void pwmout_init(pwmout_t* obj, PinName pin) {
// determine the channel
PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
if (pwm == (PWMName)NC)
error("PwmOut pin mapping failed");
unsigned int port = (unsigned int)pin >> PORT_SHIFT;
unsigned int ftm_n = (pwm >> TPM_SHIFT);
unsigned int ch_n = (pwm & 0xFF);
SIM->SCGC5 |= 1 << (SIM_SCGC5_PORTA_SHIFT + port);
SIM->SCGC6 |= 1 << (SIM_SCGC6_FTM0_SHIFT + ftm_n);
FTM_Type *ftm = (FTM_Type *)(FTM0_BASE + 0x1000 * ftm_n);
ftm->MODE |= FTM_MODE_WPDIS_MASK; //write protection disabled
ftm->CONF |= FTM_CONF_BDMMODE(3);
ftm->SC = FTM_SC_CLKS(1) | FTM_SC_PS(6); // (48)MHz / 64 = (0.75)MHz
ftm->CONTROLS[ch_n].CnSC = (FTM_CnSC_MSB_MASK | FTM_CnSC_ELSB_MASK); /* No Interrupts; High True pulses on Edge Aligned PWM */
ftm->PWMLOAD |= FTM_PWMLOAD_LDOK_MASK; //loading updated values enabled
//ftm->SYNCONF |= FTM_SYNCONF_SWRSTCNT_MASK;
ftm->MODE |= FTM_MODE_INIT_MASK;
obj->CnV = &ftm->CONTROLS[ch_n].CnV;
obj->MOD = &ftm->MOD;
obj->CNT = &ftm->CNT;
obj->SYNC = &ftm->SYNC;
// default to 20ms: standard for servos, and fine for e.g. brightness control
pwmout_period_ms(obj, 20);
pwmout_write (obj, 0);
// Wire pinout
pinmap_pinout(pin, PinMap_PWM);
}
/*
* LPLD_FTM_IC_Init
* FTM模块输入捕获模式初始化，内部调用
*/
static uint8 LPLD_FTM_IC_Init(FTM_InitTypeDef ftm_init_structure)
{
uint8 i;
uint8 ps = ftm_init_structure.FTM_ClkDiv;
FTM_ISR_CALLBACK isr_func = ftm_init_structure.FTM_Isr;
FTM_MemMapPtr ftmx = ftm_init_structure.FTM_Ftmx;
//参数检查
//ASSERT( ps <= 7); //时钟分频系数
if (ps > 7)
return 0;
ftmx->CONF=FTM_CONF_BDMMODE(0x3);
ftmx->SC = 0;
ftmx->CNT = 0;
ftmx->CNTIN = 0;
ftmx->MOD = 0;
ftmx->QDCTRL = (~FTM_QDCTRL_QUADEN_MASK); //关闭正交解码
ftmx->FILTER = 0x00; //关过虑器
// 配置FTM控制寄存器
// 将FTM Counter配置成Free Counter
// 禁用中断, 加计数模式, 时钟源:System clock（Bus Clk）, 分频系数:PS
// 假设SysClk = 50MHz, SC_PS=3, FTM Clk = 50MHz/2^3 = 6.25MHz
ftmx->SC |= FTM_SC_CLKS(1)|FTM_SC_PS(ps);
//ftmx->SC |= FTM_SC_TOIE_MASK; //使能计数溢出中断
ftmx->SC &= (~FTM_SC_CPWMS_MASK); //FTM加计数
//设置中断函数入口地址并开启中断
if(isr_func!=NULL)
{
if(ftmx == FTM0)
i=0;
else if(ftmx == FTM1)
i=1;
else if(ftmx == FTM2)
i=2;
else if (ftmx == FTM3)
i = 3;
else
return 0;
FTM_ISR[i] = isr_func;
}
return 1;
}
void FTM_init (FTM_MemMapPtr base)
{
// Habilito el pin PTC1 como salida del canal 0
PORTC_PCR1 = (PORT_PCR_ISF_MASK |
PORT_PCR_MUX(0x04));
PORTB_PCR18 = (PORT_PCR_ISF_MASK |
PORT_PCR_MUX(0x03));
// Habilito la llave general de las interrupciones
//NVICISER1 |= NVIC_ISER_SETENA(0x0400);
// Habilito el clock gating
SIM_SCGC6 |= SIM_SCGC6_FTM0_MASK;
SIM_SCGC6 |= SIM_SCGC6_FTM2_MASK;
// Deshabilito la proteccion de escritura
FTM_MODE_REG(base) = FTM_MODE_WPDIS_MASK;
// Apago los flag de interrupciones
FTM_STATUS_REG(base) = (FTM0_STATUS &
0x00);
// Deshabilito los clocks y borro la configuracion
FTM_SC_REG(base) = 0x00;
// Configuro el canal 0 como nada
FTM_CnSC_REG(base,0) = 0x00;
// Configuro la salida inicial en alto (los LEDs son activo-bajo)
FTM_MODE_REG(base) = FTM_MODE_INIT_MASK;
// Configuro el PWM a duty 25% y reinicio el contador
FTM_CnV_REG(base,0) = 0x0000;
FTM_MOD_REG(base) = 0x0000;
FTM_CNTIN_REG(base) = 0x0000;
FTM_CNT_REG(base) = 0x0000;
FTM_PWMLOAD_REG(base) = (FTM_PWMLOAD_LDOK_MASK |
