b74591d5ab33 101 m_tmrb.UpCntCtrl = TMRB_AUTO_CLEAR; // clear UC when matching value
be_bryan 0:b74591d5ab33 102 m_tmrb.TrailingTiming = counter; // period = 20ms
be_bryan 0:b74591d5ab33 103 m_tmrb.LeadingTiming = counter; // duty cycle = 0%
be_bryan 0:b74591d5ab33 104
be_bryan 0:b74591d5ab33 105 // Init timer function
be_bryan 0:b74591d5ab33 106 TMRB_Init(obj->channel, &m_tmrb);
be_bryan 0:b74591d5ab33 107 obj->trailing_timing = counter;
be_bryan 0:b74591d5ab33 108 obj->leading_timing = counter;
be_bryan 0:b74591d5ab33 109
be_bryan 0:b74591d5ab33 110 // Enable double buffering
be_bryan 0:b74591d5ab33 111 TMRB_SetDoubleBuf(obj->channel, ENABLE);
be_bryan 0:b74591d5ab33 112
be_bryan 0:b74591d5ab33 113 // Setting to TBxFF0 reverse trigger
be_bryan 0:b74591d5ab33 114 FFStruct.FlipflopCtrl = TMRB_FLIPFLOP_CLEAR;
be_bryan 0:b74591d5ab33 115 FFStruct.FlipflopReverseTrg = TMRB_FLIPFLOP_MATCH_TRAILINGTIMING | TMRB_FLIPFLOP_MATCH_LEADINGTIMING;
be_bryan 0:b74591d5ab33 116 TMRB_SetFlipFlop(obj->channel, &FFStruct);
be_bryan 0:b74591d5ab33 117
be_bryan 0:b74591d5ab33 118 // Start count operation
be_bryan 0:b74591d5ab33 119 TMRB_SetRunState(obj->channel, TMRB_RUN);
be_bryan 0:b74591d5ab33 120 }
be_bryan 0:b74591d5ab33 121
be_bryan 0:b74591d5ab33 122 void pwmout_free(pwmout_t *obj)
be_bryan 0:b74591d5ab33 123 {
be_bryan 0:b74591d5ab33 124 // Stops and clear count operation
be_bryan 0:b74591d5ab33 125 TMRB_SetRunState(obj->channel, TMRB_STOP);
be_bryan 0:b74591d5ab33 126 pwmout_write(obj,0);
be_bryan 0:b74591d5ab33 127 obj->pin = NC;
be_bryan 0:b74591d5ab33 128 obj->channel = NULL;
be_bryan 0:b74591d5ab33 129 obj->trailing_timing = 0;
be_bryan 0:b74591d5ab33 130 obj->leading_timing = 0;
be_bryan 0:b74591d5ab33 131 obj->divisor = 0;
be_bryan 0:b74591d5ab33 132 }
be_bryan 0:b74591d5ab33 133
be_bryan 0:b74591d5ab33 134 void pwmout_write(pwmout_t *obj, float value)
be_bryan 0:b74591d5ab33 135 {
be_bryan 0:b74591d5ab33 136 TMRB_FFOutputTypeDef FFStruct;
be_bryan 0:b74591d5ab33 137
be_bryan 0:b74591d5ab33 138 // Stop timer for setting clock again
be_bryan 0:b74591d5ab33 139 TMRB_SetRunState(obj->channel, TMRB_STOP);
be_bryan 0:b74591d5ab33 140 // values outside this range will be saturated to 0.0f or 1.0f
be_bryan 0:b74591d5ab33 141 // Disable flip-flop reverse trigger when leading_timing and trailing_timing are duplicated
