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Merge pull request #2 from PaulStoffregen/master 

resync
teensy4-core
duff2013 10 years ago
parent
021742f93b 8c7df73ac0
commit
52823eb9d1
3 changed files with 286 additions and 50 deletions
Split View Show Diff Stats
  1. +8
    -3
      teensy3/DMAChannel.cpp
  2. +98
    -42
      teensy3/DMAChannel.h
  3. +180
    -5
      teensy3/mk20dx128.h

+ 8
- 3
teensy3/DMAChannel.cpp View File

@@ -23,14 +23,19 @@ DMAChannel::DMAChannel(uint8_t channelRequest) : TCD(*(TCD_t *)0), channel(16)
}
}
channel = ch;
SIM_SCGC7 |= SIM_SCGC7_DMA;
SIM_SCGC6 |= SIM_SCGC6_DMAMUX;
DMA_CR = DMA_CR_EMLM | DMA_CR_EDBG ; // minor loop mapping is available
DMA_CERQ = ch;
DMA_CERR = ch;
DMA_CEEI = ch;
DMA_CINT = ch;

TCD = *(TCD_t *)(0x40009000 + ch * 32);
TCD.CSR = 0;
TCD.ATTR = 0;
TCD.NBYTES = 0;
TCD.BITER = 0;
TCD.CITER = 0;
SIM_SCGC7 |= SIM_SCGC7_DMA;
SIM_SCGC6 |= SIM_SCGC6_DMAMUX;
DMA_CR = 0;
}


+ 98
- 42
teensy3/DMAChannel.h View File

@@ -24,15 +24,20 @@ class DMAChannel {
typedef struct __attribute__((packed)) {
volatile const void * volatile SADDR;
int16_t SOFF;
union { uint16_t ATTR; struct { uint8_t ATTR_DST; uint8_t ATTR_SRC; }; };
uint32_t NBYTES;
union { uint16_t ATTR;
struct { uint8_t ATTR_DST; uint8_t ATTR_SRC; }; };
union { uint32_t NBYTES; uint32_t NBYTES_MLNO;
uint32_t NBYTES_MLOFFNO; uint32_t NBYTES_MLOFFYES; };
int32_t SLAST;
volatile void * volatile DADDR;
int16_t DOFF;
volatile uint16_t CITER;
union { volatile uint16_t CITER;
volatile uint16_t CITER_ELINKYES; volatile uint16_t CITER_ELINKNO; };
int32_t DLASTSGA;
volatile uint16_t CSR;
volatile uint16_t BITER;
union { volatile uint16_t BITER;
volatile uint16_t BITER_ELINKYES; volatile uint16_t BITER_ELINKNO; };

} TCD_t;
public:
/*************************************************/
@@ -48,36 +53,62 @@ public:
/** Triggering **/
/***************************************/

// Triggers cause the DMA channel to actually move data.
// Triggers cause the DMA channel to actually move data. Each
// trigger moves a single data unit, which is typically 8, 16 or 32 bits.

// Use a hardware trigger to make the DMA channel run
void attachTrigger(uint8_t source) {
volatile uint8_t *mux;
mux = (volatile uint8_t *)&(DMAMUX0_CHCFG0) + channel;
*mux = 0;
*mux = source | DMAMUX_ENABLE;
*mux = (source & 63) | DMAMUX_ENABLE;
}

// Use another DMA channel as the trigger, causing this
// channel to trigger every time it triggers. This
// effectively makes the 2 channels run in parallel.
void attachTrigger(DMAChannel &channel) {

// channel to trigger after each transfer is makes, except
// the its last transfer. This effectively makes the 2
// channels run in parallel.
void attachTriggerBeforeCompletion(DMAChannel &ch) {
ch.TCD.BITER = (ch.TCD.BITER & ~DMA_TCD_BITER_ELINKYES_LINKCH_MASK)
| DMA_TCD_BITER_ELINKYES_LINKCH(channel) | DMA_TCD_BITER_ELINKYES_ELINK;
ch.TCD.CITER = ch.TCD.BITER ;
}

