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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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 <http://www.gnu.org/licenses/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file templates/pwm_lld.c
* @brief PWM Driver subsystem low level driver source template.
*
* @addtogroup PWM
* @{
*/
#include "ch.h"
#include "hal.h"
#if HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#ifdef UNUSED
#elif defined(__GNUC__)
# define UNUSED(x) UNUSED_ ## x __attribute__((unused))
#elif defined(__LCLINT__)
# define UNUSED(x) /*@unused@*/ x
#else
# define UNUSED(x) x
#endif
#define PWMC_M ((AT91S_PWMC *)AT91C_PWMC_MR)
#define PWM_MCK_MASK 0x0F00
#define PWM_MCK_SHIFT 8
typedef struct pindef {
uint32_t portpin; /* Set to 0 if this pin combination is invalid */
AT91S_PIO *pio;
AT91_REG *perab;
} pindef_t;
typedef struct pwmpindefs {
pindef_t pin[3];
} pwmpindefs_t;
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
#if PWM_USE_PWM1 && !defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
#if PWM_USE_PWM2 && !defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
#if PWM_USE_PWM3 && !defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
#if PWM_USE_PWM4 && !defined(__DOXYGEN__)
PWMDriver PWMD4;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
#if (SAM7_PLATFORM == SAM7S64) || (SAM7_PLATFORM == SAM7S128) || \
(SAM7_PLATFORM == SAM7S256) || (SAM7_PLATFORM == SAM7S512)
#if PWM_USE_PWM1 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP1 = {{
{ AT91C_PA0_PWM0 , AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_ASR },
{ AT91C_PA11_PWM0, AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
{ AT91C_PA23_PWM0, AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
}};
#endif
#if PWM_USE_PWM2 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP2 = {{
{ AT91C_PA1_PWM1 , AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_ASR },
{ AT91C_PA12_PWM1, AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
{ AT91C_PA24_PWM1, AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
}};
#endif
#if PWM_USE_PWM3 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP3 = {{
{ AT91C_PA2_PWM2 , AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_ASR },
{ AT91C_PA13_PWM2, AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
{ AT91C_PA25_PWM2, AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
}};
#endif
#if PWM_USE_PWM4 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP4 = {{
{ AT91C_PA7_PWM3 , AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
{ AT91C_PA14_PWM3, AT91C_BASE_PIOA, &AT91C_BASE_PIOA->PIO_BSR },
{ 0, 0, 0 },
}};
#endif
#elif (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
(SAM7_PLATFORM == SAM7X512)
#if PWM_USE_PWM1 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP1 = {{
{ AT91C_PB19_PWM0, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_ASR },
{ AT91C_PB27_PWM0, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_BSR },
{ 0, 0, 0 },
}};
#endif
#if PWM_USE_PWM2 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP2 = {{
{ AT91C_PB20_PWM1, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_ASR },
{ AT91C_PB28_PWM1, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_BSR },
{ 0, 0, 0 },
}};
#endif
#if PWM_USE_PWM3 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP3 = {{
{ AT91C_PB21_PWM2, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_ASR },
{ AT91C_PB29_PWM2, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_BSR },
{ 0, 0, 0 },
}};
#endif
#if PWM_USE_PWM4 && !defined(__DOXYGEN__)
static const pwmpindefs_t PWMP4 = {{
{ AT91C_PB22_PWM3, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_ASR },
{ AT91C_PB30_PWM3, AT91C_BASE_PIOB, &AT91C_BASE_PIOB->PIO_BSR },
{ 0, 0, 0 },
}};
#endif
#else
#error "serial lines not defined for this SAM7 version"
#endif
#if PWM_USE_PWM2 && !defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
#if PWM_USE_PWM3 && !defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
#if PWM_USE_PWM4 && !defined(__DOXYGEN__)
PWMDriver PWMD4;
#endif
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if defined(__GNUC__)
__attribute__((noinline))
#endif
/**
* @brief Common IRQ handler.
