Add initial GPT driver for AVR

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5906 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 572 insertions, 1 deletions

diff --git a/os/hal/platforms/AVR/gpt_lld.c b/os/hal/platforms/AVR/gpt_lld.c
new file mode 100644
index 000000000..829bb69d2
--- /dev/null
+++ b/os/hal/platforms/AVR/gpt_lld.c
@@ -0,0 +1,351 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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 "ch.h"
+#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_GPT1 || defined(__DOXYGEN__)
+  { &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 },
+#endif
+#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
+  { &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 },
+#endif
+#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
+  { &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 },
+#endif
+#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
+  { &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 },
+#endif
+#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
+  { &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 },
+#endif
+};
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
+GPTDriver GPTD1;
+#endif
+#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
+GPTDriver GPTD2;
+#endif
+#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
+GPTDriver GPTD3;
+#endif
+#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
+GPTDriver GPTD4;
+#endif
+#if AVR_GPT_USE_GPT5 || 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_GPT1 || defined(__DOXYGEN__)
+  if (gptp == &GPTD1) return index;
+  else index++;
+#endif
+#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
+  if (gptp == &GPTD2) return index;
+  else index++;
+#endif
+#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
+  if (gptp == &GPTD3) return index;
+  else index++;
+#endif
+#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
+  if (gptp == &GPTD4) return index;
+  else index++;
+#endif
+#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
+  if (gptp == &GPTD5) return index;
+  else index++;
+#endif
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(TIMER1_COMPA_vect)
+{
+  CH_IRQ_PROLOGUE();
+  gpt_lld_serve_interrupt(&GPTD1);
+  CH_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(TIMER2_COMPA_vect)
+{
+  CH_IRQ_PROLOGUE();
+  gpt_lld_serve_interrupt(&GPTD2);
+  CH_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(TIMER3_COMPA_vect)
+{
+  CH_IRQ_PROLOGUE();
+  gpt_lld_serve_interrupt(&GPTD3);
+  CH_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(TIMER4_COMPA_vect)
+{
+  CH_IRQ_PROLOGUE();
+  gpt_lld_serve_interrupt(&GPTD4);
+  CH_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(TIMER5_COMPA_vect)
+{
+  CH_IRQ_PROLOGUE();
+  gpt_lld_serve_interrupt(&GPTD5);
+  CH_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level GPT driver initialization.
+ *
+ * @notapi
+ */
+void gpt_lld_init(void)
+{
+#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
+  gptObjectInit(&GPTD1);
+#endif
+#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
+  gptObjectInit(&GPTD2);
+#endif
+#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
+  gptObjectInit(&GPTD3);
+#endif
+#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
+  gptObjectInit(&GPTD4);
+#endif
+#if AVR_GPT_USE_GPT5 || 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_GPT2 || 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 */
+
+/** @} */
diff --git a/os/hal/platforms/AVR/gpt_lld.h b/os/hal/platforms/AVR/gpt_lld.h
new file mode 100644
index 000000000..f6aa4ecc9
--- /dev/null
+++ b/os/hal/platforms/AVR/gpt_lld.h
@@ -0,0 +1,219 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006-2013 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.h

+ * @brief   AVR GPT driver subsystem low level driver.

+ *

+ * @addtogroup GPT

+ * @{

+ */

+

+#ifndef _GPT_LLD_H_

+#define _GPT_LLD_H_

+

+#if HAL_USE_GPT || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   GPT1 driver enable switch.

+ * @details If set to @p TRUE the support for GPT1 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(AVR_GPT_USE_GPT1)

+#define AVR_GPT_USE_GPT1              FALSE

+#endif

+

+/**

+ * @brief   GPT2 driver enable switch.

+ * @details If set to @p TRUE the support for GPT2 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(AVR_GPT_USE_GPT2)

+#define AVR_GPT_USE_GPT2              FALSE

+#endif

+

+/**

+ * @brief   GPT3 driver enable switch.

+ * @details If set to @p TRUE the support for GPT3 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(AVR_GPT_USE_GPT3)

+#define AVR_GPT_USE_GPT3              FALSE

+#endif

+

+/**

+ * @brief   GPT4 driver enable switch.

