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
diff -r aefedd6b2a6f -r 322ad3eef278 pwm_all_api.c --- 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; + } }