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[KINETIS] Add PWM driver contributed by Adam Porter 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7501 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
utzig 2014-11-11 11:32:15 +00:00
parent 47d5bf0b31
commit e872bae1e3
4 changed files with 693 additions and 0 deletions
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120
os/hal/ports/KINETIS/KL2x/kinetis_tpm.h Normal file
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/*
ChibiOS/HAL - Copyright (C) 2014 Adam J. Porter
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file KL2x/kinetis_tpm.h
* @brief Kinetis TPM registers layout header.
*
* @addtogroup HAL
* @{
*/
#ifndef _KINETIS_TPM_H_
#define _KINETIS_TPM_H_
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name TPM_SC register
* @{
*/
#define TPM_SC_CMOD_DISABLE (0 << 3)
#define TPM_SC_CMOD_LPTPM_CLK (1 << 3)
#define TPM_SC_CMOD_LPTPM_EXTCLK (2 << 3)
#define TPM_SC_CPWMS (1 << 5)
#define TPM_SC_TOIE (1 << 6)
#define TPM_SC_TOF (1 << 7)
#define TPM_SC_DMA (1 << 8)
/** @} */
/**
* @name TPM_MOD register
* @{
*/
#define TPM_MOD_MASK (0xFFFF)
/** @} */
/**
* @name TPM_CnSC register
* @{
*/
#define TPM_CnSC_DMA (1 << 0)
#define TPM_CnSC_ELSA (1 << 2)
#define TPM_CnSC_ELSB (1 << 3)
#define TPM_CnSC_MSA (1 << 4)
#define TPM_CnSC_MSB (1 << 5)
#define TPM_CnSC_CHIE (1 << 6)
#define TPM_CnSC_CHF (1 << 7)
/** @} */
/**
* @name TPM_CnV register
* @{
*/
#define TPM_CnV_VAL_MASK (0xFFFF)
/** @} */
/**
* @name TPM_STATUS register
* @{
*/
#define TPM_STATUS_CH0F (1 << 0)
#define TPM_STATUS_CH1F (1 << 1)
#define TPM_STATUS_CH2F (1 << 2)
#define TPM_STATUS_CH3F (1 << 3)
#define TPM_STATUS_CH4F (1 << 4)
#define TPM_STATUS_CH5F (1 << 5)
#define TPM_STATUS_TOF (1 << 8)
/** @} */
/**
* @name TPM_CONF register
* @{
*/
#define TPM_CONF_DOZEEN (1 << 5)
#define TPM_CONF_DBGMODE_CONT (3 << 6)
#define TPM_CONF_DBGMODE_PAUSE (0 << 6)
#define TPM_CONF_GTBEEN (1 << 9)
#define TPM_CONF_CSOT (1 << 16)
#define TPM_CONF_CSOO (1 << 17)
#define TPM_CONF_CROT (1 << 18)
#define TPM_CONF_TRGSEL(n) ((n) << 24)
/** @{ */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#endif /* _KINETIS_TPM_H_ */
/** @} */

1
os/hal/ports/KINETIS/KL2x/platform.mk
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@ -6,6 +6,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS}/os/hal/ports/KINETIS/LLD/i2c_lld.c \ ${CHIBIOS}/os/hal/ports/KINETIS/LLD/i2c_lld.c \
${CHIBIOS}/os/hal/ports/KINETIS/LLD/ext_lld.c \ ${CHIBIOS}/os/hal/ports/KINETIS/LLD/ext_lld.c \
${CHIBIOS}/os/hal/ports/KINETIS/LLD/adc_lld.c \ ${CHIBIOS}/os/hal/ports/KINETIS/LLD/adc_lld.c \
${CHIBIOS}/os/hal/ports/KINETIS/KL2x/pwm_lld.c \
${CHIBIOS}/os/hal/ports/KINETIS/KL2x/st_lld.c ${CHIBIOS}/os/hal/ports/KINETIS/KL2x/st_lld.c
# Required include directories # Required include directories

329
os/hal/ports/KINETIS/KL2x/pwm_lld.c Normal file
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/*
ChibiOS/HAL - Copyright (C) 2014 Adam J. Porter
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file KL2x/pwm_lld.c
* @brief KINETIS PWM subsystem low level driver source.
*
* @addtogroup PWM
* @{
*/
#include "hal.h"
#if HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#define KINETIS_TPM0_CHANNELS 6
#define KINETIS_TPM1_CHANNELS 2
#define KINETIS_TPM2_CHANNELS 2
#define KINETIS_TPM0_HANDLER
#define KINETIS_TPM1_HANDLER
#define KINETIS_TPM2_HANDLER
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief PWMD1 driver identifier.
