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authorgdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>2009-12-07 16:13:01 +0000
committergdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>2009-12-07 16:13:01 +0000
commit0b8fd860fa71b35bfe0a242471d3bc4b56c93089 (patch)
treebef2e30c56b7f7e99e6d0aa6ddf7ca7459ce0f1a /os/hal
parentf1aa994420693645eb0ea371017170b465f86ef2 (diff)
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1381 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/hal')
-rw-r--r--os/hal/include/can.h4
-rw-r--r--os/hal/include/mmc_spi.h4
-rw-r--r--os/hal/include/pwm.h87
-rw-r--r--os/hal/src/pwm.c150
-rw-r--r--os/hal/templates/halconf.h7
-rw-r--r--os/hal/templates/meta/driver.c4
-rw-r--r--os/hal/templates/meta/driver_lld.c4
-rw-r--r--os/hal/templates/pwm_lld.c79
-rw-r--r--os/hal/templates/pwm_lld.h105
9 files changed, 440 insertions, 4 deletions
diff --git a/os/hal/include/can.h b/os/hal/include/can.h
index c8027af39..8f2a7572d 100644
--- a/os/hal/include/can.h
+++ b/os/hal/include/can.h
@@ -29,6 +29,10 @@
#if CH_HAL_USE_CAN || defined(__DOXYGEN__)
+#if !CH_USE_SEMAPHORES
+#error "CAN driver requires CH_USE_SEMAPHORES"
+#endif
+
/**
* @brief Errors rate warning.
*/
diff --git a/os/hal/include/mmc_spi.h b/os/hal/include/mmc_spi.h
index 4a6886933..2a9fd0c53 100644
--- a/os/hal/include/mmc_spi.h
+++ b/os/hal/include/mmc_spi.h
@@ -29,6 +29,10 @@
#if CH_HAL_USE_MMC_SPI || defined(__DOXYGEN__)
+#if !CH_USE_EVENTS
+#error "MMC_SPI driver requires CH_USE_EVENTS"
+#endif
+
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
diff --git a/os/hal/include/pwm.h b/os/hal/include/pwm.h
new file mode 100644
index 000000000..dfc55d30c
--- /dev/null
+++ b/os/hal/include/pwm.h
@@ -0,0 +1,87 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2007 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 pwm.h
+ * @brief PWM Driver macros and structures.
+ * @addtogroup PWM
+ * @{
+ */
+
+#ifndef _PWM_H_
+#define _PWM_H_
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ PWM_UNINIT = 0, /**< @brief Not initialized. */
+ PWM_STOP = 1, /**< @brief Stopped. */
+ PWM_READY = 2, /**< @brief Ready. */
+} pwmstate_t;
+
+/**
+ * @brief PWM edge for callbacks.
+ */
+typedef enum {
+ PWM_NONE = 0, /**< @brief No callback. */
+ PWM_TO_ACTIVE_EDGE = 1, /**< @brief Enable on idle->active. */
+ PWM_TO_IDLE_EDGE = 2, /**< @brief Enable on active->idle. */
+ PWM_BOTH_EDGES = 3 /**< @brief Enable on both edges. */
+} pwmedge_t;
+
+/**
+ * @brief PWM logic mode.
+ */
+typedef enum {
+ PWM_ACTIVE_LOW = 0, /**< @brief Idle is logic level 1. */
+ PWM_ACTIVE_HIGH = 1 /**< @brief Idle is logic level 0. */
+} pwmmode_t;
+
+/**
+ * @brief PWM notification callback type.
+ *
+ * @param[in] active current channel output state
+ */
+typedef void (*pwmcallback_t)(bool_t active);
+
+#include "pwm_lld.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void pwmInit(void);
+ void pwmObjectInit(PWMDriver *pwmp);
+ void pwmStart(PWMDriver *pwmp, const PWMConfig *config);
+ void pwmStop(PWMDriver *pwmp);
+ void pwmSetCallback(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmedge_t edge,
+ pwmcallback_t callback);
+ void pwmEnableChannel(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmcnt_t width);
+ void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _PWM_H_ */
+
+/** @} */
diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c
new file mode 100644
index 000000000..ef4260629
--- /dev/null
+++ b/os/hal/src/pwm.c
@@ -0,0 +1,150 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2007 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 PWM.c
+ * @brief PWM Driver code.
