Add initial ICU driver for AVR
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5939 35acf78f-673a-0410-8e92-d51de3d6d3f4master
utzig
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8bd5eb3a68
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76d46cec81
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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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 AVR/icu_lld.c
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* @brief AVR ICU driver subsystem low level driver source.
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*
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* @addtogroup ICU
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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_ICU || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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typedef struct {
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volatile uint8_t *tccra;
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volatile uint8_t *tccrb;
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volatile uint16_t *tcnt;
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volatile uint8_t *timsk;
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} icu_registers_t;
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static icu_registers_t regs_table[]=
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{
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#if AVR_ICU_USE_ICU1 || defined(__DOXYGEN__)
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{&TCCR1A, &TCCR1B, &TCNT1, &TIMSK1},
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#endif
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#if AVR_ICU_USE_ICU3 || defined(__DOXYGEN__)
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{&TCCR3A, &TCCR3B, &TCNT3, &TIMSK3},
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#endif
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#if AVR_ICU_USE_ICU4 || defined(__DOXYGEN__)
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{&TCCR4A, &TCCR4B, &TCNT4, &TIMSK4},
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#endif
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#if AVR_ICU_USE_ICU5 || defined(__DOXYGEN__)
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{&TCCR5A, &TCCR5B, &TCNT5, &TIMSK5},
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#endif
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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 ICU1 driver identifier.
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*/
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#if AVR_ICU_USE_ICU1 || defined(__DOXYGEN__)
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ICUDriver ICUD1;
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#endif
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/**
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* @brief ICU3 driver identifier.
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*/
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#if AVR_ICU_USE_ICU3 || defined(__DOXYGEN__)
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ICUDriver ICUD3;
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#endif
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/**
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* @brief ICU4 driver identifier.
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*/
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#if AVR_ICU_USE_ICU4 || defined(__DOXYGEN__)
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ICUDriver ICUD4;
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#endif
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/**
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* @brief ICU5 driver identifier.
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*/
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#if AVR_ICU_USE_ICU5 || defined(__DOXYGEN__)
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ICUDriver ICUD5;
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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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static inline void handle_capture_isr(ICUDriver *icup,
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volatile uint16_t *icr,
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volatile uint8_t *tccrb,
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volatile uint16_t *tcnt)
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{
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uint16_t value = *icr;
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uint8_t rising = (*tccrb & (1 << ICES1)) ? 1 : 0;
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*tccrb ^= (1 << ICES1);
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if ((icup->config->mode == ICU_INPUT_ACTIVE_HIGH && rising) ||
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(icup->config->mode == ICU_INPUT_ACTIVE_LOW && !rising)) {
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icup->width = value;
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if (icup->config->width_cb != NULL)
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icup->config->width_cb(icup);
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} else {
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icup->period = value;
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if (icup->config->period_cb != NULL)
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icup->config->period_cb(icup);
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/* Reset counter at the end of every cycle */
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*tcnt = 0;
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}
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}
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static uint8_t index(ICUDriver *icup)
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{
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uint8_t index = 0;
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#if AVR_ICU_USE_ICU1 || defined(__DOXYGEN__)
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if (icup == &ICUD1) return index;
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else index++;
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#endif
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#if AVR_ICU_USE_ICU3 || defined(__DOXYGEN__)
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if (icup == &ICUD3) return index;
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else index++;
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#endif
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#if AVR_ICU_USE_ICU4 || defined(__DOXYGEN__)
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if (icup == &ICUD4) return index;
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else index++;
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#endif
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#if AVR_ICU_USE_ICU5 || defined(__DOXYGEN__)
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if (icup == &ICUD5) return index;
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else index++;
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#endif
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}
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if AVR_ICU_USE_ICU1 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER1_CAPT_vect)
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{
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CH_IRQ_PROLOGUE();
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handle_capture_isr(&ICUD1, &ICR1, &TCCR1B, &TCNT1);
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CH_IRQ_EPILOGUE();
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}
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CH_IRQ_HANDLER(TIMER1_OVF_vect)
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{
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CH_IRQ_PROLOGUE();
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ICUD1.config->overflow_cb(&ICUD1);
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CH_IRQ_EPILOGUE();
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}
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#endif
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#if AVR_ICU_USE_ICU3 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER3_CAPT_vect)
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{
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CH_IRQ_PROLOGUE();
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handle_capture_isr(&ICUD3, &ICR3, &TCCR3B, &TCNT3);
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CH_IRQ_EPILOGUE();
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}
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CH_IRQ_HANDLER(TIMER3_OVF_vect)
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{
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CH_IRQ_PROLOGUE();
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ICUD3.config->overflow_cb(&ICUD3);
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CH_IRQ_EPILOGUE();
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}
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#endif
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#if AVR_ICU_USE_ICU4 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER4_CAPT_vect)
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{
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CH_IRQ_PROLOGUE();
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handle_capture_isr(&ICUD4, &ICR4, &TCCR4B, &TCNT4);
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CH_IRQ_EPILOGUE();
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}
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CH_IRQ_HANDLER(TIMER4_OVF_vect)
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{
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CH_IRQ_PROLOGUE();
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ICUD4.config->overflow_cb(&ICUD4);
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CH_IRQ_EPILOGUE();
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}
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#endif
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#if AVR_ICU_USE_ICU5 || defined(__DOXYGEN__)
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CH_IRQ_HANDLER(TIMER5_CAPT_vect)
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{
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CH_IRQ_PROLOGUE();
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handle_capture_isr(&ICUD5, &ICR5, &TCCR5B, &TCNT5);
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CH_IRQ_EPILOGUE();
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}
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CH_IRQ_HANDLER(TIMER5_OVF_vect)
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{
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CH_IRQ_PROLOGUE();
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ICUD5.config->overflow_cb(&ICUD5);
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CH_IRQ_EPILOGUE();
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}
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#endif
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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 ICU driver initialization.
