takaaki mastuzawa
MATSU-bed(LPC1549)でPWMを4つ以上出すプログラム
Dependents: servo_controller_1549
Diff: pwm_all_api.c
- Revision:
- 2:322ad3eef278
- Parent:
- 1:aefedd6b2a6f
--- a/pwm_all_api.c Wed Nov 01 16:20:31 2017 +0000
+++ b/pwm_all_api.c Tue Jan 09 10:08:34 2018 +0000
@@ -30,59 +30,255 @@
static unsigned char sct_used = 0;
static int get_available_sct(void) {
int i;
- for (i=0; i<4; i++) {
+ for (i=0; i<24; i++) {
if ((sct_used & (1 << i)) == 0)
return i;
}
return -1;
}
-void pwmout_all_init(pwmout_t* obj, PinName pin) {
+static LPC_SCT0_Type *check_SCT_module(PinName pin){
+ switch((int)pin){
+ case P0_0:
+ case P0_1:
+ case P0_5:
+ case P0_7:
+ case P0_8:
+ case P0_18:
+ return (LPC_SCT0_Type*)LPC_SCT0;
+ break;
+
+ case P0_2:
+ case P0_3:
+ case P0_9:
+ case P0_10:
+ case P0_11:
+ case P0_14:
+ case P0_20:
+ return (LPC_SCT0_Type*)LPC_SCT1;
+ break;
+
+ case P0_6:
+ case P0_12:
+ return (LPC_SCT0_Type*)LPC_SCT2;
+ break;
+
+ case P0_15:
+ case P0_17:
+ case P0_19:
+ return (LPC_SCT0_Type*)LPC_SCT3;
+ break;
+
+ }
+}
+
+uint32_t pwm_ch_map(PinName pin){
+ switch((int)pin){
+ case P0_0:
+ case P0_1:
+ case P0_5:
+ case P0_7:
+ case P0_8:
+ case P0_18:
+ return 0;
+ break;
+
+ case P0_2:
+ case P0_3:
+ case P0_9:
+ case P0_10:
+ case P0_11:
+ case P0_14:
+ case P0_20:
+ return 1;
+ break;
+
+ case P0_6:
+ case P0_12:
+ return 2;
+ break;
+
+ case P0_15:
+ case P0_17:
+ case P0_19:
+ return 3;
+ break;
+
+ }
+}
+
+uint32_t pwm_out_map[] = {3, 4, 3, 4, 0, 0, 3, 1, 2, 0, 1, 2, 1, 0, 5, 0, 0, 1, 5, 2, 6, 6, 0};
+
+void pwmout_init(pwmout_t* obj, PinName pin) {
MBED_ASSERT(pin != (uint32_t)NC);
-
int sct_n = get_available_sct();
+
if (sct_n == -1) {
error("No available SCT");
}
-
+
sct_used |= (1 << sct_n);
- obj->pwm = SCTs[sct_n];
- obj->pwm_ch = sct_n;
-
+ //obj->pwm = SCTs[sct_n];
+ obj->pwm = check_SCT_module(pin);
+
+ //obj->pwm_ch = sct_n;
+ obj->pwm_ch = pwm_ch_map(pin);
+
+ obj->out_ch = pwm_out_map[pin];
+ obj->pin = (int)pin;
+
LPC_SCT0_Type* pwm = obj->pwm;
// Enable the SCT clock
LPC_SYSCON->SYSAHBCLKCTRL1 |= (1 << (obj->pwm_ch + 2));
// Clear peripheral reset the SCT:
- LPC_SYSCON->PRESETCTRL1 |= (1 << (obj->pwm_ch + 2));
- LPC_SYSCON->PRESETCTRL1 &= ~(1 << (obj->pwm_ch + 2));
-
+ //LPC_SYSCON->PRESETCTRL1 |= (1 << (obj->pwm_ch + 2));
+ //LPC_SYSCON->PRESETCTRL1 &= ~(1 << (obj->pwm_ch + 2));
+
switch(obj->pwm_ch) {
case 0:
// SCT0_OUT0
- LPC_SWM->PINASSIGN[7] &= ~0x0000FF00;
