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KINETIS platform update for ChibiOS 18.2.x.

This commit is contained in:
Konstantin Oblaukhov 2018-10-07 18:34:01 +07:00 committed by Konstantin K. Oblaukhov
parent d200007a29
commit d921781a45
33 changed files with 2420 additions and 3696 deletions
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11
os/common/startup/ARMCMx/compilers/GCC/mk/startup_MK66F18.mk
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@ -1,8 +1,8 @@
# List of the ChibiOS generic MK66F18 startup and CMSIS files.
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.c
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v7m.S
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v7m.S \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.S
STARTUPINC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC \
$(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/devices/MK66F18 \
@ -11,3 +11,8 @@ STARTUPINC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC \
$(CHIBIOS_CONTRIB)/os/common/ext/CMSIS/KINETIS
STARTUPLD = $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/ld
# Shared variables
ALLXASMSRC += $(STARTUPASM)
ALLCSRC += $(STARTUPSRC)
ALLINC += $(STARTUPINC)

6
os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x.mk
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@ -1,8 +1,8 @@
# List of the ChibiOS generic K20x startup and CMSIS files.
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.c
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v7m.S
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v7m.S \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.S
STARTUPINC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC \
$(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/devices/K20x \

5
os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x5.mk
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@ -1,3 +1,8 @@
include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x.mk
STARTUPINC += $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/devices/K20x5
# Shared variables
ALLXASMSRC += $(STARTUPASM)
ALLCSRC += $(STARTUPSRC)
ALLINC += $(STARTUPINC)

5
os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
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@ -1,3 +1,8 @@
include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x.mk
STARTUPINC += $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/devices/K20x7
# Shared variables
ALLXASMSRC += $(STARTUPASM)
ALLCSRC += $(STARTUPSRC)
ALLINC += $(STARTUPINC)

11
os/common/startup/ARMCMx/compilers/GCC/mk/startup_k60x.mk
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@ -1,8 +1,8 @@
# List of the ChibiOS generic K60x startup and CMSIS files.
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.c
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v7m.S
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v7m.S \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.S
STARTUPINC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC \
$(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/devices/K60x \
@ -10,3 +10,8 @@ STARTUPINC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC \
$(CHIBIOS_CONTRIB)/os/common/ext/CMSIS/KINETIS
STARTUPLD = $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/ld
# Shared variables
ALLXASMSRC += $(STARTUPASM)
ALLCSRC += $(STARTUPSRC)
ALLINC += $(STARTUPINC)

11
os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
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@ -1,8 +1,8 @@
# List of the ChibiOS generic KL2x startup and CMSIS files.
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.c
STARTUPSRC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt1.c
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v6m.S
STARTUPASM = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/crt0_v6m.S \
$(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/vectors.S
STARTUPINC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC \
$(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/devices/KL2x \
@ -11,3 +11,8 @@ STARTUPINC = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC \
$(CHIBIOS_CONTRIB)/os/common/ext/CMSIS/KINETIS
STARTUPLD = $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/ld
# Shared variables
ALLXASMSRC += $(STARTUPASM)
ALLCSRC += $(STARTUPSRC)
ALLINC += $(STARTUPINC)

