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PWM driver

This commit is contained in:
Stephane D'Alu 2016-05-05 20:41:51 +02:00
parent fe1d3f2114
commit 74f2322132
3 changed files with 646 additions and 1 deletions
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365
os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c Normal file
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/*
ChibiOS/HAL - Copyright (C) 2016 Stéphane D'Alu
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 hal_pwm_lld.c
* @brief NRF51 PWM subsystem low level driver source.
*
* @addtogroup PWM
* @{
*/
#include "hal.h"
#if HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief PWMD1 driver identifier.
* @note The driver PWMD1 allocates the timer TIMER0 when enabled.
*/
#if NRF51_PWM_USE_TIMER0 || defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
/**
* @brief PWMD2 driver identifier.
* @note The driver PWMD2 allocates the timer TIMER1 when enabled.
*/
#if NRF51_PWM_USE_TIMER1 || defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
/**
* @brief PWMD3 driver identifier.
* @note The driver PWMD3 allocates the timer TIMER2 when enabled.
*/
#if NRF51_PWM_USE_TIMER2 || defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
// Deal with PWM period
if (pwmp->timer->EVENTS_COMPARE[pwmp->channels]) {
pwmp->timer->EVENTS_COMPARE[pwmp->channels] = 0;
if (pwmp->config->callback != NULL) {
pwmp->config->callback(pwmp);
}
}
// Deal with PWM channels
for (uint8_t n = 0 ; n < pwmp->channels ; n++) {
if (pwmp->timer->EVENTS_COMPARE[n]) {
pwmp->timer->EVENTS_COMPARE[n] = 0;
if (pwmp->config->channels[n].callback != NULL) {
pwmp->config->channels[n].callback(pwmp);
}
}
}
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if NRF51_PWM_USE_TIMER0
/**
* @brief TIMER0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(Vector60) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD1);
OSAL_IRQ_EPILOGUE();
}
#endif /* NRF51_PWM_USE_TIMER0 */
#if NRF51_PWM_USE_TIMER1
/**
* @brief TIMER1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(Vector64) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD2);
OSAL_IRQ_EPILOGUE();
}
#endif /* NRF51_PWM_USE_TIMER1 */
#if NRF51_PWM_USE_TIMER2
/**
* @brief TIMER2 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(Vector68) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* NRF51_PWM_USE_TIMER2 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
#if NRF51_PWM_USE_TIMER0
pwmObjectInit(&PWMD1);
PWMD1.channels = PWM_CHANNELS;
PWMD1.timer = NRF_TIMER0;
#endif
#if NRF51_PWM_USE_TIMER1
pwmObjectInit(&PWMD2);
PWMD2.channels = PWM_CHANNELS;
PWMD2.timer = NRF_TIMER1;
#endif
#if NRF51_PWM_USE_TIMER2
pwmObjectInit(&PWMD3);
PWMD3.channels = PWM_CHANNELS;
PWMD3.timer = NRF_TIMER2;
#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) {
// Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER
uint16_t psc_ratio = NRF51_HFCLK_FREQUENCY / pwmp->config->frequency;
// Prescaler ratio must be between 1 and 512, and a power of two.
osalDbgAssert(psc_ratio <= 512 && !(psc_ratio & (psc_ratio - 1)),
"invalid frequency");
// Prescaler value as a power of 2, must be 0..9
uint32_t psc_value;
for (psc_value = 0; psc_value < 10; psc_value++)
if (psc_ratio == (unsigned)(1 << psc_value))
break;
// Configure as 16bits timer (only TIMER0 support 32bits)
pwmp->timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit;
pwmp->timer->MODE = TIMER_MODE_MODE_Timer;
// With clear shortcuts for period
pwmp->timer->SHORTS =
0x1UL << (TIMER_SHORTS_COMPARE0_CLEAR_Pos + pwmp->channels);
// Disable and reset interrupts for compare events
pwmp->timer->INTENCLR = (TIMER_INTENCLR_COMPARE0_Msk |
TIMER_INTENCLR_COMPARE1_Msk |
TIMER_INTENCLR_COMPARE2_Msk |
TIMER_INTENCLR_COMPARE3_Msk );
pwmp->timer->EVENTS_COMPARE[0] = 0;
pwmp->timer->EVENTS_COMPARE[1] = 0;
pwmp->timer->EVENTS_COMPARE[2] = 0;
pwmp->timer->EVENTS_COMPARE[3] = 0;
// Set prescaler
pwmp->timer->PRESCALER = psc_value;
// Set period
pwmp->timer->CC[pwmp->channels] = pwmp->period;
// Clear everything
pwmp->timer->TASKS_CLEAR = 1;
// Enable interrupt
#if NRF51_PWM_USE_TIMER0
if (&PWMD1 == pwmp) {
nvicEnableVector(TIMER0_IRQn, NRF51_PWM_TIMER0_PRIORITY);
}
#endif
#if NRF51_PWM_USE_TIMER1
if (&PWMD2 == pwmp) {
nvicEnableVector(TIMER1_IRQn, NRF51_PWM_TIMER1_PRIORITY);
}
#endif
#if NRF51_PWM_USE_TIMER2
if (&PWMD3 == pwmp) {
nvicEnableVector(TIMER2_IRQn, NRF51_PWM_TIMER2_PRIORITY);
}
#endif
// Start timer
pwmp->timer->TASKS_START = 1;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
pwmp->timer->TASKS_STOP = 1;
#if NRF51_PWM_USE_TIMER0
if (&PWMD1 == pwmp) {
nvicDisableVector(TIMER0_IRQn);
}
#endif
#if NRF51_PWM_USE_TIMER1
if (&PWMD2 == pwmp) {
nvicDisableVector(TIMER1_IRQn);
}
#endif
#if NRF51_PWM_USE_TIMER2
if (&PWMD3 == pwmp) {
nvicDisableVector(TIMER2_IRQn);
}
#endif
}
/**
* @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) {
pwmp->timer->CC[channel] = 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) {
pwmp->timer->CC[channel] = 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) {
pwmp->timer->INTENSET =
0x1UL << (TIMER_INTENSET_COMPARE0_Pos + pwmp->channels);
}
/**
* @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) {
pwmp->timer->INTENCLR =
0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + pwmp->channels);
}
/**
* @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) {
pwmp->timer->INTENSET =
0x1UL << (TIMER_INTENSET_COMPARE0_Pos + 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) {
pwmp->timer->INTENCLR =
0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + channel);
}
#endif /* HAL_USE_PWM */
/** @} */

