[352] | 1 | /* mbed Microcontroller Library
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| 2 | * Copyright (c) 2006-2013 ARM Limited
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| 3 | *
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| 4 | * Licensed under the Apache License, Version 2.0 (the "License");
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| 5 | * you may not use this file except in compliance with the License.
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| 6 | * You may obtain a copy of the License at
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| 7 | *
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| 8 | * http://www.apache.org/licenses/LICENSE-2.0
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| 9 | *
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| 10 | * Unless required by applicable law or agreed to in writing, software
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| 11 | * distributed under the License is distributed on an "AS IS" BASIS,
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| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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| 13 | * See the License for the specific language governing permissions and
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| 14 | * limitations under the License.
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| 15 | */
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| 16 | #include "mbed_assert.h"
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| 17 | #include "pwmout_api.h"
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| 18 | #include "cmsis.h"
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| 19 | #include "pinmap.h"
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| 20 | #include "RZ_A1_Init.h"
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| 21 | #include "cpg_iodefine.h"
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| 22 | #include "pwm_iodefine.h"
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| 23 | #include "gpio_addrdefine.h"
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| 24 |
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| 25 | #define MTU2_PWM_NUM 22
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| 26 | #define MTU2_PWM_SIGNAL 2
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| 27 | #define MTU2_PWM_OFFSET 0x20
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| 28 |
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| 29 | // PORT ID, PWM ID, Pin function
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| 30 | static const PinMap PinMap_PWM[] = {
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| 31 | {P2_1 , MTU2_PWM0_PIN , 6},
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| 32 | {P2_11 , MTU2_PWM1_PIN , 5},
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| 33 | {P3_8 , MTU2_PWM2_PIN , 6},
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| 34 | {P3_10 , MTU2_PWM3_PIN , 6},
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| 35 | {P4_0 , MTU2_PWM4_PIN , 2},
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| 36 | {P4_4 , MTU2_PWM5_PIN , 3},
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| 37 | {P4_6 , MTU2_PWM6_PIN , 3},
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| 38 | {P5_0 , MTU2_PWM7_PIN , 6},
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| 39 | {P5_3 , MTU2_PWM8_PIN , 6},
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| 40 | {P5_5 , MTU2_PWM9_PIN , 6},
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| 41 | {P7_2 , MTU2_PWM10_PIN , 7},
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| 42 | {P7_4 , MTU2_PWM11_PIN , 7},
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| 43 | {P7_6 , MTU2_PWM12_PIN , 7},
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| 44 | {P7_10 , MTU2_PWM13_PIN , 7},
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| 45 | {P7_12 , MTU2_PWM14_PIN , 7},
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| 46 | {P7_14 , MTU2_PWM15_PIN , 7},
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| 47 | {P8_8 , MTU2_PWM16_PIN , 5},
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| 48 | {P8_10 , MTU2_PWM17_PIN , 4},
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| 49 | {P8_12 , MTU2_PWM18_PIN , 4},
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| 50 | {P8_14 , MTU2_PWM19_PIN , 4},
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| 51 | {P11_0 , MTU2_PWM20_PIN , 2},
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| 52 | {P11_2 , MTU2_PWM21_PIN , 2},
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| 53 | {P4_4 , PWM0_PIN , 4},
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| 54 | {P3_2 , PWM1_PIN , 7},
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| 55 | {P4_6 , PWM2_PIN , 4},
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| 56 | {P4_7 , PWM3_PIN , 4},
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| 57 | {P8_14 , PWM4_PIN , 6},
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| 58 | {P8_15 , PWM5_PIN , 6},
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| 59 | {P8_13 , PWM6_PIN , 6},
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| 60 | {P8_11 , PWM7_PIN , 6},
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| 61 | {P8_8 , PWM8_PIN , 6},
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| 62 | {P10_0 , PWM9_PIN , 3},
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| 63 | {P8_12 , PWM10_PIN , 6},
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| 64 | {P8_9 , PWM11_PIN , 6},
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| 65 | {P8_10 , PWM12_PIN , 6},
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| 66 | {P4_5 , PWM13_PIN , 4},
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| 67 | {NC , NC , 0}
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| 68 | };
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| 69 |
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| 70 | static const PWMType PORT[] = {
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| 71 | PWM2E, // PWM0_PIN
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| 72 | PWM2C, // PWM1_PIN
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| 73 | PWM2G, // PWM2_PIN
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| 74 | PWM2H, // PWM3_PIN
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| 75 | PWM1G, // PWM4_PIN
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| 76 | PWM1H, // PWM5_PIN
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| 77 | PWM1F, // PWM6_PIN
