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Merged in kfazz/nuttx/kinetis_pwm (pull request #50)

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kinetis pwm support
This commit is contained in:
Gregory Nutt 2016-06-10 14:54:19 -06:00
commit 525557c098
9 changed files with 1392 additions and 3 deletions
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63
arch/arm/src/kinetis/Kconfig
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@ -383,6 +383,69 @@ config KINETIS_PIT
endmenu
config KINETIS_FTM0_PWM
bool "FTM0 PWM"
default n
depends on KINETIS_FTM0
---help---
Reserve timer 0 for use by PWM
Timer devices may be used for different purposes. One special purpose is
to generate modulated outputs for such things as motor control. If KINETIS_FTM0
is defined then THIS following may also be defined to indicate that
the timer is intended to be used for pulsed output modulation.
config KINETIS_FTM0_CHANNEL
int "FTM0 PWM Output Channel"
default 0
range 0 7
depends on KINETIS_FTM0_PWM
---help---
If FTM0 is enabled for PWM usage, you also need specifies the timer output
channel {0,..,7}
config KINETIS_FTM1_PWM
bool "FTM1 PWM"
default n
depends on KINETIS_FTM1
---help---
Reserve timer 1 for use by PWM
Timer devices may be used for different purposes. One special purpose is
to generate modulated outputs for such things as motor control. If KINETIS_FTM1
is defined then THIS following may also be defined to indicate that
the timer is intended to be used for pulsed output modulation.
config KINETIS_FTM1_CHANNEL
int "FTM1 PWM Output Channel"
default 0
range 0 1
depends on KINETIS_FTM1_PWM
---help---
If FTM1 is enabled for PWM usage, you also need specifies the timer output
channel {0,..,1}
config KINETIS_FTM2_PWM
bool "FTM2 PWM"
default n
depends on KINETIS_FTM2
---help---
Reserve timer 2 for use by PWM
Timer devices may be used for different purposes. One special purpose is
to generate modulated outputs for such things as motor control. If KINETIS_FTM2
is defined then THIS following may also be defined to indicate that
the timer is intended to be used for pulsed output modulation.
config KINETIS_FTM2_CHANNEL
int "FTM2 PWM Output Channel"
default 0
range 0 1
depends on KINETIS_FTM2_PWM
---help---
If FTM2 is enabled for PWM usage, you also need specifies the timer output
channel {0,..,1}
comment "Kinetis GPIO Interrupt Configuration"
config GPIO_IRQ

6
arch/arm/src/kinetis/Make.defs
View File

@ -108,7 +108,7 @@ CHIP_CSRCS += kinetis_pinirq.c
endif
ifeq ($(CONFIG_DEBUG_GPIO),y)
CHIP_CSRCS += kinetis_pindbg.c
CHIP_CSRCS += kinetis_pindump.c
endif
ifeq ($(CONFIG_KINETIS_SDHC),y)
@ -127,6 +127,10 @@ ifeq ($(CONFIG_KINETIS_DMA),y)
CHIP_CSRCS += kinetis_dma.c kinetis_pindma.c
endif
ifeq ($(CONFIG_PWM),y)
CHIP_CSRCS += kinetis_pwm.c
endif
ifeq ($(CONFIG_NET),y)
ifeq ($(CONFIG_KINETIS_ENET),y)
CHIP_CSRCS += kinetis_enet.c

2
arch/arm/src/kinetis/kinetis.h
View File

@ -567,7 +567,7 @@ void kinetis_pindmadisable(uint32_t pinset);
************************************************************************************/
#ifdef CONFIG_DEBUG_GPIO
int kinetis_pindump(uint32_t pinset, const char *msg);
void kinetis_pindump(uint32_t pinset, const char *msg);
#else
# define kinetis_pindump(p,m)
#endif