// Use another DMA channel as the trigger, causing this
// channel to trigger when the other channel completes.
void attachTriggerOnCompletion(DMAChannel &channel) {

void attachTriggerAtCompletion(DMAChannel &ch) {
ch.TCD.CSR = (ch.TCD.CSR & ~DMA_TCD_CSR_MAJORLINKCH_MASK)
| DMA_TCD_CSR_MAJORLINKCH(channel) | DMA_TCD_CSR_MAJORELINK;
}

void attachTriggerContinuous(DMAChannel &channel) {

// Cause this DMA channel to be continuously triggered, so
// it will move data as rapidly as possible, without waiting.
// Normally this would be used with disableOnCompletion().
void attachTriggerContinuous(void) {
volatile uint8_t *mux = (volatile uint8_t *)&DMAMUX0_CHCFG0;
mux[channel] = 0;
#if DMAMUX_NUM_SOURCE_ALWAYS >= DMA_NUM_CHANNELS
mux[channel] = DMAMUX_SOURCE_ALWAYS0 + channel;
#else
// search for an unused "always on" source
unsigned int i = DMAMUX_SOURCE_ALWAYS0;
for (i = DMAMUX_SOURCE_ALWAYS0;
i < DMAMUX_SOURCE_ALWAYS0 + DMAMUX_NUM_SOURCE_ALWAYS; i++) {
unsigned int ch;
for (ch=0; ch < DMA_NUM_CHANNELS; ch++) {
if (mux[ch] == i) break;
}
if (ch >= DMA_NUM_CHANNELS) {
mux[channel] = i;
return;
}
}
#endif
}

// Manually trigger the DMA channel.
void trigger(void) {

DMA_SSRT = channel;
}


@@ -86,19 +117,24 @@ public:
/***************************************/

// An interrupt routine can be run when the DMA channel completes
// the entire transfer.
// the entire transfer, and also optionally when half of the
// transfer is completed.
void attachInterrupt(void (*isr)(void)) {
_VectorsRam[channel + IRQ_DMA_CH0 + 16] = isr;
NVIC_ENABLE_IRQ(IRQ_DMA_CH0 + channel);
TCD.CSR |= DMA_TCD_CSR_INTMAJOR;
}

void interruptAtHalf(void) {
void detachInterrupt(void) {
NVIC_DISABLE_IRQ(IRQ_DMA_CH0 + channel);
}

void interruptAtHalf(void) {
TCD.CSR |= DMA_TCD_CSR_INTHALF;
}

void clearInterrupt(void) {


DMA_CINT = channel;
}


@@ -107,15 +143,15 @@ public:
/***************************************/

void enable(void) {
DMA_SERQ = channel;
}

void disable(void) {
DMA_CERQ = channel;
}

void disableOnCompletion(void) {
TCD.CSR |= DMA_TCD_CSR_DREQ;
}


@@ -154,7 +190,8 @@ public:

// Use a buffer (array of data) as the data source. Typically a
// buffer for transmitting data is used.
void sourceBuffer(const signed char p[], unsigned int len) { sourceBuffer((uint8_t *)p, len); }
void sourceBuffer(const signed char p[], unsigned int len) {
sourceBuffer((uint8_t *)p, len); }
void sourceBuffer(const unsigned char p[], unsigned int len) {
TCD.SADDR = p;
TCD.SOFF = 1;
@@ -164,7 +201,8 @@ public:
TCD.BITER = len;
TCD.CITER = len;
}
void sourceBuffer(const signed short p[], unsigned int len) { sourceBuffer((uint16_t *)p, len); }
void sourceBuffer(const signed short p[], unsigned int len) {
sourceBuffer((uint16_t *)p, len); }
void sourceBuffer(const unsigned short p[], unsigned int len) {
TCD.SADDR = p;
TCD.SOFF = 2;
@@ -174,9 +212,12 @@ public:
TCD.BITER = len / 2;
TCD.CITER = len / 2;
}
void sourceBuffer(const signed int p[], unsigned int len) { sourceBuffer((uint32_t *)p, len); }
void sourceBuffer(const unsigned int p[], unsigned int len) {sourceBuffer((uint32_t *)p, len); }
void sourceBuffer(const signed long p[], unsigned int len) { sourceBuffer((uint32_t *)p, len); }
void sourceBuffer(const signed int p[], unsigned int len) {
sourceBuffer((uint32_t *)p, len); }
void sourceBuffer(const unsigned int p[], unsigned int len) {
sourceBuffer((uint32_t *)p, len); }
void sourceBuffer(const signed long p[], unsigned int len) {
sourceBuffer((uint32_t *)p, len); }
void sourceBuffer(const unsigned long p[], unsigned int len) {
TCD.SADDR = p;
TCD.SOFF = 4;
@@ -188,7 +229,8 @@ public:
}

