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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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251 lines
7.6 KiB
C
251 lines
7.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file nxphlite_timer_config.c
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*
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* Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
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*
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* Note that these arrays must always be fully-sized.
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*/
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// TODO:Stubbed out for now
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#include <stdint.h>
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#include <kinetis.h>
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#include "chip/kinetis_sim.h"
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#include "chip/kinetis_ftm.h"
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#include <drivers/drv_pwm_output.h>
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#include <drivers/kinetis/drv_io_timer.h>
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#include "board_config.h"
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__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
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{
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.base = KINETIS_FTM0_BASE,
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.clock_register = KINETIS_SIM_SCGC6,
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.clock_bit = SIM_SCGC6_FTM0,
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.first_channel_index = 0,
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.last_channel_index = 3,
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.handler = io_timer_handler0,
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.vectorno = KINETIS_IRQ_FTM0,
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},
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{
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.base = KINETIS_FTM3_BASE,
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.clock_register = KINETIS_SIM_SCGC3,
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.clock_bit = SIM_SCGC3_FTM3,
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.first_channel_index = 4,
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.last_channel_index = 5,
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.handler = io_timer_handler1,
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.vectorno = KINETIS_IRQ_FTM3,
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},
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{
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.base = KINETIS_FTM2_BASE,
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.clock_register = KINETIS_SIM_SCGC3,
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.clock_bit = SIM_SCGC3_FTM2,
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.first_channel_index = 6,
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.last_channel_index = 7,
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.handler = io_timer_handler2,
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.vectorno = KINETIS_IRQ_FTM2,
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}
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};
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__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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{
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.gpio_out = GPIO_FTM0_CH0OUT, // FMU_CH1
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.gpio_in = GPIO_FTM0_CH0IN,
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.timer_index = 0,
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.timer_channel = 1, // physical channel number +1
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},
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{
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.gpio_out = GPIO_FTM0_CH3OUT, // FMU_CH2
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.gpio_in = GPIO_FTM0_CH3IN,
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.timer_index = 0,
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.timer_channel = 4,
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},
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{
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.gpio_out = GPIO_FTM0_CH4OUT, // FMU_CH3
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.gpio_in = GPIO_FTM0_CH4IN,
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.timer_index = 0,
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.timer_channel = 5,
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},
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{
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.gpio_out = GPIO_FTM0_CH5OUT, // FMU_CH4
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.gpio_in = GPIO_FTM0_CH5IN,
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.timer_index = 0,
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.timer_channel = 6,
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},
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{
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.gpio_out = GPIO_FTM3_CH6OUT, // FMU_CH5
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.gpio_in = GPIO_FTM3_CH6IN,
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.timer_index = 1,
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.timer_channel = 7,
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},
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{
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.gpio_out = GPIO_FTM3_CH7OUT, // FMU_CH6
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.gpio_in = GPIO_FTM3_CH7IN,
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.timer_index = 1,
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.timer_channel = 8,
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},
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{
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.gpio_out = GPIO_FTM3_CH0OUT, // U_TRI
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.gpio_in = GPIO_FTM3_CH0IN,
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.timer_index = 1,
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.timer_channel = 1,
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},
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{
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.gpio_out = GPIO_FTM2_CH0OUT,
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.gpio_in = GPIO_FTM2_CH0IN, // U_ECH
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.timer_index = 2,
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.timer_channel = 1,
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},
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};
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__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
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{
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.base = KINETIS_FTM3_BASE,
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.clock_register = KINETIS_SIM_SCGC3,
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.clock_bit = SIM_SCGC3_FTM3,
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.first_channel_index = 0,
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.last_channel_index = 2,
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.vectorno = 0,