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*
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* @notapi
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*/
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void icu_lld_init(void) {
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#if AVR_ICU_USE_ICU1
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icuObjectInit(&ICUD1);
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#endif
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#if AVR_ICU_USE_ICU3
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icuObjectInit(&ICUD3);
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#endif
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#if AVR_ICU_USE_ICU4
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icuObjectInit(&ICUD4);
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#endif
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#if AVR_ICU_USE_ICU5
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icuObjectInit(&ICUD5);
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#endif
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}
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/**
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* @brief Configures and activates the ICU peripheral.
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*
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* @param[in] icup pointer to the @p ICUDriver object
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*
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* @notapi
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*/
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void icu_lld_start(ICUDriver *icup) {
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if (icup->state == ICU_STOP) {
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uint8_t i = index(icup);
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/* Normal waveform generation (counts from 0 to 0xFFFF) */
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*regs_table[i].tccra &= ~((1 << WGM11) | (1 << WGM10));
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*regs_table[i].tccrb &= ~((1 << WGM13) | (1 << WGM12));
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/* Enable noise canceler, set prescale to CLK/1024 */
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*regs_table[i].tccrb |= (1 << ICNC1) | (1 << CS12) | (1 << CS10);
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if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
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*regs_table[i].tccrb |= (1 << ICES1);
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else
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*regs_table[i].tccrb &= ~(1 << ICES1);
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}
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}
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/**
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* @brief Deactivates the ICU peripheral.
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*
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* @param[in] icup pointer to the @p ICUDriver object
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*
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* @notapi
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*/
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void icu_lld_stop(ICUDriver *icup) {
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if (icup->state == ICU_READY) {
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/* Resets the peripheral.*/
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/* Disables the peripheral.*/
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#if AVR_ICU_USE_ICU1
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if (&ICUD1 == icup) {
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}
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#endif /* AVR_ICU_USE_ICU1 */
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}
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}
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/**
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* @brief Enables the input capture.
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*
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* @param[in] icup pointer to the @p ICUDriver object
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*
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* @notapi
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*/
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void icu_lld_enable(ICUDriver *icup) {
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uint8_t i = index(icup);
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icup->width = icup->period = 0;
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*regs_table[i].tcnt = 0;
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*regs_table[i].timsk |= (1 << ICIE1);
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if (icup->config->overflow_cb != NULL)
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*regs_table[i].timsk |= (1 << TOIE1);
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}
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/**
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* @brief Disables the input capture.
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*
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* @param[in] icup pointer to the @p ICUDriver object
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*
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* @notapi
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*/
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void icu_lld_disable(ICUDriver *icup) {
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uint8_t i = index(icup);
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*regs_table[i].timsk &= ~((1 << ICIE1) | (1 << TOIE1));
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}
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/**
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* @brief Returns the width of the latest pulse.
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* @details The pulse width is defined as number of ticks between the start
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* edge and the stop edge.
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*
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* @param[in] icup pointer to the @p ICUDriver object
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* @return The number of ticks.
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*
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* @notapi
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*/
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icucnt_t icu_lld_get_width(ICUDriver *icup) {
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return icup->width;
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}
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/**
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* @brief Returns the width of the latest cycle.
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* @details The cycle width is defined as number of ticks between a start
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* edge and the next start edge.
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*
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* @param[in] icup pointer to the @p ICUDriver object
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* @return The number of ticks.
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*
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* @notapi
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*/
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icucnt_t icu_lld_get_period(ICUDriver *icup) {
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return icup->period;
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}
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#endif /* HAL_USE_ICU */
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/** @} */
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@ -0,0 +1,193 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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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 AVR/icu_lld.h
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* @brief AVR ICU driver subsystem low level driver header.