// Use a circular buffer as the data source
void sourceCircular(const signed char p[], unsigned int len) { sourceCircular((uint8_t *)p, len); }
void sourceCircular(const signed char p[], unsigned int len) {
sourceCircular((uint8_t *)p, len); }
void sourceCircular(const unsigned char p[], unsigned int len) {
TCD.SADDR = p;
TCD.SOFF = 1;
@@ -198,7 +240,8 @@ public:
TCD.BITER = len;
TCD.CITER = len;
}
void sourceCircular(const signed short p[], unsigned int len) { sourceCircular((uint16_t *)p, len); }
void sourceCircular(const signed short p[], unsigned int len) {
sourceCircular((uint16_t *)p, len); }
void sourceCircular(const unsigned short p[], unsigned int len) {
TCD.SADDR = p;
TCD.SOFF = 2;
@@ -208,9 +251,12 @@ public:
TCD.BITER = len / 2;
TCD.CITER = len / 2;
}
void sourceCircular(const signed int p[], unsigned int len) { sourceCircular((uint32_t *)p, len); }
void sourceCircular(const unsigned int p[], unsigned int len) { sourceCircular((uint32_t *)p, len); }
void sourceCircular(const signed long p[], unsigned int len) { sourceCircular((uint32_t *)p, len); }
void sourceCircular(const signed int p[], unsigned int len) {
sourceCircular((uint32_t *)p, len); }
void sourceCircular(const unsigned int p[], unsigned int len) {
sourceCircular((uint32_t *)p, len); }
void sourceCircular(const signed long p[], unsigned int len) {
sourceCircular((uint32_t *)p, len); }
void sourceCircular(const unsigned long p[], unsigned int len) {
TCD.SADDR = p;
TCD.SOFF = 4;
@@ -252,7 +298,8 @@ public:

// Use a buffer (array of data) as the data destination. Typically a
// buffer for receiving data is used.
void destinationBuffer(signed char p[], unsigned int len) { destinationBuffer((uint8_t *)p, len); }
void destinationBuffer(signed char p[], unsigned int len) {
destinationBuffer((uint8_t *)p, len); }
void destinationBuffer(unsigned char p[], unsigned int len) {
TCD.DADDR = p;
TCD.DOFF = 1;
@@ -262,7 +309,8 @@ public:
TCD.BITER = len;
TCD.CITER = len;
}
void destinationBuffer(signed short p[], unsigned int len) { destinationBuffer((uint16_t *)p, len); }
void destinationBuffer(signed short p[], unsigned int len) {
destinationBuffer((uint16_t *)p, len); }
void destinationBuffer(unsigned short p[], unsigned int len) {
TCD.DADDR = p;
TCD.DOFF = 2;
@@ -272,9 +320,12 @@ public:
TCD.BITER = len / 2;
TCD.CITER = len / 2;
}
void destinationBuffer(signed int p[], unsigned int len) { destinationBuffer((uint32_t *)p, len); }
void destinationBuffer(unsigned int p[], unsigned int len) { destinationBuffer((uint32_t *)p, len); }
void destinationBuffer(signed long p[], unsigned int len) { destinationBuffer((uint32_t *)p, len); }
void destinationBuffer(signed int p[], unsigned int len) {
destinationBuffer((uint32_t *)p, len); }
void destinationBuffer(unsigned int p[], unsigned int len) {
destinationBuffer((uint32_t *)p, len); }
void destinationBuffer(signed long p[], unsigned int len) {
destinationBuffer((uint32_t *)p, len); }
void destinationBuffer(unsigned long p[], unsigned int len) {
TCD.DADDR = p;
TCD.DOFF = 4;
@@ -286,7 +337,8 @@ public:
}

// Use a circular buffer as the data destination
void destinationCircular(signed char p[], unsigned int len) { destinationCircular((uint8_t *)p, len); }
void destinationCircular(signed char p[], unsigned int len) {
destinationCircular((uint8_t *)p, len); }
void destinationCircular(unsigned char p[], unsigned int len) {
TCD.DADDR = p;
TCD.DOFF = 1;
@@ -296,7 +348,8 @@ public:
TCD.BITER = len;
TCD.CITER = len;
}
void destinationCircular(signed short p[], unsigned int len) { destinationCircular((uint16_t *)p, len); }
void destinationCircular(signed short p[], unsigned int len) {
destinationCircular((uint16_t *)p, len); }
void destinationCircular(unsigned short p[], unsigned int len) {
TCD.DADDR = p;
TCD.DOFF = 2;
@@ -306,9 +359,12 @@ public:
TCD.BITER = len / 2;
TCD.CITER = len / 2;
}
void destinationCircular(signed int p[], unsigned int len) { destinationCircular((uint32_t *)p, len); }
void destinationCircular(unsigned int p[], unsigned int len) { destinationCircular((uint32_t *)p, len); }
void destinationCircular(signed long p[], unsigned int len) { destinationCircular((uint32_t *)p, len); }
void destinationCircular(signed int p[], unsigned int len) {
destinationCircular((uint32_t *)p, len); }
void destinationCircular(unsigned int p[], unsigned int len) {
destinationCircular((uint32_t *)p, len); }
void destinationCircular(signed long p[], unsigned int len) {
destinationCircular((uint32_t *)p, len); }
void destinationCircular(unsigned long p[], unsigned int len) {
TCD.DADDR = p;
TCD.DOFF = 4;

