Add initial GPT driver for AVR
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5906 35acf78f-673a-0410-8e92-d51de3d6d3f4
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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This driver is based on the work done by Matteo Serva available at
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http://github.com/matteoserva/ChibiOS-AVR
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*/
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/**
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* @file AVR/gpt_lld.c
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* @brief AVR GPT driver subsystem low level driver.
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*
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* @addtogroup GPT
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#if HAL_USE_GPT || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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#define PRESCALER_SIZE_BASE 5
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#define PRESCALER_SIZE_EXTENDED 7
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// FIXME: could use better names here!
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typedef struct {
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volatile uint8_t *tccra;
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volatile uint8_t *tccrb;
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volatile uint8_t *ocr1;
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volatile uint8_t *ocr2;
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volatile uint8_t *tcnt1;
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volatile uint8_t *tcnt2;
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volatile uint8_t *tifr;
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volatile uint8_t *timsk;
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} timer_registers_t;
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const timer_registers_t regs_table[] = {
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#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
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{ &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 },
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#endif
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#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
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{ &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 },
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#endif
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#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
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{ &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 },
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#endif
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#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
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{ &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 },
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#endif
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#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
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{ &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 },
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#endif
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};
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
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GPTDriver GPTD1;
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#endif
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#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
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GPTDriver GPTD2;
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#endif
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#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
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GPTDriver GPTD3;
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#endif
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#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
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GPTDriver GPTD4;
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#endif
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#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
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GPTDriver GPTD5;
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#endif
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/*===========================================================================*/
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/* Driver local variables. */
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/*===========================================================================*/
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static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 };
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static uint8_t clock_source_base[]= { 5, 4, 3, 2, 1 };
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static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 };
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static uint8_t clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 };
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n)
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{
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uint8_t i;
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for (i = 0; i < n; ++i) {
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uint32_t result = F_CPU / ratio[i] / freq;
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if (result > 256UL)
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return i - 1;
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if ((result * ratio[i] * freq) == F_CPU)
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return i;
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}
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}
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static void gpt_lld_serve_interrupt(GPTDriver *gptp)
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{
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gptp->counter++;
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if (gptp->counter == gptp->period) {
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gptp->counter = 0;
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if (gptp->state == GPT_ONESHOT) {
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gptp->state = GPT_READY; /* Back in GPT_READY state. */
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gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */
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}
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gptp->callback(gptp);
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}
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}
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static void gpt_lld_dummy_callback(GPTDriver *gptp)
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{
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}
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static uint8_t getTimerIndex(GPTDriver *gptp)
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{
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uint8_t index = 0;
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#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
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if (gptp == &GPTD1) return index;
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else index++;
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#endif
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#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
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if (gptp == &GPTD2) return index;
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else index++;
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#endif
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#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
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if (gptp == &GPTD3) return index;
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else index++;
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#endif
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#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
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if (gptp == &GPTD4) return index;
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else index++;
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#endif
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#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
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if (gptp == &GPTD5) return index;
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else index++;
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#endif
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}
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER1_COMPA_vect)
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{
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CH_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD1);
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CH_IRQ_EPILOGUE();
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}
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#endif
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#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER2_COMPA_vect)
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{
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CH_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD2);
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CH_IRQ_EPILOGUE();
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}
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#endif
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#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER3_COMPA_vect)
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{
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CH_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD3);
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CH_IRQ_EPILOGUE();
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}
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#endif
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#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER4_COMPA_vect)
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{
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CH_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD4);
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CH_IRQ_EPILOGUE();
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}
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#endif
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#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER5_COMPA_vect)
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{
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CH_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD5);
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CH_IRQ_EPILOGUE();
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}
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#endif
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level GPT driver initialization.