135
arch/arm/src/kinetis/kinetis_pindump.c Normal file
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@ -0,0 +1,135 @@
/****************************************************************************
* arch/arm/src/kinetis/kinetis_pindump.c
*
* Copyright (C) 2013, 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <debug.h>
#include <nuttx/irq.h>
#include "up_arch.h"
#include "kinetis.h"
#include "kinetis_gpio.h"
#include "kinetis_port.h"
#ifdef CONFIG_DEBUG_GPIO
/****************************************************************************
* Private Data
****************************************************************************/
/* Port letters for prettier debug output */
static const char g_portchar[KINETIS_NPORTS] =
{
#if KINETIS_NPORTS > 9
# error "Additional support required for this number of GPIOs"
#elif KINETIS_NPORTS > 8
'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H', 'I'
#elif KINETIS_NPORTS > 7
'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H'
#elif KINETIS_NPORTS > 6
'A', 'B', 'C', 'D', 'E', 'F', 'G'
#elif KINETIS_NPORTS > 5
'A', 'B', 'C', 'D', 'E', 'F'
#elif KINETIS_NPORTS > 4
'A', 'B', 'C', 'D', 'E'
#elif KINETIS_NPORTS > 3
'A', 'B', 'C', 'D'
#elif KINETIS_NPORTS > 2
'A', 'B', 'C'
#elif KINETIS_NPORTS > 1
'A', 'B'
#elif KINETIS_NPORTS > 0
'A'
#else
# error "Bad number of GPIOs"
#endif
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Function: kinetis_pindump
*
* Description:
* Dump all GPIO registers associated with the provided pin description
* along with a descriptive messasge.
*
****************************************************************************/
void kinetis_pindump(uint32_t pinset, const char *msg)
{
irqstate_t flags;
uintptr_t base;
int port;
/* Decode the port and pin. Use the port number to get the GPIO base
* address.
*/
port = (pinset & _PIN_PORT_MASK) >> _PIN_PORT_SHIFT;
DEBUGASSERT((unsigned)port < KINETIS_NPORTS);
base = KINETIS_GPIO_BASE(port);
/* The following requires exclusive access to the GPIO registers */
flags = enter_critical_section();
lldbg("GPIO%c pinset: %08x base: %08x -- %s\n",
g_portchar[port], pinset, base, msg);
lldbg(" PDOR: %08x PDIR: %08x PDDR: %08x\n",
getreg32(base + KINETIS_GPIO_PDOR_OFFSET),
getreg32(base + KINETIS_GPIO_PDIR_OFFSET),
getreg32(base + KINETIS_GPIO_PDDR_OFFSET));
leave_critical_section(flags);
}
#endif /* CONFIG_DEBUG_GPIO */

