mbed official / mbed-dev

mbed library sources. Supersedes mbed-src.

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targets/TARGET_NUVOTON/TARGET_M2351/pwmout_api.c@189:f392fc9709a3, 2019-02-20 (annotated)

Committer:
AnnaBridge
Date:
Wed Feb 20 22:31:08 2019 +0000
Revision:
189:f392fc9709a3
Parent:
187:0387e8f68319 
mbed library release version 165

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AnnaBridge 187:0387e8f68319 1 /* mbed Microcontroller Library
AnnaBridge 187:0387e8f68319 2 * Copyright (c) 2017-2018 Nuvoton
AnnaBridge 187:0387e8f68319 3 *
AnnaBridge 187:0387e8f68319 4 * Licensed under the Apache License, Version 2.0 (the "License");
AnnaBridge 187:0387e8f68319 5 * you may not use this file except in compliance with the License.
AnnaBridge 187:0387e8f68319 6 * You may obtain a copy of the License at
AnnaBridge 187:0387e8f68319 7 *
AnnaBridge 187:0387e8f68319 8 * http://www.apache.org/licenses/LICENSE-2.0
AnnaBridge 187:0387e8f68319 9 *
AnnaBridge 187:0387e8f68319 10 * Unless required by applicable law or agreed to in writing, software
AnnaBridge 187:0387e8f68319 11 * distributed under the License is distributed on an "AS IS" BASIS,
AnnaBridge 187:0387e8f68319 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
AnnaBridge 187:0387e8f68319 13 * See the License for the specific language governing permissions and
AnnaBridge 187:0387e8f68319 14 * limitations under the License.
AnnaBridge 187:0387e8f68319 15 */
AnnaBridge 187:0387e8f68319 16
AnnaBridge 187:0387e8f68319 17 #include "pwmout_api.h"
AnnaBridge 187:0387e8f68319 18
AnnaBridge 187:0387e8f68319 19 #if DEVICE_PWMOUT
AnnaBridge 187:0387e8f68319 20
AnnaBridge 187:0387e8f68319 21 #include "cmsis.h"
AnnaBridge 187:0387e8f68319 22 #include "pinmap.h"
AnnaBridge 187:0387e8f68319 23 #include "PeripheralPins.h"
AnnaBridge 187:0387e8f68319 24 #include "nu_modutil.h"
AnnaBridge 187:0387e8f68319 25 #include "nu_miscutil.h"
AnnaBridge 187:0387e8f68319 26 #include "nu_bitutil.h"
AnnaBridge 187:0387e8f68319 27
AnnaBridge 187:0387e8f68319 28 struct nu_pwm_var {
AnnaBridge 187:0387e8f68319 29 uint32_t en_msk;
AnnaBridge 187:0387e8f68319 30 };
AnnaBridge 187:0387e8f68319 31
AnnaBridge 187:0387e8f68319 32 static struct nu_pwm_var pwm0_var = {
AnnaBridge 187:0387e8f68319 33 .en_msk = 0
AnnaBridge 187:0387e8f68319 34 };
AnnaBridge 187:0387e8f68319 35
AnnaBridge 187:0387e8f68319 36 static struct nu_pwm_var pwm1_var = {
AnnaBridge 187:0387e8f68319 37 .en_msk = 0
AnnaBridge 187:0387e8f68319 38 };
AnnaBridge 187:0387e8f68319 39
AnnaBridge 187:0387e8f68319 40 static uint32_t pwm_modinit_mask = 0;
AnnaBridge 187:0387e8f68319 41