+ 180
- 5
teensy3/mk20dx128.h View File

@@ -519,6 +519,7 @@ extern "C" {
#define DMAMUX_SOURCE_ALWAYS7 61
#define DMAMUX_SOURCE_ALWAYS8 62
#define DMAMUX_SOURCE_ALWAYS9 63
#define DMAMUX_NUM_SOURCE_ALWAYS 10

// Chapter 21: Direct Memory Access Controller (eDMA)
#define DMA_CR (*(volatile uint32_t *)0x40008000) // Control Register
@@ -679,7 +680,9 @@ extern "C" {
#define DMA_TCD_ATTR_SIZE_16BYTE 4
#define DMA_TCD_ATTR_SIZE_32BYTE 5
#define DMA_TCD_CSR_BWC(n) (((n) & 0x3) << 14)
#define DMA_TCD_CSR_MAJORLINKCH(n) (((n) & 0x3) << 8)
#define DMA_TCD_CSR_BWC_MASK 0xC000
#define DMA_TCD_CSR_MAJORLINKCH(n) (((n) & 0xF) << 8)
#define DMA_TCD_CSR_MAJORLINKCH_MASK 0x0F00
#define DMA_TCD_CSR_DONE 0x0080
#define DMA_TCD_CSR_ACTIVE 0x0040
#define DMA_TCD_CSR_MAJORELINK 0x0020
@@ -688,10 +691,20 @@ extern "C" {
#define DMA_TCD_CSR_INTHALF 0x0004
#define DMA_TCD_CSR_INTMAJOR 0x0002
#define DMA_TCD_CSR_START 0x0001
#define DMA_TCD_CITER_MASK ((uint16_t)0x7FFF) // Loop count mask
#define DMA_TCD_CITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
#define DMA_TCD_BITER_MASK ((uint16_t)0x7FFF) // Loop count mask
#define DMA_TCD_BITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
#define DMA_TCD_CITER_MASK ((uint16_t)0x7FFF) // Loop count mask
#define DMA_TCD_CITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
#define DMA_TCD_BITER_MASK ((uint16_t)0x7FFF) // Loop count mask
#define DMA_TCD_BITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
#define DMA_TCD_BITER_ELINKYES_ELINK 0x8000
#define DMA_TCD_BITER_ELINKYES_LINKCH(n) (((n) & 0xF) << 9)
#define DMA_TCD_BITER_ELINKYES_LINKCH_MASK 0x1E00
#define DMA_TCD_BITER_ELINKYES_BITER(n) (((n) & 0x1FF) << 0)
#define DMA_TCD_BITER_ELINKYES_BITER_MASK 0x01FF
#define DMA_TCD_CITER_ELINKYES_ELINK 0x8000
#define DMA_TCD_CITER_ELINKYES_LINKCH(n) (((n) & 0xF) << 9)
#define DMA_TCD_CITER_ELINKYES_LINKCH_MASK 0x1E00
#define DMA_TCD_CITER_ELINKYES_CITER(n) (((n) & 0x1FF) << 0)
#define DMA_TCD_CITER_ELINKYES_CITER_MASK 0x01FF
#define DMA_TCD_NBYTES_SMLOE ((uint32_t)1<<31) // Source Minor Loop Offset Enable
#define DMA_TCD_NBYTES_DMLOE ((uint32_t)1<<30) // Destination Minor Loop Offset Enable
#define DMA_TCD_NBYTES_MLOFFNO_NBYTES(n) ((uint32_t)(n)) // NBytes transfer count when minor loop disabled
@@ -1296,7 +1309,9 @@ extern "C" {
#define FTM_SC_TOIE 0x40 // Timer Overflow Interrupt Enable
#define FTM_SC_CPWMS 0x20 // Center-Aligned PWM Select
#define FTM_SC_CLKS(n) (((n) & 3) << 3) // Clock Source Selection
#define FTM_SC_CLKS_MASK 0x18
#define FTM_SC_PS(n) (((n) & 7) << 0) // Prescale Factor Selection
#define FTM_SC_PS_MASK 0x07
#define FTM0_CNT (*(volatile uint32_t *)0x40038004) // Counter
#define FTM0_MOD (*(volatile uint32_t *)0x40038008) // Modulo
#define FTM0_C0SC (*(volatile uint32_t *)0x4003800C) // Channel 0 Status And Control
@@ -1324,9 +1339,18 @@ extern "C" {
#define FTM0_C7V (*(volatile uint32_t *)0x40038048) // Channel 7 Value
#define FTM0_CNTIN (*(volatile uint32_t *)0x4003804C) // Counter Initial Value
#define FTM0_STATUS (*(volatile uint32_t *)0x40038050) // Capture And Compare Status
#define FTM_STATUS_CH7F 0x80 //
