ADC, SPI, PWM driver enhancements.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2254 35acf78f-673a-0410-8e92-d51de3d6d3f4

9 files changed, 148 insertions, 18 deletions

diff --git a/os/hal/hal.dox b/os/hal/hal.dox
index 4fbbccf3f..0af849111 100644
--- a/os/hal/hal.dox
+++ b/os/hal/hal.dox
@@ -337,7 +337,7 @@
     active -> active [label="\nasync callback (half buffer)\nasync callback (full buffer circular)\n>acg_endcb<"];

     active -> complete [label="\nasync callback (full buffer)\n>acg_endcb<"];

     complete -> active [label="\nadcStartConversionI()\nthen\ncallback return()"];

-    complete -> ready [label="\nadcStopConversionI()\nthen\ncallback return"];

+    complete -> ready [label="\ncallback return"];

   }

  * @enddot

  * @else

@@ -363,7 +363,7 @@
     active -> active [label="\nasync callback (half buffer)\nasync callback (full buffer circular)\n>acg_endcb<"];

     active -> complete [label="\nasync callback (full buffer)\n>acg_endcb<"];

     complete -> active [label="\nadcStartConversionI()\nthen\ncallback return()"];

-    complete -> ready [label="\nadcStopConversionI()\nthen\ncallback return"];

+    complete -> ready [label="\ncallback return"];

   }

  * @enddot

  * @endif

@@ -373,7 +373,7 @@
  * the operational details follows.

  *

  * @subsection adc_2_1 ADC Conversion Groups

- * The ADC Conversion Group is the objects that specifies a physical

+ * The @p ADCConversionGroup is the objects that specifies a physical

  * conversion operation. This structure contains some standard fields and

  * several implementation-dependent fields.<br>

  * The standard fields define the CG mode, the number of channels belonging

@@ -523,6 +523,23 @@
   }

  * @enddot

  *

+ * @section pwm_1 PWM Operations.

+ * This driver abstracts a generic PWM times composed of:

+ * - A main up counter.

+ * - A comparator register that resets the main counter to zero when the limit

+ *   is reached. An optional callback can be generated when this happens.

+ * - An array of @p PWM_CHANNELS PWM channels, each channel has an output,

+ *   a comparator and is able to invoke an optional callback when a comparator

+ *   match with the main counter happens.

+ * .

+ * A PWM channel output can be in two different states:

+ * - <b>IDLE</b>, when the channel is disabled or after a match occurred.

+ * - <b>ACTIVE</b>, when the channel is enabled and a match didn't occur yet

+ *   in the current PWM cycle.

+ * .

+ * Note that the two states can be associated to both logical zero or one in

+ * the @p PWMChannelConfig structure.

+ *

  * @ingroup IO

  */

 

diff --git a/os/hal/platforms/STM32/hal_lld_f103.h b/os/hal/platforms/STM32/hal_lld_f103.h
index b58a6778e..f1d0a0eb7 100644
--- a/os/hal/platforms/STM32/hal_lld_f103.h
+++ b/os/hal/platforms/STM32/hal_lld_f103.h
@@ -414,7 +414,7 @@
 #endif

 

 /**

- * @brief   Timers 1, 8, 9, 10 and 11 clock.

+ * @brief   Timers 1, 8, 9, 10, 11 clock.

  */

 #if (STM32_PPRE2 == STM32_PPRE2_DIV1) || defined(__DOXYGEN__)

 #define STM32_TIMCLK2               (STM32_PCLK2 * 1)

diff --git a/os/hal/platforms/STM32/pwm_lld.h b/os/hal/platforms/STM32/pwm_lld.h
index b86ab1a8f..761c3af39 100644
--- a/os/hal/platforms/STM32/pwm_lld.h
+++ b/os/hal/platforms/STM32/pwm_lld.h
@@ -149,7 +149,6 @@ typedef void (*pwmcallback_t)(PWMDriver *pwmp);
 

 /**

  * @brief   PWM driver channel configuration structure.

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

  */

 typedef struct {

   /**

@@ -225,6 +224,72 @@ struct PWMDriver {
 /* Driver macros.                                                            */

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

 

+/**

+ * @brief   PWM 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 PWM 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] nsec      PWM clock cycle time in nanoseconds

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

+ *                      @p PWMConfig structure.

+ */

+#define PWM_COMPUTE_PSC(clksrc, nsec)                                       \

+  ((uint16_t)(((clksrc) / (1000000000 / (nsec))) - 1))

+

+/**

+ * @brief   PWM cycle period initialization utility.