AnnaBridge 187:0387e8f68319 42 static const struct nu_modinit_s pwm_modinit_tab[] = {
AnnaBridge 187:0387e8f68319 43 {PWM_0_0, EPWM0_MODULE, CLK_CLKSEL2_EPWM0SEL_PCLK0, 0, EPWM0_RST, EPWM0_P0_IRQn, &pwm0_var},
AnnaBridge 187:0387e8f68319 44 {PWM_0_1, EPWM0_MODULE, CLK_CLKSEL2_EPWM0SEL_PCLK0, 0, EPWM0_RST, EPWM0_P0_IRQn, &pwm0_var},
AnnaBridge 187:0387e8f68319 45 {PWM_0_2, EPWM0_MODULE, CLK_CLKSEL2_EPWM0SEL_PCLK0, 0, EPWM0_RST, EPWM0_P1_IRQn, &pwm0_var},
AnnaBridge 187:0387e8f68319 46 {PWM_0_3, EPWM0_MODULE, CLK_CLKSEL2_EPWM0SEL_PCLK0, 0, EPWM0_RST, EPWM0_P1_IRQn, &pwm0_var},
AnnaBridge 187:0387e8f68319 47 {PWM_0_4, EPWM0_MODULE, CLK_CLKSEL2_EPWM0SEL_PCLK0, 0, EPWM0_RST, EPWM0_P2_IRQn, &pwm0_var},
AnnaBridge 187:0387e8f68319 48 {PWM_0_5, EPWM0_MODULE, CLK_CLKSEL2_EPWM0SEL_PCLK0, 0, EPWM0_RST, EPWM0_P2_IRQn, &pwm0_var},
AnnaBridge 187:0387e8f68319 49
AnnaBridge 187:0387e8f68319 50 {PWM_1_0, EPWM1_MODULE, CLK_CLKSEL2_EPWM1SEL_PCLK1, 0, EPWM1_RST, EPWM1_P0_IRQn, &pwm1_var},
AnnaBridge 187:0387e8f68319 51 {PWM_1_1, EPWM1_MODULE, CLK_CLKSEL2_EPWM1SEL_PCLK1, 0, EPWM1_RST, EPWM1_P0_IRQn, &pwm1_var},
AnnaBridge 187:0387e8f68319 52 {PWM_1_2, EPWM1_MODULE, CLK_CLKSEL2_EPWM1SEL_PCLK1, 0, EPWM1_RST, EPWM1_P1_IRQn, &pwm1_var},
AnnaBridge 187:0387e8f68319 53 {PWM_1_3, EPWM1_MODULE, CLK_CLKSEL2_EPWM1SEL_PCLK1, 0, EPWM1_RST, EPWM1_P1_IRQn, &pwm1_var},
AnnaBridge 187:0387e8f68319 54 {PWM_1_4, EPWM1_MODULE, CLK_CLKSEL2_EPWM1SEL_PCLK1, 0, EPWM1_RST, EPWM1_P2_IRQn, &pwm1_var},
AnnaBridge 187:0387e8f68319 55 {PWM_1_5, EPWM1_MODULE, CLK_CLKSEL2_EPWM1SEL_PCLK1, 0, EPWM1_RST, EPWM1_P2_IRQn, &pwm1_var},
AnnaBridge 187:0387e8f68319 56
AnnaBridge 187:0387e8f68319 57 {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
AnnaBridge 187:0387e8f68319 58 };
AnnaBridge 187:0387e8f68319 59
AnnaBridge 187:0387e8f68319 60 static void pwmout_config(pwmout_t* obj, int start);
AnnaBridge 187:0387e8f68319 61
AnnaBridge 187:0387e8f68319 62 void pwmout_init(pwmout_t* obj, PinName pin)
AnnaBridge 187:0387e8f68319 63 {
AnnaBridge 187:0387e8f68319 64 obj->pwm = (PWMName) pinmap_peripheral(pin, PinMap_PWM);
AnnaBridge 187:0387e8f68319 65 MBED_ASSERT((int) obj->pwm != NC);
AnnaBridge 187:0387e8f68319 66
AnnaBridge 187:0387e8f68319 67 const struct nu_modinit_s *modinit = get_modinit(obj->pwm, pwm_modinit_tab);
AnnaBridge 187:0387e8f68319 68 MBED_ASSERT(modinit != NULL);
AnnaBridge 187:0387e8f68319 69 MBED_ASSERT(modinit->modname == (int) obj->pwm);
AnnaBridge 187:0387e8f68319 70
AnnaBridge 187:0387e8f68319 71 // NOTE: All channels (identified by PWMName) share a PWM module. This reset will also affect other channels of the same PWM module.