#define FTM_STATUS_CH6F 0x40 //
#define FTM_STATUS_CH5F 0x20 //
#define FTM_STATUS_CH4F 0x10 //
#define FTM_STATUS_CH3F 0x08 //
#define FTM_STATUS_CH2F 0x04 //
#define FTM_STATUS_CH1F 0x02 //
#define FTM_STATUS_CH0F 0x01 //
#define FTM0_MODE (*(volatile uint32_t *)0x40038054) // Features Mode Selection
#define FTM_MODE_FAULTIE 0x80 // Fault Interrupt Enable
#define FTM_MODE_FAULTM(n) (((n) & 3) << 5) // Fault Control Mode
#define FTM_MODE_FAULTM_MASK 0x60
#define FTM_MODE_CAPTEST 0x10 // Capture Test Mode Enable
#define FTM_MODE_PWMSYNC 0x08 // PWM Synchronization Mode
#define FTM_MODE_WPDIS 0x04 // Write Protection Disable
@@ -1342,21 +1366,170 @@ extern "C" {
#define FTM_SYNC_CNTMAX 0x02 //
#define FTM_SYNC_CNTMIN 0x01 //
#define FTM0_OUTINIT (*(volatile uint32_t *)0x4003805C) // Initial State For Channels Output
#define FTM_OUTINIT_CH7OI 0x80 //
#define FTM_OUTINIT_CH6OI 0x40 //
#define FTM_OUTINIT_CH5OI 0x20 //
#define FTM_OUTINIT_CH4OI 0x10 //
#define FTM_OUTINIT_CH3OI 0x08 //
#define FTM_OUTINIT_CH2OI 0x04 //
#define FTM_OUTINIT_CH1OI 0x02 //
#define FTM_OUTINIT_CH0OI 0x01 //
#define FTM0_OUTMASK (*(volatile uint32_t *)0x40038060) // Output Mask
#define FTM_OUTMASK_CH7OM 0x80 //
#define FTM_OUTMASK_CH6OM 0x40 //
#define FTM_OUTMASK_CH5OM 0x20 //
#define FTM_OUTMASK_CH4OM 0x10 //
#define FTM_OUTMASK_CH3OM 0x08 //
#define FTM_OUTMASK_CH2OM 0x04 //
#define FTM_OUTMASK_CH1OM 0x02 //
#define FTM_OUTMASK_CH0OM 0x01 //
#define FTM0_COMBINE (*(volatile uint32_t *)0x40038064) // Function For Linked Channels
#define FTM_COMBINE_FAULTEN3 0x40000000 // Enable the fault control, ch #6 & #7
#define FTM_COMBINE_SYNCEN3 0x20000000 // Enable PWM sync of C6V & C7V
#define FTM_COMBINE_DTEN3 0x10000000 // Enable deadtime insertion, ch #6 & #7
#define FTM_COMBINE_DECAP3 0x08000000 // Dual Edge Capture Mode
#define FTM_COMBINE_DECAPEN3 0x04000000 // Dual Edge Capture Mode Enable
#define FTM_COMBINE_COMP3 0x02000000 // Complement Of Channel #6 & #7
#define FTM_COMBINE_COMBINE3 0x01000000 // Combine Channels #6 & #7
#define FTM_COMBINE_FAULTEN2 0x00400000 // Enable the fault control, ch #4 & #5
#define FTM_COMBINE_SYNCEN2 0x00200000 // Enable PWM sync of C4V & C5V
#define FTM_COMBINE_DTEN2 0x00100000 // Enable deadtime insertion, ch #4 & #5
#define FTM_COMBINE_DECAP2 0x00080000 // Dual Edge Capture Mode
#define FTM_COMBINE_DECAPEN2 0x00040000 // Dual Edge Capture Mode Enable
#define FTM_COMBINE_COMP2 0x00020000 // Complement Of Channel #4 & #5
#define FTM_COMBINE_COMBINE2 0x00010000 // Combine Channels #4 & #5
#define FTM_COMBINE_FAULTEN1 0x00004000 // Enable the fault control, ch #2 & #3
#define FTM_COMBINE_SYNCEN1 0x00002000 // Enable PWM sync of C2V & C3V
#define FTM_COMBINE_DTEN1 0x00001000 // Enable deadtime insertion, ch #2 & #3
#define FTM_COMBINE_DECAP1 0x00000800 // Dual Edge Capture Mode
#define FTM_COMBINE_DECAPEN1 0x00000400 // Dual Edge Capture Mode Enable
#define FTM_COMBINE_COMP1 0x00000200 // Complement Of Channel #2 & #3
#define FTM_COMBINE_COMBINE1 0x00000100 // Combine Channels #2 & #3
#define FTM_COMBINE_FAULTEN0 0x00000040 // Enable the fault control, ch #0 & #1