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*
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* @addtogroup ICU
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* @{
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*/
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#ifndef _ICU_LLD_H_
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#define _ICU_LLD_H_
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#if HAL_USE_ICU || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name Configuration options
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* @{
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*/
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/**
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* @brief ICU driver enable switch.
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* @details If set to @p TRUE the support for ICU1 is included.
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*/
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#if !defined(AVR_ICU_USE_ICU1) || defined(__DOXYGEN__)
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#define AVR_ICU_USE_ICU1 FALSE
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#endif
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/**
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* @brief ICU driver enable switch.
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* @details If set to @p TRUE the support for ICU3 is included.
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*/
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#if !defined(AVR_ICU_USE_ICU3) || defined(__DOXYGEN__)
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#define AVR_ICU_USE_ICU3 FALSE
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#endif
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/**
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* @brief ICU driver enable switch.
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* @details If set to @p TRUE the support for ICU4 is included.
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*/
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#if !defined(AVR_ICU_USE_ICU4) || defined(__DOXYGEN__)
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#define AVR_ICU_USE_ICU4 FALSE
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#endif
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/**
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* @brief ICU driver enable switch.
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* @details If set to @p TRUE the support for ICU5 is included.
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*/
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#if !defined(AVR_ICU_USE_ICU5) || defined(__DOXYGEN__)
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#define AVR_ICU_USE_ICU5 FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief ICU driver mode.
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*/
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typedef enum {
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ICU_INPUT_ACTIVE_HIGH = 0, /**< Trigger on rising edge. */
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ICU_INPUT_ACTIVE_LOW = 1, /**< Trigger on falling edge. */
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} icumode_t;
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/**
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* @brief ICU frequency type.
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*/
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typedef uint16_t icufreq_t;
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/**
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* @brief ICU counter type.
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*/
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typedef uint16_t icucnt_t;
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/**
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* @brief Driver configuration structure.
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* @note It could be empty on some architectures.
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*/
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typedef struct {
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/**
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* @brief Driver mode.
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*/
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icumode_t mode;
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/**
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* @brief Timer clock in Hz.
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* @note The low level can use assertions in order to catch invalid
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* frequency specifications.
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*/
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icufreq_t frequency;
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/**
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* @brief Callback for pulse width measurement.
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*/
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icucallback_t width_cb;
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/**
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* @brief Callback for cycle period measurement.
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*/
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icucallback_t period_cb;
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/**
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* @brief Callback for timer overflow.
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*/
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icucallback_t overflow_cb;
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/* End of the mandatory fields.*/
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} ICUConfig;
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/**
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* @brief Structure representing an ICU driver.
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*/
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struct ICUDriver {
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/**
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* @brief Driver state.
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*/
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icustate_t state;
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/**
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* @brief Current configuration data.
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*/
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const ICUConfig *config;
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#if defined(ICU_DRIVER_EXT_FIELDS)
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ICU_DRIVER_EXT_FIELDS
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#endif
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/* End of the mandatory fields.*/
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/**
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* @brief Width value read by ISR.
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*/
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icucnt_t width;
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/**
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* @brief Period value read by ISR.
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*/
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icucnt_t period;
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};
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#if AVR_ICU_USE_ICU1 && !defined(__DOXYGEN__)
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extern ICUDriver ICUD1;
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#endif
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#if AVR_ICU_USE_ICU3 && !defined(__DOXYGEN__)
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extern ICUDriver ICUD3;
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#endif
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#if AVR_ICU_USE_ICU4 && !defined(__DOXYGEN__)
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extern ICUDriver ICUD4;
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#endif
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#if AVR_ICU_USE_ICU5 && !defined(__DOXYGEN__)
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extern ICUDriver ICUD5;
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#endif
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#ifdef __cplusplus
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extern "C" {
|
||||
#endif
|
||||
void icu_lld_init(void);
|
||||
void icu_lld_start(ICUDriver *icup);
|
||||
void icu_lld_stop(ICUDriver *icup);
|
||||
void icu_lld_enable(ICUDriver *icup);
|
||||
void icu_lld_disable(ICUDriver *icup);
|
||||
icucnt_t icu_lld_get_width(ICUDriver *icup);
|
||||
icucnt_t icu_lld_get_period(ICUDriver *icup);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* HAL_USE_ICU */
|
||||
|
||||
#endif /* _ICU_LLD_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -6,7 +6,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/AVR/hal_lld.c \
|
|||
${CHIBIOS}/os/hal/platforms/AVR/i2c_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/spi_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/gpt_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/pwm_lld.c
|
||||
${CHIBIOS}/os/hal/platforms/AVR/pwm_lld.c \
|
||||
${CHIBIOS}/os/hal/platforms/AVR/icu_lld.c
|
||||
|
||||
# Required include directories
|
||||
PLATFORMINC = ${CHIBIOS}/os/hal/platforms/AVR
|
||||
|
|
|
|||
Loading…
Reference in New Issue