Avion Radio IUT
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MecatroPWM
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FastPWM/Device/FastPWM_KLXX_K20D50M.cpp@1:b44f69eb07c4, 2021-04-15 (annotated)
- Committer:
- qmaker
- Date:
- Thu Apr 15 06:44:26 2021 +0000
- Revision:
- 1:b44f69eb07c4
Version asservissement avec codeurs et BT
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| qmaker | 1:b44f69eb07c4 | 1 | #if defined(TARGET_KLXX) || defined(TARGET_K20D50M) |
| qmaker | 1:b44f69eb07c4 | 2 | |
| qmaker | 1:b44f69eb07c4 | 3 | #include "FastPWM.h" |
| qmaker | 1:b44f69eb07c4 | 4 | |
| qmaker | 1:b44f69eb07c4 | 5 | void FastPWM::initFastPWM( void ) { |
| qmaker | 1:b44f69eb07c4 | 6 | bits = 16; |
| qmaker | 1:b44f69eb07c4 | 7 | } |
| qmaker | 1:b44f69eb07c4 | 8 | |
| qmaker | 1:b44f69eb07c4 | 9 | void FastPWM::pulsewidth_ticks( uint32_t ticks ) { |
| qmaker | 1:b44f69eb07c4 | 10 | *(_pwm.CnV) = ticks; |
| qmaker | 1:b44f69eb07c4 | 11 | } |
| qmaker | 1:b44f69eb07c4 | 12 | |
| qmaker | 1:b44f69eb07c4 | 13 | void FastPWM::period_ticks( uint32_t ticks ) { |
| qmaker | 1:b44f69eb07c4 | 14 | *(_pwm.MOD) = ticks - 1; |
| qmaker | 1:b44f69eb07c4 | 15 | } |
| qmaker | 1:b44f69eb07c4 | 16 | |
| qmaker | 1:b44f69eb07c4 | 17 | uint32_t FastPWM::getPeriod( void ) { |
| qmaker | 1:b44f69eb07c4 | 18 | return *(_pwm.MOD) + 1; |
| qmaker | 1:b44f69eb07c4 | 19 | } |
| qmaker | 1:b44f69eb07c4 | 20 | |
| qmaker | 1:b44f69eb07c4 | 21 | uint32_t FastPWM::setPrescaler(uint32_t reqScale) { |
| qmaker | 1:b44f69eb07c4 | 22 | |
| qmaker | 1:b44f69eb07c4 | 23 | //Yes this is ugly, yes I should feel bad about it |
| qmaker | 1:b44f69eb07c4 | 24 | volatile uint32_t *TPM_SC = _pwm.MOD - 2; |
| qmaker | 1:b44f69eb07c4 | 25 | |
| qmaker | 1:b44f69eb07c4 | 26 | const char prescalers[] = {1, 2, 4, 8, 16, 32, 64, 128}; |
| qmaker | 1:b44f69eb07c4 | 27 | |
| qmaker | 1:b44f69eb07c4 | 28 | //If prescaler is 0, return current one |
| qmaker | 1:b44f69eb07c4 | 29 | if (reqScale == 0) |
| qmaker | 1:b44f69eb07c4 | 30 | return (prescalers[(*TPM_SC) & 0x07]); |
| qmaker | 1:b44f69eb07c4 | 31 | |
| qmaker | 1:b44f69eb07c4 | 32 | uint32_t retval = 0; |
| qmaker | 1:b44f69eb07c4 | 33 | char bin; |
| qmaker | 1:b44f69eb07c4 | 34 | |
| qmaker | 1:b44f69eb07c4 | 35 | for (bin = 0; bin<8; bin++) { |
| qmaker | 1:b44f69eb07c4 | 36 | retval = prescalers[bin]; |
| qmaker | 1:b44f69eb07c4 | 37 | if (retval >= reqScale) |
| qmaker | 1:b44f69eb07c4 | 38 | break; |
| qmaker | 1:b44f69eb07c4 | 39 | } |
| qmaker | 1:b44f69eb07c4 | 40 | if (bin == 8) |
| qmaker | 1:b44f69eb07c4 | 41 | bin = 7; |
| qmaker | 1:b44f69eb07c4 | 42 | |
| qmaker | 1:b44f69eb07c4 | 43 | //Clear lower 5 bits, write new value: |
| qmaker | 1:b44f69eb07c4 | 44 | char clockbits = *TPM_SC & (3<<3); |
| qmaker | 1:b44f69eb07c4 | 45 | |
| qmaker | 1:b44f69eb07c4 | 46 | //For some reason clearing them takes some effort |
| qmaker | 1:b44f69eb07c4 | 47 | while ((*TPM_SC & 0x1F) != 0) |
| qmaker | 1:b44f69eb07c4 | 48 | *TPM_SC &= ~0x1F; |
| qmaker | 1:b44f69eb07c4 | 49 | |
| qmaker | 1:b44f69eb07c4 | 50 | |
| qmaker | 1:b44f69eb07c4 | 51 | *TPM_SC = bin + clockbits; |
| qmaker | 1:b44f69eb07c4 | 52 | |
| qmaker | 1:b44f69eb07c4 | 53 | return retval; |
| qmaker | 1:b44f69eb07c4 | 54 | } |
| qmaker | 1:b44f69eb07c4 | 55 | #endif |