391 lines
11 KiB
C
391 lines
11 KiB
C
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/*
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ChibiOS/HAL - Copyright (C) 2014 Adam J. Porter
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file K20x/pwm_lld.c
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* @brief KINETIS PWM subsystem low level driver source.
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*
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* @addtogroup PWM
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* @{
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*/
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#include "hal.h"
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#if HAL_USE_PWM || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/**
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* @brief PWMD1 driver identifier.
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* @note The driver PWMD1 allocates the timer FTM0 when enabled.
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*/
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#if KINETIS_PWM_USE_FTM0 || defined(__DOXYGEN__)
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PWMDriver PWMD1;
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#endif
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/**
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* @brief PWMD2 driver identifier.
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* @note The driver PWMD2 allocates the timer FTM1 when enabled.
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*/
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#if KINETIS_PWM_USE_FTM1 || defined(__DOXYGEN__)
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PWMDriver PWMD2;
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#endif
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/**
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* @brief PWMD3 driver identifier.
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* @note The driver PWMD3 allocates the timer FTM2 when enabled.
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*/
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#if KINETIS_PWM_USE_FTM2 || defined(__DOXYGEN__)
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PWMDriver PWMD3;
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#endif
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
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uint32_t sr;
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sr = pwmp->ftm->SC;
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pwmp->ftm->SC = sr&(~FTM_SC_TOF);
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if (((sr & FTM_SC_TOF) != 0) && /* Timer Overflow */
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((sr & FTM_SC_TOIE) != 0) &&
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(pwmp->config->callback != NULL)) {
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pwmp->config->callback(pwmp);
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}
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uint8_t n=0;
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for(n=0;n<pwmp->channels;n++) {
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sr = pwmp->ftm->CHANNEL[n].CnSC;
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pwmp->ftm->CHANNEL[n].CnSC = sr&(~FTM_CnSC_CHF);
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if (((sr & FTM_CnSC_CHF) != 0) &&
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((sr & FTM_CnSC_CHIE) != 0) &&
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(pwmp->config->channels[n].callback != NULL)) {
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pwmp->config->channels[n].callback(pwmp);
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}
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}
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}
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if KINETIS_PWM_USE_FTM0
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/**
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* @brief FTM0 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(KINETIS_FTM0_IRQ_VECTOR) {
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OSAL_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD1);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* KINETIS_PWM_USE_FTM0 */
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#if KINETIS_PWM_USE_FTM1
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/**
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* @brief FTM1 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(KINETIS_FTM1_IRQ_VECTOR) {
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OSAL_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD2);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* KINETIS_PWM_USE_FTM1 */
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#if KINETIS_PWM_USE_FTM2
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/**
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* @brief FTM2 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(KINETIS_FTM2_IRQ_VECTOR) {
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OSAL_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD3);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* KINETIS_PWM_USE_FTM2 */
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level PWM driver initialization.
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*
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* @notapi
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*/
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void pwm_lld_init(void) {
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#if KINETIS_PWM_USE_FTM0
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pwmObjectInit(&PWMD1);
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PWMD1.channels = KINETIS_FTM0_CHANNELS;
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PWMD1.ftm = FTM0;
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#endif
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#if KINETIS_PWM_USE_FTM1
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pwmObjectInit(&PWMD2);
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PWMD2.channels = KINETIS_FTM1_CHANNELS;
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PWMD2.ftm = FTM1;
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#endif
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#if KINETIS_PWM_USE_FTM2
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pwmObjectInit(&PWMD3);
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PWMD3.channels = KINETIS_FTM2_CHANNELS;
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PWMD3.ftm = FTM2;
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#endif
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}
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/**
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* @brief Configures and activates the PWM peripheral.
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* @note Starting a driver that is already in the @p PWM_READY state
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* disables all the active channels.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_start(PWMDriver *pwmp) {
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uint16_t psc;
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uint8_t i=0;
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if (pwmp->state == PWM_STOP) {
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/* Clock activation and timer reset.*/
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#if KINETIS_PWM_USE_FTM0
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if (&PWMD1 == pwmp) {
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SIM->SCGC6 |= SIM_SCGC6_FTM0;
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nvicEnableVector(FTM0_IRQn, KINETIS_PWM_FTM0_PRIORITY);
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}
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#endif
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#if KINETIS_PWM_USE_FTM1
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if (&PWMD2 == pwmp) {
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SIM->SCGC6 |= SIM_SCGC6_FTM1;
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nvicEnableVector(FTM1_IRQn, KINETIS_PWM_FTM1_PRIORITY);
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}
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#endif
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#if KINETIS_PWM_USE_FTM2
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if (&PWMD3 == pwmp) {
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SIM->SCGC3 |= SIM_SCGC3_FTM2;
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nvicEnableVector(FTM2_IRQn, KINETIS_PWM_FTM2_PRIORITY);
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}
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#endif
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}
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pwmp->ftm->MODE = FTM_MODE_FTMEN_MASK|FTM_MODE_PWMSYNC_MASK;
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pwmp->ftm->SYNC = FTM_SYNC_CNTMIN_MASK|FTM_SYNC_CNTMAX_MASK
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|FTM_SYNC_SWSYNC_MASK;
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pwmp->ftm->COMBINE = FTM_COMBINE_SYNCEN3_MASK | FTM_COMBINE_SYNCEN2_MASK
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| FTM_COMBINE_SYNCEN1_MASK | FTM_COMBINE_SYNCEN0_MASK;
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pwmp->ftm->SYNCONF = FTM_SYNCONF_SYNCMODE_MASK;
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pwmp->ftm->CNTIN = 0x0000;
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//~ pwmp->ftm->SC = 0; /* Disable FTM counter.*/
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pwmp->ftm->CNT = 0x0000; /* Clear count register.*/
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/* Prescaler value calculation.*/
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psc = (KINETIS_SYSCLK_FREQUENCY / pwmp->config->frequency);
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//~ /* Prescaler must be power of two between 1 and 128.*/
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osalDbgAssert(psc <= 128 && !(psc & (psc - 1)), "invalid frequency");
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//~ /* Prescaler register value determination.