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| 78 | PWM1D, // PWM7_PIN
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| 79 | PWM1A, // PWM8_PIN
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| 80 | PWM2A, // PWM9_PIN
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| 81 | PWM1E, // PWM10_PIN
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| 82 | PWM1B, // PWM11_PIN
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| 83 | PWM1C, // PWM12_PIN
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| 84 | PWM2F, // PWM13_PIN
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| 85 | };
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| 86 |
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| 87 | static const MTU2_PWMType MTU2_PORT[] = {
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| 88 | TIOC2A, // MTU2_PWM0_PIN
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| 89 | TIOC1A, // MTU2_PWM1_PIN
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| 90 | TIOC4A, // MTU2_PWM2_PIN
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| 91 | TIOC4C, // MTU2_PWM3_PIN
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| 92 | TIOC0A, // MTU2_PWM4_PIN
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| 93 | TIOC4A, // MTU2_PWM5_PIN
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| 94 | TIOC4C, // MTU2_PWM6_PIN
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| 95 | TIOC0A, // MTU2_PWM7_PIN
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| 96 | TIOC3C, // MTU2_PWM8_PIN
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| 97 | TIOC0C, // MTU2_PWM9_PIN
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| 98 | TIOC0C, // MTU2_PWM10_PIN
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| 99 | TIOC1A, // MTU2_PWM11_PIN
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| 100 | TIOC2A, // MTU2_PWM12_PIN
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| 101 | TIOC3C, // MTU2_PWM13_PIN
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| 102 | TIOC4A, // MTU2_PWM14_PIN
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| 103 | TIOC4C, // MTU2_PWM15_PIN
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| 104 | TIOC1A, // MTU2_PWM16_PIN
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| 105 | TIOC3A, // MTU2_PWM17_PIN
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| 106 | TIOC3C, // MTU2_PWM18_PIN
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| 107 | TIOC2A, // MTU2_PWM19_PIN
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| 108 | TIOC4A, // MTU2_PWM20_PIN
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| 109 | TIOC4C, // MTU2_PWM21_PIN
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| 110 | };
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| 111 |
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| 112 | static __IO uint16_t *PWM_MATCH[] = {
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| 113 | &PWMPWBFR_2E, // PWM0_PIN
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| 114 | &PWMPWBFR_2C, // PWM1_PIN
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| 115 | &PWMPWBFR_2G, // PWM2_PIN
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| 116 | &PWMPWBFR_2G, // PWM3_PIN
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| 117 | &PWMPWBFR_1G, // PWM4_PIN
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| 118 | &PWMPWBFR_1G, // PWM5_PIN
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| 119 | &PWMPWBFR_1E, // PWM6_PIN
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| 120 | &PWMPWBFR_1C, // PWM7_PIN
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| 121 | &PWMPWBFR_1A, // PWM8_PIN
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| 122 | &PWMPWBFR_2A, // PWM9_PIN
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| 123 | &PWMPWBFR_1E, // PWM10_PIN
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| 124 | &PWMPWBFR_1A, // PWM11_PIN
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| 125 | &PWMPWBFR_1C, // PWM12_PIN
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| 126 | &PWMPWBFR_2E, // PWM13_PIN
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| 127 | };
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| 128 |
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| 129 | static __IO uint16_t *MTU2_PWM_MATCH[MTU2_PWM_NUM][MTU2_PWM_SIGNAL] = {
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| 130 | { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM0_PIN
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| 131 | { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM1_PIN
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| 132 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM2_PIN
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| 133 | { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM3_PIN
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| 134 | { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM4_PIN
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| 135 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM5_PIN
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| 136 | { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM6_PIN
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| 137 | { &MTU2TGRA_0, &MTU2TGRB_0 }, // MTU2_PWM7_PIN
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| 138 | { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM8_PIN
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| 139 | { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM9_PIN
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| 140 | { &MTU2TGRC_0, &MTU2TGRD_0 }, // MTU2_PWM10_PIN
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| 141 | { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM11_PIN
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| 142 | { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM12_PIN
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| 143 | { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM13_PIN
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| 144 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM14_PIN
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| 145 | { &MTU2TGRC_4, &MTU2TGRD_4 }, // MTU2_PWM15_PIN
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| 146 | { &MTU2TGRA_1, &MTU2TGRB_1 }, // MTU2_PWM16_PIN
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| 147 | { &MTU2TGRA_3, &MTU2TGRB_3 }, // MTU2_PWM17_PIN
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| 148 | { &MTU2TGRC_3, &MTU2TGRD_3 }, // MTU2_PWM18_PIN
