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STM32 PWM driver optimization, changed the behavior of pwmChangePeriod(). 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2869 35acf78f-673a-0410-8e92-d51de3d6d3f4
master
gdisirio 2011-04-05 18:21:00 +00:00
parent c4fec713d2
commit ad009f46d5
10 changed files with 67 additions and 87 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
docs/Doxyfile_chm
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@ -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 = 2.3.1
PROJECT_NUMBER = 2.3.2
# Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer

2
docs/Doxyfile_html
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@ -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 = 2.3.1
PROJECT_NUMBER = 2.3.2
# Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer

8
os/hal/include/pwm.h
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@ -150,11 +150,9 @@ typedef void (*pwmcallback_t)(PWMDriver *pwmp);
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks

59
os/hal/platforms/STM32/pwm_lld.c
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@ -254,35 +254,30 @@ void pwm_lld_init(void) {
#if STM32_PWM_USE_TIM1
/* Driver initialization.*/
pwmObjectInit(&PWMD1);
PWMD1.enabled_channels = 0;
PWMD1.tim = TIM1;
#endif
#if STM32_PWM_USE_TIM2
/* Driver initialization.*/
pwmObjectInit(&PWMD2);
PWMD2.enabled_channels = 0;
PWMD2.tim = TIM2;
#endif
#if STM32_PWM_USE_TIM3
/* Driver initialization.*/
pwmObjectInit(&PWMD3);
PWMD3.enabled_channels = 0;
PWMD3.tim = TIM3;
#endif
#if STM32_PWM_USE_TIM4
/* Driver initialization.*/
pwmObjectInit(&PWMD4);
PWMD4.enabled_channels = 0;
PWMD4.tim = TIM4;
#endif
#if STM32_PWM_USE_TIM5
/* Driver initialization.*/
pwmObjectInit(&PWMD5);
PWMD5.enabled_channels = 0;
PWMD5.tim = TIM5;
#endif
}
@ -300,9 +295,6 @@ void pwm_lld_start(PWMDriver *pwmp) {
uint32_t clock, psc;
uint16_t ccer;
/* Reset channels.*/
pwmp->enabled_channels = 0; /* All channels disabled. */
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if STM32_PWM_USE_TIM1
@ -372,7 +364,6 @@ void pwm_lld_start(PWMDriver *pwmp) {
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
pwmp->enabled_channels = 0; /* All channels disabled. */
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->DIER = 0; /* All IRQs disabled. */
pwmp->tim->SR = 0; /* Clear eventual pending IRQs. */
@ -457,8 +448,8 @@ void pwm_lld_start(PWMDriver *pwmp) {
pwmp->tim->CCER = ccer;
pwmp->tim->EGR = TIM_EGR_UG; /* Update event. */
pwmp->tim->SR = 0; /* Clear pending IRQs. */
pwmp->tim->DIER = pwmp->config->callback == NULL ? 0 : TIM_DIER_UIE;
pwmp->tim->SR = 0; /* Clear pending IRQs. */
#if STM32_PWM_USE_ADVANCED
pwmp->tim->BDTR = pwmp->config->bdtr | TIM_BDTR_MOE;
#else
@ -479,7 +470,6 @@ void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/
if (pwmp->state == PWM_READY) {
pwmp->enabled_channels = 0; /* All channels disabled. */
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->DIER = 0; /* All IRQs disabled. */
pwmp->tim->SR = 0; /* Clear eventual pending IRQs. */
@ -519,35 +509,6 @@ void pwm_lld_stop(PWMDriver *pwmp) {
}
}
/**
* @brief Changes the period the PWM peripheral.
* @details This function changes the period of a PWM unit that has already
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
*
* @api
*/
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {
pwmp->enabled_channels = 0; /* All channels disabled. */
pwmp->tim->DIER &= ~(TIM_DIER_CC1IE |
TIM_DIER_CC2IE |
TIM_DIER_CC3IE |
TIM_DIER_CC4IE); /* Channels sources disabled. */
pwmp->tim->SR = ~(TIM_SR_CC1IF |
TIM_SR_CC1IF |
TIM_SR_CC1IF |
TIM_SR_CC1IF); /* Clears eventual pending IRQs. */
pwmp->tim->ARR = (uint16_t)(period - 1);
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
@ -565,14 +526,15 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmcnt_t width) {
*(&pwmp->tim->CCR1 + (channel * 2)) = width; /* New duty cycle. */
if ((pwmp->enabled_channels & (1 << channel)) == 0) {
/* The channel is not enabled yet.*/
pwmp->enabled_channels |= (1 << channel);
/* If there is a callback associated to the channel then the proper
interrupt is cleared and enabled.*/
if (pwmp->config->channels[channel].callback) {
pwmp->tim->SR = ~(2 << channel);
pwmp->tim->DIER |= (2 << channel);
/* If there is a callback defined for the channel then the associated
interrupt must be enabled.*/
if (pwmp->config->channels[channel].callback != NULL) {
uint32_t dier = pwmp->tim->DIER;
/* If the IRQ is not already enabled care must be taken to clear it,
it is probably already pending because the timer is running.*/
if ((dier & (2 << channel)) == 0) {
pwmp->tim->DIER = dier | (2 << channel);
pwmp->tim->SR = ~(2 << channel);
}
}
}
@ -593,7 +555,6 @@ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
*(&pwmp->tim->CCR1 + (channel * 2)) = 0;
pwmp->tim->DIER &= ~(2 << channel);
pwmp->enabled_channels &= ~(1 << channel);
}
#endif /* HAL_USE_PWM */

