// Right now, PWM output only works on the pins with
// hardware support. These are defined in the appropriate
// pins_*.c file. For the rest of the pins, we default
// to digital output.
void analogWrite( uint32_t ulPin, uint32_t ulValue )
{
#if 0 // pwm test
#if 1 // port configuration
*(volatile unsigned int *)0x44000010 |= 1 << 8; //GPIOx->OUTENSET
//PAD_AFConfig(PAD_PC, GPIO_Pin_8, 0x01/*PAD_AF1*/); ///< PAD Config - LED used 2nd Function // (0x01 << 8)
*(volatile unsigned int *)(0x41002080 + 0x20) &= ~0x03/*PAD_AF1*/; // (0x01 << 8)
// *(volatile unsigned int *)(0x41002080 + 0x20) |= 0x01/*PAD_AF1*/; // (0x01 << 8)
*(volatile unsigned int *)0x44000010 |= 1 << 9; //GPIOx->OUTENSET
*(volatile unsigned int *)(0x41002080 + 0x24) &= ~0x03/*PAD_AF1*/; // (0x01 << 8)
// *(volatile unsigned int *)(0x41002080 + 0x24) |= 0x01/*PAD_AF1*/; // (0x01 << 8)
#endif // port configuration
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
/* Select Timer/Counter mode as Timer mode */
//PWM_CHn->TCMR = PWM_CHn_TCMR_TimerMode;
// *(volatile unsigned int *)0x40005324 = (0x0ul); // ch3
*(volatile unsigned int *)0x40005024 = (0x0);
/* Set Prescale register value */
//PWM_CHn->PR = PWM_TimerModeInitStruct->PWM_CHn_PR;
// *(volatile unsigned int *)0x40005314 = (20000000 / 1000000) / 10 - 1; //PrescalerValue - 1;
*(volatile unsigned int *)0x40005014 = (20000000 / 1000000) / 10 - 1; //PrescalerValue - 1;
/* Set Match register value */
//PWM_CHn->MR = PWM_TimerModeInitStruct->PWM_CHn_MR;
// *(volatile unsigned int *)0x40005318 = 80000;
*(volatile unsigned int *)0x40005018 = 80000;
/* Set Limit register value */
//PWM_CHn->LR = PWM_TimerModeInitStruct->PWM_CHn_LR;
// *(volatile unsigned int *)0x4000531C = 100000; // 80% duty cycle
*(volatile unsigned int *)0x4000501C = 100000; // 80% duty cycle
/* Select Up-down mode */
//PWM_CHn->UDMR = PWM_TimerModeInitStruct->PWM_CHn_UDMR;
// *(volatile unsigned int *)0x40005320 = (0x0ul); //PWM_CHn_UDMR_UpCount
*(volatile unsigned int *)0x40005020 = (0x0); //PWM_CHn_UDMR_UpCount
/* Select Periodic mode */
//PWM_CHn->PDMR = PWM_TimerModeInitStruct->PWM_CHn_PDMR;
// *(volatile unsigned int *)0x40005334 = (0x1ul); //PWM_CHn_PDMR_Periodic
*(volatile unsigned int *)0x40005034 = (0x1); //PWM_CHn_PDMR_Periodic
//------------------------------------------------------------------------------------------
/* Select Timer/Counter mode as Timer mode */
//PWM_CHn->TCMR = PWM_CHn_TCMR_TimerMode;
// *(volatile unsigned int *)0x40005324 = (0x0ul); // ch3
*(volatile unsigned int *)0x40005124 = (0x0ul);
/* Set Prescale register value */
//PWM_CHn->PR = PWM_TimerModeInitStruct->PWM_CHn_PR;
