Functions
static void	pwm_lld_serve_interrupt (PWMDriver *pwmp)

	OSAL_IRQ_HANDLER (KINETIS_FTM0_IRQ_VECTOR)
	FTM0 interrupt handler.

	OSAL_IRQ_HANDLER (KINETIS_FTM1_IRQ_VECTOR)
	FTM1 interrupt handler.

	OSAL_IRQ_HANDLER (KINETIS_FTM2_IRQ_VECTOR)
	FTM2 interrupt handler.

	OSAL_IRQ_HANDLER (KINETIS_FTM3_IRQ_VECTOR)
	FTM3 interrupt handler.

void	pwm_lld_init (void)
	Low level PWM driver initialization.

void	pwm_lld_start (PWMDriver *pwmp)
	Configures and activates the PWM peripheral.

void	pwm_lld_stop (PWMDriver *pwmp)
	Deactivates the PWM peripheral.

void	pwm_lld_enable_channel (PWMDriver *pwmp, pwmchannel_t channel, pwmcnt_t width)
	Enables a PWM channel.

void	pwm_lld_disable_channel (PWMDriver *pwmp, pwmchannel_t channel)
	Disables a PWM channel and its notification.

void	pwm_lld_enable_periodic_notification (PWMDriver *pwmp)
	Enables the periodic activation edge notification.

void	pwm_lld_disable_periodic_notification (PWMDriver *pwmp)
	Disables the periodic activation edge notification.

void	pwm_lld_enable_channel_notification (PWMDriver *pwmp, pwmchannel_t channel)
	Enables a channel de-activation edge notification.

void	pwm_lld_disable_channel_notification (PWMDriver *pwmp, pwmchannel_t channel)
	Disables a channel de-activation edge notification.

Variables
PWMDriver	PWMD1
	PWMD1 driver identifier.

PWMDriver	PWMD2
	PWMD2 driver identifier.

PWMDriver	PWMD3
	PWMD3 driver identifier.

PWMDriver	PWMD4
	PWMD4 driver identifier.

Detailed Description

Function Documentation

◆ OSAL_IRQ_HANDLER() [1/4]

OSAL_IRQ_HANDLER ( KINETIS_FTM0_IRQ_VECTOR )

FTM0 interrupt handler.

@isr

Definition at line 118 of file hal_pwm_lld.c.

                                          {
  OSAL_IRQ_PROLOGUE();
  pwm_lld_serve_interrupt(&PWMD1);
  OSAL_IRQ_EPILOGUE();
}

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◆ OSAL_IRQ_HANDLER() [2/4]

OSAL_IRQ_HANDLER ( KINETIS_FTM1_IRQ_VECTOR )

FTM1 interrupt handler.

@isr

Definition at line 131 of file hal_pwm_lld.c.

                                          {
 
  OSAL_IRQ_PROLOGUE();
  pwm_lld_serve_interrupt(&PWMD2);
  OSAL_IRQ_EPILOGUE();
}

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◆ OSAL_IRQ_HANDLER() [3/4]

OSAL_IRQ_HANDLER ( KINETIS_FTM2_IRQ_VECTOR )

FTM2 interrupt handler.

@isr

Definition at line 145 of file hal_pwm_lld.c.

                                          {
 
  OSAL_IRQ_PROLOGUE();
  pwm_lld_serve_interrupt(&PWMD3);
  OSAL_IRQ_EPILOGUE();
}

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◆ OSAL_IRQ_HANDLER() [4/4]

OSAL_IRQ_HANDLER ( KINETIS_FTM3_IRQ_VECTOR )

FTM3 interrupt handler.

@isr

Definition at line 159 of file hal_pwm_lld.c.

                                          {
 
  OSAL_IRQ_PROLOGUE();
  pwm_lld_serve_interrupt(&PWMD4);
  OSAL_IRQ_EPILOGUE();
}

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◆ pwm_lld_disable_channel()

void pwm_lld_disable_channel	(	PWMDriver *	pwmp,
		pwmchannel_t	channel
	)

Disables a PWM channel and its notification.

Precondition: The PWM unit must have been activated using pwmStart().

Postcondition: The channel is disabled and its output line returned to the idle state.

Note: The function has effect at the next cycle start.

