drivers/ftm/fsl_ftm.c

/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright 2016-2022 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */

#include "fsl_ftm.h"

/* Component ID definition, used by tools. */
#ifndef FSL_COMPONENT_ID
#define FSL_COMPONENT_ID "platform.drivers.ftm"
#endif

/*******************************************************************************
 * Prototypes
 ******************************************************************************/
/*!
 * @brief Gets the instance from the base address
 *
 * @param base FTM peripheral base address
 *
 * @return The FTM instance
 */
static uint32_t FTM_GetInstance(FTM_Type *base);

/*!
 * @brief Sets the FTM register PWM synchronization method
 *
 * This function will set the necessary bits for the PWM synchronization mode that
 * user wishes to use.
 *
 * @param base       FTM peripheral base address
 * @param syncMethod Synchronization methods to use to update buffered registers. This is a logical
 *                   OR of members of the enumeration ::ftm_pwm_sync_method_t
 * @param swRstCnt   true:Enable FTM counter synchronization activated by software trigger, avtive when (syncMethod &
 *                   FTM_SYNC_SWSYNC_MASK) != 0U;
 *                   false:The software trigger does not activate the FTM counter synchronization.
 * @param hwRstCnt   true:Enable FTM counter synchronization activated by hardware trigger, avtive when (syncMethod &
 *                   (FTM_SYNC_TRIG0_MASK | FTM_SYNC_TRIG1_MASK | FTM_SYNC_TRIG2_MASK)) != 0U;
 *                   false:Hardware trigger does not activate FTM counter synchronization
 */
static void FTM_SetPwmSync(FTM_Type *base, uint32_t syncMethod, bool swRstCnt, bool hwRstCnt);

/*!
 * @brief Sets the reload points used as loading points for register update
 *
 * This function will set the necessary bits based on what the user wishes to use as loading
 * points for FTM register update. When using this it is not required to use PWM synchnronization.
 *
 * @param base         FTM peripheral base address
 * @param reloadPoints FTM reload points. This is a logical OR of members of the
 *                     enumeration ::ftm_reload_point_t
 */
static void FTM_SetReloadPoints(FTM_Type *base, uint32_t reloadPoints);

/*******************************************************************************
 * Variables
 ******************************************************************************/
/*! @brief Pointers to FTM bases for each instance. */
static FTM_Type *const s_ftmBases[] = FTM_BASE_PTRS;

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
/*! @brief Pointers to FTM clocks for each instance. */
static const clock_ip_name_t s_ftmClocks[] = FTM_CLOCKS;
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */

/*******************************************************************************
 * Code
 ******************************************************************************/
static uint32_t FTM_GetInstance(FTM_Type *base)
{
    uint32_t instance;
    uint32_t ftmArrayCount = (sizeof(s_ftmBases) / sizeof(s_ftmBases[0]));

    /* Find the instance index from base address mappings. */
    for (instance = 0; instance < ftmArrayCount; instance++)
    {
        if (s_ftmBases[instance] == base)
        {
            break;
        }
    }

    assert(instance < ftmArrayCount);

    return instance;
}

static void FTM_SetPwmSync(FTM_Type *base, uint32_t syncMethod, bool swRstCnt, bool hwRstCnt)
{
    uint8_t chnlNumber = 0;
    uint32_t reg = 0, syncReg = 0;

    /* The CHANNEL_COUNT macro returns -1 if it cannot match the FTM instance */
    assert(-1 != FSL_FEATURE_FTM_CHANNEL_COUNTn(base));

    syncReg = base->SYNC;
    /* Enable PWM synchronization of output mask register */
    syncReg |= FTM_SYNC_SYNCHOM_MASK;

    reg = base->COMBINE;
    for (chnlNumber = 0; chnlNumber < ((uint8_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base) / 2U); chnlNumber++)
    {
        /* Enable PWM synchronization of registers C(n)V and C(n+1)V */
        reg |= (1UL << (FTM_COMBINE_SYNCEN0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * chnlNumber)));
    }
    base->COMBINE = reg;

    reg = base->SYNCONF;

    /* Use enhanced PWM synchronization method. Use PWM sync to update register values */
    reg |= (FTM_SYNCONF_SYNCMODE_MASK | FTM_SYNCONF_CNTINC_MASK | FTM_SYNCONF_INVC_MASK | FTM_SYNCONF_SWOC_MASK);

    if ((syncMethod & FTM_SYNC_SWSYNC_MASK) != 0U)
    {
        /* Enable needed bits for software trigger to update registers with its buffer value */
        reg |= (FTM_SYNCONF_SWWRBUF_MASK | FTM_SYNCONF_SWINVC_MASK | FTM_SYNCONF_SWSOC_MASK | FTM_SYNCONF_SWOM_MASK);
        /* Enable software trigger synchronization count. */
        if (swRstCnt)
        {
            reg |= FTM_SYNCONF_SWRSTCNT_MASK;
        }
    }

    if ((syncMethod & (FTM_SYNC_TRIG0_MASK | FTM_SYNC_TRIG1_MASK | FTM_SYNC_TRIG2_MASK)) != 0U)
    {
        /* Enable needed bits for hardware trigger to update registers with its buffer value */
        reg |= (FTM_SYNCONF_HWWRBUF_MASK | FTM_SYNCONF_HWINVC_MASK | FTM_SYNCONF_HWSOC_MASK | FTM_SYNCONF_HWOM_MASK);
        /* Enable hardware trigger synchronization count */
        if (hwRstCnt)
        {
            reg |= FTM_SYNCONF_HWRSTCNT_MASK;
        }

        /* Enable the appropriate hardware trigger that is used for PWM sync */
        if ((syncMethod & FTM_SYNC_TRIG0_MASK) != 0U)
        {
            syncReg |= FTM_SYNC_TRIG0_MASK;
        }
        if ((syncMethod & FTM_SYNC_TRIG1_MASK) != 0U)
        {
            syncReg |= FTM_SYNC_TRIG1_MASK;
        }
        if ((syncMethod & FTM_SYNC_TRIG2_MASK) != 0U)
        {
            syncReg |= FTM_SYNC_TRIG2_MASK;
        }
    }

    /* Write back values to the SYNC register */
    base->SYNC = syncReg;

    /* Write the PWM synch values to the SYNCONF register */
    base->SYNCONF = reg;
}

static void FTM_SetReloadPoints(FTM_Type *base, uint32_t reloadPoints)
{
    uint32_t chnlNumber = 0;
    uint32_t reg        = 0;
    int8_t chnlCount    = FSL_FEATURE_FTM_CHANNEL_COUNTn(base);

    /* The CHANNEL_COUNT macro returns -1 if it cannot match the FTM instance */
    assert(-1 != chnlCount);

