447 lines
13 KiB
C
447 lines
13 KiB
C
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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LPC122x PWM driver - Copyright (C) 2013 Marcin Jokel
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file LPC122x/pwm_lld.c
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* @brief LPC122x PWM subsystem low level driver header.
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*
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* @addtogroup PWM
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#if HAL_USE_PWM || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/**
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* @brief PWMD1 driver identifier.
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* @note The driver PWMD1 allocates the complex timer TIM1 when enabled.
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*/
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#if LPC122x_PWM_USE_CT16B0 || defined(__DOXYGEN__)
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PWMDriver PWMD1;
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#endif
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/**
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* @brief PWMD2 driver identifier.
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* @note The driver PWMD2 allocates the timer TIM2 when enabled.
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*/
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#if LPC122x_PWM_USE_CT16B1 || defined(__DOXYGEN__)
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PWMDriver PWMD2;
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#endif
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/**
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* @brief PWMD3 driver identifier.
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* @note The driver PWMD3 allocates the timer TIM3 when enabled.
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*/
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#if LPC122x_PWM_USE_CT32B0 || defined(__DOXYGEN__)
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PWMDriver PWMD3;
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#endif
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/**
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* @brief PWMD4 driver identifier.
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* @note The driver PWMD4 allocates the timer TIM4 when enabled.
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*/
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#if LPC122x_PWM_USE_CT32B1 || defined(__DOXYGEN__)
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PWMDriver PWMD4;
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#endif
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if LPC122x_PWM_USE_CT16B0 || LPC122x_PWM_USE_CT16B1 || \
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LPC122x_PWM_USE_CT32B0 || LPC122x_PWM_USE_CT32B1 || defined(__DOXYGEN__)
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/**
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* @brief Common TIM2...TIM5 IRQ handler.
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* @note It is assumed that the various sources are only activated if the
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* associated callback pointer is not equal to @p NULL in order to not
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* perform an extra check in a potentially critical interrupt handler.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*/
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static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
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uint16_t sr;
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sr = pwmp->tim->IR;
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pwmp->tim->IR = sr;
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if ((sr & IR_MR0INT) != 0)
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pwmp->config->channels[0].callback(pwmp);
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if ((sr & IR_MR1INT) != 0)
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pwmp->config->channels[1].callback(pwmp);
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if ((sr & IR_MR3INT) != 0)
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pwmp->config->callback(pwmp);
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}
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#endif
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if LPC122x_PWM_USE_CT16B0 || defined(__DOXYGEN__)
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/**
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* @brief CT16B0 interrupt handler.
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*
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* @isr
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*/
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CH_IRQ_HANDLER(Vector74) {
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CH_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD1);
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CH_IRQ_EPILOGUE();
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}
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#endif /* STM32_PWM_USE_TIM1 */
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#if LPC122x_PWM_USE_CT16B1 || defined(__DOXYGEN__)
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/**
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* @brief CT16B1 interrupt handler.
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*
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* @isr
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*/
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CH_IRQ_HANDLER(Vector78) {
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CH_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD2);
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CH_IRQ_EPILOGUE();
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}
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#endif /* LPC122x_PWM_USE_CT16B1 */
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#if LPC122x_PWM_USE_CT32B0 || defined(__DOXYGEN__)
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/**
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* @brief CT32B0 interrupt handler.
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*
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* @isr
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*/
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CH_IRQ_HANDLER(Vector7C) {
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CH_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD3);
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CH_IRQ_EPILOGUE();
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}
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#endif /* LPC122x_PWM_USE_CT32B0 */
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#if LPC122x_PWM_USE_CT32B1 || defined(__DOXYGEN__)
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/**
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* @brief CT32B1 interrupt handler.
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*
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* @isr
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*/
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CH_IRQ_HANDLER(Vector80) {
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CH_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD4);
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CH_IRQ_EPILOGUE();
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}
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#endif /* LPC122x_PWM_USE_CT32B1 */
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level PWM driver initialization.
