git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7224 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 218 insertions, 30 deletions

diff --git a/os/hal/dox/icu.dox b/os/hal/dox/icu.dox
new file mode 100644
index 000000000..520f320b8
--- /dev/null
+++ b/os/hal/dox/icu.dox
@@ -0,0 +1,111 @@
+/*

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

+                  2011,2012,2013,2014 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/HAL 

+

+    ChibiOS/HAL 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/>.

+*/

+

+/**

+ * @defgroup ICU ICU Driver

+ * @brief   Generic ICU Driver.

+ * @details This module implements a generic ICU (Input Capture Unit) driver.

+ *          The purpose of the driver is to measure period and duty cycle of

+ *          an input digital signal (PWM input).

+ * @pre     In order to use the ICU driver the @p HAL_USE_ICU option

+ *          must be enabled in @p halconf.h.

+ *

+ * @section icu_1 Driver State Machine

+ * The driver implements a state machine internally, not all the driver

+ * functionalities can be used in any moment, any transition not explicitly

+ * shown in the following diagram has to be considered an error and shall

+ * be captured by an assertion (if enabled).

+ * @if LATEX_PDF

+ * @dot

+  digraph example {

+    size="5, 7";

+    rankdir="LR";

+

+    node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];

+    edge [fontname=Sans, fontsize=8];

+

+    stop  [label="ICU_STOP\nLow Power"];

+    uninit [label="ICU_UNINIT", style="bold"];

+    ready [label="ICU_READY\nClock Enabled"];

+    waiting [label="ICU_WAITING"];

+    active [label="ICU_ACTIVE"];

+

+    uninit -> stop [label=" icuInit()", constraint=false];

+    stop -> stop [label="\nicuStop()"];

+    stop -> ready [label="\nicuStart()"];

+    ready -> stop [label="\nicuStop()"];

+    ready -> ready [label="\nicuStart()\nicuStopCapture()"];

+    ready -> waiting [label="\nicuStartCapture()"];

+    waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];

+    waiting -> ready [label="\nicuStopCapture()"];

+    active -> ready [label="\nicuStopCapture()"];

+    active -> active [label="\nActivation Edge\n>period_cb<"];

+    active -> active [label="\nDe-activation Edge\n>width_cb<"];

+  }

+ * @enddot

+ * @else

+ * @dot

+  digraph example {

+    rankdir="LR";

+

+    node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];

+    edge [fontname=Sans, fontsize=8];

+

+    stop  [label="ICU_STOP\nLow Power"];

+    uninit [label="ICU_UNINIT", style="bold"];

+    ready [label="ICU_READY\nClock Enabled"];

+    waiting [label="ICU_WAITING"];

+    active [label="ICU_ACTIVE"];

+

+    uninit -> stop [label=" icuInit()", constraint=false];

+    stop -> stop [label="\nicuStop()"];

+    stop -> ready [label="\nicuStart()"];

+    ready -> stop [label="\nicuStop()"];

+    ready -> ready [label="\nicuStart()\nicuStopCapture()"];

+    ready -> waiting [label="\nicuStartCapture()"];

+    waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];

+    waiting -> ready [label="\nicuStopCapture()"];

+    active -> ready [label="\nicuStopCapture()"];

+    active -> active [label="\nActivation Edge\n>period_cb<"];

+    active -> active [label="\nDe-activation Edge\n>width_cb<"];

+  }

+ * @enddot

+ * @endif

+ *

+ * @section icu_2 ICU Operations.

+ * This driver abstracts a generic Input Capture Unit composed of:

+ * - A clock prescaler.

+ * - A main up counter.

+ * - Two capture registers triggered by the rising and falling edges on

+ *   the sampled input.

+ * .

+ * The ICU unit can be programmed to synchronize on the rising or falling

+ * edge of the sample input:

+ * - <b>ICU_INPUT_ACTIVE_HIGH</b>, a rising edge is the start signal.

+ * - <b>ICU_INPUT_ACTIVE_LOW</b>, a falling edge is the start signal.

+ * .

+ * Callbacks are optionally invoked when:

+ * - On the PWM de-activation edge.

+ * - On the PWM activation edge, measurements for the previous cycle are

+ *   available from this callback and can be retrieved using

+ *   @p icuGetPeriodX() and @p icuGetWidthX().

+ * .

+ * @ingroup IO

+ */

diff --git a/os/hal/dox/pwm.dox b/os/hal/dox/pwm.dox
new file mode 100644
index 000000000..719cdc656
--- /dev/null
+++ b/os/hal/dox/pwm.dox
@@ -0,0 +1,69 @@
+/*

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

+                  2011,2012,2013,2014 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/HAL 

+

+    ChibiOS/HAL 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/>.

+*/

+

+/**

+ * @defgroup PWM PWM Driver

+ * @brief   Generic PWM Driver.

+ * @details This module implements a generic PWM (Pulse Width Modulation)

+ *          driver.

+ * @pre     In order to use the PWM driver the @p HAL_USE_PWM option

+ *          must be enabled in @p halconf.h.

