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fixed style

This commit is contained in:
Stephane D'Alu 2016-11-24 21:47:31 +01:00
parent 5c85f5a7ce
commit 13bb299950
1 changed files with 73 additions and 73 deletions
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146
os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c
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@ -71,16 +71,16 @@ PWMDriver PWMD3;
/*===========================================================================*/ /*===========================================================================*/
static const uint8_t pwm_margin_by_prescaler[] = { static const uint8_t pwm_margin_by_prescaler[] = {
(PWM_GPIOTE_DECISION_TIME + 0) >> 0, (PWM_GPIOTE_DECISION_TIME + 0) >> 0,
(PWM_GPIOTE_DECISION_TIME + 1) >> 1, (PWM_GPIOTE_DECISION_TIME + 1) >> 1,
(PWM_GPIOTE_DECISION_TIME + 3) >> 2, (PWM_GPIOTE_DECISION_TIME + 3) >> 2,
(PWM_GPIOTE_DECISION_TIME + 7) >> 3, (PWM_GPIOTE_DECISION_TIME + 7) >> 3,
(PWM_GPIOTE_DECISION_TIME + 15) >> 4, (PWM_GPIOTE_DECISION_TIME + 15) >> 4,
(PWM_GPIOTE_DECISION_TIME + 31) >> 5, (PWM_GPIOTE_DECISION_TIME + 31) >> 5,
(PWM_GPIOTE_DECISION_TIME + 63) >> 6, (PWM_GPIOTE_DECISION_TIME + 63) >> 6,
(PWM_GPIOTE_DECISION_TIME + 128) >> 7, (PWM_GPIOTE_DECISION_TIME + 127) >> 7,
(PWM_GPIOTE_DECISION_TIME + 255) >> 8, (PWM_GPIOTE_DECISION_TIME + 255) >> 8,
(PWM_GPIOTE_DECISION_TIME + 511) >> 9 (PWM_GPIOTE_DECISION_TIME + 511) >> 9
}; };
/*===========================================================================*/ /*===========================================================================*/
@ -89,18 +89,20 @@ static const uint8_t pwm_margin_by_prescaler[] = {
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) { static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint8_t channel; uint8_t channel;
// Deal with PWM channels /* Deal with PWM channels
*/
for (channel = 0 ; channel < pwmp->channels ; channel++) { for (channel = 0 ; channel < pwmp->channels ; channel++) {
if (pwmp->timer->EVENTS_COMPARE[channel]) { if (pwmp->timer->EVENTS_COMPARE[channel]) {
pwmp->timer->EVENTS_COMPARE[channel] = 0; pwmp->timer->EVENTS_COMPARE[channel] = 0;
if (pwmp->config->channels[channel].callback != NULL) { if (pwmp->config->channels[channel].callback != NULL) {
pwmp->config->channels[channel].callback(pwmp); pwmp->config->channels[channel].callback(pwmp);
} }
} }
} }
// Deal with PWM period /* Deal with PWM period
*/
if (pwmp->timer->EVENTS_COMPARE[pwmp->channels]) { if (pwmp->timer->EVENTS_COMPARE[pwmp->channels]) {
pwmp->timer->EVENTS_COMPARE[pwmp->channels] = 0; pwmp->timer->EVENTS_COMPARE[pwmp->channels] = 0;
@ -112,10 +114,10 @@ static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
static inline static inline
bool pwm_within_safe_margins(PWMDriver *pwmp, uint32_t timer, uint32_t width) { bool pwm_within_safe_margins(PWMDriver *pwmp, uint32_t timer, uint32_t width) {
const uint32_t margin = pwm_margin_by_prescaler[pwmp->timer->PRESCALER]; const uint32_t margin = pwm_margin_by_prescaler[pwmp->timer->PRESCALER];
return (width <= margin) return (width <= margin)
? ((width <= timer) && (timer < (pwmp->period + width - margin))) ? ((width <= timer) && (timer < (pwmp->period + width - margin)))
: ((width <= timer) || (timer < (width - margin))); : ((width <= timer) || (timer < (width - margin)));
} }
/*===========================================================================*/ /*===========================================================================*/
@ -201,47 +203,45 @@ void pwm_lld_init(void) {
* @notapi * @notapi
*/ */
void pwm_lld_start(PWMDriver *pwmp) { void pwm_lld_start(PWMDriver *pwmp) {
// Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER /* Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER */
uint16_t psc_ratio = NRF5_HFCLK_FREQUENCY / pwmp->config->frequency; uint16_t psc_ratio = NRF5_HFCLK_FREQUENCY / pwmp->config->frequency;
// Prescaler ratio must be between 1 and 512, and a power of two. /* Prescaler ratio must be between 1 and 512, and a power of two. */
osalDbgAssert(psc_ratio <= 512 && !(psc_ratio & (psc_ratio - 1)), osalDbgAssert(psc_ratio <= 512 && !(psc_ratio & (psc_ratio - 1)),
"invalid frequency"); "invalid frequency");
// Prescaler value as a power of 2, must be 0..9 /* Prescaler value as a power of 2, must be 0..9 */