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*
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* @notapi
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*/
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void gpt_lld_init(void)
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{
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#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
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gptObjectInit(&GPTD1);
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#endif
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#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
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gptObjectInit(&GPTD2);
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#endif
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#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
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gptObjectInit(&GPTD3);
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#endif
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#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
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gptObjectInit(&GPTD4);
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#endif
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#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
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gptObjectInit(&GPTD5);
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#endif
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}
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/**
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* @brief Configures and activates the GPT peripheral.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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*
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* @notapi
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*/
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void gpt_lld_start(GPTDriver *gptp)
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{
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uint8_t psc;
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if (gptp->state == GPT_STOP) {
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/* Clock activation.*/
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}
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/* Configuration.*/
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#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
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if (gptp == &GPTD2) {
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psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED);
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gptp->clock_source = clock_source_extended[psc] & 0x07;
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TCCR2A = (1 << WGM21) | (0 << WGM20);
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TCCR2B = (0 << WGM22);
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OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1;
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return;
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}
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#endif
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uint8_t i = getTimerIndex(gptp);
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psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE);
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gptp->clock_source = clock_source_base[psc] & 0x07;
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*regs_table[i].tccra = (0 << WGM11) |
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(0 << WGM10) |
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(0 << COM1A1) |
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(0 << COM1A0) |
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(0 << COM1B1) |
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(0 << COM1B0);
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*regs_table[i].tccrb = (1 << WGM12);
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*regs_table[i].ocr1 = 0;
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*regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1;
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}
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/**
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* @brief Deactivates the GPT peripheral.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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*
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* @notapi
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*/
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void gpt_lld_stop(GPTDriver *gptp)
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{
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/* nothing to be done */
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if (gptp->state == GPT_READY) {
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/* Clock de-activation.*/
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}
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gpt_lld_stop_timer(gptp);
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}
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/**
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* @brief Starts the timer in continuous mode.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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* @param[in] period period in ticks
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*
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* @notapi
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*/
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void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period)
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{
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gptp->callback = gptp->config->callback;
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gptp->period = period;
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gptp->counter = 0;
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uint8_t i = getTimerIndex(gptp);
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*regs_table[i].tcnt1 = 0;
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*regs_table[i].tcnt2 = 0;
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*regs_table[i].tifr = (1 << OCF1A);
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*regs_table[i].timsk = (1 << OCIE1A);
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*regs_table[i].tccrb |= (gptp->clock_source << CS10);
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}
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/**
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* @brief Stops the timer.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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*
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* @notapi
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*/
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void gpt_lld_stop_timer(GPTDriver *gptp)
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{
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uint8_t i = getTimerIndex(gptp);
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*regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A));
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*regs_table[i].tifr = (1 << OCF1A);
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}
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/**
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* @brief Starts the timer in one shot mode and waits for completion.
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* @details This function specifically polls the timer waiting for completion
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* in order to not have extra delays caused by interrupt servicing,
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* this function is only recommended for short delays.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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* @param[in] interval time interval in ticks
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*
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* @notapi
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*/
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void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval)
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{
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gptp->callback = gpt_lld_dummy_callback;
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gpt_lld_start_timer(gptp, interval);
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//FIX
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while (gptp->state != GPT_READY) {}
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}
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#endif /* HAL_USE_GPT */
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/** @} */
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@ -0,0 +1,219 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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This driver is based on the work done by Matteo Serva available at
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http://github.com/matteoserva/ChibiOS-AVR
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*/
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/**
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* @file AVR/gpt_lld.h
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* @brief AVR GPT driver subsystem low level driver.
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*
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* @addtogroup GPT
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* @{
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*/
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#ifndef _GPT_LLD_H_
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#define _GPT_LLD_H_
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#if HAL_USE_GPT || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @brief GPT1 driver enable switch.
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* @details If set to @p TRUE the support for GPT1 is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(AVR_GPT_USE_GPT1)
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#define AVR_GPT_USE_GPT1 FALSE
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#endif
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/**
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* @brief GPT2 driver enable switch.
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* @details If set to @p TRUE the support for GPT2 is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(AVR_GPT_USE_GPT2)
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#define AVR_GPT_USE_GPT2 FALSE
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#endif
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/**
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* @brief GPT3 driver enable switch.
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* @details If set to @p TRUE the support for GPT3 is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(AVR_GPT_USE_GPT3)
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#define AVR_GPT_USE_GPT3 FALSE
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#endif
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/**
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* @brief GPT4 driver enable switch.
