From 0b8fd860fa71b35bfe0a242471d3bc4b56c93089 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Mon, 7 Dec 2009 16:13:01 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1381 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/include/can.h | 4 + os/hal/include/mmc_spi.h | 4 + os/hal/include/pwm.h | 87 +++++++++++++++++++++ os/hal/src/pwm.c | 150 +++++++++++++++++++++++++++++++++++++ os/hal/templates/halconf.h | 7 ++ os/hal/templates/meta/driver.c | 4 +- os/hal/templates/meta/driver_lld.c | 4 +- os/hal/templates/pwm_lld.c | 79 +++++++++++++++++++ os/hal/templates/pwm_lld.h | 105 ++++++++++++++++++++++++++ 9 files changed, 440 insertions(+), 4 deletions(-) create mode 100644 os/hal/include/pwm.h create mode 100644 os/hal/src/pwm.c create mode 100644 os/hal/templates/pwm_lld.c create mode 100644 os/hal/templates/pwm_lld.h (limited to 'os/hal') diff --git a/os/hal/include/can.h b/os/hal/include/can.h index c8027af39..8f2a7572d 100644 --- a/os/hal/include/can.h +++ b/os/hal/include/can.h @@ -29,6 +29,10 @@ #if CH_HAL_USE_CAN || defined(__DOXYGEN__) +#if !CH_USE_SEMAPHORES +#error "CAN driver requires CH_USE_SEMAPHORES" +#endif + /** * @brief Errors rate warning. */ diff --git a/os/hal/include/mmc_spi.h b/os/hal/include/mmc_spi.h index 4a6886933..2a9fd0c53 100644 --- a/os/hal/include/mmc_spi.h +++ b/os/hal/include/mmc_spi.h @@ -29,6 +29,10 @@ #if CH_HAL_USE_MMC_SPI || defined(__DOXYGEN__) +#if !CH_USE_EVENTS +#error "MMC_SPI driver requires CH_USE_EVENTS" +#endif + /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ diff --git a/os/hal/include/pwm.h b/os/hal/include/pwm.h new file mode 100644 index 000000000..dfc55d30c --- /dev/null +++ b/os/hal/include/pwm.h @@ -0,0 +1,87 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT 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 . +*/ + +/** + * @file pwm.h + * @brief PWM Driver macros and structures. + * @addtogroup PWM + * @{ + */ + +#ifndef _PWM_H_ +#define _PWM_H_ + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + PWM_UNINIT = 0, /**< @brief Not initialized. */ + PWM_STOP = 1, /**< @brief Stopped. */ + PWM_READY = 2, /**< @brief Ready. */ +} pwmstate_t; + +/** + * @brief PWM edge for callbacks. + */ +typedef enum { + PWM_NONE = 0, /**< @brief No callback. */ + PWM_TO_ACTIVE_EDGE = 1, /**< @brief Enable on idle->active. */ + PWM_TO_IDLE_EDGE = 2, /**< @brief Enable on active->idle. */ + PWM_BOTH_EDGES = 3 /**< @brief Enable on both edges. */ +} pwmedge_t; + +/** + * @brief PWM logic mode. + */ +typedef enum { + PWM_ACTIVE_LOW = 0, /**< @brief Idle is logic level 1. */ + PWM_ACTIVE_HIGH = 1 /**< @brief Idle is logic level 0. */ +} pwmmode_t; + +/** + * @brief PWM notification callback type. + * + * @param[in] active current channel output state + */ +typedef void (*pwmcallback_t)(bool_t active); + +#include "pwm_lld.h" + +#ifdef __cplusplus +extern "C" { +#endif + void pwmInit(void); + void pwmObjectInit(PWMDriver *pwmp); + void pwmStart(PWMDriver *pwmp, const PWMConfig *config); + void pwmStop(PWMDriver *pwmp); + void pwmSetCallback(PWMDriver *pwmp, + pwmchannel_t channel, + pwmedge_t edge, + pwmcallback_t callback); + void pwmEnableChannel(PWMDriver *pwmp, + pwmchannel_t channel, + pwmcnt_t width); + void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel); +#ifdef __cplusplus +} +#endif + +#endif /* _PWM_H_ */ + +/** @} */ diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c new file mode 100644 index 000000000..ef4260629 --- /dev/null +++ b/os/hal/src/pwm.c @@ -0,0 +1,150 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT 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 . +*/ + +/** + * @file PWM.c + * @brief PWM Driver