AnnaBridge 187:0387e8f68319 72 if (! ((struct nu_pwm_var *) modinit->var)->en_msk) {
AnnaBridge 187:0387e8f68319 73 /* Reset module
AnnaBridge 187:0387e8f68319 74 *
AnnaBridge 187:0387e8f68319 75 * NOTE: We must call secure version (from non-secure domain) because SYS/CLK regions are secure.
AnnaBridge 187:0387e8f68319 76 */
AnnaBridge 187:0387e8f68319 77 SYS_ResetModule_S(modinit->rsetidx);
AnnaBridge 187:0387e8f68319 78 }
AnnaBridge 187:0387e8f68319 79
AnnaBridge 187:0387e8f68319 80 uint32_t chn = NU_MODSUBINDEX(obj->pwm);
AnnaBridge 187:0387e8f68319 81
AnnaBridge 187:0387e8f68319 82 // NOTE: Channels 0/1/2/3/4/5 share a clock source.
AnnaBridge 187:0387e8f68319 83 if ((((struct nu_pwm_var *) modinit->var)->en_msk & 0x3F) == 0) {
AnnaBridge 187:0387e8f68319 84 /* Select IP clock source
AnnaBridge 187:0387e8f68319 85 *
AnnaBridge 187:0387e8f68319 86 * NOTE: We must call secure version (from non-secure domain) because SYS/CLK regions are secure.
AnnaBridge 187:0387e8f68319 87 */
AnnaBridge 187:0387e8f68319 88 CLK_SetModuleClock_S(modinit->clkidx, modinit->clksrc, modinit->clkdiv);
AnnaBridge 187:0387e8f68319 89
AnnaBridge 187:0387e8f68319 90 /* Enable IP clock
AnnaBridge 187:0387e8f68319 91 *
AnnaBridge 187:0387e8f68319 92 * NOTE: We must call secure version (from non-secure domain) because SYS/CLK regions are secure.
AnnaBridge 187:0387e8f68319 93 */
AnnaBridge 187:0387e8f68319 94 CLK_EnableModuleClock_S(modinit->clkidx);
AnnaBridge 187:0387e8f68319 95 }
AnnaBridge 187:0387e8f68319 96
AnnaBridge 187:0387e8f68319 97 // Wire pinout
AnnaBridge 187:0387e8f68319 98 pinmap_pinout(pin, PinMap_PWM);
AnnaBridge 187:0387e8f68319 99
AnnaBridge 187:0387e8f68319 100 // Default: period = 10 ms, pulse width = 0 ms
AnnaBridge 187:0387e8f68319 101 obj->period_us = 1000 * 10;
AnnaBridge 187:0387e8f68319 102 obj->pulsewidth_us = 0;
AnnaBridge 187:0387e8f68319 103 pwmout_config(obj, 0);
AnnaBridge 187:0387e8f68319 104
AnnaBridge 187:0387e8f68319 105 ((struct nu_pwm_var *) modinit->var)->en_msk |= 1 << chn;
AnnaBridge 187:0387e8f68319 106
AnnaBridge 187:0387e8f68319 107 // Mark this module to be inited.
