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targets/TARGET_NXP/TARGET_LPC13XX/pwmout_api.c@149:156823d33999, 2016-10-28 (annotated)
- Committer:
- <>
- Date:
- Fri Oct 28 11:17:30 2016 +0100
- Revision:
- 149:156823d33999
This updates the lib to the mbed lib v128
NOTE: This release includes a restructuring of the file and directory locations and thus some
include paths in your code may need updating accordingly.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
<> | 149:156823d33999 | 1 | /* mbed Microcontroller Library |
<> | 149:156823d33999 | 2 | * Copyright (c) 2006-2013 ARM Limited |
<> | 149:156823d33999 | 3 | * |
<> | 149:156823d33999 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
<> | 149:156823d33999 | 5 | * you may not use this file except in compliance with the License. |
<> | 149:156823d33999 | 6 | * You may obtain a copy of the License at |
<> | 149:156823d33999 | 7 | * |
<> | 149:156823d33999 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
<> | 149:156823d33999 | 9 | * |
<> | 149:156823d33999 | 10 | * Unless required by applicable law or agreed to in writing, software |
<> | 149:156823d33999 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
<> | 149:156823d33999 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
<> | 149:156823d33999 | 13 | * See the License for the specific language governing permissions and |
<> | 149:156823d33999 | 14 | * limitations under the License. |
<> | 149:156823d33999 | 15 | */ |
<> | 149:156823d33999 | 16 | #include "mbed_assert.h" |
<> | 149:156823d33999 | 17 | #include "pwmout_api.h" |
<> | 149:156823d33999 | 18 | #include "cmsis.h" |
<> | 149:156823d33999 | 19 | #include "pinmap.h" |
<> | 149:156823d33999 | 20 | |
<> | 149:156823d33999 | 21 | #define TCR_CNT_EN 0x00000001 |
<> | 149:156823d33999 | 22 | #define TCR_RESET 0x00000002 |
<> | 149:156823d33999 | 23 | |
<> | 149:156823d33999 | 24 | /* To have a PWM where we can change both the period and the duty cycle, |
<> | 149:156823d33999 | 25 | * we need an entire timer. With the following conventions: |
<> | 149:156823d33999 | 26 | * * MR3 is used for the PWM period |
<> | 149:156823d33999 | 27 | * * MR0, MR1, MR2 are used for the duty cycle |
<> | 149:156823d33999 | 28 | */ |
<> | 149:156823d33999 | 29 | static const PinMap PinMap_PWM[] = { |
<> | 149:156823d33999 | 30 | /* CT16B0 */ |
<> | 149:156823d33999 | 31 | {P0_8 , PWM_1, 2}, {P1_13, PWM_1, 2}, /* MR0 */ |
<> | 149:156823d33999 | 32 | {P0_9 , PWM_2, 2}, {P1_14, PWM_2, 2}, /* MR1 */ |
<> | 149:156823d33999 | 33 | {P0_10, PWM_3, 3}, {P1_15, PWM_3, 2}, /* MR2 */ |
<> | 149:156823d33999 | 34 | |
<> | 149:156823d33999 | 35 | /* CT16B1 */ |
<> | 149:156823d33999 | 36 | {P0_21, PWM_4, 1}, /* MR0 */ |
<> | 149:156823d33999 | 37 | {P0_22, PWM_5, 2}, {P1_23, PWM_5, 1}, /* MR1 */ |
<> | 149:156823d33999 | 38 | |
<> | 149:156823d33999 | 39 | /* CT32B0 */ |