+ * @addtogroup PWM
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+/**
+ * @brief PWM Driver initialization.
+ */
+void pwmInit(void) {
+
+ pwm_lld_init();
+}
+
+/**
+ * @brief Initializes the standard part of a @p PWMDriver structure.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ */
+void pwmObjectInit(PWMDriver *pwmp) {
+
+ pwmp->pd_state = PWM_STOP;
+ pwmp->pwm_config = NULL;
+}
+
+/**
+ * @brief Configures and activates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] config pointer to the @p PWMConfig object
+ */
+void pwmStart(PWMDriver *pwmp, const PWMConfig *config) {
+
+ chDbgCheck((pwmp != NULL) && (config != NULL), "pwmStart");
+
+ chSysLock();
+ chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),
+ "pwmStart(), #1",
+ "invalid state");
+ pwmp->pd_config = config;
+ pwm_lld_start(pwmp);
+ pwmp->pd_state = PWM_READY;
+ chSysUnlock();
+}
+
+/**
+ * @brief Deactivates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ */
+void pwmStop(PWMDriver *pwmp) {
+
+ chDbgCheck(pwmp != NULL, "pwmStop");
+
+ chSysLock();
+ chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),
+ "pwmStop(), #1",
+ "invalid state");
+ pwm_lld_stop(pwmp);
+ pwmp->pd_state = PWM_STOP;
+ chSysUnlock();
+}
+
+/**
+ * @brief Enables a callback mode for the specified PWM channel.
+ * @details The callback mode must be set before starting a PWM channel.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] channel PWM channel identifier
+ * @param[in] edge output edge mode
+ * @param[in] callback the callback function
+ */
+void pwmSetCallback(PWMDriver *pwmp, pwmchannel_t channel,
+ pwmedge_t edge, pwmcallback_t callback) {
+
+ chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
+ "pwmSetCallback");
+
+ chSysLock();
+ chDbgAssert((pwmp->pd_state == PWM_READY) &&
+ !pwm_lld_is_enabled(pwmp, channel),
+ "pwmSetCallback(), #1", "invalid state");
+ pwm_lld_set_callback(pwmp, channel, edge, callback);
+ chSysUnlock();
+}
+
+/**
+ * @brief Enables a PWM channel.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] channel PWM channel identifier
+ * @param[in] width PWM pulse width as clock pulses number
+ */
+void pwmEnableChannel(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmcnt_t width) {
+
+ chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
+ "pwmEnableChannel");
+
+ chSysLock();
+ chDbgAssert(pwmp->pd_state == PWM_READY,
+ "pwmEnableChannel(), #1", "invalid state");
+ pwm_lld_enable_channel(pwmp, channel, width);
+ chSysUnlock();
+}
+
+/**
+ * @brief Disables a PWM channel.
+ * @details The channel output line is returned to its idle state and disabled.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] channel PWM channel identifier
+ */
+void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+ chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
+ "pwmEnableChannel");
+
+ chSysLock();
+ chDbgAssert(pwmp->pd_state == PWM_READY,
+ "pwmDisableChannel(), #1", "invalid state");
+ pwm_lld_disable_channel(pwmp, channel);
+ chSysUnlock();
+}
+
+/** @} */
diff --git a/os/hal/templates/halconf.h b/os/hal/templates/halconf.h
index 35948950b..f173a3fa3 100644
--- a/os/hal/templates/halconf.h
+++ b/os/hal/templates/halconf.h
@@ -56,6 +56,13 @@
#endif
/**
+ * @brief Enables the PWM subsystem.