#define FTM_COMBINE_SYNCEN0 0x00000020 // Enable PWM sync of C0V & C1V
#define FTM_COMBINE_DTEN0 0x00000010 // Enable deadtime insertion, ch #0 & #1
#define FTM_COMBINE_DECAP0 0x00000008 // Dual Edge Capture Mode
#define FTM_COMBINE_DECAPEN0 0x00000004 // Dual Edge Capture Mode Enable
#define FTM_COMBINE_COMP0 0x00000002 // Complement Of Channel #0 & #1
#define FTM_COMBINE_COMBINE0 0x00000001 // Combine Channels #0 & #1
#define FTM0_DEADTIME (*(volatile uint32_t *)0x40038068) // Deadtime Insertion Control
#define FTM_DEADTIME_DTPS(n) (((n) & 3) << 6) // Prescaler Value, 0=1x, 2=4x, 3=16x
#define FTM_DEADTIME_DTPS_MASK 0xC0
#define FTM_DEADTIME_DTVAL(n) (((n) & 63) << 0) // Deadtime Value
#define FTM_DEADTIME_DTVAL_MASK 0x3F
#define FTM0_EXTTRIG (*(volatile uint32_t *)0x4003806C) // FTM External Trigger
#define FTM_EXTTRIG_TRIGF 0x80 // Channel Trigger Flag
#define FTM_EXTTRIG_INITTRIGEN 0x40 // Initialization Trigger Enable
#define FTM_EXTTRIG_CH1TRIG 0x20 // Channel 1 Trigger Enable
#define FTM_EXTTRIG_CH0TRIG 0x10 // Channel 0 Trigger Enable
#define FTM_EXTTRIG_CH5TRIG 0x08 // Channel 5 Trigger Enable
#define FTM_EXTTRIG_CH4TRIG 0x04 // Channel 4 Trigger Enable
#define FTM_EXTTRIG_CH3TRIG 0x02 // Channel 3 Trigger Enable
#define FTM_EXTTRIG_CH2TRIG 0x01 // Channel 2 Trigger Enable
#define FTM0_POL (*(volatile uint32_t *)0x40038070) // Channels Polarity
#define FTM_POL_POL7 0x80 // Channel 7 Polarity, 0=active high, 1=active low
#define FTM_POL_POL6 0x40 // Channel 6 Polarity, 0=active high, 1=active low
#define FTM_POL_POL5 0x20 // Channel 5 Polarity, 0=active high, 1=active low
#define FTM_POL_POL4 0x10 // Channel 4 Polarity, 0=active high, 1=active low
#define FTM_POL_POL3 0x08 // Channel 3 Polarity, 0=active high, 1=active low
#define FTM_POL_POL2 0x04 // Channel 2 Polarity, 0=active high, 1=active low
#define FTM_POL_POL1 0x02 // Channel 1 Polarity, 0=active high, 1=active low
#define FTM_POL_POL0 0x01 // Channel 0 Polarity, 0=active high, 1=active low
#define FTM0_FMS (*(volatile uint32_t *)0x40038074) // Fault Mode Status
#define FTM_FMS_FAULTF 0x80 // Fault Detection Flag
#define FTM_FMS_WPEN 0x40 // Write Protection Enable
#define FTM_FMS_FAULTIN 0x20 // Fault Inputs
#define FTM_FMS_FAULTF3 0x08 // Fault Detection Flag 3
#define FTM_FMS_FAULTF2 0x04 // Fault Detection Flag 2
#define FTM_FMS_FAULTF1 0x02 // Fault Detection Flag 1
#define FTM_FMS_FAULTF0 0x01 // Fault Detection Flag 0
#define FTM0_FILTER (*(volatile uint32_t *)0x40038078) // Input Capture Filter Control
#define FTM_FILTER_CH3FVAL(n) (((n) & 15) << 12) // Channel 3 Input Filter
#define FTM_FILTER_CH2FVAL(n) (((n) & 15) << 8) // Channel 2 Input Filter
#define FTM_FILTER_CH1FVAL(n) (((n) & 15) << 4) // Channel 1 Input Filter
#define FTM_FILTER_CH0FVAL(n) (((n) & 15) << 0) // Channel 0 Input Filter
#define FTM_FILTER_CH3FVAL_MASK 0xF000
#define FTM_FILTER_CH2FVAL_MASK 0x0F00
#define FTM_FILTER_CH1FVAL_MASK 0x00F0
#define FTM_FILTER_CH0FVAL_MASK 0x000F
#define FTM0_FLTCTRL (*(volatile uint32_t *)0x4003807C) // Fault Control
#define FTM_FLTCTRL_FFVAL(n) (((n) & 15) << 8) // Fault Input Filter Value, 0=disable
