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Diffstat (limited to 'os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c')
-rw-r--r--os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c604
1 files changed, 604 insertions, 0 deletions
diff --git a/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c
new file mode 100644
index 0000000..6f4535c
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c
@@ -0,0 +1,604 @@
+/*
+ Copyright (C) 2014..2017 Marco Veeneman
+
+ 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 PWM/hal_pwm_lld.c
+ * @brief TM4C123x/TM4C129x PWM subsystem low level driver.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief PWMD1 driver identifier.
+ */
+#if TIVA_PWM_USE_PWM0 || defined(__DOXYGEN__)
+PWMDriver PWMD1;
+#endif
+
+/**
+ * @brief PWMD2 driver identifier.
+ */
+#if TIVA_PWM_USE_PWM1 || defined(__DOXYGEN__)
+PWMDriver PWMD2;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+static uint32_t pwm_generator_offsets[] = { PWM_GEN_0_OFFSET, PWM_GEN_1_OFFSET, PWM_GEN_2_OFFSET, PWM_GEN_3_OFFSET};
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Common PWM Generator IRQ handler.
+ * @note It is assumed that the various sources are only activated if the
+ * associated callback pointer is not equal to @p NULL in order to not
+ * perform an extra check in a potentially critical interrupt handler.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] i pwm generator number
+ */
+static void pwm_lld_serve_generator_interrupt (PWMDriver *pwmp, uint8_t i)
+{
+ uint32_t isc;
+ uint32_t pwm = pwmp->pwm;
+
+ isc = HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_ISC);
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_ISC) = isc;
+
+ if (((isc & PWM_X_ISC_INTCMPAD) != 0) &&
+ (pwmp->config->channels[i * 2 + 0].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 0].callback(pwmp);
+ }
+
+ if (((isc & PWM_X_ISC_INTCMPAU) != 0) &&
+ (pwmp->config->channels[i * 2 + 0].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 0].callback(pwmp);
+ }
+
+ if (((isc & PWM_X_ISC_INTCMPBD) != 0) &&
+ (pwmp->config->channels[i * 2 + 1].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 1].callback(pwmp);
+ }
+
+ if (((isc & PWM_X_ISC_INTCMPBU) != 0) &&
+ (pwmp->config->channels[i * 2 + 1].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 1].callback(pwmp);
+ }
+
+ if (((isc & PWM_X_ISC_INTCNTLOAD) != 0) && (pwmp->config->callback != NULL)) {
+ pwmp->config->callback(pwmp);
+ }
+
+ if (((isc & PWM_X_ISC_INTCNTZERO) != 0) && (pwmp->config->callback != NULL)) {
+ pwmp->config->callback(pwmp);
+ }
+}
+
+/**
+ * @brief Common PWM fault IRQ handler.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ */
+static void pwm_lld_serve_fault_interrupt (PWMDriver *pwmp)
+{
+ (void) pwmp;
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if TIVA_PWM_USE_PWM0
+#if !defined(TIVA_PWM0FAULT_HANDLER)
+#error "TIVA_PWM0FAULT_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Fault handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0FAULT_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_fault_interrupt(&PWMD1);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN0_HANDLER)
+#error "TIVA_PWM0GEN0_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 0 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN0_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 0);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN1_HANDLER)
+#error "TIVA_PWM0GEN1_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 1 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN1_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 1);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN2_HANDLER)
+#error "TIVA_PWM0GEN2_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 2 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN2_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 2);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN3_HANDLER)
+#error "TIVA_PWM0GEN3_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 3 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN3_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 3);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_PWM_USE_PWM1
+#if !defined(TIVA_PWM1FAULT_HANDLER)
+#error "TIVA_PWM1FAULT_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Fault handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1FAULT_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_fault_interrupt(&PWMD2);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN0_HANDLER)
+#error "TIVA_PWM1GEN0_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 0 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN0_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 0);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN1_HANDLER)
+#error "TIVA_PWM1GEN1_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 1 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN1_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 1);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN2_HANDLER)
+#error "TIVA_PWM1GEN2_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 2 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN2_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 2);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN3_HANDLER)
+#error "TIVA_PWM1GEN3_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 3 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN3_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 3);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PWM driver initialization.
