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author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2010-10-13 11:45:07 +0000 |
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committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2010-10-13 11:45:07 +0000 |
commit | 4fab7c06d1b0c9e61f6106b5b2a5c2c0b5694c34 (patch) | |
tree | e7fdadc85d78aa2143d0082d26351da49f7f2d53 /os/hal | |
parent | ec7455babe131ee0b8a4c228ed00a02396619a7d (diff) | |
download | ChibiOS-4fab7c06d1b0c9e61f6106b5b2a5c2c0b5694c34.tar.gz ChibiOS-4fab7c06d1b0c9e61f6106b5b2a5c2c0b5694c34.tar.bz2 ChibiOS-4fab7c06d1b0c9e61f6106b5b2a5c2c0b5694c34.zip |
ADC, SPI, PWM driver enhancements.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2254 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/hal')
-rw-r--r-- | os/hal/hal.dox | 23 | ||||
-rw-r--r-- | os/hal/platforms/STM32/hal_lld_f103.h | 2 | ||||
-rw-r--r-- | os/hal/platforms/STM32/pwm_lld.h | 67 | ||||
-rw-r--r-- | os/hal/platforms/STM8/platform.dox | 2 | ||||
-rw-r--r-- | os/hal/platforms/platforms.dox | 4 | ||||
-rw-r--r-- | os/hal/src/adc.c | 6 | ||||
-rw-r--r-- | os/hal/src/pwm.c | 10 | ||||
-rw-r--r-- | os/hal/src/spi.c | 3 | ||||
-rw-r--r-- | os/hal/templates/pwm_lld.h | 49 |
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. */
/*===========================================================================*/
|