From df18715f17db9273f45f880d7ba390b983eb8869 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Sat, 26 Jul 2014 09:24:53 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7100 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/ports/AVR/gpt_lld.c | 700 ++++++++++++++++++++++----------------------- 1 file changed, 350 insertions(+), 350 deletions(-) (limited to 'os/hal/ports/AVR/gpt_lld.c') diff --git a/os/hal/ports/AVR/gpt_lld.c b/os/hal/ports/AVR/gpt_lld.c index 7eca439b0..4c97b7785 100644 --- a/os/hal/ports/AVR/gpt_lld.c +++ b/os/hal/ports/AVR/gpt_lld.c @@ -1,350 +1,350 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2014 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 AVR/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; - } -} - -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 -} - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) -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__) -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__) -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__) -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__) -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 */ - -/** @} */ +/* + ChibiOS/HAL - Copyright (C) 2006-2014 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 AVR/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; + } +} + +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 +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) +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__) +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__) +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__) +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__) +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 */ + +/** @} */ -- cgit v1.2.3