STM32 PWM driver optimization, changed the behavior of pwmChangePeriod().

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2869 35acf78f-673a-0410-8e92-d51de3d6d3f4

10 files changed, 64 insertions, 84 deletions

diff --git a/docs/Doxyfile_chm b/docs/Doxyfile_chm
index be256da4e..30610aa3b 100644
--- a/docs/Doxyfile_chm
+++ b/docs/Doxyfile_chm
@@ -31,7 +31,7 @@ PROJECT_NAME           = ChibiOS/RT
 # This could be handy for archiving the generated documentation or

 # if some version control system is used.

 

-PROJECT_NUMBER         = 2.3.1

+PROJECT_NUMBER         = 2.3.2

 

 # Using the PROJECT_BRIEF tag one can provide an optional one line description

 # for a project that appears at the top of each page and should give viewer

diff --git a/docs/Doxyfile_html b/docs/Doxyfile_html
index fb83e9e23..42fadd49d 100644
--- a/docs/Doxyfile_html
+++ b/docs/Doxyfile_html
@@ -31,7 +31,7 @@ PROJECT_NAME           = ChibiOS/RT
 # This could be handy for archiving the generated documentation or

 # if some version control system is used.

 

-PROJECT_NUMBER         = 2.3.1

+PROJECT_NUMBER         = 2.3.2

 

 # Using the PROJECT_BRIEF tag one can provide an optional one line description

 # for a project that appears at the top of each page and should give viewer

diff --git a/os/hal/include/pwm.h b/os/hal/include/pwm.h
index 72430f1aa..2ffd3599c 100644
--- a/os/hal/include/pwm.h
+++ b/os/hal/include/pwm.h
@@ -150,11 +150,9 @@ typedef void (*pwmcallback_t)(PWMDriver *pwmp);
  *          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.

- * @post    Any active channel is disabled by this function and must be

- *          activated explicitly using @p pwmEnableChannel().

- * @note    Depending on the hardware implementation this function has

- *          effect starting on the next cycle (recommended implementation)

- *          or immediately (fallback implementation).

+ * @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

diff --git a/os/hal/platforms/STM32/pwm_lld.c b/os/hal/platforms/STM32/pwm_lld.c
index 15d54b4fd..bb6dad8f2 100644
--- a/os/hal/platforms/STM32/pwm_lld.c
+++ b/os/hal/platforms/STM32/pwm_lld.c
@@ -254,35 +254,30 @@ void pwm_lld_init(void) {
 #if STM32_PWM_USE_TIM1

   /* Driver initialization.*/

   pwmObjectInit(&PWMD1);

-  PWMD1.enabled_channels = 0;

   PWMD1.tim = TIM1;

 #endif

 

 #if STM32_PWM_USE_TIM2

   /* Driver initialization.*/

   pwmObjectInit(&PWMD2);

-  PWMD2.enabled_channels = 0;

   PWMD2.tim = TIM2;

 #endif

 

 #if STM32_PWM_USE_TIM3

   /* Driver initialization.*/

   pwmObjectInit(&PWMD3);

-  PWMD3.enabled_channels = 0;

   PWMD3.tim = TIM3;

 #endif

 

 #if STM32_PWM_USE_TIM4

   /* Driver initialization.*/

   pwmObjectInit(&PWMD4);

-  PWMD4.enabled_channels = 0;

   PWMD4.tim = TIM4;

 #endif

 

 #if STM32_PWM_USE_TIM5

   /* Driver initialization.*/

   pwmObjectInit(&PWMD5);

-  PWMD5.enabled_channels = 0;

   PWMD5.tim = TIM5;

 #endif

 }

@@ -300,9 +295,6 @@ void pwm_lld_start(PWMDriver *pwmp) {
   uint32_t clock, psc;

   uint16_t ccer;

 

-  /* Reset channels.*/

-  pwmp->enabled_channels = 0;               /* All channels disabled.       */

-

   if (pwmp->state == PWM_STOP) {

     /* Clock activation and timer reset.*/

 #if STM32_PWM_USE_TIM1

@@ -372,7 +364,6 @@ void pwm_lld_start(PWMDriver *pwmp) {
   }

   else {

     /* Driver re-configuration scenario, it must be stopped first.*/

-    pwmp->enabled_channels = 0;             /* All channels disabled.       */

     pwmp->tim->CR1  = 0;                    /* Timer disabled.              */

     pwmp->tim->DIER = 0;                    /* All IRQs disabled.           */

     pwmp->tim->SR   = 0;                    /* Clear eventual pending IRQs. */

@@ -457,8 +448,8 @@ void pwm_lld_start(PWMDriver *pwmp) {
 

   pwmp->tim->CCER = ccer;

   pwmp->tim->EGR  = TIM_EGR_UG;             /* Update event.                */

-  pwmp->tim->SR   = 0;                      /* Clear pending IRQs.          */

   pwmp->tim->DIER = pwmp->config->callback == NULL ? 0 : TIM_DIER_UIE;