+ *

+ * @section pwm_1 Driver State Machine

+ * The driver implements a state machine internally, not all the driver

+ * functionalities can be used in any moment, any transition not explicitly

+ * shown in the following diagram has to be considered an error and shall

+ * be captured by an assertion (if enabled).

+ * @dot

+  digraph example {

+    rankdir="LR";

+    node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];

+    edge [fontname=Helvetica, fontsize=8];

+    uninit [label="PWM_UNINIT", style="bold"];

+    stop  [label="PWM_STOP\nLow Power"];

+    ready [label="PWM_READY\nClock Enabled"];

+    uninit -> stop [label="pwmInit()"];

+    stop -> stop [label="pwmStop()"];

+    stop -> ready [label="pwmStart()"];

+    ready -> stop [label="pwmStop()"];

+    ready -> ready [label="pwmEnableChannel()\npwmDisableChannel()"];

+  }

+ * @enddot

+ *

+ * @section pwm_2 PWM Operations.

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

+ * - A clock prescaler.

+ * - 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/include/icu.h b/os/hal/include/icu.h
index 007226616..f07d4a76e 100644
--- a/os/hal/include/icu.h
+++ b/os/hal/include/icu.h
@@ -93,11 +93,7 @@ typedef void (*icucallback_t)(ICUDriver *icup);
 } while (0)

 

 /**

- * @brief   Waits for the next cycle activation edge.

- * @details The function waits for the next PWM input activation front then

- *          brings the driver in the @p ICU_ACTIVE state.

- * @note    If notifications are enabled then the transition to the

- *          @p ICU_ACTIVE state is done automatically on the first edge.

+ * @brief   Waits for a completed capture.

  *

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

  *

diff --git a/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c b/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
index d8bc2e84c..c11736884 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
@@ -102,6 +102,34 @@ ICUDriver ICUD9;
 /* Driver local functions.                                                   */

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

 

+static void icu_lld_wait_edge(ICUDriver *icup) {

+

+  /* Polled mode so re-enabling the interrupts while the operation is

+     performed.*/

+  chSysUnlock();

+

+  /* Polling the right bit depending on the input channel.*/

+  if (icup->config->channel == ICU_CHANNEL_1) {

+    /* Waiting for an edge.*/

+    while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)

+      ;

+

+    /* Resetting capture flag.*/

+    icup->tim->SR &= ~STM32_TIM_SR_CC1IF;

+  }

+  else {

+    /* Waiting for an edge.*/

+    while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)

+      ;

+

+    /* Resetting capture flag.*/

+    icup->tim->SR &= ~STM32_TIM_SR_CC2IF;

+  }

+

+  /* Done, disabling interrupts again.*/

+  chSysLock();

+}

+

 /**

  * @brief   Shared IRQ handler.

  *

@@ -615,12 +643,9 @@ void icu_lld_start_capture(ICUDriver *icup) {
 }

 

 /**

- * @brief   Waits for the next cycle activation edge.

- * @details The function waits for the next PWM input activation front then

- *          brings the driver in the @p ICU_ACTIVE state.

- * @note    If notifications are enabled then the transition to the

- *          @p ICU_ACTIVE state is done automatically on the first edge.

+ * @brief   Waits for a completed capture.

  * @note    The wait is performed in polled mode.

+ * @note    The function cannot work if notifications are enabled.

  *

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

  *

@@ -628,22 +653,13 @@ void icu_lld_start_capture(ICUDriver *icup) {
  */

 void icu_lld_wait_capture(ICUDriver *icup) {

 

-  if (icup->config->channel == ICU_CHANNEL_1) {

-    /* Resetting capture flag.*/

-    icup->tim->SR &= ~STM32_TIM_SR_CC1IF;

-

-    /* Waiting for an edge.*/

-    while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)

-      ;

-  }

-  else {

-    /* Resetting capture flag.*/

-    icup->tim->SR &= ~STM32_TIM_SR_CC2IF;

+  /* If the driver is still in the ICU_WAITING state then we need to wait

+     for the first activation edge.*/

+  if (icup->state == ICU_WAITING)

+    icu_lld_wait_edge(icup);

 

-    /* Waiting for an edge.*/

-    while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)

-      ;

-  }

+  /* This edge marks the availability of a capture result.*/

+  icu_lld_wait_edge(icup);

 }

 

 /**

diff --git a/os/hal/src/icu.c b/os/hal/src/icu.c
index 298e1cb28..92f8a2f1e 100644
--- a/os/hal/src/icu.c
+++ b/os/hal/src/icu.c
@@ -133,11 +133,7 @@ void icuStartCapture(ICUDriver *icup) {
 }

 

 /**

- * @brief   Waits for the next cycle activation edge.

- * @details The function waits for the next PWM input activation front then

- *          brings the driver in the @p ICU_ACTIVE state.

- * @note    If notifications are enabled then the transition to the

- *          @p ICU_ACTIVE state is done automatically on the first edge.

+ * @brief   Waits for a completed capture.

  *

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

  *