// *(volatile unsigned int *)0x40005314 = (20000000 / 1000000) / 10 - 1; //PrescalerValue - 1;
*(volatile unsigned int *)0x40005114 = (20000000 / 1000000) / 10 - 1; //PrescalerValue - 1;
/* Set Match register value */
//PWM_CHn->MR = PWM_TimerModeInitStruct->PWM_CHn_MR;
// *(volatile unsigned int *)0x40005318 = 80000;
*(volatile unsigned int *)0x40005118 = 80000;
/* Set Limit register value */
//PWM_CHn->LR = PWM_TimerModeInitStruct->PWM_CHn_LR;
// *(volatile unsigned int *)0x4000531C = 100000; // 80% duty cycle
*(volatile unsigned int *)0x4000511C = 100000; // 80% duty cycle
/* Select Up-down mode */
//PWM_CHn->UDMR = PWM_TimerModeInitStruct->PWM_CHn_UDMR;
// *(volatile unsigned int *)0x40005320 = (0x0ul); //PWM_CHn_UDMR_UpCount
*(volatile unsigned int *)0x40005120 = (0x0ul); //PWM_CHn_UDMR_UpCount
/* Select Periodic mode */
//PWM_CHn->PDMR = PWM_TimerModeInitStruct->PWM_CHn_PDMR;
// *(volatile unsigned int *)0x40005334 = (0x1ul); //PWM_CHn_PDMR_Periodic
*(volatile unsigned int *)0x40005134 = (0x1ul); //PWM_CHn_PDMR_Periodic
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
//PWM->SSR &= PWM_SSR_SS3_Stop;
// *(volatile unsigned int *)0x40005804 &= ~(0x1ul << 3);
*(volatile unsigned int *)0x40005804 &= ~(0x1ul << 0);
//PWM_CHn->PEEER = outputEnDisable;
// *(volatile unsigned int *)0x40005328 = (0x2ul);
*(volatile unsigned int *)0x40005028 = (0x2ul);
//------------------------------------------------------------------------------------------
//PWM->SSR &= PWM_SSR_SS3_Stop;
// *(volatile unsigned int *)0x40005804 &= ~(0x1ul << 3);
*(volatile unsigned int *)0x40005804 &= ~(0x1ul << 1);
//PWM_CHn->PEEER = outputEnDisable;
// *(volatile unsigned int *)0x40005328 = (0x2ul);
*(volatile unsigned int *)0x40005128 = (0x2ul);
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
//PWM->SSR |= PWM_SSR_SS3_Start;
// *(volatile unsigned int *)0x40005804 |= (0x1ul << 3);
*(volatile unsigned int *)0x40005804 |= (0x1ul << 0);
//------------------------------------------------------------------------------------------
//PWM->SSR |= PWM_SSR_SS3_Start;
// *(volatile unsigned int *)0x40005804 |= (0x1ul << 3);
*(volatile unsigned int *)0x40005804 |= (0x1ul << 1);
while( !((*(volatile unsigned long *) 0x4000D018) & (0x01 << 7)) ) ;
*(volatile unsigned long *) 0x4000D000 = 'P';
while( !((*(volatile unsigned long *) 0x4000D018) & (0x01 << 7)) ) ;
*(volatile unsigned long *) 0x4000D000 = 'W';
while( !((*(volatile unsigned long *) 0x4000D018) & (0x01 << 7)) ) ;
*(volatile unsigned long *) 0x4000D000 = 'M';
while(1);
#endif
#if 1
//------------------------------------------------------------------------------------------
*(volatile unsigned int *)(0x42000010 + pwm_pin_tbl[ulPin].port_num) |= 1 << pwm_pin_tbl[ulPin].pin_num; //GPIOx->OUTENSET
