mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 23:00:34 +08:00
David Sidrane
346 lines
10 KiB
C++
346 lines
10 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015, 2016 Airmind 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 Airmind 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 drv_led_pwm.cpp
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*
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*
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*/
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#include <px4_config.h>
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#include <systemlib/px4_macros.h>
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#include <nuttx/arch.h>
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#include <nuttx/irq.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <debug.h>
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#include <time.h>
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#include <queue.h>
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#include <errno.h>
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#include <string.h>
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#include <stdio.h>
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#include <arch/board/board.h>
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#include <drivers/drv_pwm_output.h>
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#include "drv_io_timer.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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#if defined(BOARD_HAS_LED_PWM) || defined(BOARD_HAS_UI_LED_PWM)
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#define FTM_SRC_CLOCK_FREQ 16000000
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#define LED_PWM_FREQ 1000000
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#if (BOARD_LED_PWM_RATE)
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# define LED_PWM_RATE BOARD_LED_PWM_RATE
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#else
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# define LED_PWM_RATE 50
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#endif
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#define _REG(_addr) (*(volatile uint32_t *)(_addr))
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#define _REG32(_base, _reg) (*(volatile uint32_t *)(_base + _reg))
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#define REG(_tmr, _reg) _REG32(led_pwm_timers[_tmr].base, _reg)
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/* Timer register accessors */
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#define rSC(_tmr) REG(_tmr,KINETIS_FTM_SC_OFFSET)
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#define rCNT(_tmr) REG(_tmr,KINETIS_FTM_CNT_OFFSET)
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#define rMOD(_tmr) REG(_tmr,KINETIS_FTM_MOD_OFFSET)
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#define rC0SC(_tmr) REG(_tmr,KINETIS_FTM_C0SC_OFFSET)
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#define rC0V(_tmr) REG(_tmr,KINETIS_FTM_C0V_OFFSET)
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#define rC1SC(_tmr) REG(_tmr,KINETIS_FTM_C1SC_OFFSET)
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#define rC1V(_tmr) REG(_tmr,KINETIS_FTM_C1V_OFFSET)
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#define rC2SC(_tmr) REG(_tmr,KINETIS_FTM_C2SC_OFFSET)
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#define rC2V(_tmr) REG(_tmr,KINETIS_FTM_C2V_OFFSET)
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#define rC3SC(_tmr) REG(_tmr,KINETIS_FTM_C3SC_OFFSET)
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#define rC3V(_tmr) REG(_tmr,KINETIS_FTM_C3V_OFFSET)
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#define rC4SC(_tmr) REG(_tmr,KINETIS_FTM_C4SC_OFFSET)
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#define rC4V(_tmr) REG(_tmr,KINETIS_FTM_C4V_OFFSET)
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#define rC5SC(_tmr) REG(_tmr,KINETIS_FTM_C5SC_OFFSET)
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#define rC5V(_tmr) REG(_tmr,KINETIS_FTM_C5V_OFFSET)
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#define rC6SC(_tmr) REG(_tmr,KINETIS_FTM_C6SC_OFFSET)
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#define rC6V(_tmr) REG(_tmr,KINETIS_FTM_C6V_OFFSET)
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#define rC7SC(_tmr) REG(_tmr,KINETIS_FTM_C7SC_OFFSET)
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#define rC7V(_tmr) REG(_tmr,KINETIS_FTM_C7V_OFFSET)
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#define rCNTIN(_tmr) REG(_tmr,KINETIS_FTM_CNTIN_OFFSET)
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#define rSTATUS(_tmr) REG(_tmr,KINETIS_FTM_STATUS_OFFSET)
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#define rMODE(_tmr) REG(_tmr,KINETIS_FTM_MODE_OFFSET)
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#define rSYNC(_tmr) REG(_tmr,KINETIS_FTM_SYNC_OFFSET)
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#define rOUTINIT(_tmr) REG(_tmr,KINETIS_FTM_OUTINIT_OFFSET)
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#define rOUTMASK(_tmr) REG(_tmr,KINETIS_FTM_OUTMASK_OFFSET)
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#define rCOMBINE(_tmr) REG(_tmr,KINETIS_FTM_COMBINE_OFFSET)
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#define rDEADTIME(_tmr) REG(_tmr,KINETIS_FTM_DEADTIME_OFFSET)
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#define rEXTTRIG(_tmr) REG(_tmr,KINETIS_FTM_EXTTRIG_OFFSET)
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#define rPOL(_tmr) REG(_tmr,KINETIS_FTM_POL_OFFSET)
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#define rFMS(_tmr) REG(_tmr,KINETIS_FTM_FMS_OFFSET)
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#define rFILTER(_tmr) REG(_tmr,KINETIS_FTM_FILTER_OFFSET)
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#define rFLTCTRL(_tmr) REG(_tmr,KINETIS_FTM_FLTCTRL_OFFSET)
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#define rQDCTRL(_tmr) REG(_tmr,KINETIS_FTM_QDCTRL_OFFSET)
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#define rCONF(_tmr) REG(_tmr,KINETIS_FTM_CONF_OFFSET)
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#define rFLTPOL(_tmr) REG(_tmr,KINETIS_FTM_FLTPOL_OFFSET)
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#define rSYNCONF(_tmr) REG(_tmr,KINETIS_FTM_SYNCONF_OFFSET)
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#define rINVCTRL(_tmr) REG(_tmr,KINETIS_FTM_INVCTRL_OFFSET)
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#define rSWOCTRL(_tmr) REG(_tmr,KINETIS_FTM_SWOCTRL_OFFSET)
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#define rPWMLOAD(_tmr) REG(_tmr,KINETIS_FTM_PWMLOAD_OFFSET)
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#define CnSC_RESET (FTM_CSC_CHF|FTM_CSC_CHIE|FTM_CSC_MSB|FTM_CSC_MSA|FTM_CSC_ELSB|FTM_CSC_ELSA|FTM_CSC_DMA)