- LPC_SWM->PINASSIGN[7] |= (pin << 8);
+ //LPC_SWM->PINASSIGN[7] &= ~0x0000FF00;
+ //LPC_SWM->PINASSIGN[7] |= (pin << 8);
+
+ switch(obj->out_ch){
+ case 0:
+ LPC_SWM->PINASSIGN[7] &= ~0x0000FF00;
+ LPC_SWM->PINASSIGN[7] |= (pin << 8);
+ break;
+
+ case 1:
+ LPC_SWM->PINASSIGN[7] &= ~0x00FF0000;
+ LPC_SWM->PINASSIGN[7] |= (pin << 16);
+ break;
+
+ case 2:
+ LPC_SWM->PINASSIGN[7] &= ~0xFF000000;
+ LPC_SWM->PINASSIGN[7] |= (pin << 24);
+ break;
+
+ case 3:
+ LPC_SWM->PINENABLE1 &= ~(1 << 5);
+ break;
+
+ case 4:
+ LPC_SWM->PINENABLE1 &= ~(1 << 6);
+ break;
+
+ case 5:
+ LPC_SWM->PINENABLE1 &= ~(1 << 7);
+ break;
+
+ case 6:
+ LPC_SWM->PINENABLE1 &= ~(1 << 8);
+ break;
+ }
break;
+
case 1:
// SCT1_OUT0
- LPC_SWM->PINASSIGN[8] &= ~0x000000FF;
- LPC_SWM->PINASSIGN[8] |= (pin);
+ //LPC_SWM->PINASSIGN[8] &= ~0x000000FF;
+ //LPC_SWM->PINASSIGN[8] |= (pin);
+
+ switch(obj->out_ch){
+ case 0:
+ LPC_SWM->PINASSIGN[8] &= ~0x000000FF;
+ LPC_SWM->PINASSIGN[8] |= (pin);
+ break;
+
+ case 1:
+ LPC_SWM->PINASSIGN[8] &= ~0x0000FF00;
+ LPC_SWM->PINASSIGN[8] |= (pin << 8);
+ break;
+
+ case 2:
+ LPC_SWM->PINASSIGN[8] &= ~0x00FF0000;
+ LPC_SWM->PINASSIGN[8] |= (pin << 16);
+ break;
+
+ case 3:
+ LPC_SWM->PINENABLE1 &= ~(1 << 10);
+ break;
+
+ case 4:
+ LPC_SWM->PINENABLE1 &= ~(1 << 11);
+ break;
+
+ case 5:
+ LPC_SWM->PINENABLE1 &= ~(1 << 12);
+ break;
+
+ case 6:
+ LPC_SWM->PINENABLE1 &= ~(1 << 13);
+ LPC_SWM->PINENABLE1 |= (1 << 22);
+ LPC_SWM->PINENABLE1 |= (1 << 23);
+ break;
+ }
break;
+
case 2:
// SCT2_OUT0
- LPC_SWM->PINASSIGN[8] &= ~0xFF000000;
- LPC_SWM->PINASSIGN[8] |= (pin << 24);
- break;
+ // LPC_SWM->PINASSIGN[8] &= ~0xFF000000;
+ //LPC_SWM->PINASSIGN[8] |= (pin << 24);
+
+ switch(obj->out_ch){
+ case 0:
+ LPC_SWM->PINASSIGN[8] &= ~0xFF000000;
+ LPC_SWM->PINASSIGN[8] |= (pin << 24);
+ break;
+
+ case 1:
+ LPC_SWM->PINASSIGN[9] &= ~0x000000FF;
+ LPC_SWM->PINASSIGN[9] |= (pin );
+ break;
+
+ case 2:
+ LPC_SWM->PINASSIGN[9] &= ~0x0000FF00;
+ LPC_SWM->PINASSIGN[9] |= (pin << 8);
+ break;
+
+ case 3:
+ LPC_SWM->PINENABLE1 &= ~(1 << 15);
+ break;
+
+ case 4:
+ LPC_SWM->PINENABLE1 &= ~(1 << 16);
+ break;
+
+ }
+ break;
case 3:
// SCT3_OUT0
- LPC_SWM->PINASSIGN[9] &= ~0x00FF0000;
- LPC_SWM->PINASSIGN[9] |= (pin << 16);
+ //LPC_SWM->PINASSIGN[9] &= ~0x00FF0000;
+ //LPC_SWM->PINASSIGN[9] |= (pin << 16);
+
+ switch(obj->out_ch){
+ case 0:
+ LPC_SWM->PINASSIGN[9] &= ~0x00FF0000;