AnnaBridge 187:0387e8f68319 108 int i = modinit - pwm_modinit_tab;
AnnaBridge 187:0387e8f68319 109 pwm_modinit_mask |= 1 << i;
AnnaBridge 187:0387e8f68319 110 }
AnnaBridge 187:0387e8f68319 111
AnnaBridge 187:0387e8f68319 112 void pwmout_free(pwmout_t* obj)
AnnaBridge 187:0387e8f68319 113 {
AnnaBridge 187:0387e8f68319 114 EPWM_T *pwm_base = (EPWM_T *) NU_MODBASE(obj->pwm);
AnnaBridge 187:0387e8f68319 115 uint32_t chn = NU_MODSUBINDEX(obj->pwm);
AnnaBridge 187:0387e8f68319 116 EPWM_ForceStop(pwm_base, 1 << chn);
AnnaBridge 187:0387e8f68319 117
AnnaBridge 187:0387e8f68319 118 const struct nu_modinit_s *modinit = get_modinit(obj->pwm, pwm_modinit_tab);
AnnaBridge 187:0387e8f68319 119 MBED_ASSERT(modinit != NULL);
AnnaBridge 187:0387e8f68319 120 MBED_ASSERT(modinit->modname == (int) obj->pwm);
AnnaBridge 187:0387e8f68319 121 ((struct nu_pwm_var *) modinit->var)->en_msk &= ~(1 << chn);
AnnaBridge 187:0387e8f68319 122
AnnaBridge 187:0387e8f68319 123
AnnaBridge 187:0387e8f68319 124 if ((((struct nu_pwm_var *) modinit->var)->en_msk & 0x3F) == 0) {
AnnaBridge 187:0387e8f68319 125 /* Disable IP clock
AnnaBridge 187:0387e8f68319 126 *
AnnaBridge 187:0387e8f68319 127 * NOTE: We must call secure version (from non-secure domain) because SYS/CLK regions are secure.
AnnaBridge 187:0387e8f68319 128 */
AnnaBridge 187:0387e8f68319 129 CLK_DisableModuleClock_S(modinit->clkidx);
AnnaBridge 187:0387e8f68319 130 }
AnnaBridge 187:0387e8f68319 131
AnnaBridge 187:0387e8f68319 132 // Mark this module to be deinited.
AnnaBridge 187:0387e8f68319 133 int i = modinit - pwm_modinit_tab;
AnnaBridge 187:0387e8f68319 134 pwm_modinit_mask &= ~(1 << i);
AnnaBridge 187:0387e8f68319 135 }
AnnaBridge 187:0387e8f68319 136
AnnaBridge 187:0387e8f68319 137 void pwmout_write(pwmout_t* obj, float value)
AnnaBridge 187:0387e8f68319 138 {
AnnaBridge 187:0387e8f68319 139 obj->pulsewidth_us = NU_CLAMP((uint32_t) (value * obj->period_us), 0, obj->period_us);
AnnaBridge 187:0387e8f68319 140 pwmout_config(obj, 1);
AnnaBridge 187:0387e8f68319 141 }
AnnaBridge 187:0387e8f68319 142
AnnaBridge 187:0387e8f68319 143 float pwmout_read(pwmout_t* obj)
AnnaBridge 187:0387e8f68319 144 {
AnnaBridge 187:0387e8f68319 145 return NU_CLAMP((((float) obj->pulsewidth_us) / obj->period_us), 0.0f, 1.0f);
AnnaBridge 187:0387e8f68319 146 }
AnnaBridge 187:0387e8f68319 147
AnnaBridge 187:0387e8f68319 148 void pwmout_period(pwmout_t* obj, float seconds)
AnnaBridge 187:0387e8f68319 149 {
AnnaBridge 187:0387e8f68319 150 pwmout_period_us(obj, seconds * 1000000.0f);
AnnaBridge 187:0387e8f68319 151 }
AnnaBridge 187:0387e8f68319 152
AnnaBridge 187:0387e8f68319 153 void pwmout_period_ms(pwmout_t* obj, int ms)
AnnaBridge 187:0387e8f68319 154 {
AnnaBridge 187:0387e8f68319 155 pwmout_period_us(obj, ms * 1000);
AnnaBridge 187:0387e8f68319 156 }
AnnaBridge 187:0387e8f68319 157
AnnaBridge 187:0387e8f68319 158 // Set the PWM period, keeping the duty cycle the same.