*/
static void pwm_lld_serve_interrupt(void) {
uint32_t isr;
isr = PWMC_M->PWMC_ISR;
#if PWM_USE_PWM1
if ((isr & 1) && PWMD1.config->channels[0].callback)
PWMD1.config->channels[0].callback(&PWMD1);
#endif
#if PWM_USE_PWM2
if ((isr & 2) && PWMD2.config->channels[0].callback)
PWMD2.config->channels[0].callback(&PWMD2);
#endif
#if PWM_USE_PWM3
if ((isr & 4) && PWMD3.config->channels[0].callback)
PWMD3.config->channels[0].callback(&PWMD3);
#endif
#if PWM_USE_PWM4
if ((isr & 8) && PWMD4.config->channels[0].callback)
PWMD4.config->channels[0].callback(&PWMD4);
#endif
}
CH_IRQ_HANDLER(PWMIrqHandler) {
CH_IRQ_PROLOGUE();
pwm_lld_serve_interrupt();
AT91C_BASE_AIC->AIC_EOICR = 0;
CH_IRQ_EPILOGUE();
}
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
/* Driver initialization.*/
#if PWM_USE_PWM1 && !defined(__DOXYGEN__)
pwmObjectInit(&PWMD1);
PWMD1.chbit = 1;
PWMD1.reg = AT91C_BASE_PWMC_CH0;
PWMD1.pins = &PWMP1;
#endif
#if PWM_USE_PWM2 && !defined(__DOXYGEN__)
pwmObjectInit(&PWMD2);
PWMD1.chbit = 2;
PWMD1.reg = AT91C_BASE_PWMC_CH1;
PWMD1.pins = &PWMP2;
#endif
#if PWM_USE_PWM3 && !defined(__DOXYGEN__)
pwmObjectInit(&PWMD3);
PWMD1.chbit = 4;
PWMD1.reg = AT91C_BASE_PWMC_CH2;
PWMD1.pins = &PWMP3;
#endif
#if PWM_USE_PWM4 && !defined(__DOXYGEN__)
pwmObjectInit(&PWMD4);
PWMD1.chbit = 8;
PWMD1.reg = AT91C_BASE_PWMC_CH3;
PWMD1.pins = &PWMP4;
#endif
/* Turn on PWM in the power management controller */
AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_PWMC);
/* Setup interrupt handler */
PWMC_M->PWMC_IDR = 0xFFFFFFFF;
AIC_ConfigureIT(AT91C_ID_PWMC,
AT91C_AIC_SRCTYPE_HIGH_LEVEL | AT91SAM7_PWM_PRIORITY,
PWMIrqHandler);
AIC_EnableIT(AT91C_ID_PWMC);
}
/**
* @brief Configures and activates the PWM peripheral.
*
* @param[in] pwmp pointer to the @p PWMDriver object
*
* @notapi
*/
void pwm_lld_start(PWMDriver *pwmp) {
uint32_t mode, mr, div, pre;
/* Steps:
1. Turn the IO pin to a PWM output
2. Configuration of Clock if DIVA or DIVB used
3. Selection of the clock for each channel (CPRE field in the PWM_CMRx register)
4. Configusration of the waveform alignment for each channel (CALG field in the PWM_CMRx register)
5. Configuration of the output waveform polarity for each channel (CPOL in the PWM_CMRx register)
6. Configuration of the period for each channel (CPRD in the PWM_CPRDx register). Writing in
PWM_CPRDx Register is possible while the channel is disabled. After validation of the
channel, the user must use PWM_CUPDx Register to update PWM_CPRDx
7. Enable Interrupts (Writing CHIDx in the PWM_IER register)
*/
/* Make sure it is off first */
pwm_lld_disable_channel(pwmp, 0);
/* Configuration.*/
mode = pwmp->config->channels[0].mode;
/* Step 1 */
if (mode & PWM_OUTPUT_PIN1) {
pwmp->pins->pin[0].perab[0] = pwmp->pins->pin[0].portpin; /* Select A or B peripheral */
pwmp->pins->pin[0].pio->PIO_PDR = pwmp->pins->pin[0].portpin; /* Turn PIO into PWM output */
pwmp->pins->pin[0].pio->PIO_MDDR = pwmp->pins->pin[0].portpin; /* Turn off PIO multi-drive */
if (mode & PWM_DISABLEPULLUP_PIN1)
pwmp->pins->pin[0].pio->PIO_PPUDR = pwmp->pins->pin[0].portpin; /* Turn off PIO pullup */
else
pwmp->pins->pin[0].pio->PIO_PPUER = pwmp->pins->pin[0].portpin; /* Turn on PIO pullup */
}
if (mode & PWM_OUTPUT_PIN2) {
pwmp->pins->pin[1].perab[0] = pwmp->pins->pin[1].portpin;
pwmp->pins->pin[1].pio->PIO_PDR = pwmp->pins->pin[1].portpin;
pwmp->pins->pin[1].pio->PIO_MDDR = pwmp->pins->pin[1].portpin;
if (mode & PWM_DISABLEPULLUP_PIN2)
pwmp->pins->pin[1].pio->PIO_PPUDR = pwmp->pins->pin[1].portpin;
else
pwmp->pins->pin[1].pio->PIO_PPUER = pwmp->pins->pin[1].portpin;
}
if ((mode & PWM_OUTPUT_PIN3) && pwmp->pins->pin[2].portpin) {
pwmp->pins->pin[2].perab[0] = pwmp->pins->pin[2].portpin;
pwmp->pins->pin[2].pio->PIO_PDR = pwmp->pins->pin[2].portpin;
pwmp->pins->pin[2].pio->PIO_MDDR = pwmp->pins->pin[2].portpin;
