drv_pwm.c 10 KB

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  1. /*
  2. * Copyright (c) 2006-2018, RT-Thread Development Team
  3. *
  4. * SPDX-License-Identifier: Apache-2.0
  5. *
  6. * Change Logs:
  7. * Date Author Notes
  8. * 2019-04-28 tyustli first version
  9. *
  10. */
  11. #include <rtthread.h>
  12. #ifdef BSP_USING_PWM
  13. #if !defined(BSP_USING_PWM1_CH0) && !defined(BSP_USING_PWM1_CH1) && !defined(BSP_USING_PWM1_CH2) && !defined(BSP_USING_PWM1_CH3) && \
  14. !defined(BSP_USING_PWM2_CH0) && !defined(BSP_USING_PWM2_CH1) && !defined(BSP_USING_PWM2_CH2) && !defined(BSP_USING_PWM2_CH3) && \
  15. !defined(BSP_USING_PWM3_CH0) && !defined(BSP_USING_PWM3_CH1) && !defined(BSP_USING_PWM3_CH2) && !defined(BSP_USING_PWM3_CH3) && \
  16. !defined(BSP_USING_PWM4_CH0) && !defined(BSP_USING_PWM4_CH1) && !defined(BSP_USING_PWM4_CH2) && !defined(BSP_USING_PWM4_CH3)
  17. #error "Please define at least one BSP_USING_PWMx_CHx"
  18. #endif
  19. #define LOG_TAG "drv.pwm"
  20. #include <drv_log.h>
  21. #include <rtdevice.h>
  22. #include "fsl_pwm.h"
  23. #include "drv_pwm.h"
  24. #define DEFAULT_PRE 5
  25. #define DEFAULT_DUTY 50
  26. #define DEFAULT_FRE 1000
  27. #define PWM_SRC_CLK_FREQ CLOCK_GetFreq(kCLOCK_IpgClk)
  28. #define DEFAULT_COMPLEMENTARY_PAIR kPWM_PwmA
  29. #define DEFAULT_POLARITY kPWM_HighTrue
  30. static pwm_signal_param_t Pwm_Signal;
  31. static rt_err_t imxrt_drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg);
  32. static struct rt_pwm_ops imxrt_drv_ops =
  33. {
  34. .control = imxrt_drv_pwm_control
  35. };
  36. static rt_err_t imxrt_drv_pwm_enable(struct rt_device_pwm *device, struct rt_pwm_configuration *configuration, rt_bool_t enable)
  37. {
  38. PWM_Type *base;
  39. pwm_module_control_t pwm_module_control;
  40. base = (PWM_Type *)device->parent.user_data;
  41. pwm_module_control = (pwm_module_control_t)(1 << configuration->channel);
  42. if (!enable)
  43. {
  44. PWM_StopTimer(base, pwm_module_control);
  45. }
  46. else
  47. {
  48. PWM_StartTimer(base, pwm_module_control);
  49. }
  50. return RT_EOK;
  51. }
  52. static rt_err_t imxrt_drv_pwm_get(struct rt_device_pwm *device, struct rt_pwm_configuration *configuration)
  53. {
  54. uint8_t get_duty;
  55. uint16_t pulseCnt = 0, pwmHighPulse = 0;
  56. uint32_t get_frequence;
  57. uint32_t pwmClock;
  58. PWM_Type *base;
  59. pwm_submodule_t pwm_submodule;
  60. base = (PWM_Type *)device->parent.user_data;
  61. pwm_submodule = (pwm_submodule_t)configuration->channel;
  62. /* get frequence */
  63. get_frequence = base->SM[pwm_submodule].VAL1;
  64. pwmClock = (PWM_SRC_CLK_FREQ / (1U << ((base->SM[pwm_submodule].CTRL & PWM_CTRL_PRSC_MASK) >> PWM_CTRL_PRSC_SHIFT)));
  65. get_frequence = pwmClock / get_frequence;
  66. /* get dutycycle */
  67. pulseCnt = base->SM[pwm_submodule].VAL1;
  68. pwmHighPulse = pulseCnt - (base->SM[pwm_submodule].VAL2) * 2;
  69. get_duty = pwmHighPulse * 100 / pulseCnt;
  70. /* conversion */
  71. configuration->period = 1000000000 / get_frequence;
  72. configuration->pulse = get_duty * configuration->period / 100;
  73. return RT_EOK;
  74. }
  75. static rt_err_t imxrt_drv_pwm_set(struct rt_device_pwm *device, struct rt_pwm_configuration *configuration)
  76. {
  77. RT_ASSERT(configuration->period > 0);
  78. RT_ASSERT(configuration->pulse <= configuration->period);
  79. PWM_Type *base;
  80. pwm_submodule_t pwm_submodule;
  81. pwm_module_control_t pwm_module_control;
  82. uint32_t period = 0;
  83. uint8_t duty = 0;
  84. base = (PWM_Type *)device->parent.user_data;
  85. pwm_submodule = (pwm_submodule_t)configuration->channel;
  86. pwm_module_control = (pwm_module_control_t)(1 << configuration->channel);