804
arch/arm/src/kinetis/kinetis_pwm.c Normal file
View File

@ -0,0 +1,804 @@
/****************************************************************************
* arch/arm/src/kinetis/kinetis_pwm.c
*
* Copyright (C) 2013, 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Alan Carvalho de Assis <acassis@gmail.com>
* Ken Fazzone <kfazz01@gmail.com>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdio.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/arch.h>
#include <nuttx/pwm.h>
#include <arch/board/board.h>
#include "up_internal.h"
#include "up_arch.h"
#include "chip.h"
#include "kinetis.h"
#include "kinetis_pwm.h"
#include "kinetis_gpio.h"
#include "kinetis_ftm.h"
#include "kinetis_sim.h"
/* This module then only compiles if there is at least one enabled timer
* intended for use with the PWM upper half driver.
*/
#if defined(CONFIG_KINETIS_FTM0_PWM) || defined(CONFIG_KINETIS_FTM1_PWM) || \
defined(CONFIG_KINETIS_FTM2_PWM)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* PWM/Timer Definitions ****************************************************/
/* Debug ********************************************************************/
/* Non-standard debug that may be enabled just for testing PWM */
#ifndef CONFIG_DEBUG
# undef CONFIG_DEBUG_PWM
#endif
#ifdef CONFIG_DEBUG_PWM
# define pwmdbg dbg
# define pwmlldbg lldbg
# ifdef CONFIG_DEBUG_VERBOSE
# define pwmvdbg vdbg
# define pwmllvdbg llvdbg
# define pwm_dumpgpio(p,m) kinetis_pindump(p,m)
# else
# define pwmlldbg(x...)
# define pwmllvdbg(x...)
# define pwm_dumpgpio(p,m)
# endif
#else
# define pwmdbg(x...)
# define pwmlldbg(x...)
# define pwmvdbg(x...)
# define pwmllvdbg(x...)
# define pwm_dumpgpio(p,m)
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/* This structure represents the state of one PWM timer */
struct kinetis_pwmtimer_s
{
FAR const struct pwm_ops_s *ops; /* PWM operations */
uint8_t tpmid; /* Timer/PWM Module ID {0,..,2} */
uint8_t channel; /* Timer/PWM Module channel: {0,..5} */
uint32_t base; /* The base address of the timer */
uint32_t pincfg; /* Output pin configuration */
uint32_t pclk; /* The frequency of the peripheral clock */
};
/****************************************************************************
* Static Function Prototypes
****************************************************************************/
/* Register access */
static uint32_t pwm_getreg(struct kinetis_pwmtimer_s *priv, int offset);
static void pwm_putreg(struct kinetis_pwmtimer_s *priv, int offset, uint32_t value);
#if defined(CONFIG_DEBUG_PWM) && defined(CONFIG_DEBUG_VERBOSE)
static void pwm_dumpregs(struct kinetis_pwmtimer_s *priv, FAR const char *msg);
#else
# define pwm_dumpregs(priv,msg)
#endif
/* Timer management */
static int pwm_timer(FAR struct kinetis_pwmtimer_s *priv,
FAR const struct pwm_info_s *info);
/* PWM driver methods */
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev);
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev);
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info);
static int pwm_stop(FAR struct pwm_lowerhalf_s *dev);
static int pwm_ioctl(FAR struct pwm_lowerhalf_s *dev,
int cmd, unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
/* This is the list of lower half PWM driver methods used by the upper half driver */
static const struct pwm_ops_s g_pwmops =
{
.setup = pwm_setup,
.shutdown = pwm_shutdown,
.start = pwm_start,
.stop = pwm_stop,
.ioctl = pwm_ioctl,
};
#ifdef CONFIG_KINETIS_FTM0_PWM
static struct kinetis_pwmtimer_s g_pwm0dev =
{
.ops = &g_pwmops,
.tpmid = 0,
.channel = CONFIG_KINETIS_FTM0_CHANNEL,
.base = KINETIS_FTM0_BASE,
.pincfg = PWM_FTM0_PINCFG,
.pclk = BOARD_CORECLK_FREQ,
};
#endif
#ifdef CONFIG_KINETIS_FTM1_PWM
static struct kinetis_pwmtimer_s g_pwm1dev =
{
.ops = &g_pwmops,
.tpmid = 1,
.channel = CONFIG_KINETIS_FTM1_CHANNEL,
.base = KINETIS_FTM1_BASE,
.pincfg = PWM_FTM1_PINCFG,
.pclk = BOARD_CORECLK_FREQ,
};
#endif
#ifdef CONFIG_KINETIS_FTM2_PWM
static struct kinetis_pwmtimer_s g_pwm2dev =
{
.ops = &g_pwmops,
.tpmid = 2,
.channel = CONFIG_KINETIS_FTM2_CHANNEL,
.base = KINETIS_FTM2_BASE,
.pincfg = PWM_FTM2_PINCFG,
.pclk = BOARD_CORECLK_FREQ,
};
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: pwm_getreg
*
* Description:
* Read the value of an PWM timer register.
*
* Input Parameters:
* priv - A reference to the PWM block status
* offset - The offset to the register to read
*
* Returned Value:
* The current contents of the specified register
*
****************************************************************************/
static uint32_t pwm_getreg(struct kinetis_pwmtimer_s *priv, int offset)
{
return getreg32(priv->base + offset);
}
/****************************************************************************
* Name: pwm_putreg
*
* Description:
* Read the value of an PWM timer register.
*
* Input Parameters:
* priv - A reference to the PWM block status
* offset - The offset to the register to read
*
* Returned Value:
* None
*
****************************************************************************/
static void pwm_putreg(struct kinetis_pwmtimer_s *priv, int offset, uint32_t value)
{
putreg32(value, priv->base + offset);
}
/****************************************************************************
* Name: pwm_dumpregs
*
* Description:
* Dump all timer registers.
*
* Input parameters:
* priv - A reference to the PWM block status
*
* Returned Value:
* None
*
****************************************************************************/
#if defined(CONFIG_DEBUG_PWM) && defined(CONFIG_DEBUG_VERBOSE)
static void pwm_dumpregs(struct kinetis_pwmtimer_s *priv, FAR const char *msg)
{
int nchannels = (priv->tpmid == 0) ? 8 : 2;
pwmvdbg("%s:\n", msg);
pwmvdbg(" FTM%d_SC: %04x FTM%d_CNT: %04x FTM%d_MOD: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_CNT_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_MOD_OFFSET));
pwmvdbg(" FTM%d_STATUS: %04x FTM%d_CONF: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_STATUS_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_CONF_OFFSET));
pwmvdbg(" FTM%d_C0SC: %04x FTM%d_C0V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C0SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C0V_OFFSET));
pwmvdbg(" FTM%d_C1SC: %04x FTM%d_C1V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C1SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C1V_OFFSET));
if (nchannels >= 3)
{
pwmvdbg(" FTM%d_C2SC: %04x FTM%d_C2V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C2SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C2V_OFFSET));
}
if (nchannels >= 4)
{
pwmvdbg(" FTM%d_C3SC: %04x FTM%d_C3V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C3SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C3V_OFFSET));
}
if (nchannels >= 5)
{
pwmvdbg(" FTM%d_C4SC: %04x FTM%d_C4V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C4SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C4V_OFFSET));
}
if (nchannels >= 6)
{
pwmvdbg(" FTM%d_C5SC: %04x FTM%d_C5V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C5SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C5V_OFFSET));
}
if (nchannels >= 7)
{
pwmvdbg(" FTM%d_C6SC: %04x FTM%d_C6V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C6SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C6V_OFFSET));
}
if (nchannels >= 8)
{
pwmvdbg(" FTM%d_C7SC: %04x FTM%d_C7V: %04x\n",
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C7SC_OFFSET),
priv->tpmid,
pwm_getreg(priv, KINETIS_FTM_C7V_OFFSET));
}
}
#endif
/****************************************************************************
* Name: pwm_timer
*
* Description:
* (Re-)initialize the timer resources and start the pulsed output
*
* Input parameters:
* priv - A reference to the lower half PWM driver state structure
* info - A reference to the characteristics of the pulsed output
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_timer(FAR struct kinetis_pwmtimer_s *priv,
FAR const struct pwm_info_s *info)
{
/* Calculated values */
uint32_t prescaler;
uint32_t tpmclk;
uint32_t modulo;
uint32_t regval;
uint32_t cv;
uint8_t i;
static const uint8_t presc_values[8] = {1, 2, 4, 8, 16, 32, 64, 128};
/* Register contents */
DEBUGASSERT(priv != NULL && info != NULL);
pwmvdbg("FTM%d channel: %d frequency: %d duty: %08x\n",
priv->tpmid, priv->channel, info->frequency, info->duty);
DEBUGASSERT(info->frequency > 0 && info->duty > 0 &&
info->duty < uitoub16(100));
/* Calculate optimal values for the timer prescaler and for the timer modulo
* register. If' frequency' is the desired frequency, then
*
* modulo = tpmclk / frequency
* tpmclk = pclk / presc
*
* Or,
*
* modulo = pclk / presc / frequency
*
* There are many solutions to do this, but the best solution will be the
* one that has the largest modulo value and the smallest prescaler value.