* @note The driver PWMD1 allocates the timer TPM0 when enabled.
*/
#if KINETIS_PWM_USE_TPM0 || defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
/**
* @brief PWMD2 driver identifier.
* @note The driver PWMD2 allocates the timer TPM1 when enabled.
*/
#if KINETIS_PWM_USE_TPM1 || defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
/**
* @brief PWMD3 driver identifier.
* @note The driver PWMD3 allocates the timer TPM2 when enabled.
*/
#if KINETIS_PWM_USE_TPM2 || defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
#if KINETIS_PWM_USE_TPM0
pwmObjectInit(&PWMD1);
PWMD1.channels = KINETIS_TPM0_CHANNELS;
PWMD1.tpm = TPM0;
#endif
#if KINETIS_PWM_USE_TPM1
pwmObjectInit(&PWMD2);
PWMD2.channels = KINETIS_TPM1_CHANNELS;
PWMD2.tpm = TPM1;
#endif
#if KINETIS_PWM_USE_TPM2
pwmObjectInit(&PWMD3);
PWMD3.channels = KINETIS_TPM2_CHANNELS;
PWMD3.tpm = TPM2;
#endif
}
/**
* @brief Configures and activates the PWM peripheral.
* @note Starting a driver that is already in the @p PWM_READY state
* disables all the active channels.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_start(PWMDriver *pwmp) {
uint32_t psc;
int i;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if KINETIS_PWM_USE_TPM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM0;
}
#endif
#if KINETIS_PWM_USE_TPM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM1;
}
#endif
#if KINETIS_PWM_USE_TPM2
if (&PWMD3 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM2;
}
#endif
}
/* Disable LPTPM counter.*/
pwmp->tpm->SC = 0;
/* Clear count register.*/
pwmp->tpm->CNT = 0;
/* Prescaler value calculation.*/
psc = (KINETIS_SYSCLK_FREQUENCY / pwmp->config->frequency);
/* Prescaler must be power of two between 1 and 128.*/
osalDbgAssert(psc <= 128 && !(psc & (psc - 1)), "invalid frequency");
/* Prescaler register value determination.
Prescaler register value conveniently corresponds to bit position,
i.e., register value for prescaler CLK/64 is 6 ((1 << 6) == 64).*/
for (i = 0; i < 8; i++) {
if (psc == (1UL << i)) {
break;
}
}
/* Set prescaler and clock mode.
This also sets the following:
CPWM up-counting mode
Timer overflow interrupt disabled
DMA disabled.*/
pwmp->tpm->SC = TPM_SC_CMOD_LPTPM_CLK | i;
/* Configure period.*/
pwmp->tpm->MOD = pwmp->period - 1;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/
if (pwmp->state == PWM_READY) {
#if KINETIS_PWM_USE_TPM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM0;
}
#endif
#if KINETIS_PWM_USE_TPM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM1;
}
#endif
#if KINETIS_PWM_USE_TPM2
if (&PWMD3 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM2;
}
#endif
/* Disable LPTPM counter.*/
pwmp->tpm->SC = 0;
pwmp->tpm->MOD = 0;
}
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note The function has effect at the next cycle start.
* @note Channel notification is not enabled.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
* @param[in] width PWM pulse width as clock pulses number
*
* @notapi
*/
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");
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode = TPM_CnSC_MSB | TPM_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode = TPM_CnSC_MSB | TPM_CnSC_ELSA;
break;
default:
break;
}
pwmp->tpm->C[channel].SC |= mode;
pwmp->tpm->C[channel].V = width;
}
/**
* @brief Disables a PWM channel and its notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
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;
}
/**
* @brief Enables the periodic activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @note If the notification is already enabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
(void)pwmp;
}
/**
* @brief Disables the periodic activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @note If the notification is already disabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
(void)pwmp;
}
/**
* @brief Enables a channel de-activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already enabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
(void)pwmp;
(void)channel;
}
/**
* @brief Disables a channel de-activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already disabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
(void)pwmp;
(void)channel;
}
#endif /* HAL_USE_PWM */
/** @} */

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os/hal/ports/KINETIS/KL2x/pwm_lld.h Normal file
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/*
ChibiOS/HAL - Copyright (C) 2014 Adam J. Porter
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file KL2x/pwm_lld.h
* @brief KINETIS PWM subsystem low level driver header.
