From 81c70f5ce6452f184e3cef46159ae2dc171bd51a Mon Sep 17 00:00:00 2001 From: marcoveeneman Date: Wed, 6 Jul 2016 20:12:03 +0200 Subject: Organized Tiva LLD folder. --- os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c | 585 ++++++++++++++++++++++++++++++++ 1 file changed, 585 insertions(+) create mode 100644 os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c (limited to 'os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c') 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..ad7c587 --- /dev/null +++ b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c @@ -0,0 +1,585 @@ +/* + Copyright (C) 2014..2016 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 TIVA/LLD/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. */ +/*===========================================================================*/ + +#define PWM_INT_CMPBD (1 << 5) +#define PWM_INT_CMPBU (1 << 4) +#define PWM_INT_CMPAD (1 << 3) +#define PWM_INT_CMPAU (1 << 2) +#define PWM_INT_CNTLOAD (1 << 1) +#define PWM_INT_CNTZERO (1 << 0) + +/*===========================================================================*/ +/* 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. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* 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; + + isc = pwmp->pwm->PWM[i].ISC; + pwmp->pwm->PWM[i].ISC = isc; + + if (((isc & PWM_INT_CMPAD) != 0) && + (pwmp->config->channels[i * 2 + 0].callback != NULL)) { + pwmp->config->channels[i * 2 + 0].callback(pwmp); + } + + if (((isc & PWM_INT_CMPAU) != 0) && + (pwmp->config->channels[i * 2 + 0].callback != NULL)) { + pwmp->config->channels[i * 2 + 0].callback(pwmp); + } + + if (((isc & PWM_INT_CMPBD) != 0) && + (pwmp->config->channels[i * 2 + 1].callback != NULL)) { + pwmp->config->channels[i * 2 + 1].callback(pwmp); + } + + if (((isc & PWM_INT_CMPBU) != 0) && + (pwmp->config->channels[i * 2 + 1].callback != NULL)) { + pwmp->config->channels[i * 2 + 1].callback(pwmp); + } + + if (((isc & PWM_INT_CNTLOAD) != 0) && (pwmp->config->callback != NULL)) { + pwmp->config->callback(pwmp); + } + + if (((isc & PWM_INT_CNTZERO) != 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; +#endif + +#if TIVA_PWM_USE_PWM1 + pwmObjectInit(&PWMD2); + PWMD2.channels = PWM_CHANNELS; + PWMD2.pwm = PWM1; +#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; + + if (pwmp->state == PWM_STOP) { + /* Clock activation.*/ +#if TIVA_PWM_USE_PWM0 + if (&PWMD1 == pwmp) { + SYSCTL->RCGCPWM |= (1 << 0); + + while (!(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) { + SYSCTL->RCGCPWM |= (1 << 1); + + while (!(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.*/ + pwmp->pwm->PWM[0].CTL = 0; + pwmp->pwm->PWM[1].CTL = 0; + pwmp->pwm->PWM[2].CTL = 0; + pwmp->pwm->PWM[3].CTL = 0; + } + + /* Timer configuration.*/ + for (i = 0; i < (PWM_CHANNELS >> 1); i++) { + pwmp->pwm->PWM[i].CTL = 0; + pwmp->pwm->PWM[i].GEN[0] = 0x08C; + pwmp->pwm->PWM[i].GEN[1] = 0x80C; + pwmp->pwm->PWM[i].LOAD = (uint16_t)(pwmp->config->frequency - 1); + pwmp->pwm->PWM[i].CMP[0] = (uint16_t)(pwmp->period - 1); + pwmp->pwm->PWM[i].CMP[1] = (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: + ; + } + } + + pwmp->pwm->INVERT = invert; + pwmp->pwm->ENABLE = enable; + pwmp->pwm->ISC = 0xFFFFFFFF; +} + +/** + * @brief Deactivates the PWM peripheral. + * + * @param[in] pwmp pointer to a @p PWMDriver object + * + * @notapi + */ +void pwm_lld_stop(PWMDriver *pwmp) +{ + /* If in ready state then disables the PWM clock.*/ + if (pwmp->state == PWM_READY) { + pwmp->pwm->PWM[0].CTL = 0; + pwmp->pwm->PWM[1].CTL = 0; + pwmp->pwm->PWM[2].CTL = 0; + pwmp->pwm->PWM[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); + 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); + 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) +{ + /* Changing channel duty cycle on the fly.*/ + pwmp->pwm->PWM[channel >> 1].CMP[channel & 1] = width; + pwmp->pwm->PWM[channel >> 1].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) +{ + pwmp->pwm->PWM[channel >> 1].CMP[channel & 1] = 0; + pwmp->pwm->PWM[channel >> 1].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; + + /* 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 = pwmp->pwm->PWM[i].INTEN; + if ((inten & 0x03) == 0) { + pwmp->pwm->PWM[i].INTEN |= 0x03; + pwmp->pwm->PWM[i].ISC = 0x03; + } + } + + pwmp->pwm->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) +{ + pwmp->pwm->PWM[0].INTEN &= ~(0x03); + pwmp->pwm->PWM[1].INTEN &= ~(0x03); + pwmp->pwm->PWM[2].INTEN &= ~(0x03); + pwmp->pwm->PWM[3].INTEN &= ~(0x03); + pwmp->pwm->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 inten = pwmp->pwm->PWM[channel >> 1].INTEN; + + /* 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) { + pwmp->pwm->PWM[channel >> 1].INTEN |= (0x03 << (((channel & 1) * 2) + 2)); + pwmp->pwm->PWM[channel >> 1].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) +{ + pwmp->pwm->PWM[channel >> 1].INTEN &= ~(0x03 << (((channel & 1) * 2) + 2)); +} + +#endif /* HAL_USE_PWM */ + +/** + * @} + */ -- cgit v1.2.3