539
os/hal/ports/KINETIS/K20x/hal_spi_lld.c
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@ -1,539 +0,0 @@
/*
ChibiOS - Copyright (C) 2014-2015 Fabio Utzig
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 KINETIS/spi_lld.c
* @brief KINETIS SPI subsystem low level driver source.
*
* @addtogroup SPI
* @{
*/
#include "hal.h"
#if HAL_USE_SPI || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#if !defined(KINETIS_SPI0_RX_DMA_IRQ_PRIORITY)
#define KINETIS_SPI0_RX_DMA_IRQ_PRIORITY 8
#endif
#if !defined(KINETIS_SPI0_RX_DMAMUX_CHANNEL)
#define KINETIS_SPI0_RX_DMAMUX_CHANNEL 0
#endif
#if !defined(KINETIS_SPI0_RX_DMA_CHANNEL)
#define KINETIS_SPI0_RX_DMA_CHANNEL 0
#endif
#if !defined(KINETIS_SPI0_TX_DMAMUX_CHANNEL)
#define KINETIS_SPI0_TX_DMAMUX_CHANNEL 1
#endif
#if !defined(KINETIS_SPI0_TX_DMA_CHANNEL)
#define KINETIS_SPI0_TX_DMA_CHANNEL 1
#endif
#if !defined(KINETIS_SPI1_RX_DMA_IRQ_PRIORITY)
#define KINETIS_SPI1_RX_DMA_IRQ_PRIORITY 8
#endif
#if !defined(KINETIS_SPI1_RX_DMAMUX_CHANNEL)
#define KINETIS_SPI1_RX_DMAMUX_CHANNEL 0
#endif
#if !defined(KINETIS_SPI1_RX_DMA_CHANNEL)
#define KINETIS_SPI1_RX_DMA_CHANNEL 0
#endif
#if !defined(KINETIS_SPI1_TX_DMAMUX_CHANNEL)
#define KINETIS_SPI1_TX_DMAMUX_CHANNEL 1
#endif
#if !defined(KINETIS_SPI1_TX_DMA_CHANNEL)
#define KINETIS_SPI1_TX_DMA_CHANNEL 1
#endif
#if KINETIS_SPI_USE_SPI0
#define DMAMUX_SPI_RX_SOURCE 16
#define DMAMUX_SPI_TX_SOURCE 17
#endif
#if KINETIS_SPI_USE_SPI1
#define DMAMUX_SPI_RX_SOURCE 18
#define DMAMUX_SPI_TX_SOURCE 19
#endif
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/** @brief SPI0 driver identifier.*/
#if KINETIS_SPI_USE_SPI0 || defined(__DOXYGEN__)
SPIDriver SPID1;
#endif
/** @brief SPI1 driver identifier.*/
#if KINETIS_SPI_USE_SPI1 || defined(__DOXYGEN__)
SPIDriver SPID2;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/* Use a dummy byte as the source/destination when a buffer is not provided */
/* Note: The MMC driver relies on 0xFF being sent for dummy bytes. */
static volatile uint16_t dmaRxDummy;
static uint16_t dmaTxDummy = 0xFFFF;
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void spi_start_xfer(SPIDriver *spip, bool polling)
{
/*
* Enable the DSPI peripheral in master mode.
* Clear the TX and RX FIFOs.
* */
spip->spi->MCR = SPIx_MCR_MSTR | SPIx_MCR_CLR_TXF | SPIx_MCR_CLR_RXF;
/* If we are not polling then enable DMA */
if (!polling) {
/* Enable receive dma and transmit dma */
spip->spi->RSER = SPIx_RSER_RFDF_DIRS | SPIx_RSER_RFDF_RE |
SPIx_RSER_TFFF_RE | SPIx_RSER_TFFF_DIRS;
/* Configure RX DMA */
if (spip->rxbuf) {
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].DADDR = (uint32_t)spip->rxbuf;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].DOFF = spip->word_size;
} else {
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].DADDR = (uint32_t)&dmaRxDummy;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].DOFF = 0;
}
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].BITER_ELINKNO = spip->count;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].CITER_ELINKNO = spip->count;
/* Enable Request Register (ERQ) for RX by writing 0 to SERQ */
DMA->SERQ = KINETIS_SPI0_RX_DMA_CHANNEL;
/* Configure TX DMA */
if (spip->txbuf) {
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].SADDR = (uint32_t)spip->txbuf;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].SOFF = spip->word_size;
} else {
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].SADDR = (uint32_t)&dmaTxDummy;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].SOFF = 0;
}
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].BITER_ELINKNO = spip->count;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].CITER_ELINKNO = spip->count;
/* Enable Request Register (ERQ) for TX by writing 1 to SERQ */
DMA->SERQ = KINETIS_SPI0_TX_DMA_CHANNEL;
}
}
static void spi_stop_xfer(SPIDriver *spip)
{
/* Halt the DSPI peripheral */
spip->spi->MCR = SPIx_MCR_MSTR | SPIx_MCR_HALT;
/* Clear all the flags which are currently set. */
spip->spi->SR |= spip->spi->SR;
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if KINETIS_SPI_USE_SPI0 || defined(__DOXYGEN__)
OSAL_IRQ_HANDLER(KINETIS_DMA0_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
/* Clear bit 0 in Interrupt Request Register (INT) by writing 0 to CINT */
DMA->CINT = KINETIS_SPI0_RX_DMA_CHANNEL;
spi_stop_xfer(&SPID1);
_spi_isr_code(&SPID1);
OSAL_IRQ_EPILOGUE();
}
#endif
#if KINETIS_SPI_USE_SPI1 || defined(__DOXYGEN__)
OSAL_IRQ_HANDLER(KINETIS_DMA0_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
/* Clear bit 0 in Interrupt Request Register (INT) by writing 0 to CINT */
DMA->CINT = KINETIS_SPI1_RX_DMA_CHANNEL;
spi_stop_xfer(&SPID2);
_spi_isr_code(&SPID2);
OSAL_IRQ_EPILOGUE();
}
#endif
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level SPI driver initialization.
*
* @notapi
*/
void spi_lld_init(void) {
#if KINETIS_SPI_USE_SPI0
spiObjectInit(&SPID1);
#endif
#if KINETIS_SPI_USE_SPI1
spiObjectInit(&SPID2);
#endif
}
/**
* @brief Configures and activates the SPI peripheral.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @notapi
*/
void spi_lld_start(SPIDriver *spip) {
/* If in stopped state then enables the SPI and DMA clocks.*/
if (spip->state == SPI_STOP) {
#if KINETIS_SPI_USE_SPI0
if (&SPID1 == spip) {
/* Enable the clock for SPI0 */
SIM->SCGC6 |= SIM_SCGC6_SPI0;
SPID1.spi = SPI0;
if (spip->config->tar0) {
spip->spi->CTAR[0] = spip->config->tar0;
} else {
spip->spi->CTAR[0] = KINETIS_SPI_TAR0_DEFAULT;
}
}
#endif
#if KINETIS_SPI_USE_SPI1
if (&SPID2 == spip) {
/* Enable the clock for SPI0 */
SIM->SCGC6 |= SIM_SCGC6_SPI1;
SPID2.spi = SPI1;
if (spip->config->tar0) {
spip->spi->CTAR[0] = spip->config->tar0;
} else {
spip->spi->CTAR[0] = KINETIS_SPI_TAR0_DEFAULT;
}
}
#endif
nvicEnableVector(DMA0_IRQn, KINETIS_SPI0_RX_DMA_IRQ_PRIORITY);
SIM->SCGC6 |= SIM_SCGC6_DMAMUX;
SIM->SCGC7 |= SIM_SCGC7_DMA;
/* Clear DMA error flags */
DMA->ERR = 0x0F;
#if KINETIS_SPI_USE_SPI0
/* Rx, select SPI Rx FIFO */
DMAMUX->CHCFG[KINETIS_SPI0_RX_DMAMUX_CHANNEL] = DMAMUX_CHCFGn_ENBL |
DMAMUX_CHCFGn_SOURCE(DMAMUX_SPI_RX_SOURCE);
/* Tx, select SPI Tx FIFO */
DMAMUX->CHCFG[KINETIS_SPI0_TX_DMAMUX_CHANNEL] = DMAMUX_CHCFGn_ENBL |
DMAMUX_CHCFGn_SOURCE(DMAMUX_SPI_TX_SOURCE);
/* Extract the frame size from the TAR */
uint16_t frame_size = ((spip->spi->CTAR[0] >> SPIx_CTARn_FMSZ_SHIFT) &
SPIx_CTARn_FMSZ_MASK) + 1;
/* DMA transfer size is 16 bits for a frame size > 8 bits */
uint16_t dma_size = frame_size > 8 ? 1 : 0;
/* DMA word size is 2 for a 16 bit frame size */
spip->word_size = frame_size > 8 ? 2 : 1;
/* configure DMA RX fixed values */
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].SADDR = (uint32_t)&SPI0->POPR;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].SOFF = 0;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].SLAST = 0;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].DLASTSGA = 0;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].ATTR = DMA_ATTR_SSIZE(dma_size) |
DMA_ATTR_DSIZE(dma_size);
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].NBYTES_MLNO = spip->word_size;
DMA->TCD[KINETIS_SPI0_RX_DMA_CHANNEL].CSR = DMA_CSR_DREQ_MASK |
DMA_CSR_INTMAJOR_MASK;
/* configure DMA TX fixed values */
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].SLAST = 0;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].DADDR = (uint32_t)&SPI0->PUSHR;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].DOFF = 0;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].DLASTSGA = 0;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].ATTR = DMA_ATTR_SSIZE(dma_size) |
DMA_ATTR_DSIZE(dma_size);
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].NBYTES_MLNO = spip->word_size;
DMA->TCD[KINETIS_SPI0_TX_DMA_CHANNEL].CSR = DMA_CSR_DREQ_MASK;
#endif
#if KINETIS_SPI_USE_SPI1
/* Rx, select SPI Rx FIFO */
DMAMUX->CHCFG[KINETIS_SPI1_RX_DMAMUX_CHANNEL] = DMAMUX_CHCFGn_ENBL |
DMAMUX_CHCFGn_SOURCE(DMAMUX_SPI_RX_SOURCE);
/* Tx, select SPI Tx FIFO */
DMAMUX->CHCFG[KINETIS_SPI1_TX_DMAMUX_CHANNEL] = DMAMUX_CHCFGn_ENBL |
DMAMUX_CHCFGn_SOURCE(DMAMUX_SPI_TX_SOURCE);
/* Extract the frame size from the TAR */
uint16_t frame_size = ((spip->spi->CTAR[0] >> SPIx_CTARn_FMSZ_SHIFT) &
SPIx_CTARn_FMSZ_MASK) + 1;
/* DMA transfer size is 16 bits for a frame size > 8 bits */
uint16_t dma_size = frame_size > 8 ? 1 : 0;
/* DMA word size is 2 for a 16 bit frame size */
spip->word_size = frame_size > 8 ? 2 : 1;
/* configure DMA RX fixed values */
DMA->TCD[KINETIS_SPI1_RX_DMA_CHANNEL].SADDR = (uint32_t)&SPI1->POPR;
DMA->TCD[KINETIS_SPI1_RX_DMA_CHANNEL].SOFF = 0;
DMA->TCD[KINETIS_SPI1_RX_DMA_CHANNEL].SLAST = 0;
DMA->TCD[KINETIS_SPI1_RX_DMA_CHANNEL].DLASTSGA = 0;
DMA->TCD[KINETIS_SPI1_RX_DMA_CHANNEL].ATTR = DMA_ATTR_SSIZE(dma_size) |
DMA_ATTR_DSIZE(dma_size);
DMA->TCD[KINETIS_SPI1_RX_DMA_CHANNEL].NBYTES_MLNO = spip->word_size;
DMA->TCD[KINETIS_SPI1_RX_DMA_CHANNEL].CSR = DMA_CSR_DREQ_MASK |
DMA_CSR_INTMAJOR_MASK;
/* configure DMA TX fixed values */
DMA->TCD[KINETIS_SPI1_TX_DMA_CHANNEL].SLAST = 0;
DMA->TCD[KINETIS_SPI1_TX_DMA_CHANNEL].DADDR = (uint32_t)&SPI1->PUSHR;
DMA->TCD[KINETIS_SPI1_TX_DMA_CHANNEL].DOFF = 0;
DMA->TCD[KINETIS_SPI1_TX_DMA_CHANNEL].DLASTSGA = 0;
DMA->TCD[KINETIS_SPI1_TX_DMA_CHANNEL].ATTR = DMA_ATTR_SSIZE(dma_size) |
DMA_ATTR_DSIZE(dma_size);
DMA->TCD[KINETIS_SPI1_TX_DMA_CHANNEL].NBYTES_MLNO = spip->word_size;
DMA->TCD[KINETIS_SPI1_TX_DMA_CHANNEL].CSR = DMA_CSR_DREQ_MASK;
#endif
}
}
/**
* @brief Deactivates the SPI peripheral.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @notapi
*/
void spi_lld_stop(SPIDriver *spip) {
/* If in ready state then disables the SPI clock.*/
if (spip->state == SPI_READY) {
nvicDisableVector(DMA0_IRQn);
SIM->SCGC7 &= ~SIM_SCGC7_DMA;
SIM->SCGC6 &= ~SIM_SCGC6_DMAMUX;
#if KINETIS_SPI_USE_SPI0
if (&SPID1 == spip) {
/* SPI halt.*/
spip->spi->MCR |= SPIx_MCR_HALT;
}
/* Disable the clock for SPI0 */
SIM->SCGC6 &= ~SIM_SCGC6_SPI0;
#endif
#if KINETIS_SPI_USE_SPI1
if (&SPID2 == spip) {
/* SPI halt.*/
spip->spi->MCR |= SPIx_MCR_HALT;
}
/* Disable the clock for SPI1 */
SIM->SCGC6 &= ~SIM_SCGC6_SPI1;
#endif
}
}
/**
* @brief Asserts the slave select signal and prepares for transfers.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @notapi
*/
void spi_lld_select(SPIDriver *spip) {
palClearPad(spip->config->ssport, spip->config->sspad);
}
/**
* @brief Deasserts the slave select signal.
* @details The previously selected peripheral is unselected.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @notapi
*/
void spi_lld_unselect(SPIDriver *spip) {
palSetPad(spip->config->ssport, spip->config->sspad);
}
/**
* @brief Ignores data on the SPI bus.
* @details This asynchronous function starts the transmission of a series of
* idle words on the SPI bus and ignores the received data.
* @post At the end of the operation the configured callback is invoked.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be ignored
*
* @notapi
*/
void spi_lld_ignore(SPIDriver *spip, size_t n) {
spip->count = n;
spip->rxbuf = NULL;
spip->txbuf = NULL;
spi_start_xfer(spip, false);
}
/**
* @brief Exchanges data on the SPI bus.
* @details This asynchronous function starts a simultaneous transmit/receive
* operation.
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below or
* equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be exchanged
* @param[in] txbuf the pointer to the transmit buffer
* @param[out] rxbuf the pointer to the receive buffer
*
* @notapi
*/
void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) {
spip->count = n;
spip->rxbuf = rxbuf;
spip->txbuf = txbuf;
spi_start_xfer(spip, false);
}
/**
* @brief Sends data over the SPI bus.
* @details This asynchronous function starts a transmit operation.
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below or
* equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to send
* @param[in] txbuf the pointer to the transmit buffer
*
* @notapi
*/
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
spip->count = n;
spip->rxbuf = NULL;
spip->txbuf = (void *)txbuf;
spi_start_xfer(spip, false);
}
/**
* @brief Receives data from the SPI bus.
* @details This asynchronous function starts a receive operation.
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below or
* equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @notapi
*/
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
spip->count = n;
spip->rxbuf = rxbuf;
spip->txbuf = NULL;
spi_start_xfer(spip, false);
}
/**
* @brief Exchanges one frame using a polled wait.
* @details This synchronous function exchanges one frame using a polled
* synchronization method. This function is useful when exchanging
* small amount of data on high speed channels, usually in this
* situation is much more efficient just wait for completion using
* polling than suspending the thread waiting for an interrupt.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] frame the data frame to send over the SPI bus
* @return The received data frame from the SPI bus.
*/
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {
spi_start_xfer(spip, true);
spip->spi->PUSHR = SPIx_PUSHR_TXDATA(frame);
while ((spip->spi->SR & SPIx_SR_RFDF) == 0)
;
frame = spip->spi->POPR;
spi_stop_xfer(spip);
return frame;
}
#endif /* HAL_USE_SPI */
/** @} */

