static void FTM_SetReloadPoints(FTM_Type *base, uint32_t reloadPoints)
{
uint32_t chnlNumber = 0;
uint32_t reg = 0;
/* Need CNTINC bit to be 1 for CNTIN register to update with its buffer value on reload */
base->SYNCONF |= FTM_SYNCONF_CNTINC_MASK;
reg = base->COMBINE;
for (chnlNumber = 0; chnlNumber < (FSL_FEATURE_FTM_CHANNEL_COUNTn(base) / 2); chnlNumber++)
{
/* Need SYNCEN bit to be 1 for CnV reg to update with its buffer value on reload */
reg |= (1U << (FTM_COMBINE_SYNCEN0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * chnlNumber)));
}
base->COMBINE = reg;
/* Set the reload points */
reg = base->PWMLOAD;
/* Enable the selected channel match reload points */
reg &= ~((1U << FSL_FEATURE_FTM_CHANNEL_COUNTn(base)) - 1);
reg |= (reloadPoints & ((1U << FSL_FEATURE_FTM_CHANNEL_COUNTn(base)) - 1));
#if defined(FSL_FEATURE_FTM_HAS_HALFCYCLE_RELOAD) && (FSL_FEATURE_FTM_HAS_HALFCYCLE_RELOAD)
/* Enable half cycle match as a reload point */
if (reloadPoints & kFTM_HalfCycMatch)
{
reg |= FTM_PWMLOAD_HCSEL_MASK;
}
else
{
reg &= ~FTM_PWMLOAD_HCSEL_MASK;
}
#endif /* FSL_FEATURE_FTM_HAS_HALFCYCLE_RELOAD */
base->PWMLOAD = reg;
/* These reload points are used when counter is in up-down counting mode */
reg = base->SYNC;
if (reloadPoints & kFTM_CntMax)
{
/* Reload when counter turns from up to down */
reg |= FTM_SYNC_CNTMAX_MASK;
}
else
{
reg &= ~FTM_SYNC_CNTMAX_MASK;
}
if (reloadPoints & kFTM_CntMin)
{
/* Reload when counter turns from down to up */
reg |= FTM_SYNC_CNTMIN_MASK;
}
else
{
reg &= ~FTM_SYNC_CNTMIN_MASK;
}
base->SYNC = reg;
}
/*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]);
}
static void FTM_SetPwmSync(FTM_Type *base, uint32_t syncMethod)
{
uint8_t chnlNumber = 0;
uint32_t reg = 0, syncReg = 0;
syncReg = base->SYNC;
/* Enable PWM synchronization of output mask register */
syncReg |= FTM_SYNC_SYNCHOM_MASK;
reg = base->COMBINE;
for (chnlNumber = 0; chnlNumber < (FSL_FEATURE_FTM_CHANNEL_COUNTn(base) / 2); chnlNumber++)
{
/* Enable PWM synchronization of registers C(n)V and C(n+1)V */
reg |= (1U << (FTM_COMBINE_SYNCEN0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * chnlNumber)));
}
base->COMBINE = reg;
reg = base->SYNCONF;
/* Use enhanced PWM synchronization method. Use PWM sync to update register values */
reg |= (FTM_SYNCONF_SYNCMODE_MASK | FTM_SYNCONF_CNTINC_MASK | FTM_SYNCONF_INVC_MASK | FTM_SYNCONF_SWOC_MASK);
if (syncMethod & FTM_SYNC_SWSYNC_MASK)
{
/* Enable needed bits for software trigger to update registers with its buffer value */
reg |= (FTM_SYNCONF_SWRSTCNT_MASK | FTM_SYNCONF_SWWRBUF_MASK | FTM_SYNCONF_SWINVC_MASK |
FTM_SYNCONF_SWSOC_MASK | FTM_SYNCONF_SWOM_MASK);
}
if (syncMethod & (FTM_SYNC_TRIG0_MASK | FTM_SYNC_TRIG1_MASK | FTM_SYNC_TRIG2_MASK))
{
