teralytic
mbed library sources. Supersedes mbed-src.
Diff: targets/hal/TARGET_RENESAS/TARGET_VK_RZ_A1H/pwmout_api.c
- Revision:
- 119:3921aeca8633
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/hal/TARGET_RENESAS/TARGET_VK_RZ_A1H/pwmout_api.c Fri Apr 29 01:15:11 2016 +0100
@@ -0,0 +1,705 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "mbed_assert.h"
+#include "pwmout_api.h"
+#include "cmsis.h"
+#include "pinmap.h"
+#include "RZ_A1_Init.h"
+#include "cpg_iodefine.h"
+#include "pwm_iodefine.h"
+#include "gpio_addrdefine.h"
+
+#ifdef MAX_PERI
+#define MTU2_PWM_NUM 27
+#define MTU2_PWM_SIGNAL 2
+#define MTU2_PWM_OFFSET 0x20
+
+// PORT ID, PWM ID, Pin function
+static const PinMap PinMap_PWM[] = {
+ // TIOC0 A,C
+ {P4_0 , MTU2_PWM0_PIN , 2}, //TIOC0A
+ {P5_0 , MTU2_PWM1_PIN , 6}, //TIOC0A
+ {P7_0 , MTU2_PWM2_PIN , 7}, //TIOC0A
+ {P4_2 , MTU2_PWM3_PIN , 2}, //TIOC0C
+ {P5_5 , MTU2_PWM4_PIN , 6}, //TIOC0C
+ {P7_2 , MTU2_PWM5_PIN , 7}, //TIOC0C
+ //TIOC1 A
+ {P2_11 , MTU2_PWM6_PIN , 5}, //TIOC1A
+ {P6_0 , MTU2_PWM7_PIN , 5}, //TIOC1A
+ {P7_4 , MTU2_PWM8_PIN , 7}, //TIOC1A
+ {P8_8 , MTU2_PWM9_PIN , 5}, //TIOC1A
+ {P9_7 , MTU2_PWM10_PIN , 4}, //TIOC1A
+ //TIOC2 A
+ {P2_1 , MTU2_PWM11_PIN , 6}, //TIOC2A
+ {P6_2 , MTU2_PWM12_PIN , 6}, //TIOC2A
+ {P7_6 , MTU2_PWM13_PIN , 7}, //TIOC2A
+ {P8_14 , MTU2_PWM14_PIN , 4}, //TIOC2A
+ //TIOC3 A,C
+ {P3_4 , MTU2_PWM15_PIN , 6}, //TIOC3A
+ {P7_8 , MTU2_PWM16_PIN , 7}, //TIOC3A
+ {P8_10 , MTU2_PWM17_PIN , 4}, //TIOC3A
+ {P3_6 , MTU2_PWM18_PIN , 6}, //TIOC3C
+ {P7_10 , MTU2_PWM19_PIN , 7}, //TIOC3C
+ {P8_12 , MTU2_PWM20_PIN , 4}, //TIOC3C
+ //TIOC4 A,C
+ {P3_8 , MTU2_PWM21_PIN , 6}, //TIOC4A
+ {P4_4 , MTU2_PWM22_PIN , 3}, //TIOC4A
+ {P7_12 , MTU2_PWM23_PIN , 7}, //TIOC4A
+ {P3_10 , MTU2_PWM24_PIN , 6}, //TIOC4C
+ {P4_6 , MTU2_PWM25_PIN , 3}, //TIOC4C
+ {P7_14 , MTU2_PWM26_PIN , 7}, //TIOC4C
+ //PWM1
+ {P8_8 , PWM0_PIN , 6}, //PWM1A
+ {P8_9 , PWM1_PIN , 6}, //PWM1B
+ {P8_10 , PWM2_PIN , 6}, //PWM1C
+ {P8_11 , PWM3_PIN , 6}, //PWM1D
+ {P8_12 , PWM4_PIN , 6}, //PWM1E
+ {P8_13 , PWM5_PIN , 6}, //PWM1F
+ {P8_14 , PWM6_PIN , 6}, //PWM1G
+ {P8_15 , PWM7_PIN , 6}, //PWM1H
+ //PWM2
+ {P3_0 , PWM8_PIN , 7}, //PWM2A
+ {P3_1 , PWM9_PIN , 7}, //PWM2B
+ {P3_2 , PWM10_PIN , 7}, //PWM2C
+ {P3_3 , PWM11_PIN , 7}, //PWM2D