+ */
+#if !defined(CH_HAL_USE_PWM) || defined(__DOXYGEN__)
+#define CH_HAL_USE_PWM TRUE
+#endif
+
+/**
* @brief Enables the SERIAL subsystem.
*/
#if !defined(CH_HAL_USE_SERIAL) || defined(__DOXYGEN__)
diff --git a/os/hal/templates/meta/driver.c b/os/hal/templates/meta/driver.c
index 9bf785ed2..7fe2f9406 100644
--- a/os/hal/templates/meta/driver.c
+++ b/os/hal/templates/meta/driver.c
@@ -24,8 +24,8 @@
* @{
*/
-#include <ch.h>
-#include <xxx.h>
+#include "ch.h"
+#include "hal.h"
/**
* @brief XXX Driver initialization.
diff --git a/os/hal/templates/meta/driver_lld.c b/os/hal/templates/meta/driver_lld.c
index df91ed21b..0413ffa31 100644
--- a/os/hal/templates/meta/driver_lld.c
+++ b/os/hal/templates/meta/driver_lld.c
@@ -24,8 +24,8 @@
* @{
*/
-#include <ch.h>
-#include <xxx.h>
+#include "ch.h"
+#include "hal.h"
/*===========================================================================*/
/* Low Level Driver exported variables. */
diff --git a/os/hal/templates/pwm_lld.c b/os/hal/templates/pwm_lld.c
new file mode 100644
index 000000000..7fa1297b7
--- /dev/null
+++ b/os/hal/templates/pwm_lld.c
@@ -0,0 +1,79 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2007 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 templates/pwm_lld.c
+ * @brief PWM Driver subsystem low level driver source template
+ * @addtogroup PWM_LLD
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+/*===========================================================================*/
+/* Low Level Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PWM driver initialization.
+ */
+void pwm_lld_init(void) {
+
+}
+
+/**
+ * @brief Configures and activates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ */
+void pwm_lld_start(PWMDriver *pwmp) {
+
+ if (pwmp->pwm_state == PWM_STOP) {
+ /* Clock activation.*/
+ }
+ /* Configuration.*/
+}
+
+/**
+ * @brief Deactivates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to the @p PWMDriver object
+ */
+void pwm_lld_stop(PWMDriver *pwmp) {
+
+}
+
+/** @} */
diff --git a/os/hal/templates/pwm_lld.h b/os/hal/templates/pwm_lld.h
new file mode 100644
index 000000000..8e57830f6
--- /dev/null
+++ b/os/hal/templates/pwm_lld.h
@@ -0,0 +1,105 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2007 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 templates/pwm_lld.h
+ * @brief PWM Driver subsystem low level driver header template
+ * @addtogroup PWM_LLD
+ * @{
+ */
+
+#ifndef _PWM_LLD_H_
+#define _PWM_LLD_H_
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Number of PWM channels per PWM driver.
+ */
+#if !defined(PWM_CHANNELS) || defined(__DOXYGEN__)
+#define PWM_CHANNELS 1
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief PWM channel type.
+ */
+typedef uint8_t pwmchannel_t;
+
+/**
+ * @brief PWM counter type.
+ */
+typedef uint16_t pwmcnt_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+
+} PWMConfig;
+
+/**
+ * @brief Structure representing an PWM driver.
+ */
+typedef struct {
+ /**
+ * @brief Driver state.
+ */
+ pwmstate_t pd_state;
+ /**
+ * @brief Current configuration data.
+ */
+ const PWMConfig *pd_config;
+ /* End of the mandatory fields.*/
+} PWMDriver;
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void pwm_lld_init(void);
+ void pwm_lld_start(PWMDriver *pwmp);
+ void pwm_lld_stop(PWMDriver *pwmp);
+ bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel);
+ void pwm_lld_set_callback(PWMDriver *pwmp, pwmchannel_t channel,
+ pwmedge_t edge, pwmcallback_t callback);
+ void pwm_lld_enable_channel(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmcnt_t width);
+ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _PWM_LLD_H_ */
+
+/** @} */