+  pwmp->tim->SR   = 0;                      /* Clear pending IRQs.          */

 #if STM32_PWM_USE_ADVANCED

   pwmp->tim->BDTR = pwmp->config->bdtr | TIM_BDTR_MOE;

 #else

@@ -479,7 +470,6 @@ void pwm_lld_stop(PWMDriver *pwmp) {
 

   /* If in ready state then disables the PWM clock.*/

   if (pwmp->state == PWM_READY) {

-    pwmp->enabled_channels = 0;             /* All channels disabled.       */

     pwmp->tim->CR1  = 0;                    /* Timer disabled.              */

     pwmp->tim->DIER = 0;                    /* All IRQs disabled.           */

     pwmp->tim->SR   = 0;                    /* Clear eventual pending IRQs. */

@@ -520,35 +510,6 @@ void pwm_lld_stop(PWMDriver *pwmp) {
 }

 

 /**

- * @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.

- * @post    Any active channel is disabled by this function and must be

- *          activated explicitly using @p pwmEnableChannel().

- * @note    The function has effect at the next cycle start.

- *

- * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] period    new cycle time in ticks

- *

- * @api

- */

-void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {

-

-  pwmp->enabled_channels = 0;           /* All channels disabled.           */

-  pwmp->tim->DIER &= ~(TIM_DIER_CC1IE |

-                       TIM_DIER_CC2IE |

-                       TIM_DIER_CC3IE |

-                       TIM_DIER_CC4IE); /* Channels sources disabled.       */

-  pwmp->tim->SR    = ~(TIM_SR_CC1IF |

-                       TIM_SR_CC1IF |

-                       TIM_SR_CC1IF |

-                       TIM_SR_CC1IF);   /* Clears eventual pending IRQs.    */

-  pwmp->tim->ARR   = (uint16_t)(period - 1);

-}

-

-/**

  * @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.

@@ -565,14 +526,15 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
                             pwmcnt_t width) {

 

   *(&pwmp->tim->CCR1 + (channel * 2)) = width;      /* New duty cycle.      */

-  if ((pwmp->enabled_channels & (1 << channel)) == 0) {

-    /* The channel is not enabled yet.*/

-    pwmp->enabled_channels |= (1 << channel);

-    /* If there is a callback associated to the channel then the proper

-       interrupt is cleared and enabled.*/

-    if (pwmp->config->channels[channel].callback) {

-      pwmp->tim->SR    = ~(2 << channel);

-      pwmp->tim->DIER |= (2 << channel);

+  /* If there is a callback defined for the channel then the associated

+     interrupt must be enabled.*/

+  if (pwmp->config->channels[channel].callback != NULL) {

+    uint32_t dier = pwmp->tim->DIER;

+    /* 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 ((dier & (2 << channel)) == 0) {

+      pwmp->tim->DIER = dier | (2 << channel);

+      pwmp->tim->SR   = ~(2 << channel);

     }

   }

 }

@@ -593,7 +555,6 @@ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
 

   *(&pwmp->tim->CCR1 + (channel * 2)) = 0;

   pwmp->tim->DIER &= ~(2 << channel);

-  pwmp->enabled_channels &= ~(1 << channel);

 }

 

 #endif /* HAL_USE_PWM */

diff --git a/os/hal/platforms/STM32/pwm_lld.h b/os/hal/platforms/STM32/pwm_lld.h
index 3d0d9d79c..2b3ce7183 100644
--- a/os/hal/platforms/STM32/pwm_lld.h
+++ b/os/hal/platforms/STM32/pwm_lld.h
@@ -296,10 +296,6 @@ struct PWMDriver {
 #endif

   /* End of the mandatory fields.*/

   /**

-   * @brief Bit mask of the enabled channels.

-   */

-  uint32_t                  enabled_channels;

-  /**

    * @brief Pointer to the TIMx registers block.

    */

   TIM_TypeDef               *tim;

@@ -309,6 +305,25 @@ struct PWMDriver {
 /* 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)                                 \

+  ((pwmp)->tim->ARR = (uint16_t)((period) - 1))

+

 /*===========================================================================*/

 /* External declarations.                                                    */

 /*===========================================================================*/

@@ -339,7 +354,6 @@ extern "C" {
   void pwm_lld_init(void);

   void pwm_lld_start(PWMDriver *pwmp);

   void pwm_lld_stop(PWMDriver *pwmp);

-  void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period);

   void pwm_lld_enable_channel(PWMDriver *pwmp,

                               pwmchannel_t channel,

                               pwmcnt_t width);

diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c
index ed80ec24b..e7dd6b64c 100644
--- a/os/hal/src/pwm.c
+++ b/os/hal/src/pwm.c
@@ -124,11 +124,9 @@ void pwmStop(PWMDriver *pwmp) {
  *          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.