+ {P4_4 , PWM12_PIN , 4}, //PWM2E
+ {P4_5 , PWM13_PIN , 4}, //PWM2F
+ {P4_6 , PWM14_PIN , 4}, //PWM2G
+ {P4_7 , PWM15_PIN , 4}, //PWM2H
+ {NC , NC , 0}
+};
+
+static const PWMType PORT[] = {
+ PWM1A, // PWM0_PIN
+ PWM1B, // PWM1_PIN
+ PWM1C, // PWM2_PIN
+ PWM1D, // PWM3_PIN
+ PWM1E, // PWM4_PIN
+ PWM1F, // PWM5_PIN
+ PWM1G, // PWM6_PIN
+ PWM1H, // PWM7_PIN
+ PWM2A, // PWM8_PIN
+ PWM2B, // PWM9_PIN
+ PWM2C, // PWM10_PIN
+ PWM2D, // PWM11_PIN
+ PWM2E, // PWM12_PIN
+ PWM2F, // PWM13_PIN
+ PWM2G, // PWM14_PIN
+ PWM2H, // PWM15_PIN
+};
+
+static const MTU2_PWMType MTU2_PORT[] = {
+ TIOC0A, // MTU2_PWM0_PIN
+ TIOC0A, // MTU2_PWM1_PIN
+ TIOC0A, // MTU2_PWM2_PIN
+ TIOC0C, // MTU2_PWM3_PIN
+ TIOC0C, // MTU2_PWM4_PIN
+ TIOC0C, // MTU2_PWM5_PIN
+ TIOC1A, // MTU2_PWM6_PIN
+ TIOC1A, // MTU2_PWM7_PIN
+ TIOC1A, // MTU2_PWM8_PIN
+ TIOC1A, // MTU2_PWM9_PIN
+ TIOC1A, // MTU2_PWM10_PIN
+ TIOC2A, // MTU2_PWM11_PIN
+ TIOC2A, // MTU2_PWM12_PIN
+ TIOC2A, // MTU2_PWM13_PIN
+ TIOC2A, // MTU2_PWM14_PIN
+ TIOC3A, // MTU2_PWM15_PIN
+ TIOC3A, // MTU2_PWM16_PIN
+ TIOC3A, // MTU2_PWM17_PIN
+ TIOC3C, // MTU2_PWM18_PIN
+ TIOC3C, // MTU2_PWM19_PIN
+ TIOC3C, // MTU2_PWM20_PIN
+ TIOC4A, // MTU2_PWM21_PIN
+ TIOC4A, // MTU2_PWM22_PIN
+ TIOC4A, // MTU2_PWM23_PIN
+ TIOC4C, // MTU2_PWM24_PIN
+ TIOC4C, // MTU2_PWM25_PIN
+ TIOC4C, // MTU2_PWM26_PIN
+};
+
+static __IO uint16_t *PWM_MATCH[] = {
+ &PWMPWBFR_1A, // PWM0_PIN
+ &PWMPWBFR_1A, // PWM1_PIN
+ &PWMPWBFR_1C, // PWM2_PIN
+ &PWMPWBFR_1C, // PWM3_PIN
+ &PWMPWBFR_1E, // PWM4_PIN
+ &PWMPWBFR_1E, // PWM5_PIN
+ &PWMPWBFR_1G, // PWM6_PIN
+ &PWMPWBFR_1G, // PWM7_PIN
+ &PWMPWBFR_2A, // PWM8_PIN
+ &PWMPWBFR_2A, // PWM9_PIN
+ &PWMPWBFR_2C, // PWM10_PIN
+ &PWMPWBFR_2C, // PWM11_PIN
+ &PWMPWBFR_2E, // PWM12_PIN
+ &PWMPWBFR_2E, // PWM13_PIN
+ &PWMPWBFR_2G, // PWM14_PIN
+ &PWMPWBFR_2G, // PWM15_PIN
+};
+
+static __IO uint16_t *MTU2_PWM_MATCH[MTU2_PWM_NUM][MTU2_PWM_SIGNAL] = {
+ { &MTU2TGRA_0, &MTU2TGRB_0 } // MTU2_PWM0_PIN
+ { &MTU2TGRA_0, &MTU2TGRB_0 } // MTU2_PWM1_PIN
+ { &MTU2TGRA_0, &MTU2TGRB_0 } // MTU2_PWM2_PIN
+ { &MTU2TGRC_0, &MTU2TGRD_0 } // MTU2_PWM3_PIN
+ { &MTU2TGRC_0, &MTU2TGRD_0 } // MTU2_PWM4_PIN
+ { &MTU2TGRC_0, &MTU2TGRD_0 } // MTU2_PWM5_PIN
+ { &MTU2TGRA_1, &MTU2TGRB_1 } // MTU2_PWM6_PIN
+ { &MTU2TGRA_1, &MTU2TGRB_1 } // MTU2_PWM7_PIN