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},
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};
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__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
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{
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.gpio_out = LED_TIM3_CH1OUT, // RGB_R
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.gpio_in = 0,
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.timer_index = 0,
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.timer_channel = 2,
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},
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{
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.gpio_out = LED_TIM3_CH5OUT, // RGB_G
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.gpio_in = 0,
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.timer_index = 0,
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.timer_channel = 6,
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},
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{
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.gpio_out = LED_TIM3_CH4OUT, // RGB_B
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.gpio_in = 0,
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.timer_index = 0,
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.timer_channel = 5,
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},
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};
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#define _REG(_addr) (*(volatile uint32_t *)(_addr))
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/* Timer register accessors */
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#define REG(t, _reg) _REG(KINETIS_FTM##t##_BASE + (_reg))
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#define rSC(t) REG(t,KINETIS_FTM_SC_OFFSET)
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#define rCNT(t) REG(t,KINETIS_FTM_CNT_OFFSET)
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#define rMOD(t) REG(t,KINETIS_FTM_MOD_OFFSET)
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#define rC0SC(t) REG(t,KINETIS_FTM_C0SC_OFFSET)
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#define rC0V(t) REG(t,KINETIS_FTM_C0V_OFFSET)
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#define rC1SC(t) REG(t,KINETIS_FTM_C1SC_OFFSET)
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#define rC1V(t) REG(t,KINETIS_FTM_C1V_OFFSET)
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#define rC2SC(t) REG(t,KINETIS_FTM_C2SC_OFFSET)
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#define rC2V(t) REG(t,KINETIS_FTM_C2V_OFFSET)
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#define rC3SC(t) REG(t,KINETIS_FTM_C3SC_OFFSET)
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#define rC3V(t) REG(t,KINETIS_FTM_C3V_OFFSET)
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#define rC4SC(t) REG(t,KINETIS_FTM_C4SC_OFFSET)
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#define rC4V(t) REG(t,KINETIS_FTM_C4V_OFFSET)
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#define rC5SC(t) REG(t,KINETIS_FTM_C5SC_OFFSET)
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#define rC5V(t) REG(t,KINETIS_FTM_C5V_OFFSET)
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#define rC6SC(t) REG(t,KINETIS_FTM_C6SC_OFFSET)
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#define rC6V(t) REG(t,KINETIS_FTM_C6V_OFFSET)
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#define rC7SC(t) REG(t,KINETIS_FTM_C7SC_OFFSET)
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#define rC7V(t) REG(t,KINETIS_FTM_C7V_OFFSET)
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#define rCNTIN(t) REG(t,KINETIS_FTM_CNTIN_OFFSET)
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#define rSTATUS(t) REG(t,KINETIS_FTM_STATUS_OFFSET)
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#define rMODE(t) REG(t,KINETIS_FTM_MODE_OFFSET)
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#define rSYNC(t) REG(t,KINETIS_FTM_SYNC_OFFSET)
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#define rOUTINIT(t) REG(t,KINETIS_FTM_OUTINIT_OFFSET)
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#define rOUTMASK(t) REG(t,KINETIS_FTM_OUTMASK_OFFSET)
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#define rCOMBINE(t) REG(t,KINETIS_FTM_COMBINE_OFFSET)
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#define rDEADTIME(t) REG(t,KINETIS_FTM_DEADTIME_OFFSET)
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#define rEXTTRIG(t) REG(t,KINETIS_FTM_EXTTRIG_OFFSET)
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#define rPOL(t) REG(t,KINETIS_FTM_POL_OFFSET)
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#define rFMS(t) REG(t,KINETIS_FTM_FMS_OFFSET)
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#define rFILTER(t) REG(t,KINETIS_FTM_FILTER_OFFSET)
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#define rFLTCTRL(t) REG(t,KINETIS_FTM_FLTCTRL_OFFSET)
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#define rQDCTRL(t) REG(t,KINETIS_FTM_QDCTRL_OFFSET)
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#define rCONF(t) REG(t,KINETIS_FTM_CONF_OFFSET)
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#define rFLTPOL(t) REG(t,KINETIS_FTM_FLTPOL_OFFSET)
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#define rSYNCONF(t) REG(t,KINETIS_FTM_SYNCONF_OFFSET)
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#define rINVCTRL(t) REG(t,KINETIS_FTM_INVCTRL_OFFSET)
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#define rSWOCTRL(t) REG(t,KINETIS_FTM_SWOCTRL_OFFSET)
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#define rPWMLOAD(t) REG(t,KINETIS_FTM_PWMLOAD_OFFSET)
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#if !defined(BOARD_PWM_SRC_CLOCK_FREQ)
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#define BOARD_PWM_SRC_CLOCK_FREQ 16000000
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#endif
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__EXPORT void nxphlite_timer_initialize(void)
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{
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/* Y1 is 16 Mhz used to driver the FTM_CLKIN0 (PCT12) */
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/* Enable PCT12 as FTM_CLKIN0 */
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kinetis_pinconfig(PIN_FTM_CLKIN0_3);
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/* Select FTM_CLKIN0 as source for FTM0, FTM2, and FTM3 */
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uint32_t regval = _REG(KINETIS_SIM_SOPT4);
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regval &= ~(SIM_SOPT4_FTM0CLKSEL | SIM_SOPT4_FTM2CLKSEL | SIM_SOPT4_FTM3CLKSEL);
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_REG(KINETIS_SIM_SOPT4) = regval;
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/* Enabled System Clock Gating Control for FTM 0 and 2*/
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regval = _REG(KINETIS_SIM_SCGC6);
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regval |= SIM_SCGC6_FTM0 | SIM_SCGC6_FTM2;
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_REG(KINETIS_SIM_SCGC6) = regval;
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/* Enabled System Clock Gating Control for FTM 2 and 3 */
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regval = _REG(KINETIS_SIM_SCGC3);
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regval |= SIM_SCGC3_FTM2 | SIM_SCGC3_FTM3;
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_REG(KINETIS_SIM_SCGC3) = regval;
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}
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