#define FTM_FLTCTRL_FFVAL_MASK 0xF00
#define FTM_FLTCTRL_FFLTR3EN 0x80 // Fault Input 3 Filter Enable
#define FTM_FLTCTRL_FFLTR2EN 0x40 // Fault Input 2 Filter Enable
#define FTM_FLTCTRL_FFLTR1EN 0x20 // Fault Input 1 Filter Enable
#define FTM_FLTCTRL_FFLTR0EN 0x10 // Fault Input 0 Filter Enable
#define FTM_FLTCTRL_FAULT3EN 0x08 // Fault Input 3 Enable
#define FTM_FLTCTRL_FAULT2EN 0x04 // Fault Input 2 Enable
#define FTM_FLTCTRL_FAULT1EN 0x02 // Fault Input 1 Enable
#define FTM_FLTCTRL_FAULT0EN 0x01 // Fault Input 0 Enable
#define FTM0_QDCTRL (*(volatile uint32_t *)0x40038080) // Quadrature Decoder Control And Status
#define FTM_QDCTRL_PHAFLTREN 0x80 // Phase A Input Filter Enable
#define FTM_QDCTRL_PHBFLTREN 0x40 // Phase B Input Filter Enable
#define FTM_QDCTRL_PHAPOL 0x20 // Phase A Input Polarity
#define FTM_QDCTRL_PHBPOL 0x10 // Phase B Input Polarity
#define FTM_QDCTRL_QUADMODE 0x08 // Quadrature Decoder Mode
#define FTM_QDCTRL_QUADIR 0x04 // FTM Counter Direction In Quadrature Decoder Mode
#define FTM_QDCTRL_TOFDIR 0x02 // Timer Overflow Direction In Quadrature Decoder Mode
#define FTM_QDCTRL_QUADEN 0x01 // Quadrature Decoder Mode Enable
#define FTM0_CONF (*(volatile uint32_t *)0x40038084) // Configuration
#define FTM_CONF_GTBEOUT 0x400 // Global Time Base Output
#define FTM_CONF_GTBEEN 0x200 // Global Time Base Enable
#define FTM_CONF_BDMMODE (((n) & 3) << 6) // Behavior when in debug mode
#define FTM_CONF_NUMTOF (((n) & 31) << 0) // ratio of counter overflows to TOF bit set
#define FTM0_FLTPOL (*(volatile uint32_t *)0x40038088) // FTM Fault Input Polarity
#define FTM_FLTPOL_FLT3POL 0x08 // Fault Input 3 Polarity
#define FTM_FLTPOL_FLT2POL 0x04 // Fault Input 2 Polarity
#define FTM_FLTPOL_FLT1POL 0x02 // Fault Input 1 Polarity
#define FTM_FLTPOL_FLT0POL 0x01 // Fault Input 0 Polarity
#define FTM0_SYNCONF (*(volatile uint32_t *)0x4003808C) // Synchronization Configuration
#define FTM_SYNCONF_HWSOC 0x100000 // Software output control synchronization is activated by a hardware trigger.
#define FTM_SYNCONF_HWINVC 0x080000 // Inverting control synchronization is activated by a hardware trigger.
#define FTM_SYNCONF_HWOM 0x040000 // Output mask synchronization is activated by a hardware trigger.
#define FTM_SYNCONF_HWWRBUF 0x020000 // MOD, CNTIN, and CV registers synchronization is activated by a hardware trigger.
#define FTM_SYNCONF_HWRSTCNT 0x010000 // FTM counter synchronization is activated by a hardware trigger.
#define FTM_SYNCONF_SWSOC 0x001000 // Software output control synchronization is activated by the software trigger.
#define FTM_SYNCONF_SWINVC 0x000800 // Inverting control synchronization is activated by the software trigger.
#define FTM_SYNCONF_SWOM 0x000400 // Output mask synchronization is activated by the software trigger.
#define FTM_SYNCONF_SWWRBUF 0x000200 // MOD, CNTIN, and CV registers synchronization is activated by the software trigger.
#define FTM_SYNCONF_SWRSTCNT 0x000100 // FTM counter synchronization is activated by the software trigger.
#define FTM_SYNCONF_SYNCMODE 0x000080 // Synchronization Mode, 0=Legacy, 1=Enhanced PWM
