diff options
Diffstat (limited to 'os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c')
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c | 391 |
1 files changed, 391 insertions, 0 deletions
diff --git a/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c b/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c new file mode 100644 index 0000000..3669937 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c @@ -0,0 +1,391 @@ +/*
+ ChibiOS - Copyright (C) 2014 Derek Mulcahy
+
+ 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 PITv1/hal_gpt_lld.c
+ * @brief KINETIS GPT subsystem low level driver source.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief GPTD1 driver identifier.
+ * @note The driver GPTD1 allocates the complex timer PIT0 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT0 || defined(__DOXYGEN__)
+GPTDriver GPTD1;
+#endif
+
+/**
+ * @brief GPTD2 driver identifier.
+ * @note The driver GPTD2 allocates the timer PIT1 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT1 || defined(__DOXYGEN__)
+GPTDriver GPTD2;
+#endif
+
+/**
+ * @brief GPTD3 driver identifier.
+ * @note The driver GPTD3 allocates the timer PIT2 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT2 || defined(__DOXYGEN__)
+GPTDriver GPTD3;
+#endif
+
+/**
+ * @brief GPTD4 driver identifier.
+ * @note The driver GPTD4 allocates the timer PIT3 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT3 || defined(__DOXYGEN__)
+GPTDriver GPTD4;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+#if KINETIS_HAS_PIT_COMMON_IRQ
+static uint8_t active_channels = 0;
+#endif /* KINETIS_HAS_PIT_COMMON_IRQ */
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Shared IRQ handler.
+ *
+ * @param[in] gptp pointer to a @p GPTDriver object
+ */
+static void gpt_lld_serve_interrupt(GPTDriver *gptp) {
+
+ /* Clear the interrupt */
+ gptp->channel->TFLG |= PIT_TFLGn_TIF;
+
+ if (gptp->state == GPT_ONESHOT) {
+ gptp->state = GPT_READY; /* Back in GPT_READY state. */
+ gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */
+ }
+ gptp->config->callback(gptp);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if !KINETIS_HAS_PIT_COMMON_IRQ
+
+#if KINETIS_GPT_USE_PIT0
+/**
+ * @brief PIT1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT0_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT0 */
+
+#if KINETIS_GPT_USE_PIT1
+/**
+ * @brief PIT1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT1_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD2);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT1 */
+
+#if KINETIS_GPT_USE_PIT2
+/**
+ * @brief PIT2 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT2_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD3);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT2 */
+
+#if KINETIS_GPT_USE_PIT3
+/**
+ * @brief PIT3 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT3_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD4);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT3 */
+
+#else /* !KINETIS_HAS_PIT_COMMON_IRQ */
+/**
+ * @brief Common PIT interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+#if KINETIS_GPT_USE_PIT0
+ if(GPTD1.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD1);
+#endif /* KINETIS_GPT_USE_PIT0 */
+#if KINETIS_GPT_USE_PIT1
+ if(GPTD2.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD2);
+#endif /* KINETIS_GPT_USE_PIT1 */
+#if KINETIS_GPT_USE_PIT2
+ if(GPTD3.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD3);
+#endif /* KINETIS_GPT_USE_PIT2 */
+#if KINETIS_GPT_USE_PIT3
+ if(GPTD4.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD4);
+#endif /* KINETIS_GPT_USE_PIT3 */
+ OSAL_IRQ_EPILOGUE();
+}
+
+#endif /* !KINETIS_HAS_PIT_COMMON_IRQ */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level GPT driver initialization.