<> | 149:156823d33999 | 40 | {P0_18, PWM_6, 2}, {P1_24, PWM_6, 1}, /* MR0 */ |
<> | 149:156823d33999 | 41 | {P0_19, PWM_7, 2}, {P1_25, PWM_7, 1}, /* MR1 */ |
<> | 149:156823d33999 | 42 | {P0_1 , PWM_8, 2}, {P1_26, PWM_8, 1}, /* MR2 */ |
<> | 149:156823d33999 | 43 | |
<> | 149:156823d33999 | 44 | /* CT32B1 */ |
<> | 149:156823d33999 | 45 | {P0_13, PWM_9 , 3}, //{P1_0, PWM_9 , 1}, /* MR0 */ |
<> | 149:156823d33999 | 46 | {P0_14, PWM_10, 3}, //{P1_1, PWM_10, 1}, /* MR1 */ |
<> | 149:156823d33999 | 47 | {P0_15, PWM_11, 3}, //{P1_2, PWM_11, 1}, /* MR2 */ |
<> | 149:156823d33999 | 48 | |
<> | 149:156823d33999 | 49 | {NC, NC, 0} |
<> | 149:156823d33999 | 50 | }; |
<> | 149:156823d33999 | 51 | |
<> | 149:156823d33999 | 52 | typedef struct { |
<> | 149:156823d33999 | 53 | uint8_t timer; |
<> | 149:156823d33999 | 54 | uint8_t mr; |
<> | 149:156823d33999 | 55 | } timer_mr; |
<> | 149:156823d33999 | 56 | |
<> | 149:156823d33999 | 57 | static timer_mr pwm_timer_map[11] = { |
<> | 149:156823d33999 | 58 | {0, 0}, {0, 1}, {0, 2}, |
<> | 149:156823d33999 | 59 | {1, 0}, {1, 1}, |
<> | 149:156823d33999 | 60 | {2, 0}, {2, 1}, {2, 2}, |
<> | 149:156823d33999 | 61 | {3, 0}, {3, 1}, {3, 2}, |
<> | 149:156823d33999 | 62 | }; |
<> | 149:156823d33999 | 63 | |
<> | 149:156823d33999 | 64 | static LPC_CTxxBx_Type *Timers[4] = { |
<> | 149:156823d33999 | 65 | LPC_CT16B0, LPC_CT16B1, |
<> | 149:156823d33999 | 66 | LPC_CT32B0, LPC_CT32B1 |
<> | 149:156823d33999 | 67 | }; |
<> | 149:156823d33999 | 68 | |
<> | 149:156823d33999 | 69 | void pwmout_init(pwmout_t* obj, PinName pin) { |
<> | 149:156823d33999 | 70 | // determine the channel |
<> | 149:156823d33999 | 71 | PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM); |
<> | 149:156823d33999 | 72 | MBED_ASSERT(pwm != (PWMName)NC); |
<> | 149:156823d33999 | 73 | |
<> | 149:156823d33999 | 74 | obj->pwm = pwm; |
<> | 149:156823d33999 | 75 | |
<> | 149:156823d33999 | 76 | // Timer registers |
<> | 149:156823d33999 | 77 | timer_mr tid = pwm_timer_map[pwm]; |
<> | 149:156823d33999 | 78 | LPC_CTxxBx_Type *timer = Timers[tid.timer]; |
<> | 149:156823d33999 | 79 | |
<> | 149:156823d33999 | 80 | // Disable timer |
<> | 149:156823d33999 | 81 | timer->TCR = 0; |
<> | 149:156823d33999 | 82 | |
<> | 149:156823d33999 | 83 | // Power the correspondent timer |
<> | 149:156823d33999 | 84 | LPC_SYSCON->SYSAHBCLKCTRL |= 1 << (tid.timer + 7); |
<> | 149:156823d33999 | 85 | |
<> | 149:156823d33999 | 86 | /* Enable PWM function */ |
<> | 149:156823d33999 | 87 | timer->PWMC = (1 << 3)|(1 << 2)|(1 << 1)|(1 << 0); |
<> | 149:156823d33999 | 88 | |
<> | 149:156823d33999 | 89 | /* Reset Functionality on MR3 controlling the PWM period */ |
<> | 149:156823d33999 | 90 | timer->MCR = 1 << 10; |
<> | 149:156823d33999 | 91 | |
<> | 149:156823d33999 | 92 | if (timer == LPC_CT16B0 || timer == LPC_CT16B1) { |