uint32_t psc_value; uint32_t psc_value;
for (psc_value = 0; psc_value < 10; psc_value++) for (psc_value = 0; psc_value < 10; psc_value++)
if (psc_ratio == (unsigned)(1 << psc_value)) if (psc_ratio == (unsigned)(1 << psc_value))
break; break;
/* Configure as 16bits timer (only TIMER0 support 32bits) */
// Configure as 16bits timer (only TIMER0 support 32bits)
pwmp->timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit; pwmp->timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit;
pwmp->timer->MODE = TIMER_MODE_MODE_Timer; pwmp->timer->MODE = TIMER_MODE_MODE_Timer;
// With clear shortcuts for period /* With clear shortcuts for period */
pwmp->timer->SHORTS = pwmp->timer->SHORTS =
0x1UL << (TIMER_SHORTS_COMPARE0_CLEAR_Pos + pwmp->channels); 0x1UL << (TIMER_SHORTS_COMPARE0_CLEAR_Pos + pwmp->channels);
// Disable and reset interrupts for compare events /* Disable and reset interrupts for compare events */
pwmp->timer->INTENCLR = (TIMER_INTENCLR_COMPARE0_Msk | pwmp->timer->INTENCLR = (TIMER_INTENCLR_COMPARE0_Msk |
TIMER_INTENCLR_COMPARE1_Msk | TIMER_INTENCLR_COMPARE1_Msk |
TIMER_INTENCLR_COMPARE2_Msk | TIMER_INTENCLR_COMPARE2_Msk |
TIMER_INTENCLR_COMPARE3_Msk ); TIMER_INTENCLR_COMPARE3_Msk );
pwmp->timer->EVENTS_COMPARE[0] = 0; pwmp->timer->EVENTS_COMPARE[0] = 0;
pwmp->timer->EVENTS_COMPARE[1] = 0; pwmp->timer->EVENTS_COMPARE[1] = 0;
pwmp->timer->EVENTS_COMPARE[2] = 0; pwmp->timer->EVENTS_COMPARE[2] = 0;
pwmp->timer->EVENTS_COMPARE[3] = 0; pwmp->timer->EVENTS_COMPARE[3] = 0;
// Set prescaler /* Set prescaler */
pwmp->timer->PRESCALER = psc_value; pwmp->timer->PRESCALER = psc_value;
// Set period /* Set period */
pwmp->timer->CC[pwmp->channels] = pwmp->period; pwmp->timer->CC[pwmp->channels] = pwmp->period;
// Clear everything /* Clear everything */
pwmp->timer->TASKS_CLEAR = 1; pwmp->timer->TASKS_CLEAR = 1;
/* Enable interrupt */
// Enable interrupt
#if NRF5_PWM_USE_TIMER0 #if NRF5_PWM_USE_TIMER0
if (&PWMD1 == pwmp) { if (&PWMD1 == pwmp) {
nvicEnableVector(TIMER0_IRQn, NRF5_PWM_TIMER0_PRIORITY); nvicEnableVector(TIMER0_IRQn, NRF5_PWM_TIMER0_PRIORITY);
@ -260,7 +260,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
} }
#endif #endif
// Start timer /* Start timer */
pwmp->timer->TASKS_START = 1; pwmp->timer->TASKS_START = 1;
} }
@ -322,68 +322,68 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
default : goto no_output_config; default : goto no_output_config;
} }
// Deal with corner case: 0% and 100% /* Deal with corner case: 0% and 100% */
if ((width <= 0) || (width >= pwmp->period)) { if ((width <= 0) || (width >= pwmp->period)) {
// Disable GPIOTE/PPI task /* Disable GPIOTE/PPI task */
NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Disabled; NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Disabled;
NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1])); NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
// Set Line /* Set Line */
palWriteLine(cfg_channel->ioline, palWriteLine(cfg_channel->ioline,
((width <= 0) ^ ((width <= 0) ^
((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH))); ((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH)));
// Really doing PWM /* Really doing PWM */
} else { } else {
const uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline); const uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline);
const uint32_t polarity = GPIOTE_CONFIG_POLARITY_Toggle; const uint32_t polarity = GPIOTE_CONFIG_POLARITY_Toggle;
// Program tasks (one for duty cycle, one for periode) /* Program tasks (one for duty cycle, one for periode) */
NRF_PPI->CH[ppi_channel[0]].EEP = NRF_PPI->CH[ppi_channel[0]].EEP =
(uint32_t)&pwmp->timer->EVENTS_COMPARE[channel]; (uint32_t)&pwmp->timer->EVENTS_COMPARE[channel];
NRF_PPI->CH[ppi_channel[0]].TEP = NRF_PPI->CH[ppi_channel[0]].TEP =
(uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
NRF_PPI->CH[ppi_channel[1]].EEP = NRF_PPI->CH[ppi_channel[1]].EEP =
(uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels]; (uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels];
NRF_PPI->CH[ppi_channel[1]].TEP = NRF_PPI->CH[ppi_channel[1]].TEP =
(uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1])); NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