/* Enable needed bits for hardware trigger to update registers with its buffer value */
reg |= (FTM_SYNCONF_HWRSTCNT_MASK | FTM_SYNCONF_HWWRBUF_MASK | FTM_SYNCONF_HWINVC_MASK |
FTM_SYNCONF_HWSOC_MASK | FTM_SYNCONF_HWOM_MASK);
/* Enable the appropriate hardware trigger that is used for PWM sync */
if (syncMethod & FTM_SYNC_TRIG0_MASK)
{
syncReg |= FTM_SYNC_TRIG0_MASK;
}
if (syncMethod & FTM_SYNC_TRIG1_MASK)
{
syncReg |= FTM_SYNC_TRIG1_MASK;
}
if (syncMethod & FTM_SYNC_TRIG2_MASK)
{
syncReg |= FTM_SYNC_TRIG2_MASK;
}
}
/* Write back values to the SYNC register */
base->SYNC = syncReg;
/* Write the PWM synch values to the SYNCONF register */
base->SYNCONF = reg;
}
/*See fsl_ftm_driver.h for documentation of this function.*/
void FTM_DRV_PwmStop(uint8_t instance, ftm_pwm_param_t *param, uint8_t channel)
{
assert((param->mode == kFtmEdgeAlignedPWM) || (param->mode == kFtmCenterAlignedPWM) ||
(param->mode == kFtmCombinedPWM));
assert(instance < HW_FTM_INSTANCE_COUNT);
assert(channel < FSL_FEATURE_FTM_CHANNEL_COUNTn(instance));
uint32_t ftmBaseAddr = g_ftmBaseAddr[instance];
/* Stop the FTM counter */
FTM_HAL_SetClockSource(ftmBaseAddr, kClock_source_FTM_None);
FTM_HAL_DisablePwmMode(ftmBaseAddr, param, channel);
/* Clear out the registers */
FTM_HAL_SetMod(ftmBaseAddr, 0);
FTM_HAL_SetCounter(ftmBaseAddr, 0);
}
uint32_t FTM_GetEnabledInterrupts(FTM_Type *base)
{
uint32_t enabledInterrupts = 0;
int8_t chnlCount = FSL_FEATURE_FTM_CHANNEL_COUNTn(base);
/* The CHANNEL_COUNT macro returns -1 if it cannot match the FTM instance */
assert(chnlCount != -1);
/* Check if timer overflow interrupt is enabled */
if (base->SC & FTM_SC_TOIE_MASK)
{
enabledInterrupts |= kFTM_TimeOverflowInterruptEnable;
}
/* Check if fault interrupt is enabled */
if (base->MODE & FTM_MODE_FAULTIE_MASK)
{
enabledInterrupts |= kFTM_FaultInterruptEnable;
}
#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT) && (FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT)
/* Check if the reload interrupt is enabled */
if (base->SC & FTM_SC_RIE_MASK)
{
enabledInterrupts |= kFTM_ReloadInterruptEnable;
}
#endif
/* Check if the channel interrupts are enabled */
while (chnlCount > 0)
{
chnlCount--;
if (base->CONTROLS[chnlCount].CnSC & FTM_CnSC_CHIE_MASK)
{
enabledInterrupts |= (1U << chnlCount);
}
}
return enabledInterrupts;
}
void FTM_DRV_PwmChangeDutyCycle(uint8_t instance, ftm_pwm_param_t *param, uint8_t channel)
{
uint32_t uFTMhz;
uint16_t uMod, uCnv, uCnvFirstEdge = 0;
assert(instance < HW_FTM_INSTANCE_COUNT);
assert(param->uDutyCyclePercent <= 100);
assert(channel < FSL_FEATURE_FTM_CHANNEL_COUNTn(instance));
uint32_t ftmBaseAddr = g_ftmBaseAddr[instance];
uMod = FTM_HAL_GetMod(ftmBaseAddr);
uCnv = uMod * param->uDutyCyclePercent / 100;
