/***********************************************************************
*
* Function: pwm3_user_interrupt
*
* Purpose: PWM3 interrupt handler
*
* Processing:
* See function.
*
* Parameters: None
*
* Outputs: None
*
* Returns: Nothing
*
* Notes: None
*
**********************************************************************/
void pwm3_user_interrupt(void)
{
UNS_32 flags;
flags = pwm_ioctl(pwmdev1, PWM_INT_FLAGS_READ, 0);
pwm_ioctl(pwmdev1, PWM_INT_FLAGS_CLEAR, flags);
return;
}
int
PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY) {
return ret;
}
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch (_mode) {
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
DEVICE_DEBUG("not in a PWM mode");
break;
}
/* if nobody wants it, let CDev have it */
if (ret == -ENOTTY) {
ret = CDev::ioctl(filp, cmd, arg);
}
return ret;
}
int
PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
// XXX disabled, confusing users
//debug("ioctl 0x%04x 0x%08x", cmd, arg);
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY)
return ret;
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch (_mode) {
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
debug("not in a PWM mode");
break;
}
/* if nobody wants it, let CDev have it */
if (ret == -ENOTTY)
ret = CDev::ioctl(filp, cmd, arg);
return ret;
}
/***********************************************************************
*
* Function: c_entry
*
* Purpose: Application entry point from the startup code
*
* Processing:
* See function.
*
* Parameters: None
*
* Outputs: None
*
* Returns: Nothing
*
* Notes: None
*
**********************************************************************/
void c_entry(void)
{
static PWM_CHANNEL_SETUP_T pwm_channel_setup[2][7];
static PWM_SYSTEM_SETUP_T pwm_system_setup[2];
static PWM_UPDATE_CONTROL_T pwm_update_control[2];
/* Disable interrupts in ARM core */
disable_irq();
/* Setup miscellaneous board functions */
phy3250_board_init();
/* Set virtual address of MMU table */
cp15_set_vmmu_addr((void *)
(IRAM_BASE + (256 * 1024) - (16 * 1024)));
/* Initialize interrupt system */
int_initialize(0xFFFFFFFF);
/* Install standard IRQ dispatcher at ARM IRQ vector */
int_install_arm_vec_handler(IRQ_VEC, (PFV) lpc32xx_irq_handler);
/* Enable IRQ interrupts in the ARM core */
enable_irq();
/* Enable PWM3/4 clocks */
clkpwr_clk_en_dis(CLKPWR_PWM3_CLK, 1);
clkpwr_clk_en_dis(CLKPWR_PWM4_CLK, 1);
/* Install PWM3 and PWM4 interrupt handlers as a IRQ interrupts */
int_install_ext_irq_handler(IRQ_PWM3,
(PFV) pwm3_user_interrupt, ACTIVE_LOW, 1);
int_install_ext_irq_handler(IRQ_PWM4,
(PFV) pwm4_user_interrupt, ACTIVE_LOW, 1);
/* Disable SD/MMC output and select PWM3.x on the SD/MMC pins */
CLKPWR->clkpwr_ms_ctrl = CLKPWR_MSCARD_MSDIO_PIN_DIS;
GPIO->p_mux_set = P_MAT21 | P_MAT20 |
P_MAT03 | P_MAT02 |
P_MAT01 | P_MAT00;
/* Select PWM3.x on the LCD pins */
GPIO->p3_mux_set = P3_GPO10_MC2B | P3_GPO12_MC2A |
P3_GPO13_MC1B | P3_GPO15_MC1A |
P3_GPO16_MC0B | P3_GPO18_MC0A;
/* Select PWM4.x on the LCD pins */
GPIO->p3_mux_set = P3_GPO6 | P3_GPO8 |
P3_GPO9;
/* Loop forever and let the demo syscle thru different steps */
while (1)
{
/* PWM3/4 clock is the Peripheral clock (13 MHz) */
/* PWM3 and PWM4 are not synchronized */
/* */
/* Seven single edge independently controlled outputs */
/* */
/* PWM3 prescaler: 2, period: 10000 ticks => fout = 650 Hz */
/* channel 1: single edge, duty cycle 14% */
/* channel 2: single edge, duty cycle 28% */
/* channel 3: single edge, duty cycle 42% */
/* channel 4: single edge, duty cycle 56% */
/* channel 5: single edge, duty cycle 70% */
/* channel 6: single edge, duty cycle 84% */
/* */
/* PWM4 prescaler: 2, period: 5000 ticks => fout = 1300 Hz */
/* channel 1: single edge, toggle @ 2000 */
/* channel 2: single edge, toggle @ 3000 */
/* channel 3: single edge, toggle @ 4000 */
/* open PWM3 */
pwmdev1 = pwm_open(PWM3, 0);
pwm_ioctl(pwmdev1, PWM_SYSTEM_CONTROL, PWM_TIMER_RESET);
pwm_system_setup[0].clock = PWM_CLOCK_PERIPHERAL;