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| 149 | { &MTU2TGRA_2, &MTU2TGRB_2 }, // MTU2_PWM19_PIN
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| 150 | { &MTU2TGRA_4, &MTU2TGRB_4 }, // MTU2_PWM20_PIN
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| 151 | { &MTU2TGRC_4, &MTU2TGRD_4 } // MTU2_PWM21_PIN
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| 152 | };
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| 153 |
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| 154 | static __IO uint8_t *TCR_MATCH[] = {
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| 155 | &MTU2TCR_0,
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| 156 | &MTU2TCR_1,
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| 157 | &MTU2TCR_2,
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| 158 | &MTU2TCR_3,
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| 159 | &MTU2TCR_4,
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| 160 | };
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| 161 |
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| 162 | static __IO uint8_t *TIORH_MATCH[] = {
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| 163 | &MTU2TIORH_0,
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| 164 | &MTU2TIOR_1,
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| 165 | &MTU2TIOR_2,
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| 166 | &MTU2TIORH_3,
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| 167 | &MTU2TIORH_4,
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| 168 | };
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| 169 |
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| 170 | static __IO uint8_t *TIORL_MATCH[] = {
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| 171 | &MTU2TIORL_0,
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| 172 | NULL,
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| 173 | NULL,
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| 174 | &MTU2TIORL_3,
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| 175 | &MTU2TIORL_4,
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| 176 | };
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| 177 |
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| 178 | static __IO uint16_t *TGRA_MATCH[] = {
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| 179 | &MTU2TGRA_0,
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| 180 | &MTU2TGRA_1,
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| 181 | &MTU2TGRA_2,
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| 182 | &MTU2TGRA_3,
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| 183 | &MTU2TGRA_4,
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| 184 | };
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| 185 |
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| 186 | static __IO uint16_t *TGRC_MATCH[] = {
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| 187 | &MTU2TGRC_0,
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| 188 | NULL,
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| 189 | NULL,
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| 190 | &MTU2TGRC_3,
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| 191 | &MTU2TGRC_4,
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| 192 | };
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| 193 |
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| 194 | static __IO uint8_t *TMDR_MATCH[] = {
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| 195 | &MTU2TMDR_0,
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| 196 | &MTU2TMDR_1,
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| 197 | &MTU2TMDR_2,
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| 198 | &MTU2TMDR_3,
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| 199 | &MTU2TMDR_4,
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| 200 | };
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| 201 |
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| 202 | static int MAX_PERIOD[] = {
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| 203 | 125000,
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| 204 | 503000,
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| 205 | 2000000,
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| 206 | 2000000,
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| 207 | 2000000,
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| 208 | };
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| 209 |
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| 210 | typedef enum {
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| 211 | MTU2_PULSE = 0,
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| 212 | MTU2_PERIOD
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| 213 | } MTU2Signal;
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| 214 |
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| 215 | static uint16_t init_period_ch1 = 0;
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| 216 | static uint16_t init_period_ch2 = 0;
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| 217 | static uint16_t init_mtu2_period_ch[5] = {0};
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| 218 | static int32_t period_ch1 = 1;
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| 219 | static int32_t period_ch2 = 1;
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| 220 | static int32_t mtu2_period_ch[5] = {1, 1, 1, 1, 1};
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| 221 |
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| 222 | void pwmout_init(pwmout_t* obj, PinName pin) {
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| 223 | // determine the channel
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| 224 | PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
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| 225 | MBED_ASSERT(pwm != (PWMName)NC);
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| 226 |
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| 227 | if (pwm >= MTU2_PWM_OFFSET) {
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| 228 | /* PWM by MTU2 */
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| 229 | int tmp_pwm;
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| 230 |
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| 231 | // power on
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| 232 | CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP33);
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| 233 |
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| 234 | obj->pwm = pwm;