*
* @addtogroup PWM
* @{
*/
#ifndef _PWM_LLD_H_
#define _PWM_LLD_H_
#include "kinetis_tpm.h"
#if HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
#if !defined(KINETIS_PWM_USE_TPM0)
#define KINETIS_PWM_USE_TPM0 FALSE
#endif
#if !defined(KINETIS_PWM_USE_TPM1)
#define KINETIS_PWM_USE_TPM1 FALSE
#endif
#if !defined(KINETIS_PWM_USE_TPM2)
#define KINETIS_PWM_USE_TPM2 FALSE
#endif
/**
* @brief Number of PWM channels per PWM driver.
*/
#define PWM_CHANNELS 6
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief If advanced timer features switch.
* @details If set to @p TRUE the advanced features for TIM1 and TIM8 are
* enabled.
* @note The default is @p TRUE.
*/
#if !defined(KINETIS_PWM_USE_ADVANCED) || defined(__DOXYGEN__)
#define KINETIS_PWM_USE_ADVANCED FALSE
#endif
/** @} */
/*===========================================================================*/
/* Configuration checks. */
/*===========================================================================*/
#if !KINETIS_PWM_USE_TPM0 && !KINETIS_PWM_USE_TPM1 && !KINETIS_PWM_USE_TPM2
#error "PWM driver activated but no TPM peripheral assigned"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Type of a PWM mode.
*/
typedef uint32_t pwmmode_t;
/**
* @brief Type of a PWM channel.
*/
typedef uint8_t pwmchannel_t;
/**
* @brief Type of a channels mask.
*/
typedef uint32_t pwmchnmsk_t;
/**
* @brief Type of a PWM counter.
*/
typedef uint16_t pwmcnt_t;
/**
* @brief Type of a PWM driver channel configuration structure.
*/
typedef struct {
/**
* @brief Channel active logic level.
*/
pwmmode_t mode;
/**
* @brief Channel callback pointer.
* @note This callback is invoked on the channel compare event. If set to
* @p NULL then the callback is disabled.
*/
pwmcallback_t callback;
/* End of the mandatory fields.*/
} PWMChannelConfig;
/**
* @brief Type of a PWM driver configuration structure.
*/
typedef struct {
/**
* @brief Timer clock in Hz.
* @note The low level can use assertions in order to catch invalid
* frequency specifications.
*/
uint32_t frequency;
/**
* @brief PWM period in ticks.
* @note The low level can use assertions in order to catch invalid
* period specifications.
*/
pwmcnt_t period;
/**
* @brief Periodic callback pointer.
* @note This callback is invoked on PWM counter reset. If set to
* @p NULL then the callback is disabled.
*/
pwmcallback_t callback;
/**
* @brief Channels configurations.
*/
PWMChannelConfig channels[PWM_CHANNELS];
/* End of the mandatory fields.*/
} PWMConfig;
/**
* @brief Structure representing a PWM driver.
*/
struct PWMDriver {
/**
* @brief Driver state.
*/
pwmstate_t state;
/**
* @brief Current driver configuration data.
*/
const PWMConfig *config;
/**
* @brief Current PWM period in ticks.
*/
pwmcnt_t period;
/**
* @brief Mask of the enabled channels.
*/
pwmchnmsk_t enabled;
/**
* @brief Number of channels in this instance.
*/
pwmchannel_t channels;
#if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief Pointer to the TPM registers block.
*/
TPM_TypeDef *tpm;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Changes the period the PWM peripheral.
* @details This function changes the period of a PWM unit that has already
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @note The function has effect at the next cycle start.
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
*
* @notapi
*/
#define pwm_lld_change_period(pwmp, period) \
((pwmp)->tpm->MOD = ((period) - 1))
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if KINETIS_PWM_USE_TPM0 || defined(__DOXYGEN__)
extern PWMDriver PWMD1;
#endif
#if KINETIS_PWM_USE_TPM1 || defined(__DOXYGEN__)
extern PWMDriver PWMD2;
#endif
#if KINETIS_PWM_USE_TPM2 || defined(__DOXYGEN__)
extern PWMDriver PWMD3;
#endif
#ifdef __cplusplus
extern "C" {
#endif
void pwm_lld_init(void);
void pwm_lld_start(PWMDriver *pwmp);
void pwm_lld_stop(PWMDriver *pwmp);
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
void pwm_lld_enable_periodic_notification(PWMDriver *pwmp);
void pwm_lld_disable_periodic_notification(PWMDriver *pwmp);
void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel);
void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel);
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_PWM */
#endif /* _PWM_LLD_H_ */
/** @} */