FTM_PWMLOAD_CH0SEL_MASK);
// Habilito las interrupciones y los clocks, y configuro el prescaler
FTM_SC_REG(base) = (FTM_SC_TOIE_MASK |
FTM_SC_CLKS(0x01) |
FTM_SC_PS(0x0F));
// Habilito los contadores del modulo
FTM_CONF_REG(base) = FTM_CONF_BDMMODE(0x03);
}
void pwmout_init(pwmout_t* obj, PinName pin) {
// determine the channel
PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
if (pwm == (PWMName)NC)
error("PwmOut pin mapping failed");
uint32_t clkdiv = 0;
float clkval = SystemCoreClock / 1000000.0f;
while (clkval > 1) {
clkdiv++;
clkval /= 2.0;
if (clkdiv == 7)
break;
}
pwm_clock = clkval;
unsigned int port = (unsigned int)pin >> PORT_SHIFT;
unsigned int ftm_n = (pwm >> TPM_SHIFT);
unsigned int ch_n = (pwm & 0xFF);
SIM->SCGC5 |= 1 << (SIM_SCGC5_PORTA_SHIFT + port);
SIM->SCGC6 |= 1 << (SIM_SCGC6_FTM0_SHIFT + ftm_n);
FTM_Type *ftm = (FTM_Type *)(FTM0_BASE + 0x1000 * ftm_n);
ftm->CONF |= FTM_CONF_BDMMODE(3);
ftm->SC = FTM_SC_CLKS(1) | FTM_SC_PS(clkdiv); // (clock)MHz / clkdiv ~= (0.75)MHz
ftm->CONTROLS[ch_n].CnSC = (FTM_CnSC_MSB_MASK | FTM_CnSC_ELSB_MASK); /* No Interrupts; High True pulses on Edge Aligned PWM */
obj->CnV = &ftm->CONTROLS[ch_n].CnV;
obj->MOD = &ftm->MOD;
obj->CNT = &ftm->CNT;
// default to 20ms: standard for servos, and fine for e.g. brightness control
pwmout_period_ms(obj, 20);
pwmout_write(obj, 0);
// Wire pinout
pinmap_pinout(pin, PinMap_PWM);
}
status_t FTM_Init(FTM_Type *base, const ftm_config_t *config)
{
assert(config);
uint32_t reg;
if (!(config->pwmSyncMode &
(FTM_SYNC_TRIG0_MASK | FTM_SYNC_TRIG1_MASK | FTM_SYNC_TRIG2_MASK | FTM_SYNC_SWSYNC_MASK)))
{
/* Invalid PWM sync mode */
return kStatus_Fail;
}
/* Ungate the FTM clock*/
CLOCK_EnableClock(s_ftmClocks[FTM_GetInstance(base)]);
/* Configure the fault mode, enable FTM mode and disable write protection */
base->MODE = FTM_MODE_FAULTM(config->faultMode) | FTM_MODE_FTMEN_MASK | FTM_MODE_WPDIS_MASK;
/* Configure the update mechanism for buffered registers */
FTM_SetPwmSync(base, config->pwmSyncMode);
if (config->reloadPoints)
{
/* Setup intermediate register reload points */
FTM_SetReloadPoints(base, config->reloadPoints);
}
/* Set the clock prescale factor */
base->SC = FTM_SC_PS(config->prescale);
/* Setup the counter operation */
base->CONF = (FTM_CONF_BDMMODE(config->bdmMode) | FTM_CONF_GTBEEN(config->useGlobalTimeBase));
/* Initial state of channel output */
base->OUTINIT = config->chnlInitState;
/* Channel polarity */
base->POL = config->chnlPolarity;
/* Set the external trigger sources */
base->EXTTRIG = config->extTriggers;
#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INITIALIZATION_TRIGGER) && (FSL_FEATURE_FTM_HAS_RELOAD_INITIALIZATION_TRIGGER)
if (config->extTriggers & kFTM_ReloadInitTrigger)
{
base->CONF |= FTM_CONF_ITRIGR_MASK;
}
else
{
base->CONF &= ~FTM_CONF_ITRIGR_MASK;
}
#endif /* FSL_FEATURE_FTM_HAS_RELOAD_INITIALIZATION_TRIGGER */
/* FTM deadtime insertion control */
base->DEADTIME = (FTM_DEADTIME_DTPS(config->deadTimePrescale) | FTM_DEADTIME_DTVAL(config->deadTimeValue));
/* FTM fault filter value */
reg = base->FLTCTRL;
reg &= ~FTM_FLTCTRL_FFVAL_MASK;
reg |= FTM_FLTCTRL_FFVAL(config->faultFilterValue);
base->FLTCTRL = reg;
return kStatus_Success;
}
