Commit 504af998 authored by Adam Valt's avatar Adam Valt 😴
Browse files

Merge branch 'controller' into 'develop' 

Add support for controller

See merge request !1
parents 5eee2303 b43c3bfd

src/firmware/board/clock_config.c

+2 −2
Original line number Diff line number Diff line
@@ -33,11 +33,11 @@ 
/* clang-format off */

/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************

!!GlobalInfo

product: Clocks v12.0

product: Clocks v11.0

processor: MK66FN2M0xxx18

package_id: MK66FN2M0VMD18

mcu_data: ksdk2_0

processor_version: 14.0.0

processor_version: 13.0.1

board: FRDM-K66F

 * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/

/* clang-format on */

src/firmware/board/peripherals.c

+209 −101
Original line number Diff line number Diff line
@@ -6,11 +6,11 @@ 
/* clang-format off */

/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************

!!GlobalInfo

product: Peripherals v13.0

product: Peripherals v12.0

processor: MK66FN2M0xxx18

package_id: MK66FN2M0VMD18

mcu_data: ksdk2_0

processor_version: 14.0.0

processor_version: 13.0.1

board: FRDM-K66F

functionalGroups:

- name: BOARD_InitPeripherals
@@ -54,31 +54,86 @@ component: 
 * BOARD_InitPeripherals functional group

 **********************************************************************************************************************/

/***********************************************************************************************************************

 * NVIC initialization code

 * ADC1_CAM initialization code

 **********************************************************************************************************************/

/* clang-format off */

/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************

instance:

- name: 'NVIC'

- type: 'nvic'

- mode: 'general'

- custom_name_enabled: 'false'

- type_id: 'nvic_57b5eef3774cc60acaede6f5b8bddc67'

- name: 'ADC1_CAM'

- type: 'adc16'

- mode: 'ADC'

- custom_name_enabled: 'true'

- type_id: 'adc16_897558f9b7366ed198de18c33097d7d2'

- functional_group: 'BOARD_InitPeripherals'

- peripheral: 'NVIC'

- peripheral: 'ADC1'

- config_sets:

  - nvic:

    - interrupt_table:

      - 0: []

      - 1: []

      - 2: []

    - interrupts: []

  - fsl_adc16:

    - adc16_config:

      - referenceVoltageSource: 'kADC16_ReferenceVoltageSourceVref'

      - clockSource: 'kADC16_ClockSourceAlt0'

      - enableAsynchronousClock: 'true'

      - clockDivider: 'kADC16_ClockDivider8'

      - resolution: 'kADC16_ResolutionSE8Bit'

      - longSampleMode: 'kADC16_LongSampleDisabled'

      - hardwareAverageMode: 'kADC16_HardwareAverageDisabled'

      - enableHighSpeed: 'false'

      - enableLowPower: 'false'

      - enableContinuousConversion: 'false'

    - adc16_channel_mux_mode: 'kADC16_ChannelMuxA'

    - adc16_hardware_compare_config:

      - hardwareCompareModeEnable: 'false'

    - doAutoCalibration: 'false'

    - offset: '0'

    - trigger: 'false'

    - enable_dma: 'false'

    - enable_irq: 'false'

    - adc_interrupt:

      - IRQn: 'ADC0_IRQn'

      - enable_interrrupt: 'enabled'

      - enable_priority: 'false'

      - priority: '0'

      - enable_custom_name: 'false'

    - adc16_channels_config:

      - 0:

        - channelName: ''

        - enableDifferentialConversion: 'false'

        - channelNumber: 'SE.11'

        - enableInterruptOnConversionCompleted: 'false'

        - channelGroup: '0'

        - initializeChannel: 'true'

 * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/

/* clang-format on */

adc16_channel_config_t ADC1_CAM_channelsConfig[1] = {

  {

    .channelNumber = 11U,

    .enableDifferentialConversion = false,

    .enableInterruptOnConversionCompleted = false,

  }

};

const adc16_config_t ADC1_CAM_config = {

  .referenceVoltageSource = kADC16_ReferenceVoltageSourceVref,

  .clockSource = kADC16_ClockSourceAlt0,

  .enableAsynchronousClock = true,

  .clockDivider = kADC16_ClockDivider8,

  .resolution = kADC16_ResolutionSE8Bit,

  .longSampleMode = kADC16_LongSampleDisabled,

  .hardwareAverageMode = kADC16_HardwareAverageDisabled,

  .enableHighSpeed = false,

  .enableLowPower = false,

  .enableContinuousConversion = false

};

const adc16_channel_mux_mode_t ADC1_CAM_muxMode = kADC16_ChannelMuxA;



