Move PWM API to the target specific folder

Some use the FTM module and some use the TPM module.

Signed-off-by: Mahadevan Mahesh <Mahesh.Mahadevan@nxp.com>

libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KSDK2_MCUS/TARGET_K64F/pwmout_api.c

@@ -0,0 +1,143 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "mbed_assert.h"
+#include "pwmout_api.h"
+
+#if DEVICE_PWMOUT
+
+#include "cmsis.h"
+#include "pinmap.h"
+#include "fsl_ftm.h"
+#include "PeripheralPins.h"
+
+static float pwm_clock_mhz;
+/* Array of FTM peripheral base address. */
+static FTM_Type *const ftm_addrs[] = FTM_BASE_PTRS;
+
+void pwmout_init(pwmout_t* obj, PinName pin) {
+    PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
+    MBED_ASSERT(pwm != (PWMName)NC);
+
+    obj->pwm_name = pwm;
+
+    uint32_t pwm_base_clock;
+    pwm_base_clock = CLOCK_GetFreq(kCLOCK_BusClk);
+    float clkval = (float)pwm_base_clock / 1000000.0f;
+    uint32_t clkdiv = 0;
+    while (clkval > 1) {
+        clkdiv++;
+        clkval /= 2.0f;
+        if (clkdiv == 7) {
+            break;
+        }
+    }
+
+    pwm_clock_mhz = clkval;
+    uint32_t channel = pwm & 0xF;
+    uint32_t instance = pwm >> TPM_SHIFT;
+    ftm_config_t ftmInfo;
+
+    FTM_GetDefaultConfig(&ftmInfo);
+    ftmInfo.prescale = (ftm_clock_prescale_t)clkdiv;
+    /* Initialize FTM module */
+    FTM_Init(ftm_addrs[instance], &ftmInfo);
+
+    ftm_addrs[instance]->CONF |= FTM_CONF_NUMTOF(3);
+
+    ftm_chnl_pwm_signal_param_t config = {
+        .chnlNumber = (ftm_chnl_t)channel,
+        .level = kFTM_HighTrue,
+        .dutyCyclePercent = 0,
+        .firstEdgeDelayPercent = 0
+    };
+    // default to 20ms: standard for servos, and fine for e.g. brightness control
+    FTM_SetupPwm(ftm_addrs[instance], &config, 1, kFTM_EdgeAlignedPwm, 50, pwm_base_clock);
+
+    FTM_StartTimer(ftm_addrs[instance], kFTM_SystemClock);
+
+    // Wire pinout
+    pinmap_pinout(pin, PinMap_PWM);
+}
+
+void pwmout_free(pwmout_t* obj) {
+    FTM_Deinit(ftm_addrs[obj->pwm_name >> TPM_SHIFT]);
+}
+
+void pwmout_write(pwmout_t* obj, float value) {
+    if (value < 0.0f) {
+        value = 0.0f;
+    } else if (value > 1.0f) {
+        value = 1.0f;
+    }
+
+    FTM_Type *base = ftm_addrs[obj->pwm_name >> TPM_SHIFT];
+    uint16_t mod = base->MOD & FTM_MOD_MOD_MASK;
+    uint32_t new_count = (uint32_t)((float)(mod) * value);
+    // Update of CnV register
+    base->CONTROLS[obj->pwm_name & 0xF].CnV = new_count;
+    base->CNT = 0;
+    /* Software trigger to update registers */
+    FTM_SetSoftwareTrigger(base, true);
+}
+
+float pwmout_read(pwmout_t* obj) {
+    FTM_Type *base = ftm_addrs[obj->pwm_name >> TPM_SHIFT];
+    uint16_t count = (base->CONTROLS[obj->pwm_name & 0xF].CnV) & FTM_CnV_VAL_MASK;
+    uint16_t mod = base->MOD & FTM_MOD_MOD_MASK;
+
+    if (mod == 0)
+        return 0.0;
+    float v = (float)(count) / (float)(mod);
+    return (v > 1.0f) ? (1.0f) : (v);
+}
+
+void pwmout_period(pwmout_t* obj, float seconds) {
+    pwmout_period_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_period_ms(pwmout_t* obj, int ms) {
+    pwmout_period_us(obj, ms * 1000);
+}
+
+// Set the PWM period, keeping the duty cycle the same.
+void pwmout_period_us(pwmout_t* obj, int us) {
+    FTM_Type *base = ftm_addrs[obj->pwm_name >> TPM_SHIFT];
+    float dc = pwmout_read(obj);
+
+    // Stop FTM clock to ensure instant update of MOD register
+    base->MOD = FTM_MOD_MOD((pwm_clock_mhz * (float)us) - 1);
+    pwmout_write(obj, dc);
+}
+
+void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
+    pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
+    pwmout_pulsewidth_us(obj, ms * 1000);
+}
+
+void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
+    FTM_Type *base = ftm_addrs[obj->pwm_name >> TPM_SHIFT];
+    uint32_t value = (uint32_t)(pwm_clock_mhz * (float)us);
+
+    // Update of CnV register
+    base->CONTROLS[obj->pwm_name & 0xF].CnV = value;
+    /* Software trigger to update registers */
+    FTM_SetSoftwareTrigger(base, true);
+}
+
+#endif

libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KSDK2_MCUS/TARGET_KL27Z/TARGET_FRDM/PeripheralNames.h

@@ -41,8 +41,18 @@ typedef enum {
     I2C_1 = 1,
 } I2CName;
 
+#define TPM_SHIFT   8
 typedef enum {
-    PWM = 0,
+    PWM_1  = (0 << TPM_SHIFT) | (0),  // TPM0 CH0
+    PWM_2  = (0 << TPM_SHIFT) | (1),  // TPM0 CH1
+    PWM_3  = (0 << TPM_SHIFT) | (2),  // TPM0 CH2
+    PWM_4  = (0 << TPM_SHIFT) | (3),  // TPM0 CH3
+    PWM_5  = (0 << TPM_SHIFT) | (4),  // TPM0 CH4
+    PWM_6  = (0 << TPM_SHIFT) | (5),  // TPM0 CH5
+    PWM_7  = (1 << TPM_SHIFT) | (0),  // TPM1 CH0
+    PWM_8  = (1 << TPM_SHIFT) | (1),  // TPM1 CH1
+    PWM_9  = (2 << TPM_SHIFT) | (0),  // TPM2 CH0
+    PWM_10 = (2 << TPM_SHIFT) | (1),  // TPM2 CH1
 } PWMName;
 
 #define ADC_INSTANCE_SHIFT           8

libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KSDK2_MCUS/TARGET_KL27Z/TARGET_FRDM/PeripheralPins.c

@@ -148,3 +148,47 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PTD4  , SPI_1, 2},
     {NC   , NC   , 0}
 };
+
+/************PWM***************/
+const PinMap PinMap_PWM[] = {
+    {PTE29, PWM_3 , 3},
+    {PTE30, PWM_4 , 3},
+    {PTE31, PWM_5 , 3},
+    {PTE24, PWM_1 , 3},
+    {PTE25, PWM_2 , 3},
+    {PTA0 , PWM_6 , 3},
+    {PTA3 , PWM_1 , 3},
+    {PTA4 , PWM_2 , 3},
+    {PTA5 , PWM_3 , 3},
+    {PTC1 , PWM_1 , 4},
+    {PTC2 , PWM_2 , 4},
+    {PTC3 , PWM_3 , 4},
+    {PTC4 , PWM_4 , 4},
+    {PTC8 , PWM_5 , 3},
+    {PTC9 , PWM_6 , 3},
+    {PTD0 , PWM_1 , 4},
+    {PTD1 , PWM_2 , 4},
+    {PTD2 , PWM_3 , 4},
+    {PTD3 , PWM_4 , 4},
+    {PTD4 , PWM_5 , 4},
+    {PTD5 , PWM_6 , 4},
+
+    {PTE20, PWM_7 , 3},
+    {PTE21, PWM_8 , 3},
+    {PTA12, PWM_7 , 3},
+    {PTA13, PWM_8 , 3},
+    {PTB0,  PWM_7 , 3},
+    {PTB1,  PWM_8 , 3},
+
+    {PTE22, PWM_9 , 3},
+    {PTE23, PWM_10, 3},
+    {PTA1 , PWM_9 , 3},
+    {PTA2 , PWM_10, 3},
+    {PTB2 , PWM_9 , 3},
+    {PTB3 , PWM_10, 3},
+    {PTB18, PWM_9 , 3},
+    {PTB19, PWM_10, 3},
+
+    {NC   , NC    , 0}
+};
+

libraries/mbed/targets/hal/TARGET_Freescale/TARGET_KSDK2_MCUS/TARGET_KL27Z/pwmout_api.c