+ LPC_SWM->PINASSIGN[9] |= (pin << 16);
+ break;
+
+ case 1:
+ LPC_SWM->PINASSIGN[9] &= ~0xFF000000;
+ LPC_SWM->PINASSIGN[9] |= (pin )<<24;
+ break;
+
+ case 2:
+ LPC_SWM->PINASSIGN[10] &= ~0x000000FF;
+ LPC_SWM->PINASSIGN[10] |= (pin );
+ break;
+
+ case 3:
+ LPC_SWM->PINENABLE1 &= ~(1 << 18);
+ break;
+
+ }
break;
default:
break;
}
-
+
// Unified 32-bit counter, autolimit
pwm->CONFIG |= ((0x3 << 17) | 0x01);
@@ -95,32 +291,160 @@
// Match reload register
pwm->MATCHREL0 = 20000; // 20ms
- pwm->MATCHREL1 = (pwm->MATCHREL0 / 4); // 50% duty
+ //pwm->MATCHREL1 = (pwm->MATCHREL0 / 4); // 50% duty
+ switch(obj->out_ch){
+ case 0:
+ pwm->MATCHREL1 = (pwm->MATCHREL0 / 4);
+ break;
+
+ case 1:
+ pwm->MATCHREL2 = (pwm->MATCHREL0 / 4);
+ break;
+
+ case 2:
+ pwm->MATCHREL3 = (pwm->MATCHREL0 / 4);
+ break;
+
+ case 3:
+ pwm->MATCHREL4 = (pwm->MATCHREL0 / 4);
+ break;
+
+ case 4:
+ pwm->MATCHREL5 = (pwm->MATCHREL0 / 4);
+ break;
+
+ case 5:
+ pwm->MATCHREL6 = (pwm->MATCHREL0 / 4);
+ break;
+
+ case 6:
+ pwm->MATCHREL7 = (pwm->MATCHREL0 / 4);
+ break;
+ }
+
- pwm->OUT0_SET = (1 << 0); // event 0
- pwm->OUT0_CLR = (1 << 1); // event 1
-
+ //pwm->OUT0_SET = (1 << 0); // event 0
+ //pwm->OUT0_CLR = (1 << 1); // event 1
+ switch(obj->out_ch){
+ case 0:
+ pwm->OUT0_SET = (1 << 0); // event 0
+ break;
+
+ case 1:
+ pwm->OUT1_SET = (1 << 0); // event 0
+ break;
+
+ case 2:
+ pwm->OUT2_SET = (1 << 0); // event 0
+ break;
+
+ case 3:
+ pwm->OUT3_SET = (1 << 0); // event 0
+ break;
+
+ case 4:
+ pwm->OUT4_SET = (1 << 0); // event 0
+ break;
+
+ case 5:
+ pwm->OUT5_SET = (1 << 0); // event 0
+ break;
+
+ case 6:
+ pwm->OUT6_SET = (1 << 0); // event 0
+ break;
+ }
+
+ switch(obj->out_ch){
+ case 0:
+ pwm->OUT0_CLR = (1 << 1); // event 1
+ break;
+
+ case 1:
+ pwm->OUT1_CLR = (1 << 2); // event 2
+ break;
+
+ case 2:
+ pwm->OUT2_CLR = (1 << 3); // event 3
+ break;
+
+ case 3:
+ pwm->OUT3_CLR = (1 << 4); // event 4
+ break;
+
+ case 4:
+ pwm->OUT4_CLR = (1 << 5); // event 5
+ break;
+
+ case 5:
+ pwm->OUT5_CLR = (1 << 6); // event 6
+ break;
+
+ case 6:
+ pwm->OUT6_CLR = (1 << 7); // event 7
+ break;
+ }
+
+
pwm->EV0_CTRL = (1 << 12);
pwm->EV0_STATE = 0xFFFFFFFF;
- pwm->EV1_CTRL = (1 << 12) | (1 << 0);
- pwm->EV1_STATE = 0xFFFFFFFF;
+
+ //pwm->EV1_CTRL = (1 << 12) | (1 << 0);
+ //pwm->EV1_STATE = 0xFFFFFFFF;
+ switch(obj->out_ch){
+ case 0:
+ pwm->EV1_CTRL = (1 << 12) | (1);
+ pwm->EV1_STATE = 0xFFFFFFFF; // event 1