* That is the solution that should give us the most accuracy in the timer
* control. Subject to:
*
* 1 <= presc <= 128 (need to be 1, 2, 4, 8, 16, 32, 64, 128)
* 1 <= modulo <= 65535
*
* So presc = pclk / 65535 / frequency would be optimal.
*
* Example:
*
* pclk = 24 MHz
* frequency = 100 Hz
*
* prescaler = 24,000,000 / 65,535 / 100
* = 3.6 (or 4 -- taking the ceiling always)
* timclk = 24,000,000 / 4
* = 6,000,000
* modulo = 6,000,000 / 100
* = 60,000
*/
prescaler = (priv->pclk / info->frequency + 65534) / 65535;
for (i = 0; i < 7; i++)
{
if (prescaler <= presc_values[i])
{
break;
}
}
prescaler = i;
tpmclk = priv->pclk / presc_values[prescaler];
modulo = tpmclk / info->frequency;
if (modulo < 1)
{
modulo = 1;
}
else if (modulo > 65535)
{
modulo = 65535;
}
/* Duty cycle:
*
* duty cycle = cv / modulo (fractional value)
*/
cv = b16toi(info->duty * modulo + b16HALF);
pwmvdbg("FTM%d PCLK: %d frequency: %d FTMCLK: %d prescaler: %d modulo: %d c0v: %d\n",
priv->tpmid, priv->pclk, info->frequency, tpmclk,
presc_values[prescaler], modulo, cv);
/* Disable FTM and reset CNT before writing MOD and PS */
pwm_putreg(priv, KINETIS_FTM_SC_OFFSET, FTM_SC_CLKS_NONE);
pwm_putreg(priv, KINETIS_FTM_CNT_OFFSET, 0);
/* Set the modulo value */
pwm_putreg(priv, KINETIS_FTM_MOD_OFFSET, (uint16_t)modulo);
/* Set the duty cycle for channel specific */
switch (priv->channel)
{
case 0: /* PWM Mode configuration: Channel 0 */
{
pwm_putreg(priv, KINETIS_FTM_C0SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C0V_OFFSET, (uint16_t) cv);
}
break;
case 1: /* PWM Mode configuration: Channel 1 */
{
pwm_putreg(priv, KINETIS_FTM_C1SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C1V_OFFSET, (uint16_t) cv);
}
break;
case 2: /* PWM Mode configuration: Channel 2 */
{
pwm_putreg(priv, KINETIS_FTM_C2SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C2V_OFFSET, (uint16_t) cv);
}
break;
case 3: /* PWM Mode configuration: Channel 3 */
{
pwm_putreg(priv, KINETIS_FTM_C3SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C3V_OFFSET, (uint16_t) cv);
}
break;
case 4: /* PWM Mode configuration: Channel 4 */
{
pwm_putreg(priv, KINETIS_FTM_C4SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C4V_OFFSET, (uint16_t) cv);
}
break;
case 5: /* PWM Mode configuration: Channel 5 */
{
pwm_putreg(priv, KINETIS_FTM_C5SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C5V_OFFSET, (uint16_t) cv);
}
break;
case 6: /* PWM Mode configuration: Channel 6 */
{
pwm_putreg(priv, KINETIS_FTM_C6SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C6V_OFFSET, (uint16_t) cv);
}
break;
case 7: /* PWM Mode configuration: Channel 7 */
{
pwm_putreg(priv, KINETIS_FTM_C7SC_OFFSET, FTM_CSC_MSB | FTM_CSC_ELSB);
pwm_putreg(priv, KINETIS_FTM_C7V_OFFSET, (uint16_t) cv);
}
break;
default:
pwmdbg("No such channel: %d\n", priv->channel);
return -EINVAL;
}
/* Set prescaler and enable clock */
regval = pwm_getreg(priv, KINETIS_FTM_SC_OFFSET);
regval &= ~(FTM_SC_PS_MASK);
regval &= ~(FTM_SC_CLKS_MASK);
regval |= prescaler | FTM_SC_CLKS_SYSCLK;
pwm_putreg(priv, KINETIS_FTM_SC_OFFSET, (uint16_t)regval);
pwm_dumpregs(priv, "After starting");
return OK;
}
/****************************************************************************
* Name: pwm_setup
*
* Description:
* This method is called when the driver is opened. The lower half driver
* should configure and initialize the device so that it is ready for use.
* It should not, however, output pulses until the start method is called.
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
* Assumptions:
* AHB1 or 2 clocking for the GPIOs and timer has already been configured
* by the RCC logic at power up.
*
****************************************************************************/
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev)
{
uint32_t regval;
FAR struct kinetis_pwmtimer_s *priv = (FAR struct kinetis_pwmtimer_s *)dev;
/* Enable access to FTM modules */
regval = getreg32(KINETIS_SIM_SCGC6);
regval |= SIM_SCGC6_FTM0 | SIM_SCGC6_FTM1;
putreg32(regval, KINETIS_SIM_SCGC6);
regval = getreg32(KINETIS_SIM_SCGC3);
regval |= SIM_SCGC3_FTM2;
putreg32(regval, KINETIS_SIM_SCGC3);
pwmvdbg("FTM%d pincfg: %08x\n", priv->tpmid, priv->pincfg);
pwm_dumpregs(priv, "Initially");
/* Configure the PWM output pin, but do not start the timer yet */
kinetis_pinconfig(priv->pincfg);
pwm_dumpgpio(priv->pincfg, "PWM setup");
return OK;
}
/****************************************************************************
