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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7224 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2014-09-01 08:27:52 +00:00
parent 7d1b097edc
commit 051dd39583
5 changed files with 218 additions and 30 deletions
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111
os/hal/dox/icu.dox Normal file
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@ -0,0 +1,111 @@
/*
ChibiOS/HAL - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/HAL
ChibiOS/HAL 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/>.
*/
/**
* @defgroup ICU ICU Driver
* @brief Generic ICU Driver.
* @details This module implements a generic ICU (Input Capture Unit) driver.
* The purpose of the driver is to measure period and duty cycle of
* an input digital signal (PWM input).
* @pre In order to use the ICU driver the @p HAL_USE_ICU option
* must be enabled in @p halconf.h.
*
* @section icu_1 Driver State Machine
* The driver implements a state machine internally, not all the driver
* functionalities can be used in any moment, any transition not explicitly
* shown in the following diagram has to be considered an error and shall
* be captured by an assertion (if enabled).
* @if LATEX_PDF
* @dot
digraph example {
size="5, 7";
rankdir="LR";
node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
edge [fontname=Sans, fontsize=8];
stop [label="ICU_STOP\nLow Power"];
uninit [label="ICU_UNINIT", style="bold"];
ready [label="ICU_READY\nClock Enabled"];
waiting [label="ICU_WAITING"];
active [label="ICU_ACTIVE"];
uninit -> stop [label=" icuInit()", constraint=false];
stop -> stop [label="\nicuStop()"];
stop -> ready [label="\nicuStart()"];
ready -> stop [label="\nicuStop()"];
ready -> ready [label="\nicuStart()\nicuStopCapture()"];
ready -> waiting [label="\nicuStartCapture()"];
waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];
waiting -> ready [label="\nicuStopCapture()"];
active -> ready [label="\nicuStopCapture()"];
active -> active [label="\nActivation Edge\n>period_cb<"];
active -> active [label="\nDe-activation Edge\n>width_cb<"];
}
* @enddot
* @else
* @dot
digraph example {
rankdir="LR";
node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
edge [fontname=Sans, fontsize=8];
stop [label="ICU_STOP\nLow Power"];
uninit [label="ICU_UNINIT", style="bold"];
ready [label="ICU_READY\nClock Enabled"];
waiting [label="ICU_WAITING"];
active [label="ICU_ACTIVE"];
uninit -> stop [label=" icuInit()", constraint=false];
stop -> stop [label="\nicuStop()"];
stop -> ready [label="\nicuStart()"];
ready -> stop [label="\nicuStop()"];
ready -> ready [label="\nicuStart()\nicuStopCapture()"];
ready -> waiting [label="\nicuStartCapture()"];
waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];
waiting -> ready [label="\nicuStopCapture()"];
active -> ready [label="\nicuStopCapture()"];
active -> active [label="\nActivation Edge\n>period_cb<"];
active -> active [label="\nDe-activation Edge\n>width_cb<"];
}
* @enddot
* @endif
*
* @section icu_2 ICU Operations.
* This driver abstracts a generic Input Capture Unit composed of:
* - A clock prescaler.
* - A main up counter.
* - Two capture registers triggered by the rising and falling edges on
* the sampled input.
* .
* The ICU unit can be programmed to synchronize on the rising or falling
* edge of the sample input:
* - <b>ICU_INPUT_ACTIVE_HIGH</b>, a rising edge is the start signal.
* - <b>ICU_INPUT_ACTIVE_LOW</b>, a falling edge is the start signal.
* .
* Callbacks are optionally invoked when:
* - On the PWM de-activation edge.
* - On the PWM activation edge, measurements for the previous cycle are
* available from this callback and can be retrieved using
* @p icuGetPeriodX() and @p icuGetWidthX().
* .
* @ingroup IO
*/