//PAD_AFConfig(PAD_PC, GPIO_Pin_8, 0x01/*PAD_AF1*/); ///< PAD Config - LED used 2nd Function // (0x01 << 8)
*(volatile unsigned int *)(0x41002000 + pwm_pin_tbl[ulPin].af_base + pwm_pin_tbl[ulPin].pin_num * 4) &= ~0x03/*PAD_AF1*/; // (0x01 << 8)
*(volatile unsigned int *)(0x41002000 + pwm_pin_tbl[ulPin].af_base + pwm_pin_tbl[ulPin].pin_num * 4) |= pwm_pin_tbl[ulPin].af_num/*PAD_AF1*/; // (0x01 << 8)
//------------------------------------------------------------------------------------------
//PWM-n
/* Select Timer/Counter mode as Timer mode */
*(volatile unsigned int *)(0x40005024 + pwm_pin_tbl[ulPin].pwm_num) = (0x0);
/* Set Prescale register value */
*(volatile unsigned int *)(0x40005014 + pwm_pin_tbl[ulPin].pwm_num) = (20000000 / 1000000) / 10 - 1; //PrescalerValue - 1;
/* Set Match register value */
*(volatile unsigned int *)(0x40005018 + pwm_pin_tbl[ulPin].pwm_num) = 400 * ulValue; //MR
/* Set Limit register value */
*(volatile unsigned int *)(0x4000501C + pwm_pin_tbl[ulPin].pwm_num) = 102400; // 80% duty cycle
/* Select Up-down mode */
*(volatile unsigned int *)(0x40005020 + pwm_pin_tbl[ulPin].pwm_num) = (0x0); //PWM_CHn_UDMR_UpCount
/* Select Periodic mode */
*(volatile unsigned int *)(0x40005034 + pwm_pin_tbl[ulPin].pwm_num) = (0x1); //PWM_CHn_PDMR_Periodic
//------------------------------------------------------------------------------------------
//PWM->SSR &= PWM_SSR_SS3_Stop;
*(volatile unsigned int *)0x40005804 &= ~(0x1 << pwm_pin_tbl[ulPin].pwm_pin);
//PWM_CHn->PEEER = outputEnDisable;
*(volatile unsigned int *)(0x40005028 + pwm_pin_tbl[ulPin].pwm_num) = 0x2;
//------------------------------------------------------------------------------------------
//PWM->SSR |= PWM_SSR_SS3_Start;
*(volatile unsigned int *)0x40005804 |= (0x1ul << pwm_pin_tbl[ulPin].pwm_pin);
#if 0 // pwm serial character out
while( !((*(volatile unsigned long *) 0x4000D018) & (0x01 << 7)) ) ;
*(volatile unsigned long *) 0x4000D000 = 'P';
while( !((*(volatile unsigned long *) 0x4000D018) & (0x01 << 7)) ) ;
*(volatile unsigned long *) 0x4000D000 = 'W';
while( !((*(volatile unsigned long *) 0x4000D018) & (0x01 << 7)) ) ;
*(volatile unsigned long *) 0x4000D000 = 'M';
#endif // pwm serial character out
#endif
#if 0
uint32_t attr = g_APinDescription[ulPin].ulPinAttribute ;
// uint32_t pwm_name = g_APinDescription[ulPin].ulTCChannel ;
uint8_t isTC = 0 ;
uint8_t Channelx ;
Tc* TCx ;
Tcc* TCCx ;
if ( (attr & PIN_ATTR_ANALOG) == PIN_ATTR_ANALOG )
{
if ( ulPin == 24 ) // Only 1 DAC on A0 (PA02)
{
ulValue = mapResolution(ulValue, _writeResolution, DAC_RESOLUTION);
DAC->DATA.reg = ulValue & 0x3FF; // Dac on 10 bits.
