[KINETIS] Interrupt driver PWM driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7502 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 98 insertions, 21 deletions

diff --git a/os/hal/ports/KINETIS/KL2x/pwm_lld.c b/os/hal/ports/KINETIS/KL2x/pwm_lld.c
index 9314532ef..2f1713109 100644
--- a/os/hal/ports/KINETIS/KL2x/pwm_lld.c
+++ b/os/hal/ports/KINETIS/KL2x/pwm_lld.c
@@ -34,9 +34,9 @@
 #define KINETIS_TPM1_CHANNELS 2

 #define KINETIS_TPM2_CHANNELS 2

 

-#define KINETIS_TPM0_HANDLER

-#define KINETIS_TPM1_HANDLER

-#define KINETIS_TPM2_HANDLER

+#define KINETIS_TPM0_HANDLER  Vector84

+#define KINETIS_TPM1_HANDLER  Vector88

+#define KINETIS_TPM2_HANDLER  Vector8C

 

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

 /* Driver exported variables.                                                */

@@ -70,15 +70,85 @@ PWMDriver PWMD3;
 /* Driver local variables and types.                                         */

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

 

-

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

 /* Driver local functions.                                                   */

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

 

+static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {

+  uint32_t sr;

+

+  sr = pwmp->tpm->STATUS;

+  pwmp->tpm->STATUS = 0xFFFFFFFF;

+

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

+      (pwmp->config->callback != NULL))

+    pwmp->config->callback(pwmp);

+  if (((sr & TPM_STATUS_CH0F) != 0) &&

+      (pwmp->config->channels[0].callback != NULL))

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

+  if (((sr & TPM_STATUS_CH1F) != 0) &&

+      (pwmp->config->channels[1].callback != NULL))

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

+  if (((sr & TPM_STATUS_CH2F) != 0) &&

+      (pwmp->config->channels[2].callback != NULL))

+    pwmp->config->channels[2].callback(pwmp);

+  if (((sr & TPM_STATUS_CH3F) != 0) &&

+      (pwmp->config->channels[3].callback != NULL))

+    pwmp->config->channels[3].callback(pwmp);

+  if (((sr & TPM_STATUS_CH4F) != 0) &&

+      (pwmp->config->channels[4].callback != NULL))

+    pwmp->config->channels[4].callback(pwmp);

+  if (((sr & TPM_STATUS_CH5F) != 0) &&

+      (pwmp->config->channels[5].callback != NULL))

+    pwmp->config->channels[5].callback(pwmp);

+}

+

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

 /* Driver interrupt handlers.                                                */

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

 

+#if KINETIS_PWM_USE_TPM0

+/**

+ * @brief   TPM0 interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(KINETIS_TPM0_HANDLER) {

+

+  OSAL_IRQ_PROLOGUE();

+  pwm_lld_serve_interrupt(&PWMD1);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_PWM_USE_TPM0 */

+

+#if KINETIS_PWM_USE_TPM1

+/**

+ * @brief   TPM1 interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(KINETIS_TPM1_HANDLER) {

+

+  OSAL_IRQ_PROLOGUE();

+  pwm_lld_serve_interrupt(&PWMD2);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_PWM_USE_TPM1 */

+

+#if KINETIS_PWM_USE_TPM2

+/**

+ * @brief   TPM2 interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(KINETIS_TPM2_HANDLER) {

+

+  OSAL_IRQ_PROLOGUE();

+  pwm_lld_serve_interrupt(&PWMD3);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_PWM_USE_TPM2 */

+

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

 /* Driver exported functions.                                                */

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

@@ -127,18 +197,21 @@ void pwm_lld_start(PWMDriver *pwmp) {
 #if KINETIS_PWM_USE_TPM0

     if (&PWMD1 == pwmp) {

       SIM->SCGC6 |= SIM_SCGC6_TPM0;

+      nvicEnableVector(TPM0_IRQn, KINETIS_PWM_TPM0_IRQ_PRIORITY);

     }

 #endif

 

 #if KINETIS_PWM_USE_TPM1

     if (&PWMD2 == pwmp) {

       SIM->SCGC6 |= SIM_SCGC6_TPM1;

+      nvicEnableVector(TPM1_IRQn, KINETIS_PWM_TPM1_IRQ_PRIORITY);

     }

 #endif

 