+ { &MTU2TGRA_1, &MTU2TGRB_1 } // MTU2_PWM8_PIN
+ { &MTU2TGRA_1, &MTU2TGRB_1 } // MTU2_PWM9_PIN
+ { &MTU2TGRA_1, &MTU2TGRB_1 } // MTU2_PWM10_PIN
+ { &MTU2TGRA_2, &MTU2TGRB_2 } // MTU2_PWM11_PIN
+ { &MTU2TGRA_2, &MTU2TGRB_2 } // MTU2_PWM12_PIN
+ { &MTU2TGRA_2, &MTU2TGRB_2 } // MTU2_PWM13_PIN
+ { &MTU2TGRA_2, &MTU2TGRB_2 } // MTU2_PWM14_PIN
+ { &MTU2TGRA_3, &MTU2TGRB_3 } // MTU2_PWM15_PIN
+ { &MTU2TGRA_3, &MTU2TGRB_3 } // MTU2_PWM16_PIN
+ { &MTU2TGRA_3, &MTU2TGRB_3 } // MTU2_PWM17_PIN
+ { &MTU2TGRC_3, &MTU2TGRD_3 } // MTU2_PWM18_PIN
+ { &MTU2TGRC_3, &MTU2TGRD_3 } // MTU2_PWM19_PIN
+ { &MTU2TGRC_3, &MTU2TGRD_3 } // MTU2_PWM20_PIN
+ { &MTU2TGRA_4, &MTU2TGRB_2 } // MTU2_PWM21_PIN
+ { &MTU2TGRA_4, &MTU2TGRB_2 } // MTU2_PWM22_PIN
+ { &MTU2TGRA_4, &MTU2TGRB_2 } // MTU2_PWM23_PIN
+ { &MTU2TGRC_4, &MTU2TGRD_4 } // MTU2_PWM24_PIN
+ { &MTU2TGRC_4, &MTU2TGRD_4 } // MTU2_PWM25_PIN
+ { &MTU2TGRC_4, &MTU2TGRD_4 } // MTU2_PWM26_PIN
+};
+#else
+#define MTU2_PWM_NUM 12
+#define MTU2_PWM_SIGNAL 2
+#define MTU2_PWM_OFFSET 0x20
+
+// PORT ID, PWM ID, Pin function
+static const PinMap PinMap_PWM[] = {
+ //TIOC0 A,C
+ {P4_0 , MTU2_PWM0_PIN , 2}, //TIOC0A
+ {P5_0 , MTU2_PWM1_PIN , 6}, //TIOC0A
+ {P4_2 , MTU2_PWM2_PIN , 2}, //TIOC0C
+ {P5_5 , MTU2_PWM3_PIN , 6}, //TIOC0C
+ //TIOC2 A
+ {P8_14 , MTU2_PWM4_PIN , 4}, //TIOC2A
+ //TIOC3 A,C
+ {P8_10 , MTU2_PWM5_PIN , 4}, //TIOC3A
+ {P5_3 , MTU2_PWM6_PIN , 6}, //TIOC3C
+ {P8_12 , MTU2_PWM7_PIN , 4}, //TIOC3C
+ //TIOC4 A,C
+ {P3_8 , MTU2_PWM8_PIN , 6}, //TIOC4A
+ {P4_4 , MTU2_PWM9_PIN , 3}, //TIOC4A
+ {P3_10 , MTU2_PWM10_PIN , 6}, //TIOC4C
+ {P4_6 , MTU2_PWM11_PIN , 3}, //TIOC4C
+ //PWM1
+ {P8_10 , PWM0_PIN , 6}, //PWM1C
+ {P8_11 , PWM1_PIN , 6}, //PWM1D
+ {P8_12 , PWM2_PIN , 6}, //PWM1E
+ {P8_13 , PWM3_PIN , 6}, //PWM1F
+ {P8_14 , PWM4_PIN , 6}, //PWM1G
+ {P8_15 , PWM5_PIN , 6}, //PWM1H
+ //PWM2
+ {P3_0 , PWM6_PIN , 7}, //PWM2A
+ {P3_1 , PWM7_PIN , 7}, //PWM2B
+ {P3_2 , PWM8_PIN , 7}, //PWM2C
+ {P4_4 , PWM9_PIN , 4}, //PWM2E
+ {P4_5 , PWM10_PIN , 4}, //PWM2F
+ {P4_6 , PWM11_PIN , 4}, //PWM2G
+ {P4_7 , PWM12_PIN , 4}, //PWM2H
+ {NC , NC , 0}
+};
+
+static const PWMType PORT[] = {
+ PWM1C, // PWM0_PIN
+ PWM1D, // PWM1_PIN
+ PWM1E, // PWM2_PIN
+ PWM1F, // PWM3_PIN
+ PWM1G, // PWM4_PIN
+ PWM1H, // PWM5_PIN
+ PWM2A, // PWM6_PIN
+ PWM2B, // PWM7_PIN
