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Kinetis:Hack for imediate PWM update

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David Sidrane 2017-05-15 16:14:23 -10:00 committed by Daniel Agar
parent 2b54ef458b
commit 7d8eee202b
1 changed files with 21 additions and 4 deletions
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25
src/drivers/kinetis/drv_io_timer.c
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@ -140,6 +140,8 @@
#define CnSC_PWMOUT_INIT (FTM_CSC_MSB|FTM_CSC_ELSB)
#endif
#define FTM_SYNC (FTM_SYNC_SWSYNC)
#define CnSC_PWMIN_INIT 0 // TBD
// NotUsed PWMOut PWMIn Capture OneShot Trigger
@ -460,7 +462,7 @@ static int timer_set_rate(unsigned timer, unsigned rate)
rMOD(timer) = (BOARD_PWM_FREQ / rate) - 1;
/* generate an update event; reloads the counter and all registers */
rSYNC(timer) = (FTM_SYNC_SWSYNC | FTM_SYNC_REINIT);
rSYNC(timer) = FTM_SYNC;
return 0;
}
@ -518,7 +520,7 @@ void io_timer_trigger(void)
irqstate_t flags = px4_enter_critical_section();
for (actions = 0; action_cache[actions] != 0 && actions < MAX_IO_TIMERS; actions++) {
_REG32(action_cache[actions], KINETIS_FTM_SYNC_OFFSET) |= (FTM_SYNC_SWSYNC | FTM_SYNC_REINIT);
_REG32(action_cache[actions], KINETIS_FTM_SYNC_OFFSET) |= FTM_SYNC;
}
px4_leave_critical_section(flags);
@ -547,6 +549,9 @@ int io_timer_init_timer(unsigned timer)
rSC(timer) = FTM_SC_CLKS_NONE;
rCNT(timer) = 0;
rMODE(timer) = 0;
rSYNCONF(timer) = (FTM_SYNCONF_SYNCMODE | FTM_SYNCONF_SWWRBUF | FTM_SYNCONF_SWRSTCNT);
/* Set to run in debug mode */
rCONF(timer) |= FTM_CONF_BDMMODE_MASK;
@ -806,7 +811,7 @@ int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, io_timer_chann
if (any_on != 0) {
/* force an update to preload all registers */
_REG32(action_cache[actions].base, KINETIS_FTM_SYNC_OFFSET) |= (FTM_SYNC_SWSYNC | FTM_SYNC_REINIT);
_REG32(action_cache[actions].base, KINETIS_FTM_SYNC_OFFSET) |= FTM_SYNC;
/* arm requires the timer be enabled */
regval |= (FTM_SC_CLKS_EXTCLK);
@ -837,7 +842,19 @@ int io_timer_set_ccr(unsigned channel, uint16_t value)
/* configure the channel */
REG(channels_timer(channel), KINETIS_FTM_CV_OFFSET(timer_io_channels[channel].timer_channel - 1)) = value;
/* todo:This is a HACK!
* Was getting:
* servo 0 readback error, got 1001 expected 1000
* None of the SW syncs seamed update the CV
* So we stop the counter to get an immediate update.
*/
uint32_t timer = channels_timer(channel);
irqstate_t flags = px4_enter_critical_section();
uint32_t save = rSC(timer);
rSC(timer) = save & ~(FTM_SC_CLKS_MASK);
REG(timer, KINETIS_FTM_CV_OFFSET(timer_io_channels[channel].timer_channel - 1)) = value;
rSC(timer) = save;
px4_leave_critical_section(flags);
}
}