261
os/hal/ports/KINETIS/K20x/hal_spi_lld.h
View File

@ -1,261 +0,0 @@
/*
ChibiOS - Copyright (C) 2014-2015 Fabio Utzig
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 KINETIS/spi_lld.h
* @brief KINETIS SPI subsystem low level driver header.
*
* @addtogroup SPI
* @{
*/
#ifndef HAL_SPI_LLD_H_
#define HAL_SPI_LLD_H_
#if HAL_USE_SPI || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief SPI0 driver enable switch.
* @details If set to @p TRUE the support for SPI0 is included.
* @note The default is @p FALSE.
*/
#if !defined(KINETIS_SPI_USE_SPI0) || defined(__DOXYGEN__)
#define KINETIS_SPI_USE_SPI0 FALSE
#endif
/**
* @brief SPI0 interrupt priority level setting.
*/
#if !defined(KINETIS_SPI_SPI0_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_SPI_SPI0_IRQ_PRIORITY 10
#endif
/**
* @brief SPI1 driver enable switch.
* @details If set to @p TRUE the support for SPI0 is included.
* @note The default is @p FALSE.
*/
#if !defined(KINETIS_SPI_USE_SPI1) || defined(__DOXYGEN__)
#define KINETIS_SPI_USE_SPI1 FALSE
#endif
/**
* @brief SPI1 interrupt priority level setting.
*/
#if !defined(KINETIS_SPI_SPI1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_SPI_SPI1_IRQ_PRIORITY 10
#endif
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if KINETIS_SPI_USE_SPI0 && !KINETIS_HAS_SPI0
#error "SPI0 not present in the selected device"
#endif
#if KINETIS_SPI_USE_SPI1 && !KINETIS_HAS_SPI1
#error "SPI1 not present in the selected device"
#endif
#if KINETIS_SPI_USE_SPI0 && KINETIS_SPI_USE_SPI1
#error "Only one SPI peripheral can be enabled"
#endif
#if !(KINETIS_SPI_USE_SPI0 || KINETIS_SPI_USE_SPI1)
#error "SPI driver activated but no SPI peripheral assigned"
#endif
#if KINETIS_SPI_USE_SPI0 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_SPI_SPI0_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to SPI0"
#endif
#if KINETIS_SPI_USE_SPI1 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_SPI_SPI1_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to SPI1"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Type of a structure representing an SPI driver.
*/
typedef struct SPIDriver SPIDriver;
/**
* @brief SPI notification callback type.
*
* @param[in] spip pointer to the @p SPIDriver object triggering the
* callback
*/
typedef void (*spicallback_t)(SPIDriver *spip);
/**
* @brief Driver configuration structure.
*/
typedef struct {
/**
* @brief Operation complete callback or @p NULL.
*/
spicallback_t end_cb;
/* End of the mandatory fields.*/
/**
* @brief The chip select line port - when not using pcs.
*/
ioportid_t ssport;
/**
* @brief The chip select line pad number - when not using pcs.
*/
uint16_t sspad;
/**
* @brief SPI initialization data.
*/
uint32_t tar0;
} SPIConfig;
/**
* @brief Structure representing a SPI driver.
*/
struct SPIDriver {
/**
* @brief Driver state.
*/
spistate_t state;
/**
* @brief Current configuration data.
*/
const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__)
/**
* @brief Waiting thread.
*/
thread_reference_t thread;
#endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
/**
* @brief Mutex protecting the bus.
*/
mutex_t mutex;
#endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS)
SPI_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief Pointer to the SPIx registers block.
*/
SPI_TypeDef *spi;
/**
* @brief Number of bytes/words of data to transfer.
*/
size_t count;
/**
* @brief Word size in bytes.
*/
size_t word_size;
/**
* @brief Pointer to the buffer with data to send.
*/
const uint8_t *txbuf;
/**
* @brief Pointer to the buffer to put received data.
*/
uint8_t *rxbuf;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/* TAR settings for n bits at SYSCLK / 2 */
#define KINETIS_SPI_TAR_SYSCLK_DIV_2(n)\
SPIx_CTARn_FMSZ((n) - 1) | \
SPIx_CTARn_CPOL | \
SPIx_CTARn_CPHA | \
SPIx_CTARn_DBR | \
SPIx_CTARn_PBR(0) | \
SPIx_CTARn_BR(0) | \
SPIx_CTARn_CSSCK(0) | \
SPIx_CTARn_ASC(0) | \
SPIx_CTARn_DT(0)
/* TAR settings for n bits at SYSCLK / 4096 for debugging */
#define KINETIS_SPI_TAR_SYSCLK_DIV_4096(n) \
SPIx_CTARn_FMSZ(((n) - 1)) | \
SPIx_CTARn_CPOL | \
SPIx_CTARn_CPHA | \
SPIx_CTARn_PBR(0) | \
SPIx_CTARn_BR(0xB) | \
SPIx_CTARn_CSSCK(0xB) | \
SPIx_CTARn_ASC(0x7) | \
SPIx_CTARn_DT(0xB)
#define KINETIS_SPI_TAR_8BIT_FAST KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
#define KINETIS_SPI_TAR_8BIT_SLOW KINETIS_SPI_TAR_SYSCLK_DIV_4096(8)
#define KINETIS_SPI_TAR0_DEFAULT KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
#define KINETIS_SPI_TAR1_DEFAULT KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if KINETIS_SPI_USE_SPI0 && !defined(__DOXYGEN__)
extern SPIDriver SPID1;
#endif
#if KINETIS_SPI_USE_SPI1 && !defined(__DOXYGEN__)
extern SPIDriver SPID2;
#endif
#ifdef __cplusplus
extern "C" {
#endif
void spi_lld_init(void);
void spi_lld_start(SPIDriver *spip);
void spi_lld_stop(SPIDriver *spip);
void spi_lld_select(SPIDriver *spip);
void spi_lld_unselect(SPIDriver *spip);
void spi_lld_ignore(SPIDriver *spip, size_t n);
void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf);
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf);
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf);
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame);
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_SPI */
#endif /* HAL_SPI_LLD_H_ */
/** @} */

48
os/hal/ports/KINETIS/K20x/platform.mk
View File

@ -1,18 +1,32 @@
# List of all platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K20x/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_pal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_serial_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K20x/hal_spi_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_ext_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_adc_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_gpt_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K20x/hal_pwm_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_st_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_usb_lld.c
PLATFORMSRC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K20x/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c
PLATFORMINC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K20x
ifeq ($(USE_SMART_BUILD),yes)
# Required include directories
PLATFORMINC = ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K20x \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD
# Configuration files directory
ifeq ($(CONFDIR),)
CONFDIR = .
endif
HALCONF := $(strip $(shell cat $(CONFDIR)/halconf.h $(CONFDIR)/halconf_community.h | egrep -e "\#define"))
endif
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/GPIOv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/UARTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SPIv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/I2Cv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PORTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/ADCv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/FTMv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/USBHSv1/driver.mk
# Shared variables
ALLCSRC += $(PLATFORMSRC_CONTRIB)
ALLINC += $(PLATFORMINC_CONTRIB)

47
os/hal/ports/KINETIS/K60x/platform.mk
View File

@ -1,19 +1,30 @@
# List of all platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K60x/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_pal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_serial_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_ext_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_gpt_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_st_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_sdc_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_adc_lld.c \
# ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K60x/hal_spi_lld.c \
# ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K60x/hal_pwm_lld.c \
# ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_usb_lld.c
PLATFORMSRC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K60x/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c
PLATFORMINC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K60x
ifeq ($(USE_SMART_BUILD),yes)
# Required include directories
PLATFORMINC = ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/K60x \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD
# Configuration files directory
ifeq ($(CONFDIR),)
CONFDIR = .
endif
HALCONF := $(strip $(shell cat $(CONFDIR)/halconf.h $(CONFDIR)/halconf_community.h | egrep -e "\#define"))
endif
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/GPIOv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/UARTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PORTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SDHCv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/I2Cv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/ADCv1/driver.mk
# Shared variables
ALLCSRC += $(PLATFORMSRC_CONTRIB)
ALLINC += $(PLATFORMINC_CONTRIB)

46
os/hal/ports/KINETIS/KL2x/platform.mk
View File

@ -1,17 +1,31 @@
# List of all platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/KL2x/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_pal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_serial_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_ext_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_adc_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_gpt_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/KL2x/hal_pwm_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_st_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_usb_lld.c
PLATFORMSRC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/KL2x/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c
PLATFORMINC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/KL2x
ifeq ($(USE_SMART_BUILD),yes)
# Required include directories
PLATFORMINC = ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/KL2x \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD
# Configuration files directory
ifeq ($(CONFDIR),)
CONFDIR = .
endif
HALCONF := $(strip $(shell cat $(CONFDIR)/halconf.h $(CONFDIR)/halconf_community.h | egrep -e "\#define"))
endif
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/GPIOv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/UARTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/I2Cv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PORTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/ADCv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/TPMv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/USBHSv1/driver.mk
# Shared variables
ALLCSRC += $(PLATFORMSRC_CONTRIB)
ALLINC += $(PLATFORMINC_CONTRIB)

9
os/hal/ports/KINETIS/LLD/ADCv1/driver.mk Normal file
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@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_ADC TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/ADCv1/hal_adc_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/ADCv1/hal_adc_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/ADCv1

9
os/hal/ports/KINETIS/LLD/FTMv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/FTMv1/hal_pwm_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/FTMv1/hal_pwm_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/FTMv1

780
os/hal/ports/KINETIS/K20x/hal_pwm_lld.c → os/hal/ports/KINETIS/LLD/FTMv1/hal_pwm_lld.c
View File

