git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2848 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 451 insertions, 0 deletions

diff --git a/os/hal/platforms/STM32/icu_lld.c b/os/hal/platforms/STM32/icu_lld.c
new file mode 100644
index 000000000..6877b2d72
--- /dev/null
+++ b/os/hal/platforms/STM32/icu_lld.c
@@ -0,0 +1,221 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    STM32/icu_lld.c

+ * @brief   STM32 ICU subsystem low level driver header.

+ *

+ * @addtogroup ICU

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if HAL_USE_ICU || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   ICU1 driver identifier.

+ * @note    The driver ICUD1 allocates the complex timer TIM1 when enabled.

+ */

+#if STM32_ICU_USE_TIM1 || defined(__DOXYGEN__)

+ICUDriver ICUD1;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+#if STM32_ICU_USE_TIM1

+/**

+ * @brief   TIM1 update interrupt handler.

+ * @note    It is assumed that this interrupt is only activated if the callback

+ *          pointer is not equal to @p NULL in order to not perform an extra

+ *          check in a potentially critical interrupt handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(TIM1_UP_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  TIM1->SR = ~TIM_SR_UIF;

+  ICUD1.config->callback(&ICUD1);

+

+  CH_IRQ_EPILOGUE();

+}

+

+/**

+ * @brief   TIM1 compare interrupt 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.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(TIM1_CC_IRQHandler) {

+  uint16_t sr;

+

+  CH_IRQ_PROLOGUE();

+

+  sr = TIM1->SR & TIM1->DIER;

+  TIM1->SR = ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF | TIM_SR_CC4IF);

+  if ((sr & TIM_SR_CC1IF) != 0)

+    ICUD1.config->channels[0].callback(&ICUD1);

+  if ((sr & TIM_SR_CC2IF) != 0)

+    ICUD1.config->channels[1].callback(&ICUD1);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_ICU_USE_TIM1 */

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level ICU driver initialization.

+ *

+ * @notapi

+ */

+void icu_lld_init(void) {

+

+#if STM32_ICU_USE_TIM1

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD1);

+  ICUD1.tim = TIM1;

+#endif

+}

+

+/**

+ * @brief   Configures and activates the ICU peripheral.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ *

+ * @notapi

+ */

+void icu_lld_start(ICUDriver *icup) {

+

+  if (icup->state == ICU_STOP) {

+    /* Clock activation and timer reset.*/

+#if STM32_ICU_USE_TIM1

+    if (&ICUD1 == icup) {

+      RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;

+      RCC->APB2RSTR = RCC_APB2RSTR_TIM1RST;

+      RCC->APB2RSTR = 0;

+      NVICEnableVector(TIM1_UP_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));

+      NVICEnableVector(TIM1_CC_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));

+    }

+#endif

+  }

+

+  /* Timer configuration, PWM input mode.*/

+  icup->tim->CR1   = 0;                     /* Initially stopped.           */

+  icup->tim->CR2   = 0;

+  icup->tim->ARR   = 0xFFFF;

+  icup->tim->PSC   = icup->config->psc;     /* Prescaler value.             */

+  icup->tim->DIER  = 0;

+  /* CCMR1_CC1S = 01 = CH1 Input on TI1.

+     CCMR1_CC2S = 10 = CH2 Input on TI2.*/

+  icup->tim->CCMR1 = TIM_CCMR1_CC1S_0 |

+                     TIM_CCMR1_CC2S_1;

+  /* SMCR_TS  = 101, input is TI1FP1.

+     SMCR_SMS = 100, reset on rising edge.*/

+  icup->tim->SMCR  = TIM_SMCR_TS_2 | TIM_SMCR_TS_0 |

+                     TIM_SMCR_SMS_2.

+  /* The CCER settings depend on the selected trigger mode.

+     ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.

+     ICU_INPUT_ACTIVE_LOW:  Active on falling edge, idle on rising edge.*/

+  if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)

+    icup->tim->CCER = TIM_CCER_CC1E |

+                      TIM_CCER_CC2E | TIM_CCER_CC2P;

+  else

+    icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P

+                      TIM_CCER_CC2E;

+}

+

+/**

+ * @brief   Deactivates the ICU peripheral.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ *

+ * @notapi

+ */

+void icu_lld_stop(ICUDriver *icup) {

+

+  if (icup->state == ICU_READY) {

+    /* Clock deactivation.*/

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

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

+

+#if STM32_ICU_USE_TIM1

+    if (&ICUD1 == icup) {

+      NVICDisableVector(TIM1_UP_IRQn);

+      RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN;

+    }

+#endif

+  }

+}

+

+/**

+ * @brief   Enables the input capture.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ *

+ * @notapi

+ */

+void icu_lld_enable(ICUDriver *icup) {

+

+  icup->tim->SR   = 0;                      /* Clear pending IRQs (if any). */

+  icup->tim->DIER = TIM_DIER_CC1IE | TIM_DIER_CC2IE;

+  icup->tim->CR1  = TIM_CR1_URS | TIM_CR1_CEN;

+}

+

+/**

+ * @brief   Disables the input capture.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ *

+ * @notapi

+ */

+void icu_lld_disable(ICUDriver *icup) {

+

+  icup->tim->CR1  = 0;                      /* Initially stopped.           */

+  icup->tim->SR   = 0;                      /* Clear pending IRQs (if any). */

+  icup->tim->DIER = 0;                      /* Interrupts disabled.         */

+}

+

+#endif /* HAL_USE_ICU */

+

+/** @} */

diff --git a/os/hal/platforms/STM32/icu_lld.h b/os/hal/platforms/STM32/icu_lld.h
new file mode 100644
index 000000000..78efa9765
--- /dev/null
+++ b/os/hal/platforms/STM32/icu_lld.h
@@ -0,0 +1,230 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    STM32/icu_lld.h

+ * @brief   STM32 ICU subsystem low level driver header.