+ *
+ * @notapi
+ */
+void pwm_lld_init(void)
+{
+ /* Driver initialization.*/
+#if TIVA_PWM_USE_PWM0
+ pwmObjectInit(&PWMD1);
+ PWMD1.channels = PWM_CHANNELS;
+ PWMD1.pwm = PWM0_BASE;
+#endif
+
+#if TIVA_PWM_USE_PWM1
+ pwmObjectInit(&PWMD2);
+ PWMD2.channels = PWM_CHANNELS;
+ PWMD2.pwm = PWM1_BASE;
+#endif
+}
+
+/**
+ * @brief Configures and activates the PWM peripheral.
+ * @note Starting a driver that is already in the @p PWM_READY state
+ * disables all the active channels.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_start(PWMDriver *pwmp)
+{
+ uint8_t i;
+ uint32_t invert = 0;
+ uint32_t enable = 0;
+ uint32_t pwm = pwmp->pwm;
+
+ if (pwmp->state == PWM_STOP) {
+ /* Clock activation.*/
+#if TIVA_PWM_USE_PWM0
+ if (&PWMD1 == pwmp) {
+ HWREG(SYSCTL_RCGCPWM) |= (1 << 0);
+
+ while (!(HWREG(SYSCTL_PRPWM) & (1 << 0)))
+ ;
+
+ nvicEnableVector(TIVA_PWM0FAULT_NUMBER,
+ TIVA_PWM_PWM0_FAULT_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN0_NUMBER, TIVA_PWM_PWM0_0_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN1_NUMBER, TIVA_PWM_PWM0_1_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN2_NUMBER, TIVA_PWM_PWM0_2_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN3_NUMBER, TIVA_PWM_PWM0_3_IRQ_PRIORITY);
+ }
+#endif
+
+#if TIVA_PWM_USE_PWM1
+ if (&PWMD2 == pwmp) {
+ HWREG(SYSCTL_RCGCPWM) |= (1 << 1);
+
+ while (!(HWREG(SYSCTL_PRPWM) & (1 << 1)))
+ ;
+
+ nvicEnableVector(TIVA_PWM1FAULT_NUMBER,
+ TIVA_PWM_PWM1_FAULT_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN0_NUMBER, TIVA_PWM_PWM1_0_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN1_NUMBER, TIVA_PWM_PWM1_1_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN2_NUMBER, TIVA_PWM_PWM1_2_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN3_NUMBER, TIVA_PWM_PWM1_3_IRQ_PRIORITY);
+ }
+#endif
+ }
+ else {
+ /* Driver re-configuration scenario, it must be stopped first.*/
+ HWREG(pwm + PWM_O_0_CTL) = 0;
+ HWREG(pwm + PWM_O_1_CTL) = 0;
+ HWREG(pwm + PWM_O_2_CTL) = 0;
+ HWREG(pwm + PWM_O_3_CTL) = 0;
+ }
+
+ /* Timer configuration.*/
+ for (i = 0; i < (PWM_CHANNELS >> 1); i++) {
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_CTL) = 0;
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_GENA) = 0x08C;
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_GENB) = 0x80C;
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_LOAD) = (uint16_t)(pwmp->config->frequency - 1);
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_CMPA) = (uint16_t)(pwmp->period - 1);
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_CMPB) = (uint16_t)(pwmp->period - 1);
+ }
+
+ /* Output enables and polarities setup.*/
+ for (i = 0; i < PWM_CHANNELS; i++) {
+ switch (pwmp->config->channels[i].mode & PWM_OUTPUT_MASK) {
+ case PWM_OUTPUT_DISABLED:
+ enable &= ~(1 << i);
+ break;
+ case PWM_OUTPUT_ACTIVE_LOW:
+ invert |= (1 << i);
+ enable |= (1 << i);
+ break;
+ case PWM_OUTPUT_ACTIVE_HIGH:
+ invert &= ~(1 << i);
+ enable |= (1 << i);
+ break;
+ default:
+ ;
+ }
+ }
+
+ HWREG(pwm + PWM_O_INVERT) = invert;
+ HWREG(pwm + PWM_O_ENABLE) = enable;
+ HWREG(pwm + PWM_O_ISC) = 0xFFFFFFFF;
+}
+
+/**
+ * @brief Deactivates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_stop(PWMDriver *pwmp)
+{
+ uint32_t pwm = pwmp->pwm;
+
+ /* If in ready state then disables the PWM clock.*/
+ if (pwmp->state == PWM_READY) {
+ HWREG(pwm + PWM_O_0_CTL) = 0;
+ HWREG(pwm + PWM_O_1_CTL) = 0;
+ HWREG(pwm + PWM_O_2_CTL) = 0;
+ HWREG(pwm + PWM_O_3_CTL) = 0;
+
+#if TIVA_PWM_USE_PWM0
+ if (&PWMD1 == pwmp) {
+ nvicDisableVector(TIVA_PWM0FAULT_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN0_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN1_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN2_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN3_NUMBER);
+ HWREG(SYSCTL_RCGCPWM) &= ~(1 << 0);
+ }
+#endif
+
+#if TIVA_PWM_USE_PWM1
+ if (&PWMD2 == pwmp) {
+ nvicDisableVector(TIVA_PWM1FAULT_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN0_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN1_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN2_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN3_NUMBER);
+ HWREG(SYSCTL_RCGCPWM) &= ~(1 << 1);
+ }
+#endif
+ }
+}
+
+/**
+ * @brief Enables a PWM channel.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @post The channel is active using the specified configuration.
