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[KINETIS] Interrupt driver PWM driver 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7502 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
utzig 2014-11-11 21:04:26 +00:00
parent e872bae1e3
commit 2aa2643835
1 changed files with 98 additions and 21 deletions
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119
os/hal/ports/KINETIS/KL2x/pwm_lld.c
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@ -34,9 +34,9 @@
#define KINETIS_TPM1_CHANNELS 2
#define KINETIS_TPM2_CHANNELS 2
#define KINETIS_TPM0_HANDLER
#define KINETIS_TPM1_HANDLER
#define KINETIS_TPM2_HANDLER
#define KINETIS_TPM0_HANDLER Vector84
#define KINETIS_TPM1_HANDLER Vector88
#define KINETIS_TPM2_HANDLER Vector8C
/*===========================================================================*/
/* Driver exported variables. */
@ -70,15 +70,85 @@ PWMDriver PWMD3;
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint32_t sr;
sr = pwmp->tpm->STATUS;
pwmp->tpm->STATUS = 0xFFFFFFFF;
if (((sr & TPM_SC_TOF) != 0) &&
(pwmp->config->callback != NULL))
pwmp->config->callback(pwmp);
if (((sr & TPM_STATUS_CH0F) != 0) &&
(pwmp->config->channels[0].callback != NULL))
pwmp->config->channels[0].callback(pwmp);
if (((sr & TPM_STATUS_CH1F) != 0) &&
(pwmp->config->channels[1].callback != NULL))
pwmp->config->channels[1].callback(pwmp);
if (((sr & TPM_STATUS_CH2F) != 0) &&
(pwmp->config->channels[2].callback != NULL))
pwmp->config->channels[2].callback(pwmp);
if (((sr & TPM_STATUS_CH3F) != 0) &&
(pwmp->config->channels[3].callback != NULL))
pwmp->config->channels[3].callback(pwmp);
if (((sr & TPM_STATUS_CH4F) != 0) &&
(pwmp->config->channels[4].callback != NULL))
pwmp->config->channels[4].callback(pwmp);
if (((sr & TPM_STATUS_CH5F) != 0) &&
(pwmp->config->channels[5].callback != NULL))
pwmp->config->channels[5].callback(pwmp);
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if KINETIS_PWM_USE_TPM0
/**
* @brief TPM0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_TPM0_HANDLER) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD1);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM0 */
#if KINETIS_PWM_USE_TPM1
/**
* @brief TPM1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_TPM1_HANDLER) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD2);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM1 */
#if KINETIS_PWM_USE_TPM2
/**
* @brief TPM2 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_TPM2_HANDLER) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM2 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
@ -127,18 +197,21 @@ void pwm_lld_start(PWMDriver *pwmp) {
#if KINETIS_PWM_USE_TPM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM0;
nvicEnableVector(TPM0_IRQn, KINETIS_PWM_TPM0_IRQ_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_TPM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM1;
nvicEnableVector(TPM1_IRQn, KINETIS_PWM_TPM1_IRQ_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_TPM2
if (&PWMD3 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM2;
nvicEnableVector(TPM2_IRQn, KINETIS_PWM_TPM2_IRQ_PRIORITY);
}
#endif
}
@ -184,18 +257,21 @@ void pwm_lld_stop(PWMDriver *pwmp) {
#if KINETIS_PWM_USE_TPM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM0;
nvicDisableVector(TPM0_IRQn);
}
#endif
#if KINETIS_PWM_USE_TPM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM1;
nvicDisableVector(TPM1_IRQn);
}
#endif
#if KINETIS_PWM_USE_TPM2
if (&PWMD3 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM2;
nvicDisableVector(TPM2_IRQn);
}
#endif
/* Disable LPTPM counter.*/
@ -204,6 +280,7 @@ void pwm_lld_stop(PWMDriver *pwmp) {
}
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
@ -220,23 +297,21 @@ void pwm_lld_stop(PWMDriver *pwmp) {
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width) {
uint32_t mode = 0;
osalDbgAssert(channel <= 5, "pwm_lld_enable_channel() #1, invalid channel");
uint32_t mode = TPM_CnSC_MSB; /* Edge-aligned PWM mode.*/
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode = TPM_CnSC_MSB | TPM_CnSC_ELSB;
mode |= TPM_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode = TPM_CnSC_MSB | TPM_CnSC_ELSA;
break;
default:
mode |= TPM_CnSC_ELSA;
break;
}
pwmp->tpm->C[channel].SC |= mode;
if (pwmp->tpm->C[channel].SC & TPM_CnSC_CHIE)
mode |= TPM_CnSC_CHIE;
pwmp->tpm->C[channel].SC = mode;
pwmp->tpm->C[channel].V = width;
}
@ -254,8 +329,6 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
*/
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
osalDbgAssert(channel <= 5, "pwm_lld_disable_channel() #1, invalid channel");
pwmp->tpm->C[channel].SC = 0;
pwmp->tpm->C[channel].V = 0;
}
@ -271,7 +344,7 @@ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
*/
void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
(void)pwmp;
pwmp->tpm->SC |= TPM_SC_TOIE;
}
/**
@ -285,7 +358,7 @@ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
*/
void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
(void)pwmp;
pwmp->tpm->SC &= ~TPM_SC_TOIE;
}
/**
@ -302,8 +375,10 @@ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
(void)pwmp;
(void)channel;
osalDbgAssert(channel <= 5,
"pwm_lld_enable_channel_notification() #1, invalid channel");
pwmp->tpm->C[channel].SC |= TPM_CnSC_CHIE;
}
/**
@ -320,8 +395,10 @@ void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
(void)pwmp;
(void)channel;
osalDbgAssert(channel <= 5,
"pwm_lld_disable_channel_notification() #1, invalid channel");
pwmp->tpm->C[channel].SC &= ~TPM_CnSC_CHIE;
}
#endif /* HAL_USE_PWM */