diff options
Diffstat (limited to 'os/hal/ports/AVR/TINY/TIMv1/hal_gpt_lld.c')
| -rw-r--r-- | os/hal/ports/AVR/TINY/TIMv1/hal_gpt_lld.c | 373 |
1 files changed, 373 insertions, 0 deletions
diff --git a/os/hal/ports/AVR/TINY/TIMv1/hal_gpt_lld.c b/os/hal/ports/AVR/TINY/TIMv1/hal_gpt_lld.c new file mode 100644 index 000000000..6ccc7cadd --- /dev/null +++ b/os/hal/ports/AVR/TINY/TIMv1/hal_gpt_lld.c @@ -0,0 +1,373 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/*
+ This driver is based on the work done by Matteo Serva available at
+ http://github.com/matteoserva/ChibiOS-AVR
+*/
+
+/**
+ * @file hal_gpt_lld.c
+ * @brief AVR GPT driver subsystem low level driver.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define PRESCALER_SIZE_BASE 5
+#define PRESCALER_SIZE_EXTENDED 7
+
+// FIXME: could use better names here!
+typedef struct {
+ volatile uint8_t *tccra;
+ volatile uint8_t *tccrb;
+ volatile uint8_t *ocr1;
+ volatile uint8_t *ocr2;
+ volatile uint8_t *tcnt1;
+ volatile uint8_t *tcnt2;
+ volatile uint8_t *tifr;
+ volatile uint8_t *timsk;
+} timer_registers_t;
+
+const timer_registers_t regs_table[] = {
+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
+ { &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 },
+#endif
+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
+ { &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 },
+#endif
+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
+ { &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 },
+#endif
+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
+ { &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 },
+#endif
+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
+ { &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 },
+#endif
+};
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
+GPTDriver GPTD1;
+#endif
+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
+GPTDriver GPTD2;
+#endif
+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
+GPTDriver GPTD3;
+#endif
+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
+GPTDriver GPTD4;
+#endif
+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
+GPTDriver GPTD5;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 };
+static uint8_t clock_source_base[]= { 5, 4, 3, 2, 1 };
+//static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 };
+//static uint8_t clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 };
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n) {
+ uint8_t i;
+
+ for (i = 0; i < n; ++i) {
+ uint32_t result = F_CPU / ratio[i] / freq;
+ if (result > 256UL)
+ return i - 1;
+ if ((result * ratio[i] * freq) == F_CPU)
+ return i;
+ }
+ return -1; // TO check
+}
+
+static void gpt_lld_serve_interrupt(GPTDriver *gptp) {
+ gptp->counter++;
+ if (gptp->counter == gptp->period) {
+ gptp->counter = 0;
+ if (gptp->state == GPT_ONESHOT) {
+ gptp->state = GPT_READY; /* Back in GPT_READY state. */
+ gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */
+ }
+ gptp->callback(gptp);
+ }
+}
+
+static void gpt_lld_dummy_callback(GPTDriver *gptp) {
+}
+
+static uint8_t getTimerIndex(GPTDriver *gptp) {
+ uint8_t index = 0;
+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
+ if (gptp == &GPTD1) return index;
+ else index++;
+#endif
+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
+ if (gptp == &GPTD2) return index;
+ else index++;
+#endif
+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
+ if (gptp == &GPTD3) return index;
+ else index++;
+#endif
+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
+ if (gptp == &GPTD4) return index;
+ else index++;
+#endif
+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
+ if (gptp == &GPTD5) return index;
+ else index++;
+#endif
+ return -1; // To check
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
+/**
+ * @brief TIM1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) {
+
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
+/**
+ * @brief TIM2 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIMER2_COMPA_vect) {
+
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD2);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
+/**
+ * @brief TIM3 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIMER3_COMPA_vect) {
+
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD3);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
+/**
+ * @brief TIM4 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIMER4_COMPA_vect) {
+
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD4);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
+/**
+ * @brief TIM2 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIMER5_COMPA_vect) {
+
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD5);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level GPT driver initialization.
+ *
+ * @notapi
+ */
+void gpt_lld_init(void) {
+
+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
+ gptObjectInit(&GPTD1);
+#endif
+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
+ gptObjectInit(&GPTD2);
+#endif
+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
+ gptObjectInit(&GPTD3);
+#endif
+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
+ gptObjectInit(&GPTD4);
+#endif
+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
+ gptObjectInit(&GPTD5);
+#endif
+}
+
+/**
+ * @brief Configures and activates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_start(GPTDriver *gptp) {
+ uint8_t psc;
+
+ if (gptp->state == GPT_STOP) {
+ /* Clock activation.*/
+ }
+
+ /* Configuration.*/
+
+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
+ if (gptp == &GPTD2) {
+ psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED);
+ gptp->clock_source = clock_source_extended[psc] & 0x07;
+ TCCR2A = (1 << WGM21) | (0 << WGM20);
+ TCCR2B = (0 << WGM22);
+ OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1;
+ return;
+ }
+#endif
+
+ uint8_t i = getTimerIndex(gptp);
+ psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE);
+ gptp->clock_source = clock_source_base[psc] & 0x07;
+ *regs_table[i].tccra = (0 << WGM11) |
+ (0 << WGM10) |
+ (0 << COM1A1) |
+ (0 << COM1A0) |
+ (0 << COM1B1) |
+ (0 << COM1B0);
+ *regs_table[i].tccrb = (1 << WGM12);
+ *regs_table[i].ocr1 = 0;
+ *regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1;
+}
+
+/**
+ * @brief Deactivates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop(GPTDriver *gptp) {
+
+ /* nothing to be done */
+ if (gptp->state == GPT_READY) {
+ /* Clock de-activation.*/
+ }
+ gpt_lld_stop_timer(gptp);
+}
+
+/**
+ * @brief Starts the timer in continuous mode.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] period period in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period) {
+
+ gptp->callback = gptp->config->callback;
+ gptp->period = period;
+ gptp->counter = 0;
+
+ uint8_t i = getTimerIndex(gptp);
+ *regs_table[i].tcnt1 = 0;
+ *regs_table[i].tcnt2 = 0;
+ *regs_table[i].tifr = (1 << OCF1A);
+ *regs_table[i].timsk = (1 << OCIE1A);
+ *regs_table[i].tccrb |= (gptp->clock_source << CS10);
+}
+
+/**
+ * @brief Stops the timer.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop_timer(GPTDriver *gptp) {
+ uint8_t i = getTimerIndex(gptp);
+
+ *regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A));
+ *regs_table[i].tifr = (1 << OCF1A);
+}
+
+/**
+ * @brief Starts the timer in one shot mode and waits for completion.
+ * @details This function specifically polls the timer waiting for completion
+ * in order to not have extra delays caused by interrupt servicing,
+ * this function is only recommended for short delays.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] interval time interval in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval) {
+
+ gptp->callback = gpt_lld_dummy_callback;
+ gpt_lld_start_timer(gptp, interval);
+ //FIX
+ while (gptp->state != GPT_READY) {}
+}
+
+#endif /* HAL_USE_GPT */
+
+/** @} */
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