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| 235 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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| 236 | if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000040) == 0x00000040) {
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| 237 | obj->ch = 4;
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| 238 | MTU2TOER |= 0x36;
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| 239 | } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000030) == 0x00000030) {
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| 240 | obj->ch = 3;
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| 241 | MTU2TOER |= 0x09;
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| 242 | } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000020) == 0x00000020) {
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| 243 | obj->ch = 2;
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| 244 | } else if (((uint32_t)MTU2_PORT[tmp_pwm] & 0x00000010) == 0x00000010) {
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| 245 | obj->ch = 1;
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| 246 | } else {
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| 247 | obj->ch = 0;
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| 248 | }
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| 249 | // Wire pinout
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| 250 | pinmap_pinout(pin, PinMap_PWM);
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| 251 |
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| 252 | int bitmask = 1 << (pin & 0xf);
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| 253 |
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| 254 | *PMSR(PINGROUP(pin)) = (bitmask << 16) | 0;
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| 255 |
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| 256 | // default duty 0.0f
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| 257 | pwmout_write(obj, 0);
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| 258 | if (init_mtu2_period_ch[obj->ch] == 0) {
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| 259 | // default period 1ms
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| 260 | pwmout_period_us(obj, 1000);
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| 261 | init_mtu2_period_ch[obj->ch] = 1;
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| 262 | }
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| 263 | } else {
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| 264 | /* PWM */
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| 265 | // power on
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| 266 | CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP30);
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| 267 |
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| 268 | obj->pwm = pwm;
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| 269 | if (((uint32_t)PORT[obj->pwm] & 0x00000010) == 0x00000010) {
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| 270 | obj->ch = 2;
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| 271 | PWMPWPR_2_BYTE_L = 0x00;
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| 272 | } else {
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| 273 | obj->ch = 1;
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| 274 | PWMPWPR_1_BYTE_L = 0x00;
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| 275 | }
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| 276 |
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| 277 | // Wire pinout
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| 278 | pinmap_pinout(pin, PinMap_PWM);
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| 279 |
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| 280 | // default to 491us: standard for servos, and fine for e.g. brightness control
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| 281 | pwmout_write(obj, 0);
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| 282 | if ((obj->ch == 2) && (init_period_ch2 == 0)) {
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| 283 | pwmout_period_us(obj, 491);
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| 284 | init_period_ch2 = 1;
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| 285 | }
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| 286 | if ((obj->ch == 1) && (init_period_ch1 == 0)) {
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| 287 | pwmout_period_us(obj, 491);
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| 288 | init_period_ch1 = 1;
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| 289 | }
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| 290 | }
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| 291 | }
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| 292 |
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| 293 | void pwmout_free(pwmout_t* obj) {
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| 294 | pwmout_write(obj, 0);
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| 295 | }
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| 296 |
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| 297 | void pwmout_write(pwmout_t* obj, float value) {
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| 298 | uint32_t wk_cycle;
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| 299 | uint16_t v;
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| 300 |
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| 301 | if (obj->pwm >= MTU2_PWM_OFFSET) {
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| 302 | /* PWM by MTU2 */
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| 303 | int tmp_pwm;
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| 304 |
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| 305 | if (value < 0.0f) {
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| 306 | value = 0.0f;
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| 307 | } else if (value > 1.0f) {
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| 308 | value = 1.0f;
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| 309 | } else {
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| 310 | // Do Nothing
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| 311 | }
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| 312 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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| 313 | wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
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| 314 | // set channel match to percentage
