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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.h
*
* kinetis-specific PWM output data.
*/
#ifndef KINETIS_PWM_SERVO_H
#define KINETIS_PWM_SERVO_H
#define PWM_SERVO_MAX_TIMERS 1
#define PWM_SERVO_MAX_CHANNELS 1
#include <stdbool.h>
#include <drivers/drv_pwm_output.h>
/**
* Flex timer module dedicated to PWM servo use
*
*/
struct pwm_servo_timer {
/** Base memory address of timer module. */
uint32_t ftm_base;
/** Address of clock gating control register responsible
* for the given timer module. */
uint32_t scgc;
/** Bitmask to enable clock input to the timer module. */
uint32_t scgc_enable;
};
/**
* Logical servo output channel
*/
struct pwm_servo_channel {
/** Pointer to the underlying timer structure. */
const struct pwm_servo_timer* timer;
/** Channel number of the underlying flex module timer. */
uint8_t ftm_channel;
/** Configuration of output pin, this value is passed to kinetis_pinconfig. */
uint32_t pinconfig;
};
__EXPORT extern const struct pwm_servo_timer pwm_servo_timers[PWM_SERVO_MAX_TIMERS];
/**
* All available servo channels. Board specific.
* Essentially, this array maps logical channel numbers to system-specific channel structures.
*/
__EXPORT extern const struct pwm_servo_channel pwm_servo_channels[PWM_SERVO_MAX_CHANNELS];
#endif
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