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Superseded
This library was superseded by mbed-dev - https://os.mbed.com/users/mbed_official/code/mbed-dev/.
Development branch of the mbed library sources. This library is kept in synch with the latest changes from the mbed SDK and it is not guaranteed to work.
If you are looking for a stable and tested release, please import one of the official mbed library releases:
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The official Mbed 2 C/C++ SDK provides the software platform and libraries to build your applications.
targets/hal/TARGET_RENESAS/TARGET_RZ_A1H/pwmout_api.c
- Committer:
- mbed_official
- Date:
- 2015-07-15
- Revision:
- 591:474d026f7d79
- Parent:
- 500:04797f1feae2
- Child:
- 617:3b0e8f440867
File content as of revision 591:474d026f7d79:
/* 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 "pwmout_api.h" #include "cmsis.h" #include "pinmap.h" #include "RZ_A1_Init.h" #include "cpg_iodefine.h" #include "pwm_iodefine.h" #define MTU2_PWM_NUM 22 #define MTU2_PWM_SIGNAL 2 #define MTU2_PWM_OFFSET 0x20 // PORT ID, PWM ID, Pin function static const PinMap PinMap_PWM[] = { {P2_1 , MTU2_PWM0_PIN , 6}, {P2_11 , MTU2_PWM1_PIN , 5}, {P3_8 , MTU2_PWM2_PIN , 6}, {P3_10 , MTU2_PWM3_PIN , 6}, {P4_0 , MTU2_PWM4_PIN , 2}, {P4_4 , MTU2_PWM5_PIN , 3}, {P4_6 , MTU2_PWM6_PIN , 3}, {P5_0 , MTU2_PWM7_PIN , 6}, {P5_3 , MTU2_PWM8_PIN , 6}, {P5_5 , MTU2_PWM9_PIN , 6}, {P7_2 , MTU2_PWM10_PIN , 7}, {P7_4 , MTU2_PWM11_PIN , 7}, {P7_6 , MTU2_PWM12_PIN , 7}, {P7_10 , MTU2_PWM13_PIN , 7}, {P7_12 , MTU2_PWM14_PIN , 7}, {P7_14 , MTU2_PWM15_PIN , 7}, {P8_8 , MTU2_PWM16_PIN , 5}, {P8_10 , MTU2_PWM17_PIN , 4}, {P8_12 , MTU2_PWM18_PIN , 4}, {P8_14 , MTU2_PWM19_PIN , 4}, {P11_0 , MTU2_PWM20_PIN , 2}, {P11_2 , MTU2_PWM21_PIN , 2}, {P4_4 , PWM0_PIN , 4}, {P3_2 , PWM1_PIN , 7}, {P4_6 , PWM2_PIN , 4}, {P4_7 , PWM3_PIN , 4}, {P8_14 , PWM4_PIN , 6}, {P8_15 , PWM5_PIN , 6}, {P8_13 , PWM6_PIN , 6}, {P8_11 , PWM7_PIN , 6}, {P8_8 , PWM8_PIN , 6}, {P10_0 , PWM9_PIN , 3}, {P8_12 , PWM10_PIN , 6}, {P8_9 , PWM11_PIN , 6}, {P8_10 , PWM12_PIN , 6}, {P4_5 , PWM13_PIN , 4}, {NC , NC , 0} }; static const PWMType PORT[] = { PWM2E, // PWM0_PIN PWM2C, // PWM1_PIN PWM2G, // PWM2_PIN PWM2H, // PWM3_PIN PWM1G, // PWM4_PIN PWM1H, // PWM5_PIN PWM1F, // PWM6_PIN PWM1D, // PWM7_PIN PWM1A, // PWM8_PIN PWM2A, // PWM9_PIN PWM1E, // PWM10_PIN PWM1B, // PWM11_PIN PWM1C, // PWM12_PIN PWM2F, // PWM13_PIN }; static const MTU2_PWMType MTU2_PORT[] = { TIOC2A, // MTU2_PWM0_PIN TIOC1A, // MTU2_PWM1_PIN TIOC4A, // MTU2_PWM2_PIN TIOC4C, // MTU2_PWM3_PIN TIOC0A, // MTU2_PWM4_PIN TIOC4A, // MTU2_PWM5_PIN TIOC4C, // MTU2_PWM6_PIN TIOC0A, // MTU2_PWM7_PIN TIOC3C, // MTU2_PWM8_PIN TIOC0C, // MTU2_PWM9_PIN TIOC0C, // MTU2_PWM10_PIN TIOC1A, // MTU2_PWM11_PIN TIOC2A, // MTU2_PWM12_PIN TIOC3C, // MTU2_PWM13_PIN TIOC4A, // MTU2_PWM14_PIN TIOC4C, // MTU2_PWM15_PIN TIOC1A, // MTU2_PWM16_PIN TIOC3A, // MTU2_PWM17_PIN TIOC3C, // MTU2_PWM18_PIN TIOC2A, // MTU2_PWM19_PIN TIOC4A, // MTU2_PWM20_PIN TIOC4C, // MTU2_PWM21_PIN }; static __IO uint16_t *PWM_MATCH[] = { &PWMPWBFR_2E, // PWM0_PIN &PWMPWBFR_2C, // PWM1_PIN &PWMPWBFR_2G, // PWM2_PIN &PWMPWBFR_2G, // PWM3_PIN &PWMPWBFR_1G, // PWM4_PIN &PWMPWBFR_1G, // PWM5_PIN &PWMPWBFR_1E, // PWM6_PIN &PWMPWBFR_1C, // PWM7_PIN &PWMPWBFR_1A, // PWM8_PIN &PWMPWBFR_2A, // PWM9_PIN &PWMPWBFR_1E, // PWM10_PIN &PWMPWBFR_1A, // PWM11_PIN &PWMPWBFR_1C, // PWM12_PIN &PWMPWBFR_2E, // PWM13_PIN }; static __IO uint16_t *MTU2_PWM_MATCH[MTU2_PWM_NUM][MTU2_PWM_SIGNAL] = { { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM0_PIN { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM1_PIN { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM2_PIN { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM3_PIN { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM4_PIN { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM5_PIN { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM6_PIN { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM7_PIN { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM8_PIN { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM9_PIN { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM10_PIN { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM11_PIN { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM12_PIN { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM13_PIN { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM14_PIN { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM15_PIN { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM16_PIN { &MTU2TGRA_3, &MTU2TGRB_3 }, // MTU2_PWM17_PIN { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM18_PIN { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM19_PIN { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM20_PIN { &MTU2TGRC_4, &MTU2TGRD_4 } // MTU2_PWM21_PIN }; static __IO uint8_t *TCR_MATCH[] = { &MTU2TCR_0, &MTU2TCR_1, &MTU2TCR_2, &MTU2TCR_3, &MTU2TCR_4, }; static __IO uint8_t *TIORH_MATCH[] = { &MTU2TIORH_0, &MTU2TIOR_1, &MTU2TIOR_2, &MTU2TIORH_3, &MTU2TIORH_4, }; static __IO uint8_t *TIORL_MATCH[] = { &MTU2TIORL_0, NULL, NULL, &MTU2TIORL_3, &MTU2TIORL_4, }; static __IO uint16_t *TGRA_MATCH[] = { &MTU2TGRA_0, &MTU2TGRA_1, &MTU2TGRA_2, &MTU2TGRA_3, &MTU2TGRA_4, }; static __IO uint16_t *TGRC_MATCH[] = { &MTU2TGRC_0, NULL, NULL, &MTU2TGRC_3, &MTU2TGRC_4, }; static __IO uint8_t *TMDR_MATCH[] = { &MTU2TMDR_0, &MTU2TMDR_1, &MTU2TMDR_2, &MTU2TMDR_3, &MTU2TMDR_4, }; static int MAX_PERIOD[] = { 125000, 503000, 2000000, 2000000, 2000000, }; typedef enum { MODE_PWM = 0, MODE_MTU2 } PWMmode; typedef enum { MTU2_PULSE = 0, MTU2_PERIOD } MTU2Signal; static int pwm_mode = MODE_PWM; static uint16_t init_period_ch1 = 0; static uint16_t init_period_ch2 = 0; static uint16_t init_mtu2_period_ch[5] = {0}; static int32_t period_ch1 = 1; static int32_t period_ch2 = 1; static int32_t mtu2_period_ch[5] = {1, 1, 1, 1, 1}; void pwmout_init(pwmout_t* obj, PinName pin) { // determine the channel PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM); MBED_ASSERT(pwm != (PWMName)NC); if (pwm >= MTU2_PWM_OFFSET) { /* PWM by MTU2 */ int tmp_pwm; pwm_mode = MODE_MTU2; // power on CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP33); obj->pwm = pwm; tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET); if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000040) == 0x00000040) { obj->ch = 4; MTU2TOER |= 0x36; } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000030) == 0x00000030) { obj->ch = 3; MTU2TOER |= 0x09; } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000020) == 0x00000020) { obj->ch = 2; } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000010) == 0x00000010) { obj->ch = 1; } else { obj->ch = 0; } // Wire