+ *
+ * @notapi
+ */
+void gpt_lld_init(void) {
+
+#if KINETIS_GPT_USE_PIT0
+ /* Driver initialization.*/
+ GPTD1.channel = &PIT->CHANNEL[0];
+ gptObjectInit(&GPTD1);
+#endif
+
+#if KINETIS_GPT_USE_PIT1
+ /* Driver initialization.*/
+ GPTD2.channel = &PIT->CHANNEL[1];
+ gptObjectInit(&GPTD2);
+#endif
+
+#if KINETIS_GPT_USE_PIT2
+ /* Driver initialization.*/
+ GPTD3.channel = &PIT->CHANNEL[2];
+ gptObjectInit(&GPTD3);
+#endif
+
+#if KINETIS_GPT_USE_PIT3
+ /* Driver initialization.*/
+ GPTD4.channel = &PIT->CHANNEL[3];
+ gptObjectInit(&GPTD4);
+#endif
+}
+
+/**
+ * @brief Configures and activates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_start(GPTDriver *gptp) {
+ uint16_t psc;
+
+ if (gptp->state == GPT_STOP) {
+ /* Clock activation.*/
+ SIM->SCGC6 |= SIM_SCGC6_PIT;
+ gptp->clock = KINETIS_SYSCLK_FREQUENCY;
+
+#if !KINETIS_HAS_PIT_COMMON_IRQ
+
+#if KINETIS_GPT_USE_PIT0
+ if (&GPTD1 == gptp) {
+ nvicEnableVector(PITChannel0_IRQn, KINETIS_GPT_PIT0_IRQ_PRIORITY);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT1
+ if (&GPTD2 == gptp) {
+ nvicEnableVector(PITChannel1_IRQn, KINETIS_GPT_PIT1_IRQ_PRIORITY);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT2
+ if (&GPTD3 == gptp) {
+ nvicEnableVector(PITChannel2_IRQn, KINETIS_GPT_PIT2_IRQ_PRIORITY);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT3
+ if (&GPTD4 == gptp) {
+ nvicEnableVector(PITChannel3_IRQn, KINETIS_GPT_PIT3_IRQ_PRIORITY);
+ }
+#endif
+
+#else /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ nvicEnableVector(PIT_IRQn, KINETIS_GPT_PIT_IRQ_PRIORITY);
+ active_channels++;
+#endif /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ }
+
+ /* Prescaler value calculation.*/
+ psc = (uint16_t)((gptp->clock / gptp->config->frequency) - 1);
+ osalDbgAssert(((uint32_t)(psc + 1) * gptp->config->frequency) == gptp->clock,
+ "invalid frequency");
+
+ /* Enable the PIT */
+ PIT->MCR = 0;
+}
+
+/**
+ * @brief Deactivates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop(GPTDriver *gptp) {
+
+ if (gptp->state == GPT_READY) {
+ SIM->SCGC6 &= ~SIM_SCGC6_PIT;
+
+ /* Disable the channel */
+ gptp->channel->TCTRL = 0;
+
+ /* Clear pending interrupts */
+ gptp->channel->TFLG |= PIT_TFLGn_TIF;
+
+#if !KINETIS_HAS_PIT_COMMON_IRQ
+
+#if KINETIS_GPT_USE_PIT0
+ if (&GPTD1 == gptp) {
+ nvicDisableVector(PITChannel0_IRQn);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT1
+ if (&GPTD2 == gptp) {
+ nvicDisableVector(PITChannel1_IRQn);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT2
+ if (&GPTD3 == gptp) {
+ nvicDisableVector(PITChannel2_IRQn);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT3
+ if (&GPTD4 == gptp) {
+ nvicDisableVector(PITChannel3_IRQn);
+ }
+#endif
+
+#else /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ if(--active_channels == 0)
+ nvicDisableVector(PIT_IRQn);
+#endif /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ }
+}
+
+/**
+ * @brief Starts the timer in continuous mode.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] interval period in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval) {
+
+ /* Clear pending interrupts */
+ gptp->channel->TFLG |= PIT_TFLGn_TIF;
+
+ /* Set the interval */
+ gpt_lld_change_interval(gptp, interval);
+
+ /* Start the timer */
+ gptp->channel->TCTRL |= PIT_TCTRLn_TIE | PIT_TCTRLn_TEN;
+}
+
+/**
+ * @brief Stops the timer.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop_timer(GPTDriver *gptp) {
+
+ /* Stop the timer */
+ gptp->channel->TCTRL = 0;
+}
+
+/**
+ * @brief Starts the timer in one shot mode and waits for completion.
+ * @details This function specifically polls the timer waiting for completion
+ * in order to not have extra delays caused by interrupt servicing,
+ * this function is only recommended for short delays.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] interval time interval in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval) {
+ struct PIT_CHANNEL *channel = gptp->channel;
+
+ /* Disable timer and disable interrupts */
+ channel->TCTRL = 0;
+
+ /* Clear the interrupt flag */
+ channel->TFLG |= PIT_TFLGn_TIF;
+
+ /* Set the interval */
+ channel->LDVAL = (gptp->clock / gptp->config->frequency) * interval;
+
+ /* Enable Timer but keep interrupts disabled */
+ channel->TCTRL = PIT_TCTRLn_TEN;
+
+ /* Wait for the interrupt flag to be set */
+ while (!(channel->TFLG & PIT_TFLGn_TIF))
+ ;
+
+ /* Disable timer and disable interrupts */
+ channel->TCTRL = 0;
+}
+
+#endif /* HAL_USE_GPT */
+
+/** @} */
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