git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1383 35acf78f-673a-0410-8e92-d51de3d6d3f4

9 files changed, 312 insertions, 6 deletions

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index 638a72f23..5d78dccc7 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -5,6 +5,7 @@ HALSRC = ${CHIBIOS}/os/hal/src/hal.c \
          ${CHIBIOS}/os/hal/src/can.c \

          ${CHIBIOS}/os/hal/src/mac.c \

          ${CHIBIOS}/os/hal/src/pal.c \

+         ${CHIBIOS}/os/hal/src/pwm.c \

          ${CHIBIOS}/os/hal/src/serial.c \

          ${CHIBIOS}/os/hal/src/spi.c \

          ${CHIBIOS}/os/hal/src/mmc_spi.c

diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
index 0d3b699eb..cf4def764 100644
--- a/os/hal/include/hal.h
+++ b/os/hal/include/hal.h
@@ -36,6 +36,7 @@
 #include "adc.h"

 #include "can.h"

 #include "mac.h"

+#include "pwm.h"

 #include "serial.h"

 #include "spi.h"

 #include "mmc_spi.h"

diff --git a/os/hal/platforms/STM32/platform.mk b/os/hal/platforms/STM32/platform.mk
index e31325ccc..eea814567 100644
--- a/os/hal/platforms/STM32/platform.mk
+++ b/os/hal/platforms/STM32/platform.mk
@@ -3,6 +3,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32/hal_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/adc_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/pal_lld.c \

+              ${CHIBIOS}/os/hal/platforms/STM32/pwm_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/serial_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/spi_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/stm32_dma.c

diff --git a/os/hal/platforms/STM32/pwm_lld.c b/os/hal/platforms/STM32/pwm_lld.c
new file mode 100644
index 000000000..308556251
--- /dev/null
+++ b/os/hal/platforms/STM32/pwm_lld.c
@@ -0,0 +1,133 @@
+/*

+    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 <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @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->pd_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) {

+

+}

+

+/**

+ * @brief Determines whatever the PWM channel is already enabled.

+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object

+ * @param[in] channel   PWM channel identifier

+ *

+ * @return The PWM channel status.

+ * @retval FALSE the channel is not enabled.

+ * @retval TRUE the channel is enabled.
+ */

+bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel) {

+

+  return FALSE;

+}

+

+/**

+ * @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 pwm_lld_set_callback(PWMDriver *pwmp, pwmchannel_t channel,

+                          pwmedge_t edge, pwmcallback_t callback) {

+

+}

+

+/**

+ * @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 pwm_lld_enable_channel(PWMDriver *pwmp,

+                            pwmchannel_t channel,

+                            pwmcnt_t width) {

+

+}

+

+/**

+ * @brief Disables a PWM channel.

+ * @details The channel is disabled and its output line returned to the

+ *          idle state.

+ *

+ * @param[in] pwmp      pointer to the @p PWMDriver object

+ * @param[in] channel   PWM channel identifier

+ */

+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {

+

+}

+

+/** @} */

diff --git a/os/hal/platforms/STM32/pwm_lld.h b/os/hal/platforms/STM32/pwm_lld.h
new file mode 100644
index 000000000..8e57830f6
--- /dev/null
+++ b/os/hal/platforms/STM32/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 <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @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_ */

+

+/** @} */

diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c
index ef4260629..f026a62ef 100644
--- a/os/hal/src/pwm.c
+++ b/os/hal/src/pwm.c
@@ -43,7 +43,7 @@ void pwmInit(void) {
 void pwmObjectInit(PWMDriver *pwmp) {

 

   pwmp->pd_state    = PWM_STOP;

-  pwmp->pwm_config   = NULL;

+  pwmp->pd_config   = NULL;

 }

 

 /**

@@ -130,7 +130,8 @@ void pwmEnableChannel(PWMDriver *pwmp,
 

 /**

  * @brief Disables a PWM channel.

- * @details The channel output line is returned to its idle state and disabled.

+ * @details The channel is disabled and its output line returned to the

+ *          idle state.

  *
  * @param[in] pwmp      pointer to the @p PWMDriver object

  * @param[in] channel   PWM channel identifier

diff --git a/os/hal/templates/halconf.h b/os/hal/templates/halconf.h
index f173a3fa3..1845d5323 100644
--- a/os/hal/templates/halconf.h
+++ b/os/hal/templates/halconf.h
@@ -24,6 +24,14 @@
  * @{

  */

 

+/*

+ * HAL configuration file, this file allows to enable or disable the various

+ * device drivers from your application. You may also use this file in order

+ * to change the device drivers settings found in the low level drivers

+ * headers, just define here the new settings and those will override the

+ * defaults defined in the LLD headers.
+ */

+

 #ifndef _HALCONF_H_

 #define _HALCONF_H_

 

diff --git a/os/hal/templates/pwm_lld.c b/os/hal/templates/pwm_lld.c
index 7fa1297b7..18d03d68c 100644
--- a/os/hal/templates/pwm_lld.c
+++ b/os/hal/templates/pwm_lld.c
@@ -61,7 +61,7 @@ void pwm_lld_init(void) {
  */

 void pwm_lld_start(PWMDriver *pwmp) {

 

-  if (pwmp->pwm_state == PWM_STOP) {

+  if (pwmp->pd_state == PWM_STOP) {

     /* Clock activation.*/

   }

   /* Configuration.*/

@@ -76,4 +76,58 @@ void pwm_lld_stop(PWMDriver *pwmp) {
 

 }

 

+/**

+ * @brief Determines whatever the PWM channel is already enabled.

+ *

+ * @param[in] pwmp      pointer to the @p PWMDriver object

+ * @param[in] channel   PWM channel identifier

+ *

+ * @return The PWM channel status.

+ * @retval FALSE the channel is not enabled.

+ * @retval TRUE the channel is enabled.

+ */

+bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel) {

+

+  return FALSE;

+}

+

+/**

+ * @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 pwm_lld_set_callback(PWMDriver *pwmp, pwmchannel_t channel,

+                          pwmedge_t edge, pwmcallback_t callback) {

+

+}

+

+/**

+ * @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 pwm_lld_enable_channel(PWMDriver *pwmp,

+                            pwmchannel_t channel,

+                            pwmcnt_t width) {

+

+}

+

+/**

+ * @brief Disables a PWM channel.

+ * @details The channel is disabled and its output line returned to the

+ *          idle state.

+ *

+ * @param[in] pwmp      pointer to the @p PWMDriver object

+ * @param[in] channel   PWM channel identifier

+ */

+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {

+

+}

+

 /** @} */

diff --git a/os/kernel/templates/chconf.h b/os/kernel/templates/chconf.h
index 41dddd5d4..e7de80a13 100644
--- a/os/kernel/templates/chconf.h
+++ b/os/kernel/templates/chconf.h
@@ -44,10 +44,12 @@
  * @brief Round robin interval.

  * @details This constant is the number of system ticks allowed for the

  *          threads before preemption occurs. Setting this value to zero

- *          disables the round robin mechanism.

+ *          disables the preemption for threads with equal priority and the

+ *          round robin becomes cooperative. Note that higher priority

+ *          threads can still preempt, the kernel is always preemptive.

  *

- * @note Disabling round robin makes the kernel more compact and generally

- *       faster but forbids multiple threads at the same priority level.

+ * @note Disabling the round robin preemption makes the kernel more compact

+ *       and generally faster.

  */

 #if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)

 #define CH_TIME_QUANTUM                 20