+ PWM2C, // PWM8_PIN
+ PWM2E, // PWM9_PIN
+ PWM2F, // PWM10_PIN
+ PWM2G, // PWM11_PIN
+ PWM2H, // PWM12_PIN
+};
+
+static const MTU2_PWMType MTU2_PORT[] = {
+ TIOC0A, // MTU2_PWM0_PIN
+ TIOC0A, // MTU2_PWM1_PIN
+ TIOC0C, // MTU2_PWM2_PIN
+ TIOC0C, // MTU2_PWM3_PIN
+ TIOC2A, // MTU2_PWM4_PIN
+ TIOC3A, // MTU2_PWM5_PIN
+ TIOC3C, // MTU2_PWM6_PIN
+ TIOC3C, // MTU2_PWM7_PIN
+ TIOC4A, // MTU2_PWM8_PIN
+ TIOC4A, // MTU2_PWM9_PIN
+ TIOC4C, // MTU2_PWM10_PIN
+ TIOC4C, // MTU2_PWM11_PIN
+};
+
+static __IO uint16_t *PWM_MATCH[] = {
+ &PWMPWBFR_1C, // PWM0_PIN
+ &PWMPWBFR_1C, // PWM1_PIN
+ &PWMPWBFR_1E, // PWM2_PIN
+ &PWMPWBFR_1E, // PWM3_PIN
+ &PWMPWBFR_1G, // PWM4_PIN
+ &PWMPWBFR_1G, // PWM5_PIN
+ &PWMPWBFR_2A, // PWM6_PIN
+ &PWMPWBFR_2A, // PWM7_PIN
+ &PWMPWBFR_2C, // PWM8_PIN
+ &PWMPWBFR_2E, // PWM9_PIN
+ &PWMPWBFR_2E, // PWM10_PIN
+ &PWMPWBFR_2G, // PWM11_PIN
+ &PWMPWBFR_2G, // PWM12_PIN
+};
+
+static __IO uint16_t *MTU2_PWM_MATCH[MTU2_PWM_NUM][MTU2_PWM_SIGNAL] = {
+ { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM0_PIN
+ { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM1_PIN
+ { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM2_PIN
+ { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM3_PIN
+ { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM4_PIN
+ { &MTU2TGRA_3, &MTU2TGRB_3 }, // MTU2_PWM5_PIN
+ { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM6_PIN
+ { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM7_PIN
+ { &MTU2TGRA_4, &MTU2TGRB_2 }, // MTU2_PWM8_PIN
+ { &MTU2TGRA_4, &MTU2TGRB_2 }, // MTU2_PWM9_PIN
+ { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM10_PIN
+ { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM11_PIN
+};
+#endif
+
+
+static __IO uint8_t *TCR_MATCH[] = {
+ &MTU2TCR_0,
+ &MTU2TCR_1,
+ &MTU2TCR_2,
+ &MTU2TCR_3,
+ &MTU2TCR_4,
+};
+
+static __IO uint8_t *TIORH_MATCH[] = {
+ &MTU2TIORH_0,
+ &MTU2TIOR_1,
+ &MTU2TIOR_2,
+ &MTU2TIORH_3,
+ &MTU2TIORH_4,
+};
+
+static __IO uint8_t *TIORL_MATCH[] = {
+ &MTU2TIORL_0,
+ NULL,
+ NULL,
+ &MTU2TIORL_3,
+ &MTU2TIORL_4,
+};
+
+static __IO uint16_t *TGRA_MATCH[] = {
+ &MTU2TGRA_0,
+ &MTU2TGRA_1,
+ &MTU2TGRA_2,
+ &MTU2TGRA_3,
+ &MTU2TGRA_4,
+};
+
+static __IO uint16_t *TGRC_MATCH[] = {
+ &MTU2TGRC_0,
+ NULL,
+ NULL,
+ &MTU2TGRC_3,
+ &MTU2TGRC_4,
+};
+