/* Empty initialization function (commented out)

static void NVIC_init(void) {

} */

static void ADC1_CAM_init(void) {

  /* Initialize ADC16 converter */

  ADC16_Init(ADC1_CAM_PERIPHERAL, &ADC1_CAM_config);

  /* Make sure, that software trigger is used */

  ADC16_EnableHardwareTrigger(ADC1_CAM_PERIPHERAL, false);

  /* Configure channel multiplexing mode */

  ADC16_SetChannelMuxMode(ADC1_CAM_PERIPHERAL, ADC1_CAM_muxMode);

  /* Initialize channel */

  ADC16_SetChannelConfig(ADC1_CAM_PERIPHERAL, ADC1_CAM_CH0_CONTROL_GROUP, &ADC1_CAM_channelsConfig[0]);

}



/***********************************************************************************************************************

 * FTM_1_REG_SERVO initialization code
@@ -296,88 +351,6 @@ static void FTM_0_SUN_init(void) { 
  FTM_StartTimer(FTM_0_SUN_PERIPHERAL, kFTM_SystemClock);

}



/***********************************************************************************************************************

 * ADC1_CAM initialization code

 **********************************************************************************************************************/

/* clang-format off */

/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************

instance:

- name: 'ADC1_CAM'

- type: 'adc16'

- mode: 'ADC'

- custom_name_enabled: 'true'

- type_id: 'adc16_897558f9b7366ed198de18c33097d7d2'

- functional_group: 'BOARD_InitPeripherals'

- peripheral: 'ADC1'

- config_sets:

  - fsl_adc16:

    - adc16_config:

      - referenceVoltageSource: 'kADC16_ReferenceVoltageSourceVref'

      - clockSource: 'kADC16_ClockSourceAlt0'

      - enableAsynchronousClock: 'true'

      - clockDivider: 'kADC16_ClockDivider8'

      - resolution: 'kADC16_ResolutionSE8Bit'

      - longSampleMode: 'kADC16_LongSampleDisabled'

      - hardwareAverageMode: 'kADC16_HardwareAverageDisabled'

      - enableHighSpeed: 'false'

      - enableLowPower: 'false'

      - enableContinuousConversion: 'false'

    - adc16_channel_mux_mode: 'kADC16_ChannelMuxA'

    - adc16_hardware_compare_config:

      - hardwareCompareModeEnable: 'false'

    - doAutoCalibration: 'false'

    - offset: '0'

    - trigger: 'false'

    - enable_dma: 'false'

    - enable_irq: 'false'

    - adc_interrupt:

      - IRQn: 'ADC0_IRQn'

      - enable_interrrupt: 'enabled'

      - enable_priority: 'false'

      - priority: '0'

      - enable_custom_name: 'false'

    - adc16_channels_config:

      - 0:

        - channelName: ''

        - enableDifferentialConversion: 'false'

        - channelNumber: 'SE.11'

        - enableInterruptOnConversionCompleted: 'false'

        - channelGroup: '0'

        - initializeChannel: 'true'

 * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/

/* clang-format on */

adc16_channel_config_t ADC1_CAM_channelsConfig[1] = {

  {

    .channelNumber = 11U,

    .enableDifferentialConversion = false,

    .enableInterruptOnConversionCompleted = false,

  }

};

const adc16_config_t ADC1_CAM_config = {

  .referenceVoltageSource = kADC16_ReferenceVoltageSourceVref,

  .clockSource = kADC16_ClockSourceAlt0,

  .enableAsynchronousClock = true,

  .clockDivider = kADC16_ClockDivider8,

  .resolution = kADC16_ResolutionSE8Bit,

  .longSampleMode = kADC16_LongSampleDisabled,

  .hardwareAverageMode = kADC16_HardwareAverageDisabled,

  .enableHighSpeed = false,

  .enableLowPower = false,

  .enableContinuousConversion = false

};

const adc16_channel_mux_mode_t ADC1_CAM_muxMode = kADC16_ChannelMuxA;



static void ADC1_CAM_init(void) {

  /* Initialize ADC16 converter */

  ADC16_Init(ADC1_CAM_PERIPHERAL, &ADC1_CAM_config);

  /* Make sure, that software trigger is used */

  ADC16_EnableHardwareTrigger(ADC1_CAM_PERIPHERAL, false);

  /* Configure channel multiplexing mode */

  ADC16_SetChannelMuxMode(ADC1_CAM_PERIPHERAL, ADC1_CAM_muxMode);

  /* Initialize channel */

  ADC16_SetChannelConfig(ADC1_CAM_PERIPHERAL, ADC1_CAM_CH0_CONTROL_GROUP, &ADC1_CAM_channelsConfig[0]);

