mirror of https://github.com/rusefi/ChibiOS.git
[KINETIS] Add GPT driver
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7245 35acf78f-673a-0410-8e92-d51de3d6d3f4
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utzig
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/*
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ChibiOS/HAL - Copyright (C) 2014 Fabio Utzig
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/* This driver was contributed by Derek Mulcahy */
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/**
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* @file KINETIS/gpt_lld.c
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* @brief KINETIS GPT subsystem low level driver source.
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*
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* @addtogroup GPT
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* @{
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*/
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#include "hal.h"
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#if HAL_USE_GPT || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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#define KINETIS_PIT0_HANDLER VectorB8
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#define KINETIS_PIT1_HANDLER VectorBC
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#define KINETIS_PIT2_HANDLER VectorC0
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#define KINETIS_PIT3_HANDLER VectorC4
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/**
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* @brief GPTD1 driver identifier.
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* @note The driver GPTD1 allocates the complex timer PIT0 when enabled.
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*/
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#if KINETIS_GPT_USE_PIT0 || defined(__DOXYGEN__)
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GPTDriver GPTD1;
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#endif
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/**
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* @brief GPTD2 driver identifier.
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* @note The driver GPTD2 allocates the timer PIT1 when enabled.
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*/
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#if KINETIS_GPT_USE_PIT1 || defined(__DOXYGEN__)
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GPTDriver GPTD2;
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#endif
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/**
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* @brief GPTD3 driver identifier.
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* @note The driver GPTD3 allocates the timer PIT2 when enabled.
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*/
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#if KINETIS_GPT_USE_PIT2 || defined(__DOXYGEN__)
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GPTDriver GPTD3;
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#endif
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/**
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* @brief GPTD4 driver identifier.
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* @note The driver GPTD4 allocates the timer PIT3 when enabled.
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*/
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#if KINETIS_GPT_USE_PIT3 || defined(__DOXYGEN__)
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GPTDriver GPTD4;
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#endif
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/**
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* @brief Shared IRQ handler.
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*
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* @param[in] gptp pointer to a @p GPTDriver object
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*/
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static void gpt_lld_serve_interrupt(GPTDriver *gptp) {
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/* Clear the interrupt */
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gptp->channel->TFLG |= PIT_TCTRL_TIE;
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if (gptp->state == GPT_ONESHOT) {
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gptp->state = GPT_READY; /* Back in GPT_READY state. */
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gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */
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}
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gptp->config->callback(gptp);
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}
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if KINETIS_GPT_USE_PIT0
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#if !defined(KINETIS_PIT0_HANDLER)
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#error "KINETIS_PIT0_HANDLER not defined"
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#endif
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/**
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* @brief PIT1 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(KINETIS_PIT0_HANDLER) {
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OSAL_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD1);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* KINETIS_GPT_USE_PIT0 */
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#if KINETIS_GPT_USE_PIT1
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#if !defined(KINETIS_PIT1_HANDLER)
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#error "KINETIS_PIT1_HANDLER not defined"
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#endif
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/**
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* @brief PIT1 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(KINETIS_PIT1_HANDLER) {
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OSAL_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD2);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* KINETIS_GPT_USE_PIT1 */
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#if KINETIS_GPT_USE_PIT2
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#if !defined(KINETIS_PIT2_HANDLER)
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#error "KINETIS_PIT2_HANDLER not defined"
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#endif
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/**
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* @brief PIT2 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(KINETIS_PIT2_HANDLER) {
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OSAL_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD3);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* KINETIS_GPT_USE_PIT2 */
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#if KINETIS_GPT_USE_PIT3
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#if !defined(KINETIS_PIT3_HANDLER)
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#error "KINETIS_PIT3_HANDLER not defined"
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#endif
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/**
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* @brief PIT3 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(KINETIS_PIT3_HANDLER) {
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OSAL_IRQ_PROLOGUE();
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gpt_lld_serve_interrupt(&GPTD4);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* KINETIS_GPT_USE_PIT3 */
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level GPT driver initialization.