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*
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* @notapi
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*/
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void pwm_lld_init(void) {
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#if LPC122x_PWM_USE_CT16B0
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/* Driver initialization.*/
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pwmObjectInit(&PWMD1);
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PWMD1.tim = LPC_CT16B0;
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#if LPC122x_PWM_USE_CT16B0_CH0
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#if LPC122x_PWM_CT16B0_CH0_SELECTOR == PWM_CT16B0_CH0_IS_PIO0_11
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LPC_IOCON->PIO0_11 = 0x84;
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#elif LPC122x_PWM_CT16B0_CH0_SELECTOR == PWM_CT16B0_CH0_IS_PIO0_28
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LPC_IOCON->PIO0_28 = 0x84;
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#else /* LPC122x_PWM_CT16B0_CH0_SELECTOR == PWM_CT16B0_CH0_IS_PIO2_0 */
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LPC_IOCON->PIO2_0 = 0x84;
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#endif
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#endif
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#if LPC122x_PWM_USE_CT16B0_CH1
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#if LPC122x_PWM_CT16B0_CH1_SELECTOR == PWM_CT16B0_CH1_IS_PIO0_12
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LPC_IOCON->PIO0_12 = 0x84;
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#elif LPC122x_PWM_CT16B0_CH1_SELECTOR == PWM_CT16B0_CH1_IS_PIO0_29
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LPC_IOCON->PIO0_29 = 0x84;
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#else /* LPC122x_PWM_CT16B0_CH1_SELECTOR == PWM_CT16B0_CH1_IS_PIO2_1 */
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LPC_IOCON->PIO2_1 = 0x83;
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#endif
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#endif
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#endif
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#if LPC122x_PWM_USE_CT16B1
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/* Driver initialization.*/
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pwmObjectInit(&PWMD2);
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PWMD2.tim = LPC_CT16B1;
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#if LPC122x_PWM_USE_CT16B1_CH0
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#if LPC122x_PWM_CT16B1_CH0_SELECTOR == PWM_CT16B1_CH0_IS_PIO0_15
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LPC_IOCON->PIO0_15 = 0x84;
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#elif LPC122x_PWM_CT16B1_CH0_SELECTOR == PWM_CT16B1_CH0_IS_PIO1_5
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LPC_IOCON->PIO1_5 = 0x83;
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#else /* LPC122x_PWM_CT16B1_CH0_SELECTOR == PWM_CT16B1_CH0_IS_PIO2_2 */
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LPC_IOCON->PIO2_2 = 0x83;
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#endif
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#endif
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#if LPC122x_PWM_USE_CT16B1_CH1
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#if LPC122x_PWM_CT16B1_CH1_SELECTOR == PWM_CT16B1_CH1_IS_PIO0_16
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LPC_IOCON->PIO0_16 = 0x84;
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#elif LPC122x_PWM_CT16B1_CH1_SELECTOR == PWM_CT16B1_CH1_IS_PIO1_6
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LPC_IOCON->PIO1_6 = 0x82;
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#else /* LPC122x_PWM_CT16B1_CH1_SELECTOR == PWM_CT16B1_CH1_IS_PIO2_3 */
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LPC_IOCON->PIO2_3 = 0x83;
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#endif
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#endif
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#endif
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#if LPC122x_PWM_USE_CT32B0
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/* Driver initialization.*/
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pwmObjectInit(&PWMD3);
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PWMD3.tim = LPC_CT32B0;
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#if LPC122x_PWM_USE_CT32B0_CH0
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#if LPC122x_PWM_CT32B0_CH0_SELECTOR == PWM_CT32B0_CH0_IS_PIO0_1
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LPC_IOCON->PIO0_1 = 0x84;
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#elif LPC122x_PWM_CT32B0_CH0_SELECTOR == PWM_CT32B0_CH0_IS_PIO0_18
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LPC_IOCON->PIO0_18 = 0x84;
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#else /* LPC122x_PWM_CT32B0_CH0_SELECTOR == PWM_CT32B0_CH0_IS_PIO2_4 */
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LPC_IOCON->PIO2_4 = 0x83;
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#endif
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#endif
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#if LPC122x_PWM_USE_CT32B0_CH1
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#if LPC122x_PWM_CT32B0_CH1_SELECTOR == PWM_CT32B0_CH1_IS_PIO0_2
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LPC_IOCON->PIO0_2 = 0x84;
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#elif LPC122x_PWM_CT32B0_CH1_SELECTOR == PWM_CT32B0_CH1_IS_PIO0_19
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LPC_IOCON->PIO0_19 = 0x84;
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#else /* LPC122x_PWM_CT32B0_CH1_SELECTOR == PWM_CT32B0_CH1_IS_PIO2_5 */
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LPC_IOCON->PIO2_5 = 0x83;
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#endif
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#endif
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#endif
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#if LPC122x_PWM_USE_CT32B1
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/* Driver initialization.*/