pwm_system_setup[0].prescale = 2;
pwm_system_setup[0].period = 10000;
pwm_system_setup[0].update = PWM_NO_UPDATE;
pwm_ioctl(pwmdev1, PWM_SYSTEM_SETUP,
(INT_32) &pwm_system_setup[0]);
pwm_channel_setup[0][1].channel = 1;
pwm_channel_setup[0][1].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[0][1].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][1].duty = 14;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][1]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 1);
pwm_channel_setup[0][2].channel = 2;
pwm_channel_setup[0][2].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[0][2].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][2].duty = 28;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][2]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 2);
pwm_channel_setup[0][3].channel = 3;
pwm_channel_setup[0][3].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[0][3].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][3].duty = 42;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][3]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 3);
pwm_channel_setup[0][4].channel = 4;
pwm_channel_setup[0][4].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[0][4].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][4].duty = 56;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][4]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 4);
pwm_channel_setup[0][5].channel = 5;
pwm_channel_setup[0][5].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[0][5].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][5].duty = 70;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][5]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 5);
pwm_channel_setup[0][6].channel = 6;
pwm_channel_setup[0][6].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[0][6].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][6].duty = 84;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][6]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 6);
pwm_update_control[0].update = PWM_UPDATE;
pwm_update_control[0].channels = 0x7E;
pwm_ioctl(pwmdev1, PWM_UPDATE_CONTROL,
(INT_32) &pwm_update_control[0]);
pwm_ioctl(pwmdev1, PWM_SYSTEM_CONTROL, PWM_TIMER_RESTART);
/* open PWM4 */
pwmdev2 = pwm_open(PWM4, 0);
pwm_system_setup[1].clock = PWM_CLOCK_PERIPHERAL;
pwm_system_setup[1].prescale = 2;
pwm_system_setup[1].period = 5000;
pwm_system_setup[1].update = PWM_NO_UPDATE;
pwm_ioctl(pwmdev2, PWM_SYSTEM_SETUP, (INT_32) &pwm_system_setup[1]);
pwm_channel_setup[1][1].channel = 1;
pwm_channel_setup[1][1].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[1][1].duty_option = PWM_WAV_DUTY_ABS;
pwm_channel_setup[1][1].duty = 2000;
pwm_ioctl(pwmdev2, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[1][1]);
pwm_ioctl(pwmdev2, PWM_CHANNEL_OUT_ENABLE, 1);
pwm_channel_setup[1][2].channel = 2;
pwm_channel_setup[1][2].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[1][2].duty_option = PWM_WAV_DUTY_ABS;
pwm_channel_setup[1][2].duty = 3000;
pwm_ioctl(pwmdev2, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[1][2]);
pwm_ioctl(pwmdev2, PWM_CHANNEL_OUT_ENABLE, 2);
pwm_channel_setup[1][3].channel = 3;
pwm_channel_setup[1][3].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[1][3].duty_option = PWM_WAV_DUTY_ABS;
pwm_channel_setup[1][3].duty = 4000;
pwm_ioctl(pwmdev2, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[1][3]);
pwm_ioctl(pwmdev2, PWM_CHANNEL_OUT_ENABLE, 3);
pwm_update_control[1].update = PWM_UPDATE;
pwm_update_control[1].channels = 0x0E;
pwm_ioctl(pwmdev2, PWM_UPDATE_CONTROL,
(INT_32) &pwm_update_control[1]);
pwm_ioctl(pwmdev2, PWM_SYSTEM_CONTROL, PWM_TIMER_RESTART);
delay(2500000);
/* close PWM3 & PWM4 */
pwm_close(pwmdev1);
pwm_close(pwmdev2);
delay(2500000);
/* PWM3/4 clock is the Peripheral clock (13 MHz) */
/* PWM3 and PWM4 are synchronized */
/* */
/* Four dual edge controlled outputs PWM3.2/4/6 and PWM4.2 */
/* (as in a stepper motor control application) and a single */