+ *

+ * @addtogroup ICU

+ * @{

+ */

+

+#ifndef _ICU_LLD_H_

+#define _ICU_LLD_H_

+

+#if HAL_USE_ICU || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   ICUD1 driver enable switch.

+ * @details If set to @p TRUE the support for ICUD1 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(STM32_ICU_USE_TIM1) || defined(__DOXYGEN__)

+#define STM32_ICU_USE_TIM1                  TRUE

+#endif

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+#if STM32_ICU_USE_TIM1 && !STM32_HAS_TIM1

+#error "TIM1 not present in the selected device"

+#endif

+

+#if STM32_ICU_USE_TIM2 && !STM32_HAS_TIM2

+#error "TIM2 not present in the selected device"

+#endif

+

+#if STM32_ICU_USE_TIM3 && !STM32_HAS_TIM3

+#error "TIM3 not present in the selected device"

+#endif

+

+#if STM32_ICU_USE_TIM4 && !STM32_HAS_TIM4

+#error "TIM4 not present in the selected device"

+#endif

+

+#if STM32_ICU_USE_TIM5 && !STM32_HAS_TIM5

+#error "TIM5 not present in the selected device"

+#endif

+

+#if !STM32_ICU_USE_TIM1 && !STM32_ICU_USE_TIM2 &&                           \

+    !STM32_ICU_USE_TIM3 && !STM32_ICU_USE_TIM4 &&                           \

+    !STM32_ICU_USE_TIM5

+#error "ICU driver activated but no TIM peripheral assigned"

+#endif

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief ICU driver mode.

+ */

+typedef enum {

+  ICU_INPUT_ACTIVE_HIGH = 0,        /**< Trigger on rising edge.            */

+  ICU_INPUT_ACTIVE_LOW = 1,         /**< Trigger on falling edge.           */

+} icumode_t;

+

+/**

+ * @brief   ICU counter type.

+ */

+typedef uint16_t icucnt_t;

+

+/**

+ * @brief   Type of a structure representing an ICU driver.

+ */

+typedef struct ICUDriver ICUDriver;

+

+/**

+ * @brief   ICU notification callback type.

+ *

+ * @param[in] icup      pointer to a @p ICUDriver object

+ */

+typedef void (*icucallback_t)(ICUDriver *icup);

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  /**

+   * @brief   Driver mode.

+   */

+  icumode_t                 mode;

+  /**

+   * @brief   Callback for pulse width measurement.

+   */

+  icucallback_t             width_cb;

+  /**

+   * @brief   Callback for cycle period measurement.

+   */

+  icucallback_t             period_cb;

+  /* End of the mandatory fields.*/

+  /**

+   * @brief TIM PSC (pre-scaler) register initialization data.

+   */

+  uint16_t                  psc;

+} ICUConfig;

+

+/**

+ * @brief   Structure representing an ICU driver.

+ */

+struct ICUDriver {

+  /**

+   * @brief Driver state.

+   */

+  icustate_t                state;

+  /**

+   * @brief Current configuration data.

+   */

+  const ICUConfig           *config;

+  /* End of the mandatory fields.*/

+  /**

+   * @brief Pointer to the TIMx registers block.

+   */

+  TIM_TypeDef               *tim;

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+

+/**

+ * @brief   Returns the width of the latest pulse.

+ * @details The pulse width is defined as number of ticks between the start

+ *          edge and the stop edge.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ * @return              The number of ticks.

+ *

+ * @notapi

+ */

+#define icu_lld_get_width(icup) ((icup)->tim->CCR2)

+

+/**

+ * @brief   Returns the width of the latest cycle.

+ * @details The cycle width is defined as number of ticks between a start

+ *          edge and the next start edge.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ * @return              The number of ticks.

+ *

+ * @notapi

+ */

+#define icu_lld_get_period(icup) ((icup)->tim->CCR1)

+

+/**

+ * @brief   ICU clock prescaler initialization utility.

+ * @note    The real clock value is rounded to the lower valid value, please

+ *          make sure that the source clock frequency is a multiple of the

+ *          requested ICU clock frequency.

+ * @note    The calculated value must fit into an unsigned 16 bits integer.

+ *

+ * @param[in] clksrc    clock source frequency, depending on the target timer

+ *                      cell it can be one of:

+ *                      - STM32_TIMCLK1

+ *                      - STM32_TIMCLK2

+ *                      .

+ *                      Please refer to the STM32 HAL driver documentation

+ *                      and/or the STM32 Reference Manual for the right clock

+ *                      source.

+ * @param[in] icuclk    ICU clock frequency in cycles

+ * @return              The value to be stored in the @p psc field of the

+ *                      @p ICUConfig structure.

+ */

+#define ICU_COMPUTE_PSC(clksrc, icuclk)                                     \

+  ((uint16_t)(((clksrc) / (icuclk)) - 1))

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if STM32_ICU_USE_TIM1 && !defined(__DOXYGEN__)

+extern ICUDriver ICUD1;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void icu_lld_init(void);

+  void icu_lld_start(ICUDriver *icup);

+  void icu_lld_stop(ICUDriver *icup);

+  void icu_lld_enable(ICUDriver *icup);

+  void icu_lld_disable(ICUDriver *icup);

+  icucnt_t icu_lld_get_width(ICUDriver *icup);

+  icucnt_t icu_lld_get_period(ICUDriver *icup);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_ICU */

+

+#endif /* _ICU_LLD_H_ */

+

+/** @} */