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* @details If set to @p TRUE the support for GPT4 is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(AVR_GPT_USE_GPT4)
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#define AVR_GPT_USE_GPT4 FALSE
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#endif
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/**
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* @brief GPT5 driver enable switch.
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* @details If set to @p TRUE the support for GPT5 is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(AVR_GPT_USE_GPT5)
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#define AVR_GPT_USE_GPT5 FALSE
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief GPT frequency type.
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*/
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typedef uint32_t gptfreq_t;
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/**
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* @brief GPT counter type.
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*/
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typedef uint16_t gptcnt_t;
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/**
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* @brief Driver configuration structure.
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* @note It could be empty on some architectures.
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*/
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typedef struct {
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/**
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* @brief Timer clock in Hz.
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* @note The low level can use assertions in order to catch invalid
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* frequency specifications.
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*/
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gptfreq_t frequency;
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/**
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* @brief Timer callback pointer.
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* @note This callback is invoked on GPT counter events.
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*/
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gptcallback_t callback;
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/* End of the mandatory fields.*/
|
||||
} GPTConfig;
|
||||
|
||||
/**
|
||||
* @brief Structure representing a GPT driver.
|
||||
*/
|
||||
struct GPTDriver {
|
||||
/**
|
||||
* @brief Driver state.
|
||||
*/
|
||||
volatile gptstate_t state;
|
||||
/**
|
||||
* @brief Current configuration data.
|
||||
*/
|
||||
const GPTConfig *config;
|
||||
|
||||
#if defined(GPT_DRIVER_EXT_FIELDS)
|
||||
GPT_DRIVER_EXT_FIELDS
|
||||
#endif
|
||||
|
||||
/* End of the mandatory fields.*/
|
||||
/**
|
||||
* @brief input clock from prescaler
|
||||
*/
|
||||
uint8_t clock_source;
|
||||
/**
|
||||
* @brief Lenght of the period in clock ticks
|
||||
*/
|
||||
gptcnt_t period;
|
||||
/**
|
||||
* @brief Current clock tick.
|
||||
*/
|
||||
gptcnt_t counter;
|
||||
/**
|
||||
* @brief Function called from the interrupt service routine
|
||||
*/
|
||||
gptcallback_t callback;
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Changes the interval of GPT peripheral.
|
||||
* @details This function changes the interval of a running GPT unit.
|
||||
* @pre The GPT unit must have been activated using @p gptStart().
|
||||
* @pre The GPT unit must have been running in continuous mode using
|
||||
* @p gptStartContinuous().
|
||||
* @post The GPT unit interval is changed to the new value.
|
||||
* @note The function has effect at the next cycle start.
|
||||
*
|
||||
* @param[in] gptp pointer to a @p GPTDriver object
|
||||
* @param[in] interval new cycle time in timer ticks
|
||||
* @notapi
|
||||
*/
|
||||
|
||||
// FIXME: placeholder to enable compile, should be implemented!
|
||||
#define gpt_lld_change_interval(gptp, interval)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD1;
|
||||
#endif
|
||||
#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD2;
|
||||
#endif
|
||||
#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD3;
|
||||
#endif
|
||||
#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD4;
|
||||
#endif
|
||||
#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD5;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void gpt_lld_init(void);
|
||||
void gpt_lld_start(GPTDriver *gptp);
|
||||
void gpt_lld_stop(GPTDriver *gptp);
|
||||
void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval);
|
||||
void gpt_lld_stop_timer(GPTDriver *gptp);
|
||||
void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* HAL_USE_GPT */
|
||||
|
||||
#endif /* _GPT_LLD_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -4,7 +4,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/AVR/hal_lld.c \
|
|||
${CHIBIOS}/os/hal/platforms/AVR/serial_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/adc_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/i2c_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/spi_lld.c
|
||||
${CHIBIOS}/os/hal/platforms/AVR/spi_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/gpt_lld.c
|
||||
|
||||
# Required include directories
|
||||
PLATFORMINC = ${CHIBIOS}/os/hal/platforms/AVR
|
||||
|
|
|
|||
Loading…
Reference in New Issue