/* For 100% duty cycle */
if(uCnv >= uMod)
{
uCnv = uMod + 1;
}
FTM_HAL_SetChnCountVal(ftmBaseAddr, channel, uCnv);
}
void FTM_DRV_CounterStart(uint8_t instance, ftm_counting_mode_t countMode, uint32_t countStartVal,
uint32_t countFinalVal, bool enableOverflowInt)
{
assert(instance < HW_FTM_INSTANCE_COUNT);
uint32_t ftmBaseAddr = g_ftmBaseAddr[instance];
uint32_t channel = 0;
/* Clear the overflow flag */
FTM_HAL_ClearTimerOverflow(ftmBaseAddr);
FTM_HAL_SetCounterInitVal(ftmBaseAddr, countStartVal);
FTM_HAL_SetMod(ftmBaseAddr, countFinalVal);
FTM_HAL_SetCounter(ftmBaseAddr, 0);
/* Use FTM as counter, disable all the channels */
for (channel = 0; channel < FSL_FEATURE_FTM_CHANNEL_COUNTn(instance); channel++)
{
FTM_HAL_SetChnEdgeLevel(ftmBaseAddr, channel, 0);
}
if (countMode == kCounting_FTM_UP)
{
FTM_HAL_SetQuadDecoderCmd(ftmBaseAddr, false);
FTM_HAL_SetCpwms(ftmBaseAddr, 0);
}
else if (countMode == kCounting_FTM_UpDown)
{
FTM_HAL_SetQuadDecoderCmd(ftmBaseAddr, false);
FTM_HAL_SetCpwms(ftmBaseAddr, 1);
}
/* Activate interrupts if required */
FTM_DRV_SetTimeOverflowIntCmd(instance, enableOverflowInt);
/* Set clock source to start the counter */
FTM_HAL_SetClockSource(ftmBaseAddr, kClock_source_FTM_SystemClk);
}
void FTM_UpdatePwmDutycycle(FTM_Type *base,
ftm_chnl_t chnlNumber,
ftm_pwm_mode_t currentPwmMode,
uint8_t dutyCyclePercent)
{
uint16_t cnv, cnvFirstEdge = 0, mod;
mod = base->MOD;
if ((currentPwmMode == kFTM_EdgeAlignedPwm) || (currentPwmMode == kFTM_CenterAlignedPwm))
{
cnv = (mod * dutyCyclePercent) / 100;
/* For 100% duty cycle */
if (cnv >= mod)
{
cnv = mod + 1;
}
base->CONTROLS[chnlNumber].CnV = cnv;
}
else
{
/* This check is added for combined mode as the channel number should be the pair number */
if (chnlNumber >= (FSL_FEATURE_FTM_CHANNEL_COUNTn(base) / 2))
{
return;
}
cnv = (mod * dutyCyclePercent) / 100;
cnvFirstEdge = base->CONTROLS[chnlNumber * 2].CnV;
/* For 100% duty cycle */
if (cnv >= mod)
{
cnv = mod + 1;
}
base->CONTROLS[(chnlNumber * 2) + 1].CnV = cnvFirstEdge + cnv;
}
}
status_t FTM_SetupPwm(FTM_Type *base,
const ftm_chnl_pwm_signal_param_t *chnlParams,
uint8_t numOfChnls,
ftm_pwm_mode_t mode,
uint32_t pwmFreq_Hz,
uint32_t srcClock_Hz)
{
assert(chnlParams);
uint32_t mod, reg;
uint32_t ftmClock = (srcClock_Hz / (1U << (base->SC & FTM_SC_PS_MASK)));
uint16_t cnv, cnvFirstEdge;
uint8_t i;
switch (mode)
{
case kFTM_EdgeAlignedPwm:
case kFTM_CombinedPwm:
base->SC &= ~FTM_SC_CPWMS_MASK;
mod = (ftmClock / pwmFreq_Hz) - 1;
break;
case kFTM_CenterAlignedPwm:
base->SC |= FTM_SC_CPWMS_MASK;
mod = ftmClock / (pwmFreq_Hz * 2);
break;
default:
return kStatus_Fail;
}
/* Return an error in case we overflow the registers, probably would require changing