+static __IO uint8_t *TMDR_MATCH[] = {
+ &MTU2TMDR_0,
+ &MTU2TMDR_1,
+ &MTU2TMDR_2,
+ &MTU2TMDR_3,
+ &MTU2TMDR_4,
+};
+
+static int MAX_PERIOD[] = {
+ 125000,
+ 503000,
+ 2000000,
+ 2000000,
+ 2000000,
+};
+
+typedef enum {
+ MODE_PWM = 0,
+ MODE_MTU2
+} PWMmode;
+
+typedef enum {
+ MTU2_PULSE = 0,
+ MTU2_PERIOD
+} MTU2Signal;
+
+static int pwm_mode = MODE_PWM;
+static uint16_t init_period_ch1 = 0;
+static uint16_t init_period_ch2 = 0;
+static uint16_t init_mtu2_period_ch[5] = {0};
+static int32_t period_ch1 = 1;
+static int32_t period_ch2 = 1;
+static int32_t mtu2_period_ch[5] = {1, 1, 1, 1, 1};
+
+void pwmout_init(pwmout_t* obj, PinName pin) {
+ // determine the channel
+ PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
+ MBED_ASSERT(pwm != (PWMName)NC);
+
+ if (pwm >= MTU2_PWM_OFFSET) {
+ /* PWM by MTU2 */
+ int tmp_pwm;
+
+ pwm_mode = MODE_MTU2;
+ // power on
+ CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP33);
+
+ obj->pwm = pwm;
+ tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
+ if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000040) == 0x00000040) {
+ obj->ch = 4;
+ MTU2TOER |= 0x36;
+ } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000030) == 0x00000030) {
+ obj->ch = 3;
+ MTU2TOER |= 0x09;
+ } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000020) == 0x00000020) {
+ obj->ch = 2;
+ } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000010) == 0x00000010) {
+ obj->ch = 1;
+ } else {
+ obj->ch = 0;
+ }
+ // Wire pinout
+ pinmap_pinout(pin, PinMap_PWM);
+
+ int bitmask = 1 << (pin & 0xf);
+
+ *PMSR(PINGROUP(pin)) = (bitmask << 16) | 0;
+
+ // default duty 0.0f
+ pwmout_write(obj, 0);
+ if (init_mtu2_period_ch[obj->ch] == 0) {
+ // default period 1ms
+ pwmout_period_us(obj, 1000);
+ init_mtu2_period_ch[obj->ch] = 1;
+ }
+ } else {
+ /* PWM */
+ pwm_mode = MODE_PWM;
+ // power on
+ CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP30);
+
+ obj->pwm = pwm;
+ if (((uint32_t)PORT[obj->pwm] & 0x00000010) == 0x00000010) {
+ obj->ch = 2;
+ PWMPWPR_2_BYTE_L = 0x00;
+ } else {
+ obj->ch = 1;
+ PWMPWPR_1_BYTE_L = 0x00;
+ }
+
+ // Wire pinout
+ pinmap_pinout(pin, PinMap_PWM);
+
+ // default to 491us: standard for servos, and fine for e.g. brightness control
+ pwmout_write(obj, 0);
+ if ((obj->ch == 2) && (init_period_ch2 == 0)) {
