added prescaler for 16 bit pwm in LPC1347 target
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Diff: targets/hal/TARGET_RENESAS/TARGET_RZ_A1H/pwmout_api.c
- Revision:
- 0:9b334a45a8ff
- Child:
- 144:ef7eb2e8f9f7
diff -r 000000000000 -r 9b334a45a8ff targets/hal/TARGET_RENESAS/TARGET_RZ_A1H/pwmout_api.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/targets/hal/TARGET_RENESAS/TARGET_RZ_A1H/pwmout_api.c Thu Oct 01 15:25:22 2015 +0300 @@ -0,0 +1,572 @@ +/* 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" + +#define MTU2_PWM_NUM 22 +#define MTU2_PWM_SIGNAL 2 +#define MTU2_PWM_OFFSET 0x20 + +// PORT ID, PWM ID, Pin function +static const PinMap PinMap_PWM[] = { + {P2_1 , MTU2_PWM0_PIN , 6}, + {P2_11 , MTU2_PWM1_PIN , 5}, + {P3_8 , MTU2_PWM2_PIN , 6}, + {P3_10 , MTU2_PWM3_PIN , 6}, + {P4_0 , MTU2_PWM4_PIN , 2}, + {P4_4 , MTU2_PWM5_PIN , 3}, + {P4_6 , MTU2_PWM6_PIN , 3}, + {P5_0 , MTU2_PWM7_PIN , 6}, + {P5_3 , MTU2_PWM8_PIN , 6}, + {P5_5 , MTU2_PWM9_PIN , 6}, + {P7_2 , MTU2_PWM10_PIN , 7}, + {P7_4 , MTU2_PWM11_PIN , 7}, + {P7_6 , MTU2_PWM12_PIN , 7}, + {P7_10 , MTU2_PWM13_PIN , 7}, + {P7_12 , MTU2_PWM14_PIN , 7}, + {P7_14 , MTU2_PWM15_PIN , 7}, + {P8_8 , MTU2_PWM16_PIN , 5}, + {P8_10 , MTU2_PWM17_PIN , 4}, + {P8_12 , MTU2_PWM18_PIN , 4}, + {P8_14 , MTU2_PWM19_PIN , 4}, + {P11_0 , MTU2_PWM20_PIN , 2}, + {P11_2 , MTU2_PWM21_PIN , 2}, + {P4_4 , PWM0_PIN , 4}, + {P3_2 , PWM1_PIN , 7}, + {P4_6 , PWM2_PIN , 4}, + {P4_7 , PWM3_PIN , 4}, + {P8_14 , PWM4_PIN , 6}, + {P8_15 , PWM5_PIN , 6}, + {P8_13 , PWM6_PIN , 6}, + {P8_11 , PWM7_PIN , 6}, + {P8_8 , PWM8_PIN , 6}, + {P10_0 , PWM9_PIN , 3}, + {P8_12 , PWM10_PIN , 6}, + {P8_9 , PWM11_PIN , 6}, + {P8_10 , PWM12_PIN , 6}, + {P4_5 , PWM13_PIN , 4}, + {NC , NC , 0} +}; + +static const PWMType PORT[] = { + PWM2E, // PWM0_PIN + PWM2C, // PWM1_PIN + PWM2G, // PWM2_PIN + PWM2H, // PWM3_PIN + PWM1G, // PWM4_PIN + PWM1H, // PWM5_PIN + PWM1F, // PWM6_PIN + PWM1D, // PWM7_PIN + PWM1A, // PWM8_PIN + PWM2A, // PWM9_PIN + PWM1E, // PWM10_PIN + PWM1B, // PWM11_PIN + PWM1C, // PWM12_PIN + PWM2F, // PWM13_PIN +}; + +static const MTU2_PWMType MTU2_PORT[] = { + TIOC2A, // MTU2_PWM0_PIN + TIOC1A, // MTU2_PWM1_PIN + TIOC4A, // MTU2_PWM2_PIN + TIOC4C, // MTU2_PWM3_PIN + TIOC0A, // MTU2_PWM4_PIN + TIOC4A, // MTU2_PWM5_PIN + TIOC4C, // MTU2_PWM6_PIN + TIOC0A, // MTU2_PWM7_PIN + TIOC3C, // MTU2_PWM8_PIN + TIOC0C, // MTU2_PWM9_PIN + TIOC0C, // MTU2_PWM10_PIN + TIOC1A, // MTU2_PWM11_PIN + TIOC2A, // MTU2_PWM12_PIN + TIOC3C, // MTU2_PWM13_PIN + TIOC4A, // MTU2_PWM14_PIN + TIOC4C, // MTU2_PWM15_PIN + TIOC1A, // MTU2_PWM16_PIN + TIOC3A, // MTU2_PWM17_PIN + TIOC3C, // MTU2_PWM18_PIN + TIOC2A, // MTU2_PWM19_PIN + TIOC4A, // MTU2_PWM20_PIN + TIOC4C, // MTU2_PWM21_PIN +}; + +static __IO uint16_t *PWM_MATCH[] = { + &PWMPWBFR_2E, // PWM0_PIN + &PWMPWBFR_2C, // PWM1_PIN + &PWMPWBFR_2G, // PWM2_PIN + &PWMPWBFR_2G, // PWM3_PIN + &PWMPWBFR_1G, // PWM4_PIN + &PWMPWBFR_1G, // PWM5_PIN + &PWMPWBFR_1E, // PWM6_PIN + &PWMPWBFR_1C, // PWM7_PIN + &PWMPWBFR_1A, // PWM8_PIN + &PWMPWBFR_2A, // PWM9_PIN + &PWMPWBFR_1E, // PWM10_PIN + &PWMPWBFR_1A, // PWM11_PIN + &PWMPWBFR_1C, // PWM12_PIN + &PWMPWBFR_2E, // PWM13_PIN +}; + +static __IO uint16_t *MTU2_PWM_MATCH[MTU2_PWM_NUM][MTU2_PWM_SIGNAL] = { + { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM0_PIN + { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM1_PIN + { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM2_PIN + { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM3_PIN + { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM4_PIN + { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM5_PIN + { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM6_PIN + { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM7_PIN + { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM8_PIN + { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM9_PIN + { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM10_PIN + { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM11_PIN + { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM12_PIN + { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM13_PIN + { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM14_PIN + { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM15_PIN + { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM16_PIN + { &MTU2TGRA_3, &MTU2TGRB_3 }, // MTU2_PWM17_PIN + { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM18_PIN + { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM19_PIN + { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM20_PIN + { &MTU2TGRC_4, &MTU2TGRD_4 } // MTU2_PWM21_PIN +}; + +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); + } +}