}



/***********************************************************************************************************************

 * PIT initialization code

 **********************************************************************************************************************/
@@ -480,17 +453,152 @@ static void GPIOC_init(void) { 
  EnableIRQ(GPIOC_IRQN);

}



/***********************************************************************************************************************

 * NVIC initialization code

 **********************************************************************************************************************/

/* clang-format off */

/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************

instance:

- name: 'NVIC'

- type: 'nvic'

- mode: 'general'

- custom_name_enabled: 'false'

- type_id: 'nvic_57b5eef3774cc60acaede6f5b8bddc67'

- functional_group: 'BOARD_InitPeripherals'

- peripheral: 'NVIC'

- config_sets:

  - nvic:

    - interrupt_table:

      - 0: []

      - 1: []

      - 2: []

      - 3: []

    - interrupts: []

 * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/

/* clang-format on */



/* Empty initialization function (commented out)

static void NVIC_init(void) {

} */



/***********************************************************************************************************************

 * FTM3_CONTROLLER_STATUS initialization code

 **********************************************************************************************************************/

/* clang-format off */

/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************

instance:

- name: 'FTM3_CONTROLLER_STATUS'

- type: 'ftm'

- mode: 'EdgeAligned'

- custom_name_enabled: 'true'

- type_id: 'ftm_a206ca22312775f3c8a462078188c129'

- functional_group: 'BOARD_InitPeripherals'

- peripheral: 'FTM3'

- config_sets:

  - ftm_main_config:

    - ftm_config:

      - clockSource: 'kFTM_SystemClock'

      - clockSourceFreq: 'GetFreq'

      - timerPrescaler: '1'

      - timerOutputFrequency: '65536'

      - systemClockSource: 'BusInterfaceClock'

      - systemClockSourceFreq: 'mirrored_value'

      - faultMode: 'kFTM_Fault_Disable'

      - inputFilterPeriod: '1'

      - faultInputs:

        - 0:

          - enableFaultInput: 'false'

          - faultLevelVal: 'low'

          - useFaultFilter: 'false'

        - 1:

          - enableFaultInput: 'false'

          - faultLevelVal: 'low'

          - useFaultFilter: 'false'

        - 2:

          - enableFaultInput: 'false'

          - faultLevelVal: 'low'

          - useFaultFilter: 'false'

        - 3:

          - enableFaultInput: 'false'

          - faultLevelVal: 'low'

          - useFaultFilter: 'false'

      - deadTimePrescale: 'kFTM_Deadtime_Prescale_1'

      - deadTimePeriod: '0'

      - pwmSyncMode: 'kFTM_SoftwareTrigger'

      - reloadPoints: ''

      - extTriggers: ''

      - chnlInitState: ''

      - chnlPolarity: ''

      - bdmMode: 'kFTM_BdmMode_0'

      - useGlobalTimeBase: 'false'

    - timer_interrupts: 'kFTM_TimeOverflowInterruptEnable'

    - enable_irq: 'true'

    - ftm_interrupt:

      - IRQn: 'FTM3_IRQn'

      - enable_interrrupt: 'enabled'

      - enable_priority: 'false'

      - priority: '0'

      - enable_custom_name: 'false'

    - EnableTimerInInit: 'true'

  - ftm_edge_aligned_mode:

    - ftm_edge_aligned_channels_config:

      - 0:

        - channelId: 'Dual_capture'

        - edge_aligned_mode: 'kFTM_DualEdgeCapture'

        - dual_edge_capture:

          - chnNumber: 'kFTM_Chnl_1'

          - dual_edge_capture_param:

            - mode: 'kFTM_Continuous'

            - currChanEdgeMode: 'kFTM_RisingEdge'

            - nextChanEdgeMode: 'kFTM_FallingEdge'

          - inputFilterPeriod: '1'

          - enable_chan_irq: 'true'

          - enable_chan1_irq: 'true'

 * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/

/* clang-format on */

const ftm_config_t FTM3_CONTROLLER_STATUS_config = {

  .prescale = kFTM_Prescale_Divide_1,

  .faultMode = kFTM_Fault_Disable,

  .faultFilterValue = 0,

  .deadTimePrescale = kFTM_Deadtime_Prescale_1,

  .deadTimeValue = 0,

  .pwmSyncMode = kFTM_SoftwareTrigger,

  .reloadPoints = 0,

  .extTriggers = 0,

  .chnlInitState = 0,

  .chnlPolarity = 0,

  .bdmMode = kFTM_BdmMode_0,

  .useGlobalTimeBase = false

};

const ftm_dual_edge_capture_param_t FTM3_CONTROLLER_STATUS_channel1 = {

  .mode = kFTM_Continuous,

  .currChanEdgeMode = kFTM_RisingEdge,

  .nextChanEdgeMode = kFTM_FallingEdge

};





static void FTM3_CONTROLLER_STATUS_init(void) {

  FTM_Init(FTM3_CONTROLLER_STATUS_PERIPHERAL, &FTM3_CONTROLLER_STATUS_config);

