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/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file drv_pwm_servo.c
*
* Servo driver supporting PWM servos connected to kinetis flex timer modules.
*
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <errno.h>
#include <chip.h>
#include <kinetis_ftm.h>
#include <kinetis_internal.h>
#include <up_arch.h>
#include <kinetis_sim.h>
#include "drv_pwm_servo.h"
/**
* Intialise the PWM servo outputs using the specified configuration.
*
* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
* This allows some of the channels to remain configured
* as GPIOs or as another function.
* @return OK on success.
*/
int
up_pwm_servo_init(uint32_t channel_mask)
{
for (size_t i = 0; i < PWM_SERVO_MAX_TIMERS; ++i) {
const struct pwm_servo_timer* timer = &pwm_servo_timers[i];
uint32_t regval;
regval = getreg32(timer->scgc);
putreg32(regval | timer->scgc_enable, timer->scgc); // enable clock signal
up_pwm_servo_set_rate_group_update(i, 50); // 50Hz default
}
for (size_t i = 0; i < PWM_SERVO_MAX_CHANNELS; ++i) {
const struct pwm_servo_channel* channel = &pwm_servo_channels[i];
if ((1 << i) & channel_mask) {
// enable edge aligned pwm
putreg32(0x28, channel->timer->ftm_base + KINETIS_FTM_CSC_OFFSET(channel->ftm_channel));
// configure pin
kinetis_pinconfig(channel->pinconfig);
}
}
return 0;
}
/**
* De-initialise the PWM servo outputs.
*/
void
up_pwm_servo_deinit(void)
{
}
/**
* Arm or disarm servo outputs.
*
* When disarmed, servos output no pulse.
*
* @bug This function should, but does not, guarantee that any pulse
* currently in progress is cleanly completed.
*
* @param armed If true, outputs are armed; if false they
* are disarmed.
*/
void up_pwm_servo_arm(bool armed)
{
for (size_t i = 0; i < PWM_SERVO_MAX_TIMERS; ++i) {
const struct pwm_servo_timer* timer = &pwm_servo_timers[i];
if (armed) {
putreg32(FTM_SC_CLKS_SYSCLK, timer->ftm_base + KINETIS_FTM_SC_OFFSET);
} else {
putreg32(FTM_SC_CLKS_NONE, timer->ftm_base + KINETIS_FTM_SC_OFFSET);
}
}
}
/**
* Set the servo update rate for all rate groups.
*
* @param rate The update rate in Hz to set.
* @return OK on success, -ERANGE if an unsupported update rate is set.
*/
int
up_pwm_servo_set_rate(unsigned rate)
{
return 0;
}
/**
* Get a bitmap of output channels assigned to a given rate group.
*
* @param group The rate group to query. Rate groups are assigned contiguously
* starting from zero.
* @return A bitmap of channels assigned to the rate group, or zero if
* the group number has no channels.
*/
uint32_t
up_pwm_servo_get_rate_group(unsigned group)
{
return 0;
}
/**
* Set the update rate for a given rate group.
*
* @param group The rate group whose update rate will be changed.
* @param rate The update rate in Hz.
* @return OK if the group was adjusted, -ERANGE if an unsupported update rate is set.
*/
int
up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
{
const struct pwm_servo_timer* timer = &pwm_servo_timers[group];
putreg32(FTM_SC_PS_4, timer->ftm_base + KINETIS_FTM_SC_OFFSET);
putreg32(0, timer->ftm_base + KINETIS_FTM_CNT_OFFSET);
putreg32(48000, timer->ftm_base + KINETIS_FTM_MOD_OFFSET);
return 0;
}
/**
* Set the current output value for a channel.
*
* @param channel The channel to set.
* @param value The output pulse width in microseconds.
*/
int
up_pwm_servo_set(unsigned channel, servo_position_t value)
{
const struct pwm_servo_channel* ch = &pwm_servo_channels[channel];
putreg32(value * 48000 / 2000, ch->timer->ftm_base + KINETIS_FTM_CV_OFFSET(ch->ftm_channel));
return 0;
}
/**
* Get the current output value for a channel.
*
* @param channel The channel to read.
* @return The output pulse width in microseconds, or zero if
* outputs are not armed or not configured.
*/
servo_position_t
up_pwm_servo_get(unsigned channel)
{
return 0;
}
/*
int helloworld_main(int args, char *argv[]) {
printf("Setting timer\n");
uint8_t ftm_channel = 5;
struct pwm_timer* timer = &pwm0;
uint32_t regval;
regval = getreg32(timer->scgc);
putreg32(regval | timer->scgc_enable, timer->scgc); // enable clock signal to FTM0
putreg32(0, timer->ftm_base + KINETIS_FTM_CNT_OFFSET);
putreg32(36864, timer->ftm_base + KINETIS_FTM_MOD_OFFSET);
putreg32(0x28, timer->ftm_base + KINETIS_FTM_CSC_OFFSET(ftm_channel)); // channle, enable edge aligned pwm
putreg32(FTM_SC_CLKS_SYSCLK | FTM_SC_PS_1, timer->ftm_base + KINETIS_FTM_SC_OFFSET); // set clock source of FTM module
putreg32(atoi(argv[1]), timer->ftm_base + KINETIS_FTM_CV_OFFSET(ftm_channel));
kinetis_pinconfig(PIN_PORTD | PIN5 | PIN_ALT4_OUTPUT | PIN_ALT4_HIGHDRIVE ) ;
printf("Done\n");
return 0;
}
*/
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