DAC->CTRLA.bit.ENABLE = 1; // DAC Enabled
///////////////////////////////////// syncDAC();
return;
}
}
if ( (attr & PIN_ATTR_PWM) == PIN_ATTR_PWM )
{
if ( (g_APinDescription[ulPin].ulPinType == PIO_TIMER) || g_APinDescription[ulPin].ulPinType == PIO_TIMER_ALT )
{
pinPeripheral( ulPin, g_APinDescription[ulPin].ulPinType ) ;
}
switch ( g_APinDescription[ulPin].ulPWMChannel )
{
case PWM3_CH0 :
TCx = TC3 ;
Channelx = 0 ;
isTC = 1 ;
break;
case PWM3_CH1:
TCx = TC3 ;
Channelx = 1;
isTC = 1;
break;
case PWM0_CH0 :
TCCx = TCC0;
Channelx = 0;
break;
case PWM0_CH1 :
TCCx = TCC0;
Channelx = 1;
break;
case PWM0_CH4 :
TCCx = TCC0;
Channelx = 0;
break;
case PWM0_CH5 :
TCCx = TCC0;
Channelx = 1;
break;
case PWM0_CH6 :
TCCx = TCC0;
Channelx = 2;
break;
case PWM0_CH7 :
TCCx = TCC0;
Channelx = 3;
break;
case PWM1_CH0 :
TCCx = TCC1;
Channelx = 0;
break;
case PWM1_CH1 :
TCCx = TCC1;
Channelx = 1;
break;
case PWM2_CH0 :
TCCx = TCC2;
Channelx = 0;
break;
case PWM2_CH1 :
TCCx = TCC2;
Channelx = 1;
break;
}
// Enable clocks according to TCCx instance to use
switch ( GetTCNumber( g_APinDescription[ulPin].ulPWMChannel ) )
{
case 0: // TCC0
//Enable GCLK for TCC0 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
break;
case 1: // TCC1
//Enable GCLK for TCC1 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
break;
case 2: // TCC2
//Enable GCLK for TCC2 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC2_TC3 )) ;
break;
case 3: // TC3
//Enable GCLK for TC3 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TCC2_TC3 ));
break;
case 4: // TC4
//Enable GCLK for TC4 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TC4_TC5 ));
break;
case 5: // TC5
//Enable GCLK for TC5 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID( GCM_TC4_TC5 )) ;
break;
}
// Set PORT
if ( isTC )
{
// -- Configure TC
//DISABLE TCx
TCx->COUNT8.CTRLA.reg &=~(TC_CTRLA_ENABLE);
//Set Timer counter Mode to 8 bits
TCx->COUNT8.CTRLA.reg |= TC_CTRLA_MODE_COUNT8;
//Set TCx as normal PWM
TCx->COUNT8.CTRLA.reg |= TC_CTRLA_WAVEGEN_NPWM;
//Set TCx in waveform mode Normal PWM
TCx->COUNT8.CC[Channelx].reg = (uint8_t) ulValue;
//Set PER to maximum counter value (resolution : 0xFF)
TCx->COUNT8.PER.reg = 0xFF;
// Enable TCx
TCx->COUNT8.CTRLA.reg |= TC_CTRLA_ENABLE;
}
else
{
// -- Configure TCC
//DISABLE TCCx
TCCx->CTRLA.reg &=~(TCC_CTRLA_ENABLE);
//Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
//Set TCx in waveform mode Normal PWM
TCCx->CC[Channelx].reg = (uint32_t)ulValue;
//Set PER to maximum counter value (resolution : 0xFF)
TCCx->PER.reg = 0xFF;
//ENABLE TCCx
TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ;
}
return ;
}
// -- Defaults to digital write
pinMode( ulPin, OUTPUT ) ;
if ( ulValue < 128 )
{
digitalWrite( ulPin, LOW ) ;
}
else
{
digitalWrite( ulPin, HIGH ) ;
}
#endif
}
// Right now, PWM output only works on the pins with
// hardware support. These are defined in the appropriate
// pins_*.c file. For the rest of the pins, we default
// to digital output.
void analogFastWrite(uint32_t pin, uint32_t value)
{
PinDescription pinDesc = g_APinDescription[pin];
uint32_t attr = pinDesc.ulPinAttribute;
if ((attr & PIN_ATTR_ANALOG) == PIN_ATTR_ANALOG)
{
// DAC handling code
if (pin != PIN_A0) { // Only 1 DAC on A0 (PA02)
return;
}
value = mapResolution(value, _writeResolution, 10);
syncDAC();
DAC->DATA.reg = value & 0x3FF; // DAC on 10 bits.
syncDAC();
DAC->CTRLA.bit.ENABLE = 0x01; // Enable DAC
syncDAC();
return;
}
if ((attr & PIN_ATTR_PWM) == PIN_ATTR_PWM)
{
value = mapResolution(value, _writeResolution, 8); // change to 10 for 10 bit... must also change TCx->COUNT8.PER.reg = 0x3FF
uint32_t tcNum = GetTCNumber(pinDesc.ulPWMChannel);
uint8_t tcChannel = GetTCChannelNumber(pinDesc.ulPWMChannel);
static bool tcEnabled[TCC_INST_NUM+TC_INST_NUM];
if (!tcEnabled[tcNum]) {
tcEnabled[tcNum] = true;
if (attr & PIN_ATTR_TIMER) {
#if !(ARDUINO_SAMD_VARIANT_COMPLIANCE >= 10603)
// Compatibility for cores based on SAMD core <=1.6.2
if (pinDesc.ulPinType == PIO_TIMER_ALT) {
pinPeripheral(pin, PIO_TIMER_ALT);
} else
#endif
{
pinPeripheral(pin, PIO_TIMER);
}
} else {
// We suppose that attr has PIN_ATTR_TIMER_ALT bit set...