+ break;
+
+ case 1:
+ pwm->EV2_CTRL = (1 << 12) | (2);
+ pwm->EV2_STATE = 0xFFFFFFFF; // event 2
+ break;
+
+ case 2:
+ pwm->EV3_CTRL = (1 << 12) | (3);
+ pwm->EV3_STATE = 0xFFFFFFFF; // event 3
+ break;
+
+ case 3:
+ pwm->EV4_CTRL = (1 << 12) | (4);
+ pwm->EV4_STATE = 0xFFFFFFFF; // event 4
+ break;
+
+ case 4:
+ pwm->EV5_CTRL = (1 << 12) | (5);
+ pwm->EV5_STATE = 0xFFFFFFFF; // event 5
+ break;
+
+ case 5:
+ pwm->EV6_CTRL = (1 << 12) | (6);
+ pwm->EV6_STATE = 0xFFFFFFFF; // event 6
+ break;
+
+ case 6:
+ pwm->EV7_CTRL = (1 << 12) | (7);
+ pwm->EV7_STATE = 0xFFFFFFFF; // event 6
+ break;
+
+ }
// unhalt the counter:
// - clearing bit 2 of the CTRL register
pwm->CTRL &= ~(1 << 2);
// default to 20ms: standard for servos, and fine for e.g. brightness control
- pwmout_all_period_ms(obj, 20);
- pwmout_all_write (obj, 0);
+ pwmout_period_ms(obj, 20);
+ pwmout_write (obj, 0.5);
}
-void pwmout_all_free(pwmout_t* obj) {
+void pwmout_free(pwmout_t* obj) {
// Disable the SCT clock
LPC_SYSCON->SYSAHBCLKCTRL1 &= ~(1 << (obj->pwm_ch + 2));
sct_used &= ~(1 << obj->pwm_ch);
}
-void pwmout_all_write(pwmout_t* obj, float value) {
+void pwmout_write(pwmout_t* obj, float value) {
LPC_SCT0_Type* pwm = obj->pwm;
if (value < 0.0f) {
value = 0.0;
@@ -128,42 +452,129 @@
value = 1.0;
}
uint32_t t_on = (uint32_t)((float)(pwm->MATCHREL0) * value);
- pwm->MATCHREL1 = t_on;
+ //pwm->MATCHREL1 = t_on;
+ switch(obj->out_ch){
+ case 0:
+ pwm->MATCHREL1 = t_on;
+ break;
+
+ case 1:
+ pwm->MATCHREL2 = t_on;
+ break;
+
+ case 2:
+ pwm->MATCHREL3 = t_on;
+ break;
+
+ case 3:
+ pwm->MATCHREL4 = t_on;
+ break;
+
+ case 4:
+ pwm->MATCHREL5 = t_on;
+ break;
+
+ case 5:
+ pwm->MATCHREL6 = t_on;
+ break;
+
+ case 6:
+ pwm->MATCHREL7 = t_on;
+ break;
+ }
}
-float pwmout_all_read(pwmout_t* obj) {
+float pwmout_read(pwmout_t* obj) {
uint32_t t_off = obj->pwm->MATCHREL0;
uint32_t t_on = obj->pwm->MATCHREL1;
float v = (float)t_on/(float)t_off;
return (v > 1.0f) ? (1.0f) : (v);
}
-void pwmout_all_period(pwmout_t* obj, float seconds) {
- pwmout_all_period_us(obj, seconds * 1000000.0f);
+void pwmout_period(pwmout_t* obj, float seconds) {
+ pwmout_period_us(obj, seconds * 1000000.0f);
}
-void pwmout_all_period_ms(pwmout_t* obj, int ms) {
- pwmout_all_period_us(obj, ms * 1000);
+void pwmout_period_ms(pwmout_t* obj, int ms) {
+ pwmout_period_us(obj, ms * 1000);
}
// Set the PWM period, keeping the duty cycle the same.