+ pwmout_period_us(obj, 491);
+ init_period_ch2 = 1;
+ }
+ if ((obj->ch == 1) && (init_period_ch1 == 0)) {
+ pwmout_period_us(obj, 491);
+ init_period_ch1 = 1;
+ }
+ }
+}
+
+void pwmout_free(pwmout_t* obj) {
+ pwmout_write(obj, 0);
+}
+
+void pwmout_write(pwmout_t* obj, float value) {
+ uint32_t wk_cycle;
+ uint16_t v;
+
+ if (pwm_mode == MODE_MTU2) {
+ /* PWM by MTU2 */
+ int tmp_pwm;
+
+ if (value < 0.0f) {
+ value = 0.0f;
+ } else if (value > 1.0f) {
+ value = 1.0f;
+ } else {
+ // Do Nothing
+ }
+ tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
+ wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
+ // set channel match to percentage
+ *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] = (uint16_t)((float)wk_cycle * value);
+ } else {
+ /* PWM */
+ if (value < 0.0f) {
+ value = 0.0f;
+ } else if (value > 1.0f) {
+ value = 1.0f;
+ } else {
+ // Do Nothing
+ }
+
+ if (obj->ch == 2) {
+ wk_cycle = PWMPWCYR_2 & 0x03ff;
+ } else {
+ wk_cycle = PWMPWCYR_1 & 0x03ff;
+ }
+
+ // set channel match to percentage
+ v = (uint16_t)((float)wk_cycle * value);
+ *PWM_MATCH[obj->pwm] = (v | ((PORT[obj->pwm] & 1) << 12));
+ }
+}
+
+float pwmout_read(pwmout_t* obj) {
+ uint32_t wk_cycle;
+ float value;
+
+ if (pwm_mode == MODE_MTU2) {
+ /* PWM by MTU2 */
+ uint32_t wk_pulse;
+ int tmp_pwm;
+
+ tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
+ wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
+ wk_pulse = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] & 0xffff;
+ value = ((float)wk_pulse / (float)wk_cycle);
+ } else {
+ /* PWM */
+ if (obj->ch == 2) {
+ wk_cycle = PWMPWCYR_2 & 0x03ff;
+ } else {
+ wk_cycle = PWMPWCYR_1 & 0x03ff;
+ }
+ value = ((float)(*PWM_MATCH[obj->pwm] & 0x03ff) / (float)wk_cycle);
+ }
+
+ return (value > 1.0f) ? (1.0f) : (value);
+}
+
+void pwmout_period(pwmout_t* obj, float seconds) {
+ pwmout_period_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_period_ms(pwmout_t* obj, int ms) {
+ pwmout_period_us(obj, ms * 1000);
+}
+
+static void set_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){
+ uint16_t wk_pwmpbfr;
+ float value;
+ uint16_t v;
+
+ wk_pwmpbfr = *p_pwmpbfr;
+ value = ((float)(wk_pwmpbfr & 0x03ff) / (float)last_cycle);
+ v = (uint16_t)((float)new_cycle * value);