    /* Need CNTINC bit to be 1 for CNTIN register to update with its buffer value on reload  */
    base->SYNCONF |= FTM_SYNCONF_CNTINC_MASK;

    reg = base->COMBINE;
    for (chnlNumber = 0; chnlNumber < ((uint32_t)chnlCount / 2U); chnlNumber++)
    {
        /* Need SYNCEN bit to be 1 for CnV reg to update with its buffer value on reload  */
        reg |= (1UL << (FTM_COMBINE_SYNCEN0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * chnlNumber)));
    }
    base->COMBINE = reg;

    /* Set the reload points */
    reg = base->PWMLOAD;

    /* Enable the selected channel match reload points */
    reg &= ~((1UL << (uint32_t)chnlCount) - 1U);
    reg |= (reloadPoints & ((1UL << (uint32_t)chnlCount) - 1U));

#if defined(FSL_FEATURE_FTM_HAS_HALFCYCLE_RELOAD) && (FSL_FEATURE_FTM_HAS_HALFCYCLE_RELOAD)
    /* Enable half cycle match as a reload point */
    if ((reloadPoints & (uint32_t)kFTM_HalfCycMatch) != 0U)
    {
        reg |= FTM_PWMLOAD_HCSEL_MASK;
    }
    else
    {
        reg &= ~FTM_PWMLOAD_HCSEL_MASK;
    }
#endif /* FSL_FEATURE_FTM_HAS_HALFCYCLE_RELOAD */

    base->PWMLOAD = reg;

    /* These reload points are used when counter is in up-down counting mode */
    reg = base->SYNC;
    if ((reloadPoints & (uint32_t)kFTM_CntMax) != 0U)
    {
        /* Reload when counter turns from up to down */
        reg |= FTM_SYNC_CNTMAX_MASK;
    }
    else
    {
        reg &= ~FTM_SYNC_CNTMAX_MASK;
    }

    if ((reloadPoints & (uint32_t)kFTM_CntMin) != 0U)
    {
        /* Reload when counter turns from down to up */
        reg |= FTM_SYNC_CNTMIN_MASK;
    }
    else
    {
        reg &= ~FTM_SYNC_CNTMIN_MASK;
    }
    base->SYNC = reg;
}

/*!
 * brief Ungates the FTM clock and configures the peripheral for basic operation.
 *
 * note This API should be called at the beginning of the application which is using the FTM driver.
 *      If the FTM instance has only TPM features, please use the TPM driver.
 *
 * param base   FTM peripheral base address
 * param config Pointer to the user configuration structure.
 *
 * return kStatus_Success indicates success; Else indicates failure.
 */
status_t FTM_Init(FTM_Type *base, const ftm_config_t *config)
{
    assert(config);
#if defined(FSL_FEATURE_FTM_IS_TPM_ONLY_INSTANCE)
    /* This function does not support the current instance, please use the TPM driver. */
    assert((FSL_FEATURE_FTM_IS_TPM_ONLY_INSTANCE(base) == 0U));
#endif /* FSL_FEATURE_FTM_IS_TPM_ONLY_INSTANCE */

    uint32_t reg;

    if ((config->pwmSyncMode & (uint32_t)((uint32_t)FTM_SYNC_TRIG0_MASK | (uint32_t)FTM_SYNC_TRIG1_MASK |
                                          (uint32_t)FTM_SYNC_TRIG2_MASK | (uint32_t)FTM_SYNC_SWSYNC_MASK)) == 0U)
    {
        /* Invalid PWM sync mode */
        return kStatus_Fail;
    }

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    /* Ungate the FTM clock*/
    (void)CLOCK_EnableClock(s_ftmClocks[FTM_GetInstance(base)]);
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */

#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    if (0 != FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base))
    {
        /* Enable FTM mode and disable write protection */
        base->MODE = FTM_MODE_FTMEN_MASK | FTM_MODE_WPDIS_MASK;
    }
    else
    {
        /* Configure the fault mode, enable FTM mode and disable write protection */
        base->MODE = FTM_MODE_FAULTM(config->faultMode) | FTM_MODE_FTMEN_MASK | FTM_MODE_WPDIS_MASK;
    }
#else
    /* Configure the fault mode, enable FTM mode and disable write protection */
    base->MODE = FTM_MODE_FAULTM(config->faultMode) | FTM_MODE_FTMEN_MASK | FTM_MODE_WPDIS_MASK;
#endif

    /* Configure the update mechanism for buffered registers */
    FTM_SetPwmSync(base, config->pwmSyncMode, config->swTriggerResetCount, config->hwTriggerResetCount);

    /* Setup intermediate register reload points */
    FTM_SetReloadPoints(base, config->reloadPoints);

    /* Set the clock prescale factor */
    base->SC = FTM_SC_PS(config->prescale);

    /* Setup the counter operation */
    base->CONF = (FTM_CONF_BDMMODE(config->bdmMode) | FTM_CONF_GTBEEN(config->useGlobalTimeBase));

    /* Initial state of channel output */
    base->OUTINIT = config->chnlInitState;

    /* Channel polarity */
    base->POL = config->chnlPolarity;

    /* Set the external trigger sources */
    base->EXTTRIG = config->extTriggers;
#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INITIALIZATION_TRIGGER) && (FSL_FEATURE_FTM_HAS_RELOAD_INITIALIZATION_TRIGGER)
    if ((config->extTriggers & (uint32_t)kFTM_ReloadInitTrigger) != 0U)
    {
        base->CONF |= FTM_CONF_ITRIGR_MASK;
    }
    else
    {
        base->CONF &= ~FTM_CONF_ITRIGR_MASK;
    }
#endif /* FSL_FEATURE_FTM_HAS_RELOAD_INITIALIZATION_TRIGGER */

    /* FTM deadtime insertion control */
    base->DEADTIME = (0u |
#if defined(FSL_FEATURE_FTM_HAS_EXTENDED_DEADTIME_VALUE) && (FSL_FEATURE_FTM_HAS_EXTENDED_DEADTIME_VALUE)
                      /* Has extended deadtime value register) */
                      FTM_DEADTIME_DTVALEX(config->deadTimeValue >> 6) |
#endif /* FSL_FEATURE_FTM_HAS_EXTENDED_DEADTIME_VALUE */
                      FTM_DEADTIME_DTPS(config->deadTimePrescale) | FTM_DEADTIME_DTVAL(config->deadTimeValue));

#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    if (0 == FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base))
    {
        /* FTM fault filter value */
        reg = base->FLTCTRL;
        reg &= ~FTM_FLTCTRL_FFVAL_MASK;
        reg |= FTM_FLTCTRL_FFVAL(config->faultFilterValue);
        base->FLTCTRL = reg;
    }
#else
    /* FTM fault filter value */
    reg = base->FLTCTRL;
    reg &= ~FTM_FLTCTRL_FFVAL_MASK;
    reg |= FTM_FLTCTRL_FFVAL(config->faultFilterValue);
    base->FLTCTRL = reg;
#endif

    return kStatus_Success;
}

/*!
 * brief Gates the FTM clock.
 *
 * param base FTM peripheral base address
 */
void FTM_Deinit(FTM_Type *base)
{
    /* Set clock source to none to disable counter */
    base->SC &= ~(FTM_SC_CLKS_MASK);