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| 315 | *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] = (uint16_t)((float)wk_cycle * value);
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| 316 | } else {
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| 317 | /* PWM */
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| 318 | if (value < 0.0f) {
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| 319 | value = 0.0f;
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| 320 | } else if (value > 1.0f) {
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| 321 | value = 1.0f;
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| 322 | } else {
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| 323 | // Do Nothing
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| 324 | }
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| 325 |
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| 326 | if (obj->ch == 2) {
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| 327 | wk_cycle = PWMPWCYR_2 & 0x03ff;
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| 328 | } else {
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| 329 | wk_cycle = PWMPWCYR_1 & 0x03ff;
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| 330 | }
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| 331 |
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| 332 | // set channel match to percentage
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| 333 | v = (uint16_t)((float)wk_cycle * value);
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| 334 | *PWM_MATCH[obj->pwm] = (v | ((PORT[obj->pwm] & 1) << 12));
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| 335 | }
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| 336 | }
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| 337 |
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| 338 | float pwmout_read(pwmout_t* obj) {
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| 339 | uint32_t wk_cycle;
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| 340 | float value;
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| 341 |
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| 342 | if (obj->pwm >= MTU2_PWM_OFFSET) {
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| 343 | /* PWM by MTU2 */
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| 344 | uint32_t wk_pulse;
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| 345 | int tmp_pwm;
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| 346 |
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| 347 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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| 348 | wk_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
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| 349 | wk_pulse = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PULSE] & 0xffff;
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| 350 | value = ((float)wk_pulse / (float)wk_cycle);
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| 351 | } else {
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| 352 | /* PWM */
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| 353 | if (obj->ch == 2) {
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| 354 | wk_cycle = PWMPWCYR_2 & 0x03ff;
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| 355 | } else {
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| 356 | wk_cycle = PWMPWCYR_1 & 0x03ff;
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| 357 | }
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| 358 | value = ((float)(*PWM_MATCH[obj->pwm] & 0x03ff) / (float)wk_cycle);
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| 359 | }
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| 360 |
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| 361 | return (value > 1.0f) ? (1.0f) : (value);
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| 362 | }
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| 363 |
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| 364 | void pwmout_period(pwmout_t* obj, float seconds) {
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| 365 | pwmout_period_us(obj, seconds * 1000000.0f);
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| 366 | }
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| 367 |
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| 368 | void pwmout_period_ms(pwmout_t* obj, int ms) {
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| 369 | pwmout_period_us(obj, ms * 1000);
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| 370 | }
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| 371 |
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| 372 | static void set_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){
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| 373 | uint16_t wk_pwmpbfr;
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| 374 | float value;
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| 375 | uint16_t v;
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| 376 |
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| 377 | wk_pwmpbfr = *p_pwmpbfr;
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| 378 | value = ((float)(wk_pwmpbfr & 0x03ff) / (float)last_cycle);
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| 379 | v = (uint16_t)((float)new_cycle * value);
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| 380 | *p_pwmpbfr = (v | (wk_pwmpbfr & 0x1000));
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| 381 | }
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| 382 |
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| 383 | static void set_mtu2_duty_again(__IO uint16_t *p_pwmpbfr, uint16_t last_cycle, uint16_t new_cycle){
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| 384 | uint16_t wk_pwmpbfr;
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| 385 | float value;
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| 386 |
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| 387 | wk_pwmpbfr = *p_pwmpbfr;
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| 388 | value = ((float)(wk_pwmpbfr & 0xffff) / (float)last_cycle);
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| 389 | *p_pwmpbfr = (uint16_t)((float)new_cycle * value);
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| 390 | }
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| 391 |
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| 392 | // Set the PWM period, keeping the duty cycle the same.