pinout pinmap_pinout(pin, PinMap_PWM); // default duty 0.0f pwmout_write(obj, 0); if (init_mtu2_period_ch[obj->ch] == 0) { // default period 1ms pwmout_period_us(obj, 1000); init_mtu2_period_ch[obj->ch] = 1; } } else { /* PWM */ pwm_mode = MODE_PWM; // power on CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP30); obj->pwm = pwm; if (((uint32_t)PORT[obj->pwm] & 0x00000010) == 0x00000010) { obj->ch = 2; PWMPWPR_2_BYTE_L = 0x00; } else { obj->ch = 1; PWMPWPR_1_BYTE_L = 0x00; } // Wire pinout pinmap_pinout(pin, PinMap_PWM); // default to 491us: standard for servos, and fine for e.g. brightness control pwmout_write(obj, 0); if ((obj->ch == 2) && (init_period_ch2 == 0)) { pwmout_period_us(obj, 491); init_period_ch2 = 1; } if ((obj->ch == 1) && (init_period_ch1 == 0)) { pwmout_period_us(obj, 491); init_period_ch1 = 1; } } } void pwmout_free(pwmout_t* obj) { pwmout_write(obj, 0); } void pwmout_write(pwmout_t* obj, float value) { uint32_t wk_cycle; uint16_t v; if (pwm_mode == MODE_MTU2) { /* PWM by MTU2 */ int tmp_pwm; if (value < 0.0f) { value = 0.0f; } else if (value > 1.0f) { value = 1.0f; } else { // Do Nothing } tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET); wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff; // set channel match to percentage *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] = (uint16_t)((float)wk_cycle * value); } else { /* PWM */ if (value < 0.0f) { value = 0.0f; } else if (value > 1.0f) { value = 1.0f; } else { // Do Nothing } if (obj->ch == 2) { wk_cycle = PWMPWCYR_2 & 0x03ff; } else { wk_cycle = PWMPWCYR_1 & 0x03ff; } // set channel match to percentage v = (uint16_t)((float)wk_cycle * value); *PWM_MATCH[obj->pwm] = (v | ((PORT[obj->pwm] & 1) << 12)); } } float pwmout_read(pwmout_t* obj) { uint32_t wk_cycle; float value; if (pwm_mode == MODE_MTU2) { /* PWM by MTU2 */ uint32_t wk_pulse; int tmp_pwm; tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET); wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff; wk_pulse = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] & 0xffff; value = ((float)wk_pulse / (float)wk_cycle); } else { /* PWM */ if (obj->ch == 2) { wk_cycle = PWMPWCYR_2 & 0x03ff; } else { wk_cycle = PWMPWCYR_1 & 0x03ff; } value = ((float)(*PWM_MATCH[obj->pwm] & 0x03ff) / (float)wk_cycle); } return (value > 1.0f) ? (1.0f) : (value); } 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); } static void set_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){ uint16_t wk_pwmpbfr; float value; uint16_t v; wk_pwmpbfr = *p_pwmpbfr; value = ((float)(wk_pwmpbfr & 0x03ff) / (float)last_cycle); v = (uint16_t)((float)new_cycle * value); *p_pwmpbfr = (v | (wk_pwmpbfr & 0x1000)); } static void set_mtu2_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){ uint16_t wk_pwmpbfr; float value; wk_pwmpbfr = *p_pwmpbfr; value = ((float)(wk_pwmpbfr & 0xffff) / (float)last_cycle); *p_pwmpbfr = (uint16_t)((float)new_cycle * value); } // Set the PWM period, keeping the duty cycle the same. void pwmout_period_us(pwmout_t* obj, int us) { uint64_t wk_cycle_mtu2; uint32_t pclk_base; uint32_t wk_cycle; uint32_t wk_cks = 0; uint16_t wk_last_cycle; int max_us = 0; if (pwm_mode == MODE_MTU2) { /* PWM by MTU2 */ int tmp_pwm; uint16_t tmp_tgra; uint16_t tmp_tgrc; uint8_t tmp_tcr_up; uint8_t tmp_tstr_sp; uint8_t tmp_tstr_st; max_us = MAX_PERIOD[obj->ch]; if (us > max_us) { us = max_us; } else if (us < 1) { us = 1; } else { // Do Nothing } if (RZ_A1_IsClockMode0() == false) { pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK; } else { pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK; } wk_cycle_mtu2 = (uint64_t)pclk_base * us; while (wk_cycle_mtu2 >= 65535000000) { if ((obj->ch == 1) && (wk_cks == 3)) { wk_cks+=2; } else if ((obj->ch == 2) && (wk_cks == 3)) { wk_cycle_mtu2 >>= 2; wk_cks+=3; } wk_cycle_mtu2 >>= 2; wk_cks++; } wk_cycle = (uint32_t)(wk_cycle_mtu2 / 1000000); tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET); if (((uint8_t)MTU2_PORT[tmp_pwm] & 0x02) == 0x02) { tmp_tcr_up = 0xC0; } else { tmp_tcr_up = 0x40; } if ((obj->ch == 4) || (obj->ch == 3)) { tmp_tstr_sp = ~(0x38 | (1 << (obj->ch + 3))); tmp_tstr_st = (1 << (obj->ch + 3)); } else { tmp_tstr_sp = ~(0x38 | (1 << obj->ch)); tmp_tstr_st = (1 << obj->ch); } // Counter Stop MTU2TSTR &= tmp_tstr_sp; wk_last_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff; *TCR_MATCH[obj->ch] = tmp_tcr_up | wk_cks; *TIORH_MATCH[obj->ch] = 0x21; if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) { *TIORL_MATCH[obj->ch] = 0x21; } *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] = (uint16_t)wk_cycle; // Set period // Set duty again(TGRA) tmp_tgra = *TGRA_MATCH[obj->ch]; set_mtu2_duty_again(&tmp_tgra, wk_last_cycle, wk_cycle); if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) { // Set duty again(TGRC) tmp_tgrc = *TGRC_MATCH[obj->ch]; set_mtu2_duty_again(&tmp_tgrc, wk_last_cycle, wk_cycle); } *TMDR_MATCH[obj->ch] = 0x02; // PWM mode 1 // Counter Start MTU2TSTR |= tmp_tstr_st; // Save for future use mtu2_period_ch[obj->ch] = us; } else { /* PWM */ if (us > 491) { us = 491; } else if (us < 1) { us = 1; } else { // Do Nothing } if (RZ_A1_IsClockMode0() == false) { pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK / 10000; } else { pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK / 10000; } wk_cycle = pclk_base * us; while (wk_cycle >= 102350) { wk_cycle >>= 1; wk_cks++; } wk_cycle = (wk_cycle + 50) / 100; if (obj->ch == 2) { wk_last_cycle = PWMPWCYR_2 & 0x03ff; PWMPWCR_2_BYTE_L = 0xc0 | wk_cks; PWMPWCYR_2 = (uint16_t)wk_cycle; // Set duty again set_duty_again(&PWMPWBFR_2A, wk_last_cycle, wk_cycle); set_duty_again(&PWMPWBFR_2C, wk_last_cycle, wk_cycle); set_duty_again(&PWMPWBFR_2E, wk_last_cycle, wk_cycle); set_duty_again(&PWMPWBFR_2G, wk_last_cycle, wk_cycle); // Counter Start PWMPWCR_2_BYTE_L |= 0x08; // Save for future use period_ch2 = us; } else { wk_last_cycle = PWMPWCYR_1 & 0x03ff; PWMPWCR_1_BYTE_L = 0xc0 | wk_cks; PWMPWCYR_1 = (uint16_t)wk_cycle; // Set duty again set_duty_again(&PWMPWBFR_1A, wk_last_cycle, wk_cycle); set_duty_again(&PWMPWBFR_1C, wk_last_cycle, wk_cycle); set_duty_again(&PWMPWBFR_1E, wk_last_cycle, wk_cycle); set_duty_again(&PWMPWBFR_1G, wk_last_cycle, wk_cycle); // Counter Start PWMPWCR_1_BYTE_L |= 0x08; // Save for future use period_ch1 = us; } } } 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) { float value = 0; if (pwm_mode == MODE_MTU2) { /* PWM by MTU2 */ if (mtu2_period_ch[obj->ch] != 0) { value = (float)us / (float)mtu2_period_ch[obj->ch]; } } else { /* PWM */ if (obj->ch == 2) { if (period_ch2 != 0) { value = (float)us / (float)period_ch2; } } else { if (period_ch1 != 0) { value = (float)us / (float)period_ch1; } } pwmout_write(obj, value); } }