+ *p_pwmpbfr = (v | (wk_pwmpbfr & 0x1000));
+}
+
+static void set_mtu2_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){
+ uint16_t wk_pwmpbfr;
+ float value;
+
+ wk_pwmpbfr = *p_pwmpbfr;
+ value = ((float)(wk_pwmpbfr & 0xffff) / (float)last_cycle);
+ *p_pwmpbfr = (uint16_t)((float)new_cycle * value);
+}
+
+// Set the PWM period, keeping the duty cycle the same.
+void pwmout_period_us(pwmout_t* obj, int us) {
+ uint64_t wk_cycle_mtu2;
+ uint32_t pclk_base;
+ uint32_t wk_cycle;
+ uint32_t wk_cks = 0;
+ uint16_t wk_last_cycle;
+ int max_us = 0;
+
+ if (pwm_mode == MODE_MTU2) {
+ /* PWM by MTU2 */
+ int tmp_pwm;
+ uint16_t tmp_tgra;
+ uint16_t tmp_tgrc;
+ uint8_t tmp_tcr_up;
+ uint8_t tmp_tstr_sp;
+ uint8_t tmp_tstr_st;
+
+ max_us = MAX_PERIOD[obj->ch];
+ if (us > max_us) {
+ us = max_us;
+ } else if (us < 1) {
+ us = 1;
+ } else {
+ // Do Nothing
+ }
+
+ if (RZ_A1_IsClockMode0() == false) {
+ pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK;
+ } else {
+ pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK;
+ }
+
+ wk_cycle_mtu2 = (uint64_t)pclk_base * us;
+ while (wk_cycle_mtu2 >= 65535000000) {
+ if ((obj->ch == 1) && (wk_cks == 3)) {
+ wk_cks+=2;
+ } else if ((obj->ch == 2) && (wk_cks == 3)) {
+ wk_cycle_mtu2 >>= 2;
+ wk_cks+=3;
+ }
+ wk_cycle_mtu2 >>= 2;
+ wk_cks++;
+ }
+ wk_cycle = (uint32_t)(wk_cycle_mtu2 / 1000000);
+
+ tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
+ if (((uint8_t)MTU2_PORT[tmp_pwm] & 0x02) == 0x02) {
+ tmp_tcr_up = 0xC0;
+ } else {
+ tmp_tcr_up = 0x40;
+ }
+ if ((obj->ch == 4) || (obj->ch == 3)) {
+ tmp_tstr_sp = ~(0x38 | (1 << (obj->ch + 3)));
+ tmp_tstr_st = (1 << (obj->ch + 3));
+ } else {
+ tmp_tstr_sp = ~(0x38 | (1 << obj->ch));
+ tmp_tstr_st = (1 << obj->ch);
+ }
+ // Counter Stop
+ MTU2TSTR &= tmp_tstr_sp;
+ wk_last_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
+ *TCR_MATCH[obj->ch] = tmp_tcr_up | wk_cks;
+ *TIORH_MATCH[obj->ch] = 0x21;
+ if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) {
+ *TIORL_MATCH[obj->ch] = 0x21;
+ }
+ *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] = (uint16_t)wk_cycle; // Set period
+
+ // Set duty again(TGRA)
+ tmp_tgra = *TGRA_MATCH[obj->ch];
+ set_mtu2_duty_again(&tmp_tgra, wk_last_cycle, wk_cycle);
+ if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) {