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    /* Gate the FTM clock */
    (void)CLOCK_DisableClock(s_ftmClocks[FTM_GetInstance(base)]);
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */
}

/*!
 * brief  Fills in the FTM configuration structure with the default settings.
 *
 * The default values are:
 * code
 *   config->prescale = kFTM_Prescale_Divide_1;
 *   config->bdmMode = kFTM_BdmMode_0;
 *   config->pwmSyncMode = kFTM_SoftwareTrigger;
 *   config->reloadPoints = 0;
 *   config->faultMode = kFTM_Fault_Disable;
 *   config->faultFilterValue = 0;
 *   config->deadTimePrescale = kFTM_Deadtime_Prescale_1;
 *   config->deadTimeValue =  0;
 *   config->extTriggers = 0;
 *   config->chnlInitState = 0;
 *   config->chnlPolarity = 0;
 *   config->useGlobalTimeBase = false;
 *   config->hwTriggerResetCount = false;
 *   config->swTriggerResetCount = true;
 * endcode
 * param config Pointer to the user configuration structure.
 */
void FTM_GetDefaultConfig(ftm_config_t *config)
{
    assert(config != NULL);

    /* Initializes the configure structure to zero. */
    (void)memset(config, 0, sizeof(*config));

    /* Divide FTM clock by 1 */
    config->prescale = kFTM_Prescale_Divide_1;
    /* FTM behavior in BDM mode */
    config->bdmMode = kFTM_BdmMode_0;
    /* Software trigger will be used to update registers */
    config->pwmSyncMode = (uint32_t)kFTM_SoftwareTrigger;
    /* No intermediate register load */
    config->reloadPoints = 0;
    /* Fault control disabled for all channels */
    config->faultMode = kFTM_Fault_Disable;
    /* Disable the fault filter */
    config->faultFilterValue = 0;
    /* Divide the system clock by 1 */
    config->deadTimePrescale = kFTM_Deadtime_Prescale_1;
    /* No counts are inserted */
    config->deadTimeValue = 0;
    /* No external trigger */
    config->extTriggers = 0;
    /* Initialization value is 0 for all channels */
    config->chnlInitState = 0;
    /* Active high polarity for all channels */
    config->chnlPolarity = 0;
    /* Use internal FTM counter as timebase */
    config->useGlobalTimeBase = false;
    /* Set hardware trigger activation counter sync to false */
    config->hwTriggerResetCount = false;
    /* Set software trigger activation counter sync to true */
    config->swTriggerResetCount = true;
}

/*!
 * brief Configures the PWM signal parameters.
 *
 * Call this function to configure the PWM signal period, mode, duty cycle, and edge. Use this
 * function to configure all FTM channels that are used to output a PWM signal.
 *
 * param base        FTM peripheral base address
 * param chnlParams  Array of PWM channel parameters to configure the channel(s)
 * param numOfChnls  Number of channels to configure; This should be the size of the array passed in
 * param mode        PWM operation mode, options available in enumeration ::ftm_pwm_mode_t
 * param pwmFreq_Hz  PWM signal frequency in Hz
 * param srcClock_Hz FTM counter clock in Hz
 *
 * return kStatus_Success if the PWM setup was successful
 *         kStatus_Error on failure
 */
status_t FTM_SetupPwm(FTM_Type *base,
                      const ftm_chnl_pwm_signal_param_t *chnlParams,
                      uint8_t numOfChnls,
                      ftm_pwm_mode_t mode,
                      uint32_t pwmFreq_Hz,
                      uint32_t srcClock_Hz)
{
    assert(NULL != chnlParams);

    uint32_t mod, reg;
    uint32_t ftmClock = (srcClock_Hz / (1UL << (base->SC & FTM_SC_PS_MASK)));
    uint32_t cnv, cnvFirstEdge;
    uint8_t i;

    if ((0U == pwmFreq_Hz) || (0U == srcClock_Hz) || (0U == numOfChnls))
    {
        return kStatus_InvalidArgument;
    }

    if (mode == kFTM_CenterAlignedPwm)
    {
        base->SC |= FTM_SC_CPWMS_MASK;
        mod = ftmClock / (pwmFreq_Hz * 2U);
    }
    else
    {
        base->SC &= ~FTM_SC_CPWMS_MASK;
        mod = (ftmClock / pwmFreq_Hz) - 1U;
    }

    /* Return an error in case we overflow the registers, probably would require changing
     * clock source to get the desired frequency */
    if (mod > 65535U)
    {
        return kStatus_OutOfRange;
    }
    /* Set the PWM period */
    base->CNTIN = 0U;
    base->MOD   = mod;

    /* Setup each FTM channel */
    for (i = 0; i < numOfChnls; i++)
    {
        /* Return error if requested chnlNumber is greater than the max allowed */
        if (((uint8_t)chnlParams->chnlNumber >= (uint8_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base)) ||
            (-1 == (int8_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base)))
        {
            return kStatus_InvalidArgument;
        }
        /* Return error if requested dutycycle is greater than the max allowed */
        if (chnlParams->dutyCyclePercent > 100U)
        {
            return kStatus_OutOfRange;
        }

        if (chnlParams->dutyCyclePercent == 100U)
        {
            /* For 100% duty cycle */
            cnv = mod + 1U;
        }
        else
        {
            cnv = (mod * chnlParams->dutyCyclePercent) / 100U;
        }

        if ((mode == kFTM_EdgeAlignedPwm) || (mode == kFTM_CenterAlignedPwm))
        {
            /* Clear the current mode and edge level bits */
            reg = base->CONTROLS[chnlParams->chnlNumber].CnSC;
            reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);

            /* Setup the active level */
            reg |= (uint32_t)chnlParams->level << FTM_CnSC_ELSA_SHIFT;

            /* Edge-aligned mode needs MSB to be 1, don't care for Center-aligned mode */
            reg |= FTM_CnSC_MSB(1U);