* Name: pwm_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
* stop pulsed output, free any resources, disable the timer hardware, and
* put the system into the lowest possible power usage state
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct kinetis_pwmtimer_s *priv = (FAR struct kinetis_pwmtimer_s *)dev;
uint32_t pincfg;
pwmvdbg("FTM%d pincfg: %08x\n", priv->tpmid, priv->pincfg);
/* Make sure that the output has been stopped */
pwm_stop(dev);
/* Then put the GPIO pin back to the default state */
pincfg = (priv->pincfg & ~(_PIN_MODE_MASK));
pincfg |= GPIO_INPUT;
kinetis_pinconfig(pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_start
*
* Description:
* (Re-)initialize the timer resources and start the pulsed output
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
* info - A reference to the characteristics of the pulsed output
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info)
{
FAR struct kinetis_pwmtimer_s *priv = (FAR struct kinetis_pwmtimer_s *)dev;
return pwm_timer(priv, info);
}
/****************************************************************************
* Name: pwm_stop
*
* Description:
* Stop the pulsed output and reset the timer resources
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
* Assumptions:
* This function is called to stop the pulsed output at anytime. This
* method is also called from the timer interrupt handler when a repetition
* count expires... automatically stopping the timer.
*
****************************************************************************/
static int pwm_stop(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct kinetis_pwmtimer_s *priv = (FAR struct kinetis_pwmtimer_s *)dev;
irqstate_t flags;
pwmvdbg("FTM%d\n", priv->tpmid);
/* Disable interrupts momentary to stop any ongoing timer processing and
* to prevent any concurrent access to the reset register.
*/
flags = enter_critical_section();
/* Disable further interrupts and stop the timer */
pwm_putreg(priv, KINETIS_FTM_SC_OFFSET, FTM_SC_CLKS_NONE);
pwm_putreg(priv, KINETIS_FTM_CNT_OFFSET, 0);
/* Determine which timer channel to clear */
switch (priv->channel)
{
case 0:
pwm_putreg(priv, KINETIS_FTM_C0V_OFFSET, 0);
break;
case 1:
pwm_putreg(priv, KINETIS_FTM_C1V_OFFSET, 0);
break;
case 2:
pwm_putreg(priv, KINETIS_FTM_C2V_OFFSET, 0);
break;
case 3:
pwm_putreg(priv, KINETIS_FTM_C3V_OFFSET, 0);
break;
case 4:
pwm_putreg(priv, KINETIS_FTM_C4V_OFFSET, 0);
break;
case 5:
pwm_putreg(priv, KINETIS_FTM_C5V_OFFSET, 0);
break;
case 6:
pwm_putreg(priv, KINETIS_FTM_C6V_OFFSET, 0);
break;
case 7:
pwm_putreg(priv, KINETIS_FTM_C7V_OFFSET, 0);
break;
default:
pwmdbg("No such channel: %d\n", priv->channel);
return -EINVAL;
}
leave_critical_section(flags);
pwm_dumpregs(priv, "After stop");
return OK;
}
/****************************************************************************
* Name: pwm_ioctl
*
* Description:
* Lower-half logic may support platform-specific ioctl commands
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
* cmd - The ioctl command
* arg - The argument accompanying the ioctl command
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_ioctl(FAR struct pwm_lowerhalf_s *dev, int cmd, unsigned long arg)
{
#ifdef CONFIG_DEBUG_PWM
FAR struct kinetis_pwmtimer_s *priv = (FAR struct kinetis_pwmtimer_s *)dev;
/* There are no platform-specific ioctl commands */
pwmvdbg("FTM%d\n", priv->tpmid);
#endif
return -ENOTTY;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: kinetis_pwminitialize
*
* Description:
* Initialize one timer for use with the upper_level PWM driver.
*
* Input Parameters:
* timer - A number identifying the timer use.
*
* Returned Value:
* On success, a pointer to the kinetis lower half PWM driver is returned.
* NULL is returned on any failure.
*
****************************************************************************/
FAR struct pwm_lowerhalf_s *kinetis_pwminitialize(int timer)
{
FAR struct kinetis_pwmtimer_s *lower;
pwmvdbg("FTM%d\n", timer);
switch (timer)
{
#ifdef CONFIG_KINETIS_FTM0_PWM
case 0:
lower = &g_pwm0dev;
break;
#endif
#ifdef CONFIG_KINETIS_FTM1_PWM
case 1:
lower = &g_pwm1dev;
break;
#endif
#ifdef CONFIG_KINETIS_FTM2_PWM
case 2:
lower = &g_pwm2dev;
break;
#endif
default:
pwmdbg("No such timer configured\n");
return NULL;
}
return (FAR struct pwm_lowerhalf_s *)lower;
}
#endif /* CONFIG_KINETIS_FTMn_PWM, n = 0,...,2 */

