diff options
Diffstat (limited to 'os/hal/ports/NRF5/LLD/PWMv1/hal_pwm_lld.h')
| -rw-r--r-- | os/hal/ports/NRF5/LLD/PWMv1/hal_pwm_lld.h | 334 |
1 files changed, 334 insertions, 0 deletions
diff --git a/os/hal/ports/NRF5/LLD/PWMv1/hal_pwm_lld.h b/os/hal/ports/NRF5/LLD/PWMv1/hal_pwm_lld.h new file mode 100644 index 0000000..616e61a --- /dev/null +++ b/os/hal/ports/NRF5/LLD/PWMv1/hal_pwm_lld.h @@ -0,0 +1,334 @@ +/*
+ ChibiOS/HAL - Copyright (C) 2016 Stéphane D'Alu
+
+ 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 PWMv1/hal_pwm_lld.h
+ * @brief NRF51 PWM subsystem low level driver header.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#ifndef HAL_PWM_LLD_H_
+#define HAL_PWM_LLD_H_
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief Number of PWM channels per PWM driver.
+ */
+#if NRF5_PWM_USE_GPIOTE_PPI
+#define PWM_CHANNELS 2
+#else
+#define PWM_CHANNELS 3
+#endif
+
+#define PWM_FREQUENCY_16MHZ 16000000 /** @brief 16MHz */
+#define PWM_FREQUENCY_8MHZ 8000000 /** @brief 8MHz */
+#define PWM_FREQUENCY_4MHZ 4000000 /** @brief 4MHz */
+#define PWM_FREQUENCY_2MHZ 2000000 /** @brief 2MHz */
+#define PWM_FREQUENCY_1MHZ 1000000 /** @brief 1MHz */
+#define PWM_FREQUENCY_500KHZ 500000 /** @brief 500kHz */
+#define PWM_FREQUENCY_250KHZ 250000 /** @brief 250kHz */
+#define PWM_FREQUENCY_125KHZ 125000 /** @brief 125kHz */
+#define PWM_FREQUENCY_62500HZ 62500 /** @brief 62500Hz */
+#define PWM_FREQUENCY_31250HZ 31250 /** @brief 31250Hz */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+
+/**
+ * @brief TIMER0 as driver implementation
+ */
+#if !defined(NRF5_PWM_USE_TIMER0)
+#define NRF5_PWM_USE_TIMER0 FALSE
+#endif
+
+/**
+ * @brief TIMER1 as driver implementation
+ */
+#if !defined(NRF5_PWM_USE_TIMER1)
+#define NRF5_PWM_USE_TIMER1 FALSE
+#endif
+
+/**
+ * @brief TIMER2 as driver implementation
+ */
+#if !defined(NRF5_PWM_USE_TIMER2)
+#define NRF5_PWM_USE_TIMER2 FALSE
+#endif
+
+/**
+ * @brief TIMER0 interrupt priority level setting.
+ */
+#if !defined(NRF5_PWM_TIMER0_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_PWM_TIMER0_PRIORITY 3
+#endif
+
+/**
+ * @brief TIMER1 interrupt priority level setting.
+ */
+#if !defined(NRF5_PWM_TIMER1_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_PWM_TIMER1_PRIORITY 3
+#endif
+
+/**
+ * @brief TIMER2 interrupt priority level setting.
+ */
+#if !defined(NRF5_PWM_TIMER2_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_PWM_TIMER2_PRIORITY 3
+#endif
+
+/**
+ * @brief Allow driver to use GPIOTE/PPI to control PAL line
+ */
+#if !defined(NRF5_PWM_USE_GPIOTE_PPI)
+#define NRF5_PWM_USE_GPIOTE_PPI TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Configuration checks. */
+/*===========================================================================*/
+
+#if !NRF5_PWM_USE_TIMER0 && !NRF5_PWM_USE_TIMER1 && !NRF5_PWM_USE_TIMER2
+#error "PWM driver activated but no TIMER peripheral assigned"
+#endif
+
+#if (NRF5_ST_USE_TIMER0 == TRUE) && (NRF5_PWM_USE_TIMER0 == TRUE)
+#error "TIMER0 used for ST and PWM"
+#endif
+
+#if NRF5_PWM_USE_TIMER0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_PWM_TIMER0_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER0"
+#endif
+
+#if NRF5_PWM_USE_TIMER1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_PWM_TIMER1_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER1"
+#endif
+
+#if NRF5_PWM_USE_TIMER2 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_PWM_TIMER2_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER2"
+#endif
+
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a PWM mode.
