diff options
Diffstat (limited to 'os/hal/ports/KINETIS/LLD/PITv1')
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/PITv1/driver.mk | 9 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c | 391 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.h | 333 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c | 98 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.h | 156 |
5 files changed, 987 insertions, 0 deletions
diff --git a/os/hal/ports/KINETIS/LLD/PITv1/driver.mk b/os/hal/ports/KINETIS/LLD/PITv1/driver.mk new file mode 100644 index 0000000..065556b --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/PITv1/driver.mk @@ -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 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 */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.h b/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.h new file mode 100644 index 0000000..96c4c70 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.h @@ -0,0 +1,333 @@ +/*
+ 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.h
+ * @brief KINETIS GPT subsystem low level driver header.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#ifndef HAL_GPT_LLD_H_
+#define HAL_GPT_LLD_H_
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief GPTD1 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD1 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT0) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT0 FALSE
+#endif
+
+/**
+ * @brief GPTD2 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD2 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT1) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT1 FALSE
+#endif
+
+/**
+ * @brief GPTD3 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD3 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT2) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT2 FALSE
+#endif
+
+/**
+ * @brief GPTD4 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD4 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT3) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT3 FALSE
+#endif
+
+/**
+ * @brief GPTD1 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT0_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD2 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT1_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD3 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT2_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD4 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT3_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD* common interrupt priority level setting.
+ */
+#if (KINETIS_HAS_PIT_COMMON_IRQ && !defined(KINETIS_GPT_PIT_IRQ_PRIORITY)) \
+ || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT_IRQ_PRIORITY 2
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if KINETIS_GPT_USE_PIT0 && !KINETIS_HAS_PIT0
+#error "PIT0 not present in the selected device"
+#endif
+
+#if KINETIS_GPT_USE_PIT1 && !KINETIS_HAS_PIT1
+#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 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT0"
+#endif
+
+#if KINETIS_GPT_USE_PIT1 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT1_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT1"
+#endif
+
+#if KINETIS_GPT_USE_PIT2 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT2_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT2"
+#endif
+
+#if KINETIS_GPT_USE_PIT3 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT3_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT3"
+#endif
+
+#if KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT"
+#endif
+
+#if KINETIS_GPT_USE_PIT0 && !defined(KINETIS_PIT0_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT0_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_GPT_USE_PIT1 && !defined(KINETIS_PIT1_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT1_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_GPT_USE_PIT2 && !defined(KINETIS_PIT2_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT2_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_GPT_USE_PIT3 && !defined(KINETIS_PIT3_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT3_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_HAS_PIT_COMMON_IRQ && !defined(KINETIS_PIT_IRQ_VECTOR)
+#error "KINETIS_PIT_IRQ_VECTOR not defined"
+#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)( \
+ ( (gptp)->clock / (gptp)->config->frequency ) * \
+ ( 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) \
+ ((uint32_t)( ( (uint64_t)(gptp)->channel->LDVAL * (gptp)->config->frequency ) / \
+ ( (uint32_t)(gptp)->clock ) ))
+
+/**
+ * @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 /* HAL_GPT_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c b/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c new file mode 100644 index 0000000..5930b76 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.c @@ -0,0 +1,98 @@ +/*
+ 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 PITv1/hal_st_lld.c
+ * @brief ST Driver subsystem low level driver code.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#include "hal.h"
+
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
+/**
+ * @brief System Timer vector.
+ * @details This interrupt is used for system tick in periodic mode.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SysTick_Handler) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ osalSysLockFromISR();
+ osalOsTimerHandlerI();
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level ST driver initialization.
+ *
+ * @notapi
+ */
+void st_lld_init(void) {
+#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
+ /* Periodic systick mode, the Cortex-Mx internal systick timer is used
+ in this mode.*/
+ SysTick->LOAD = (KINETIS_SYSCLK_FREQUENCY / OSAL_ST_FREQUENCY) - 1;
+ SysTick->VAL = 0;
+ SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
+ SysTick_CTRL_ENABLE_Msk |
+ SysTick_CTRL_TICKINT_Msk;
+
+ /* IRQ enabled.*/
+ nvicSetSystemHandlerPriority(HANDLER_SYSTICK, KINETIS_ST_IRQ_PRIORITY);
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
+}
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.h b/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.h new file mode 100644 index 0000000..0d75a54 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/PITv1/hal_st_lld.h @@ -0,0 +1,156 @@ +/*
+ 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 PITv1/hal_st_lld.h
+ * @brief ST Driver subsystem low level driver header.
+ * @details This header is designed to be include-able without having to
+ * include other files from the HAL.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#ifndef HAL_ST_LLD_H_
+#define HAL_ST_LLD_H_
+
+#include "mcuconf.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief SysTick timer IRQ priority.
+ */
+#if !defined(KINETIS_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_ST_IRQ_PRIORITY 8
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void st_lld_init(void);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Driver inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Returns the time counter value.
+ *
+ * @return The counter value.
+ *
+ * @notapi
+ */
+static inline systime_t st_lld_get_counter(void) {
+
+ return (systime_t)0;
+}
+
+/**
+ * @brief Starts the alarm.
+ * @note Makes sure that no spurious alarms are triggered after
+ * this call.
+ *
+ * @param[in] time the time to be set for the first alarm
+ *
+ * @notapi
+ */
+static inline void st_lld_start_alarm(systime_t time) {
+
+ (void)time;
+}
+
+/**
+ * @brief Stops the alarm interrupt.
+ *
+ * @notapi
+ */
+static inline void st_lld_stop_alarm(void) {
+
+}
+
+/**
+ * @brief Sets the alarm time.
+ *
+ * @param[in] time the time to be set for the next alarm
+ *
+ * @notapi
+ */
+static inline void st_lld_set_alarm(systime_t time) {
+
+ (void)time;
+}
+
+/**
+ * @brief Returns the current alarm time.
+ *
+ * @return The currently set alarm time.
+ *
+ * @notapi
+ */
+static inline systime_t st_lld_get_alarm(void) {
+
+ return (systime_t)0;
+}
+
+/**
+ * @brief Determines if the alarm is active.
+ *
+ * @return The alarm status.
+ * @retval false if the alarm is not active.
+ * @retval true is the alarm is active
+ *
+ * @notapi
+ */
+static inline bool st_lld_is_alarm_active(void) {
+
+ return false;
+}
+
+#endif /* HAL_ST_LLD_H_ */
+
+/** @} */
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