be_bryan 0:b74591d5ab33 142 if (value <= 0.0f) {
be_bryan 0:b74591d5ab33 143 value = 0;
be_bryan 0:b74591d5ab33 144 FFStruct.FlipflopCtrl = TMRB_FLIPFLOP_CLEAR;
be_bryan 0:b74591d5ab33 145 FFStruct.FlipflopReverseTrg = TMRB_DISABLE_FLIPFLOP;
be_bryan 0:b74591d5ab33 146 TMRB_SetFlipFlop(obj->channel, &FFStruct);
be_bryan 0:b74591d5ab33 147 } else if (value >= 1.0f) {
be_bryan 0:b74591d5ab33 148 value = 1;
be_bryan 0:b74591d5ab33 149 FFStruct.FlipflopCtrl = TMRB_FLIPFLOP_SET;
be_bryan 0:b74591d5ab33 150 FFStruct.FlipflopReverseTrg = TMRB_DISABLE_FLIPFLOP;
be_bryan 0:b74591d5ab33 151 TMRB_SetFlipFlop(obj->channel, &FFStruct);
be_bryan 0:b74591d5ab33 152 } else {
be_bryan 0:b74591d5ab33 153 FFStruct.FlipflopCtrl = TMRB_FLIPFLOP_CLEAR;
be_bryan 0:b74591d5ab33 154 FFStruct.FlipflopReverseTrg = TMRB_FLIPFLOP_MATCH_TRAILINGTIMING | TMRB_FLIPFLOP_MATCH_LEADINGTIMING;
be_bryan 0:b74591d5ab33 155 TMRB_SetFlipFlop(obj->channel, &FFStruct);
be_bryan 0:b74591d5ab33 156 }
be_bryan 0:b74591d5ab33 157
be_bryan 0:b74591d5ab33 158 // Store the new leading_timing value
be_bryan 0:b74591d5ab33 159 obj->leading_timing = obj->trailing_timing - (uint16_t)(obj->trailing_timing * value);
be_bryan 0:b74591d5ab33 160
be_bryan 0:b74591d5ab33 161 // Setting TBxRG0 register
be_bryan 0:b74591d5ab33 162 TMRB_ChangeLeadingTiming(obj->channel, obj->leading_timing);
be_bryan 0:b74591d5ab33 163 TMRB_SetRunState(obj->channel, TMRB_RUN);
be_bryan 0:b74591d5ab33 164 }
be_bryan 0:b74591d5ab33 165
be_bryan 0:b74591d5ab33 166 float pwmout_read(pwmout_t *obj)
be_bryan 0:b74591d5ab33 167 {
be_bryan 0:b74591d5ab33 168 float duty_cycle = (float)(obj->trailing_timing - obj->leading_timing) / obj->trailing_timing;
be_bryan 0:b74591d5ab33 169 return duty_cycle;
be_bryan 0:b74591d5ab33 170 }
be_bryan 0:b74591d5ab33 171
be_bryan 0:b74591d5ab33 172 void pwmout_period(pwmout_t *obj, float seconds)
be_bryan 0:b74591d5ab33 173 {
be_bryan 0:b74591d5ab33 174 pwmout_period_us(obj, (int)(seconds * 1000000.0f));
be_bryan 0:b74591d5ab33 175 }
be_bryan 0:b74591d5ab33 176
be_bryan 0:b74591d5ab33 177 void pwmout_period_ms(pwmout_t *obj, int ms)
be_bryan 0:b74591d5ab33 178 {
be_bryan 0:b74591d5ab33 179 pwmout_period_us(obj, ms * 1000);
be_bryan 0:b74591d5ab33 180 }
be_bryan 0:b74591d5ab33 181
be_bryan 0:b74591d5ab33 182 // Set the PWM period, keeping the duty cycle the same.