// Something Old, something New /* Something Old, something New */
const uint32_t old_width = pwmp->timer->CC[channel]; const uint32_t old_width = pwmp->timer->CC[channel];
const uint32_t new_width = width; const uint32_t new_width = width;
// Check GPIOTE state /* Check GPIOTE state */
const bool gpiote = (NRF_GPIOTE->CONFIG[gpiote_channel] & const bool gpiote = (NRF_GPIOTE->CONFIG[gpiote_channel] &
GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled; GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled;
// GPIOTE is currently running /* GPIOTE is currently running */
if (gpiote) { if (gpiote) {
uint32_t current; uint32_t current;
while (true) { while (true) {
pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1; pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1;
current = pwmp->timer->CC[PWM_GPIOTE_PPI_CC]; current = pwmp->timer->CC[PWM_GPIOTE_PPI_CC];
if (pwm_within_safe_margins(pwmp, current, old_width) && if (pwm_within_safe_margins(pwmp, current, old_width) &&
pwm_within_safe_margins(pwmp, current, new_width)) pwm_within_safe_margins(pwmp, current, new_width))
break; break;
} }
if (((old_width <= current) && (current < new_width)) || if (((old_width <= current) && (current < new_width)) ||
((new_width <= current) && (current < old_width))) { ((new_width <= current) && (current < old_width))) {
NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1;
} }
// GPIOTE need to be restarted /* GPIOTE need to be restarted */
} else { } else {
// Create GPIO Task /* Create GPIO Task */
NRF_GPIOTE->CONFIG[gpiote_channel] = NRF_GPIOTE->CONFIG[gpiote_channel] =
(GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
((gpio_pin << GPIOTE_CONFIG_PSEL_Pos ) & GPIOTE_CONFIG_PSEL_Msk )| ((gpio_pin << GPIOTE_CONFIG_PSEL_Pos ) & GPIOTE_CONFIG_PSEL_Msk )|
((polarity << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk)| ((polarity << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk)|
((outinit << GPIOTE_CONFIG_OUTINIT_Pos ) & GPIOTE_CONFIG_OUTINIT_Msk ); ((outinit << GPIOTE_CONFIG_OUTINIT_Pos ) & GPIOTE_CONFIG_OUTINIT_Msk );
pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1; pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1;
if (pwmp->timer->CC[PWM_GPIOTE_PPI_CC] > width) if (pwmp->timer->CC[PWM_GPIOTE_PPI_CC] > width)
NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1;
} }
} }
@ -436,7 +436,7 @@ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
*/ */
void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
pwmp->timer->INTENSET = pwmp->timer->INTENSET =
0x1UL << (TIMER_INTENSET_COMPARE0_Pos + pwmp->channels); 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + pwmp->channels);
} }
/** /**
@ -450,7 +450,7 @@ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
*/ */
void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
pwmp->timer->INTENCLR = pwmp->timer->INTENCLR =
0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + pwmp->channels); 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + pwmp->channels);
} }
/** /**
@ -467,7 +467,7 @@ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
void pwm_lld_enable_channel_notification(PWMDriver *pwmp, void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) { pwmchannel_t channel) {
pwmp->timer->INTENSET = pwmp->timer->INTENSET =
0x1UL << (TIMER_INTENSET_COMPARE0_Pos + channel); 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + channel);
} }
/** /**
@ -476,15 +476,15 @@ void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
* @pre The channel must have been activated using @p pwmEnableChannel(). * @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already disabled then the call has no effect. * @note If the notification is already disabled then the call has no effect.
* *
* @param[in] pwmp pointer to a @p PWMDriver object * @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1) * @param[in] channel PWM channel identifier (0...channels-1)
* *
* @notapi * @notapi
*/ */
void pwm_lld_disable_channel_notification(PWMDriver *pwmp, void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) { pwmchannel_t channel) {
pwmp->timer->INTENCLR = pwmp->timer->INTENCLR =
0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + channel); 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + channel);
} }
#endif /* HAL_USE_PWM */ #endif /* HAL_USE_PWM */