  FTM_SetTimerPeriod(FTM3_CONTROLLER_STATUS_PERIPHERAL, FTM3_CONTROLLER_STATUS_TIMER_MODULO_VALUE);

  FTM_SetupDualEdgeCapture(FTM3_CONTROLLER_STATUS_PERIPHERAL, kFTM_Chnl_1, &FTM3_CONTROLLER_STATUS_channel1, 0);

  FTM_EnableInterrupts(FTM3_CONTROLLER_STATUS_PERIPHERAL, kFTM_Chnl2InterruptEnable|kFTM_Chnl3InterruptEnable | kFTM_TimeOverflowInterruptEnable);

  /* Enable interrupt FTM3_IRQn request in the NVIC. */

  EnableIRQ(FTM3_CONTROLLER_STATUS_IRQN);

  FTM_StartTimer(FTM3_CONTROLLER_STATUS_PERIPHERAL, kFTM_SystemClock);

}



/***********************************************************************************************************************

 * Initialization functions

 **********************************************************************************************************************/

void BOARD_InitPeripherals(void)

{

  /* Initialize components */

  ADC1_CAM_init();

  FTM_1_REG_SERVO_init();

  FTM_0_SUN_init();

  ADC1_CAM_init();

  PIT_init();

  GPIOC_init();

  FTM3_CONTROLLER_STATUS_init();

}



/***********************************************************************************************************************

src/firmware/board/peripherals.h

+24 −11
Original line number Diff line number Diff line
@@ -10,9 +10,9 @@ 
 * Included files

 **********************************************************************************************************************/

#include "fsl_common.h"

#include "fsl_adc16.h"

#include "fsl_clock.h"

#include "fsl_ftm.h"

#include "fsl_adc16.h"

#include "fsl_pit.h"

#include "fsl_gpio.h"

#include "fsl_port.h"
@@ -25,6 +25,14 @@ extern "C" { 
 * Definitions

 **********************************************************************************************************************/

/* Definitions for BOARD_InitPeripherals functional group */

/* Alias for ADC1 peripheral */

#define ADC1_CAM_PERIPHERAL ADC1

/* ADC1_CAM interrupt vector ID (number). */

#define ADC1_CAM_IRQN ADC0_IRQn

/* ADC1_CAM interrupt handler identifier. */

#define ADC1_CAM_IRQHANDLER 

/* Channel 0 (SE.11) conversion control group. */

#define ADC1_CAM_CH0_CONTROL_GROUP 0

/* Definition of peripheral ID */

#define FTM_1_REG_SERVO_PERIPHERAL FTM1

/* Definition of the clock source frequency */
@@ -37,14 +45,6 @@ extern "C" { 
#define FTM_0_SUN_CLOCK_SOURCE CLOCK_GetFreq(kCLOCK_BusClk)

/* Definition of the clock source frequency */

#define FTM_0_SUN_TIMER_MODULO_VALUE (((FTM_0_SUN_CLOCK_SOURCE/ (1U << (FTM_0_SUN_PERIPHERAL->SC & FTM_SC_PS_MASK))) / 10000) - 1)

/* Alias for ADC1 peripheral */

#define ADC1_CAM_PERIPHERAL ADC1

/* ADC1_CAM interrupt vector ID (number). */

#define ADC1_CAM_IRQN ADC0_IRQn

/* ADC1_CAM interrupt handler identifier. */

#define ADC1_CAM_IRQHANDLER 

/* Channel 0 (SE.11) conversion control group. */

#define ADC1_CAM_CH0_CONTROL_GROUP 0

/* BOARD_InitPeripherals defines for PIT */

/* Definition of peripheral ID. */

#define PIT_PERIPHERAL PIT
@@ -88,16 +88,29 @@ extern "C" { 
#define GPIOC_IRQN PORTC_IRQn

/* GPIOC interrupt handler identifier. */

#define GPIOC_IRQHANDLER PORTC_IRQHandler

/* Definition of peripheral ID */

#define FTM3_CONTROLLER_STATUS_PERIPHERAL FTM3

/* Definition of the clock source frequency */

#define FTM3_CONTROLLER_STATUS_CLOCK_SOURCE CLOCK_GetFreq(kCLOCK_BusClk)

