void pwmout_init(pwmout_t* obj, PinName pin) {
// determine the channel
PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(pwm != (PWMName)NC);
// power on
CPGSTBCR3 &= ~(1<<0);
obj->pwm = pwm;
if (((uint32_t)PORT[obj->pwm] & 0x00000010) != 0) {
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_init(pwmout_t* obj, PinName pin) {
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
if (obj->pwm == (PWMName)NC) {
error("PWM error: pinout mapping failed.");
}
// Enable TIM clock
if (obj->pwm == PWM_1) __TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
if (obj->pwm == PWM_4) __TIM4_CLK_ENABLE();
if (obj->pwm == PWM_9) __TIM9_CLK_ENABLE();
if (obj->pwm == PWM_10) __TIM10_CLK_ENABLE();
if (obj->pwm == PWM_11) __TIM11_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
if (obj->pwm == (PWMName)NC) {
error("PWM error: pinout mapping failed.");
}
// Enable TIM clock
#if defined(TIM1_BASE)
if (obj->pwm == PWM_1) __TIM1_CLK_ENABLE();
#endif
#if defined(TIM2_BASE)
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
#endif
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
if (obj->pwm == PWM_14) __TIM14_CLK_ENABLE();
if (obj->pwm == PWM_15) __TIM15_CLK_ENABLE();
if (obj->pwm == PWM_16) __TIM16_CLK_ENABLE();
if (obj->pwm == PWM_17) __TIM17_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
#if defined(TIM1_BASE)
if (obj->pwm == PWM_1) __HAL_RCC_TIM1_CLK_ENABLE();
#endif
#if defined(TIM2_BASE)
if (obj->pwm == PWM_2) __HAL_RCC_TIM2_CLK_ENABLE();
#endif
#if defined(TIM3_BASE)
if (obj->pwm == PWM_3) __HAL_RCC_TIM3_CLK_ENABLE();
#endif
#if defined(TIM4_BASE)
if (obj->pwm == PWM_4) __HAL_RCC_TIM4_CLK_ENABLE();
#endif
#if defined(TIM5_BASE)
if (obj->pwm == PWM_5) __HAL_RCC_TIM5_CLK_ENABLE();
#endif
#if defined(TIM8_BASE)
if (obj->pwm == PWM_8) __HAL_RCC_TIM8_CLK_ENABLE();
#endif
#if defined(TIM9_BASE)
if (obj->pwm == PWM_9) __HAL_RCC_TIM9_CLK_ENABLE();
#endif
#if defined(TIM10_BASE)
if (obj->pwm == PWM_10) __HAL_RCC_TIM10_CLK_ENABLE();
#endif
#if defined(TIM11_BASE)
if (obj->pwm == PWM_11) __HAL_RCC_TIM11_CLK_ENABLE();
#endif
#if defined(TIM12_BASE)
if (obj->pwm == PWM_12) __HAL_RCC_TIM12_CLK_ENABLE();
#endif
#if defined(TIM13_BASE)
if (obj->pwm == PWM_13) __HAL_RCC_TIM13_CLK_ENABLE();
#endif
#if defined(TIM14_BASE)
if (obj->pwm == PWM_14) __HAL_RCC_TIM14_CLK_ENABLE();
#endif
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
obj->prescaler = 1;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_init(pwmout_t* obj, PinName pin) {
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
if (obj->pwm == (PWMName)NC) {
error("PWM pinout mapping failed");
}
// Enable TIM clock
if (obj->pwm == PWM_2) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
if (obj->pwm == PWM_3) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
if (obj->pwm == PWM_4) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
if (obj->pwm == PWM_5) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
if (obj->pwm == PWM_9) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9, ENABLE);
if (obj->pwm == PWM_10) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE);
if (obj->pwm == PWM_11) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE);
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the pin function and assign the used channel to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
#if defined(TIM3_BASE)
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
#endif
if (obj->pwm == PWM_21) __TIM21_CLK_ENABLE();
#if defined(TIM22_BASE)
if (obj->pwm == PWM_22) __TIM22_CLK_ENABLE();
#endif
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
