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ChibiOS-Contrib/os/hal/ports/RP/LLD/PWMv1/hal_pwm_lld.c

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/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file hal_pwm_lld.c
* @brief PLATFORM PWM subsystem low level driver source.
*
* @addtogroup PWM
* @{
*/
#include "hal.h"
#if (HAL_USE_PWM == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief PWMD0 driver identifier.
* @note The driver PWMD0 allocates the PWM channel 0 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM0 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD0;
#endif
/**
* @brief PWMD1 driver identifier.
* @note The driver PWMD1 allocates the PWM channel 1 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM1 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
/**
* @brief PWMD2 driver identifier.
* @note The driver PWMD2 allocates the PWM channel 2 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM2 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
/**
* @brief PWMD3 driver identifier.
* @note The driver PWMD0 allocates the PWM channel 3 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM3 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
/**
* @brief PWMD4 driver identifier.
* @note The driver PWMD4 allocates the PWM channel 4 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM4 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD4;
#endif
/**
* @brief PWMD5 driver identifier.
* @note The driver PWMD5 allocates the PWM channel 5 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM5 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD5;
#endif
/**
* @brief PWMD6 driver identifier.
* @note The driver PWMD6 allocates the PWM channel 6 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM6 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD6;
#endif
/**
* @brief PWMD7 driver identifier.
* @note The driver PWMD7 allocates the PWM channel 7 peripheral when enabled.
*/
#if (RP_PWM_USE_PWM7 == TRUE) || defined(__DOXYGEN__)
PWMDriver PWMD7;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if (RP_PWM_USE_PWM0 == TRUE) || (RP_PWM_USE_PWM1 == TRUE) || \
(RP_PWM_USE_PWM2 == TRUE) || (RP_PWM_USE_PWM3 == TRUE) || \
(RP_PWM_USE_PWM4 == TRUE) || (RP_PWM_USE_PWM5 == TRUE) || \
(RP_PWM_USE_PWM6 == TRUE) || (RP_PWM_USE_PWM7 == TRUE) || \
defined(__DOXYGEN__)
OSAL_IRQ_HANDLER(RP_PWM_IRQ_WRAP_HANDLER) {
OSAL_IRQ_PROLOGUE();
uint32_t ints = PWM->INTS;
PWM->INTR = ints;
#if RP_PWM_USE_PWM0 == TRUE
if (((ints & PWM_INTS_CH0) != 0) && (PWMD0.config->callback != NULL)) {
PWMD0.config->callback(&PWMD0);
}
#endif
#if RP_PWM_USE_PWM1 == TRUE
if (((ints & PWM_INTS_CH1) != 0) && (PWMD1.config->callback != NULL)) {
PWMD1.config->callback(&PWMD1);
}
#endif
#if RP_PWM_USE_PWM2 == TRUE
if (((ints & PWM_INTS_CH2) != 0) && (PWMD2.config->callback != NULL)) {
PWMD2.config->callback(&PWMD2);
}
#endif
#if RP_PWM_USE_PWM3 == TRUE
if (((ints & PWM_INTS_CH3) != 0) && (PWMD3.config->callback != NULL)) {
PWMD3.config->callback(&PWMD3);
}
#endif
#if RP_PWM_USE_PWM4 == TRUE
if (((ints & PWM_INTS_CH4) != 0) && (PWMD4.config->callback != NULL)) {
PWMD4.config->callback(&PWMD4);
}
#endif
#if RP_PWM_USE_PWM5 == TRUE
if (((ints & PWM_INTS_CH5) != 0) && (PWMD5.config->callback != NULL)) {
PWMD5.config->callback(&PWMD5);
}
#endif
#if RP_PWM_USE_PWM6 == TRUE
if (((ints & PWM_INTS_CH6) != 0) && (PWMD6.config->callback != NULL)) {
PWMD6.config->callback(&PWMD6);
}
#endif
#if RP_PWM_USE_PWM7 == TRUE
if (((ints & PWM_INTS_CH7) != 0) && (PWMD7.config->callback != NULL)) {
PWMD7.config->callback(&PWMD7);
}
#endif
OSAL_IRQ_EPILOGUE();
}
#endif
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
#if RP_PWM_USE_PWM0 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD0);
PWMD0.pwm = PWM;
PWMD0.timer_id = 0;
PWMD0.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#endif
#if RP_PWM_USE_PWM1 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD1);
PWMD1.pwm = PWM;
PWMD1.timer_id = 1;
PWMD1.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#endif
#if RP_PWM_USE_PWM2 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD2);
PWMD2.pwm = PWM;
PWMD2.timer_id = 2;
PWMD2.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#endif
#if RP_PWM_USE_PWM3 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD3);