@@ -0,0 +1,136 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "mbed_assert.h"
+#include "pwmout_api.h"
+
+#if DEVICE_PWMOUT
+
+#include "cmsis.h"
+#include "pinmap.h"
+#include "fsl_tpm.h"
+#include "PeripheralPins.h"
+
+static float pwm_clock_mhz;
+/* Array of TPM peripheral base address. */
+static TPM_Type *const tpm_addrs[] = TPM_BASE_PTRS;
+
+void pwmout_init(pwmout_t* obj, PinName pin) {
+    PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
+    MBED_ASSERT(pwm != (PWMName)NC);
+
+    obj->pwm_name = pwm;
+
+    uint32_t pwm_base_clock;
+    pwm_base_clock = CLOCK_GetFreq(kCLOCK_McgIrc48MClk);
+    float clkval = (float)pwm_base_clock / 1000000.0f;
+    uint32_t clkdiv = 0;
+    while (clkval > 1) {
+        clkdiv++;
+        clkval /= 2.0f;
+        if (clkdiv == 7) {
+            break;
+        }
+    }
+
+    pwm_clock_mhz = clkval;
+    uint32_t channel = pwm & 0xF;
+    uint32_t instance = pwm >> TPM_SHIFT;
+    tpm_config_t tpmInfo;
+
+    TPM_GetDefaultConfig(&tpmInfo);
+    tpmInfo.prescale = (tpm_clock_prescale_t)clkdiv;
+    /* Initialize TPM module */
+    TPM_Init(tpm_addrs[instance], &tpmInfo);
+
+    tpm_chnl_pwm_signal_param_t config = {
+        .chnlNumber = (tpm_chnl_t)channel,
+        .level = kTPM_HighTrue,
+        .dutyCyclePercent = 0,
+    };
+    // default to 20ms: standard for servos, and fine for e.g. brightness control
+    TPM_SetupPwm(tpm_addrs[instance], &config, 1, kTPM_EdgeAlignedPwm, 50, pwm_base_clock);
+
+    TPM_StartTimer(tpm_addrs[instance], kTPM_SystemClock);
+
+    // Wire pinout
+    pinmap_pinout(pin, PinMap_PWM);
+}
+
+void pwmout_free(pwmout_t* obj) {
+    TPM_Deinit(tpm_addrs[obj->pwm_name >> TPM_SHIFT]);
+}
+
+void pwmout_write(pwmout_t* obj, float value) {
+    if (value < 0.0f) {
+        value = 0.0f;
+    } else if (value > 1.0f) {
+        value = 1.0f;
+    }
+
+    TPM_Type *base = tpm_addrs[obj->pwm_name >> TPM_SHIFT];
+    uint16_t mod = base->MOD & TPM_MOD_MOD_MASK;
+    uint32_t new_count = (uint32_t)((float)(mod) * value);
+    // Update of CnV register
+    base->CONTROLS[obj->pwm_name & 0xF].CnV = new_count;
+    base->CNT = 0;
+}
+
+float pwmout_read(pwmout_t* obj) {
+    TPM_Type *base = tpm_addrs[obj->pwm_name >> TPM_SHIFT];
+    uint16_t count = (base->CONTROLS[obj->pwm_name & 0xF].CnV) & TPM_CnV_VAL_MASK;
+    uint16_t mod = base->MOD & TPM_MOD_MOD_MASK;
+
+    if (mod == 0)
+        return 0.0;
+    float v = (float)(count) / (float)(mod);
+    return (v > 1.0f) ? (1.0f) : (v);
+}
+
+void pwmout_period(pwmout_t* obj, float seconds) {
+    pwmout_period_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_period_ms(pwmout_t* obj, int ms) {
+    pwmout_period_us(obj, ms * 1000);
+}
+
+// Set the PWM period, keeping the duty cycle the same.
+void pwmout_period_us(pwmout_t* obj, int us) {
+    TPM_Type *base = tpm_addrs[obj->pwm_name >> TPM_SHIFT];
+    float dc = pwmout_read(obj);
+
+    // Stop TPM clock to ensure instant update of MOD register
+    base->MOD = TPM_MOD_MOD((pwm_clock_mhz * (float)us) - 1);
+    pwmout_write(obj, dc);
+}
+
+void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
+    pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
+    pwmout_pulsewidth_us(obj, ms * 1000);
+}
+
+void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
+    TPM_Type *base = tpm_addrs[obj->pwm_name >> TPM_SHIFT];
+    uint32_t value = (uint32_t)(pwm_clock_mhz * (float)us);
+
+    // Update of CnV register
+    base->CONTROLS[obj->pwm_name & 0xF].CnV = value;
+}
+
+#endif

libraries/tests/mbed/pwm_led/pwm.cpp

@@ -20,6 +20,7 @@
 #define TEST_LED D3
 
 #elif defined (TARGET_K22F) || \
+      defined(TARGET_KL27Z) || \
       defined (TARGET_LPC824)
 #define TEST_LED LED_GREEN