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; + } +}