24
os/hal/platforms/STM32/pwm_lld.h
View File

@ -295,10 +295,6 @@ struct PWMDriver {
PWM_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief Bit mask of the enabled channels.
*/
uint32_t enabled_channels;
/**
* @brief Pointer to the TIMx registers block.
*/
@ -309,6 +305,25 @@ struct PWMDriver {
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Changes the period the PWM peripheral.
* @details This function changes the period of a PWM unit that has already
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @note The function has effect at the next cycle start.
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
*
* @notapi
*/
#define pwm_lld_change_period(pwmp, period) \
((pwmp)->tim->ARR = (uint16_t)((period) - 1))
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
@ -339,7 +354,6 @@ extern "C" {
void pwm_lld_init(void);
void pwm_lld_start(PWMDriver *pwmp);
void pwm_lld_stop(PWMDriver *pwmp);
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period);
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);

11
os/hal/src/pwm.c
View File

@ -124,11 +124,9 @@ void pwmStop(PWMDriver *pwmp) {
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
@ -142,8 +140,7 @@ void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period) {
chSysLock();
chDbgAssert(pwmp->state == PWM_READY,
"pwmChangePeriod(), #1", "invalid state");
pwmp->period = period;
pwm_lld_change_period(pwmp, period);
pwmChangePeriodI(pwmp, period);
chSysUnlock();
}

11
os/hal/templates/pwm_lld.c
View File

@ -92,16 +92,15 @@ void pwm_lld_stop(PWMDriver *pwmp) {
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
* @note The function has effect at the next cycle start.
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
*
* @api
* @notapi
*/
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {

4
os/kernel/include/ch.h
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@ -40,7 +40,7 @@
/**
* @brief Kernel version string.
*/
#define CH_KERNEL_VERSION "2.3.1unstable"
#define CH_KERNEL_VERSION "2.3.2unstable"
/**
* @brief Kernel version major number.
@ -55,7 +55,7 @@
/**
* @brief Kernel version patch number.
*/
#define CH_KERNEL_PATCH 1
#define CH_KERNEL_PATCH 2
/*
* Common values.

5
readme.txt
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@ -70,6 +70,11 @@
*** Releases ***
*****************************************************************************
*** 2.3.2 ***
- OPT: STM32 PWM driver implementation simplified.
- CHANGE: Now pwmChangePeriod() does not implicitly disable the active
PWM channels.
*** 2.3.1 ***
- FIX: Fixed insufficient idle thread stack in Cortex-M0-GCC port (bug 3226671)
(backported to 2.2.3).

28
testhal/STM32/PWM-ICU/main.c
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@ -89,7 +89,7 @@ int main(void) {
palSetPad(IOPORT3, GPIOC_LED);
/*
* Initializes the PWM driver 1.
* Initializes the PWM driver 1 and ICU driver 4.
*/
pwmStart(&PWMD1, &pwmcfg);
palSetPadMode(IOPORT1, 8, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
@ -98,26 +98,32 @@ int main(void) {
chThdSleepMilliseconds(2000);
/*
* Starts the channel 0 using 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes the channel 0 to 75% duty cycle.
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second and duty cycle to 50%.
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmChangePeriod(&PWMD1, 5000);
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Disables channel 0.
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD1, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD1, 0);
pwmStop(&PWMD1);