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#define CnSC_CAPTURE_INIT (FTM_CSC_CHIE|FTM_CSC_ELSB|FTM_CSC_ELSA) // Both
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#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
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#define CnSC_PWMOUT_INIT (FTM_CSC_MSB|FTM_CSC_ELSA)
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#else
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#define CnSC_PWMOUT_INIT (FTM_CSC_MSB|FTM_CSC_ELSB)
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#endif
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#define FTM_SYNC (FTM_SYNC_SWSYNC)
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static void led_pwm_timer_init(unsigned timer);
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static void led_pwm_timer_set_rate(unsigned timer, unsigned rate);
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static void led_pwm_channel_init(unsigned channel);
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int led_pwm_servo_set(unsigned channel, uint8_t value);
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unsigned led_pwm_servo_get(unsigned channel);
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int led_pwm_servo_init(void);
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void led_pwm_servo_deinit(void);
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void led_pwm_servo_arm(bool armed);
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unsigned led_pwm_timer_get_period(unsigned timer);
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static void led_pwm_timer_set_rate(unsigned timer, unsigned rate)
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{
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irqstate_t flags = px4_enter_critical_section();
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uint32_t save = rSC(timer);
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rSC(timer) = save & ~(FTM_SC_CLKS_MASK);
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/* configure the timer to update at the desired rate */
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rMOD(timer) = (LED_PWM_FREQ / rate) - 1;
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rSC(timer) = save;
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px4_leave_critical_section(flags);
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}
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static inline uint32_t div2psc(int div)
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{
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return 31 - __builtin_clz(div);
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}
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static inline void led_pwm_timer_set_PWM_mode(unsigned timer)
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{
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irqstate_t flags = px4_enter_critical_section();
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rSC(timer) &= ~(FTM_SC_CLKS_MASK | FTM_SC_PS_MASK);
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rSC(timer) |= (FTM_SC_CLKS_EXTCLK | div2psc(FTM_SRC_CLOCK_FREQ / LED_PWM_FREQ));
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px4_leave_critical_section(flags);
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}
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static void
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led_pwm_timer_init(unsigned timer)
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{
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/* valid Timer */
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if (led_pwm_timers[timer].base != 0) {
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/* enable the timer clock before we try to talk to it */
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uint32_t regval = _REG(led_pwm_timers[timer].clock_register);
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regval |= led_pwm_timers[timer].clock_bit;
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_REG(led_pwm_timers[timer].clock_register) = regval;
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/* disable and configure the timer */
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rSC(timer) = FTM_SC_CLKS_NONE;
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rCNT(timer) = 0;
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rMODE(timer) = 0;
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rSYNCONF(timer) = (FTM_SYNCONF_SYNCMODE | FTM_SYNCONF_SWWRBUF | FTM_SYNCONF_SWRSTCNT);
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/* Set to run in debug mode */
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rCONF(timer) |= FTM_CONF_BDMMODE_MASK;
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/* enable the timer */
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led_pwm_timer_set_PWM_mode(timer);
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/*
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* Note we do the Standard PWM Out init here
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* default to updating at LED_PWM_RATE
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*/
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led_pwm_timer_set_rate(timer, LED_PWM_RATE);
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}
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}
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unsigned
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led_pwm_timer_get_period(unsigned timer)
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{
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// MOD is a 16 bit reg
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unsigned mod = rMOD(timer);
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if (mod == 0) {
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return 1 << 16;
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}
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return (uint16_t)(mod + 1);
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}
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static void
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led_pwm_channel_init(unsigned channel)
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{
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/* Only initialize used channels */
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if (led_pwm_channels[channel].timer_channel) {
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unsigned timer = led_pwm_channels[channel].timer_index;
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irqstate_t flags = px4_enter_critical_section();
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/* configure the GPIO first */
