diff options
| -rw-r--r-- | docs/Doxyfile | 2 | ||||
| -rw-r--r-- | os/hal/include/pwm.h | 6 | ||||
| -rw-r--r-- | os/hal/platforms/STM32/pwm_lld.c | 164 | ||||
| -rw-r--r-- | os/hal/platforms/STM32/pwm_lld.h | 157 | ||||
| -rw-r--r-- | os/hal/src/pwm.c | 33 | ||||
| -rw-r--r-- | os/kernel/include/ch.h | 4 | ||||
| -rw-r--r-- | readme.txt | 2 |
7 files changed, 344 insertions, 24 deletions
diff --git a/docs/Doxyfile b/docs/Doxyfile index 3c9227521..1f6e18f13 100644 --- a/docs/Doxyfile +++ b/docs/Doxyfile @@ -31,7 +31,7 @@ PROJECT_NAME = ChibiOS/RT # This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = 1.3.5 +PROJECT_NUMBER = 1.3.6 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. diff --git a/os/hal/include/pwm.h b/os/hal/include/pwm.h index 8f2418691..5ca0083b8 100644 --- a/os/hal/include/pwm.h +++ b/os/hal/include/pwm.h @@ -72,10 +72,8 @@ extern "C" { 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 pwmSetupChannel(PWMDriver *pwmp, pwmchannel_t channel,
+ const PWMChannelConfig *pccp);
void pwmEnableChannel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);
diff --git a/os/hal/platforms/STM32/pwm_lld.c b/os/hal/platforms/STM32/pwm_lld.c new file mode 100644 index 000000000..d816aa47a --- /dev/null +++ b/os/hal/platforms/STM32/pwm_lld.c @@ -0,0 +1,164 @@ +/*
+ 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 STM32/pwm_lld.c
+ * @brief STM32 PWM subsystem low level driver header.
+ * @addtogroup STM32_PWM
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_PWM || defined(__DOXYGEN__)
+
+/** @brief PWM1 driver identifier.*/
+#if defined(USE_STM32_PWM1) || defined(__DOXYGEN__)
+PWMDriver PWMD1;
+#endif
+
+/*===========================================================================*/
+/* 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) {
+
+#if USE_STM32_PWM1
+ /* TIM1 reset, ensures reset state in order to avoid trouble with JTAGs.*/
+ RCC->APB2RSTR = RCC_APB2RSTR_TIM1RST;
+ RCC->APB2RSTR = 0;
+
+ /* Driver initialization.*/
+ pwmObjectInit(&PWMD1);
+#endif
+
+}
+
+/**
+ * @brief Configures and activates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ */
+void pwm_lld_start(PWMDriver *pwmp) {
+
+ if (pwmp->pd_state == PWM_STOP) {
+ /* Clock activation.*/
+#if USE_STM32_PWM1
+ if (&PWMD1 == pwmp) {
+ NVICEnableVector(TIM1_CC_IRQn, STM32_PWM1_IRQ_PRIORITY);
+ RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+ }
+#endif
+ }
+ /* Configuration.*/
+}
+
+/**
+ * @brief Deactivates the PWM peripheral.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ */
+void pwm_lld_stop(PWMDriver *pwmp) {
+
+ /* If in ready state then disables the PWM clock.*/
+ if (pwmp->pd_state == PWM_READY) {
+#if USE_STM32_PWM1
+ if (&PWMD1 == pwmp) {
+ NVICDisableVector(TIM1_CC_IRQn);
+ RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN;
+ }
+#endif
+ }
+}
+
+/**
+ * @brief Determines whatever the PWM channel is already enabled.
+ * + * @param[in] pwmp pointer to a @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 (pwmp->pd_enabled_channels & (1 << channel)) != 0;
+}
+
+/**
+ * @brief Setups a PWM channel.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier
+ */
+void pwm_lld_setup_channel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+}
+
+/**
+ * @brief Enables a PWM channel.
+ *
+ * @param[in] pwmp pointer to a @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) {
+
+ pwmp->pd_enabled_channels |= (1 << channel);
+}
+
+/**
+ * @brief Disables a PWM channel.
+ * @details The channel is disabled and its output line returned to the
+ * idle state.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier
+ */
+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+ pwmp->pd_enabled_channels &= ~(1 << channel);
+}
+
+#endif /* CH_HAL_USE_PWM */
+
+/** @} */
diff --git a/os/hal/platforms/STM32/pwm_lld.h b/os/hal/platforms/STM32/pwm_lld.h new file mode 100644 index 000000000..4ce073aad --- /dev/null +++ b/os/hal/platforms/STM32/pwm_lld.h @@ -0,0 +1,157 @@ +/*
+ 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 STM32/pwm_lld.h
+ * @brief STM32 PWM subsystem low level driver header.
+ * @addtogroup STM32_PWM
+ * @{
+ */
+
+#ifndef _PWM_LLD_H_
+#define _PWM_LLD_H_
+
+#if CH_HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief Number of PWM channels per PWM driver. + */
+#define PWM_CHANNELS 4
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief PWM1 driver enable switch.