@ -1,390 +1,390 @@
/*
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 K20x/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. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief PWMD1 driver identifier.
* @note The driver PWMD1 allocates the timer FTM0 when enabled.
*/
#if KINETIS_PWM_USE_FTM0 || defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
/**
* @brief PWMD2 driver identifier.
* @note The driver PWMD2 allocates the timer FTM1 when enabled.
*/
#if KINETIS_PWM_USE_FTM1 || defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
/**
* @brief PWMD3 driver identifier.
* @note The driver PWMD3 allocates the timer FTM2 when enabled.
*/
#if KINETIS_PWM_USE_FTM2 || defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint32_t sr;
sr = pwmp->ftm->SC;
pwmp->ftm->SC = sr&(~FTM_SC_TOF);
if (((sr & FTM_SC_TOF) != 0) && /* Timer Overflow */
((sr & FTM_SC_TOIE) != 0) &&
(pwmp->config->callback != NULL)) {
pwmp->config->callback(pwmp);
}
uint8_t n=0;
for(n=0;n<pwmp->channels;n++) {
sr = pwmp->ftm->CHANNEL[n].CnSC;
pwmp->ftm->CHANNEL[n].CnSC = sr&(~FTM_CnSC_CHF);
if (((sr & FTM_CnSC_CHF) != 0) &&
((sr & FTM_CnSC_CHIE) != 0) &&
(pwmp->config->channels[n].callback != NULL)) {
pwmp->config->channels[n].callback(pwmp);
}
}
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if KINETIS_PWM_USE_FTM0
/**
* @brief FTM0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM0_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD1);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM0 */
#if KINETIS_PWM_USE_FTM1
/**
* @brief FTM1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM1_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD2);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM1 */
#if KINETIS_PWM_USE_FTM2
/**
* @brief FTM2 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM2_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM2 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
#if KINETIS_PWM_USE_FTM0
pwmObjectInit(&PWMD1);
PWMD1.channels = KINETIS_FTM0_CHANNELS;
PWMD1.ftm = FTM0;
#endif
#if KINETIS_PWM_USE_FTM1
pwmObjectInit(&PWMD2);
PWMD2.channels = KINETIS_FTM1_CHANNELS;
PWMD2.ftm = FTM1;
#endif
#if KINETIS_PWM_USE_FTM2
pwmObjectInit(&PWMD3);
PWMD3.channels = KINETIS_FTM2_CHANNELS;
PWMD3.ftm = FTM2;
#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) {
uint16_t psc;
uint8_t i=0;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if KINETIS_PWM_USE_FTM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_FTM0;
nvicEnableVector(FTM0_IRQn, KINETIS_PWM_FTM0_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_FTM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_FTM1;
nvicEnableVector(FTM1_IRQn, KINETIS_PWM_FTM1_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_FTM2
if (&PWMD3 == pwmp) {
SIM->SCGC3 |= SIM_SCGC3_FTM2;
nvicEnableVector(FTM2_IRQn, KINETIS_PWM_FTM2_PRIORITY);
}
#endif
}
pwmp->ftm->MODE = FTM_MODE_FTMEN_MASK|FTM_MODE_PWMSYNC_MASK;
pwmp->ftm->SYNC = FTM_SYNC_CNTMIN_MASK|FTM_SYNC_CNTMAX_MASK
|FTM_SYNC_SWSYNC_MASK;
pwmp->ftm->COMBINE = FTM_COMBINE_SYNCEN3_MASK | FTM_COMBINE_SYNCEN2_MASK
| FTM_COMBINE_SYNCEN1_MASK | FTM_COMBINE_SYNCEN0_MASK;
pwmp->ftm->SYNCONF = FTM_SYNCONF_SYNCMODE_MASK;
pwmp->ftm->CNTIN = 0x0000;
//~ pwmp->ftm->SC = 0; /* Disable FTM counter.*/
pwmp->ftm->CNT = 0x0000; /* Clear count register.*/
/* 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 == (unsigned)(1 << i)) {
break;
}
}
/* Set prescaler and clock mode.
This also sets the following:
CPWMS up-counting mode
Timer overflow interrupt disabled
DMA disabled.*/
pwmp->ftm->SC = FTM_SC_CLKS(1) | FTM_SC_PS(i);
/* Configure period */
pwmp->ftm->MOD = pwmp->period-1;
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}
/**
* @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_FTM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_FTM0;
nvicDisableVector(FTM0_IRQn);
}
#endif
#if KINETIS_PWM_USE_FTM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_FTM1;
nvicDisableVector(FTM1_IRQn);
}
#endif
#if KINETIS_PWM_USE_FTM2
if (&PWMD3 == pwmp) {
SIM->SCGC3 &= ~SIM_SCGC3_FTM2;
nvicDisableVector(FTM2_IRQn);
}
#endif
/* Disable FTM counter.*/
pwmp->ftm->SC = 0;
pwmp->ftm->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 = FTM_CnSC_MSB; /* Edge-aligned PWM mode.*/
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode |= FTM_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode |= FTM_CnSC_ELSA;
break;
}
if (pwmp->ftm->CHANNEL[channel].CnSC & FTM_CnSC_CHIE)
mode |= FTM_CnSC_CHIE;
pwmp->ftm->CHANNEL[channel].CnSC = mode;
pwmp->ftm->CHANNEL[channel].CnV = width;
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}
/**
* @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->ftm->CHANNEL[channel].CnSC = 0;
pwmp->ftm->CHANNEL[channel].CnV = 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->ftm->SC |= FTM_SC_TOIE;
}
/**
* @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->ftm->SC &= ~FTM_SC_TOIE;
}
/**
* @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->ftm->CHANNEL[channel].CnSC |= FTM_CnSC_CHIE;
}
/**
* @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->ftm->CHANNEL[channel].CnSC &= ~FTM_CnSC_CHIE;
}
#endif /* HAL_USE_PWM */
/** @} */
/*
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 K20x/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. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief PWMD1 driver identifier.
* @note The driver PWMD1 allocates the timer FTM0 when enabled.
*/
#if KINETIS_PWM_USE_FTM0 || defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
/**
* @brief PWMD2 driver identifier.
* @note The driver PWMD2 allocates the timer FTM1 when enabled.
*/
#if KINETIS_PWM_USE_FTM1 || defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
/**
* @brief PWMD3 driver identifier.
* @note The driver PWMD3 allocates the timer FTM2 when enabled.
*/
#if KINETIS_PWM_USE_FTM2 || defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint32_t sr;
sr = pwmp->ftm->SC;
pwmp->ftm->SC = sr&(~FTM_SC_TOF);
if (((sr & FTM_SC_TOF) != 0) && /* Timer Overflow */
((sr & FTM_SC_TOIE) != 0) &&
(pwmp->config->callback != NULL)) {
pwmp->config->callback(pwmp);
}
uint8_t n=0;
for(n=0;n<pwmp->channels;n++) {
sr = pwmp->ftm->CHANNEL[n].CnSC;
pwmp->ftm->CHANNEL[n].CnSC = sr&(~FTM_CnSC_CHF);
if (((sr & FTM_CnSC_CHF) != 0) &&
((sr & FTM_CnSC_CHIE) != 0) &&
(pwmp->config->channels[n].callback != NULL)) {
pwmp->config->channels[n].callback(pwmp);
}
}
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if KINETIS_PWM_USE_FTM0
/**
* @brief FTM0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM0_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD1);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM0 */
#if KINETIS_PWM_USE_FTM1
/**
* @brief FTM1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM1_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD2);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM1 */
#if KINETIS_PWM_USE_FTM2
/**
* @brief FTM2 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM2_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM2 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
#if KINETIS_PWM_USE_FTM0
pwmObjectInit(&PWMD1);
PWMD1.channels = KINETIS_FTM0_CHANNELS;
PWMD1.ftm = FTM0;
#endif
#if KINETIS_PWM_USE_FTM1
pwmObjectInit(&PWMD2);
PWMD2.channels = KINETIS_FTM1_CHANNELS;
PWMD2.ftm = FTM1;
#endif
#if KINETIS_PWM_USE_FTM2
pwmObjectInit(&PWMD3);
PWMD3.channels = KINETIS_FTM2_CHANNELS;
PWMD3.ftm = FTM2;
#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) {
uint16_t psc;
uint8_t i=0;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if KINETIS_PWM_USE_FTM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_FTM0;
nvicEnableVector(FTM0_IRQn, KINETIS_PWM_FTM0_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_FTM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_FTM1;
nvicEnableVector(FTM1_IRQn, KINETIS_PWM_FTM1_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_FTM2
if (&PWMD3 == pwmp) {
SIM->SCGC3 |= SIM_SCGC3_FTM2;
nvicEnableVector(FTM2_IRQn, KINETIS_PWM_FTM2_PRIORITY);
}
#endif
}
pwmp->ftm->MODE = FTM_MODE_FTMEN_MASK|FTM_MODE_PWMSYNC_MASK;
pwmp->ftm->SYNC = FTM_SYNC_CNTMIN_MASK|FTM_SYNC_CNTMAX_MASK
|FTM_SYNC_SWSYNC_MASK;
pwmp->ftm->COMBINE = FTM_COMBINE_SYNCEN3_MASK | FTM_COMBINE_SYNCEN2_MASK
| FTM_COMBINE_SYNCEN1_MASK | FTM_COMBINE_SYNCEN0_MASK;
pwmp->ftm->SYNCONF = FTM_SYNCONF_SYNCMODE_MASK;
pwmp->ftm->CNTIN = 0x0000;
//~ pwmp->ftm->SC = 0; /* Disable FTM counter.*/
pwmp->ftm->CNT = 0x0000; /* Clear count register.*/
/* 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 == (unsigned)(1 << i)) {
break;
}
}
/* Set prescaler and clock mode.
This also sets the following:
CPWMS up-counting mode
Timer overflow interrupt disabled
DMA disabled.*/
pwmp->ftm->SC = FTM_SC_CLKS(1) | FTM_SC_PS(i);
/* Configure period */
pwmp->ftm->MOD = pwmp->period-1;
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}
/**
* @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_FTM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_FTM0;
nvicDisableVector(FTM0_IRQn);
}
#endif
#if KINETIS_PWM_USE_FTM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_FTM1;
nvicDisableVector(FTM1_IRQn);
}
#endif
#if KINETIS_PWM_USE_FTM2
if (&PWMD3 == pwmp) {
SIM->SCGC3 &= ~SIM_SCGC3_FTM2;
nvicDisableVector(FTM2_IRQn);
}
#endif
/* Disable FTM counter.*/
pwmp->ftm->SC = 0;
pwmp->ftm->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 = FTM_CnSC_MSB; /* Edge-aligned PWM mode.*/
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode |= FTM_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode |= FTM_CnSC_ELSA;
break;
}
if (pwmp->ftm->CHANNEL[channel].CnSC & FTM_CnSC_CHIE)
mode |= FTM_CnSC_CHIE;
pwmp->ftm->CHANNEL[channel].CnSC = mode;
pwmp->ftm->CHANNEL[channel].CnV = width;
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}
/**
* @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->ftm->CHANNEL[channel].CnSC = 0;
pwmp->ftm->CHANNEL[channel].CnV = 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->ftm->SC |= FTM_SC_TOIE;
}
/**
* @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->ftm->SC &= ~FTM_SC_TOIE;
}
/**
* @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->ftm->CHANNEL[channel].CnSC |= FTM_CnSC_CHIE;
}
/**
* @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->ftm->CHANNEL[channel].CnSC &= ~FTM_CnSC_CHIE;
}
#endif /* HAL_USE_PWM */
/** @} */