69
os/hal/dox/pwm.dox Normal file
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@ -0,0 +1,69 @@
/*
ChibiOS/HAL - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/HAL
ChibiOS/HAL 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/>.
*/
/**
* @defgroup PWM PWM Driver
* @brief Generic PWM Driver.
* @details This module implements a generic PWM (Pulse Width Modulation)
* driver.
* @pre In order to use the PWM driver the @p HAL_USE_PWM option
* must be enabled in @p halconf.h.
*
* @section pwm_1 Driver State Machine
* The driver implements a state machine internally, not all the driver
* functionalities can be used in any moment, any transition not explicitly
* shown in the following diagram has to be considered an error and shall
* be captured by an assertion (if enabled).
* @dot
digraph example {
rankdir="LR";
node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
edge [fontname=Helvetica, fontsize=8];
uninit [label="PWM_UNINIT", style="bold"];
stop [label="PWM_STOP\nLow Power"];
ready [label="PWM_READY\nClock Enabled"];
uninit -> stop [label="pwmInit()"];
stop -> stop [label="pwmStop()"];
stop -> ready [label="pwmStart()"];
ready -> stop [label="pwmStop()"];
ready -> ready [label="pwmEnableChannel()\npwmDisableChannel()"];
}
* @enddot
*
* @section pwm_2 PWM Operations.
* This driver abstracts a generic PWM timer composed of:
* - A clock prescaler.
* - A main up counter.
* - A comparator register that resets the main counter to zero when the limit
* is reached. An optional callback can be generated when this happens.
* - An array of @p PWM_CHANNELS PWM channels, each channel has an output,
* a comparator and is able to invoke an optional callback when a comparator
* match with the main counter happens.
* .
* A PWM channel output can be in two different states:
* - <b>IDLE</b>, when the channel is disabled or after a match occurred.
* - <b>ACTIVE</b>, when the channel is enabled and a match didn't occur yet
* in the current PWM cycle.
* .
* Note that the two states can be associated to both logical zero or one in
* the @p PWMChannelConfig structure.
*
* @ingroup IO
*/

6
os/hal/include/icu.h
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@ -93,11 +93,7 @@ typedef void (*icucallback_t)(ICUDriver *icup);
} while (0)
/**
* @brief Waits for the next cycle activation edge.
* @details The function waits for the next PWM input activation front then
* brings the driver in the @p ICU_ACTIVE state.
* @note If notifications are enabled then the transition to the
* @p ICU_ACTIVE state is done automatically on the first edge.
* @brief Waits for a completed capture.
*
* @param[in] icup pointer to the @p ICUDriver object
*

56
os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
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@ -102,6 +102,34 @@ ICUDriver ICUD9;
/* Driver local functions. */
/*===========================================================================*/
static void icu_lld_wait_edge(ICUDriver *icup) {
/* Polled mode so re-enabling the interrupts while the operation is
performed.*/
chSysUnlock();
/* Polling the right bit depending on the input channel.*/
if (icup->config->channel == ICU_CHANNEL_1) {
/* Waiting for an edge.*/
while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)
;
/* Resetting capture flag.*/
icup->tim->SR &= ~STM32_TIM_SR_CC1IF;
}
else {
/* Waiting for an edge.*/
while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)
;
/* Resetting capture flag.*/
icup->tim->SR &= ~STM32_TIM_SR_CC2IF;
}
/* Done, disabling interrupts again.*/
chSysLock();
}
/**
* @brief Shared IRQ handler.
*
@ -615,12 +643,9 @@ void icu_lld_start_capture(ICUDriver *icup) {
}
/**
* @brief Waits for the next cycle activation edge.
* @details The function waits for the next PWM input activation front then
* brings the driver in the @p ICU_ACTIVE state.
* @note If notifications are enabled then the transition to the
* @p ICU_ACTIVE state is done automatically on the first edge.
* @brief Waits for a completed capture.
* @note The wait is performed in polled mode.
* @note The function cannot work if notifications are enabled.
*
* @param[in] icup pointer to the @p ICUDriver object
*
@ -628,22 +653,13 @@ void icu_lld_start_capture(ICUDriver *icup) {
*/
void icu_lld_wait_capture(ICUDriver *icup) {
if (icup->config->channel == ICU_CHANNEL_1) {
/* Resetting capture flag.*/
icup->tim->SR &= ~STM32_TIM_SR_CC1IF;
/* If the driver is still in the ICU_WAITING state then we need to wait
for the first activation edge.*/
if (icup->state == ICU_WAITING)
icu_lld_wait_edge(icup);
/* Waiting for an edge.*/
while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)
;
}
else {
/* Resetting capture flag.*/
icup->tim->SR &= ~STM32_TIM_SR_CC2IF;
/* Waiting for an edge.*/
while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)
;
}
/* This edge marks the availability of a capture result.*/
icu_lld_wait_edge(icup);
}
/**

6
os/hal/src/icu.c
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@ -133,11 +133,7 @@ void icuStartCapture(ICUDriver *icup) {
}
/**
* @brief Waits for the next cycle activation edge.
* @details The function waits for the next PWM input activation front then
* brings the driver in the @p ICU_ACTIVE state.
* @note If notifications are enabled then the transition to the
* @p ICU_ACTIVE state is done automatically on the first edge.
* @brief Waits for a completed capture.
*
* @param[in] icup pointer to the @p ICUDriver object
*