+ * @details If set to @p TRUE the support for GPT4 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(AVR_GPT_USE_GPT4)

+#define AVR_GPT_USE_GPT4              FALSE

+#endif

+

+/**

+ * @brief   GPT5 driver enable switch.

+ * @details If set to @p TRUE the support for GPT5 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(AVR_GPT_USE_GPT5)

+#define AVR_GPT_USE_GPT5              FALSE

+#endif

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   GPT frequency type.

+ */

+typedef uint32_t gptfreq_t;

+

+/**

+ * @brief   GPT counter type.

+ */

+typedef uint16_t gptcnt_t;

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  /**

+   * @brief   Timer clock in Hz.

+   * @note    The low level can use assertions in order to catch invalid

+   *          frequency specifications.

+   */

+  gptfreq_t                 frequency;

+  /**

+   * @brief   Timer callback pointer.

+   * @note    This callback is invoked on GPT counter events.

+   */

+  gptcallback_t             callback;

+  /* End of the mandatory fields.*/

+} GPTConfig;

+

+/**

+ * @brief   Structure representing a GPT driver.

+ */

+struct GPTDriver {

+  /**

+   * @brief Driver state.

+   */

+  volatile gptstate_t       state;

+  /**

+   * @brief Current configuration data.

+   */

+  const GPTConfig           *config;

+

+#if defined(GPT_DRIVER_EXT_FIELDS)

+  GPT_DRIVER_EXT_FIELDS

+#endif

+

+  /* End of the mandatory fields.*/

+  /**

+   * @brief input clock from prescaler

+   */

+  uint8_t                   clock_source;

+  /**

+   * @brief Lenght of the period in clock ticks

+   */

+  gptcnt_t                  period;

+  /**

+   * @brief Current clock tick.

+   */

+  gptcnt_t                  counter;

+  /**

+   * @brief Function called from the interrupt service routine

+   */

+  gptcallback_t             callback;

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/**

+ * @brief   Changes the interval of GPT peripheral.

+ * @details This function changes the interval of a running GPT unit.

+ * @pre     The GPT unit must have been activated using @p gptStart().

+ * @pre     The GPT unit must have been running in continuous mode using

+ *          @p gptStartContinuous().

+ * @post    The GPT unit interval is changed to the new value.

+ * @note    The function has effect at the next cycle start.

+ *

+ * @param[in] gptp      pointer to a @p GPTDriver object

+ * @param[in] interval  new cycle time in timer ticks

+ * @notapi

+ */

+

+// FIXME: placeholder to enable compile, should be implemented!

+#define gpt_lld_change_interval(gptp, interval)

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)

+extern GPTDriver GPTD1;

+#endif

+#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)

+extern GPTDriver GPTD2;

+#endif

+#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)

+extern GPTDriver GPTD3;

+#endif

+#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)

+extern GPTDriver GPTD4;

+#endif

+#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)

+extern GPTDriver GPTD5;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void gpt_lld_init(void);

+  void gpt_lld_start(GPTDriver *gptp);

+  void gpt_lld_stop(GPTDriver *gptp);

+  void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval);

+  void gpt_lld_stop_timer(GPTDriver *gptp);

+  void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_GPT */

+

+#endif /* _GPT_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/platforms/AVR/platform.mk b/os/hal/platforms/AVR/platform.mk
index 42505fea2..8cccf813c 100644
--- a/os/hal/platforms/AVR/platform.mk
+++ b/os/hal/platforms/AVR/platform.mk
@@ -4,7 +4,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/AVR/hal_lld.c \
               ${CHIBIOS}/os/hal/platforms/AVR/serial_lld.c \

               ${CHIBIOS}/os/hal/platforms/AVR/adc_lld.c \

               ${CHIBIOS}/os/hal/platforms/AVR/i2c_lld.c \

-              ${CHIBIOS}/os/hal/platforms/AVR/spi_lld.c

+              ${CHIBIOS}/os/hal/platforms/AVR/spi_lld.c \

+              ${CHIBIOS}/os/hal/platforms/AVR/gpt_lld.c

 

 # Required include directories

 PLATFORMINC = ${CHIBIOS}/os/hal/platforms/AVR