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px4_arch_configgpio(led_pwm_channels[channel].gpio_out);
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/* configure the channel */
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uint32_t chan = led_pwm_channels[channel].timer_channel - 1;
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uint16_t rvalue = REG(timer, KINETIS_FTM_CSC_OFFSET(chan));
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rvalue &= ~CnSC_RESET;
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rvalue |= CnSC_PWMOUT_INIT;
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REG(timer, KINETIS_FTM_CSC_OFFSET(chan)) = rvalue;
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REG(timer, KINETIS_FTM_CV_OFFSET(0)) = 0;
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px4_leave_critical_section(flags);
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}
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}
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int
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led_pwm_servo_set(unsigned channel, uint8_t cvalue)
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{
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if (channel >= arraySize(led_pwm_channels)) {
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return -1;
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}
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unsigned timer = led_pwm_channels[channel].timer_index;
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/* test timer for validity */
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if ((led_pwm_timers[timer].base == 0) ||
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(led_pwm_channels[channel].gpio_out == 0)) {
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return -1;
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}
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unsigned period = led_pwm_timer_get_period(timer);
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unsigned value = (unsigned)cvalue * period / 255;
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/* configure the channel */
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if (value > 0) {
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value--;
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}
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REG(timer, KINETIS_FTM_CV_OFFSET(led_pwm_channels[channel].timer_channel - 1)) = value;
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return 0;
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}
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unsigned
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led_pwm_servo_get(unsigned channel)
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{
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if (channel >= 3) {
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return 0;
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}
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unsigned timer = led_pwm_channels[channel].timer_index;
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servo_position_t value = 0;
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/* test timer for validity */
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if ((led_pwm_timers[timer].base == 0) ||
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(led_pwm_channels[channel].timer_channel == 0)) {
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return value;
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}
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value = REG(timer, KINETIS_FTM_CV_OFFSET(led_pwm_channels[channel].timer_channel - 1));
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unsigned period = led_pwm_timer_get_period(timer);
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return ((value + 1) * 255 / period);
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}
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int
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led_pwm_servo_init(void)
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{
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/* do basic timer initialisation first */
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for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
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led_pwm_timer_init(i);
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}
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/* now init channels */
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for (unsigned i = 0; i < arraySize(led_pwm_channels); i++) {
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led_pwm_channel_init(i);
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}
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led_pwm_servo_arm(true);
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return OK;
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}
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void
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led_pwm_servo_deinit(void)
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{
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/* disable the timers */
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led_pwm_servo_arm(false);
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}
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void
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led_pwm_servo_arm(bool armed)
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{
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/* iterate timers and arm/disarm appropriately */
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for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
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if (led_pwm_timers[i].base != 0) {
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if (armed) {
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/* force an update to preload all registers */
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led_pwm_timer_set_PWM_mode(i);
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} else {
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/* disable and configure the timer */
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rSC(i) = FTM_SC_CLKS_NONE;
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rCNT(i) = 0;
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}
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}
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}
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}
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#endif // BOARD_HAS_LED_PWM || BOARD_HAS_UI_LED_PWM
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