uint32_t up_pwm_servo_get_rate_group(unsigned group)
{
/* only return the set of channels in the group which we own */
//printf("pwm servo get rate group: %d\n", group);
return (io_timer_get_mode_channels(IOTimerChanMode_PWMOut) |
io_timer_get_mode_channels(IOTimerChanMode_OneShot)) &
io_timer_get_group(group);
}
int up_pwm_servo_init(uint32_t channel_mask)
{
/* Init channels */
uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_PWMOut);
// First free the current set of PWMs
for (unsigned channel = 0; current != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (current & (1 << channel)) {
io_timer_free_channel(channel);
current &= ~(1 << channel);
}
}
// Now allocate the new set
for (unsigned channel = 0; channel_mask != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (channel_mask & (1 << channel)) {
// First free any that were not PWM mode before
if (-EBUSY == io_timer_is_channel_free(channel)) {
io_timer_free_channel(channel);
}
io_timer_channel_init(channel, IOTimerChanMode_PWMOut, NULL, NULL);
channel_mask &= ~(1 << channel);
}
}
return OK;
}
int up_pwm_servo_init(uint32_t channel_mask, uint16_t clear_mask)
{
if (clear_mask) {
/* Init channels */
uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_PWMOut) |
io_timer_get_mode_channels(IOTimerChanMode_OneShot);
/* First free the current set of PWMs */
for (unsigned channel = 0; current != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (current & (1 << channel)) {
io_timer_free_channel(channel);
current &= ~(1 << channel);
}
}
}
printf("pwm servo driver: init channel mask: 0x%04X\n", channel_mask);
/* Now allocate the new set */
for (unsigned channel = 0; channel_mask != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (channel_mask & (1 << channel)) {
/* First free any that were not PWM mode before */
if (-EBUSY == io_timer_is_channel_free(channel)) {
io_timer_free_channel(channel);
}
/* OneShot is set later, with the set_rate_group_update call. Init to PWM mode for now */
io_timer_channel_init(channel, IOTimerChanMode_PWMOut, NULL, NULL);
channel_mask &= ~(1 << channel);
}
}
return OK;
}