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//~ Prescaler register value conveniently corresponds to bit position,
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//~ i.e., register value for prescaler CLK/64 is 6 ((1 << 6) == 64).*/
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for (i = 0; i < 8; i++) {
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if (psc == (unsigned)(1 << i)) {
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break;
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}
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}
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/* Set prescaler and clock mode.
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This also sets the following:
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CPWMS up-counting mode
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Timer overflow interrupt disabled
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DMA disabled.*/
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pwmp->ftm->SC = FTM_SC_CLKS(1) | FTM_SC_PS(i);
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/* Configure period */
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pwmp->ftm->MOD = pwmp->period-1;
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pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
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}
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/**
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* @brief Deactivates the PWM peripheral.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_stop(PWMDriver *pwmp) {
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/* If in ready state then disables the PWM clock.*/
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if (pwmp->state == PWM_READY) {
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#if KINETIS_PWM_USE_FTM0
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if (&PWMD1 == pwmp) {
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SIM->SCGC6 &= ~SIM_SCGC6_FTM0;
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nvicDisableVector(FTM0_IRQn);
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}
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#endif
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#if KINETIS_PWM_USE_FTM1
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if (&PWMD2 == pwmp) {
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SIM->SCGC6 &= ~SIM_SCGC6_FTM1;
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nvicDisableVector(FTM1_IRQn);
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}
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#endif
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#if KINETIS_PWM_USE_FTM2
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if (&PWMD3 == pwmp) {
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SIM->SCGC3 &= ~SIM_SCGC3_FTM2;
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nvicDisableVector(FTM2_IRQn);
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}
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#endif
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/* Disable FTM counter.*/
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pwmp->ftm->SC = 0;
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pwmp->ftm->MOD = 0;
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}
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}
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/**
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* @brief Enables a PWM channel.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is active using the specified configuration.
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* @note The function has effect at the next cycle start.
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* @note Channel notification is not enabled.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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* @param[in] width PWM pulse width as clock pulses number
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*
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* @notapi
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*/
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void pwm_lld_enable_channel(PWMDriver *pwmp,
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pwmchannel_t channel,
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pwmcnt_t width) {
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uint32_t mode = FTM_CnSC_MSB; /* Edge-aligned PWM mode.*/
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switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
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case PWM_OUTPUT_ACTIVE_HIGH:
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mode |= FTM_CnSC_ELSB;
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break;
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case PWM_OUTPUT_ACTIVE_LOW:
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mode |= FTM_CnSC_ELSA;
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break;
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}
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if (pwmp->ftm->CHANNEL[channel].CnSC & FTM_CnSC_CHIE)
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mode |= FTM_CnSC_CHIE;
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pwmp->ftm->CHANNEL[channel].CnSC = mode;
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pwmp->ftm->CHANNEL[channel].CnV = width;
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pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
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}
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/**
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* @brief Disables a PWM channel and its notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is disabled and its output line returned to the
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* idle state.
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* @note The function has effect at the next cycle start.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @notapi
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*/
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void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
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pwmp->ftm->CHANNEL[channel].CnSC = 0;
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pwmp->ftm->CHANNEL[channel].CnV = 0;
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}
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/**
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* @brief Enables the periodic activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @note If the notification is already enabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
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pwmp->ftm->SC |= FTM_SC_TOIE;
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}
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/**
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* @brief Disables the periodic activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @note If the notification is already disabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
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pwmp->ftm->SC &= ~FTM_SC_TOIE;
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}
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/**
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* @brief Enables a channel de-activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @pre The channel must have been activated using @p pwmEnableChannel().
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* @note If the notification is already enabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @notapi
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*/
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void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
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pwmchannel_t channel) {
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pwmp->ftm->CHANNEL[channel].CnSC |= FTM_CnSC_CHIE;
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}
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/**
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* @brief Disables a channel de-activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @pre The channel must have been activated using @p pwmEnableChannel().
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* @note If the notification is already disabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @notapi
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*/
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void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
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pwmchannel_t channel) {
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pwmp->ftm->CHANNEL[channel].CnSC &= ~FTM_CnSC_CHIE;
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}
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#endif /* HAL_USE_PWM */
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/** @} */
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