#define FTM_SYNCONF_SWOC 0x000020 // SWOCTRL Register Synchronization
#define FTM_SYNCONF_INVC 0x000010 // INVCTRL Register Synchronization
#define FTM_SYNCONF_CNTINC 0x000004 // CNTIN Register Synchronization
#define FTM_SYNCONF_HWTRIGMODE 0x000001 // Hardware Trigger Mode
#define FTM0_INVCTRL (*(volatile uint32_t *)0x40038090) // FTM Inverting Control
#define FTM_INVCTRL_INV3EN 0x08 // Pair Channels 3 Inverting Enable
#define FTM_INVCTRL_INV2EN 0x04 // Pair Channels 2 Inverting Enable
#define FTM_INVCTRL_INV1EN 0x02 // Pair Channels 1 Inverting Enable
#define FTM_INVCTRL_INV0EN 0x01 // Pair Channels 0 Inverting Enable
#define FTM0_SWOCTRL (*(volatile uint32_t *)0x40038094) // FTM Software Output Control
#define FTM_SWOCTRL_CH7OCV 0x8000 // Channel 7 Software Output Control Value
#define FTM_SWOCTRL_CH6OCV 0x4000 // Channel 6 Software Output Control Value
#define FTM_SWOCTRL_CH5OCV 0x2000 // Channel 5 Software Output Control Value
#define FTM_SWOCTRL_CH4OCV 0x1000 // Channel 4 Software Output Control Value
#define FTM_SWOCTRL_CH3OCV 0x0800 // Channel 3 Software Output Control Value
#define FTM_SWOCTRL_CH2OCV 0x0400 // Channel 2 Software Output Control Value
#define FTM_SWOCTRL_CH1OCV 0x0200 // Channel 1 Software Output Control Value
#define FTM_SWOCTRL_CH0OCV 0x0100 // Channel 0 Software Output Control Value
#define FTM_SWOCTRL_CH7OC 0x0080 // Channel 7 Software Output Control Enable
#define FTM_SWOCTRL_CH6OC 0x0040 // Channel 6 Software Output Control Enable
#define FTM_SWOCTRL_CH5OC 0x0020 // Channel 5 Software Output Control Enable
#define FTM_SWOCTRL_CH4OC 0x0010 // Channel 4 Software Output Control Enable
#define FTM_SWOCTRL_CH3OC 0x0008 // Channel 3 Software Output Control Enable
#define FTM_SWOCTRL_CH2OC 0x0004 // Channel 2 Software Output Control Enable
#define FTM_SWOCTRL_CH1OC 0x0002 // Channel 1 Software Output Control Enable
#define FTM_SWOCTRL_CH0OC 0x0001 // Channel 0 Software Output Control Enable
#define FTM0_PWMLOAD (*(volatile uint32_t *)0x40038098) // FTM PWM Load
#define FTM_PWMLOAD_LDOK 0x200 // Enables the loading of the MOD, CNTIN, and CV registers with the values of their write buffers
#define FTM_PWMLOAD_CH7SEL 0x80 // Channel 7 Select
#define FTM_PWMLOAD_CH6SEL 0x40 // Channel 6 Select
#define FTM_PWMLOAD_CH5SEL 0x20 // Channel 5 Select
#define FTM_PWMLOAD_CH4SEL 0x10 // Channel 4 Select
#define FTM_PWMLOAD_CH3SEL 0x08 // Channel 4 Select
#define FTM_PWMLOAD_CH2SEL 0x04 // Channel 3 Select
#define FTM_PWMLOAD_CH1SEL 0x02 // Channel 2 Select
#define FTM_PWMLOAD_CH0SEL 0x01 // Channel 1 Select
#define FTM1_SC (*(volatile uint32_t *)0x40039000) // Status And Control
#define FTM1_CNT (*(volatile uint32_t *)0x40039004) // Counter
#define FTM1_MOD (*(volatile uint32_t *)0x40039008) // Modulo
@@ -2186,6 +2359,7 @@ typedef struct {
#define IRQ_PORTE 44
#define IRQ_SOFTWARE 45
#define NVIC_NUM_INTERRUPTS 46
#define DMA_NUM_CHANNELS 4

#elif defined(__MK20DX256__)
#define IRQ_DMA_CH0 0
@@ -2258,6 +2432,7 @@ typedef struct {
#define IRQ_PORTE 91
#define IRQ_SOFTWARE 94
#define NVIC_NUM_INTERRUPTS 95
#define DMA_NUM_CHANNELS 16

#endif


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