-void pwmout_all_period_us(pwmout_t* obj, int us) {
+void pwmout_period_us(pwmout_t* obj, int us) {
LPC_SCT0_Type* pwm = obj->pwm;
uint32_t t_off = pwm->MATCHREL0;
uint32_t t_on = pwm->MATCHREL1;
float v = (float)t_on/(float)t_off;
pwm->MATCHREL0 = (uint32_t)us;
- pwm->MATCHREL1 = (uint32_t)((float)us * (float)v);
+ //pwm->MATCHREL1 = (uint32_t)((float)us * (float)v);
+ switch(obj->out_ch){
+ case 0:
+ pwm->MATCHREL1 = (uint32_t)((float)us * (float)v);
+ break;
+
+ case 1:
+ pwm->MATCHREL2 = (uint32_t)((float)us * (float)v);
+ break;
+
+ case 2:
+ pwm->MATCHREL3 = (uint32_t)((float)us * (float)v);
+ break;
+
+ case 3:
+ pwm->MATCHREL4 = (uint32_t)((float)us * (float)v);
+ break;
+
+ case 4:
+ pwm->MATCHREL5 = (uint32_t)((float)us * (float)v);
+ break;
+
+ case 5:
+ pwm->MATCHREL6 = (uint32_t)((float)us * (float)v);
+ break;
+
+ case 6:
+ pwm->MATCHREL7 = (uint32_t)((float)us * (float)v);
+ break;
+ }
}
-void pwmout_all_pulsewidth(pwmout_t* obj, float seconds) {
- pwmout_all_pulsewidth_us(obj, seconds * 1000000.0f);
+void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
+ pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
}
-void pwmout_all_pulsewidth_ms(pwmout_t* obj, int ms) {
- pwmout_all_pulsewidth_us(obj, ms * 1000);
+void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
+ pwmout_pulsewidth_us(obj, ms * 1000);
}
-void pwmout_all_pulsewidth_us(pwmout_t* obj, int us) {
- obj->pwm->MATCHREL1 = (uint32_t)us;
+void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
+ //obj->pwm->MATCHREL1 = (uint32_t)us;
+ switch(obj->out_ch){
+ case 0:
+ obj->pwm->MATCHREL1 = (uint32_t)us;
+ break;
+
+ case 1:
+ obj->pwm->MATCHREL2 = (uint32_t)us;
+ break;
+
+ case 2:
+ obj->pwm->MATCHREL3 = (uint32_t)us;
+ break;
+
+ case 3:
+ obj->pwm->MATCHREL4 = (uint32_t)us;
+ break;
+
+ case 4:
+ obj->pwm->MATCHREL5 = (uint32_t)us;
+ break;
+
+ case 5:
+ obj->pwm->MATCHREL6 = (uint32_t)us;
+ break;
+
+ case 6:
+ obj->pwm->MATCHREL7 = (uint32_t)us;
+ break;
+ }
}