pwm mbed HAL

- using jusst ftm hal from KPSDK, not yet functional
0xc0170 · Feb 5, 2014 · e059f65 · e059f65
1 parent b784278
commit e059f65
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Showing 4 changed files with 73 additions and 14 deletions.
diff --git a/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_K64F/PeripheralNames.h b/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_K64F/PeripheralNames.h
@@ -48,6 +48,20 @@ typedef enum {
     PWM_8  = (0 << TPM_SHIFT) | (7),  // FTM0 CH7
     PWM_9  = (1 << TPM_SHIFT) | (0),  // FTM1 CH0
     PWM_10 = (1 << TPM_SHIFT) | (1),  // FTM1 CH1
+    PWM_11 = (1 << TPM_SHIFT) | (2),  // FTM1 CH2
+    PWM_12 = (1 << TPM_SHIFT) | (3),  // FTM1 CH3
+    PWM_13 = (1 << TPM_SHIFT) | (4),  // FTM1 CH4
+    PWM_14 = (1 << TPM_SHIFT) | (5),  // FTM1 CH5
+    PWM_15 = (1 << TPM_SHIFT) | (6),  // FTM1 CH6
+    PWM_16 = (1 << TPM_SHIFT) | (7),  // FTM1 CH7
+    PWM_17 = (2 << TPM_SHIFT) | (0),  // FTM2 CH0
+    PWM_18 = (2 << TPM_SHIFT) | (1),  // FTM2 CH1
+    PWM_19 = (2 << TPM_SHIFT) | (2),  // FTM2 CH2
+    PWM_20 = (2 << TPM_SHIFT) | (3),  // FTM2 CH3
+    PWM_21 = (2 << TPM_SHIFT) | (4),  // FTM2 CH4
+    PWM_22 = (2 << TPM_SHIFT) | (5),  // FTM2 CH5
+    PWM_23 = (2 << TPM_SHIFT) | (6),  // FTM2 CH6
+    PWM_24 = (2 << TPM_SHIFT) | (7),  // FTM2 CH7
 } PWMName;
 
 #define ADC_SHIFT 8

diff --git a/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_K64F/objects.h b/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_K64F/objects.h
@@ -38,10 +38,7 @@ struct port_s {
 };
 
 struct pwmout_s {
-    __IO uint32_t *MOD;
-    __IO uint32_t *CNT;
-    __IO uint32_t *CnV;
-    __IO uint32_t *SYNC;
+    PWMName pwm_name;
 };
 
 struct serial_s {

diff --git a/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_K64F/pwmout_api.c b/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KPSDK_MCUS/TARGET_K64F/pwmout_api.c
@@ -18,45 +18,93 @@
 #include "cmsis.h"
 #include "pinmap.h"
 #include "error.h"
+#include "fsl_ftm_hal.h"
+#include "fsl_mcg_hal.h"
+#include "fsl_clock_manager.h"
 
 static const PinMap PinMap_PWM[] = {
-    {NC , NC    , 0}
+    {PTB18, PWM_17, 3},
+    {NC   , NC    , 0}
 };
 
-#define PWM_CLOCK_MHZ       (0.75) // (48)MHz / 64 = (0.75)MHz
+static float pwm_clock;
 
 void pwmout_init(pwmout_t* obj, PinName pin) {
-
+    PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
+    if (pwm == (PWMName)NC) {
+        error("PwmOut pin mapping failed");
+    }
+    obj->pwm_name = pwm;
+
+    float clkval = clock_hal_get_fllclk() / 1000000.0f;
+    uint32_t clkdiv = 0;
+    while (clkval > 1) {
+        clkdiv++;
+        clkval /= 2.0f;
+        if (clkdiv == 7)
+            break;
+    }
+    uint32_t channel = pwm & 0xF;
+    uint32_t instance = pwm >> TPM_SHIFT;
+    clock_manager_set_gate(kClockModuleFTM, instance, true);
+    ftm_hal_set_clock_ps(instance, (ftm_clock_ps_t)clkdiv);
+    ftm_hal_set_clock_source(instance, kClock_source_FTM_SystemClk);
+    ftm_hal_set_channel_edge_level(instance, channel, 2);
+    // default to 20ms: standard for servos, and fine for e.g. brightness control
+    pwmout_period_ms(obj, 20);
+    pwmout_write    (obj, 0);
+
+    // Wire pinout
+    pinmap_pinout(pin, PinMap_PWM);
 }
 