+ */
+typedef uint32_t pwmmode_t;
+
+/**
+ * @brief Type of a PWM channel.
+ */
+typedef uint8_t pwmchannel_t;
+
+/**
+ * @brief Type of a channels mask.
+ */
+typedef uint32_t pwmchnmsk_t;
+
+/**
+ * @brief Type of a PWM counter.
+ */
+typedef uint16_t pwmcnt_t;
+
+/**
+ * @brief Type of a PWM driver channel configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief Channel active logic level.
+ */
+ pwmmode_t mode;
+
+ /**
+ * @brief Channel callback pointer.
+ * @note This callback is invoked on the channel compare event. If set to
+ * @p NULL then the callback is disabled.
+ */
+ pwmcallback_t callback;
+ /* End of the mandatory fields.*/
+
+#if NRF5_PWM_USE_GPIOTE_PPI || defined(__DOXYGEN__)
+ /**
+ * @brief PAL line to toggle.
+ * @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW.
+ * @note When NRF5_PWM_USE_GPIOTE_PPI is used and channel enabled,
+ * it wont be possible to access this PAL line using the PAL
+ * driver.
+ */
+ ioline_t ioline;
+
+ /**
+ * @brief Unique GPIOTE channel to use. (1 channel)
+ * @note Only 4 GPIOTE channels are available on nRF51.
+ */
+ uint8_t gpiote_channel;
+
+ /**
+ * @brief Unique PPI channels to use. (2 channels)
+ * @note Only 16 PPI channels are available on nRF51
+ * (When Softdevice is enabled, only channels 0-7 are available)
+ */
+ uint8_t ppi_channel[2];
+#endif
+} PWMChannelConfig;
+
+/**
+ * @brief Type of a PWM driver configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ uint32_t frequency;
+ /**
+ * @brief PWM period in ticks.
+ * @note The low level can use assertions in order to catch invalid
+ * period specifications.
+ */
+ pwmcnt_t period;
+ /**
+ * @brief Periodic callback pointer.
+ * @note This callback is invoked on PWM counter reset. If set to
+ * @p NULL then the callback is disabled.
+ */
+ pwmcallback_t callback;
+ /**
+ * @brief Channels configurations.
+ */
+ PWMChannelConfig channels[PWM_CHANNELS];
+ /* End of the mandatory fields.*/
+} PWMConfig;
+
+/**
+ * @brief Structure representing a PWM driver.
+ */
+struct PWMDriver {
+ /**
+ * @brief Driver state.
+ */
+ pwmstate_t state;
+ /**
+ * @brief Current driver configuration data.
+ */
+ const PWMConfig *config;
+ /**
+ * @brief Current PWM period in ticks.
+ */
+ pwmcnt_t period;
+ /**
+ * @brief Mask of the enabled channels.
+ */
+ pwmchnmsk_t enabled;
+ /**
+ * @brief Number of channels in this instance.
+ */
+ pwmchannel_t channels;
+#if defined(PWM_DRIVER_EXT_FIELDS)
+ PWM_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Pointer to the TIMER registers block.
+ */
+ NRF_TIMER_Type *timer;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Changes the period the PWM peripheral.
+ * @details This function changes the period of a PWM unit that has already
+ * been activated using @p pwmStart().
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @post The PWM unit period is changed to the new value.
+ * @note The function has effect at the next cycle start.
+ * @note If a period is specified that is shorter than the pulse width
+ * programmed in one of the channels then the behavior is not
+ * guaranteed.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] period new cycle time in ticks
+ *
+ * @notapi
+ */
+#define pwm_lld_change_period(pwmp, period) \
+ do { \
+ (pwmp)->timer->CC[(pwmp)->channels] = ((period) - 1); \
+ } while(0)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if NRF5_PWM_USE_TIMER0 || defined(__DOXYGEN__)
+extern PWMDriver PWMD1;
+#endif
+#if NRF5_PWM_USE_TIMER1 || defined(__DOXYGEN__)
+extern PWMDriver PWMD2;
+#endif
+#if NRF5_PWM_USE_TIMER2 || defined(__DOXYGEN__)
+extern PWMDriver PWMD3;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void pwm_lld_init(void);
+ void pwm_lld_start(PWMDriver *pwmp);
+ void pwm_lld_stop(PWMDriver *pwmp);
+ void pwm_lld_enable_channel(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmcnt_t width);
+ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
+ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp);
+ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp);
+ void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
+ pwmchannel_t channel);
+ void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
+ pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_PWM */
+
+#endif /* HAL_PWM_LLD_H_ */
+
+/** @} */
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