540
os/hal/ports/KINETIS/K20x/hal_pwm_lld.h → os/hal/ports/KINETIS/LLD/FTMv1/hal_pwm_lld.h
View File

@ -1,270 +1,270 @@
/*
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 K20x7/pwm_lld.h
* @brief KINETIS 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 8
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
#if !defined(KINETIS_PWM_USE_FTM0)
#define KINETIS_PWM_USE_FTM0 FALSE
#endif
#if !defined(KINETIS_PWM_USE_FTM1)
#define KINETIS_PWM_USE_FTM1 FALSE
#endif
#if !defined(KINETIS_PWM_USE_FTM2)
#define KINETIS_PWM_USE_FTM2 FALSE
#endif
/**
* @brief FTM0 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM0_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM0_PRIORITY 12
#endif
/**
* @brief FTM1 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM1_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM1_PRIORITY 12
#endif
/**
* @brief FTM2 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM2_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM2_PRIORITY 12
#endif
/** @} */
/**
* @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_FTM0 && !KINETIS_PWM_USE_FTM1 && !KINETIS_PWM_USE_FTM2
#error "PWM driver activated but no FTM 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 FTM registers block.
*/
FTM_TypeDef *ftm;
};
/*===========================================================================*/
/* 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)->ftm->MOD = ((period) - 1); \
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;\
} while(0)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if KINETIS_PWM_USE_FTM0 || defined(__DOXYGEN__)
extern PWMDriver PWMD1;
#endif
#if KINETIS_PWM_USE_FTM1 || defined(__DOXYGEN__)
extern PWMDriver PWMD2;
#endif
#if KINETIS_PWM_USE_FTM2 || 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_ */
/** @} */
/*
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 K20x7/pwm_lld.h
* @brief KINETIS 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 8
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
#if !defined(KINETIS_PWM_USE_FTM0)
#define KINETIS_PWM_USE_FTM0 FALSE
#endif
#if !defined(KINETIS_PWM_USE_FTM1)
#define KINETIS_PWM_USE_FTM1 FALSE
#endif
#if !defined(KINETIS_PWM_USE_FTM2)
#define KINETIS_PWM_USE_FTM2 FALSE
#endif
/**
* @brief FTM0 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM0_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM0_PRIORITY 12
#endif
/**
* @brief FTM1 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM1_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM1_PRIORITY 12
#endif
/**
* @brief FTM2 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM2_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM2_PRIORITY 12
#endif
/** @} */
/**
* @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_FTM0 && !KINETIS_PWM_USE_FTM1 && !KINETIS_PWM_USE_FTM2
#error "PWM driver activated but no FTM 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 FTM registers block.
*/
FTM_TypeDef *ftm;
};
/*===========================================================================*/
/* 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)->ftm->MOD = ((period) - 1); \
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;\
} while(0)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if KINETIS_PWM_USE_FTM0 || defined(__DOXYGEN__)
extern PWMDriver PWMD1;
#endif
#if KINETIS_PWM_USE_FTM1 || defined(__DOXYGEN__)
extern PWMDriver PWMD2;
#endif
#if KINETIS_PWM_USE_FTM2 || 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_ */
/** @} */

9
os/hal/ports/KINETIS/LLD/GPIOv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_PAL TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/GPIOv1/hal_pal_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/GPIOv1/hal_pal_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/GPIOv1

5
os/hal/ports/KINETIS/LLD/GPIOv1/hal_pal_lld.h
View File

@ -82,6 +82,11 @@ typedef uint32_t ioline_t;
*/
typedef GPIO_TypeDef *ioportid_t;
/**
* @brief Type of an pad identifier.
*/
typedef uint32_t iopadid_t;
/**
* @brief Port Configuration.
* @details This structure stores the configuration parameters of all pads

9
os/hal/ports/KINETIS/LLD/I2Cv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_I2C TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/I2Cv1/hal_i2c_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/I2Cv1/hal_i2c_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/I2Cv1

6
os/hal/ports/KINETIS/LLD/I2Cv1/hal_i2c_lld.c
View File

@ -442,7 +442,9 @@ static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr,
/* wait until the bus is released */
/* Calculating the time window for the timeout on the busy bus condition.*/
start = osalOsGetSystemTimeX();
#if defined(OSAL_TIME_MS2I)
#if defined(OSAL_MS2I)
end = start + OSAL_MS2I(KINETIS_I2C_BUSY_TIMEOUT);
#elif defined(OSAL_TIME_MS2I)
end = start + OSAL_TIME_MS2I(KINETIS_I2C_BUSY_TIMEOUT);
#elif defined(OSAL_TIME_MS2ST)
end = start + OSAL_TIME_MS2ST(KINETIS_I2C_BUSY_TIMEOUT);
@ -458,7 +460,7 @@ static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr,
break;
/* If the system time went outside the allowed window then a timeout
condition is returned.*/
if (!osalOsIsTimeWithinX(osalOsGetSystemTimeX(), start, end)) {
if (!osalTimeIsInRangeX(osalOsGetSystemTimeX(), start, end)) {
return MSG_TIMEOUT;
}
osalSysUnlock();

9
os/hal/ports/KINETIS/LLD/PITv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_GPT TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1

9
os/hal/ports/KINETIS/LLD/PORTv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_EXT TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PORTv1/hal_ext_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PORTv1/hal_ext_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PORTv1

9
os/hal/ports/KINETIS/LLD/SDHCv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_SDC TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SDHCv1/hal_sdc_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SDHCv1/hal_sdc_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SDHCv1

9
os/hal/ports/KINETIS/LLD/SPIv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_SPI TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SPIv1/hal_spi_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SPIv1/hal_spi_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SPIv1

1078
os/hal/ports/KINETIS/MK66F18/hal_spi_lld.c → os/hal/ports/KINETIS/LLD/SPIv1/hal_spi_lld.c
View File

File diff suppressed because it is too large Load Diff

522
os/hal/ports/KINETIS/MK66F18/hal_spi_lld.h → os/hal/ports/KINETIS/LLD/SPIv1/hal_spi_lld.h
View File