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| 393 | void pwmout_period_us(pwmout_t* obj, int us) {
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| 394 | uint64_t wk_cycle_mtu2;
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| 395 | uint32_t pclk_base;
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| 396 | uint32_t wk_cycle;
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| 397 | uint32_t wk_cks = 0;
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| 398 | uint16_t wk_last_cycle;
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| 399 | int max_us = 0;
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| 400 |
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| 401 | if (obj->pwm >= MTU2_PWM_OFFSET) {
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| 402 | /* PWM by MTU2 */
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| 403 | int tmp_pwm;
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| 404 | uint8_t tmp_tcr_up;
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| 405 | uint8_t tmp_tstr_sp;
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| 406 | uint8_t tmp_tstr_st;
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| 407 |
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| 408 | max_us = MAX_PERIOD[obj->ch];
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| 409 | if (us > max_us) {
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| 410 | us = max_us;
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| 411 | } else if (us < 1) {
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| 412 | us = 1;
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| 413 | } else {
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| 414 | // Do Nothing
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| 415 | }
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| 416 |
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| 417 | if (RZ_A1_IsClockMode0() == false) {
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| 418 | pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK;
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| 419 | } else {
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| 420 | pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK;
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| 421 | }
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| 422 |
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| 423 | wk_cycle_mtu2 = (uint64_t)pclk_base * us;
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| 424 | while (wk_cycle_mtu2 >= 65535000000) {
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| 425 | if ((obj->ch == 1) && (wk_cks == 3)) {
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| 426 | wk_cks+=2;
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| 427 | } else if ((obj->ch == 2) && (wk_cks == 3)) {
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| 428 | wk_cycle_mtu2 >>= 2;
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| 429 | wk_cks+=3;
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| 430 | }
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| 431 | wk_cycle_mtu2 >>= 2;
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| 432 | wk_cks++;
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| 433 | }
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| 434 | wk_cycle = (uint32_t)(wk_cycle_mtu2 / 1000000);
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| 435 |
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| 436 | tmp_pwm = (int)(obj->pwm - MTU2_PWM_OFFSET);
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| 437 | if (((uint8_t)MTU2_PORT[tmp_pwm] & 0x02) == 0x02) {
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| 438 | tmp_tcr_up = 0xC0;
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| 439 | } else {
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| 440 | tmp_tcr_up = 0x40;
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| 441 | }
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| 442 | if ((obj->ch == 4) || (obj->ch == 3)) {
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| 443 | tmp_tstr_sp = ~(0x38 | (1 << (obj->ch + 3)));
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| 444 | tmp_tstr_st = (1 << (obj->ch + 3));
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| 445 | } else {
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| 446 | tmp_tstr_sp = ~(0x38 | (1 << obj->ch));
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| 447 | tmp_tstr_st = (1 << obj->ch);
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| 448 | }
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| 449 | // Counter Stop
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| 450 | MTU2TSTR &= tmp_tstr_sp;
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| 451 | wk_last_cycle = *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] & 0xffff;
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| 452 | *TCR_MATCH[obj->ch] = tmp_tcr_up | wk_cks;
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| 453 | *TIORH_MATCH[obj->ch] = 0x21;
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| 454 | if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) {
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| 455 | *TIORL_MATCH[obj->ch] = 0x21;
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| 456 | }
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| 457 | *MTU2_PWM_MATCH[tmp_pwm][MTU2_PERIOD] = (uint16_t)wk_cycle; // Set period
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| 458 |
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| 459 | // Set duty again(TGRA)
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| 460 | set_mtu2_duty_again(TGRA_MATCH[obj->ch], wk_last_cycle, wk_cycle);
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| 461 | if ((obj->ch == 0) || (obj->ch == 3) || (obj->ch == 4)) {
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| 462 | // Set duty again(TGRC)
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| 463 | set_mtu2_duty_again(TGRC_MATCH[obj->ch], wk_last_cycle, wk_cycle);
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| 464 | }
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| 465 | *TMDR_MATCH[obj->ch] = 0x02; // PWM mode 1
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| 466 |
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| 467 | // Counter Start
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| 468 | MTU2TSTR |= tmp_tstr_st;
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| 469 | // Save for future use
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| 470 | mtu2_period_ch[obj->ch] = us;
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| 471 | } else {