  87. duty = configuration->pulse * 100 / configuration->period;
  88. Pwm_Signal.dutyCyclePercent = duty;
  89. period = (uint32_t)(1000000000 / configuration->period);
  90. PWM_SetupPwm(base, pwm_submodule, &Pwm_Signal, 1, kPWM_CenterAligned, period, PWM_SRC_CLK_FREQ);
  91. PWM_UpdatePwmDutycycle(base, pwm_submodule, DEFAULT_COMPLEMENTARY_PAIR, kPWM_CenterAligned, duty);
  92. PWM_SetPwmLdok(base, pwm_module_control, true);
  93. return RT_EOK;
  94. }
  95. static rt_err_t imxrt_drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg)
  96. {
  97. struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg;
  98. switch (cmd)
  99. {
  100. case PWM_CMD_ENABLE:
  101. return imxrt_drv_pwm_enable(device, configuration, RT_TRUE);
  102. case PWM_CMD_DISABLE:
  103. return imxrt_drv_pwm_enable(device, configuration, RT_FALSE);
  104. case PWM_CMD_SET:
  105. return imxrt_drv_pwm_set(device, configuration);
  106. case PWM_CMD_GET:
  107. return imxrt_drv_pwm_get(device, configuration);
  108. default:
  109. return RT_EINVAL;
  110. }
  111. }
  112. static rt_err_t imxrt_drv_pwm_init(PWM_Type *base, pwm_submodule_t pwm_submodule, uint16_t psc, uint32_t fre, uint8_t duty)
  113. {
  114. pwm_config_t PwmConfig;
  115. uint8_t fault_input;
  116. pwm_clock_prescale_t pwm_prescale = (pwm_clock_prescale_t)psc;
  117. fault_input = (uint8_t)pwm_submodule;
  118. PWM_GetDefaultConfig(&PwmConfig);
  119. PwmConfig.prescale = pwm_prescale;
  120. PwmConfig.reloadLogic = kPWM_ReloadPwmFullCycle;
  121. PwmConfig.pairOperation = kPWM_Independent;
  122. PwmConfig.enableDebugMode = true;
  123. if (PWM_Init(base, pwm_submodule, &PwmConfig) == kStatus_Fail)
  124. {
  125. LOG_E("init pwm failed \n");
  126. return RT_ERROR;
  127. }
  128. base->SM[fault_input].DISMAP[0] = 0x00;
  129. base->SM[fault_input].DISMAP[1] = 0x00;
  130. Pwm_Signal.pwmChannel = DEFAULT_COMPLEMENTARY_PAIR;
  131. Pwm_Signal.level = DEFAULT_POLARITY;
  132. Pwm_Signal.dutyCyclePercent = duty;
  133. PWM_SetupPwm(base, pwm_submodule, &Pwm_Signal, 1, kPWM_CenterAligned, fre, PWM_SRC_CLK_FREQ);
  134. PWM_SetPwmLdok(base, pwm_submodule, true);
  135. return RT_EOK;
  136. }
  137. #ifdef BSP_USING_PWM1
  138. static rt_err_t imxrt_pwm1_init(PWM_Type *base)
  139. {
  140. #ifdef BSP_USING_PWM1_CH0
  141. if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  142. {
  143. return RT_ERROR;
  144. }
  145. #endif /* BSP_USING_PWM1_CH0 */
  146. #ifdef BSP_USING_PWM1_CH1
  147. if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  148. {
  149. return RT_ERROR;
  150. }
  151. #endif /* BSP_USING_PWM1_CH1 */
  152. #ifdef BSP_USING_PWM1_CH2
  153. if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  154. {
  155. return RT_ERROR;
  156. }
  157. #endif /*BSP_USING_PWM1_CH2 */
  158. #ifdef BSP_USING_PWM1_CH3
  159. if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  160. {
  161. return RT_ERROR;
  162. }
  163. #endif /* BSP_USING_PWM1_CH3 */
  164. return RT_EOK;
  165. }
  166. #endif /* BSP_USING_PWM1 */
  167. #ifdef BSP_USING_PWM2
  168. static rt_err_t imxrt_pwm2_init(PWM_Type *base)
  169. {
  170. #ifdef BSP_USING_PWM2_CH0
  171. if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  172. {
  173. return RT_ERROR;
  174. }
  175. #endif /* BSP_USING_PWM2_CH0 */
  176. #ifdef BSP_USING_PWM2_CH1
  177. if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  178. {
  179. return RT_ERROR;
  180. }
  181. #endif /* BSP_USING_PWM2_CH1 */
  182. #ifdef BSP_USING_PWM2_CH2
  183. if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  184. {
  185. return RT_ERROR;
  186. }
  187. #endif /*BSP_USING_PWM2_CH2 */
  188. #ifdef BSP_USING_PWM2_CH3
  189. if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  190. {