+ * @details If set to @p TRUE the support for PWM1 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(USE_STM32_PWM1) || defined(__DOXYGEN__)
+#define USE_STM32_PWM1 TRUE
+#endif
+
+/**
+ * @brief PWM1 interrupt priority level setting.
+ * @note @p BASEPRI_KERNEL >= @p STM32_PWM1_IRQ_PRIORITY > @p PRIORITY_PENDSV.
+ */
+#if !defined(STM32_PWM1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_PWM1_IRQ_PRIORITY 0x80
+#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 PWM driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+
+} PWMConfig;
+
+/**
+ * @brief PWM driver channel configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief Channel idle logic level. + */
+ pwmmode_t pcc_mode;
+ /**
+ * @brief Channel callback edges. + */
+ pwmedge_t pcc_edge;
+ /**
+ * @brief Channel callback pointer. + */
+ pwmcallback_t pcc_callback;
+ /* End of the mandatory fields.*/
+} PWMChannelConfig;
+
+/**
+ * @brief Structure representing a PWM driver.
+ */
+typedef struct {
+ /**
+ * @brief Driver state.
+ */
+ pwmstate_t pd_state;
+ /**
+ * @brief Current driver configuration data.
+ */
+ const PWMConfig *pd_config;
+ /**
+ * @brief Current channel configurations. + */
+ const PWMChannelConfig *pd_channel_configs[PWM_CHANNELS];
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Bit mask of the enabled channels. + */
+ uint32_t pd_enabled_channels;
+} PWMDriver;
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/** @cond never*/
+#if defined(USE_STM32_PWM1)
+extern PWMDriver PWMD1;
+#endif
+
+#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_setup_channel(PWMDriver *pwmp, pwmchannel_t channel);
+ 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
+/** @endcond*/
+
+#endif /* CH_HAL_USE_PWM */
+
+#endif /* _PWM_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c index 0e4062124..ddae89d45 100644 --- a/os/hal/src/pwm.c +++ b/os/hal/src/pwm.c @@ -40,7 +40,7 @@ void pwmInit(void) { /**
* @brief Initializes the standard part of a @p PWMDriver structure.
*
- * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwmObjectInit(PWMDriver *pwmp) {
@@ -51,8 +51,8 @@ void pwmObjectInit(PWMDriver *pwmp) { /**
* @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
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] config pointer to a @p PWMConfig object
*/
void pwmStart(PWMDriver *pwmp, const PWMConfig *config) {
@@ -71,7 +71,7 @@ void pwmStart(PWMDriver *pwmp, const PWMConfig *config) { /**
* @brief Deactivates the PWM peripheral.
*
- * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwmStop(PWMDriver *pwmp) {
@@ -87,32 +87,31 @@ void pwmStop(PWMDriver *pwmp) { }
/**
- * @brief Enables a callback mode for the specified PWM channel.
- * @details The callback mode must be set before starting a PWM channel.
+ * @brief Setups a PWM channel.
* - * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier
- * @param[in] edge output edge mode - * @param[in] callback the callback function + * @param[in] pccp pointer to a @p PWMChannelConfig object
*/
-void pwmSetCallback(PWMDriver *pwmp, pwmchannel_t channel,
- pwmedge_t edge, pwmcallback_t callback) {
+void pwmSetupChannel(PWMDriver *pwmp, pwmchannel_t channel,
+ const PWMChannelConfig *pccp) {
- chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
- "pwmSetCallback");
+ chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS) && (pccp != NULL),
+ "pwmSetupChannel");
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);
+ "pwmSetupChannel(), #1", "invalid state");
+ pwmp->pd_channel_configs[channel] = pccp;
+ pwm_lld_setup_channel(pwmp, channel);
chSysUnlock();
}
/**
* @brief Enables a PWM channel.
* - * @param[in] pwmp pointer to the @p PWMDriver object
+ * @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier * @param[in] width PWM pulse width as clock pulses number */
@@ -135,7 +134,7 @@ void pwmEnableChannel(PWMDriver *pwmp, * @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] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier
*/
void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {
diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h index 2596073ca..a55981e05 100644 --- a/os/kernel/include/ch.h +++ b/os/kernel/include/ch.h @@ -35,7 +35,7 @@ /**
* Kernel version string. */
-#define CH_KERNEL_VERSION "1.3.5unstable"
+#define CH_KERNEL_VERSION "1.3.6unstable"
/**
* Kernel version major number. @@ -50,7 +50,7 @@ /**
* Kernel version patch number. */
-#define CH_KERNEL_PATCH 5
+#define CH_KERNEL_PATCH 6
/*
* Common values.
diff --git a/readme.txt b/readme.txt index 49dbc030f..db8792585 100644 --- a/readme.txt +++ b/readme.txt @@ -2,6 +2,8 @@ *** Releases ***
*****************************************************************************
+*** 1.3.6 ***
+
*** 1.3.5 ***
- FIX: Fixed problem with memory core allocator (bug 2912528).
- FIX: Fixed problem with CH_USE_MEMCORE option (bug 2912522).
|