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*
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* @notapi
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*/
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void gpt_lld_init(void) {
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#if KINETIS_GPT_USE_PIT0
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/* Driver initialization.*/
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GPTD1.channel = &PIT->CHANNEL[0];
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gptObjectInit(&GPTD1);
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#endif
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#if KINETIS_GPT_USE_PIT1
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/* Driver initialization.*/
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GPTD2.channel = &PIT->CHANNEL[1];
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gptObjectInit(&GPTD2);
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#endif
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#if KINETIS_GPT_USE_PIT2
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/* Driver initialization.*/
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GPTD3.channel = &PIT->CHANNEL[2];
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gptObjectInit(&GPTD3);
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#endif
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#if KINETIS_GPT_USE_PIT3
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/* Driver initialization.*/
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GPTD4.channel = &PIT->CHANNEL[3];
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gptObjectInit(&GPTD4);
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#endif
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}
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/**
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* @brief Configures and activates the GPT peripheral.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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*
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* @notapi
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*/
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void gpt_lld_start(GPTDriver *gptp) {
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uint16_t psc;
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if (gptp->state == GPT_STOP) {
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/* Clock activation.*/
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SIM->SCGC6 |= SIM_SCGC6_PIT;
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gptp->clock = KINETIS_SYSCLK_FREQUENCY;
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#if KINETIS_GPT_USE_PIT0
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if (&GPTD1 == gptp) {
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nvicEnableVector(PITChannel0_IRQn, KINETIS_GPT_PIT0_IRQ_PRIORITY);
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}
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#endif
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#if KINETIS_GPT_USE_PIT1
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if (&GPTD2 == gptp) {
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nvicEnableVector(PITChannel1_IRQn, KINETIS_GPT_PIT1_IRQ_PRIORITY);
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}
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#endif
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#if KINETIS_GPT_USE_PIT2
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if (&GPTD3 == gptp) {
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nvicEnableVector(PITChannel2_IRQn, KINETIS_GPT_PIT2_IRQ_PRIORITY);
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}
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#endif
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#if KINETIS_GPT_USE_PIT3
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if (&GPTD4 == gptp) {
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nvicEnableVector(PITChannel3_IRQn, KINETIS_GPT_PIT3_IRQ_PRIORITY);
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}
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#endif
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}
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/* Prescaler value calculation.*/
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psc = (uint16_t)((gptp->clock / gptp->config->frequency) - 1);
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osalDbgAssert(((uint32_t)(psc + 1) * gptp->config->frequency) == gptp->clock,
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"invalid frequency");
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/* Enable the PIT */
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PIT->MCR = 0;
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}
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/**
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* @brief Deactivates the GPT peripheral.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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*
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* @notapi
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*/
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void gpt_lld_stop(GPTDriver *gptp) {
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if (gptp->state == GPT_READY) {
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SIM->SCGC6 &= ~SIM_SCGC6_PIT;
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/* Disable the channel */
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gptp->channel->TCTRL = 0;
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/* Clear pending interrupts */
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gptp->channel->TFLG |= PIT_TFLG_TIF;
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#if KINETIS_GPT_USE_PIT0
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if (&GPTD1 == gptp) {
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nvicDisableVector(PITChannel0_IRQn);
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}
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#endif
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#if KINETIS_GPT_USE_PIT1
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if (&GPTD2 == gptp) {
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nvicDisableVector(PITChannel1_IRQn);
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}
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#endif
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#if KINETIS_GPT_USE_PIT2
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if (&GPTD3 == gptp) {
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nvicDisableVector(PITChannel2_IRQn);
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}
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#endif
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#if KINETIS_GPT_USE_PIT3
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if (&GPTD4 == gptp) {
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nvicDisableVector(PITChannel4_IRQn);
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}
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#endif
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}
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}
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/**
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* @brief Starts the timer in continuous mode.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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* @param[in] interval period in ticks
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*
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* @notapi
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*/
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void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval) {
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/* Clear pending interrupts */
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gptp->channel->TFLG |= PIT_TFLG_TIF;
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/* Set the interval */
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gptp->channel->LDVAL = (gptp->clock / gptp->config->frequency) * interval;
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/* Start the timer */
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gptp->channel->TCTRL |= PIT_TCTRL_TIE | PIT_TCTRL_TEN;
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}
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/**
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* @brief Stops the timer.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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*
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* @notapi
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*/
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void gpt_lld_stop_timer(GPTDriver *gptp) {
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/* Stop the timer */
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gptp->channel->TCTRL = 0;
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}
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/**
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* @brief Starts the timer in one shot mode and waits for completion.
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* @details This function specifically polls the timer waiting for completion
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* in order to not have extra delays caused by interrupt servicing,
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* this function is only recommended for short delays.
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*
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* @param[in] gptp pointer to the @p GPTDriver object
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* @param[in] interval time interval in ticks
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*
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* @notapi
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*/
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void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval) {
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struct PIT_CHANNEL *channel = gptp->channel;
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/* Disable timer and disable interrupts */
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channel->TCTRL = 0;
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/* Clear the interrupt flag */
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channel->TFLG |= PIT_TFLG_TIF;
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/* Set the interval */
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channel->LDVAL = (gptp->clock / gptp->config->frequency) * interval;
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/* Enable Timer but keep interrupts disabled */
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channel->TCTRL = PIT_TCTRL_TEN;
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/* Wait for the interrupt flag to be set */
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while (!(channel->TFLG & PIT_TFLG_TIF))
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;
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/* Disable timer and disable interrupts */
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channel->TCTRL = 0;
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}
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#endif /* HAL_USE_GPT */
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/** @} */
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@ -0,0 +1,294 @@
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/*
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ChibiOS/HAL - Copyright (C) 2014 Fabio Utzig
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/* This driver was contributed by Derek Mulcahy */
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/**
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* @file KINETIS/gpt_lld.h
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* @brief KINETIS GPT subsystem low level driver header.