197
arch/arm/src/kinetis/kinetis_pwm.h Normal file
View File

@ -0,0 +1,197 @@
/************************************************************************************
* arch/arm/src/kinetis/kinetis_pwm.h
*
* Copyright (C) 2013, 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Alan Carvalho de Assis <acassis@gmail.com>
* Ken Fazzone <kfazz01@gmail.com>
*
* 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 NuttX 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.
*
************************************************************************************/
#ifndef __ARCH_ARM_SRC_KINETIS_KINETIS_PWM_H
#define __ARCH_ARM_SRC_KINETIS_KINETIS_PWM_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include "chip.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
/* Timer devices may be used for different purposes. One special purpose is
* to generate modulated outputs for such things as motor control. If CONFIG_KINETIS_FTMn
* is defined then the CONFIG_KINETIS_FTMn_PWM must also be defined to indicate that
* timer "n" is intended to be used for pulsed output signal generation.
*/
#ifndef CONFIG_KINETIS_FTM0
# undef CONFIG_KINETIS_FTM0_PWM
#endif
#ifndef CONFIG_KINETIS_FTM1
# undef CONFIG_KINETIS_FTM1_PWM
#endif
#ifndef CONFIG_KINETIS_FTM2
# undef CONFIG_KINETIS_FTM2_PWM
#endif
/* Check if PWM support for any channel is enabled. */
#if defined(CONFIG_KINETIS_FTM0_PWM) || defined(CONFIG_KINETIS_FTM1_PWM) || \
defined(CONFIG_KINETIS_FTM2_PWM)
#include <arch/board/board.h>
#include "kinetis_pinmux.h"
/* For each timer that is enabled for PWM usage, we need the following additional
* configuration settings:
*
* CONFIG_KINETIS_FTMx_CHANNEL - Specifies the timer output channel {1,..,4}
* PWM_FTMx_CHn - One of the values defined in kinetis*_pinmap.h. In the case
* where there are multiple pin selections, the correct setting must be provided
* in the arch/board/board.h file.
*/
#ifdef CONFIG_KINETIS_FTM0_PWM
# if !defined(CONFIG_KINETIS_FTM0_CHANNEL)
# error "CONFIG_KINETIS_FTM0_CHANNEL must be provided"
# elif CONFIG_KINETIS_FTM0_CHANNEL == 0
# define PWM_FTM0_PINCFG GPIO_FTM0_CH0OUT
# elif CONFIG_KINETIS_FTM0_CHANNEL == 1
# define PWM_FTM0_PINCFG GPIO_FTM0_CH1OUT
# elif CONFIG_KINETIS_FTM0_CHANNEL == 2
# define PWM_FTM0_PINCFG GPIO_FTM0_CH2OUT
# elif CONFIG_KINETIS_FTM0_CHANNEL == 3
# define PWM_FTM0_PINCFG GPIO_FTM0_CH3OUT
# elif CONFIG_KINETIS_FTM0_CHANNEL == 4
# define PWM_FTM0_PINCFG GPIO_FTM0_CH4OUT
# elif CONFIG_KINETIS_FTM0_CHANNEL == 5
# define PWM_FTM0_PINCFG GPIO_FTM0_CH5OUT
# elif CONFIG_KINETIS_FTM0_CHANNEL == 6
# define PWM_FTM0_PINCFG GPIO_FTM0_CH6OUT
# elif CONFIG_KINETIS_FTM0_CHANNEL == 7
# define PWM_FTM0_PINCFG GPIO_FTM0_CH7OUT
# else
# error "Unsupported value of CONFIG_KINETIS_FTM1_CHANNEL"
# endif
#endif
#ifdef CONFIG_KINETIS_FTM1_PWM
# if !defined(CONFIG_KINETIS_FTM1_CHANNEL)
# error "CONFIG_KINETIS_FTM1_CHANNEL must be provided"
# elif CONFIG_KINETIS_FTM1_CHANNEL == 0
# define PWM_FTM1_PINCFG GPIO_FTM1_CH0OUT
# elif CONFIG_KINETIS_FTM1_CHANNEL == 1
# define PWM_FTM1_PINCFG GPIO_FTM1_CH1OUT
# elif CONFIG_KINETIS_FTM1_CHANNEL == 2
# define PWM_FTM1_PINCFG GPIO_FTM1_CH2OUT
# elif CONFIG_KINETIS_FTM1_CHANNEL == 3
# define PWM_FTM1_PINCFG GPIO_FTM1_CH3OUT
# elif CONFIG_KINETIS_FTM1_CHANNEL == 4
# define PWM_FTM1_PINCFG GPIO_FTM1_CH4OUT
# elif CONFIG_KINETIS_FTM1_CHANNEL == 5
# define PWM_FTM1_PINCFG GPIO_FTM1_CH5OUT
# else
# error "Unsupported value of CONFIG_KINETIS_FTM2_CHANNEL"
# endif
#endif
#ifdef CONFIG_KINETIS_FTM2_PWM
# if !defined(CONFIG_KINETIS_FTM2_CHANNEL)
# error "CONFIG_KINETIS_FTM2_CHANNEL must be provided"
# elif CONFIG_KINETIS_FTM2_CHANNEL == 0
# define PWM_FTM2_PINCFG GPIO_FTM2_CH0OUT
# elif CONFIG_KINETIS_FTM2_CHANNEL == 1
# define PWM_FTM2_PINCFG GPIO_FTM2_CH1OUT
# elif CONFIG_KINETIS_FTM2_CHANNEL == 2
# define PWM_FTM2_PINCFG GPIO_FTM2_CH2OUT
# elif CONFIG_KINETIS_FTM2_CHANNEL == 3
# define PWM_FTM2_PINCFG GPIO_FTM2_CH3OUT
# elif CONFIG_KINETIS_FTM2_CHANNEL == 4
# define PWM_FTM2_PINCFG GPIO_FTM2_CH4OUT
# elif CONFIG_KINETIS_FTM2_CHANNEL == 5
# define PWM_FTM2_PINCFG GPIO_FTM2_CH5OUT
# else
# error "Unsupported value of CONFIG_KINETIS_FTM3_CHANNEL"
# endif
#endif
/************************************************************************************
* Public Types
************************************************************************************/
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: kinetis_pwminitialize
*
* Description:
* Initialize one timer for use with the upper_level PWM driver.
*
* Input Parameters:
* timer - A number identifying the timer use.
*
* Returned Value:
* On success, a pointer to the kinetis lower half PWM driver is returned.
* NULL is returned on any failure.
*
************************************************************************************/
FAR struct pwm_lowerhalf_s *kinetis_pwminitialize(int timer);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* CONFIG_KINETIS_FTMx_PWM */
#endif /* __ARCH_ARM_SRC_KINETIS_KINETIS_PWM_H */