            /* Update the mode and edge level */
            base->CONTROLS[chnlParams->chnlNumber].CnSC = reg;

            base->CONTROLS[chnlParams->chnlNumber].CnV = cnv;
#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
            /* Set to output mode */
            FTM_SetPwmOutputEnable(base, chnlParams->chnlNumber, true);
#endif
        }
        else
        {
            /* This check is added for combined mode as the channel number should be the pair number */
            if (((uint32_t)chnlParams->chnlNumber) >= ((uint32_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base) / 2U))
            {
                return kStatus_InvalidArgument;
            }

            if (mode == kFTM_EdgeAlignedCombinedPwm)
            {
                cnvFirstEdge = 0;
            }
            else if (mode == kFTM_CenterAlignedCombinedPwm)
            {
                cnvFirstEdge = (mod > cnv) ? ((mod - cnv) / 2U) : 0U;
            }
            else
            {
                /* Return error if requested value is greater than the max allowed */
                if ((chnlParams->firstEdgeDelayPercent + chnlParams->dutyCyclePercent) > 100U)
                {
                    return kStatus_OutOfRange;
                }
                /* Configure delay of the first edge */
                cnvFirstEdge = (mod * chnlParams->firstEdgeDelayPercent) / 100U;
            }

            /* Clear the current mode and edge level bits for channel n */
            reg = base->CONTROLS[((uint32_t)chnlParams->chnlNumber) * 2U].CnSC;
            reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);

            /* Setup the active level for channel n */
            reg |= (uint32_t)chnlParams->level << FTM_CnSC_ELSA_SHIFT;

            /* Update the mode and edge level for channel n */
            base->CONTROLS[((uint32_t)chnlParams->chnlNumber) * 2U].CnSC = reg;

            /* Clear the current mode and edge level bits for channel n + 1 */
            reg = base->CONTROLS[(((uint32_t)chnlParams->chnlNumber) * 2U) + 1U].CnSC;
            reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);

            /* Setup the active level for channel n + 1 */
            reg |= (uint32_t)chnlParams->level << FTM_CnSC_ELSA_SHIFT;

            /* Update the mode and edge level for channel n + 1*/
            base->CONTROLS[(((uint32_t)chnlParams->chnlNumber) * 2U) + 1U].CnSC = reg;

            /* Set the combine bit for the channel pair */
            base->COMBINE |=
                (1UL << (FTM_COMBINE_COMBINE0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * (uint32_t)chnlParams->chnlNumber)));

            /* Set the channel pair values */
            base->CONTROLS[((uint32_t)chnlParams->chnlNumber) * 2U].CnV        = cnvFirstEdge;
            base->CONTROLS[(((uint32_t)chnlParams->chnlNumber) * 2U) + 1U].CnV = cnvFirstEdge + cnv;

#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
            /* Set to output mode */
            FTM_SetPwmOutputEnable(base, (ftm_chnl_t)(uint8_t)((uint8_t)chnlParams->chnlNumber * 2U), true);
            FTM_SetPwmOutputEnable(base, (ftm_chnl_t)(uint8_t)((uint8_t)chnlParams->chnlNumber * 2U + 1U), true);
#endif /* FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT */

            /* Enable/Disable complementary output on the channel pair */
            FTM_SetComplementaryEnable(base, chnlParams->chnlNumber, chnlParams->enableComplementary);
            /* Enable/Disable Deadtime insertion on the channel pair */
            FTM_SetDeadTimeEnable(base, chnlParams->chnlNumber, chnlParams->enableDeadtime);
        }
        chnlParams++;
    }

    return kStatus_Success;
}

/*!
 * brief Updates the duty cycle of an active PWM signal.
 *
 * param base              FTM peripheral base address
 * param chnlNumber        The channel/channel pair number. In combined mode, this represents
 *                          the channel pair number
 * param currentPwmMode    The current PWM mode set during PWM setup
 * param dutyCyclePercent  New PWM pulse width; The value should be between 0 to 100
 *                          0=inactive signal(0% duty cycle)...
 *                          100=active signal (100% duty cycle)
 * return kStatus_Success if the PWM update was successful
 *         kStatus_Error on failure
 */
status_t FTM_UpdatePwmDutycycle(FTM_Type *base,
                                ftm_chnl_t chnlNumber,
                                ftm_pwm_mode_t currentPwmMode,
                                uint8_t dutyCyclePercent)
{
    uint32_t cnv, cnvFirstEdge = 0, mod;

    /* Return error if requested chnlNumber is greater than the max allowed */
    if (((uint8_t)chnlNumber >= (uint8_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base)) ||
        (-1 == (int8_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base)))
    {
        return kStatus_InvalidArgument;
    }

    mod = base->MOD;

    if (dutyCyclePercent > 100U)
    {
        return kStatus_OutOfRange;
    }
    if (dutyCyclePercent == 100U)
    {
        /* For 100% duty cycle */
        cnv = mod + 1U;
    }
    else
    {
        cnv = (mod * dutyCyclePercent) / 100U;
    }

    if ((currentPwmMode == kFTM_EdgeAlignedPwm) || (currentPwmMode == kFTM_CenterAlignedPwm))
    {
        base->CONTROLS[chnlNumber].CnV = cnv;
    }
    else
    {
        /* This check is added for combined mode as the channel number should be the pair number */
        if ((uint32_t)chnlNumber >= ((uint32_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base) / 2U))
        {
            return kStatus_InvalidArgument;
        }

        if (currentPwmMode == kFTM_CenterAlignedCombinedPwm)
        {
            cnvFirstEdge = (mod > cnv) ? ((mod - cnv) / 2U) : 0U;
        }
        else
        {
            cnvFirstEdge = base->CONTROLS[((uint32_t)chnlNumber) * 2U].CnV;
            if (((cnvFirstEdge != 0U) && (cnv == (mod + 1U))) || (((cnvFirstEdge + cnv) > mod) && (cnv < mod)))
            {
                /* Return error if firstEdgeDelayPercent + dutyCyclePercent > 100 */
                return kStatus_OutOfRange;
            }
        }
        base->CONTROLS[((uint32_t)chnlNumber * 2U)].CnV      = cnvFirstEdge;
        base->CONTROLS[((uint32_t)chnlNumber * 2U) + 1U].CnV = cnvFirstEdge + cnv;
    }
    return kStatus_Success;
}

/*!
 * brief Updates the edge level selection for a channel.
 *
 * param base       FTM peripheral base address
 * param chnlNumber The channel number
 * param level      The level to be set to the ELSnB:ELSnA field; Valid values are 00, 01, 10, 11.
 *                   See the Kinetis SoC reference manual for details about this field.
 */
void FTM_UpdateChnlEdgeLevelSelect(FTM_Type *base, ftm_chnl_t chnlNumber, uint8_t level)
{
    uint32_t reg = base->CONTROLS[chnlNumber].CnSC;