- * @post    Any active channel is disabled by this function and must be

- *          activated explicitly using @p pwmEnableChannel().

- * @note    Depending on the hardware implementation this function has

- *          effect starting on the next cycle (recommended implementation)

- *          or immediately (fallback implementation).

+ * @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

@@ -142,8 +140,7 @@ void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period) {
   chSysLock();

   chDbgAssert(pwmp->state == PWM_READY,

               "pwmChangePeriod(), #1", "invalid state");

-  pwmp->period = period;

-  pwm_lld_change_period(pwmp, period);

+  pwmChangePeriodI(pwmp, period);

   chSysUnlock();

 }

 

diff --git a/os/hal/templates/pwm_lld.c b/os/hal/templates/pwm_lld.c
index 2cd92422f..67683d120 100644
--- a/os/hal/templates/pwm_lld.c
+++ b/os/hal/templates/pwm_lld.c
@@ -92,16 +92,15 @@ void pwm_lld_stop(PWMDriver *pwmp) {
  *          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.

- * @post    Any active channel is disabled by this function and must be

- *          activated explicitly using @p pwmEnableChannel().

- * @note    Depending on the hardware implementation this function has

- *          effect starting on the next cycle (recommended implementation)

- *          or immediately (fallback implementation).

+ * @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

  *

- * @api

+ * @notapi

  */

 void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {

 

diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h
index f89406816..be461e291 100644
--- a/os/kernel/include/ch.h
+++ b/os/kernel/include/ch.h
@@ -40,7 +40,7 @@
 /**

  * @brief   Kernel version string.

  */

-#define CH_KERNEL_VERSION       "2.3.1unstable"

+#define CH_KERNEL_VERSION       "2.3.2unstable"

 

 /**

  * @brief   Kernel version major number.

@@ -55,7 +55,7 @@
 /**

  * @brief   Kernel version patch number.

  */

-#define CH_KERNEL_PATCH         1

+#define CH_KERNEL_PATCH         2

 

 /*

  * Common values.

diff --git a/readme.txt b/readme.txt
index 8f7ab034b..2c5bc3bcc 100644
--- a/readme.txt
+++ b/readme.txt
@@ -70,6 +70,11 @@
 *** Releases                                                              ***

 *****************************************************************************

 

+*** 2.3.2 ***

+- OPT: STM32 PWM driver implementation simplified.

+- CHANGE: Now pwmChangePeriod() does not implicitly disable the active

+  PWM channels.

+

 *** 2.3.1 ***

 - FIX: Fixed insufficient idle thread stack in Cortex-M0-GCC port (bug 3226671)

   (backported to 2.2.3).

diff --git a/testhal/STM32/PWM-ICU/main.c b/testhal/STM32/PWM-ICU/main.c
index 3f7b6423e..1fd56c33a 100644
--- a/testhal/STM32/PWM-ICU/main.c
+++ b/testhal/STM32/PWM-ICU/main.c
@@ -89,7 +89,7 @@ int main(void) {
   palSetPad(IOPORT3, GPIOC_LED);

 

   /*

-   * Initializes the PWM driver 1.

+   * Initializes the PWM driver 1 and ICU driver 4.

    */

   pwmStart(&PWMD1, &pwmcfg);

   palSetPadMode(IOPORT1, 8, PAL_MODE_STM32_ALTERNATE_PUSHPULL);

@@ -98,26 +98,32 @@ int main(void) {
   chThdSleepMilliseconds(2000);

 

   /*

-   * Starts the channel 0 using 25% duty cycle.

+   * Starts the PWM channel 0 using 75% duty cycle.

    */

-  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));

+  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));

   chThdSleepMilliseconds(5000);

 

   /*

-   * Changes the channel 0 to 75% duty cycle.

+   * Changes the PWM channel 0 to 50% duty cycle.

    */

-  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));

+  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));

+  chThdSleepMilliseconds(5000);

+

+  /*

+   * Changes the PWM channel 0 to 25% duty cycle.

+   */

+  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));

   chThdSleepMilliseconds(5000);

 

   /*

-   * Changes PWM period to half second and duty cycle to 50%.

+   * Changes PWM period to half second the duty cycle becomes 50%

+   * implicitly.

    */

   pwmChangePeriod(&PWMD1, 5000);

-  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));

   chThdSleepMilliseconds(5000);

 

   /*

-   * Disables channel 0.

+   * Disables channel 0 and stops the drivers.

    */

   pwmDisableChannel(&PWMD1, 0);

   pwmStop(&PWMD1);