22
configs/teensy-3.x/include/board.h
View File

@ -141,6 +141,28 @@
#define BOARD_FLEXBUS_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV3)
#define BOARD_FLASHCLK_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV4)
/* PWM Configuration */
/* FTM0 Channels */
#define GPIO_FTM0_CH0OUT PIN_FTM0_CH0_2 /* Pin 22: PTC1 */
#define GPIO_FTM0_CH1OUT PIN_FTM0_CH1_2 /* Pin 23: PTC2 */
#define GPIO_FTM0_CH2OUT PIN_FTM0_CH2_2 /* Pin 9: PTC3 */
#define GPIO_FTM0_CH3OUT PIN_FTM0_CH3 /* Pin 10: PTC4 */
#define GPIO_FTM0_CH4OUT PIN_FTM0_CH4 /* Pin 6: PTD4 */
#define GPIO_FTM0_CH5OUT PIN_FTM0_CH5_2 /* Pin 20: PTD5 */
#define GPIO_FTM0_CH6OUT PIN_FTM0_CH6_2 /* Pin 21: PTD6 */
#define GPIO_FTM0_CH7OUT PIN_FTM0_CH7_2 /* Pin 5: PTD7 */
/* FTM1 Channels */
#define GPIO_FTM1_CH0OUT PIN_FTM1_CH0_1 /* Pin 3: PTA12 */
#define GPIO_FTM1_CH1OUT PIN_FTM1_CH1_1 /* Pin 4: PTA13 */
/* FTM2 Channels */
#define GPIO_FTM2_CH0OUT PIN_FTM2_CH0 /* Pin 25: PTB18 */
#define GPIO_FTM2_CH1OUT PIN_FTM2_CH1 /* Pin 32: PTB19 */
/* LED definitions ******************************************************************/
/* A single LED is available driven by PTC5. The LED is grounded so bringing PTC5
* high will illuminate the LED.

6
configs/teensy-3.x/src/Makefile
View File

@ -1,7 +1,7 @@
############################################################################
# configs/teensy-3.x/src/Makefile
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Copyright (C) 2015,2016 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
@ -51,4 +51,8 @@ ifeq ($(CONFIG_LIB_BOARDCTL),y)
CSRCS += k20_appinit.c
endif
ifeq ($(CONFIG_PWM),y)
CSRCS += k20_pwm.c
endif
include $(TOPDIR)/configs/Board.mk

160
configs/teensy-3.x/src/k20_pwm.c Normal file
View File

@ -0,0 +1,160 @@
/************************************************************************************
* configs/teensy-3.x/src/k20_pwm.c
*
* Copyright (C) 2015,2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Alan Carvalho de Assis <acassis@gmail.com>
*
* 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 NuttX 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.
*
************************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/board.h>
#include <nuttx/pwm.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "kinetis_pwm.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration *******************************************************************/
/* PWM
*
* The Kinetis Freedom board provides a LED on GPIO.
*/
#ifdef CONFIG_PWM
extern struct pwm_lowerhalf_s *kinetis_pwminitialize(int timer);
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: board_pwm_setup
*
* Description:
* All Kinetis K20 architectures must provide the following interface to work with
* examples/pwm.
*
************************************************************************************/
int board_pwm_setup(void)
{
static bool initialized = false;
struct pwm_lowerhalf_s *pwm;
int ret;
/* Have we already initialized? */
if (!initialized)
{
/* Call kinetis_pwminitialize() to get an instance of the PWM interface */
#ifdef CONFIG_KINETIS_FTM0_PWM
pwm = kinetis_pwminitialize(0);
if (!pwm)
{
adbg("Failed to get the KL20 PWM lower half\n");
return -ENODEV;
}
/* Register the PWM driver at "/dev/pwm0" */
ret = pwm_register("/dev/pwm0", pwm);
if (ret < 0)
{
adbg("pwm_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
#endif
#ifdef CONFIG_KINETIS_FTM1_PWM
pwm = kinetis_pwminitialize(1);
if (!pwm)
{
adbg("Failed to get the KL20 PWM lower half\n");
return -ENODEV;
}
/* Register the PWM driver at "/dev/pwm1" */
ret = pwm_register("/dev/pwm1", pwm);
if (ret < 0)
{
adbg("pwm_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
#endif
#ifdef CONFIG_KINETIS_FTM2_PWM
pwm = kinetis_pwminitialize(2);
if (!pwm)
{
adbg("Failed to get the KL20 PWM lower half\n");
return -ENODEV;
}
/* Register the PWM driver at "/dev/pwm2" */
ret = pwm_register("/dev/pwm2", pwm);
if (ret < 0)
{
adbg("pwm_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
#endif
initialized = true;
}
return OK;
}
#endif /* CONFIG_PWM */