276
os/hal/ports/NRF51/NRF51822/hal_pwm_lld.h Normal file
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@ -0,0 +1,276 @@
/*
ChibiOS/HAL - Copyright (C) 2016 Stéphane D'Alu
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 hal_pwm_lld.h
* @brief NRF51 PWM subsystem low level driver header.
*
* @addtogroup PWM
* @{
*/
#ifndef HAL_PWM_LLD_H_
#define HAL_PWM_LLD_H_
#if HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief Number of PWM channels per PWM driver.
*/
#define PWM_CHANNELS 3
#define PWM_FREQUENCY_16MHZ 16000000 /** @brief 16MHz */
#define PWM_FREQUENCY_8MHZ 8000000 /** @brief 8MHz */
#define PWM_FREQUENCY_4MHZ 4000000 /** @brief 4MHz */
#define PWM_FREQUENCY_2MHZ 2000000 /** @brief 2MHz */
#define PWM_FREQUENCY_1MHZ 1000000 /** @brief 1MHz */
#define PWM_FREQUENCY_500KHZ 500000 /** @brief 500kHz */
#define PWM_FREQUENCY_250KHZ 250000 /** @brief 250kHz */
#define PWM_FREQUENCY_125KHZ 125000 /** @brief 125kHz */
#define PWM_FREQUENCY_62500HZ 62500 /** @brief 62500Hz */
#define PWM_FREQUENCY_31250HZ 31250 /** @brief 31250Hz */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
#if !defined(NRF51_PWM_USE_TIMER0)
#define NRF51_PWM_USE_TIMER0 FALSE
#endif
#if !defined(NRF51_PWM_USE_TIMER1)
#define NRF51_PWM_USE_TIMER1 FALSE
#endif
#if !defined(NRF51_PWM_USE_TIMER2)
#define NRF51_PWM_USE_TIMER2 FALSE
#endif
/**
* @brief TIMER0 interrupt priority level setting.
*/
#if !defined(NRF51_PWM_TIMER0_PRIORITY) || defined(__DOXYGEN__)
#define NRF51_PWM_TIMER0_PRIORITY 12
#endif
/**
* @brief TIMER1 interrupt priority level setting.
*/
#if !defined(NRF51_PWM_TIMER1_PRIORITY) || defined(__DOXYGEN__)
#define NRF51_PWM_TIMER1_PRIORITY 12
#endif
/**
* @brief TIMER2 interrupt priority level setting.
*/
#if !defined(NRF51_PWM_TIMER2_PRIORITY) || defined(__DOXYGEN__)
#define NRF51_PWM_TIMER2_PRIORITY 12
#endif
/** @} */
/**
* @name Configuration options
* @{
*/
/** @} */
/*===========================================================================*/
/* Configuration checks. */
/*===========================================================================*/
#if !NRF51_PWM_USE_TIMER0 && !NRF51_PWM_USE_TIMER1 && !NRF51_PWM_USE_TIMER2
#error "PWM driver activated but no TIMER peripheral assigned"
#endif
#if (NRF51_ST_USE_TIMER0 == TRUE) && (NRF51_PWM_USE_TIMER0 == TRUE)
#error "TIMER0 used for ST and PWM"
#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 TIMER registers block.
*/
NRF_TIMER_Type *timer;
};
/*===========================================================================*/
/* 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) \
do { \
(pwmp)->timer->CC[(pwmp)->channels] = ((period) - 1); \
} while(0)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if NRF51_PWM_USE_TIMER0 || defined(__DOXYGEN__)
extern PWMDriver PWMD1;
#endif
#if NRF51_PWM_USE_TIMER1 || defined(__DOXYGEN__)
extern PWMDriver PWMD2;
#endif
#if NRF51_PWM_USE_TIMER2 || 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 /* HAL_PWM_LLD_H_ */
/** @} */

6
os/hal/ports/NRF51/NRF51822/platform.mk
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@ -34,6 +34,9 @@ endif
ifneq ($(findstring HAL_USE_RNG TRUE,$(HALCONF)),)
PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_rng_lld.c
endif
ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)
PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c
endif
else
PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_lld.c \
@ -47,7 +50,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_adc_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_gpt_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_wdg_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_rng_lld.c
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_rng_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c
endif
# Required include directories