pinPeripheral(pin, PIO_TIMER_ALT);
}
uint16_t GCLK_CLKCTRL_IDs[] = {
GCLK_CLKCTRL_ID(GCM_TCC0_TCC1), // TCC0
GCLK_CLKCTRL_ID(GCM_TCC0_TCC1), // TCC1
GCLK_CLKCTRL_ID(GCM_TCC2_TC3), // TCC2
GCLK_CLKCTRL_ID(GCM_TCC2_TC3), // TC3
GCLK_CLKCTRL_ID(GCM_TC4_TC5), // TC4
GCLK_CLKCTRL_ID(GCM_TC4_TC5), // TC5
GCLK_CLKCTRL_ID(GCM_TC6_TC7), // TC6
GCLK_CLKCTRL_ID(GCM_TC6_TC7), // TC7
};
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_IDs[tcNum]);
while (GCLK->STATUS.bit.SYNCBUSY == 1);
// Set PORT
if (tcNum >= TCC_INST_NUM) {
// -- Configure TC
Tc* TCx = (Tc*) GetTC(pinDesc.ulPWMChannel);
// Disable TCx
TCx->COUNT8.CTRLA.bit.ENABLE = 0;
syncTC_8(TCx);
// Set Timer counter Mode to 8 bits, normal PWM
TCx->COUNT8.CTRLA.reg |= TC_CTRLA_MODE_COUNT8 | TC_CTRLA_WAVEGEN_NPWM;
syncTC_8(TCx);
// Set the initial value
TCx->COUNT8.CC[tcChannel].reg = (uint8_t) value;
syncTC_8(TCx);
// Set PER to maximum counter value (resolution : 0xFF)
TCx->COUNT8.PER.reg = 0xFF;
syncTC_8(TCx);
// Enable TCx
TCx->COUNT8.CTRLA.bit.ENABLE = 1;
syncTC_8(TCx);
} else {
// -- Configure TCC
Tcc* TCCx = (Tcc*) GetTC(pinDesc.ulPWMChannel);
// Disable TCCx
TCCx->CTRLA.bit.ENABLE = 0;
syncTCC(TCCx);
// Set TCx as normal PWM
TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM;
syncTCC(TCCx);
// Set the initial value
TCCx->CC[tcChannel].reg = (uint32_t) value;
syncTCC(TCCx);
// Set PER to maximum counter value (resolution : 0xFF)
TCCx->PER.reg = 0xFF; //change to 0x43FF for 10 bit... must also change mapping above
syncTCC(TCCx);
// Enable TCCx
TCCx->CTRLA.bit.ENABLE = 1;
syncTCC(TCCx);
}
} else {
if (tcNum >= TCC_INST_NUM) {
Tc* TCx = (Tc*) GetTC(pinDesc.ulPWMChannel);
TCx->COUNT8.CC[tcChannel].reg = (uint8_t) value;
syncTC_8(TCx);
} else {
Tcc* TCCx = (Tcc*) GetTC(pinDesc.ulPWMChannel);
TCCx->CTRLBSET.bit.LUPD = 1;
syncTCC(TCCx);
TCCx->CCB[tcChannel].reg = (uint32_t) value;
syncTCC(TCCx);
TCCx->CTRLBCLR.bit.LUPD = 1;
syncTCC(TCCx);
}
}
return;
}
// -- Defaults to digital write
pinMode(pin, OUTPUT);
value = mapResolution(value, _writeResolution, 8);
if (value < 128) {
digitalWrite(pin, LOW);
} else {
digitalWrite(pin, HIGH);
}
}