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| 472 | /* PWM */
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| 473 | if (us > 491) {
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| 474 | us = 491;
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| 475 | } else if (us < 1) {
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| 476 | us = 1;
|
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| 477 | } else {
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| 478 | // Do Nothing
|
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| 479 | }
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| 480 |
|
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| 481 | if (RZ_A1_IsClockMode0() == false) {
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| 482 | pclk_base = (uint32_t)CM1_RENESAS_RZ_A1_P0_CLK / 10000;
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| 483 | } else {
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| 484 | pclk_base = (uint32_t)CM0_RENESAS_RZ_A1_P0_CLK / 10000;
|
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| 485 | }
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| 486 |
|
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| 487 | wk_cycle = pclk_base * us;
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| 488 | while (wk_cycle >= 102350) {
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| 489 | wk_cycle >>= 1;
|
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| 490 | wk_cks++;
|
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| 491 | }
|
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| 492 | wk_cycle = (wk_cycle + 50) / 100;
|
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| 493 |
|
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| 494 | if (obj->ch == 2) {
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| 495 | wk_last_cycle = PWMPWCYR_2 & 0x03ff;
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| 496 | PWMPWCR_2_BYTE_L = 0xc0 | wk_cks;
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| 497 | PWMPWCYR_2 = (uint16_t)wk_cycle;
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| 498 |
|
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| 499 | // Set duty again
|
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| 500 | set_duty_again(&PWMPWBFR_2A, wk_last_cycle, wk_cycle);
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| 501 | set_duty_again(&PWMPWBFR_2C, wk_last_cycle, wk_cycle);
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| 502 | set_duty_again(&PWMPWBFR_2E, wk_last_cycle, wk_cycle);
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| 503 | set_duty_again(&PWMPWBFR_2G, wk_last_cycle, wk_cycle);
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| 504 |
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| 505 | // Counter Start
|
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| 506 | PWMPWCR_2_BYTE_L |= 0x08;
|
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| 507 |
|
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| 508 | // Save for future use
|
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| 509 | period_ch2 = us;
|
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| 510 | } else {
|
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| 511 | wk_last_cycle = PWMPWCYR_1 & 0x03ff;
|
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| 512 | PWMPWCR_1_BYTE_L = 0xc0 | wk_cks;
|
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| 513 | PWMPWCYR_1 = (uint16_t)wk_cycle;
|
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| 514 |
|
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| 515 | // Set duty again
|
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| 516 | set_duty_again(&PWMPWBFR_1A, wk_last_cycle, wk_cycle);
|
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| 517 | set_duty_again(&PWMPWBFR_1C, wk_last_cycle, wk_cycle);
|
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| 518 | set_duty_again(&PWMPWBFR_1E, wk_last_cycle, wk_cycle);
|
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| 519 | set_duty_again(&PWMPWBFR_1G, wk_last_cycle, wk_cycle);
|
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| 520 |
|
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| 521 | // Counter Start
|
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| 522 | PWMPWCR_1_BYTE_L |= 0x08;
|
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| 523 |
|
---|
| 524 | // Save for future use
|
---|
| 525 | period_ch1 = us;
|
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| 526 | }
|
---|
| 527 | }
|
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| 528 | }
|
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| 529 |
|
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| 530 | void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
|
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| 531 | pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
|
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| 532 | }
|
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| 533 |
|
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| 534 | void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
|
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| 535 | pwmout_pulsewidth_us(obj, ms * 1000);
|
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| 536 | }
|
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| 537 |
|
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| 538 | void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
|
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| 539 | float value = 0;
|
---|
| 540 |
|
---|
| 541 | if (obj->pwm >= MTU2_PWM_OFFSET) {
|
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| 542 | /* PWM by MTU2 */
|
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| 543 | if (mtu2_period_ch[obj->ch] != 0) {
|
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| 544 | value = (float)us / (float)mtu2_period_ch[obj->ch];
|
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| 545 | }
|
---|
| 546 | } else {
|
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| 547 | /* PWM */
|
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| 548 | if (obj->ch == 2) {
|
---|
| 549 | if (period_ch2 != 0) {
|
---|
| 550 | value = (float)us / (float)period_ch2;
|
---|
| 551 | }
|
---|
| 552 | } else {
|
---|
| 553 | if (period_ch1 != 0) {
|
---|
| 554 | value = (float)us / (float)period_ch1;
|
---|
| 555 | }
|
---|
| 556 | }
|
---|
| 557 | }
|
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| 558 | pwmout_write(obj, value);
|
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| 559 | }
|
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