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/*
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 KINETIS/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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