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.cpp
- Revision:
- 3:af461f11cef6
- Parent:
- 2:322ad3eef278
- Child:
- 4:49ee58dc8e4d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/pwm_all_api.cpp Fri Feb 16 09:06:32 2018 +0000
@@ -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 "pwm_all_api.h"
+#include "cmsis.h"
+#include "pinmap.h"
+#include "mbed_error.h"
+
+static LPC_SCT0_Type *SCTs[4] = {
+ (LPC_SCT0_Type*)LPC_SCT0,
+ (LPC_SCT0_Type*)LPC_SCT1,
+ (LPC_SCT0_Type*)LPC_SCT2,
+ (LPC_SCT0_Type*)LPC_SCT3,
+};
+
+// bit flags for used SCTs
+static unsigned char sct_used = 0;
+static int get_available_sct(void) {
+ int i;
+ for (i=0; i<24; i++) {
+ if ((sct_used & (1 << i)) == 0)
+ return i;
+ }
+ return -1;
+}
+
+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;
+
+ 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;
+
+ case P0_6:
+ case P0_12:
+ return (LPC_SCT0_Type*)LPC_SCT2;
+
+ case P0_15:
+ case P0_17:
+ case P0_19:
+ return (LPC_SCT0_Type*)LPC_SCT3;
+
+ }
+}
+
+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;
+
+ case P0_2:
+ case P0_3:
+ case P0_9:
+ case P0_10:
+ case P0_11:
+ case P0_14:
+ case P0_20:
+ return 1;
+
+ case P0_6:
+ case P0_12:
+ return 2;
+
+ case P0_15:
+ case P0_17:
+ case P0_19:
+ return 3;
+
+ }
+}
+
+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 = 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));
+
+ switch(obj->pwm_ch) {
+ case 0:
+ // SCT0_OUT0
+ //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);
+
+ 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);
+
+ 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);
+
+ 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);
+
+ // halt and clear the counter
+ pwm->CTRL |= (1 << 2) | (1 << 3);
+
+ // System Clock -> us_ticker (1)MHz
+ pwm->CTRL &= ~(0x7F << 5);
+ pwm->CTRL |= (((SystemCoreClock/1000000 - 1) & 0x7F) << 5);
+
+ // Match reload register
+ pwm->MATCHREL0 = 20000; // 20ms
+ //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
+ 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;
+ 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_period_ms(obj, 20);
+ pwmout_write (obj, 0.5);
+}
+
+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_write(pwmout_t* obj, float value) {
+ LPC_SCT0_Type* pwm = obj->pwm;
+ if (value < 0.0f) {
+ value = 0.0;
+ } else if (value > 1.0f) {
+ value = 1.0;
+ }
+ uint32_t t_on = (uint32_t)((float)(pwm->MATCHREL0) * value);
+ //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_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_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);
+}
+
+// Set the PWM period, keeping the duty cycle the same.
+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);
+ 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_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) {
+ //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;
+ }
+}