git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1383 35acf78f-673a-0410-8e92-d51de3d6d3f4

os/hal/hal.mk

@@ -5,6 +5,7 @@ HALSRC = ${CHIBIOS}/os/hal/src/hal.c \
          ${CHIBIOS}/os/hal/src/can.c \
          ${CHIBIOS}/os/hal/src/mac.c \
          ${CHIBIOS}/os/hal/src/pal.c \
+         ${CHIBIOS}/os/hal/src/pwm.c \
          ${CHIBIOS}/os/hal/src/serial.c \
          ${CHIBIOS}/os/hal/src/spi.c \
          ${CHIBIOS}/os/hal/src/mmc_spi.c

os/hal/include/hal.h

@@ -36,6 +36,7 @@
 #include "adc.h"
 #include "can.h"
 #include "mac.h"
+#include "pwm.h"
 #include "serial.h"
 #include "spi.h"
 #include "mmc_spi.h"

os/hal/platforms/STM32/platform.mk

@@ -3,6 +3,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32/hal_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/adc_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/pal_lld.c \
+              ${CHIBIOS}/os/hal/platforms/STM32/pwm_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/serial_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/spi_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/stm32_dma.c

os/hal/platforms/STM32/pwm_lld.c

@@ -0,0 +1,133 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file templates/pwm_lld.c
+ * @brief PWM Driver subsystem low level driver source template
+ * @addtogroup PWM_LLD
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+/*===========================================================================*/
+/* Low Level Driver exported variables.                                      */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver local variables.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver local functions.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver interrupt handlers.                                      */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver exported functions.                                      */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PWM driver initialization.
+ */
+void pwm_lld_init(void) {
+
+}
+
+/**
+ * @brief Configures and activates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ */
+void pwm_lld_start(PWMDriver *pwmp) {
+
+  if (pwmp->pd_state == PWM_STOP) {
+    /* Clock activation.*/
+  }
+  /* Configuration.*/
+}
+
+/**
+ * @brief Deactivates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ */
+void pwm_lld_stop(PWMDriver *pwmp) {
+
+}
+
+/**
+ * @brief Determines whatever the PWM channel is already enabled.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ *
+ * @return The PWM channel status.
+ * @retval FALSE the channel is not enabled.
+ * @retval TRUE the channel is enabled.
+ */
+bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel) {
+
+  return FALSE;
+}
+
+/**
+ * @brief Enables a callback mode for the specified PWM channel.
+ * @details The callback mode must be set before starting a PWM channel.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ * @param[in] edge      output edge mode
+ * @param[in] callback  the callback function
+ */
+void pwm_lld_set_callback(PWMDriver *pwmp, pwmchannel_t channel,
+                          pwmedge_t edge, pwmcallback_t callback) {
+
+}
+
+/**
+ * @brief Enables a PWM channel.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ * @param[in] width     PWM pulse width as clock pulses number
+ */
+void pwm_lld_enable_channel(PWMDriver *pwmp,
+                            pwmchannel_t channel,
+                            pwmcnt_t width) {
+
+}
+
+/**
+ * @brief Disables a PWM channel.
+ * @details The channel is disabled and its output line returned to the
+ *          idle state.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ */
+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+}
+
+/** @} */

os/hal/platforms/STM32/pwm_lld.h

@@ -0,0 +1,105 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file templates/pwm_lld.h
+ * @brief PWM Driver subsystem low level driver header template
+ * @addtogroup PWM_LLD
+ * @{
+ */
+
+#ifndef _PWM_LLD_H_
+#define _PWM_LLD_H_
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief Number of PWM channels per PWM driver.
+ */
+#if !defined(PWM_CHANNELS) || defined(__DOXYGEN__)
+#define PWM_CHANNELS        1
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief PWM channel type.
+ */
+typedef uint8_t pwmchannel_t;
+
+/**
+ * @brief PWM counter type.
+ */
+typedef uint16_t pwmcnt_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+
+} PWMConfig;
+
+/**
+ * @brief Structure representing an PWM driver.
+ */
+typedef struct {
+  /**
+   * @brief Driver state.
+   */
+  pwmstate_t                pd_state;
+  /**
+   * @brief Current configuration data.
+   */
+  const PWMConfig           *pd_config;
+  /* End of the mandatory fields.*/
+} PWMDriver;
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void pwm_lld_init(void);
+  void pwm_lld_start(PWMDriver *pwmp);
+  void pwm_lld_stop(PWMDriver *pwmp);
+  bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel);
+  void pwm_lld_set_callback(PWMDriver *pwmp, pwmchannel_t channel,
+                            pwmedge_t edge, pwmcallback_t callback);
+  void pwm_lld_enable_channel(PWMDriver *pwmp,
+                              pwmchannel_t channel,
+                              pwmcnt_t width);
+  void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _PWM_LLD_H_ */
+
+/** @} */

os/hal/src/pwm.c

@@ -43,7 +43,7 @@ void pwmInit(void) {
 void pwmObjectInit(PWMDriver *pwmp) {
 
   pwmp->pd_state    = PWM_STOP;
-  pwmp->pwm_config   = NULL;
+  pwmp->pd_config   = NULL;
 }
 