<> | 149:156823d33999 | 93 | /* Set 16-bit timer prescaler to avoid timer expire for default 20ms |
<> | 149:156823d33999 | 94 | This can be also modified by user application, but the prescaler value |
<> | 149:156823d33999 | 95 | might be trade-off to timer accuracy */ |
<> | 149:156823d33999 | 96 | timer->PR = 30; |
<> | 149:156823d33999 | 97 | } |
<> | 149:156823d33999 | 98 | |
<> | 149:156823d33999 | 99 | // default to 20ms: standard for servos, and fine for e.g. brightness control |
<> | 149:156823d33999 | 100 | pwmout_period_ms(obj, 20); |
<> | 149:156823d33999 | 101 | pwmout_write (obj, 0); |
<> | 149:156823d33999 | 102 | |
<> | 149:156823d33999 | 103 | // Wire pinout |
<> | 149:156823d33999 | 104 | pinmap_pinout(pin, PinMap_PWM); |
<> | 149:156823d33999 | 105 | } |
<> | 149:156823d33999 | 106 | |
<> | 149:156823d33999 | 107 | void pwmout_free(pwmout_t* obj) { |
<> | 149:156823d33999 | 108 | // [TODO] |
<> | 149:156823d33999 | 109 | } |
<> | 149:156823d33999 | 110 | |
<> | 149:156823d33999 | 111 | void pwmout_write(pwmout_t* obj, float value) { |
<> | 149:156823d33999 | 112 | if (value < 0.0f) { |
<> | 149:156823d33999 | 113 | value = 0.0; |
<> | 149:156823d33999 | 114 | } else if (value > 1.0f) { |
<> | 149:156823d33999 | 115 | value = 1.0; |
<> | 149:156823d33999 | 116 | } |
<> | 149:156823d33999 | 117 | |
<> | 149:156823d33999 | 118 | timer_mr tid = pwm_timer_map[obj->pwm]; |
<> | 149:156823d33999 | 119 | LPC_CTxxBx_Type *timer = Timers[tid.timer]; |
<> | 149:156823d33999 | 120 | uint32_t t_off = timer->MR3 - (uint32_t)((float)(timer->MR3) * value); |
<> | 149:156823d33999 | 121 | |
<> | 149:156823d33999 | 122 | // to avoid spike pulse when duty is 0% |
<> | 149:156823d33999 | 123 | if (value == 0) { |
<> | 149:156823d33999 | 124 | t_off++; |
<> | 149:156823d33999 | 125 | } |
<> | 149:156823d33999 | 126 | |
<> | 149:156823d33999 | 127 | timer->TCR = TCR_RESET; |
<> | 149:156823d33999 | 128 | timer->MR[tid.mr] = t_off; |
<> | 149:156823d33999 | 129 | timer->TCR = TCR_CNT_EN; |
<> | 149:156823d33999 | 130 | } |
<> | 149:156823d33999 | 131 | |
<> | 149:156823d33999 | 132 | float pwmout_read(pwmout_t* obj) { |
<> | 149:156823d33999 | 133 | timer_mr tid = pwm_timer_map[obj->pwm]; |
<> | 149:156823d33999 | 134 | LPC_CTxxBx_Type *timer = Timers[tid.timer]; |
<> | 149:156823d33999 | 135 | |
<> | 149:156823d33999 | 136 | float v = (float)(timer->MR3 - timer->MR[tid.mr]) / (float)(timer->MR3); |
<> | 149:156823d33999 | 137 | if (timer->MR[tid.mr] > timer->MR3) { |
<> | 149:156823d33999 | 138 | v = 0.0f; |
<> | 149:156823d33999 | 139 | } |
<> | 149:156823d33999 | 140 | return (v > 1.0f) ? (1.0f) : (v); |
<> | 149:156823d33999 | 141 | } |
<> | 149:156823d33999 | 142 | |
<> | 149:156823d33999 | 143 | void pwmout_period(pwmout_t* obj, float seconds) { |
<> | 149:156823d33999 | 144 | pwmout_period_us(obj, seconds * 1000000.0f); |
<> | 149:156823d33999 | 145 | } |