PWMD3.pwm = PWM;
PWMD3.timer_id = 3;
PWMD3.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#endif
#if RP_PWM_USE_PWM4 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD4);
PWMD4.pwm = PWM;
PWMD4.timer_id = 4;
PWMD4.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#endif
#if RP_PWM_USE_PWM5 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD5);
PWMD5.pwm = PWM;
PWMD5.timer_id = 5;
PWMD5.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#endif
#if RP_PWM_USE_PWM6 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD6);
PWMD6.pwm = PWM;
PWMD6.timer_id = 6;
PWMD6.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#endif
#if RP_PWM_USE_PWM7 == TRUE
/* Driver initialization.*/
pwmObjectInit(&PWMD7);
PWMD7.pwm = PWM;
PWMD7.timer_id = 7;
PWMD7.channels = PWM_CHANNELS;
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
#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) {
PWM_TypeDef *p = pwmp->pwm;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
hal_lld_peripheral_unreset(RESETS_ALLREG_PWM);
nvicEnableVector(RP_PWM_IRQ_WRAP_NUMBER, RP_PWM_IRQ_WRAP_NUMBER_PRIORITY);
} else {
/* Driver re-configuration scenario, it must be stopped first.*/
p->CH[pwmp->timer_id].CSR = 0;
p->CH[pwmp->timer_id].CTR = 0;
p->CH[pwmp->timer_id].CC = 0;
}
/* Counter clock divider */
halfreq_t sys_clk = halClockGetPointX(clk_sys);
halfreq_t pwm_freq_min = sys_clk / 256;
osalDbgAssert(pwmp->config->frequency >= pwm_freq_min, "RP2040 pwm counter frequency has a minimal value of the system clock divided by 256");
/* Integer part must not be zero */
halfreq_t integer = sys_clk / pwmp->config->frequency;
integer = integer == 0 ? 1 : integer;
halfreq_t fraction = (sys_clk << 4) / pwmp->config->frequency;
p->CH[pwmp->timer_id].DIV = (integer << 4 | (fraction & 0xF));
p->CH[pwmp->timer_id].TOP = pwmp->period;
uint32_t csr = PWM_CSR_EN | PWM_CSR_DIVMODE_FREE;
csr &= ~PWM_CSR_PH_CORRECT;
switch (pwmp->config->channels[0].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
csr |= PWM_CSR_A_INV;
break;
case PWM_OUTPUT_ACTIVE_HIGH:
csr &= ~PWM_CSR_A_INV;
break;
default:
;
}
switch (pwmp->config->channels[1].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
csr |= PWM_CSR_B_INV;
break;
case PWM_OUTPUT_ACTIVE_HIGH:
csr &= ~PWM_CSR_B_INV;
break;
default:
;
}
p->CH[pwmp->timer_id].CSR = csr;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
PWM_TypeDef *p = pwmp->pwm;
/* If in ready state then disables the PWM clock.*/
if (pwmp->state == PWM_READY) {
p->CH[pwmp->timer_id].CSR = 0U;
p->CH[pwmp->timer_id].CTR = 0U;
p->CH[pwmp->timer_id].CC = 0U;
p->CH[pwmp->timer_id].DIV = 1U;
p->CH[pwmp->timer_id].TOP = 0xFFFF;
}
/* If all timers are disabled, disable the interrupt and reset pwm peripheral */
if (!p->EN) {
nvicDisableVector(RP_PWM_IRQ_WRAP_NUMBER);
hal_lld_peripheral_reset(RESETS_ALLREG_PWM);
}
}
/**
* @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 current_cc = pwmp->pwm->CH[pwmp->timer_id].CC;
if (channel == 0) {
pwmp->pwm->CH[pwmp->timer_id].CC = (width & PWM_CC_A) | (current_cc & PWM_CC_B);
} else {
pwmp->pwm->CH[pwmp->timer_id].CC = (current_cc & PWM_CC_A) | ((width << PWM_CC_B_Pos) & PWM_CC_B);
}
}
/**
* @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) {
if (channel == 0) {
pwmp->pwm->CH[pwmp->timer_id].CC &= ~PWM_CC_A | PWM_CC_B;
} else {
pwmp->pwm->CH[pwmp->timer_id].CC &= PWM_CC_A | ~PWM_CC_B;
}
}
/**
* @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->pwm->INTE |= PWM_INTE_CH(pwmp->timer_id);
}
/**
* @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->pwm->INTE &= ~PWM_INTE_CH(pwmp->timer_id);
}
/**
* @brief Enables a channel de-activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already enabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
(void)pwmp;
(void)channel;
osalDbgAssert(false, "Individual channel notifications are not available on RP2040.");
}
/**
* @brief Disables a channel de-activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already disabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
(void)pwmp;
(void)channel;
osalDbgAssert(false, "Individual channel notifications are not available on RP2040.");
}
#endif /* HAL_USE_PWM == TRUE */
/** @} */
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