 #if KINETIS_PWM_USE_TPM2

     if (&PWMD3 == pwmp) {

       SIM->SCGC6 |= SIM_SCGC6_TPM2;

+      nvicEnableVector(TPM2_IRQn, KINETIS_PWM_TPM2_IRQ_PRIORITY);

     }

 #endif

   }

@@ -184,18 +257,21 @@ void pwm_lld_stop(PWMDriver *pwmp) {
 #if KINETIS_PWM_USE_TPM0

     if (&PWMD1 == pwmp) {

       SIM->SCGC6 &= ~SIM_SCGC6_TPM0;

+      nvicDisableVector(TPM0_IRQn);

     }

 #endif

 

 #if KINETIS_PWM_USE_TPM1

     if (&PWMD2 == pwmp) {

       SIM->SCGC6 &= ~SIM_SCGC6_TPM1;

+      nvicDisableVector(TPM1_IRQn);

     }

 #endif

 

 #if KINETIS_PWM_USE_TPM2

     if (&PWMD3 == pwmp) {

       SIM->SCGC6 &= ~SIM_SCGC6_TPM2;

+      nvicDisableVector(TPM2_IRQn);

     }

 #endif

     /* Disable LPTPM counter.*/

@@ -204,6 +280,7 @@ void pwm_lld_stop(PWMDriver *pwmp) {
   }

 }

 

+

 /**

  * @brief   Enables a PWM channel.

  * @pre     The PWM unit must have been activated using @p pwmStart().

@@ -220,23 +297,21 @@ void pwm_lld_stop(PWMDriver *pwmp) {
 void pwm_lld_enable_channel(PWMDriver *pwmp,

                             pwmchannel_t channel,

                             pwmcnt_t width) {

-

-  uint32_t mode = 0;

-

-  osalDbgAssert(channel <= 5, "pwm_lld_enable_channel() #1, invalid channel");

+  uint32_t mode = TPM_CnSC_MSB; /* Edge-aligned PWM mode.*/

 

   switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {

   case PWM_OUTPUT_ACTIVE_HIGH:

-    mode = TPM_CnSC_MSB | TPM_CnSC_ELSB;

+    mode |= TPM_CnSC_ELSB;

     break;

   case PWM_OUTPUT_ACTIVE_LOW:

-    mode = TPM_CnSC_MSB | TPM_CnSC_ELSA;

-    break;

-  default:

+    mode |= TPM_CnSC_ELSA;

     break;

   }

 

-  pwmp->tpm->C[channel].SC |= mode;

+  if (pwmp->tpm->C[channel].SC & TPM_CnSC_CHIE)

+    mode |= TPM_CnSC_CHIE;

+

+  pwmp->tpm->C[channel].SC = mode;

   pwmp->tpm->C[channel].V = width;

 }

 

@@ -254,8 +329,6 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
  */

 void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {

 

-  osalDbgAssert(channel <= 5, "pwm_lld_disable_channel() #1, invalid channel");

-

   pwmp->tpm->C[channel].SC = 0;

   pwmp->tpm->C[channel].V = 0;

 }

@@ -271,7 +344,7 @@ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
  */

 void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {

 

-  (void)pwmp;

+  pwmp->tpm->SC |= TPM_SC_TOIE;

 }

 

 /**

@@ -285,7 +358,7 @@ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
  */

 void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {

 

-  (void)pwmp;

+  pwmp->tpm->SC &= ~TPM_SC_TOIE;

 }

 

 /**

@@ -302,8 +375,10 @@ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
 void pwm_lld_enable_channel_notification(PWMDriver *pwmp,

                                          pwmchannel_t channel) {

 

-  (void)pwmp;

-  (void)channel;

+  osalDbgAssert(channel <= 5,

+                "pwm_lld_enable_channel_notification() #1, invalid channel");

+

+  pwmp->tpm->C[channel].SC |= TPM_CnSC_CHIE;

 }

 

 /**

@@ -320,8 +395,10 @@ void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
 void pwm_lld_disable_channel_notification(PWMDriver *pwmp,

                                           pwmchannel_t channel) {

 

-  (void)pwmp;

-  (void)channel;

+  osalDbgAssert(channel <= 5,

+                "pwm_lld_disable_channel_notification() #1, invalid channel");

+

+  pwmp->tpm->C[channel].SC &= ~TPM_CnSC_CHIE;

 }

 

 #endif /* HAL_USE_PWM */