* clock source to get the desired frequency */
if (mod > 65535U)
{
return kStatus_Fail;
}
/* Set the PWM period */
base->MOD = mod;
/* Setup each FTM channel */
for (i = 0; i < numOfChnls; i++)
{
/* Return error if requested dutycycle is greater than the max allowed */
if (chnlParams->dutyCyclePercent > 100)
{
return kStatus_Fail;
}
if ((mode == kFTM_EdgeAlignedPwm) || (mode == kFTM_CenterAlignedPwm))
{
/* Clear the current mode and edge level bits */
reg = base->CONTROLS[chnlParams->chnlNumber].CnSC;
reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
/* Setup the active level */
reg |= (uint32_t)(chnlParams->level << FTM_CnSC_ELSA_SHIFT);
/* Edge-aligned mode needs MSB to be 1, don't care for Center-aligned mode */
reg |= FTM_CnSC_MSB(1U);
/* Update the mode and edge level */
base->CONTROLS[chnlParams->chnlNumber].CnSC = reg;
if (chnlParams->dutyCyclePercent == 0)
{
/* Signal stays low */
cnv = 0;
}
else
{
cnv = (mod * chnlParams->dutyCyclePercent) / 100;
/* For 100% duty cycle */
if (cnv >= mod)
{
cnv = mod + 1;
}
}
base->CONTROLS[chnlParams->chnlNumber].CnV = cnv;
#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
/* Set to output mode */
FTM_SetPwmOutputEnable(base, chnlParams->chnlNumber, true);
#endif
}
else
{
/* This check is added for combined mode as the channel number should be the pair number */
if (chnlParams->chnlNumber >= (FSL_FEATURE_FTM_CHANNEL_COUNTn(base) / 2))
{
return kStatus_Fail;
}
/* Return error if requested value is greater than the max allowed */
if (chnlParams->firstEdgeDelayPercent > 100)
{
return kStatus_Fail;
}
/* Configure delay of the first edge */
if (chnlParams->firstEdgeDelayPercent == 0)
{
/* No delay for the first edge */
cnvFirstEdge = 0;
}
else
{
cnvFirstEdge = (mod * chnlParams->firstEdgeDelayPercent) / 100;
}
/* Configure dutycycle */
if (chnlParams->dutyCyclePercent == 0)
{
/* Signal stays low */
cnv = 0;
cnvFirstEdge = 0;
}
else
{
cnv = (mod * chnlParams->dutyCyclePercent) / 100;
/* For 100% duty cycle */
if (cnv >= mod)
{
cnv = mod + 1;
}
}
/* Clear the current mode and edge level bits for channel n */
reg = base->CONTROLS[chnlParams->chnlNumber * 2].CnSC;
reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
/* Setup the active level for channel n */
reg |= (uint32_t)(chnlParams->level << FTM_CnSC_ELSA_SHIFT);
/* Update the mode and edge level for channel n */
base->CONTROLS[chnlParams->chnlNumber * 2].CnSC = reg;
/* Clear the current mode and edge level bits for channel n + 1 */
reg = base->CONTROLS[(chnlParams->chnlNumber * 2) + 1].CnSC;
reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
/* Setup the active level for channel n + 1 */
reg |= (FTM_CnSC_ELSA(chnlParams->level) | FTM_CnSC_ELSB(chnlParams->level));