uint32_t peripheral;
u32 pwm_idx;
u32 pin_sel;
DBG_PWM_INFO("%s: Init PWM for pin(0x%x)\n", __FUNCTION__, pin);
// Get the peripheral name from the pin and assign it to the object
peripheral = pinmap_peripheral(pin, PinMap_PWM);
if (unlikely(peripheral == NC)) {
DBG_PWM_ERR("%s: Cannot find matched pwm for this pin(0x%x)\n", __FUNCTION__, pin);
return;
}
pwm_idx = RTL_GET_PERI_IDX(peripheral);
pin_sel = RTL_GET_PERI_SEL(peripheral);
obj->pwm_idx = pwm_idx;
obj->pin_sel = pin_sel;
obj->period = 0;
obj->pulse = 0;
_memset((void *)&obj->pwm_hal_adp, 0, sizeof(HAL_PWM_ADAPTER));
if (HAL_OK != HAL_Pwm_Init(&obj->pwm_hal_adp, pwm_idx, pin_sel)) {
DBG_PWM_ERR("pwmout_init Err!\n");
return;
}
pwmout_period_us(obj, 20000); // 20 ms per default
HAL_Pwm_Enable(&obj->pwm_hal_adp);
}
void pwmout_init(pwmout_t* obj, PinName pin) {
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
if (obj->pwm == (PWMName)NC) {
error("PWM pinout mapping failed");
}
// Enable TIM clock
if (obj->pwm == TIM_3) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
if (obj->pwm == TIM_14) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14, ENABLE);
if (obj->pwm == TIM_15) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE);
if (obj->pwm == TIM_16) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE);
if (obj->pwm == TIM_17) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE);
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
//pin_mode(pin, PullUp);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
if (obj->pwm == PWM_1) __TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
obj->prescaler = 1;
pwmout_period_us(obj, 20000); // 20 ms per default
}
uint8_t AmebaServo::attach(int pin, int min, int max)
{
pinRemoveMode( pin );
analogWrite( pin, 0 );
pwmout_period_us( (pwmout_t *)gpio_pin_struct[pin], 20000);
servoPin = pin;
this->min = min;
this->max = max;
return 0;
}
void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
timer_mr tid = pwm_timer_map[obj->pwm];
LPC_TMR_TypeDef *timer = Timers[tid.timer];
uint32_t t_on = (uint32_t)((((uint64_t)SystemCoreClock * (uint64_t)us) / (uint64_t)1000000) / (timer->PR + 1));
timer->TCR = TCR_RESET;
if (t_on > timer->MR3) {
pwmout_period_us(obj, us);
}
uint32_t t_off = timer->MR3 - t_on;
timer->MR[tid.mr] = t_off;
timer->TCR = TCR_CNT_EN;
}
void pwmout_period_ms(pwmout_t *obj, int ms)
{
// reught saturation < 0, quasi-max>
if (ms > MAX_PWM_PERIOD_MS)
{
ms = MAX_PWM_PERIOD_MS;
}
else if (ms < 0)
{
ms = 0; // f. pwmout_period_us will set period to min. value
}
int us = ms * 1000;
pwmout_period_us(obj, us);
}
void pwmout_period(pwmout_t *obj, float seconds)
{
// raught saturation < 0, quasi-max>
if (seconds > MAX_PWM_PERIOD_S)
{
seconds = MAX_PWM_PERIOD_S;
}
else if (seconds < 0)
{
seconds = 0; // f. pwmout_period_us will set period to min. value
}
int us = seconds * 1000000;
pwmout_period_us(obj, us);
}
//int main_app(IN u16 argc, IN u8 *argv[])
void main(void)
{
int i;
for (i=0; i<4; i++) {
pwmout_init(&pwm_led[i], pwm_led_pin[i]);
pwmout_period_us(&pwm_led[i], PWM_PERIOD);
}
while (1) {
#if USE_FLOAT
for (i=0; i<4; i++) {
pwmout_write(&pwm_led[i], pwms[i]);
pwms[i] += steps[i];
if (pwms[i] >= 1.0) {
steps[i] = -PWM_STEP;
pwms[i] = 1.0;
}
if (pwms[i] <= 0.0) {
steps[i] = PWM_STEP;
pwms[i] = 0.0;
}
}
#else
for (i=0; i<4; i++) {
pwmout_pulsewidth_us(&pwm_led[i], pwms[i]);
pwms[i] += steps[i];
if (pwms[i] >= PWM_PERIOD) {
steps[i] = -PWM_STEP;
pwms[i] = PWM_PERIOD;
}
if (pwms[i] <= 0) {
steps[i] = PWM_STEP;
pwms[i] = 0;
}
}
#endif
// wait_ms(20);
// RtlMsleepOS(25);