Parameters

[in]	pwmp	pointer to a `PWMDriver` object
[in]	channel	PWM channel identifier (0...channels-1)

@notapi

Definition at line 404 of file hal_pwm_lld.c.

                                                                    {
 
  pwmp->ftm->CHANNEL[channel].CnSC = 0;
  pwmp->ftm->CHANNEL[channel].CnV = 0;
}

◆ pwm_lld_disable_channel_notification()

void pwm_lld_disable_channel_notification	(	PWMDriver *	pwmp,
		pwmchannel_t	channel
	)

Disables a channel de-activation edge notification.

Precondition: The PWM unit must have been activated using pwmStart().; The channel must have been activated using pwmEnableChannel().

Note: If the notification is already disabled then the call has no effect.

Parameters

[in]	pwmp	pointer to a `PWMDriver` object
[in]	channel	PWM channel identifier (0...channels-1)

@notapi

Definition at line 463 of file hal_pwm_lld.c.

                                                                {
  pwmp->ftm->CHANNEL[channel].CnSC &= ~FTM_CnSC_CHIEx;
}

◆ pwm_lld_disable_periodic_notification()

void pwm_lld_disable_periodic_notification ( PWMDriver * pwmp )

Disables the periodic activation edge notification.

Precondition: The PWM unit must have been activated using pwmStart().

Note: If the notification is already disabled then the call has no effect.

Parameters

[in] pwmp pointer to a PWMDriver object

@notapi

Definition at line 432 of file hal_pwm_lld.c.

                                                            {
  pwmp->ftm->SC &= ~FTM_SC_TOIEx;
}

◆ pwm_lld_enable_channel()

void pwm_lld_enable_channel	(	PWMDriver *	pwmp,
		pwmchannel_t	channel,
		pwmcnt_t	width
	)

Enables a PWM channel.

Precondition: The PWM unit must have been activated using pwmStart().

Postcondition: The channel is active using the specified configuration.

Note: The function has effect at the next cycle start.; Channel notification is not enabled.

Parameters

[in]	pwmp	pointer to a `PWMDriver` object
[in]	channel	PWM channel identifier (0...channels-1)
[in]	width	PWM pulse width as clock pulses number

@notapi

Definition at line 370 of file hal_pwm_lld.c.

                                            {
  uint32_t mode = FTM_CnSC_MSBx; /* Edge-aligned PWM mode.*/
 
  switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
  case PWM_OUTPUT_ACTIVE_HIGH:
    mode |= FTM_CnSC_ELSBx;
    break;
  case PWM_OUTPUT_ACTIVE_LOW:
    mode |= FTM_CnSC_ELSAx;
    break;
  }
 
  if (pwmp->ftm->CHANNEL[channel].CnSC & FTM_CnSC_CHIEx)
    mode |= FTM_CnSC_CHIEx;
 
  pwmp->ftm->CHANNEL[channel].CnSC = mode;
  pwmp->ftm->CHANNEL[channel].CnV = width;
  pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}

Referenced by portSetHardwareSchedulerTimer().

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◆ pwm_lld_enable_channel_notification()

void pwm_lld_enable_channel_notification	(	PWMDriver *	pwmp,
		pwmchannel_t	channel
	)

Enables a channel de-activation edge notification.

Precondition: The PWM unit must have been activated using pwmStart().; The channel must have been activated using pwmEnableChannel().

Note: If the notification is already enabled then the call has no effect.

Parameters

[in]	pwmp	pointer to a `PWMDriver` object
[in]	channel	PWM channel identifier (0...channels-1)

@notapi

Definition at line 447 of file hal_pwm_lld.c.

                                                               {
  pwmp->ftm->CHANNEL[channel].CnSC |= FTM_CnSC_CHIEx;
}

◆ pwm_lld_enable_periodic_notification()

void pwm_lld_enable_periodic_notification ( PWMDriver * pwmp )

Enables the periodic activation edge notification.

Precondition: The PWM unit must have been activated using pwmStart().

Note: If the notification is already enabled then the call has no effect.

Parameters

[in] pwmp pointer to a PWMDriver object

@notapi

Definition at line 419 of file hal_pwm_lld.c.

                                                           {
  pwmp->ftm->SC |= FTM_SC_TOIEx;
}

◆ pwm_lld_init()

void pwm_lld_init ( void )

Low level PWM driver initialization.

@notapi

Definition at line 176 of file hal_pwm_lld.c.