code. + * @addtogroup PWM + * @{ + */ + +#include "ch.h" +#include "hal.h" + +/** + * @brief PWM Driver initialization. + */ +void pwmInit(void) { + + pwm_lld_init(); +} + +/** + * @brief Initializes the standard part of a @p PWMDriver structure. + * + * @param[in] pwmp pointer to the @p PWMDriver object + */ +void pwmObjectInit(PWMDriver *pwmp) { + + pwmp->pd_state = PWM_STOP; + pwmp->pwm_config = NULL; +} + +/** + * @brief Configures and activates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * @param[in] config pointer to the @p PWMConfig object + */ +void pwmStart(PWMDriver *pwmp, const PWMConfig *config) { + + chDbgCheck((pwmp != NULL) && (config != NULL), "pwmStart"); + + chSysLock(); + chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY), + "pwmStart(), #1", + "invalid state"); + pwmp->pd_config = config; + pwm_lld_start(pwmp); + pwmp->pd_state = PWM_READY; + chSysUnlock(); +} + +/** + * @brief Deactivates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + */ +void pwmStop(PWMDriver *pwmp) { + + chDbgCheck(pwmp != NULL, "pwmStop"); + + chSysLock(); + chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY), + "pwmStop(), #1", + "invalid state"); + pwm_lld_stop(pwmp); + pwmp->pd_state = PWM_STOP; + chSysUnlock(); +} + +/** + * @brief Enables a callback mode for the specified PWM channel. + * @details The callback mode must be set before starting a PWM channel. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * @param[in] channel PWM channel identifier + * @param[in] edge output edge mode + * @param[in] callback the callback function + */ +void pwmSetCallback(PWMDriver *pwmp, pwmchannel_t channel, + pwmedge_t edge, pwmcallback_t callback) { + + chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS), + "pwmSetCallback"); + + chSysLock(); + chDbgAssert((pwmp->pd_state == PWM_READY) && + !pwm_lld_is_enabled(pwmp, channel), + "pwmSetCallback(), #1", "invalid state"); + pwm_lld_set_callback(pwmp, channel, edge, callback); + chSysUnlock(); +} + +/** + * @brief Enables a PWM channel. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * @param[in] channel PWM channel identifier + * @param[in] width PWM pulse width as clock pulses number + */ +void pwmEnableChannel(PWMDriver *pwmp, + pwmchannel_t channel, + pwmcnt_t width) { + + chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS), + "pwmEnableChannel"); + + chSysLock(); + chDbgAssert(pwmp->pd_state == PWM_READY, + "pwmEnableChannel(), #1", "invalid state"); + pwm_lld_enable_channel(pwmp, channel, width); + chSysUnlock(); +} + +/** + * @brief Disables a PWM channel. + * @details The channel output line is returned to its idle state and disabled. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * @param[in] channel PWM channel identifier + */ +void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) { + + chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS), + "pwmEnableChannel"); + + chSysLock(); + chDbgAssert(pwmp->pd_state == PWM_READY, + "pwmDisableChannel(), #1", "invalid state"); + pwm_lld_disable_channel(pwmp, channel); + chSysUnlock(); +} + +/** @} */ diff --git a/os/hal/templates/halconf.h b/os/hal/templates/halconf.h index 35948950b..f173a3fa3 100644 --- a/os/hal/templates/halconf.h +++ b/os/hal/templates/halconf.h @@ -55,6 +55,13 @@ #define CH_HAL_USE_MAC TRUE #endif +/** + * @brief Enables the PWM subsystem. + */ +#if !defined(CH_HAL_USE_PWM) || defined(__DOXYGEN__) +#define CH_HAL_USE_PWM TRUE +#endif + /** * @brief Enables the SERIAL subsystem. */ diff --git a/os/hal/templates/meta/driver.c b/os/hal/templates/meta/driver.c index 9bf785ed2..7fe2f9406 100644 --- a/os/hal/templates/meta/driver.c +++ b/os/hal/templates/meta/driver.c @@ -24,8 +24,8 @@ * @{ */ -#include -#include +#include "ch.h" +#include "hal.h" /** * @brief XXX Driver initialization. diff --git a/os/hal/templates/meta/driver_lld.c b/os/hal/templates/meta/driver_lld.c index df91ed21b..0413ffa31 100644 --- a/os/hal/templates/meta/driver_lld.c +++ b/os/hal/templates/meta/driver_lld.c @@ -24,8 +24,8 @@ * @{ */ -#include -#include +#include "ch.h" +#include "hal.h" /*===========================================================================*/ /* Low Level Driver exported variables. */ diff --git a/os/hal/templates/pwm_lld.c b/os/hal/templates/pwm_lld.c new file mode 100644 index 000000000..7fa1297b7 --- /dev/null +++ b/os/hal/templates/pwm_lld.c @@ -0,0 +1,79 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT 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 . +*/ + +/** + * @file templates/pwm_lld.c + * @brief PWM Driver subsystem low level driver source template + * @addtogroup PWM_LLD + * @{ + */ + +#include "ch.h" +#include "hal.h" + +/*===========================================================================*/ +/* Low Level Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Low Level Driver local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Low Level Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Low Level Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Low Level Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level PWM driver initialization. + */ +void pwm_lld_init(void) { + +} + +/** + * @brief Configures and activates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + */ +void pwm_lld_start(PWMDriver *pwmp) { + + if (pwmp->pwm_state == PWM_STOP) { + /* Clock activation.*/ + } + /* Configuration.*/ +} + +/** + * @brief Deactivates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + */ +void pwm_lld_stop(PWMDriver *pwmp) { + +} + +/** @} */ diff --git a/os/hal/templates/pwm_lld.h b/os/hal/templates/pwm_lld.h new file mode 100644 index 000000000..8e57830f6 --- /dev/null +++ b/os/hal/templates/pwm_lld.h @@ -0,0 +1,105 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT 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 . +*/ + +/** + * @file templates/pwm_lld.h + * @brief PWM Driver subsystem low level driver header template + * @addtogroup PWM_LLD + * @{ + */ + +#ifndef _PWM_LLD_H_ +#define _PWM_LLD_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Number of PWM channels per PWM driver. + */ +#if !defined(PWM_CHANNELS) || defined(__DOXYGEN__) +#define PWM_CHANNELS 1 +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief PWM channel type. + */ +typedef uint8_t pwmchannel_t; + +/** + * @brief PWM counter type. + */ +typedef uint16_t pwmcnt_t; + +/** + * @brief Driver configuration structure. + * @note It could be empty on some architectures. + */ +typedef struct { + +} PWMConfig; + +/** + * @brief Structure representing an PWM driver. + */ +typedef struct { + /** + * @brief Driver state. + */ + pwmstate_t pd_state; + /** + * @brief Current configuration data. + */ + const PWMConfig *pd_config; + /* End of the mandatory fields.*/ +} PWMDriver; + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void pwm_lld_init(void); + void pwm_lld_start(PWMDriver *pwmp); + void pwm_lld_stop(PWMDriver *pwmp); + bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel); + void pwm_lld_set_callback(PWMDriver *pwmp, pwmchannel_t channel, + pwmedge_t edge, pwmcallback_t callback); + void pwm_lld_enable_channel(PWMDriver *pwmp, + pwmchannel_t channel, + pwmcnt_t width); + void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel); +#ifdef __cplusplus +} +#endif + +#endif /* _PWM_LLD_H_ */ + +/** @} */ -- cgit v1.2.3