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-rw-r--r--os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.c123
-rw-r--r--os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.h4
-rw-r--r--testhal/AVR/MEGA/PWM/main.c59
3 files changed, 145 insertions, 41 deletions
diff --git a/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.c b/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.c
index 04d26ff05..df97aa74e 100644
--- a/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.c
+++ b/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.c
@@ -35,6 +35,10 @@
/* Driver local definitions. */
/*===========================================================================*/
+#define TIM1_CS_OFFSET CS10
+#define TIM1_WGM_OFFSET1 WGM10
+#define TIM1_WGM_OFFSET2 WGM12
+
typedef struct {
volatile uint8_t *tccra;
volatile uint8_t *tccrb;
@@ -46,28 +50,35 @@ typedef struct {
volatile uint8_t *ocrcl;
volatile uint8_t *tifr;
volatile uint8_t *timsk;
+ volatile uint16_t *icr;
} timer_registers_t;
static timer_registers_t regs_table[]=
{
#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
#if defined(OCR1C)
- {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL, &TIFR1, &TIMSK1},
+ {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL,
+ &TIFR1, &TIMSK1, &ICR1},
#else
- {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL, &TIFR1, &TIMSK1},
+ {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL,
+ &TIFR1, &TIMSK1, &ICR1},
#endif
#endif
#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
- {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL, &TIFR2, &TIMSK2},
+ {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL,
+ &TIFR2, &TIMSK2, NULL},
#endif
#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
- {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL, &TIFR3, &TIMSK3},
+ {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL,
+ &TIFR3, &TIMSK3, &ICR3},
#endif
#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
- {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL, &TIFR4, &TIMSK4},
+ {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL,
+ &TIFR4, &TIMSK4, &ICR4},
#endif
#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
- {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL, &TIFR5, &TIMSK5},
+ {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL,
+ &TIFR5, &TIMSK5, &ICR5},
#endif
};
@@ -306,41 +317,33 @@ void pwm_lld_init(void) {
#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
pwmObjectInit(&PWMD1);
PWMD1.channels = PWM_CHANNELS;
- TCCR1A = (1 << WGM11) | (1 << WGM10);
- TCCR1B = (0 << WGM13) | (1 << WGM12);
#endif
#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
pwmObjectInit(&PWMD2);
PWMD2.channels = PWM_CHANNELS;
- TCCR2A = (1 << WGM21) | (1 << WGM20);
- TCCR2B = (0 << WGM22);
#endif
#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
pwmObjectInit(&PWMD3);
PWMD3.channels = PWM_CHANNELS;
- TCCR3A = (1 << WGM31) | (1 << WGM30);
- TCCR3B = (0 << WGM33) | (1 << WGM32);
#endif
#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
pwmObjectInit(&PWMD4);
PWMD4.channels = PWM_CHANNELS;
- TCCR4A = (1 << WGM41) | (1 << WGM40);
- TCCR4B = (0 << WGM43) | (1 << WGM42);
#endif
#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
pwmObjectInit(&PWMD5);
PWMD5.channels = PWM_CHANNELS;
- TCCR5A = (1 << WGM51) | (1 << WGM50);
- TCCR5B = (0 << WGM53) | (1 << WGM52);
#endif
}
/**
* @brief Configures and activates the PWM peripheral.