                        {
 
#if KINETIS_PWM_USE_FTM0
  pwmObjectInit(&PWMD1);
  PWMD1.channels = KINETIS_FTM0_CHANNELS;
  PWMD1.ftm = FTM0;
#endif
 
#if KINETIS_PWM_USE_FTM1
  pwmObjectInit(&PWMD2);
  PWMD2.channels = KINETIS_FTM1_CHANNELS;
  PWMD2.ftm = FTM1;
#endif
 
#if KINETIS_PWM_USE_FTM2
  pwmObjectInit(&PWMD3);
  PWMD3.channels = KINETIS_FTM2_CHANNELS;
  PWMD3.ftm = FTM2;
#endif
 
#if KINETIS_PWM_USE_FTM3
  pwmObjectInit(&PWMD4);
  PWMD4.channels = KINETIS_FTM3_CHANNELS;
  PWMD4.ftm = FTM3;
#endif
}

◆ pwm_lld_serve_interrupt()

static void pwm_lld_serve_interrupt ( PWMDriver * pwmp )

static

Definition at line 84 of file hal_pwm_lld.c.

                                                     {
  uint32_t sr;
 
  sr = pwmp->ftm->SC;
  pwmp->ftm->SC = sr&(~FTM_SC_TOFx);
 
  if (((sr & FTM_SC_TOFx) != 0) &&                          /* Timer Overflow */
      ((sr & FTM_SC_TOIEx) != 0) &&
      (pwmp->config->callback != NULL)) {
    pwmp->config->callback(pwmp);
  }
 
  uint8_t n=0;
  for(n=0;n<pwmp->channels;n++) {
    sr = pwmp->ftm->CHANNEL[n].CnSC;
    pwmp->ftm->CHANNEL[n].CnSC = sr&(~FTM_CnSC_CHFx);
    if (((sr & FTM_CnSC_CHFx) != 0) &&
        ((sr & FTM_CnSC_CHIEx) != 0) &&
        (pwmp->config->channels[n].callback != NULL)) {
      pwmp->config->channels[n].callback(pwmp);
    }
  }
}

Referenced by OSAL_IRQ_HANDLER(), OSAL_IRQ_HANDLER(), OSAL_IRQ_HANDLER(), and OSAL_IRQ_HANDLER().

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◆ pwm_lld_start()

void pwm_lld_start ( PWMDriver * pwmp )

Configures and activates the PWM peripheral.

Note: Starting a driver that is already in the PWM_READY state disables all the active channels.

Parameters

[in] pwmp pointer to a PWMDriver object

@notapi

Definition at line 212 of file hal_pwm_lld.c.

                                    {
  uint16_t psc;
  uint8_t i=0;
 
  if (pwmp->state == PWM_STOP) {
    /* Clock activation and timer reset.*/
#if KINETIS_PWM_USE_FTM0
    if (&PWMD1 == pwmp) {
#ifdef KE1xF
      CLOCK_EnableClock(kCLOCK_Ftm0);
#else
      SIM->SCGC6 |= SIM_SCGC6_FTM0;
#endif
      nvicEnableVector(FTM0_IRQn, KINETIS_PWM_FTM0_PRIORITY);
    }
#endif
 
#if KINETIS_PWM_USE_FTM1
    if (&PWMD2 == pwmp) {
#ifdef KE1xF
      CLOCK_EnableClock(kCLOCK_Ftm1);
#else
      SIM->SCGC6 |= SIM_SCGC6_FTM1;
#endif
      nvicEnableVector(FTM1_IRQn, KINETIS_PWM_FTM1_PRIORITY);
    }
#endif
 
#if KINETIS_PWM_USE_FTM2
    if (&PWMD3 == pwmp) {
#ifdef KE1xF
      CLOCK_EnableClock(kCLOCK_Ftm2);
#else
      SIM->SCGC3 |= SIM_SCGC3_FTM2;
#endif
      nvicEnableVector(FTM2_IRQn, KINETIS_PWM_FTM2_PRIORITY);
    }
#endif
 
