/*See fsl_ftm_driver.h for documentation of this function.*/ void FTM_DRV_Init(uint8_t instance, ftm_user_config_t * info) { assert(instance < HW_FTM_INSTANCE_COUNT); uint32_t ftmBaseAddr = g_ftmBaseAddr[instance]; uint8_t chan = FSL_FEATURE_FTM_CHANNEL_COUNTn(instance); /* clock setting initialization*/ CLOCK_SYS_EnableFtmClock(instance); FTM_HAL_Reset(ftmBaseAddr); /* Reset the channel registers */ for(int i = 0; i < chan; i++) { HW_FTM_CnSC_WR(ftmBaseAddr, i, 0); HW_FTM_CnV_WR(ftmBaseAddr, i, 0); } FTM_HAL_Init(ftmBaseAddr); FTM_HAL_SetSyncMode(ftmBaseAddr, info->syncMethod); FTM_HAL_SetTofFreq(ftmBaseAddr, info->tofFrequency); FTM_HAL_SetWriteProtectionCmd(ftmBaseAddr, info->isWriteProtection); FTM_HAL_SetBdmMode(ftmBaseAddr,info->BDMMode); NVIC_ClearPendingIRQ(g_ftmIrqId[instance]); INT_SYS_EnableIRQ(g_ftmIrqId[instance]); }
/*FUNCTION********************************************************************** * * Function Name : FTM_DRV_Init * Description : Initializes the FTM driver. * *END**************************************************************************/ ftm_status_t FTM_DRV_Init(uint32_t instance, const ftm_user_config_t * info) { assert(instance < FTM_INSTANCE_COUNT); assert(g_ftmBase[instance] != NULL); FTM_Type *ftmBase = g_ftmBase[instance]; uint8_t chan = g_ftmChannelCount[instance]; /* clock setting initialization*/ CLOCK_SYS_EnableFtmClock(instance); FTM_HAL_Reset(ftmBase); /* Reset the channel registers */ for(int i = 0; i < chan; i++) { FTM_WR_CnSC(ftmBase, i, 0); FTM_WR_CnV(ftmBase, i, 0); } FTM_HAL_Init(ftmBase); FTM_HAL_SetSyncMode(ftmBase, info->syncMethod); FTM_HAL_SetTofFreq(ftmBase, info->tofFrequency); FTM_HAL_SetWriteProtectionCmd(ftmBase, info->isWriteProtection); FTM_HAL_SetBdmMode(ftmBase,info->BDMMode); NVIC_ClearPendingIRQ(g_ftmIrqId[instance]); INT_SYS_EnableIRQ(g_ftmIrqId[instance]); return kStatusFtmSuccess; }
/*! * @brief Main demo function. */ int main (void) { ftm_pwm_param_t xAxisParams, yAxisParams; accel_dev_t accDev; accel_dev_interface_t accDevice; accel_sensor_data_t accelData; accel_i2c_interface_t i2cInterface; int16_t xData, yData; int16_t xAngle, yAngle; uint32_t ftmModulo; // Register callback func for I2C i2cInterface.i2c_init = I2C_DRV_MasterInit; i2cInterface.i2c_read = I2C_DRV_MasterReceiveDataBlocking; i2cInterface.i2c_write = I2C_DRV_MasterSendDataBlocking; accDev.i2c = &i2cInterface; accDev.accel = &accDevice; accDev.slave.baudRate_kbps = BOARD_ACCEL_BAUDRATE; accDev.slave.address = BOARD_ACCEL_ADDR; accDev.bus = BOARD_ACCEL_I2C_INSTANCE; // Initialize standard SDK demo application pins. hardware_init(); // Accel device driver utilizes the OSA, so initialize it. OSA_Init(); // Initialize the LEDs used by this application. LED2_EN; LED3_EN; // Print the initial banner. PRINTF("Bubble Level Demo!\r\n\r\n"); // Initialize the Accel. accel_init(&accDev); // Turn on the clock to the FTM. CLOCK_SYS_EnableFtmClock(BOARD_FTM_INSTANCE); // Initialize the FTM module. FTM_HAL_Init(BOARD_FTM_BASE); // Configure the sync mode to software. FTM_HAL_SetSyncMode(BOARD_FTM_BASE, kFtmUseSoftwareTrig); // Enable the overflow interrupt. FTM_HAL_EnableTimerOverflowInt(BOARD_FTM_BASE); // Set the FTM clock divider to /16. FTM_HAL_SetClockPs(BOARD_FTM_BASE, kFtmDividedBy16); // Configure the FTM channel used for the X-axis. Initial duty cycle is 0%. xAxisParams.mode = kFtmEdgeAlignedPWM; xAxisParams.edgeMode = kFtmHighTrue; FTM_HAL_EnablePwmMode(BOARD_FTM_BASE, &xAxisParams, BOARD_FTM_X_CHANNEL); FTM_HAL_SetChnCountVal(BOARD_FTM_BASE, BOARD_FTM_X_CHANNEL, 0); // Configure the FTM channel used for the Y-axis. Initial duty cycle is 0%. yAxisParams.mode = kFtmEdgeAlignedPWM; yAxisParams.edgeMode = kFtmHighTrue; FTM_HAL_EnablePwmMode(BOARD_FTM_BASE, &yAxisParams, BOARD_FTM_Y_CHANNEL); FTM_HAL_SetChnCountVal(BOARD_FTM_BASE, BOARD_FTM_Y_CHANNEL, 0); // Get the FTM reference clock and calculate the modulo value. ftmModulo = (CLOCK_SYS_GetFtmSystemClockFreq(BOARD_FTM_INSTANCE) / (1 << FTM_HAL_GetClockPs(BOARD_FTM_BASE))) / (BOARD_FTM_PERIOD_HZ - 1); // Initialize the FTM counter. FTM_HAL_SetCounterInitVal(BOARD_FTM_BASE, 0); FTM_HAL_SetMod(BOARD_FTM_BASE, ftmModulo); // Set the clock source to start the FTM. FTM_HAL_SetClockSource(BOARD_FTM_BASE, kClock_source_FTM_SystemClk); // Enable the FTM interrupt at the NVIC level. INT_SYS_EnableIRQ(BOARD_FTM_IRQ_VECTOR); // Main loop. Get sensor data and update globals for the FTM timer update. while(1) { // Wait 5 ms in between samples (accelerometer updates at 200Hz). OSA_TimeDelay(5); // Get new accelerometer data. accDev.accel->accel_read_sensor_data(&accDev,&accelData); // Turn off interrupts (FTM) while updating new duty cycle values. INT_SYS_DisableIRQGlobal(); // Get the X and Y data from the sensor data structure. xData = (int16_t)((accelData.data.accelXMSB << 8) | accelData.data.accelXLSB); yData = (int16_t)((accelData.data.accelYMSB << 8) | accelData.data.accelYLSB); // Convert raw data to angle (normalize to 0-90 degrees). No negative // angles. xAngle = abs((int16_t)(xData * 0.011)); yAngle = abs((int16_t)(yData * 0.011)); // Set values for next FTM ISR udpate. Use 5 degrees as the threshold // for whether to turn the LED on or not. g_xValue = (xAngle > 5) ? (uint16_t)((xAngle / 90.0) * ftmModulo) : 0; g_yValue = (yAngle > 5) ? (uint16_t)((yAngle / 90.0) * ftmModulo) : 0; // Re-enable interrupts. INT_SYS_EnableIRQGlobal(); // Print out the raw accelerometer data. PRINTF("x= %d y = %d\r\n", xData, yData); } }