+ // Set duty again(TGRC)
+ tmp_tgrc = *TGRC_MATCH[obj->ch];
+ set_mtu2_duty_again(&tmp_tgrc, wk_last_cycle, wk_cycle);
+ }
+ *TMDR_MATCH[obj->ch] = 0x02; // PWM mode 1
+
+ // Counter Start
+ MTU2TSTR |= tmp_tstr_st;
+ // Save for future use
+ mtu2_period_ch[obj->ch] = us;
+ } else {
+ /* PWM */
+ if (us > 491) {
+ us = 491;
+ } else if (us < 1) {
+ us = 1;
+ } else {
+ // Do Nothing
+ }
+
+ if (RZ_A1_IsClockMode0() == false) {
+ pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK / 10000;
+ } else {
+ pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK / 10000;
+ }
+
+ wk_cycle = pclk_base * us;
+ while (wk_cycle >= 102350) {
+ wk_cycle >>= 1;
+ wk_cks++;
+ }
+ wk_cycle = (wk_cycle + 50) / 100;
+
+ if (obj->ch == 2) {
+ wk_last_cycle = PWMPWCYR_2 & 0x03ff;
+ PWMPWCR_2_BYTE_L = 0xc0 | wk_cks;
+ PWMPWCYR_2 = (uint16_t)wk_cycle;
+
+ // Set duty again
+ set_duty_again(&PWMPWBFR_2A, wk_last_cycle, wk_cycle);
+ set_duty_again(&PWMPWBFR_2C, wk_last_cycle, wk_cycle);
+ set_duty_again(&PWMPWBFR_2E, wk_last_cycle, wk_cycle);
+ set_duty_again(&PWMPWBFR_2G, wk_last_cycle, wk_cycle);
+
+ // Counter Start
+ PWMPWCR_2_BYTE_L |= 0x08;
+
+ // Save for future use
+ period_ch2 = us;
+ } else {
+ wk_last_cycle = PWMPWCYR_1 & 0x03ff;
+ PWMPWCR_1_BYTE_L = 0xc0 | wk_cks;
+ PWMPWCYR_1 = (uint16_t)wk_cycle;
+
+ // Set duty again
+ set_duty_again(&PWMPWBFR_1A, wk_last_cycle, wk_cycle);
+ set_duty_again(&PWMPWBFR_1C, wk_last_cycle, wk_cycle);
+ set_duty_again(&PWMPWBFR_1E, wk_last_cycle, wk_cycle);
+ set_duty_again(&PWMPWBFR_1G, wk_last_cycle, wk_cycle);
+
+ // Counter Start
+ PWMPWCR_1_BYTE_L |= 0x08;
+
+ // Save for future use
+ period_ch1 = us;
+ }
+ }
+}
+
+void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
+ pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
+ pwmout_pulsewidth_us(obj, ms * 1000);
+}
+
+void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
+ float value = 0;
+
+ if (pwm_mode == MODE_MTU2) {
+ /* PWM by MTU2 */
+ if (mtu2_period_ch[obj->ch] != 0) {
+ value = (float)us / (float)mtu2_period_ch[obj->ch];
+ }
+ } else {
+ /* PWM */
+ if (obj->ch == 2) {
+ if (period_ch2 != 0) {
+ value = (float)us / (float)period_ch2;
+ }
+ } else {
+ if (period_ch1 != 0) {
+ value = (float)us / (float)period_ch1;
+ }
+ }
+
+ pwmout_write(obj, value);
+ }
+}