    /* Clear the field and write the new level value */
    reg &= ~(FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
    reg |= ((uint32_t)level << FTM_CnSC_ELSA_SHIFT) & (FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);

    base->CONTROLS[chnlNumber].CnSC = reg;
}

/*!
 * brief Configures the PWM mode parameters.
 *
 * Call this function to configure the PWM signal mode, duty cycle in ticks, and edge. Use this
 * function to configure all FTM channels that are used to output a PWM signal.
 * Please note that: This API is similar with FTM_SetupPwm() API, but will not set the timer period,
 *                   and this API will set channel match value in timer ticks, not period percent.
 *
 * param base        FTM peripheral base address
 * param chnlParams  Array of PWM channel parameters to configure the channel(s)
 * param numOfChnls  Number of channels to configure; This should be the size of the array passed in
 * param mode        PWM operation mode, options available in enumeration ::ftm_pwm_mode_t
 *
 * return kStatus_Success if the PWM setup was successful
 *         kStatus_Error on failure
 */
status_t FTM_SetupPwmMode(FTM_Type *base,
                          const ftm_chnl_pwm_config_param_t *chnlParams,
                          uint8_t numOfChnls,
                          ftm_pwm_mode_t mode)
{
    assert(chnlParams != NULL);
    assert(numOfChnls != 0U);
    /* The CHANNEL_COUNT macro returns -1 if it cannot match the FTM instance */
    assert(-1 != FSL_FEATURE_FTM_CHANNEL_COUNTn(base));

    uint32_t reg;
    uint32_t mod, cnvFirstEdge;
    uint8_t i;

    switch (mode)
    {
        case kFTM_EdgeAlignedPwm:
        case kFTM_EdgeAlignedCombinedPwm:
        case kFTM_CenterAlignedCombinedPwm:
        case kFTM_AsymmetricalCombinedPwm:
            base->SC &= ~FTM_SC_CPWMS_MASK;
            break;
        case kFTM_CenterAlignedPwm:
            base->SC |= FTM_SC_CPWMS_MASK;
            break;
        default:
            assert(false);
            break;
    }

    /* Get percent PWM period */
    mod = base->MOD;
    /* Setup each FTM channel */
    for (i = 0; i < numOfChnls; i++)
    {
        if ((mode == kFTM_EdgeAlignedPwm) || (mode == kFTM_CenterAlignedPwm))
        {
            /* Clear the current mode and edge level bits */
            reg = base->CONTROLS[chnlParams->chnlNumber].CnSC;
            reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);

            /* Setup the active level */
            reg |= (uint32_t)chnlParams->level << FTM_CnSC_ELSA_SHIFT;

            /* Edge-aligned mode needs MSB to be 1, don't care for Center-aligned mode */
            reg |= FTM_CnSC_MSB(1U);

            /* Update the mode and edge level */
            base->CONTROLS[chnlParams->chnlNumber].CnSC = reg;

            base->CONTROLS[chnlParams->chnlNumber].CnV = chnlParams->dutyValue;
#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
            /* Set to output mode */
            FTM_SetPwmOutputEnable(base, chnlParams->chnlNumber, true);
#endif
        }
        else
        {
            /* This check is added for combined mode as the channel number should be the pair number */
            if (((uint32_t)chnlParams->chnlNumber) >= (((uint32_t)FSL_FEATURE_FTM_CHANNEL_COUNTn(base)) / 2U))
            {
                return kStatus_Fail;
            }

            if (mode == kFTM_EdgeAlignedCombinedPwm)
            {
                cnvFirstEdge = 0;
            }
            else if (mode == kFTM_CenterAlignedCombinedPwm)
            {
                cnvFirstEdge = (mod - chnlParams->dutyValue) / 2U;
            }
            else
            {
                /* Return error if requested value is greater than the mod */
                if (chnlParams->firstEdgeValue > mod)
                {
                    return kStatus_Fail;
                }
                cnvFirstEdge = chnlParams->firstEdgeValue;
            }

            /* Re-configure first edge when 0% duty cycle */
            if (chnlParams->dutyValue == 0U)
            {
                /* Signal stays low */
                cnvFirstEdge = 0;
            }

            /* Clear the current mode and edge level bits for channel n */
            reg = base->CONTROLS[((uint32_t)chnlParams->chnlNumber) * 2U].CnSC;
            reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);

            /* Setup the active level for channel n */
            reg |= (uint32_t)chnlParams->level << FTM_CnSC_ELSA_SHIFT;

            /* Update the mode and edge level for channel n */
            base->CONTROLS[((uint32_t)chnlParams->chnlNumber) * 2U].CnSC = reg;

            /* Clear the current mode and edge level bits for channel n + 1 */
            reg = base->CONTROLS[(((uint32_t)chnlParams->chnlNumber) * 2U) + 1U].CnSC;
            reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);

            /* Setup the active level for channel n + 1 */
            reg |= (uint32_t)chnlParams->level << FTM_CnSC_ELSA_SHIFT;

            /* Update the mode and edge level for channel n + 1*/
            base->CONTROLS[(((uint32_t)chnlParams->chnlNumber) * 2U) + 1U].CnSC = reg;

            /* Set the combine bit for the channel pair */
            base->COMBINE |=
                (1UL << (FTM_COMBINE_COMBINE0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * (uint32_t)chnlParams->chnlNumber)));

            /* Set the channel pair values */
            base->CONTROLS[((uint32_t)chnlParams->chnlNumber) * 2U].CnV        = cnvFirstEdge;
            base->CONTROLS[(((uint32_t)chnlParams->chnlNumber) * 2U) + 1U].CnV = cnvFirstEdge + chnlParams->dutyValue;

#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
            /* Set to output mode */
            FTM_SetPwmOutputEnable(base, (ftm_chnl_t)(uint8_t)((uint8_t)chnlParams->chnlNumber * 2U), true);
            FTM_SetPwmOutputEnable(base, (ftm_chnl_t)(uint8_t)((uint8_t)chnlParams->chnlNumber * 2U + 1U), true);
#endif /* FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT */

            /* Enable/Disable complementary output on the channel pair */
            FTM_SetComplementaryEnable(base, chnlParams->chnlNumber, chnlParams->enableComplementary);
            /* Enable/Disable Deadtime insertion on the channel pair */
            FTM_SetDeadTimeEnable(base, chnlParams->chnlNumber, chnlParams->enableDeadtime);
        }
        chnlParams++;
    }

    return kStatus_Success;
}

/*!
 * brief Enables capturing an input signal on the channel using the function parameters.
 *
 * When the edge specified in the captureMode argument occurs on the channel, the FTM counter is
 * captured into the CnV register. The user has to read the CnV register separately to get this
 * value. The filter function is disabled if the filterVal argument passed in is 0. The filter
 * function is available only for channels 0, 1, 2, 3.
 *
 * param base        FTM peripheral base address
 * param chnlNumber  The channel number
 * param captureMode Specifies which edge to capture
 * param filterValue Filter value, specify 0 to disable filter. Available only for channels 0-3.
 */
void FTM_SetupInputCapture(FTM_Type *base,
                           ftm_chnl_t chnlNumber,
                           ftm_input_capture_edge_t captureMode,
                           uint32_t filterValue)
{
    uint32_t reg;