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

+ *

+ * @param[in] clkperiod PWM clock period in nanoseconds

+ * @param[in] pwmperiod PWM cycle period in nanoseconds

+ */

+#define PWM_COMPUTE_ARR(clkperiod, pwmperiod)                               \

+  ((uint16_t)(((clkperiod) / (1000000000 / (pwmperiod))) - 1))

+

+/**

+ * @brief   Converts from degrees to pulse width.

+ * @note    Be careful with rounding errors, this is integer math not magic.

+ *          You can specify hundredths of degrees but make sure you have the

+ *          proper hardware resolution by carefully choosing the clock source

+ *          and prescaler settings, see @p PWM_COMPUTE_PSC.

+ *

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

+ * @param[in] degrees   degrees as an integer between 0 and 36000

+ * @return              The pulse width to be passed to @p pwmEnableChannel().

+ *

+ * @api

+ */

+#define PWM_DEGREES_TO_WIDTH(pwpm, degrees)                                 \

+  ((uint16_t)(((((uint32_t)(pwpm)->pd_config->pc_arr + 1UL) *               \

+                 (uint32_t)(degrees)) / 36000UL) - 1UL))

+

+/**

+ * @brief   Converts from percentage to pulse width.

+ * @note    Be careful with rounding errors, this is integer math not magic.

+ *          You can specify tenths of thousandth but make sure you have the

+ *          proper hardware resolution by carefully choosing the clock source

+ *          and prescaler settings, see @p PWM_COMPUTE_PSC.

+ *

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

+ * @param[in] percentage percentage as an integer between 0 and 10000

+ * @return              The pulse width to be passed to @p pwmEnableChannel().

+ *

+ * @api

+ */

+#define PWM_PERCENTAGE_TO_WIDTH(pwpm, percentage)                           \

+  ((uint16_t)(((((uint32_t)(pwpm)->pd_config->pc_arr + 1UL) *               \

+                 (uint32_t)(percentage)) / 10000UL) - 1UL))

+

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

 /* External declarations.                                                    */

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

diff --git a/os/hal/platforms/STM8/platform.dox b/os/hal/platforms/STM8/platform.dox
index 72694e230..20a2637af 100644
--- a/os/hal/platforms/STM8/platform.dox
+++ b/os/hal/platforms/STM8/platform.dox
@@ -19,7 +19,7 @@
 

 /**

  * @defgroup STM8_DRIVERS STM8 Drivers

- * @brief Device drivers included in the STM8 support.

+ * @brief STM8 specific support.

  *

  * @ingroup platforms

  */

diff --git a/os/hal/platforms/platforms.dox b/os/hal/platforms/platforms.dox
index 9596da2c7..aa25cbca4 100644
--- a/os/hal/platforms/platforms.dox
+++ b/os/hal/platforms/platforms.dox
@@ -20,10 +20,8 @@
 /**

  * @defgroup platforms Platforms

  * @brief Supported platforms.

- * @details The implementation of the device drivers can be sligthly different

+ * @details The implementation of the device drivers can be slightly different

  * on the various platforms because architectural constrains. This section

  * describes the implementation of the various device drivers on the various

  * supported platforms.

- *

- * @ingroup IO

  */

diff --git a/os/hal/src/adc.c b/os/hal/src/adc.c
index c6968f11b..e18995089 100644
--- a/os/hal/src/adc.c
+++ b/os/hal/src/adc.c
@@ -176,7 +176,8 @@ void adcStartConversionI(ADCDriver *adcp,
              ((depth == 1) || ((depth & 1) == 0)),

              "adcStartConversionI");

 

-  chDbgAssert(adcp->ad_state == ADC_READY,

+  chDbgAssert((adcp->ad_state == ADC_READY) ||

+              (adcp->ad_state == ADC_COMPLETE),

               "adcStartConversionI(), #1", "not ready");

   adcp->ad_samples  = samples;

   adcp->ad_depth    = depth;

@@ -201,8 +202,7 @@ void adcStopConversion(ADCDriver *adcp) {
 

   chSysLock();

   chDbgAssert((adcp->ad_state == ADC_READY) ||

-              (adcp->ad_state == ADC_ACTIVE) ||

-              (adcp->ad_state == ADC_COMPLETE),

+              (adcp->ad_state == ADC_ACTIVE),

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

   if (adcp->ad_state != ADC_READY) {

     adc_lld_stop_conversion(adcp);

diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c
index 978149ff6..13c77bfc6 100644
--- a/os/hal/src/pwm.c
+++ b/os/hal/src/pwm.c
@@ -86,8 +86,7 @@ void pwmStart(PWMDriver *pwmp, const PWMConfig *config) {
 

   chSysLock();

   chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),

-              "pwmStart(), #1",

-              "invalid state");