pwm_delay();
}
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->PWM_CHx = (PWM_CHn_TypeDef *)pinmap_peripheral(pin, PinMap_PWM);
if (obj->PWM_CHx == (PWM_CHn_TypeDef *)NC) {
error("PWM error: pinout mapping failed.");
}
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
GetSystemClock();
obj->pin = pin;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_init(pwmout_t* obj, PinName pin) {
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Enable TIM clock
if (obj->pwm == PWM_1) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
if (obj->pwm == PWM_2) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
if (obj->pwm == PWM_3) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
if (obj->pwm == PWM_4) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void pwmout_period(pwmout_t *obj, float seconds)
{
pwmout_period_us(obj, seconds * 1000000.0f);
}
//******************************************************************************
void pwmout_period(pwmout_t* obj, float seconds)
{
pwmout_period_us(obj, (int)(seconds * 1000000.0));
}
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;
// 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);
int bitmask = 1 << (pin & 0xf);
*PMSR(PINGROUP(pin)) = (bitmask << 16) | 0;
// 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 */
// 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_period_ms(pwmout_t *obj, int ms)
{
pwmout_period_us(obj, ms * 1000);
}
//******************************************************************************
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Make sure the pin is free for GPIO use
unsigned int port = (unsigned int)pin >> PORT_SHIFT;
unsigned int port_pin = (unsigned int)pin & ~(0xFFFFFFFF << PORT_SHIFT);
MBED_ASSERT(MXC_GPIO->free[port] & (0x1 << port_pin));
int i = 0;
PinMap pwm = PinMap_PWM[0];
// Check if there is a pulse train already active on this port
int pin_func = (MXC_GPIO->func_sel[port] & (0xF << (port_pin*4))) >> (port_pin*4);
if((pin_func > 0) && (pin_func < 4)) {
// Search through PinMap_PWM to find the active PT
while(pwm.pin != (PinName)NC) {
if((pwm.pin == pin) && (pwm.function == pin_func)) {
break;
}
pwm = PinMap_PWM[++i];
}
} else {
// Search through PinMap_PWM to find an available PT
int i = 0;
while(pwm.pin != (PinName)NC && (i > -1)) {
pwm = PinMap_PWM[i++];
if(pwm.pin == pin) {
// Check each instance of PT
while(1) {
// Check to see if this PT instance is already in use
if((((mxc_pt_regs_t*)pwm.peripheral)->rate_length &
MXC_F_PT_RATE_LENGTH_MODE)) {
i = -1;
break;
}
// If all instances are in use, overwrite the last
pwm = PinMap_PWM[++i];
if(pwm.pin != pin) {
pwm = PinMap_PWM[--i];
i = -1;
break;
}
}
}
}
}
// Make sure we found an available PWM generator
MBED_ASSERT(pwm.pin != (PinName)NC);
// Disable all pwm output
MXC_PTG->ctrl = 0;
// Enable the clock
MXC_CLKMAN->clk_ctrl_2_pt = MXC_E_CLKMAN_CLK_SCALE_ENABLED;
// Set the drive mode to normal
MXC_SET_FIELD(&MXC_GPIO->out_mode[port], (0x7 << (port_pin*4)), (MXC_V_GPIO_OUT_MODE_NORMAL_DRIVE << (port_pin*4)));
// Set the obj pointer to the propper PWM instance
obj->pwm = (mxc_pt_regs_t*)pwm.peripheral;
// Initialize object period and pulse width
obj->period = -1;
obj->pulse_width = -1;
// Disable the output
obj->pwm->train = 0x0;
obj->pwm->rate_length = 0x0;
// Configure the pin
pin_mode(pin, (PinMode)PullNone);
pin_function(pin, pwm.function);
// default to 20ms: standard for servos, and fine for e.g. brightness control
pwmout_period_us(obj, 20000);
pwmout_write (obj, 0);
// Enable the global pwm
MXC_PTG->ctrl = MXC_F_PT_CTRL_ENABLE_ALL;
}