@ -1,261 +1,261 @@
/*
ChibiOS - Copyright (C) 2014-2015 Fabio Utzig
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 KINETIS/spi_lld.h
* @brief KINETIS SPI subsystem low level driver header.
*
* @addtogroup SPI
* @{
*/
#ifndef HAL_SPI_LLD_H_
#define HAL_SPI_LLD_H_
#if HAL_USE_SPI || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief SPI0 driver enable switch.
* @details If set to @p TRUE the support for SPI0 is included.
* @note The default is @p FALSE.
*/
#if !defined(KINETIS_SPI_USE_SPI0) || defined(__DOXYGEN__)
#define KINETIS_SPI_USE_SPI0 FALSE
#endif
/**
* @brief SPI0 interrupt priority level setting.
*/
#if !defined(KINETIS_SPI_SPI0_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_SPI_SPI0_IRQ_PRIORITY 10
#endif
/**
* @brief SPI1 driver enable switch.
* @details If set to @p TRUE the support for SPI0 is included.
* @note The default is @p FALSE.
*/
#if !defined(KINETIS_SPI_USE_SPI1) || defined(__DOXYGEN__)
#define KINETIS_SPI_USE_SPI1 FALSE
#endif
/**
* @brief SPI1 interrupt priority level setting.
*/
#if !defined(KINETIS_SPI_SPI1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_SPI_SPI1_IRQ_PRIORITY 10
#endif
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if KINETIS_SPI_USE_SPI0 && !KINETIS_HAS_SPI0
#error "SPI0 not present in the selected device"
#endif
#if KINETIS_SPI_USE_SPI1 && !KINETIS_HAS_SPI1
#error "SPI1 not present in the selected device"
#endif
#if KINETIS_SPI_USE_SPI0 && KINETIS_SPI_USE_SPI1
#error "Only one SPI peripheral can be enabled"
#endif
#if !(KINETIS_SPI_USE_SPI0 || KINETIS_SPI_USE_SPI1)
#error "SPI driver activated but no SPI peripheral assigned"
#endif
#if KINETIS_SPI_USE_SPI0 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_SPI_SPI0_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to SPI0"
#endif
#if KINETIS_SPI_USE_SPI1 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_SPI_SPI1_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to SPI1"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Type of a structure representing an SPI driver.
*/
typedef struct SPIDriver SPIDriver;
/**
* @brief SPI notification callback type.
*
* @param[in] spip pointer to the @p SPIDriver object triggering the
* callback
*/
typedef void (*spicallback_t)(SPIDriver *spip);
/**
* @brief Driver configuration structure.
*/
typedef struct {
/**
* @brief Operation complete callback or @p NULL.
*/
spicallback_t end_cb;
/* End of the mandatory fields.*/
/**
* @brief The chip select line port - when not using pcs.
*/
ioportid_t ssport;
/**
* @brief The chip select line pad number - when not using pcs.
*/
uint16_t sspad;
/**
* @brief SPI initialization data.
*/
uint32_t tar0;
} SPIConfig;
/**
* @brief Structure representing a SPI driver.
*/
struct SPIDriver {
/**
* @brief Driver state.
*/
spistate_t state;
/**
* @brief Current configuration data.
*/
const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__)
/**
* @brief Waiting thread.
*/
thread_reference_t thread;
#endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
/**
* @brief Mutex protecting the bus.
*/
mutex_t mutex;
#endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS)
SPI_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief Pointer to the SPIx registers block.
*/
SPI_TypeDef *spi;
/**
* @brief Number of bytes/words of data to transfer.
*/
size_t count;
/**
* @brief Word size in bytes.
*/
size_t word_size;
/**
* @brief Pointer to the buffer with data to send.
*/
const uint8_t *txbuf;
/**
* @brief Pointer to the buffer to put received data.
*/
uint8_t *rxbuf;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/* TAR settings for n bits at SYSCLK / 2 */
#define KINETIS_SPI_TAR_SYSCLK_DIV_2(n)\
SPIx_CTARn_FMSZ((n) - 1) | \
SPIx_CTARn_CPOL | \
SPIx_CTARn_CPHA | \
SPIx_CTARn_DBR | \
SPIx_CTARn_PBR(0) | \
SPIx_CTARn_BR(0) | \
SPIx_CTARn_CSSCK(0) | \
SPIx_CTARn_ASC(0) | \
SPIx_CTARn_DT(0)
/* TAR settings for n bits at SYSCLK / 4096 for debugging */
#define KINETIS_SPI_TAR_SYSCLK_DIV_4096(n) \
SPIx_CTARn_FMSZ(((n) - 1)) | \
SPIx_CTARn_CPOL | \
SPIx_CTARn_CPHA | \
SPIx_CTARn_PBR(0) | \
SPIx_CTARn_BR(0xB) | \
SPIx_CTARn_CSSCK(0xB) | \
SPIx_CTARn_ASC(0x7) | \
SPIx_CTARn_DT(0xB)
#define KINETIS_SPI_TAR_8BIT_FAST KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
#define KINETIS_SPI_TAR_8BIT_SLOW KINETIS_SPI_TAR_SYSCLK_DIV_4096(8)
#define KINETIS_SPI_TAR0_DEFAULT KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
#define KINETIS_SPI_TAR1_DEFAULT KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if KINETIS_SPI_USE_SPI0 && !defined(__DOXYGEN__)
extern SPIDriver SPID1;
#endif
#if KINETIS_SPI_USE_SPI1 && !defined(__DOXYGEN__)
extern SPIDriver SPID2;
#endif
#ifdef __cplusplus
extern "C" {
#endif
void spi_lld_init(void);
void spi_lld_start(SPIDriver *spip);
void spi_lld_stop(SPIDriver *spip);
void spi_lld_select(SPIDriver *spip);
void spi_lld_unselect(SPIDriver *spip);
void spi_lld_ignore(SPIDriver *spip, size_t n);
void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf);
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf);
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf);
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame);
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_SPI */
#endif /* HAL_SPI_LLD_H_ */
/** @} */
/*
ChibiOS - Copyright (C) 2014-2015 Fabio Utzig
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 SPIv1/hal_spi_lld.h
* @brief KINETIS SPI subsystem low level driver header.
*
* @addtogroup SPI
* @{
*/
#ifndef HAL_SPI_LLD_H_
#define HAL_SPI_LLD_H_
#if HAL_USE_SPI || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief SPI0 driver enable switch.
* @details If set to @p TRUE the support for SPI0 is included.
* @note The default is @p FALSE.
*/
#if !defined(KINETIS_SPI_USE_SPI0) || defined(__DOXYGEN__)
#define KINETIS_SPI_USE_SPI0 FALSE
#endif
/**
* @brief SPI0 interrupt priority level setting.
*/
#if !defined(KINETIS_SPI_SPI0_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_SPI_SPI0_IRQ_PRIORITY 10
#endif
/**
* @brief SPI1 driver enable switch.
* @details If set to @p TRUE the support for SPI0 is included.
* @note The default is @p FALSE.
*/
#if !defined(KINETIS_SPI_USE_SPI1) || defined(__DOXYGEN__)
#define KINETIS_SPI_USE_SPI1 FALSE
#endif
/**
* @brief SPI1 interrupt priority level setting.
*/
#if !defined(KINETIS_SPI_SPI1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_SPI_SPI1_IRQ_PRIORITY 10
#endif
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if KINETIS_SPI_USE_SPI0 && !KINETIS_HAS_SPI0
#error "SPI0 not present in the selected device"
#endif
#if KINETIS_SPI_USE_SPI1 && !KINETIS_HAS_SPI1
#error "SPI1 not present in the selected device"
#endif
#if KINETIS_SPI_USE_SPI0 && KINETIS_SPI_USE_SPI1
#error "Only one SPI peripheral can be enabled"
#endif
#if !(KINETIS_SPI_USE_SPI0 || KINETIS_SPI_USE_SPI1)
#error "SPI driver activated but no SPI peripheral assigned"
#endif
#if KINETIS_SPI_USE_SPI0 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_SPI_SPI0_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to SPI0"
#endif
#if KINETIS_SPI_USE_SPI1 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_SPI_SPI1_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to SPI1"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Type of a structure representing an SPI driver.
*/
typedef struct SPIDriver SPIDriver;
/**
* @brief SPI notification callback type.
*
* @param[in] spip pointer to the @p SPIDriver object triggering the
* callback
*/
typedef void (*spicallback_t)(SPIDriver *spip);
/**
* @brief Driver configuration structure.
*/
typedef struct {
/**
* @brief Operation complete callback or @p NULL.
*/
spicallback_t end_cb;
/* End of the mandatory fields.*/
/**
* @brief The chip select line port - when not using pcs.
*/
ioportid_t ssport;
/**
* @brief The chip select line pad number - when not using pcs.
*/
uint16_t sspad;
/**
* @brief SPI initialization data.
*/
uint32_t tar0;
} SPIConfig;
/**
* @brief Structure representing a SPI driver.
*/
struct SPIDriver {
/**
* @brief Driver state.
*/
spistate_t state;
/**
* @brief Current configuration data.
*/
const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__)
/**
* @brief Waiting thread.
*/
thread_reference_t thread;
#endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
/**
* @brief Mutex protecting the bus.
*/
mutex_t mutex;
#endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS)
SPI_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief Pointer to the SPIx registers block.
*/
SPI_TypeDef *spi;
/**
* @brief Number of bytes/words of data to transfer.
*/
size_t count;
/**
* @brief Word size in bytes.
*/
size_t word_size;
/**
* @brief Pointer to the buffer with data to send.
*/
const uint8_t *txbuf;
/**
* @brief Pointer to the buffer to put received data.
*/
uint8_t *rxbuf;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/* TAR settings for n bits at SYSCLK / 2 */
#define KINETIS_SPI_TAR_SYSCLK_DIV_2(n)\
SPIx_CTARn_FMSZ((n) - 1) | \
SPIx_CTARn_CPOL | \
SPIx_CTARn_CPHA | \
SPIx_CTARn_DBR | \
SPIx_CTARn_PBR(0) | \
SPIx_CTARn_BR(0) | \
SPIx_CTARn_CSSCK(0) | \
SPIx_CTARn_ASC(0) | \
SPIx_CTARn_DT(0)
/* TAR settings for n bits at SYSCLK / 4096 for debugging */
#define KINETIS_SPI_TAR_SYSCLK_DIV_4096(n) \
SPIx_CTARn_FMSZ(((n) - 1)) | \
SPIx_CTARn_CPOL | \
SPIx_CTARn_CPHA | \
SPIx_CTARn_PBR(0) | \
SPIx_CTARn_BR(0xB) | \
SPIx_CTARn_CSSCK(0xB) | \
SPIx_CTARn_ASC(0x7) | \
SPIx_CTARn_DT(0xB)
#define KINETIS_SPI_TAR_8BIT_FAST KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
#define KINETIS_SPI_TAR_8BIT_SLOW KINETIS_SPI_TAR_SYSCLK_DIV_4096(8)
#define KINETIS_SPI_TAR0_DEFAULT KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
#define KINETIS_SPI_TAR1_DEFAULT KINETIS_SPI_TAR_SYSCLK_DIV_2(8)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if KINETIS_SPI_USE_SPI0 && !defined(__DOXYGEN__)
extern SPIDriver SPID1;
#endif
#if KINETIS_SPI_USE_SPI1 && !defined(__DOXYGEN__)
extern SPIDriver SPID2;
#endif
#ifdef __cplusplus
extern "C" {
#endif
void spi_lld_init(void);
void spi_lld_start(SPIDriver *spip);
void spi_lld_stop(SPIDriver *spip);
void spi_lld_select(SPIDriver *spip);
void spi_lld_unselect(SPIDriver *spip);
void spi_lld_ignore(SPIDriver *spip, size_t n);
void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf);
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf);
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf);
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame);
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_SPI */
#endif /* HAL_SPI_LLD_H_ */
/** @} */