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pwmObjectInit(&PWMD4);
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PWMD4.tim = LPC_CT32B1;
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#if LPC122x_PWM_USE_CT32B1_CH0
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#if LPC122x_PWM_CT32B1_CH0_SELECTOR == PWM_CT32B1_CH0_IS_PIO0_6
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LPC_IOCON->PIO0_6 = 0x84;
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#elif LPC122x_PWM_CT32B1_CH0_SELECTOR == PWM_CT32B1_CH0_IS_PIO0_23
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LPC_IOCON->PIO0_23 = 0x84;
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#else /* LPC122x_PWM_CT32B1_CH0_SELECTOR == PWM_CT32B1_CH0_IS_PIO2_8 */
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LPC_IOCON->PIO2_8 = 0x83;
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#endif
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#endif
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#if LPC122x_PWM_USE_CT32B1_CH1
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#if LPC122x_PWM_CT32B1_CH1_SELECTOR == PWM_CT32B1_CH1_IS_PIO0_7
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LPC_IOCON->PIO0_7 = 0x84;
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#elif LPC122x_PWM_CT32B1_CH1_SELECTOR == PWM_CT32B1_CH1_IS_PIO0_24
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LPC_IOCON->PIO0_24 = 0x84;
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#else /* LPC122x_PWM_CT32B1_CH1_SELECTOR == PWM_CT32B1_CH1_IS_PIO2_9 */
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LPC_IOCON->PIO2_9 = 0x83;
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#endif
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#endif
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#endif
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}
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/**
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* @brief Configures and activates the PWM peripheral.
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* @note Starting a driver that is already in the @p PWM_READY state
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* disables all the active channels.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_start(PWMDriver *pwmp) {
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uint32_t pr;
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if (pwmp->state == PWM_STOP) {
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/* Clock activation and timer reset.*/
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#if LPC122x_PWM_USE_CT16B0
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if (&PWMD1 == pwmp) {
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LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 7);
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nvicEnableVector(TIMER_16_0_IRQn, LPC122x_PWM_CT16B0_IRQ_PRIORITY);
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}
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#endif
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#if LPC122x_PWM_USE_CT16B1
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if (&PWMD2 == pwmp) {
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LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 8);
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nvicEnableVector(TIMER_16_1_IRQn, LPC122x_PWM_CT16B1_IRQ_PRIORITY);
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}
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#endif
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#if LPC122x_PWM_USE_CT32B0
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if (&PWMD3 == pwmp) {
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LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 9);
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nvicEnableVector(TIMER_32_0_IRQn, LPC122x_PWM_CT32B0_IRQ_PRIORITY);
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}
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#endif
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#if LPC122x_PWM_USE_CT32B1
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if (&PWMD4 == pwmp) {
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LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 10);
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nvicEnableVector(TIMER_32_1_IRQn, LPC122x_PWM_CT32B1_IRQ_PRIORITY);
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}
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#endif
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}
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else {
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/* Driver re-configuration scenario, it must be stopped first.*/
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pwmp->tim->TCR = 0;
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}
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/* Output enables and polarities setup.*/
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if(pwmp->config->channels[0].mode == PWM_OUTPUT_ACTIVE_LOW)
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pwmp->tim->PWMC = (1 << 0);
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if(pwmp->config->channels[1].mode == PWM_OUTPUT_ACTIVE_LOW)
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pwmp->tim->PWMC |= (1 << 1);
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/* Timer configured and started.*/
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pr = (uint16_t)((LPC122x_SYSCLK / pwmp->config->frequency) - 1);
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chDbgAssert(((uint32_t)(pr + 1) * pwmp->config->frequency) == LPC122x_SYSCLK,
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|
"pwm_lld_start(), #1", "invalid frequency");
|
||
|
|
|
||
|
|
pwmp->tim->TC = 0;
|
||
|
|
pwmp->tim->PR = pr;
|
||
|
|
pwmp->tim->IR = 0xFF;
|
||
|
|
pwmp->tim->MCR = MCR_MR3R; /* Reset on Match3 */
|
||
|
|
pwmp->tim->MR3 = pwmp->config->period;
|
||
|
|
|
||
|
|
if (pwmp->config->callback != NULL)
|
||
|
|
pwmp->tim->MCR |= MCR_MR3I;
|
||
|
|
|
||
|
|
pwmp->tim->TCR = 1; /* Timer start */
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Deactivates the PWM peripheral.