be_bryan 0:b74591d5ab33 183 void pwmout_period_us(pwmout_t *obj, int us)
be_bryan 0:b74591d5ab33 184 {
be_bryan 0:b74591d5ab33 185 float seconds = 0;
be_bryan 0:b74591d5ab33 186 int cycles = 0;
be_bryan 0:b74591d5ab33 187 uint32_t clkdiv = 0;
be_bryan 0:b74591d5ab33 188 float duty_cycle = 0;
be_bryan 0:b74591d5ab33 189 TMRB_InitTypeDef m_tmrb;
be_bryan 0:b74591d5ab33 190 seconds = (float)((us) / 1000000.0f);
be_bryan 0:b74591d5ab33 191 obj->period = seconds;
be_bryan 0:b74591d5ab33 192
be_bryan 0:b74591d5ab33 193 MBED_ASSERT(obj->channel != NULL);
be_bryan 0:b74591d5ab33 194
be_bryan 0:b74591d5ab33 195 // Select highest timer resolution
be_bryan 0:b74591d5ab33 196 for (int i = 0; i < 7; ++i) {
be_bryan 0:b74591d5ab33 197 cycles = (int)((CLOCK_FREQUENCY / prescale_tbl[i]) * seconds);
be_bryan 0:b74591d5ab33 198 if (cycles <= MAX_COUNTER_16B) {
be_bryan 0:b74591d5ab33 199 clkdiv = i + 1; // range 1:7
be_bryan 0:b74591d5ab33 200 break;
be_bryan 0:b74591d5ab33 201 }
be_bryan 0:b74591d5ab33 202 }
be_bryan 0:b74591d5ab33 203 // Stop timer for setting clock again
be_bryan 0:b74591d5ab33 204 TMRB_SetRunState(obj->channel, TMRB_STOP);
be_bryan 0:b74591d5ab33 205 // Restore the duty-cycle
be_bryan 0:b74591d5ab33 206 duty_cycle = (float)(obj->trailing_timing - obj->leading_timing) / obj->trailing_timing;
be_bryan 0:b74591d5ab33 207 obj->trailing_timing = cycles;
be_bryan 0:b74591d5ab33 208 obj->leading_timing = (cycles - (uint16_t)(cycles * duty_cycle));
be_bryan 0:b74591d5ab33 209
be_bryan 0:b74591d5ab33 210 // Change the source clock division and period
be_bryan 0:b74591d5ab33 211 m_tmrb.Mode = TMRB_INTERVAL_TIMER;
be_bryan 0:b74591d5ab33 212 m_tmrb.ClkDiv = clkdiv;
be_bryan 0:b74591d5ab33 213 m_tmrb.UpCntCtrl = TMRB_AUTO_CLEAR;
be_bryan 0:b74591d5ab33 214 m_tmrb.TrailingTiming = obj->trailing_timing;
be_bryan 0:b74591d5ab33 215 m_tmrb.LeadingTiming = obj->leading_timing;
be_bryan 0:b74591d5ab33 216
be_bryan 0:b74591d5ab33 217 //Init timer function
be_bryan 0:b74591d5ab33 218 TMRB_Init(obj->channel, &m_tmrb);
be_bryan 0:b74591d5ab33 219 //Start timer function
be_bryan 0:b74591d5ab33 220 TMRB_SetRunState(obj->channel, TMRB_RUN);
be_bryan 0:b74591d5ab33 221 }
be_bryan 0:b74591d5ab33 222
be_bryan 0:b74591d5ab33 223 void pwmout_pulsewidth(pwmout_t *obj, float seconds)
be_bryan 0:b74591d5ab33 224 {
be_bryan 0:b74591d5ab33 225 pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
be_bryan 0:b74591d5ab33 226 }
be_bryan 0:b74591d5ab33 227
be_bryan 0:b74591d5ab33 228 void pwmout_pulsewidth_ms(pwmout_t *obj, int ms)
be_bryan 0:b74591d5ab33 229 {
be_bryan 0:b74591d5ab33 230 pwmout_pulsewidth_us(obj, ms * 1000);
be_bryan 0:b74591d5ab33 231 }
be_bryan 0:b74591d5ab33 232
be_bryan 0:b74591d5ab33 233 void pwmout_pulsewidth_us(pwmout_t *obj, int us)
be_bryan 0:b74591d5ab33 234 {
be_bryan 0:b74591d5ab33 235 float seconds = 0;
be_bryan 0:b74591d5ab33 236 float value = 0;
be_bryan 0:b74591d5ab33 237
be_bryan 0:b74591d5ab33 238 MBED_ASSERT(obj->channel != NULL);
be_bryan 0:b74591d5ab33 239
be_bryan 0:b74591d5ab33 240 seconds = (float)(us / 1000000.0f);
be_bryan 0:b74591d5ab33 241 value = (((seconds / obj->period) * 100.0f) / 100.0f);
be_bryan 0:b74591d5ab33 242 pwmout_write(obj, value);
be_bryan 0:b74591d5ab33 243 }