 /**
@@ -130,7 +130,8 @@ void pwmEnableChannel(PWMDriver *pwmp,
 
 /**
  * @brief Disables a PWM channel.
- * @details The channel output line is returned to its idle state and disabled.
+ * @details The channel is disabled and its output line returned to the
+ *          idle state.
  *
  * @param[in] pwmp      pointer to the @p PWMDriver object
  * @param[in] channel   PWM channel identifier

os/hal/templates/halconf.h

@@ -24,6 +24,14 @@
  * @{
  */
 
+/*
+ * HAL configuration file, this file allows to enable or disable the various
+ * device drivers from your application. You may also use this file in order
+ * to change the device drivers settings found in the low level drivers
+ * headers, just define here the new settings and those will override the
+ * defaults defined in the LLD headers.
+ */
+
 #ifndef _HALCONF_H_
 #define _HALCONF_H_
 

os/hal/templates/pwm_lld.c

@@ -61,7 +61,7 @@ void pwm_lld_init(void) {
  */
 void pwm_lld_start(PWMDriver *pwmp) {
 
-  if (pwmp->pwm_state == PWM_STOP) {
+  if (pwmp->pd_state == PWM_STOP) {
     /* Clock activation.*/
   }
   /* Configuration.*/
@@ -76,4 +76,58 @@ void pwm_lld_stop(PWMDriver *pwmp) {
 
 }
 
+/**
+ * @brief Determines whatever the PWM channel is already enabled.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ *
+ * @return The PWM channel status.
+ * @retval FALSE the channel is not enabled.
+ * @retval TRUE the channel is enabled.
+ */
+bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel) {
+
+  return FALSE;
+}
+
+/**
+ * @brief Enables a callback mode for the specified PWM channel.
+ * @details The callback mode must be set before starting a PWM channel.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ * @param[in] edge      output edge mode
+ * @param[in] callback  the callback function
+ */
+void pwm_lld_set_callback(PWMDriver *pwmp, pwmchannel_t channel,
+                          pwmedge_t edge, pwmcallback_t callback) {
+
+}
+
+/**
+ * @brief Enables a PWM channel.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ * @param[in] width     PWM pulse width as clock pulses number
+ */
+void pwm_lld_enable_channel(PWMDriver *pwmp,
+                            pwmchannel_t channel,
+                            pwmcnt_t width) {
+
+}
+
+/**
+ * @brief Disables a PWM channel.
+ * @details The channel is disabled and its output line returned to the
+ *          idle state.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ */
+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+}
+
 /** @} */

os/kernel/templates/chconf.h

@@ -44,10 +44,12 @@
  * @brief Round robin interval.
  * @details This constant is the number of system ticks allowed for the
  *          threads before preemption occurs. Setting this value to zero
- *          disables the round robin mechanism.
+ *          disables the preemption for threads with equal priority and the
+ *          round robin becomes cooperative. Note that higher priority
+ *          threads can still preempt, the kernel is always preemptive.
  *
- * @note Disabling round robin makes the kernel more compact and generally
+ * @note Disabling the round robin preemption makes the kernel more compact
- *       faster but forbids multiple threads at the same priority level.
+ *       and generally faster.
  */
 #if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
 #define CH_TIME_QUANTUM                 20

readme.txt

@@ -8,6 +8,7 @@
   driver. The single drivers can be enabled or disabled from a HAL
   configuration file halconf.h.
 - NEW: New CAN driver model.
+- NEW: New PWM driver model.
 - NEW: STM32 ADC driver implementation with DMA support.
 - NEW: STM32 CAN driver implementation.
 - NEW: Added AT91SAM7S support and support for all the memory sizes in

testio/STM32/halconf.h

@@ -20,15 +20,23 @@
 /**
  * @file templates/halconf.h
  * @brief HAL configuration header.
- * @addtogroup HAL
+ * @addtogroup HAL_CONF
  * @{
  */
 
+/*
+ * HAL configuration file, this file allows to enable or disable the various
+ * device drivers from your application. You may also use this file in order
+ * to change the device drivers settings found in the low level drivers
+ * headers, just define here the new settings and those will override the
+ * defaults defined in the LLD headers.
+ */
+
 #ifndef _HALCONF_H_
 #define _HALCONF_H_
 
 /**
- * @brief Enables the PAL subsystem.
+ * @brief Enables the PAL subsystem.
  */
 #if !defined(CH_HAL_USE_PAL) || defined(__DOXYGEN__)
 #define CH_HAL_USE_PAL                  TRUE
@@ -55,6 +63,13 @@
 #define CH_HAL_USE_MAC                  FALSE
 #endif
 
+/**
+ * @brief Enables the PWM subsystem.
+ */
+#if !defined(CH_HAL_USE_PWM) || defined(__DOXYGEN__)
+#define CH_HAL_USE_PWM                  TRUE
+#endif
+
 /**
  * @brief Enables the SERIAL subsystem.
  */
@@ -73,7 +88,7 @@
  * @brief Enables the MMC_SPI subsystem.
  */
 #if !defined(CH_HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
-#define CH_HAL_USE_MMC_SPI              FALSE
+#define CH_HAL_USE_MMC_SPI              TRUE
 #endif
 
 #endif /* _HALCONF_H_ */