    /* Clear the combine bit for the channel pair */
    base->COMBINE &=
        ~(1UL << (FTM_COMBINE_COMBINE0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * ((uint32_t)chnlNumber >> 1))));
    /* Clear the dual edge capture mode because it's it's higher priority */
    base->COMBINE &=
        ~(1UL << (FTM_COMBINE_DECAPEN0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * ((uint32_t)chnlNumber >> 1))));
#if !(defined(FSL_FEATURE_FTM_HAS_NO_QDCTRL) && FSL_FEATURE_FTM_HAS_NO_QDCTRL)
    /* Clear the quadrature decoder mode beacause it's higher priority */
    base->QDCTRL &= ~FTM_QDCTRL_QUADEN_MASK;
#endif

    reg = base->CONTROLS[chnlNumber].CnSC;
    reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
    reg |= (uint32_t)captureMode;

    /* Set the requested input capture mode */
    base->CONTROLS[chnlNumber].CnSC = reg;
    /* Input filter available only for channels 0, 1, 2, 3 */
    if (chnlNumber < kFTM_Chnl_4)
    {
        reg = base->FILTER;
        reg &= ~((uint32_t)FTM_FILTER_CH0FVAL_MASK << (FTM_FILTER_CH1FVAL_SHIFT * (uint32_t)chnlNumber));
        reg |= (filterValue << (FTM_FILTER_CH1FVAL_SHIFT * (uint32_t)chnlNumber));
        base->FILTER = reg;
    }
#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
    /* Set to input mode */
    FTM_SetPwmOutputEnable(base, chnlNumber, false);
#endif
}

/*!
 * brief Configures the FTM to generate timed pulses.
 *
 * When the FTM counter matches the value of compareVal argument (this is written into CnV reg),
 * the channel output is changed based on what is specified in the compareMode argument.
 *
 * param base         FTM peripheral base address
 * param chnlNumber   The channel number
 * param compareMode  Action to take on the channel output when the compare condition is met
 * param compareValue Value to be programmed in the CnV register.
 */
void FTM_SetupOutputCompare(FTM_Type *base,
                            ftm_chnl_t chnlNumber,
                            ftm_output_compare_mode_t compareMode,
                            uint32_t compareValue)
{
    uint32_t reg;

    /* Clear the combine bit for the channel pair */
    base->COMBINE &=
        ~(1UL << (FTM_COMBINE_COMBINE0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * ((uint32_t)chnlNumber >> 1))));
    /* Clear the dual edge capture mode because it's it's higher priority */
    base->COMBINE &=
        ~(1UL << (FTM_COMBINE_DECAPEN0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * ((uint32_t)chnlNumber >> 1))));
#if !(defined(FSL_FEATURE_FTM_HAS_NO_QDCTRL) && FSL_FEATURE_FTM_HAS_NO_QDCTRL)
    /* Clear the quadrature decoder mode beacause it's higher priority */
    base->QDCTRL &= ~FTM_QDCTRL_QUADEN_MASK;
#endif

    reg = base->CONTROLS[chnlNumber].CnSC;
    reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
    reg |= (uint32_t)compareMode;
    /* Setup the channel output behaviour when a match occurs with the compare value */
    base->CONTROLS[chnlNumber].CnSC = reg;

    /* Set output on match to the requested level */
    base->CONTROLS[chnlNumber].CnV = compareValue;

#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
    /* Set to output mode */
    FTM_SetPwmOutputEnable(base, chnlNumber, true);
#endif
}

/*!
 * brief Configures the dual edge capture mode of the FTM.
 *
 * This function sets up the dual edge capture mode on a channel pair. The capture edge for the
 * channel pair and the capture mode (one-shot or continuous) is specified in the parameter
 * argument. The filter function is disabled if the filterVal argument passed is zero. The filter
 * function is available only on channels 0 and 2. The user has to read the channel CnV registers
 * separately to get the capture values.
 *
 * param base           FTM peripheral base address
 * param chnlPairNumber The FTM channel pair number; options are 0, 1, 2, 3
 * param edgeParam      Sets up the dual edge capture function
 * param filterValue    Filter value, specify 0 to disable filter. Available only for channel pair 0 and 1.
 */
void FTM_SetupDualEdgeCapture(FTM_Type *base,
                              ftm_chnl_t chnlPairNumber,
                              const ftm_dual_edge_capture_param_t *edgeParam,
                              uint32_t filterValue)
{
    assert(edgeParam);

    uint32_t reg;

    reg = base->COMBINE;
    /* Clear the combine bit for the channel pair */
    reg &= ~(1UL << (FTM_COMBINE_COMBINE0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * (uint32_t)chnlPairNumber)));
    /* Enable the DECAPEN bit */
    reg |= (1UL << (FTM_COMBINE_DECAPEN0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * (uint32_t)chnlPairNumber)));
    reg |= (1UL << (FTM_COMBINE_DECAP0_SHIFT + (FTM_COMBINE_COMBINE1_SHIFT * (uint32_t)chnlPairNumber)));
    base->COMBINE = reg;

    /* Setup the edge detection from channel n and n + 1 */
    reg = base->CONTROLS[((uint32_t)chnlPairNumber) * 2U].CnSC;
    reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
    reg |= ((uint32_t)edgeParam->mode | (uint32_t)edgeParam->currChanEdgeMode);
    base->CONTROLS[((uint32_t)chnlPairNumber) * 2U].CnSC = reg;

    reg = base->CONTROLS[(((uint32_t)chnlPairNumber) * 2U) + 1U].CnSC;
    reg &= ~(FTM_CnSC_MSA_MASK | FTM_CnSC_MSB_MASK | FTM_CnSC_ELSA_MASK | FTM_CnSC_ELSB_MASK);
    reg |= ((uint32_t)edgeParam->mode | (uint32_t)edgeParam->nextChanEdgeMode);
    base->CONTROLS[(((uint32_t)chnlPairNumber) * 2U) + 1U].CnSC = reg;

    /* Input filter available only for channels 0, 1, 2, 3 */
    if (chnlPairNumber < kFTM_Chnl_4)
    {
        reg = base->FILTER;
        reg &= ~((uint32_t)FTM_FILTER_CH0FVAL_MASK << (FTM_FILTER_CH1FVAL_SHIFT * (uint32_t)chnlPairNumber));
        reg |= (filterValue << (FTM_FILTER_CH1FVAL_SHIFT * (uint32_t)chnlPairNumber));
        base->FILTER = reg;
    }

#if defined(FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT) && (FSL_FEATURE_FTM_HAS_ENABLE_PWM_OUTPUT)
    /* Set to input mode */
    FTM_SetPwmOutputEnable(base, chnlPairNumber, false);
#endif
}