9
os/hal/ports/KINETIS/LLD/TPMv1/driver.mk Normal file
View File

@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/TPMv1

776
os/hal/ports/KINETIS/KL2x/hal_pwm_lld.c → os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c
View File

@ -1,388 +1,388 @@
/*
ChibiOS - 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 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. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint32_t sr;
sr = pwmp->tpm->STATUS;
pwmp->tpm->STATUS = 0xFFFFFFFF;
if (((sr & TPMx_STATUS_TOF) != 0) &&
(pwmp->config->callback != NULL))
pwmp->config->callback(pwmp);
if (((sr & TPMx_STATUS_CH0F) != 0) &&
(pwmp->config->channels[0].callback != NULL))
pwmp->config->channels[0].callback(pwmp);
if (((sr & TPMx_STATUS_CH1F) != 0) &&
(pwmp->config->channels[1].callback != NULL))
pwmp->config->channels[1].callback(pwmp);
if (((sr & TPMx_STATUS_CH2F) != 0) &&
(pwmp->config->channels[2].callback != NULL))
pwmp->config->channels[2].callback(pwmp);
if (((sr & TPMx_STATUS_CH3F) != 0) &&
(pwmp->config->channels[3].callback != NULL))
pwmp->config->channels[3].callback(pwmp);
if (((sr & TPMx_STATUS_CH4F) != 0) &&
(pwmp->config->channels[4].callback != NULL))
pwmp->config->channels[4].callback(pwmp);
if (((sr & TPMx_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_IRQ_VECTOR) {
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_IRQ_VECTOR) {
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_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM2 */
/*===========================================================================*/
/* 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;
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
}
/* 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 = TPMx_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;
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.*/
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 = TPMx_CnSC_MSB; /* Edge-aligned PWM mode.*/
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode |= TPMx_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode |= TPMx_CnSC_ELSA;
break;
}
if (pwmp->tpm->C[channel].SC & TPMx_CnSC_CHIE)
mode |= TPMx_CnSC_CHIE;
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) {
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) {
pwmp->tpm->SC |= TPMx_SC_TOIE;
}
/**
* @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->tpm->SC &= ~TPMx_SC_TOIE;
}
/**
* @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->tpm->C[channel].SC |= TPMx_CnSC_CHIE;
}
/**
* @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->tpm->C[channel].SC &= ~TPMx_CnSC_CHIE;
}
#endif /* HAL_USE_PWM */
/** @} */
/*
ChibiOS - 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 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. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint32_t sr;
sr = pwmp->tpm->STATUS;
pwmp->tpm->STATUS = 0xFFFFFFFF;
if (((sr & TPMx_STATUS_TOF) != 0) &&
(pwmp->config->callback != NULL))
pwmp->config->callback(pwmp);
if (((sr & TPMx_STATUS_CH0F) != 0) &&
(pwmp->config->channels[0].callback != NULL))
pwmp->config->channels[0].callback(pwmp);
if (((sr & TPMx_STATUS_CH1F) != 0) &&
(pwmp->config->channels[1].callback != NULL))
pwmp->config->channels[1].callback(pwmp);
if (((sr & TPMx_STATUS_CH2F) != 0) &&
(pwmp->config->channels[2].callback != NULL))
pwmp->config->channels[2].callback(pwmp);
if (((sr & TPMx_STATUS_CH3F) != 0) &&
(pwmp->config->channels[3].callback != NULL))
pwmp->config->channels[3].callback(pwmp);
if (((sr & TPMx_STATUS_CH4F) != 0) &&
(pwmp->config->channels[4].callback != NULL))
pwmp->config->channels[4].callback(pwmp);
if (((sr & TPMx_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_IRQ_VECTOR) {
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_IRQ_VECTOR) {
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_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM2 */
/*===========================================================================*/
/* 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;
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
}
/* 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 = TPMx_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;
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.*/
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 = TPMx_CnSC_MSB; /* Edge-aligned PWM mode.*/
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode |= TPMx_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode |= TPMx_CnSC_ELSA;
break;
}
if (pwmp->tpm->C[channel].SC & TPMx_CnSC_CHIE)
mode |= TPMx_CnSC_CHIE;
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) {
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) {
pwmp->tpm->SC |= TPMx_SC_TOIE;
}
/**
* @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->tpm->SC &= ~TPMx_SC_TOIE;
}
/**
* @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->tpm->C[channel].SC |= TPMx_CnSC_CHIE;
}
/**
* @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->tpm->C[channel].SC &= ~TPMx_CnSC_CHIE;
}
#endif /* HAL_USE_PWM */
/** @} */

610
os/hal/ports/KINETIS/KL2x/hal_pwm_lld.h → os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.h
View File

@ -1,305 +1,305 @@
/*
ChibiOS - Copyright (C) 2006..2015 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 HAL_PWM_LLD_H_
#define HAL_PWM_LLD_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
/**
* @brief TPM0 interrupt priority level setting.
* @note The default is 2.
*/
#if !defined(KINETIS_PWM_TPM0_IRQ_PRIORITY)|| defined(__DOXYGEN__)
#define KINETIS_PWM_TPM0_IRQ_PRIORITY 2
#endif
/**
* @brief TPM1 interrupt priority level setting.
* @note The default is 2.
*/
#if !defined(KINETIS_PWM_TPM1_IRQ_PRIORITY)|| defined(__DOXYGEN__)
#define KINETIS_PWM_TPM1_IRQ_PRIORITY 2
#endif
/**
* @brief TPM2 interrupt priority level setting.
* @note The default is 2.
*/
#if !defined(KINETIS_PWM_TPM2_IRQ_PRIORITY)|| defined(__DOXYGEN__)
#define KINETIS_PWM_TPM2_IRQ_PRIORITY 2
#endif
/** @} */
/*===========================================================================*/
/* Configuration checks. */
/*===========================================================================*/
#if KINETIS_PWM_USE_TPM0 && !KINETIS_HAS_TPM0
#error "TPM0 not present in the selected device"
#endif
#if KINETIS_PWM_USE_TPM1 && !KINETIS_HAS_TPM1
#error "TPM1 not present in the selected device"
#endif
#if KINETIS_PWM_USE_TPM2 && !KINETIS_HAS_TPM2
#error "TPM2 not present in the selected device"
#endif
#if !KINETIS_PWM_USE_TPM0 && !KINETIS_PWM_USE_TPM1 && !KINETIS_PWM_USE_TPM2
#error "PWM driver activated but no TPM peripheral assigned"
#endif
#if KINETIS_PWM_USE_TPM0 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM0_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM0_IRQ_PRIORITY"
#endif
#if KINETIS_PWM_USE_TPM1 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM1_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM1_IRQ_PRIORITY"
#endif
#if KINETIS_PWM_USE_TPM2 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM2_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM2_IRQ_PRIORITY"
#endif
#if !defined(KINETIS_TPM0_IRQ_VECTOR)
#error "KINETIS_TPM0_IRQ_VECTOR not defined"
#endif
#if !defined(KINETIS_TPM1_IRQ_VECTOR)
#error "KINETIS_TPM1_IRQ_VECTOR not defined"
#endif
#if !defined(KINETIS_TPM2_IRQ_VECTOR)
#error "KINETIS_TPM2_IRQ_VECTOR not defined"
#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 /* HAL_PWM_LLD_H_ */
/** @} */
/*
ChibiOS - Copyright (C) 2006..2015 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 HAL_PWM_LLD_H_
#define HAL_PWM_LLD_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
/**
* @brief TPM0 interrupt priority level setting.
* @note The default is 2.
*/
#if !defined(KINETIS_PWM_TPM0_IRQ_PRIORITY)|| defined(__DOXYGEN__)
#define KINETIS_PWM_TPM0_IRQ_PRIORITY 2
#endif
/**
* @brief TPM1 interrupt priority level setting.
* @note The default is 2.
*/
#if !defined(KINETIS_PWM_TPM1_IRQ_PRIORITY)|| defined(__DOXYGEN__)
#define KINETIS_PWM_TPM1_IRQ_PRIORITY 2
#endif
/**
* @brief TPM2 interrupt priority level setting.
* @note The default is 2.
*/
#if !defined(KINETIS_PWM_TPM2_IRQ_PRIORITY)|| defined(__DOXYGEN__)
#define KINETIS_PWM_TPM2_IRQ_PRIORITY 2
#endif
/** @} */
/*===========================================================================*/
/* Configuration checks. */
/*===========================================================================*/
#if KINETIS_PWM_USE_TPM0 && !KINETIS_HAS_TPM0
#error "TPM0 not present in the selected device"
#endif
#if KINETIS_PWM_USE_TPM1 && !KINETIS_HAS_TPM1
#error "TPM1 not present in the selected device"
#endif
#if KINETIS_PWM_USE_TPM2 && !KINETIS_HAS_TPM2
#error "TPM2 not present in the selected device"
#endif
#if !KINETIS_PWM_USE_TPM0 && !KINETIS_PWM_USE_TPM1 && !KINETIS_PWM_USE_TPM2
#error "PWM driver activated but no TPM peripheral assigned"
#endif
#if KINETIS_PWM_USE_TPM0 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM0_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM0_IRQ_PRIORITY"
#endif
#if KINETIS_PWM_USE_TPM1 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM1_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM1_IRQ_PRIORITY"
#endif
#if KINETIS_PWM_USE_TPM2 && \
!OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM2_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM2_IRQ_PRIORITY"
#endif
#if !defined(KINETIS_TPM0_IRQ_VECTOR)
#error "KINETIS_TPM0_IRQ_VECTOR not defined"
#endif
#if !defined(KINETIS_TPM1_IRQ_VECTOR)
#error "KINETIS_TPM1_IRQ_VECTOR not defined"
#endif
#if !defined(KINETIS_TPM2_IRQ_VECTOR)
#error "KINETIS_TPM2_IRQ_VECTOR not defined"
#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 /* HAL_PWM_LLD_H_ */
/** @} */