AnnaBridge 187:0387e8f68319 159 void pwmout_period_us(pwmout_t* obj, int us)
AnnaBridge 187:0387e8f68319 160 {
AnnaBridge 187:0387e8f68319 161 uint32_t period_us_old = obj->period_us;
AnnaBridge 187:0387e8f68319 162 uint32_t pulsewidth_us_old = obj->pulsewidth_us;
AnnaBridge 187:0387e8f68319 163 obj->period_us = us;
AnnaBridge 187:0387e8f68319 164 obj->pulsewidth_us = NU_CLAMP(obj->period_us * pulsewidth_us_old / period_us_old, 0, obj->period_us);
AnnaBridge 187:0387e8f68319 165 pwmout_config(obj, 1);
AnnaBridge 187:0387e8f68319 166 }
AnnaBridge 187:0387e8f68319 167
AnnaBridge 187:0387e8f68319 168 void pwmout_pulsewidth(pwmout_t* obj, float seconds)
AnnaBridge 187:0387e8f68319 169 {
AnnaBridge 187:0387e8f68319 170 pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
AnnaBridge 187:0387e8f68319 171 }
AnnaBridge 187:0387e8f68319 172
AnnaBridge 187:0387e8f68319 173 void pwmout_pulsewidth_ms(pwmout_t* obj, int ms)
AnnaBridge 187:0387e8f68319 174 {
AnnaBridge 187:0387e8f68319 175 pwmout_pulsewidth_us(obj, ms * 1000);
AnnaBridge 187:0387e8f68319 176 }
AnnaBridge 187:0387e8f68319 177
AnnaBridge 187:0387e8f68319 178 void pwmout_pulsewidth_us(pwmout_t* obj, int us)
AnnaBridge 187:0387e8f68319 179 {
AnnaBridge 187:0387e8f68319 180 obj->pulsewidth_us = NU_CLAMP(us, 0, obj->period_us);
AnnaBridge 187:0387e8f68319 181 pwmout_config(obj, 1);
AnnaBridge 187:0387e8f68319 182 }
AnnaBridge 187:0387e8f68319 183
AnnaBridge 187:0387e8f68319 184 static void pwmout_config(pwmout_t* obj, int start)
AnnaBridge 187:0387e8f68319 185 {
AnnaBridge 187:0387e8f68319 186 EPWM_T *pwm_base = (EPWM_T *) NU_MODBASE(obj->pwm);
AnnaBridge 187:0387e8f68319 187 uint32_t chn = NU_MODSUBINDEX(obj->pwm);
AnnaBridge 187:0387e8f68319 188
AnnaBridge 187:0387e8f68319 189 // To avoid abnormal pulse on (re-)configuration, follow the sequence: stop/configure(/re-start).
AnnaBridge 187:0387e8f68319 190 // NOTE: The issue is met in ARM mbed CI test tests-api-pwm on M487.
AnnaBridge 187:0387e8f68319 191 EPWM_ForceStop(pwm_base, 1 << chn);
AnnaBridge 187:0387e8f68319 192
AnnaBridge 187:0387e8f68319 193 // NOTE: Support period < 1s
AnnaBridge 187:0387e8f68319 194 // NOTE: ARM mbed CI test fails due to first PWM pulse error. Workaround by:
AnnaBridge 187:0387e8f68319 195 // 1. Inverse duty cycle (100 - duty)
AnnaBridge 187:0387e8f68319 196 // 2. Inverse PWM output polarity
AnnaBridge 187:0387e8f68319 197 // This trick is here to pass ARM mbed CI test. First PWM pulse error still remains.
AnnaBridge 187:0387e8f68319 198 EPWM_ConfigOutputChannel2(pwm_base, chn, 1000 * 1000, 100 - obj->pulsewidth_us * 100 / obj->period_us, obj->period_us);
AnnaBridge 187:0387e8f68319 199 pwm_base->POLCTL |= 1 << (EPWM_POLCTL_PINV0_Pos + chn);
AnnaBridge 187:0387e8f68319 200
AnnaBridge 187:0387e8f68319 201 if (start) {
AnnaBridge 187:0387e8f68319 202 // Enable output of the specified PWM channel
AnnaBridge 187:0387e8f68319 203 EPWM_EnableOutput(pwm_base, 1 << chn);
AnnaBridge 187:0387e8f68319 204 EPWM_Start(pwm_base, 1 << chn);
AnnaBridge 187:0387e8f68319 205 }
AnnaBridge 187:0387e8f68319 206 }
AnnaBridge 187:0387e8f68319 207
AnnaBridge 187:0387e8f68319 208 #endif