/* edge independently controlled output PWM4.3 */
/* PWM3.1/3/5 are disabled */
/* */
/* PWM3 prescaler: 5, period: 10000 ticks => fout = 260 Hz */
/* channel 1: disabled */
/* channel 2: dual edge, duty cycle 80%, offset 5% */
/* channel 3: disabled */
/* channel 4: dual edge, duty cycle 80% offset 30% */
/* channel 5: disabled */
/* channel 6: dual edge, duty cycle 80% offset 55% */
/* */
/* PWM4 prescaler: 5, period: 10000 ticks => fout = 260 Hz */
/* channel 1: disabled */
/* channel 2: dual edge, duty cycle 80% offset 80% */
/* channel 3: single edge, toggle @ 500 */
/* open PWM3 */
pwmdev1 = pwm_open(PWM3, 0);
pwm_ioctl(pwmdev1, PWM_SYSTEM_CONTROL, PWM_TIMER_RESET);
pwm_system_setup[0].clock = PWM_CLOCK_PERIPHERAL;
pwm_system_setup[0].prescale = 5;
pwm_system_setup[0].period = 10000;
pwm_system_setup[0].update = PWM_NO_UPDATE;
pwm_ioctl(pwmdev1, PWM_SYSTEM_SETUP, (INT_32) &pwm_system_setup[0]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_DISABLE, 1);
pwm_channel_setup[0][2].channel = 2;
pwm_channel_setup[0][2].mode = PWM_DUAL_EDGE;
pwm_channel_setup[0][2].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][2].duty = 80;
pwm_channel_setup[0][2].offset_option = PWM_WAV_OFFSET_PER;
pwm_channel_setup[0][2].offset = 5;
pwm_channel_setup[0][2].ini_state = 1;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][2]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 2);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_DISABLE, 3);
pwm_channel_setup[0][4].channel = 4;
pwm_channel_setup[0][4].mode = PWM_DUAL_EDGE;
pwm_channel_setup[0][4].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][4].duty = 80;
pwm_channel_setup[0][4].offset_option = PWM_WAV_OFFSET_PER;
pwm_channel_setup[0][4].offset = 30;
pwm_channel_setup[0][4].ini_state = 1;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][4]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 4);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_DISABLE, 5);
pwm_channel_setup[0][6].channel = 6;
pwm_channel_setup[0][6].mode = PWM_DUAL_EDGE;
pwm_channel_setup[0][6].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[0][6].duty = 80;
pwm_channel_setup[0][6].offset_option = PWM_WAV_OFFSET_PER;
pwm_channel_setup[0][6].offset = 55;
pwm_channel_setup[0][6].ini_state = 1;
pwm_ioctl(pwmdev1, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[0][6]);
pwm_ioctl(pwmdev1, PWM_CHANNEL_OUT_ENABLE, 6);
pwm_update_control[0].update = PWM_UPDATE;
pwm_update_control[0].channels = 0x7E;
pwm_ioctl(pwmdev1, PWM_UPDATE_CONTROL,
(INT_32) &pwm_update_control[0]);
/* open PWM4 */
pwmdev2 = pwm_open(PWM4, 0);
pwm_system_setup[1].clock = PWM_CLOCK_PERIPHERAL;
pwm_system_setup[1].prescale = 5;
pwm_system_setup[1].period = 10000;
pwm_system_setup[1].update = PWM_NO_UPDATE;
pwm_ioctl(pwmdev2, PWM_SYSTEM_SETUP, (INT_32) &pwm_system_setup[1]);
pwm_channel_setup[1][2].channel = 2;
pwm_channel_setup[1][2].mode = PWM_DUAL_EDGE;
pwm_channel_setup[1][2].duty_option = PWM_WAV_DUTY_PER;
pwm_channel_setup[1][2].duty = 80;
pwm_channel_setup[1][2].offset_option = PWM_WAV_OFFSET_PER;
pwm_channel_setup[1][2].offset = 80;
pwm_channel_setup[1][2].ini_state = 1;
pwm_ioctl(pwmdev2, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[1][2]);
pwm_ioctl(pwmdev2, PWM_CHANNEL_OUT_ENABLE, 2);
pwm_channel_setup[1][3].channel = 3;
pwm_channel_setup[1][3].mode = PWM_SINGLE_EDGE;
pwm_channel_setup[1][3].duty_option = PWM_WAV_DUTY_ABS;
pwm_channel_setup[1][3].duty = 500;
pwm_ioctl(pwmdev2, PWM_CHANNEL_SETUP,
(INT_32) &pwm_channel_setup[1][3]);
pwm_ioctl(pwmdev2, PWM_CHANNEL_OUT_ENABLE, 3);
pwm_update_control[1].update = PWM_UPDATE;
pwm_update_control[1].channels = 0x0E;
pwm_ioctl(pwmdev2, PWM_UPDATE_CONTROL,
(INT_32) &pwm_update_control[1]);
pwm_ioctl(pwmdev1, PWM_SYSTEM_CONTROL, PWM_TIMER_SYNC);
pwm_ioctl(pwmdev2, PWM_SYSTEM_CONTROL, PWM_TIMER_RESTART);
pwm_ioctl(pwmdev1, PWM_SYSTEM_CONTROL, PWM_TIMER_GO);
delay(2500000);
/* close PWM3 & PWM4 */
pwm_close(pwmdev1);
pwm_close(pwmdev2);
delay(2500000);
}
}