if (mode & PWM_DISABLEPULLUP_PIN3)
pwmp->pins->pin[2].pio->PIO_PPUDR = pwmp->pins->pin[2].portpin;
else
pwmp->pins->pin[2].pio->PIO_PPUER = pwmp->pins->pin[2].portpin;
}
/* Step 2 */
if ((mode & PWM_MCK_MASK) == PWM_MCK_DIV_CLKA) {
if (!pwmp->config->frequency) {
/* As slow as we go */
PWMC_M->PWMC_MR = (PWMC_M->PWMC_MR & 0xFFFF0000) | (10 << 8) | (255 << 0);
} else if (pwmp->config->frequency > MCK) {
/* Just use MCLK */
mode &= ~PWM_MCK_MASK;
} else {
div = MCK / pwmp->config->frequency;
if (mode & PWM_OUTPUT_CENTER) div >>= 1;
for(pre = 0; div > 255 && pre < 10; pre++) div >>= 1;
if (div > 255) div = 255;
PWMC_M->PWMC_MR = (PWMC_M->PWMC_MR & 0xFFFF0000) | (pre << 8) | (div << 0);
}
} else if ((mode & PWM_MCK_MASK) == PWM_MCK_DIV_CLKB) {
if (!pwmp->config->frequency) {
/* As slow as we go */
PWMC_M->PWMC_MR = (PWMC_M->PWMC_MR & 0x0000FFFF) | (10 << 24) | (255 << 16);
} else if (pwmp->config->frequency > MCK) {
/* Just use MCLK */
mode &= ~PWM_MCK_MASK;
} else {
div = MCK / pwmp->config->frequency;
if (mode & PWM_OUTPUT_CENTER) div >>= 1;
for(pre = 0; div > 255 && pre < 10; pre++) div >>= 1;
if (div > 255) div = 255;
PWMC_M->PWMC_MR = (PWMC_M->PWMC_MR & 0x0000FFFF) | (pre << 24) | (div << 16);
}
}
/* Step 3 -> 5 */
mr = (mode & PWM_MCK_MASK) >> PWM_MCK_SHIFT;
if (mode & PWM_OUTPUT_CENTER) mr |= AT91C_PWMC_CALG;
if (mode & PWM_OUTPUT_ACTIVE_HIGH) mr |= AT91C_PWMC_CPOL;
pwmp->reg->PWMC_CMR = mr;
/* Step 6 */
pwmp->reg->PWMC_CPRDR = pwmp->period;
/* Step 7 */
if (pwmp->config->channels[0].callback)
PWMC_M->PWMC_IER = pwmp->chbit;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to the @p PWMDriver object
*
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
/* Make sure it is off */
pwm_lld_disable_channel(pwmp, 0);
/* Turn the pin back to a PIO pin - we have forgotten pull-up and multi-drive state for the pin though */
if (pwmp->config->channels[0].mode & PWM_OUTPUT_PIN1)
pwmp->pins->pin[0].pio->PIO_PER = pwmp->pins->pin[0].portpin;
if (pwmp->config->channels[0].mode & PWM_OUTPUT_PIN2)
pwmp->pins->pin[1].pio->PIO_PER = pwmp->pins->pin[1].portpin;
if ((pwmp->config->channels[0].mode & PWM_OUTPUT_PIN3) && pwmp->pins->pin[2].portpin)
pwmp->pins->pin[2].pio->PIO_PER = pwmp->pins->pin[2].portpin;
}
/**
* @brief Changes the period the PWM peripheral.
* @details This function changes the period of a PWM unit that has already
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @note The function has effect at the next cycle start.
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
*
* @notapi
*/
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {
pwmp->period = period;
if (PWMC_M->PWMC_SR & pwmp->chbit) {
pwmp->reg->PWMC_CMR |= AT91C_PWMC_CPD;
pwmp->reg->PWMC_CUPDR = period;
} else {
pwmp->reg->PWMC_CPRDR = period;
}
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
* @param[in] width PWM pulse width as clock pulses number
*
* @notapi
*/
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t UNUSED(channel),
pwmcnt_t width) {
/*
6. Configuration of the duty cycle for each channel (CDTY in the PWM_CDTYx register).
Writing in PWM_CDTYx Register is possible while the channel is disabled. After validation of
the channel, the user must use PWM_CUPDx Register to update PWM_CDTYx.
7. Enable the PWM channel (Writing CHIDx in the PWM_ENA register)
*/
/* Step 6 */
if (PWMC_M->PWMC_SR & pwmp->chbit) {
pwmp->reg->PWMC_CMR &= ~AT91C_PWMC_CPD;
pwmp->reg->PWMC_CUPDR = width;
} else {
pwmp->reg->PWMC_CDTYR = width;
PWMC_M->PWMC_ENA = pwmp->chbit;
}
/* Step 7 */
PWMC_M->PWMC_ENA = pwmp->chbit;
}
/**
* @brief Disables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
*
* @notapi
*/
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t UNUSED(channel)) {
PWMC_M->PWMC_IDR = pwmp->chbit;
PWMC_M->PWMC_DIS = pwmp->chbit;
}
#endif /* HAL_USE_PWM */
/** @} */
|