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*
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* @addtogroup GPT
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* @{
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*/
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#ifndef _GPT_LLD_H_
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#define _GPT_LLD_H_
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#if HAL_USE_GPT || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name Configuration options
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* @{
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*/
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/**
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* @brief GPTD1 driver enable switch.
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* @details If set to @p TRUE the support for GPTD1 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(KINETIS_GPT_USE_PIT0) || defined(__DOXYGEN__)
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#define KINETIS_GPT_USE_PIT0 FALSE
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#endif
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/**
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* @brief GPTD2 driver enable switch.
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* @details If set to @p TRUE the support for GPTD2 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(KINETIS_GPT_USE_PIT1) || defined(__DOXYGEN__)
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#define KINETIS_GPT_USE_PIT1 FALSE
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#endif
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/**
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* @brief GPTD3 driver enable switch.
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* @details If set to @p TRUE the support for GPTD3 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(KINETIS_GPT_USE_PIT2) || defined(__DOXYGEN__)
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#define KINETIS_GPT_USE_PIT2 FALSE
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#endif
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/**
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* @brief GPTD4 driver enable switch.
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* @details If set to @p TRUE the support for GPTD4 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(KINETIS_GPT_USE_PIT3) || defined(__DOXYGEN__)
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#define KINETIS_GPT_USE_PIT3 FALSE
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#endif
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/**
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* @brief GPTD1 interrupt priority level setting.
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*/
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#if !defined(KINETIS_GPT_PIT0_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define KINETIS_GPT_PIT0_IRQ_PRIORITY 7
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#endif
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/**
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* @brief GPTD2 interrupt priority level setting.
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*/
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#if !defined(KINETIS_GPT_PIT1_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define KINETIS_GPT_PIT1_IRQ_PRIORITY 7
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#endif
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/**
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* @brief GPTD3 interrupt priority level setting.
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*/
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#if !defined(KINETIS_GPT_PIT2_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define KINETIS_GPT_PIT2_IRQ_PRIORITY 7
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#endif
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/**
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* @brief GPTD4 interrupt priority level setting.
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*/
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#if !defined(KINETIS_GPT_PIT3_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define KINETIS_GPT_PIT3_IRQ_PRIORITY 7
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if KINETIS_GPT_USE_PIT0 && !KINETIS_HAS_PIT0
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#error "PIT0 not present in the selected device"
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#endif
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#if KINETIS_GPT_USE_PIT1 && !KINETIS_HAS_PIT1
|
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#error "PIT1 not present in the selected device"
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT2 && !KINETIS_HAS_PIT2
|
||||
#error "PIT2 not present in the selected device"
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT3 && !KINETIS_HAS_PIT3
|
||||
#error "PIT3 not present in the selected device"
|
||||
#endif
|
||||
|
||||
#if !KINETIS_GPT_USE_PIT0 && !KINETIS_GPT_USE_PIT1 && \
|
||||
!KINETIS_GPT_USE_PIT2 && !KINETIS_GPT_USE_PIT3
|
||||
#error "GPT driver activated but no PIT peripheral assigned"
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT0 && \
|
||||
!CORTEX_IS_VALID_KERNEL_PRIORITY(KINETIS_GPT_PIT0_IRQ_PRIORITY)
|
||||
#error "Invalid IRQ priority assigned to PIT0"
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT1 && \
|
||||
!CORTEX_IS_VALID_KERNEL_PRIORITY(KINETIS_GPT_PIT1_IRQ_PRIORITY)
|
||||
#error "Invalid IRQ priority assigned to PIT1"
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT2 && \
|
||||
!CORTEX_IS_VALID_KERNEL_PRIORITY(KINETIS_GPT_PIT2_IRQ_PRIORITY)
|
||||
#error "Invalid IRQ priority assigned to PIT2"
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT3 && \
|
||||
!CORTEX_IS_VALID_KERNEL_PRIORITY(KINETIS_GPT_PIT3_IRQ_PRIORITY)
|
||||
#error "Invalid IRQ priority assigned to PIT3"
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver data structures and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief GPT frequency type.
|
||||
*/
|
||||
typedef uint32_t gptfreq_t;
|
||||
|
||||
/**
|
||||
* @brief GPT counter type.