+ * @note We do not use the period value in Timer2 in order to
+ * be able to use both PWM channels
*
* @param[in] pwmp pointer to the @p PWMDriver object
*
@@ -349,23 +352,62 @@ void pwm_lld_init(void) {
void pwm_lld_start(PWMDriver *pwmp) {
if (pwmp->state == PWM_STOP) {
+ uint8_t cs_value, wgm_value;
#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
if (pwmp == &PWMD2) {
- TCCR2B &= ~((1 << CS22) | (1 << CS21));
- TCCR2B |= (1 << CS20);
+ /* for now only fast pwm is supported */
+ wgm_value = 0x3;
+ cs_value = 1;
+
+ /* period is fixed for timer2 */
+ PWMD2.period = 0xFF;
+
+ /* A prescaler value can only be a suitable power of 2 (1, 8, 32,
+ 64, 128 256 or 1024), so we choose the one that makes F_CPU
+ divided by it equal to the given frequency (fallback value is
+ 1, to keep compatibility with old code */
+ const uint8_t log_ratio_timer2[] = {0, 3, 5, 6, 7, 8, 10};
+ uint8_t n;
+ for (n=0; n<sizeof(log_ratio_timer2)/sizeof(uint8_t); n++) {
+ if (pwmp->config->frequency == (F_CPU >> log_ratio_timer2[n])) {
+ cs_value = n + 1;
+ break;
+ }
+ }
+
+ TCCR2A = (wgm_value & 0x3) << TIM1_WGM_OFFSET1;
+ TCCR2B = ((cs_value << TIM1_CS_OFFSET) |
+ ((wgm_value >> 2) << TIM1_WGM_OFFSET2));
if (pwmp->config->callback != NULL)
TIMSK2 |= (1 << TOIE2);
return;
}
#endif
- uint8_t i = timer_index(pwmp);
+ /* for now only fast pwm is supported */
+ wgm_value = 0xE;
+ cs_value = 0x5;
+
+ /* A prescaler value can only be a suitable power of 2 (1, 8, 64,
+ 256 or 1024), so we choose the one that makes F_CPU divided by
+ it equal to the given frequency (fallback value is 1024, to
+ keep compatibility with old code */
+ const uint8_t log_ratio_timer1[] = {0, 3, 6, 8, 10};
+ uint8_t n;
+ for (n=0; n<sizeof(log_ratio_timer1)/sizeof(uint8_t); n++) {
+ if (pwmp->config->frequency == (F_CPU >> log_ratio_timer1[n])) {
+ cs_value = n + 1;
+ break;
+ }
+ }
- /* TODO: support other prescaler options */
+ uint8_t i = timer_index(pwmp);
- *regs_table[i].tccrb &= ~(1 << CS11);
- *regs_table[i].tccrb |= (1 << CS12) | (1 << CS10);
+ *regs_table[i].icr = pwmp->period;
+ *regs_table[i].tccra = (wgm_value & 0x3) << TIM1_WGM_OFFSET1;
+ *regs_table[i].tccrb = ((cs_value << TIM1_CS_OFFSET) |
+ ((wgm_value >> 2) << TIM1_WGM_OFFSET2));
if (pwmp->config->callback != NULL)
*regs_table[i].timsk = (1 << TOIE1);
}
@@ -380,8 +422,17 @@ void pwm_lld_start(PWMDriver *pwmp) {
*/
void pwm_lld_stop(PWMDriver *pwmp) {
+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
+ if (pwmp == &PWMD2) {
+ TCCR2A = 0;
+ TCCR2B = 0;
+ TIMSK2 = 0;
+ return;
+ }
+#endif
uint8_t i = timer_index(pwmp);
- *regs_table[i].tccrb &= ~((1 << CS12) | (1 << CS11) | (1 << CS10));
+ *regs_table[i].tccra = 0;
+ *regs_table[i].tccrb = 0;
*regs_table[i].timsk = 0;
}
@@ -402,6 +453,16 @@ void pwm_lld_stop(PWMDriver *pwmp) {
* @notapi
*/
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {
+
+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
+ /* Can't change period in timer2 */
+ if (pwmp == &PWMD2) {
+ PWMD2.period = 0xFF;
+ return;
+ }
+#endif
+ uint8_t i = timer_index(pwmp);
+ *regs_table[i].icr = period;
}
/**
@@ -423,8 +484,6 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmcnt_t width) {
uint16_t val = width;
- if (val > MAX_PWM_VALUE)
- val = MAX_PWM_VALUE;
#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
if (pwmp == &PWMD2) {
@@ -432,16 +491,16 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
7 - 2*channel,
6 - 2*channel,
pwmp->config->channels[channel].mode);
- TIMSK2 |= (1 << (channel + 1));
/* Timer 2 is 8 bit */
if (val > 0xFF)
val = 0xFF;
- if (pwmp->config->channels[channel].callback) {
- switch (channel) {
- case 0: OCR2A = val; break;
- case 1: OCR2B = val; break;
- }
+ switch (channel) {
+ case 0: OCR2A = val; break;
+ case 1: OCR2B = val; break;
}
+ TIFR2 = 1 << (OCF2A + channel);
+ if (pwmp->config->channels[channel].callback)
+ TIMSK2 |= (1 << (OCIE2A + channel));
return;
}
#endif
@@ -467,7 +526,7 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
}
*ocrh = val >> 8;
*ocrl = val & 0xFF;
- *regs_table[i].tifr |= (1 << (channel + 1));
+ *regs_table[i].tifr = (1 << (channel + 1));
if (pwmp->config->channels[channel].callback != NULL)
*regs_table[i].timsk |= (1 << (channel + 1));
}
diff --git a/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.h b/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.h
index 8626a1114..4f25911d1 100644
--- a/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.h
+++ b/os/hal/ports/AVR/MEGA/LLD/TIMv1/hal_pwm_lld.h
@@ -69,8 +69,6 @@
#endif
#endif
-#define MAX_PWM_VALUE 0x3FF
-
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
@@ -129,7 +127,7 @@ typedef struct {
* @note The low level can use assertions in order to catch invalid
* frequency specifications.