<> | 149:156823d33999 | 146 | |
<> | 149:156823d33999 | 147 | void pwmout_period_ms(pwmout_t* obj, int ms) { |
<> | 149:156823d33999 | 148 | pwmout_period_us(obj, ms * 1000); |
<> | 149:156823d33999 | 149 | } |
<> | 149:156823d33999 | 150 | |
<> | 149:156823d33999 | 151 | // Set the PWM period, keeping the duty cycle the same. |
<> | 149:156823d33999 | 152 | void pwmout_period_us(pwmout_t* obj, int us) { |
<> | 149:156823d33999 | 153 | int i = 0; |
<> | 149:156823d33999 | 154 | |
<> | 149:156823d33999 | 155 | timer_mr tid = pwm_timer_map[obj->pwm]; |
<> | 149:156823d33999 | 156 | LPC_CTxxBx_Type *timer = Timers[tid.timer]; |
<> | 149:156823d33999 | 157 | uint32_t old_period_ticks = timer->MR3; |
<> | 149:156823d33999 | 158 | uint32_t period_ticks = (SystemCoreClock / 1000000 * us) / (timer->PR + 1); |
<> | 149:156823d33999 | 159 | |
<> | 149:156823d33999 | 160 | timer->TCR = TCR_RESET; |
<> | 149:156823d33999 | 161 | timer->MR3 = period_ticks; |
<> | 149:156823d33999 | 162 | |
<> | 149:156823d33999 | 163 | // Scale the pulse width to preserve the duty ratio |
<> | 149:156823d33999 | 164 | if (old_period_ticks > 0) { |
<> | 149:156823d33999 | 165 | for (i=0; i<3; i++) { |
<> | 149:156823d33999 | 166 | uint32_t t_off = period_ticks - (uint32_t)(((uint64_t)timer->MR[i] * (uint64_t)period_ticks) / (uint64_t)old_period_ticks); |
<> | 149:156823d33999 | 167 | timer->MR[i] = t_off; |
<> | 149:156823d33999 | 168 | } |
<> | 149:156823d33999 | 169 | } |
<> | 149:156823d33999 | 170 | timer->TCR = TCR_CNT_EN; |
<> | 149:156823d33999 | 171 | } |
<> | 149:156823d33999 | 172 | |
<> | 149:156823d33999 | 173 | void pwmout_pulsewidth(pwmout_t* obj, float seconds) { |
<> | 149:156823d33999 | 174 | pwmout_pulsewidth_us(obj, seconds * 1000000.0f); |
<> | 149:156823d33999 | 175 | } |
<> | 149:156823d33999 | 176 | |
<> | 149:156823d33999 | 177 | void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) { |
<> | 149:156823d33999 | 178 | pwmout_pulsewidth_us(obj, ms * 1000); |
<> | 149:156823d33999 | 179 | } |
<> | 149:156823d33999 | 180 | |
<> | 149:156823d33999 | 181 | void pwmout_pulsewidth_us(pwmout_t* obj, int us) { |
<> | 149:156823d33999 | 182 | timer_mr tid = pwm_timer_map[obj->pwm]; |
<> | 149:156823d33999 | 183 | LPC_CTxxBx_Type *timer = Timers[tid.timer]; |
<> | 149:156823d33999 | 184 | uint32_t t_on = (uint32_t)((((uint64_t)SystemCoreClock * (uint64_t)us) / (uint64_t)1000000) / (timer->PR + 1)); |
<> | 149:156823d33999 | 185 | |
<> | 149:156823d33999 | 186 | timer->TCR = TCR_RESET; |
<> | 149:156823d33999 | 187 | if (t_on > timer->MR3) { |
<> | 149:156823d33999 | 188 | pwmout_period_us(obj, us); |
<> | 149:156823d33999 | 189 | } |
<> | 149:156823d33999 | 190 | uint32_t t_off = timer->MR3 - t_on; |
<> | 149:156823d33999 | 191 | timer->MR[tid.mr] = t_off; |
<> | 149:156823d33999 | 192 | timer->TCR = TCR_CNT_EN; |
<> | 149:156823d33999 | 193 | } |