/*!
 * brief Configures the parameters and activates the quadrature decoder mode.
 *
 * param base         FTM peripheral base address
 * param phaseAParams Phase A configuration parameters
 * param phaseBParams Phase B configuration parameters
 * param quadMode     Selects encoding mode used in quadrature decoder mode
 */
void FTM_SetupQuadDecode(FTM_Type *base,
                         const ftm_phase_params_t *phaseAParams,
                         const ftm_phase_params_t *phaseBParams,
                         ftm_quad_decode_mode_t quadMode)
{
    assert(phaseAParams != NULL);
    assert(phaseBParams != NULL);

    uint32_t reg;

    /* Set Phase A filter value if phase filter is enabled */
    if (phaseAParams->enablePhaseFilter)
    {
        reg = base->FILTER;
        reg &= ~(FTM_FILTER_CH0FVAL_MASK);
        reg |= FTM_FILTER_CH0FVAL(phaseAParams->phaseFilterVal);
        base->FILTER = reg;
    }

    /* Set Phase B filter value if phase filter is enabled */
    if (phaseBParams->enablePhaseFilter)
    {
        reg = base->FILTER;
        reg &= ~(FTM_FILTER_CH1FVAL_MASK);
        reg |= FTM_FILTER_CH1FVAL(phaseBParams->phaseFilterVal);
        base->FILTER = reg;
    }
#if !(defined(FSL_FEATURE_FTM_HAS_NO_QDCTRL) && FSL_FEATURE_FTM_HAS_NO_QDCTRL)
    /* Set Quadrature decode properties */
    reg = base->QDCTRL;
    reg &= ~(FTM_QDCTRL_QUADMODE_MASK | FTM_QDCTRL_PHAFLTREN_MASK | FTM_QDCTRL_PHBFLTREN_MASK | FTM_QDCTRL_PHAPOL_MASK |
             FTM_QDCTRL_PHBPOL_MASK);
    reg |= (FTM_QDCTRL_QUADMODE(quadMode) | FTM_QDCTRL_PHAFLTREN(phaseAParams->enablePhaseFilter) |
            FTM_QDCTRL_PHBFLTREN(phaseBParams->enablePhaseFilter) | FTM_QDCTRL_PHAPOL(phaseAParams->phasePolarity) |
            FTM_QDCTRL_PHBPOL(phaseBParams->phasePolarity));
    base->QDCTRL = reg;
    /* Enable Quad decode */
    base->QDCTRL |= FTM_QDCTRL_QUADEN_MASK;
#endif
}

/*!
 * brief Sets up the working of the FTM fault inputs protection.
 *
 * FTM can have up to 4 fault inputs. This function sets up fault parameters, fault level, and input filter.
 *
 * param base        FTM peripheral base address
 * param faultNumber FTM fault to configure.
 * param faultParams Parameters passed in to set up the fault input
 */
void FTM_SetupFaultInput(FTM_Type *base, ftm_fault_input_t faultNumber, const ftm_fault_param_t *faultParams)
{
    assert(faultParams != NULL);
    /* Fault input is not supported if the instance has only basic feature.*/
#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    assert(0 == FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base));
#endif

    if (faultParams->useFaultFilter)
    {
        /* Enable the fault filter */
        base->FLTCTRL |= ((uint32_t)FTM_FLTCTRL_FFLTR0EN_MASK << (FTM_FLTCTRL_FFLTR0EN_SHIFT + (uint32_t)faultNumber));
    }
    else
    {
        /* Disable the fault filter */
        base->FLTCTRL &= ~((uint32_t)FTM_FLTCTRL_FFLTR0EN_MASK << (FTM_FLTCTRL_FFLTR0EN_SHIFT + (uint32_t)faultNumber));
    }

    if (faultParams->faultLevel)
    {
        /* Active low polarity for the fault input pin */
        base->FLTPOL |= (1UL << (uint32_t)faultNumber);
    }
    else
    {
        /* Active high polarity for the fault input pin */
        base->FLTPOL &= ~(1UL << (uint32_t)faultNumber);
    }

    if (faultParams->enableFaultInput)
    {
        /* Enable the fault input */
        base->FLTCTRL |= ((uint32_t)FTM_FLTCTRL_FAULT0EN_MASK << (uint32_t)faultNumber);
    }
    else
    {
        /* Disable the fault input */
        base->FLTCTRL &= ~((uint32_t)FTM_FLTCTRL_FAULT0EN_MASK << (uint32_t)faultNumber);
    }
}

/*!
 * brief Enables the selected FTM interrupts.
 *
 * param base FTM peripheral base address
 * param mask The interrupts to enable. This is a logical OR of members of the
 *             enumeration ::ftm_interrupt_enable_t
 */
void FTM_EnableInterrupts(FTM_Type *base, uint32_t mask)
{
    uint32_t chnlInts  = (mask & 0xFFU);
    uint8_t chnlNumber = 0;

    /* Enable the timer overflow interrupt */
    if ((mask & (uint32_t)kFTM_TimeOverflowInterruptEnable) != 0U)
    {
        base->SC |= FTM_SC_TOIE_MASK;
    }

    /* Fault input is not supported if the instance has only basic feature.*/
#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    if (0 == FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base))
    {
        /* Enable the fault interrupt */
        if ((mask & (uint32_t)kFTM_FaultInterruptEnable) != 0U)
        {
            base->MODE |= FTM_MODE_FAULTIE_MASK;
        }
    }
#else
    /* Enable the fault interrupt */
    if ((mask & (uint32_t)kFTM_FaultInterruptEnable) != 0U)
    {
        base->MODE |= FTM_MODE_FAULTIE_MASK;
    }
#endif

#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT) && (FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT)
    /* Enable the reload interrupt available only on certain SoC's */
    if ((mask & (uint32_t)kFTM_ReloadInterruptEnable) != 0U)
    {
        base->SC |= FTM_SC_RIE_MASK;
    }
#endif

    /* Enable the channel interrupts */
    while (chnlInts != 0U)
    {
        if ((chnlInts & 0x1U) != 0U)
        {
            base->CONTROLS[chnlNumber].CnSC |= FTM_CnSC_CHIE_MASK;
        }
        chnlNumber++;
        chnlInts = chnlInts >> 1U;
    }
}

/*!
 * brief Disables the selected FTM interrupts.
 *
 * param base FTM peripheral base address
 * param mask The interrupts to enable. This is a logical OR of members of the
 *             enumeration ::ftm_interrupt_enable_t
 */
void FTM_DisableInterrupts(FTM_Type *base, uint32_t mask)
{
    uint32_t chnlInts  = (mask & 0xFFU);
    uint8_t chnlNumber = 0;