-void pwmout_free(pwmout_t* obj) {}
+void pwmout_free(pwmout_t* obj) {
+}
 
 void pwmout_write(pwmout_t* obj, float value) {
-
+    if (value < 0.0f) {
+        value = 0.0f;
+    } else if (value > 1.0f) {
+        value = 1.0f;
+    }
+    uint16_t mod = ftm_hal_get_mod(obj->pwm_name >> TPM_SHIFT);
+    uint32_t new_count = (uint32_t)((float)(mod) * value);
+    ftm_hal_set_channel_count_value(obj->pwm_name >> TPM_SHIFT, obj->pwm_name & 0xF, new_count);
+    // *obj->CNT = 0;
 }
 
 float pwmout_read(pwmout_t* obj) {
-    return 1;
+    uint16_t count = ftm_hal_get_channel_count_value(obj->pwm_name >> TPM_SHIFT, obj->pwm_name & 0xF, 0);
+    uint16_t mod = ftm_hal_get_mod(obj->pwm_name >> TPM_SHIFT);
+    float v = (float)(count) / (float)(mod);
+    return (v > 1.0f) ? (1.0f) : (v);
 }
 
 void pwmout_period(pwmout_t* obj, float seconds) {
-
+    pwmout_period_us(obj, seconds * 1000000.0f);
 }
 
 void pwmout_period_ms(pwmout_t* obj, int ms) {
+    pwmout_period_us(obj, ms * 1000);
 }
 
 // Set the PWM period, keeping the duty cycle the same.
 void pwmout_period_us(pwmout_t* obj, int us) {
+    float dc = pwmout_read(obj);
+    ftm_hal_set_mod(obj->pwm_name >> TPM_SHIFT, (uint32_t)(pwm_clock * (float)us));
+    pwmout_write(obj, dc);
+
 }
 
 void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
-
+    pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
 }
 
 void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
+    pwmout_pulsewidth_us(obj, ms * 1000);
 }
 
 void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
-
+    uint32_t value = (uint32_t)(pwm_clock * (float)us);
+    ftm_hal_set_channel_count_value(obj->pwm_name >> TPM_SHIFT, obj->pwm_name & 0xF, value);
 }
diff --git a/...Freescale/TARGET_KPSDK_MCUS/TARGET_KPSDK_CODE/hal/sim/fsl_sim_clock_module_names_K64F12.c b/...Freescale/TARGET_KPSDK_MCUS/TARGET_KPSDK_CODE/hal/sim/fsl_sim_clock_module_names_K64F12.c
@@ -82,7 +82,7 @@ const sim_clock_gate_module_config_t kSimClockGateModuleConfigTable [] =  {
     {kSimClockModulePDB,           0,  HW_SIM_SCGC6_ADDR, SIM_SCGC6_PDB_MASK},
     {kSimClockModuleFTM,           0,  HW_SIM_SCGC6_ADDR, SIM_SCGC6_FTM0_MASK},
     {kSimClockModuleFTM,           1,  HW_SIM_SCGC6_ADDR, SIM_SCGC6_FTM1_MASK},
-    {kSimClockModuleFTM,           2,  HW_SIM_SCGC3_ADDR, SIM_SCGC3_FTM2_MASK},
+    {kSimClockModuleFTM,           2,  HW_SIM_SCGC6_ADDR, SIM_SCGC6_FTM2_MASK},
     {kSimClockModuleFTM,           3,  HW_SIM_SCGC3_ADDR, SIM_SCGC3_FTM3_MASK},
     {kSimClockModulePIT,           0,  HW_SIM_SCGC6_ADDR, SIM_SCGC6_PIT_MASK},
     {kSimClockModuleLPTIMER,       0,  HW_SIM_SCGC5_ADDR, SIM_SCGC5_LPTMR_MASK},