+ * @note The function has effect at the next cycle start.
+ * @note Channel notification is not enabled.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier (0...channels-1)
+ * @param[in] width PWM pulse width as clock pulses number
+ *
+ * @notapi
+ */
+void pwm_lld_enable_channel(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmcnt_t width)
+{
+ uint32_t pwm = pwmp->pwm;
+
+ /* Changing channel duty cycle on the fly.*/
+ if (channel & 1)
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPB) = width;
+ else
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPA) = width;
+
+
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CTL) = (1 << 0);
+}
+
+/**
+ * @brief Disables a PWM channel and its notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @post The channel is disabled and its output line returned to the
+ * idle state.
+ * @note The function has effect at the next cycle start.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier (0...channels-1)
+ *
+ * @notapi
+ */
+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel)
+{
+ uint32_t pwm = pwmp->pwm;
+
+ if (channel & 1)
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPB) = 0;
+ else
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPA) = 0;
+
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CTL) = (1 << 0);
+}
+
+/**
+ * @brief Enables the periodic activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @note If the notification is already enabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_enable_periodic_notification(PWMDriver *pwmp)
+{
+ uint32_t inten;
+ uint8_t i;
+ uint32_t pwm = pwmp->pwm;
+
+ /* If the IRQ is not already enabled care must be taken to clear it,
+ it is probably already pending because the timer is running.*/
+ for(i = 0; i < (PWM_CHANNELS >> 1); i++) {
+ inten = HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_INTEN);
+ if ((inten & 0x03) == 0) {
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_INTEN) |= 0x03;
+ HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_ISC) = 0x03;
+ }
+ }
+
+ HWREG(pwm + PWM_O_INTEN) = 0x3f;
+}
+
+/**
+ * @brief Disables the periodic activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @note If the notification is already disabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_disable_periodic_notification(PWMDriver *pwmp)
+{
+ uint32_t pwm = pwmp->pwm;
+
+ HWREG(pwm + PWM_O_0_INTEN) = ~(0x03);
+ HWREG(pwm + PWM_O_1_INTEN) = ~(0x03);
+ HWREG(pwm + PWM_O_2_INTEN) = ~(0x03);
+ HWREG(pwm + PWM_O_3_INTEN) = ~(0x03);
+
+ HWREG(pwm + PWM_O_INTEN) &= ~(0x3F);
+}
+
+/**
+ * @brief Enables a channel de-activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @pre The channel must have been activated using @p pwmEnableChannel().
+ * @note If the notification is already enabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier (0...channels-1)
+ *
+ * @notapi
+ */
+void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
+ pwmchannel_t channel)
+{
+ uint32_t pwm = pwmp->pwm;
+ uint32_t inten = HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_ISC);
+
+ /* If the IRQ is not already enabled care must be taken to clear it,
+ it is probably already pending because the timer is running.*/
+ if ((inten & (0x03 << (((channel & 1) * 2) + 2))) == 0) {
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_INTEN) |= (0x03 << (((channel & 1) * 2) + 2));
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_ISC) = (0x03 << (((channel & 1) * 2) + 2));
+ }
+}
+
+/**
+ * @brief Disables a channel de-activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @pre The channel must have been activated using @p pwmEnableChannel().
+ * @note If the notification is already disabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier (0...channels-1)
+ *
+ * @notapi
+ */
+void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
+ pwmchannel_t channel)
+{
+ uint32_t pwm = pwmp->pwm;
+
+ HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_INTEN) = ~(0x03 << (((channel & 1) * 2) + 2));
+}
+
+#endif /* HAL_USE_PWM */
+
+/**
+ * @}
+ */
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