/* Update the mode and edge level for channel n + 1*/
base->CONTROLS[(chnlParams->chnlNumber * 2) + 1].CnSC = reg;
/* Set the channel pair values */
base->CONTROLS[chnlParams->chnlNumber * 2].CnV = cnvFirstEdge;
base->CONTROLS[(chnlParams->chnlNumber * 2) + 1].CnV = cnvFirstEdge + cnv;
/* Set the combine bit for the channel pair */
base->COMBINE |=
(1U << (FTM_COMBINE_COMBINE0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * chnlParams->chnlNumber)));
#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
/* Set to output mode */
FTM_SetPwmOutputEnable(base, (ftm_chnl_t)((uint8_t)chnlParams->chnlNumber * 2), true);
FTM_SetPwmOutputEnable(base, (ftm_chnl_t)((uint8_t)chnlParams->chnlNumber * 2 + 1), true);
#endif
}
chnlParams++;
}
return kStatus_Success;
}
/*See fsl_ftm_driver.h for documentation of this function.*/
void FTM_DRV_PwmStart(uint8_t instance, ftm_pwm_param_t *param, uint8_t channel)
{
uint32_t uFTMhz;
uint16_t uMod, uCnv, uCnvFirstEdge = 0;
assert(instance < HW_FTM_INSTANCE_COUNT);
assert(param->uDutyCyclePercent <= 100);
assert(channel < FSL_FEATURE_FTM_CHANNEL_COUNTn(instance));
uint32_t ftmBaseAddr = g_ftmBaseAddr[instance];
/* Clear the overflow flag */
FTM_HAL_ClearTimerOverflow(g_ftmBaseAddr[instance]);
FTM_HAL_EnablePwmMode(ftmBaseAddr, param, channel);
#if FSL_FEATURE_FTM_BUS_CLOCK
CLOCK_SYS_GetFreq(kBusClock, &uFTMhz);
#else
CLOCK_SYS_GetFreq(kSystemClock, &uFTMhz);
#endif
/* Based on Ref manual, in PWM mode CNTIN is to be set 0*/
FTM_HAL_SetCounterInitVal(ftmBaseAddr, 0);
uFTMhz = uFTMhz / (1 << FTM_HAL_GetClockPs(ftmBaseAddr));
switch(param->mode)
{
case kFtmEdgeAlignedPWM:
uMod = uFTMhz / (param->uFrequencyHZ) - 1;
uCnv = uMod * param->uDutyCyclePercent / 100;
/* For 100% duty cycle */
if(uCnv >= uMod)
{
uCnv = uMod + 1;
}
FTM_HAL_SetMod(ftmBaseAddr, uMod);
FTM_HAL_SetChnCountVal(ftmBaseAddr, channel, uCnv);
break;
case kFtmCenterAlignedPWM:
uMod = uFTMhz / (param->uFrequencyHZ * 2);
uCnv = uMod * param->uDutyCyclePercent / 100;
/* For 100% duty cycle */
if(uCnv >= uMod)
{
uCnv = uMod + 1;
}
FTM_HAL_SetMod(ftmBaseAddr, uMod);
FTM_HAL_SetChnCountVal(ftmBaseAddr, channel, uCnv);
break;
case kFtmCombinedPWM:
uMod = uFTMhz / (param->uFrequencyHZ) - 1;
uCnv = uMod * param->uDutyCyclePercent / 100;
uCnvFirstEdge = uMod * param->uFirstEdgeDelayPercent / 100;
/* For 100% duty cycle */
if(uCnv >= uMod)
{
uCnv = uMod + 1;
}
FTM_HAL_SetMod(ftmBaseAddr, uMod);
FTM_HAL_SetChnCountVal(ftmBaseAddr, FTM_HAL_GetChnPairIndex(channel) * 2,
uCnvFirstEdge);
FTM_HAL_SetChnCountVal(ftmBaseAddr, FTM_HAL_GetChnPairIndex(channel) * 2 + 1,
uCnv + uCnvFirstEdge);
break;
default:
assert(0);
break;
}
/* Set clock source to start counter */
FTM_HAL_SetClockSource(ftmBaseAddr, kClock_source_FTM_SystemClk);
}