    /* Disable the timer overflow interrupt */
    if ((mask & (uint32_t)kFTM_TimeOverflowInterruptEnable) != 0U)
    {
        base->SC &= ~FTM_SC_TOIE_MASK;
    }
    /* Fault input is not supported if the instance has only basic feature.*/
#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    if (0 == FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base))
    {
        /* Disable the fault interrupt */
        if ((mask & (uint32_t)kFTM_FaultInterruptEnable) != 0U)
        {
            base->MODE &= ~FTM_MODE_FAULTIE_MASK;
        }
    }
#else
    /* Disable the fault interrupt */
    if ((mask & (uint32_t)kFTM_FaultInterruptEnable) != 0U)
    {
        base->MODE &= ~FTM_MODE_FAULTIE_MASK;
    }
#endif

#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT) && (FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT)
    /* Disable the reload interrupt available only on certain SoC's */
    if ((mask & (uint32_t)kFTM_ReloadInterruptEnable) != 0U)
    {
        base->SC &= ~FTM_SC_RIE_MASK;
    }
#endif

    /* Disable the channel interrupts */
    while (chnlInts != 0U)
    {
        if ((chnlInts & 0x01U) != 0U)
        {
            base->CONTROLS[chnlNumber].CnSC &= ~FTM_CnSC_CHIE_MASK;
        }
        chnlNumber++;
        chnlInts = chnlInts >> 1U;
    }
}

/*!
 * brief Gets the enabled FTM interrupts.
 *
 * param base FTM peripheral base address
 *
 * return The enabled interrupts. This is the logical OR of members of the
 *         enumeration ::ftm_interrupt_enable_t
 */
uint32_t FTM_GetEnabledInterrupts(FTM_Type *base)
{
    uint32_t enabledInterrupts = 0;
    int8_t chnlCount           = FSL_FEATURE_FTM_CHANNEL_COUNTn(base);

    /* The CHANNEL_COUNT macro returns -1 if it cannot match the FTM instance */
    assert(chnlCount != -1);

    /* Check if timer overflow interrupt is enabled */
    if ((base->SC & FTM_SC_TOIE_MASK) != 0U)
    {
        enabledInterrupts |= (uint32_t)kFTM_TimeOverflowInterruptEnable;
    }
    /* Fault input is not supported if the instance has only basic feature.*/
#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    if (0 == FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base))
    {
        /* Check if fault interrupt is enabled */
        if ((base->MODE & FTM_MODE_FAULTIE_MASK) != 0U)
        {
            enabledInterrupts |= (uint32_t)kFTM_FaultInterruptEnable;
        }
    }
#else
    /* Check if fault interrupt is enabled */
    if ((base->MODE & FTM_MODE_FAULTIE_MASK) != 0U)
    {
        enabledInterrupts |= (uint32_t)kFTM_FaultInterruptEnable;
    }
#endif

#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT) && (FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT)
    /* Check if the reload interrupt is enabled */
    if ((base->SC & FTM_SC_RIE_MASK) != 0U)
    {
        enabledInterrupts |= (uint32_t)kFTM_ReloadInterruptEnable;
    }
#endif

    /* Check if the channel interrupts are enabled */
    while (chnlCount > 0)
    {
        chnlCount--;
        if ((base->CONTROLS[chnlCount].CnSC & FTM_CnSC_CHIE_MASK) != 0x00U)
        {
            enabledInterrupts |= (1UL << (uint32_t)chnlCount);
        }
    }

    return enabledInterrupts;
}

/*!
 * brief Gets the FTM status flags.
 *
 * param base FTM peripheral base address
 *
 * return The status flags. This is the logical OR of members of the
 *         enumeration ::ftm_status_flags_t
 */
uint32_t FTM_GetStatusFlags(FTM_Type *base)
{
    uint32_t statusFlags = 0;

    /* Check the timer flag */
    if ((base->SC & FTM_SC_TOF_MASK) != 0U)
    {
        statusFlags |= (uint32_t)kFTM_TimeOverflowFlag;
    }
    /* Fault input is not supported if the instance has only basic feature.*/
#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    if (0 == FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base))
    {
        /* Check fault flag */
        if ((base->FMS & FTM_FMS_FAULTF_MASK) != 0U)
        {
            statusFlags |= (uint32_t)kFTM_FaultFlag;
        }
    }
#else
    /* Check fault flag */
    if ((base->FMS & FTM_FMS_FAULTF_MASK) != 0U)
    {
        statusFlags |= (uint32_t)kFTM_FaultFlag;
    }
#endif
    /* Check channel trigger flag */
    if ((base->EXTTRIG & FTM_EXTTRIG_TRIGF_MASK) != 0U)
    {
        statusFlags |= (uint32_t)kFTM_ChnlTriggerFlag;
    }
#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT) && (FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT)
    /* Check reload flag */
    if ((base->SC & FTM_SC_RF_MASK) != 0U)
    {
        statusFlags |= (uint32_t)kFTM_ReloadFlag;
    }
#endif

    /* Lower 8 bits contain the channel status flags */
    statusFlags |= (base->STATUS & 0xFFU);

    return statusFlags;
}

/*!
 * brief Clears the FTM status flags.
 *
 * param base FTM peripheral base address
 * param mask The status flags to clear. This is a logical OR of members of the
 *             enumeration ::ftm_status_flags_t
 */
void FTM_ClearStatusFlags(FTM_Type *base, uint32_t mask)
{
    /* Clear the timer overflow flag by writing a 0 to the bit while it is set */
    if ((mask & (uint32_t)kFTM_TimeOverflowFlag) != 0U)
    {
        base->SC &= ~FTM_SC_TOF_MASK;
    }
    /* Fault input is not supported if the instance has only basic feature.*/
#if (defined(FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE) && FSL_FEATURE_FTM_HAS_BASIC_FEATURE_ONLY_INSTANCE)
    if (0 == FSL_FEATURE_FTM_IS_BASIC_FEATURE_ONLY_INSTANCEn(base))
    {
        /* Clear fault flag by writing a 0 to the bit while it is set */
        if ((mask & (uint32_t)kFTM_FaultFlag) != 0U)
        {
            base->FMS &= ~FTM_FMS_FAULTF_MASK;
        }
    }
#else
    /* Clear fault flag by writing a 0 to the bit while it is set */
    if ((mask & (uint32_t)kFTM_FaultFlag) != 0U)
    {
        base->FMS &= ~FTM_FMS_FAULTF_MASK;
    }
#endif
    /* Clear channel trigger flag */
    if ((mask & (uint32_t)kFTM_ChnlTriggerFlag) != 0U)
    {
        base->EXTTRIG &= ~FTM_EXTTRIG_TRIGF_MASK;
    }

#if defined(FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT) && (FSL_FEATURE_FTM_HAS_RELOAD_INTERRUPT)
    /* Check reload flag by writing a 0 to the bit while it is set */
    if ((mask & (uint32_t)kFTM_ReloadFlag) != 0U)
    {
        base->SC &= ~FTM_SC_RF_MASK;
    }
#endif
    /* Clear the channel status flags by writing a 0 to the bit */
    base->STATUS &= ~(mask & 0xFFU);
}