|
||||
*/
|
||||
typedef uint32_t gptcnt_t;
|
||||
|
||||
/**
|
||||
* @brief Driver configuration structure.
|
||||
* @note It could be empty on some architectures.
|
||||
*/
|
||||
typedef struct {
|
||||
/**
|
||||
* @brief Timer clock in Hz.
|
||||
* @note The low level can use assertions in order to catch invalid
|
||||
* frequency specifications.
|
||||
*/
|
||||
gptfreq_t frequency;
|
||||
/**
|
||||
* @brief Timer callback pointer.
|
||||
* @note This callback is invoked on GPT counter events.
|
||||
* @note This callback can be set to @p NULL but in that case the
|
||||
* one-shot mode cannot be used.
|
||||
*/
|
||||
gptcallback_t callback;
|
||||
/* End of the mandatory fields.*/
|
||||
} GPTConfig;
|
||||
|
||||
/**
|
||||
* @brief Structure representing a GPT driver.
|
||||
*/
|
||||
struct GPTDriver {
|
||||
/**
|
||||
* @brief Driver state.
|
||||
*/
|
||||
gptstate_t state;
|
||||
/**
|
||||
* @brief Current configuration data.
|
||||
*/
|
||||
const GPTConfig *config;
|
||||
#if defined(GPT_DRIVER_EXT_FIELDS)
|
||||
GPT_DRIVER_EXT_FIELDS
|
||||
#endif
|
||||
/* End of the mandatory fields.*/
|
||||
/**
|
||||
* @brief Timer base clock.
|
||||
*/
|
||||
uint32_t clock;
|
||||
/**
|
||||
* @brief Channel structure in PIT registers block.
|
||||
*/
|
||||
struct PIT_CHANNEL *channel;
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Changes the interval of GPT peripheral.
|
||||
* @details This function changes the interval of a running GPT unit.
|
||||
* @pre The GPT unit must be running in continuous mode.
|
||||
* @post The GPT unit interval is changed to the new value.
|
||||
* @note The function has effect at the next cycle start.
|
||||
*
|
||||
* @param[in] gptp pointer to a @p GPTDriver object
|
||||
* @param[in] interval new cycle time in timer ticks
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define gpt_lld_change_interval(gptp, interval) \
|
||||
((gptp)->channel->LDVAL = (uint32_t)((interval)))
|
||||
|
||||
/**
|
||||
* @brief Returns the interval of GPT peripheral.
|
||||
* @pre The GPT unit must be running in continuous mode.
|
||||
*
|
||||
* @param[in] gptp pointer to a @p GPTDriver object
|
||||
* @return The current interval.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define gpt_lld_get_interval(gptp) ((gptcnt_t)(gptp)->pit->CHANNEL[gptp->channel].LDVAL)
|
||||
|
||||
/**
|
||||
* @brief Returns the counter value of GPT peripheral.
|
||||
* @pre The GPT unit must be running in continuous mode.
|
||||
* @note The nature of the counter is not defined, it may count upward
|
||||
* or downward, it could be continuously running or not.
|
||||
*
|
||||
* @param[in] gptp pointer to a @p GPTDriver object
|
||||
* @return The current counter value.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
#define gpt_lld_get_counter(gptp) ((gptcnt_t)(gptp)->pit->CHANNEL[gptp->channel].CVAL)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if KINETIS_GPT_USE_PIT0 && !defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD1;
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT1 && !defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD2;
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT2 && !defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD3;
|
||||
#endif
|
||||
|
||||
#if KINETIS_GPT_USE_PIT3 && !defined(__DOXYGEN__)
|
||||
extern GPTDriver GPTD4;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void gpt_lld_init(void);
|
||||
void gpt_lld_start(GPTDriver *gptp);
|
||||
void gpt_lld_stop(GPTDriver *gptp);
|
||||
void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period);
|
||||
void gpt_lld_stop_timer(GPTDriver *gptp);
|
||||
void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* HAL_USE_GPT */
|
||||
|
||||
#endif /* _GPT_LLD_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -6,6 +6,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
|
|||
${CHIBIOS}/os/hal/ports/KINETIS/K20x/spi_lld.c \
|
||||
${CHIBIOS}/os/hal/ports/KINETIS/LLD/i2c_lld.c \
|
||||
${CHIBIOS}/os/hal/ports/KINETIS/LLD/ext_lld.c \
|
||||
${CHIBIOS}/os/hal/ports/KINETIS/K20x/gpt_lld.c \
|
||||
${CHIBIOS}/os/hal/ports/KINETIS/K20x/st_lld.c
|
||||
|
||||
# Required include directories
|
||||
|
|
|
|||
Loading…
Reference in New Issue