|
||
|
|
*
|
||
|
|
* @param[in] pwmp pointer to a @p PWMDriver object
|
||
|
|
*
|
||
|
|
* @notapi
|
||
|
|
*/
|
||
|
|
void pwm_lld_stop(PWMDriver *pwmp) {
|
||
|
|
|
||
|
|
/* If in ready state then disables the PWM clock.*/
|
||
|
|
if (pwmp->state == PWM_READY) {
|
||
|
|
pwmp->tim->TCR = 0; /* Timer disabled. */
|
||
|
|
pwmp->tim->MCR = 0; /* All IRQs disabled. */
|
||
|
|
pwmp->tim->IR = 0xFF; /* Clear eventual pending IRQs. */
|
||
|
|
pwmp->tim->PWMC = 0; /* PWM outputs disable */
|
||
|
|
|
||
|
|
#if LPC122x_PWM_USE_CT16B0
|
||
|
|
if (&PWMD1 == pwmp) {
|
||
|
|
nvicDisableVector(TIMER_16_0_IRQn);
|
||
|
|
LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 7);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
#if LPC122x_PWM_USE_CT16B1
|
||
|
|
if (&PWMD2 == pwmp) {
|
||
|
|
nvicDisableVector(TIMER_16_1_IRQn);
|
||
|
|
LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 8);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
#if LPC122x_PWM_USE_CT32B0
|
||
|
|
if (&PWMD3 == pwmp) {
|
||
|
|
nvicDisableVector(TIMER_32_0_IRQn);
|
||
|
|
LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 9);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
#if LPC122x_PWM_USE_CT32B1
|
||
|
|
if (&PWMD4 == pwmp) {
|
||
|
|
nvicDisableVector(TIMER_32_1_IRQn);
|
||
|
|
LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 10);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 The function has effect at the next cycle start.
|
||
|
|
*
|
||
|
|
* @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 channel,
|
||
|
|
pwmcnt_t width) {
|
||
|
|
|
||
|
|
pwmp->tim->MCR &= ~(7 << (channel * 3));
|
||
|
|
|
||
|
|
if ( channel == 0)
|
||
|
|
pwmp->tim->MR0 = width; /* New duty cycle. */
|
||
|
|
else
|
||
|
|
pwmp->tim->MR1 = width; /* New duty cycle. */
|
||
|
|
/* If there is a callback defined for the channel then the associated
|
||
|
|
interrupt must be enabled.*/
|
||
|
|
if (pwmp->config->channels[channel].callback != NULL) {
|
||
|
|
pwmp->tim->IR = (1 << channel); /* Clear interrupt flag*/
|
||
|
|
pwmp->tim->MCR |= (1 << (channel * 3)); /* Set interrupt on selected channel */
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 The function has effect at the next cycle start.
|
||
|
|
*
|
||
|
|
* @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 channel) {
|
||
|
|
|
||
|
|
if ( channel == 0)
|
||
|
|
pwmp->tim->MR0 = 0;
|
||
|
|
else
|
||
|
|
pwmp->tim->MR1 = 0;
|
||
|
|
pwmp->tim->MCR &= ~(7 << (channel * 3));
|
||
|
|
pwmp->tim->IR = (1 << channel);
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* HAL_USE_PWM */
|
||
|
|
|
||
|
|
/** @} */
|