+              "pwmStart(), #1", "invalid state");

   pwmp->pd_config = config;

   pwm_lld_start(pwmp);

   pwmp->pd_state = PWM_READY;

@@ -107,8 +106,7 @@ void pwmStop(PWMDriver *pwmp) {
 

   chSysLock();

   chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),

-              "pwmStop(), #1",

-              "invalid state");

+              "pwmStop(), #1", "invalid state");

   pwm_lld_stop(pwmp);

   pwmp->pd_state = PWM_STOP;

   chSysUnlock();

@@ -133,7 +131,7 @@ void pwmEnableChannel(PWMDriver *pwmp,
 

   chSysLock();

   chDbgAssert(pwmp->pd_state == PWM_READY,

-              "pwmEnableChannel(), #1", "invalid state");

+              "pwmEnableChannel(), #1", "not ready");

   pwm_lld_enable_channel(pwmp, channel, width);

   chSysUnlock();

 }

@@ -155,7 +153,7 @@ void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {
 

   chSysLock();

   chDbgAssert(pwmp->pd_state == PWM_READY,

-              "pwmDisableChannel(), #1", "invalid state");

+              "pwmDisableChannel(), #1", "not ready");

   pwm_lld_disable_channel(pwmp, channel);

   chSysUnlock();

 }

diff --git a/os/hal/src/spi.c b/os/hal/src/spi.c
index fe7b729bd..be5cf9452 100644
--- a/os/hal/src/spi.c
+++ b/os/hal/src/spi.c
@@ -105,6 +105,8 @@ void spiStart(SPIDriver *spip, const SPIConfig *config) {
 

 /**

  * @brief Deactivates the SPI peripheral.

+ * @note  Deactivating the peripheral also enforces a release of the slave

+ *        select line.

  *

  * @param[in] spip      pointer to the @p SPIDriver object

  *

@@ -117,6 +119,7 @@ void spiStop(SPIDriver *spip) {
   chSysLock();

   chDbgAssert((spip->spd_state == SPI_STOP) || (spip->spd_state == SPI_READY),

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

+  spi_lld_unselect(spip);

   spi_lld_stop(spip);

   spip->spd_state = SPI_STOP;

   chSysUnlock();

diff --git a/os/hal/templates/pwm_lld.h b/os/hal/templates/pwm_lld.h
index 6d499d791..07ce6eb06 100644
--- a/os/hal/templates/pwm_lld.h
+++ b/os/hal/templates/pwm_lld.h
@@ -74,6 +74,25 @@ typedef struct PWMDriver PWMDriver;
 typedef void (*pwmcallback_t)(PWMDriver *pwmp);

 

 /**

+ * @brief   PWM driver channel configuration structure.

+ * @note    Some architectures may not be able to support the channel mode

+ *          or the callback, in this case the fields are ignored.

+ */

+typedef struct {

+  /**

+   * @brief Channel active logic level.

+   */

+  pwmmode_t                 pcc_mode;

+  /**

+   * @brief Channel callback pointer.

+   * @note  This callback is invoked on the channel compare event. If set to

+   *        @p NULL then the callback is disabled.

+   */

+  pwmcallback_t             pcc_callback;

+  /* End of the mandatory fields.*/

+} PWMChannelConfig;

+

+/**

  * @brief   Driver configuration structure.

  * @note    Implementations may extend this structure to contain more,

  *          architecture dependent, fields.

@@ -116,6 +135,36 @@ struct PWMDriver {
 /* Driver macros.                                                            */

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

 

+/**

+ * @brief   Converts from degrees to pulse width.

+ * @note    Be careful with rounding errors, this is integer math not magic.

+ *          You can specify hundredths of degrees but make sure you have the

+ *          proper hardware resolution by carefully choosing the clock source

+ *          and prescaler settings, see @p PWM_COMPUTE_PSC.

+ *

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

+ * @param[in] degrees   degrees as an integer between 0 and 36000

+ * @return              The pulse width to be passed to @p pwmEnableChannel().

+ *

+ * @api

+ */

+#define PWM_DEGREES_TO_WIDTH(pwpm, degrees) 0

+

+/**

+ * @brief   Converts from percentage to pulse width.

+ * @note    Be careful with rounding errors, this is integer math not magic.

+ *          You can specify tenths of thousandth but make sure you have the

+ *          proper hardware resolution by carefully choosing the clock source

+ *          and prescaler settings, see @p PWM_COMPUTE_PSC.

+ *

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

+ * @param[in] percentage percentage as an integer between 0 and 10000

+ * @return              The pulse width to be passed to @p pwmEnableChannel().

+ *

+ * @api

+ */

+#define PWM_PERCENTAGE_TO_WIDTH(pwpm, percentage) 0

+

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

 /* External declarations.                                                    */

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