  191. return RT_ERROR;
  192. }
  193. #endif /* BSP_USING_PWM2_CH3 */
  194. return RT_EOK;
  195. }
  196. #endif /* BSP_USING_PWM2 */
  197. #ifdef BSP_USING_PWM3
  198. static rt_err_t imxrt_pwm3_init(PWM_Type *base)
  199. {
  200. #ifdef BSP_USING_PWM3_CH0
  201. if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  202. {
  203. return RT_ERROR;
  204. }
  205. #endif /* BSP_USING_PWM3_CH0 */
  206. #ifdef BSP_USING_PWM3_CH1
  207. if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  208. {
  209. return RT_ERROR;
  210. }
  211. #endif /* BSP_USING_PWM3_CH1 */
  212. #ifdef BSP_USING_PWM3_CH2
  213. if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  214. {
  215. return RT_ERROR;
  216. }
  217. #endif /*BSP_USING_PWM3_CH2 */
  218. #ifdef BSP_USING_PWM3_CH3
  219. if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  220. {
  221. return RT_ERROR;
  222. }
  223. #endif /* BSP_USING_PWM3_CH3 */
  224. return RT_EOK;
  225. }
  226. #endif /* BSP_USING_PWM3 */
  227. #ifdef BSP_USING_PWM4
  228. static rt_err_t imxrt_pwm4_init(PWM_Type *base)
  229. {
  230. #ifdef BSP_USING_PWM4_CH0
  231. if (imxrt_drv_pwm_init(base, kPWM_Module_0, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  232. {
  233. return RT_ERROR;
  234. }
  235. #endif /* BSP_USING_PWM4_CH0 */
  236. #ifdef BSP_USING_PWM4_CH1
  237. if (imxrt_drv_pwm_init(base, kPWM_Module_1, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  238. {
  239. return RT_ERROR;
  240. }
  241. #endif /* BSP_USING_PWM4_CH1 */
  242. #ifdef BSP_USING_PWM4_CH2
  243. if (imxrt_drv_pwm_init(base, kPWM_Module_2, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  244. {
  245. return RT_ERROR;
  246. }
  247. #endif /*BSP_USING_PWM4_CH2 */
  248. #ifdef BSP_USING_PWM4_CH3
  249. if (imxrt_drv_pwm_init(base, kPWM_Module_3, DEFAULT_PRE, DEFAULT_FRE, DEFAULT_DUTY) != RT_EOK)
  250. {
  251. return RT_ERROR;
  252. }
  253. #endif /* BSP_USING_PWM4_CH3 */
  254. return RT_EOK;
  255. }
  256. #endif /* BSP_USING_PWM4 */
  257. int rt_hw_pwm_init(void)
  258. {
  259. rt_err_t ret = RT_EOK;
  260. #ifdef BSP_USING_PWM1
  261. static struct rt_device_pwm pwm1_device;
  262. if (imxrt_pwm1_init(PWM1) != RT_EOK)
  263. {
  264. LOG_E("init pwm1 failed\n");
  265. }
  266. ret = rt_device_pwm_register(&pwm1_device, "pwm1", &imxrt_drv_ops, PWM1);
  267. if (ret != RT_EOK)
  268. {
  269. LOG_E("%s register failed", "pwm1");
  270. }
  271. #endif /* BSP_USING_PWM1 */
  272. #ifdef BSP_USING_PWM2
  273. static struct rt_device_pwm pwm2_device;
  274. if (imxrt_pwm2_init(PWM2) != RT_EOK)
  275. {
  276. LOG_E("init pwm2 failed\n");
  277. }
  278. ret = rt_device_pwm_register(&pwm2_device, "pwm2", &imxrt_drv_ops, PWM2);
  279. if (ret != RT_EOK)
  280. {
  281. LOG_E("%s register failed", "pwm2");
  282. }
  283. #endif /* BSP_USING_PWM2 */
  284. #ifdef BSP_USING_PWM3
  285. static struct rt_device_pwm pwm3_device;
  286. if (imxrt_pwm3_init(PWM3) != RT_EOK)
  287. {
  288. LOG_E("init pwm3 failed\n");
  289. }
  290. ret = rt_device_pwm_register(&pwm3_device, "pwm3", &imxrt_drv_ops, PWM3);
  291. if (ret != RT_EOK)
  292. {
  293. LOG_E("%s register failed", "pwm3");
  294. }
  295. #endif /* BSP_USING_PWM3 */
  296. #ifdef BSP_USING_PWM4
  297. static struct rt_device_pwm pwm4_device;
  298. if (imxrt_pwm4_init(PWM4) != RT_EOK)
  299. {
  300. LOG_E("init pwm4 failed\n");
  301. }
  302. ret = rt_device_pwm_register(&pwm4_device, "pwm4", &imxrt_drv_ops, PWM4);
  303. if (ret != RT_EOK)
  304. {
  305. LOG_E("%s register failed", "pwm4");
  306. }
  307. #endif /* BSP_USING_PWM4 */
  308. return ret;
  309. }
  310. INIT_DEVICE_EXPORT(rt_hw_pwm_init);
  311. #endif /* BSP_USING_PWM */