#if KINETIS_PWM_USE_FTM3
    if (&PWMD4 == pwmp) {
#ifdef KE1xF
      CLOCK_EnableClock(kCLOCK_Ftm3);
#else
      SIM->SCGC3 |= SIM_SCGC3_FTM3;
#endif
      nvicEnableVector(FTM3_IRQn, KINETIS_PWM_FTM3_PRIORITY);
    }
#endif
  }
  pwmp->ftm->MODE =  FTM_MODE_FTMEN_MASK|FTM_MODE_PWMSYNC_MASK;
  pwmp->ftm->SYNC =  FTM_SYNC_CNTMIN_MASK|FTM_SYNC_CNTMAX_MASK
                    |FTM_SYNC_SWSYNC_MASK;
  pwmp->ftm->COMBINE =  FTM_COMBINE_SYNCEN3_MASK | FTM_COMBINE_SYNCEN2_MASK
                      | FTM_COMBINE_SYNCEN1_MASK | FTM_COMBINE_SYNCEN0_MASK;
  pwmp->ftm->SYNCONF =  FTM_SYNCONF_SYNCMODE_MASK;
 
  pwmp->ftm->CNTIN = 0x0000;
  //~ pwmp->ftm->SC = 0;       /* Disable FTM counter.*/
  pwmp->ftm->CNT = 0x0000; /* Clear count register.*/
 
  /* Prescaler value calculation.*/
  psc = (KINETIS_FTM_FREQUENCY / pwmp->config->frequency);
  //~ /* Prescaler must be power of two between 1 and 128.*/
  osalDbgAssert(psc <= 128 && !(psc & (psc - 1)), "invalid frequency");
  //~ /* Prescaler register value determination.
     //~ Prescaler register value conveniently corresponds to bit position,
     //~ i.e., register value for prescaler CLK/64 is 6 ((1 << 6) == 64).*/
  for (i = 0; i < 8; i++) {
    if (psc == (unsigned)(1 << i)) {
      break;
    }
  }
 
  /* Set prescaler and clock mode.
     This also sets the following:
          CPWMS up-counting mode
          Timer overflow interrupt disabled
          DMA disabled.*/
  pwmp->ftm->SC = FTM_SC_CLKS(1) | FTM_SC_PS(i);
  /* Configure period */
  pwmp->ftm->MOD = pwmp->period-1;
  pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}

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◆ pwm_lld_stop()

void pwm_lld_stop ( PWMDriver * pwmp )

Deactivates the PWM peripheral.

Parameters

[in] pwmp pointer to a PWMDriver object

@notapi

Definition at line 304 of file hal_pwm_lld.c.

                                   {
 
  /* If in ready state then disables the PWM clock.*/
  if (pwmp->state == PWM_READY) {
#if KINETIS_PWM_USE_FTM0
    if (&PWMD1 == pwmp) {
#ifdef KE1xF
      PCC->CLKCFG[PCC_FLEXTMR0_INDEX] &= ~PCC_CLKCFG_CGC(1);
#else
      SIM->SCGC6 &= ~SIM_SCGC6_FTM0;
#endif
      nvicDisableVector(FTM0_IRQn);
    }
#endif
 
#if KINETIS_PWM_USE_FTM1
    if (&PWMD2 == pwmp) {
#ifdef KE1xF
      PCC->CLKCFG[PCC_FLEXTMR1_INDEX] &= ~PCC_CLKCFG_CGC(1);
#else
      SIM->SCGC6 &= ~SIM_SCGC6_FTM1;
#endif
      nvicDisableVector(FTM1_IRQn);
    }
#endif
 
#if KINETIS_PWM_USE_FTM2
    if (&PWMD3 == pwmp) {
#ifdef KE1xF
      PCC->CLKCFG[PCC_FLEXTMR2_INDEX] &= ~PCC_CLKCFG_CGC(1);
#else
      SIM->SCGC3 &= ~SIM_SCGC3_FTM2;
#endif
      nvicDisableVector(FTM2_IRQn);
    }
#endif
 
#if KINETIS_PWM_USE_FTM3
    if (&PWMD4 == pwmp) {
#ifdef KE1xF
      PCC->CLKCFG[PCC_FLEXTMR3_INDEX] &= ~PCC_CLKCFG_CGC(1);
#else
      SIM->SCGC3 &= ~SIM_SCGC3_FTM3;
#endif
      nvicDisableVector(FTM3_IRQn);
    }
#endif
    /* Disable FTM counter.*/
    pwmp->ftm->SC = 0;
    pwmp->ftm->MOD = 0;
  }
}