9
os/hal/ports/KINETIS/LLD/UARTv1/driver.mk Normal file
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@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_SERIAL TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/UARTv1/hal_serial_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/UARTv1/hal_serial_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/UARTv1

9
os/hal/ports/KINETIS/LLD/USBHSv1/driver.mk Normal file
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@ -0,0 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_USB TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/USBHSv1/hal_usb_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/USBHSv1/hal_usb_lld.c
endif
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/USBHSv1

390
os/hal/ports/KINETIS/MK66F18/hal_pwm_lld.c
View File

@ -1,390 +0,0 @@
/*
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 MK66F18/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. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief PWMD1 driver identifier.
* @note The driver PWMD1 allocates the timer FTM0 when enabled.
*/
#if KINETIS_PWM_USE_FTM0 || defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
/**
* @brief PWMD2 driver identifier.
* @note The driver PWMD2 allocates the timer FTM1 when enabled.
*/
#if KINETIS_PWM_USE_FTM1 || defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
/**
* @brief PWMD3 driver identifier.
* @note The driver PWMD3 allocates the timer FTM2 when enabled.
*/
#if KINETIS_PWM_USE_FTM2 || defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint32_t sr;
sr = pwmp->ftm->SC;
pwmp->ftm->SC = sr&(~FTM_SC_TOF);
if (((sr & FTM_SC_TOF) != 0) && /* Timer Overflow */
((sr & FTM_SC_TOIE) != 0) &&
(pwmp->config->callback != NULL)) {
pwmp->config->callback(pwmp);
}
uint8_t n=0;
for(n=0;n<pwmp->channels;n++) {
sr = pwmp->ftm->CHANNEL[n].CnSC;
pwmp->ftm->CHANNEL[n].CnSC = sr&(~FTM_CnSC_CHF);
if (((sr & FTM_CnSC_CHF) != 0) &&
((sr & FTM_CnSC_CHIE) != 0) &&
(pwmp->config->channels[n].callback != NULL)) {
pwmp->config->channels[n].callback(pwmp);
}
}
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if KINETIS_PWM_USE_FTM0
/**
* @brief FTM0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM0_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD1);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM0 */
#if KINETIS_PWM_USE_FTM1
/**
* @brief FTM1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM1_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD2);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM1 */
#if KINETIS_PWM_USE_FTM2
/**
* @brief FTM2 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_FTM2_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_FTM2 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
#if KINETIS_PWM_USE_FTM0
pwmObjectInit(&PWMD1);
PWMD1.channels = KINETIS_FTM0_CHANNELS;
PWMD1.ftm = FTM0;
#endif
#if KINETIS_PWM_USE_FTM1
pwmObjectInit(&PWMD2);
PWMD2.channels = KINETIS_FTM1_CHANNELS;
PWMD2.ftm = FTM1;
#endif
#if KINETIS_PWM_USE_FTM2
pwmObjectInit(&PWMD3);
PWMD3.channels = KINETIS_FTM2_CHANNELS;
PWMD3.ftm = FTM2;
#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) {
uint16_t psc;
uint8_t i=0;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if KINETIS_PWM_USE_FTM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_FTM0;
nvicEnableVector(FTM0_IRQn, KINETIS_PWM_FTM0_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_FTM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_FTM1;
nvicEnableVector(FTM1_IRQn, KINETIS_PWM_FTM1_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_FTM2
if (&PWMD3 == pwmp) {
SIM->SCGC3 |= SIM_SCGC3_FTM2;
nvicEnableVector(FTM2_IRQn, KINETIS_PWM_FTM2_PRIORITY);
}
#endif
}
pwmp->ftm->MODE = FTM_MODE_FTMEN_MASK|FTM_MODE_PWMSYNC_MASK;
pwmp->ftm->SYNC = FTM_SYNC_CNTMIN_MASK|FTM_SYNC_CNTMAX_MASK
|FTM_SYNC_SWSYNC_MASK;
pwmp->ftm->COMBINE = FTM_COMBINE_SYNCEN3_MASK | FTM_COMBINE_SYNCEN2_MASK
| FTM_COMBINE_SYNCEN1_MASK | FTM_COMBINE_SYNCEN0_MASK;
pwmp->ftm->SYNCONF = FTM_SYNCONF_SYNCMODE_MASK;
pwmp->ftm->CNTIN = 0x0000;
//~ pwmp->ftm->SC = 0; /* Disable FTM counter.*/
pwmp->ftm->CNT = 0x0000; /* Clear count register.*/
/* 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 == (unsigned)(1 << i)) {
break;
}
}
/* Set prescaler and clock mode.
This also sets the following:
CPWMS up-counting mode
Timer overflow interrupt disabled
DMA disabled.*/
pwmp->ftm->SC = FTM_SC_CLKS(1) | FTM_SC_PS(i);
/* Configure period */
pwmp->ftm->MOD = pwmp->period-1;
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}
/**
* @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_FTM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_FTM0;
nvicDisableVector(FTM0_IRQn);
}
#endif
#if KINETIS_PWM_USE_FTM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_FTM1;
nvicDisableVector(FTM1_IRQn);
}
#endif
#if KINETIS_PWM_USE_FTM2
if (&PWMD3 == pwmp) {
SIM->SCGC3 &= ~SIM_SCGC3_FTM2;
nvicDisableVector(FTM2_IRQn);
}
#endif
/* Disable FTM counter.*/
pwmp->ftm->SC = 0;
pwmp->ftm->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 = FTM_CnSC_MSB; /* Edge-aligned PWM mode.*/
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode |= FTM_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode |= FTM_CnSC_ELSA;
break;
}
if (pwmp->ftm->CHANNEL[channel].CnSC & FTM_CnSC_CHIE)
mode |= FTM_CnSC_CHIE;
pwmp->ftm->CHANNEL[channel].CnSC = mode;
pwmp->ftm->CHANNEL[channel].CnV = width;
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;
}
/**
* @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->ftm->CHANNEL[channel].CnSC = 0;
pwmp->ftm->CHANNEL[channel].CnV = 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->ftm->SC |= FTM_SC_TOIE;
}
/**
* @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->ftm->SC &= ~FTM_SC_TOIE;
}
/**
* @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->ftm->CHANNEL[channel].CnSC |= FTM_CnSC_CHIE;
}
/**
* @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->ftm->CHANNEL[channel].CnSC &= ~FTM_CnSC_CHIE;
}
#endif /* HAL_USE_PWM */
/** @} */

270
os/hal/ports/KINETIS/MK66F18/hal_pwm_lld.h
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@ -1,270 +0,0 @@
/*
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 MK66F18/pwm_lld.h
* @brief KINETIS 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 8
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
#if !defined(KINETIS_PWM_USE_FTM0)
#define KINETIS_PWM_USE_FTM0 FALSE
#endif
#if !defined(KINETIS_PWM_USE_FTM1)
#define KINETIS_PWM_USE_FTM1 FALSE
#endif
#if !defined(KINETIS_PWM_USE_FTM2)
#define KINETIS_PWM_USE_FTM2 FALSE
#endif
/**
* @brief FTM0 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM0_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM0_PRIORITY 12
#endif
/**
* @brief FTM1 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM1_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM1_PRIORITY 12
#endif
/**
* @brief FTM2 interrupt priority level setting.
*/
#if !defined(KINETIS_PWM_FTM2_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_PWM_FTM2_PRIORITY 12
#endif
/** @} */
/**
* @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_FTM0 && !KINETIS_PWM_USE_FTM1 && !KINETIS_PWM_USE_FTM2
#error "PWM driver activated but no FTM 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 FTM registers block.
*/
FTM_TypeDef *ftm;
};
/*===========================================================================*/
/* 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)->ftm->MOD = ((period) - 1); \
pwmp->ftm->PWMLOAD = FTM_PWMLOAD_LDOK_MASK;\
} while(0)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if KINETIS_PWM_USE_FTM0 || defined(__DOXYGEN__)
extern PWMDriver PWMD1;
#endif
#if KINETIS_PWM_USE_FTM1 || defined(__DOXYGEN__)
extern PWMDriver PWMD2;
#endif
#if KINETIS_PWM_USE_FTM2 || 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_ */
/** @} */

50
os/hal/ports/KINETIS/MK66F18/platform.mk
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@ -1,19 +1,33 @@
# List of all platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/MK66F18/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_pal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_serial_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/MK66F18/hal_spi_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_ext_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_adc_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_gpt_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_sdc_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/MK66F18/hal_pwm_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_st_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/hal_usb_lld.c
PLATFORMSRC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/MK66F18/hal_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c
PLATFORMINC_CONTRIB := ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/MK66F18
ifeq ($(USE_SMART_BUILD),yes)
# Required include directories
PLATFORMINC = ${CHIBIOS}/os/hal/ports/common/ARMCMx \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/MK66F18 \
${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD
# Configuration files directory
ifeq ($(CONFDIR),)
CONFDIR = .
endif
HALCONF := $(strip $(shell cat $(CONFDIR)/halconf.h $(CONFDIR)/halconf_community.h | egrep -e "\#define"))
endif
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/GPIOv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/UARTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SPIv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/I2Cv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PORTv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/ADCv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/SDHCv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/FTMv1/driver.mk
include ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/USBHSv1/driver.mk
# Shared variables
ALLCSRC += $(PLATFORMSRC_CONTRIB)
ALLINC += $(PLATFORMINC_CONTRIB)