*/
- uint16_t frequency;
+ uint32_t frequency;
/**
* @brief PWM period in ticks.
* @note The low level can use assertions in order to catch invalid
diff --git a/testhal/AVR/MEGA/PWM/main.c b/testhal/AVR/MEGA/PWM/main.c
index 29c97d96a..41a539b90 100644
--- a/testhal/AVR/MEGA/PWM/main.c
+++ b/testhal/AVR/MEGA/PWM/main.c
@@ -22,6 +22,9 @@
#include "ch.h"
#endif
+#define PERIOD_VALUE1 0x7FFF
+#define PERIOD_VALUE2 0xFF
+
#ifdef _NIL_
THD_WORKING_AREA(waThread1, 128);
THD_FUNCTION(Thread1, arg) {
@@ -45,9 +48,53 @@ int main(void) {
* more can be done in this thread so we first initialize PWM subsystem.
*/
+#if AVR_PWM_USE_TIM1 && PWM_CHANNELS == 2
+ static PWMConfig pwm1cfg = {
+ F_CPU,
+ PERIOD_VALUE1,
+ NULL,
+ {
+ {PWM_OUTPUT_ACTIVE_HIGH, NULL},
+ {PWM_OUTPUT_ACTIVE_HIGH, NULL}
+ },
+ };
+
+ /* PB1-2 are timer 1 pwm channel outputs for ATMega328p */
+ palSetGroupMode(IOPORT2, 0x3, 1, PAL_MODE_OUTPUT_PUSHPULL);
+
+ pwmStart(&PWMD1, &pwm1cfg);
+
+ /* channel 0 with 75% duty cycle and 1 with 25% */
+ pwmEnableChannel(&PWMD1, 0, (PERIOD_VALUE1 >> 2)*3);
+ pwmEnableChannel(&PWMD1, 1, PERIOD_VALUE1 >> 2);
+#endif
+
+#if AVR_PWM_USE_TIM2
+ static PWMConfig pwm2cfg = {
+ F_CPU >> 5,
+ PERIOD_VALUE2,
+ NULL,
+ {
+ {PWM_OUTPUT_ACTIVE_HIGH, NULL},
+ {PWM_OUTPUT_ACTIVE_HIGH, NULL}
+ },
+ };
+
+ /* PB3 and PD3 are timer 2 pwm channel outputs for ATMega328p */
+ palSetPadMode(IOPORT2, 3, PAL_MODE_OUTPUT_PUSHPULL);
+ palSetPadMode(IOPORT4, 3, PAL_MODE_OUTPUT_PUSHPULL);
+
+ pwmStart(&PWMD2, &pwm2cfg);
+
+ /* channel 0 with 80% duty cycle and 1 with 20% */
+ pwmEnableChannel(&PWMD2, 0, PERIOD_VALUE2/5*4);
+ pwmEnableChannel(&PWMD2, 1, PERIOD_VALUE2/5);
+#endif
+
+#if AVR_PWM_USE_TIM3
static PWMConfig pwm3cfg = {
- 1023, /* Not real clock */
- 1023, /* Maximum PWM count */
+ F_CPU,
+ PERIOD_VALUE1,
NULL,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
@@ -62,11 +109,11 @@ int main(void) {
palSetPadMode(IOPORT5, 5, PAL_MODE_OUTPUT_PUSHPULL);
pwmStart(&PWMD3, &pwm3cfg);
-
/* channel 0 with 50% duty cycle, 1 with 25% and 2 with 75% */
- pwmEnableChannel(&PWMD3, 0, 511);
- pwmEnableChannel(&PWMD3, 1, 255);
- pwmEnableChannel(&PWMD3, 2, 767);
+ pwmEnableChannel(&PWMD3, 0, PERIOD_VALUE1 >> 1);
+ pwmEnableChannel(&PWMD3, 1, PERIOD_VALUE1 >> 2);
+ pwmEnableChannel(&PWMD3, 2, (PERIOD_VALUE1 >> 2)*3);
+#endif
chSysInit();
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-15 15:54:29 +0000