/* Definition of the clock source frequency */

#define FTM3_CONTROLLER_STATUS_TIMER_MODULO_VALUE 65535

/* FTM3_CONTROLLER_STATUS interrupt vector ID (number). */

#define FTM3_CONTROLLER_STATUS_IRQN FTM3_IRQn

/* FTM3_CONTROLLER_STATUS interrupt handler identifier. */

#define FTM3_CONTROLLER_STATUS_IRQHANDLER FTM3_IRQHandler

/* Definition of FTM3 channel/pair number 2/3 on Dual Edge Capture */

#define FTM3_CONTROLLER_STATUS_DUAL_CAPTURE_PAIR kFTM_Chnl_1



/***********************************************************************************************************************

 * Global variables

 **********************************************************************************************************************/

extern const ftm_config_t FTM_1_REG_SERVO_config;

extern const ftm_config_t FTM_0_SUN_config;

extern adc16_channel_config_t ADC1_CAM_channelsConfig[1];

extern const adc16_config_t ADC1_CAM_config;

extern const adc16_channel_mux_mode_t ADC1_CAM_muxMode;

extern const ftm_config_t FTM_1_REG_SERVO_config;

extern const ftm_config_t FTM_0_SUN_config;

extern const pit_config_t PIT_config;

extern const ftm_config_t FTM3_CONTROLLER_STATUS_config;



/***********************************************************************************************************************

 * Initialization functions

src/firmware/board/pin_mux.c

+12 −2
Original line number Diff line number Diff line
@@ -7,11 +7,11 @@ 
/*

 * TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************

!!GlobalInfo

product: Pins v14.0

product: Pins v13.1

processor: MK66FN2M0xxx18

package_id: MK66FN2M0VMD18

mcu_data: ksdk2_0

processor_version: 14.0.0

processor_version: 13.0.1

board: FRDM-K66F

pin_labels:

- {pin_num: A1, pin_signal: PTD7/CMT_IRO/UART0_TX/FTM0_CH7/SDRAM_CKE/FTM0_FLT1/SPI1_SIN, label: 'J6[7]/SPI1_SIN/MISO'}
@@ -194,6 +194,8 @@ BOARD_InitPins: 
- options: {callFromInitBoot: 'true', prefix: BOARD_, coreID: core0, enableClock: 'true'}

- pin_list:

  - {pin_num: K6, peripheral: TPIU, signal: SWO, pin_signal: TSI0_CH3/PTA2/UART0_TX/FTM0_CH7/I2C3_SCL/LPUART0_TX/JTAG_TDO/TRACE_SWO/EZP_DO, pull_select: down, pull_enable: disable}

  - {pin_num: B4, peripheral: FTM3, signal: 'CH, 3', pin_signal: PTD3/SPI0_SIN/UART2_TX/FTM3_CH3/FB_AD3/SDRAM_A11/I2C0_SDA, identifier: ''}

  - {pin_num: C4, peripheral: FTM3, signal: 'CH, 2', pin_signal: PTD2/LLWU_P13/SPI0_SOUT/UART2_RX/FTM3_CH2/FB_AD4/SDRAM_A12/I2C0_SCL, identifier: ''}

 * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS ***********

 */

/* clang-format on */
@@ -208,6 +210,8 @@ void BOARD_InitPins(void) 
{

    /* Port A Clock Gate Control: Clock enabled */

    CLOCK_EnableClock(kCLOCK_PortA);

    /* Port D Clock Gate Control: Clock enabled */

    CLOCK_EnableClock(kCLOCK_PortD);



    /* PORTA2 (pin K6) is configured as TRACE_SWO */

    PORT_SetPinMux(BOARD_TRACE_SWO_PORT, BOARD_TRACE_SWO_PIN, kPORT_MuxAlt7);
@@ -222,6 +226,12 @@ void BOARD_InitPins(void) 


                     /* Pull Enable: Internal pullup or pulldown resistor is not enabled on the corresponding pin. */

                     | PORT_PCR_PE(kPORT_PullDisable));



    /* PORTD2 (pin C4) is configured as FTM3_CH2 */

    PORT_SetPinMux(PORTD, 2U, kPORT_MuxAlt4);



    /* PORTD3 (pin B4) is configured as FTM3_CH3 */

    PORT_SetPinMux(PORTD, 3U, kPORT_MuxAlt4);

}



/* clang-format off */

src/firmware/firmware.mex

+210 −84

File changed.

Preview size limit exceeded, changes collapsed.