/* * Licensed under ST Liberty SW License Agreement V2, (the "License"); * You may not use this file except in compliance with the License. * You may obtain a copy of the License at: * * http://www.st.com/software_license_agreement_liberty_v2 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ /** * @file eTimer_v1/icu_lld.c * @brief SPC5xx low level ICU driver code. * * @addtogroup ICU * @{ */ #include "ch.h" #include "hal.h" #if HAL_USE_ICU || defined(__DOXYGEN__) /*===========================================================================*/ /* Driver local definitions. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver exported variables. */ /*===========================================================================*/ /** * @brief ICUD1 driver identifier. * @note The driver ICUD1 allocates the complex timer SMOD0 when enabled. */ #if SPC5_ICU_USE_SMOD0 || defined(__DOXYGEN__) ICUDriver ICUD1; #endif /** * @brief ICUD2 driver identifier. * @note The driver ICUD2 allocates the complex timer SMOD1 when enabled. */ #if SPC5_ICU_USE_SMOD1 || defined(__DOXYGEN__) ICUDriver ICUD2; #endif /** * @brief ICUD3 driver identifier. * @note The driver ICUD3 allocates the complex timer SMOD2 when enabled. */ #if SPC5_ICU_USE_SMOD2 || defined(__DOXYGEN__) ICUDriver ICUD3; #endif /** * @brief ICUD4 driver identifier. * @note The driver ICUD4 allocates the complex timer SMOD3 when enabled. */ #if SPC5_ICU_USE_SMOD3 || defined(__DOXYGEN__) ICUDriver ICUD4; #endif /** * @brief ICUD5 driver identifier. * @note The driver ICUD5 allocates the complex timer SMOD4 when enabled. */ #if SPC5_ICU_USE_SMOD4 || defined(__DOXYGEN__) ICUDriver ICUD5; #endif /** * @brief ICUD6 driver identifier. * @note The driver ICUD6 allocates the complex timer SMOD5 when enabled. */ #if SPC5_ICU_USE_SMOD5 || defined(__DOXYGEN__) ICUDriver ICUD6; #endif /** * @brief ICUD7 driver identifier. * @note The driver ICUD7 allocates the complex timer SMOD6 when enabled. */ #if SPC5_ICU_USE_SMOD6 || defined(__DOXYGEN__) ICUDriver ICUD7; #endif /** * @brief ICUD8 driver identifier. * @note The driver ICUD8 allocates the complex timer SMOD7 when enabled. */ #if SPC5_ICU_USE_SMOD7 || defined(__DOXYGEN__) ICUDriver ICUD8; #endif /** * @brief ICUD9 driver identifier. * @note The driver ICUD9 allocates the complex timer SMOD8 when enabled. */ #if SPC5_ICU_USE_SMOD8 || defined(__DOXYGEN__) ICUDriver ICUD9; #endif /** * @brief ICUD10 driver identifier. * @note The driver ICUD10 allocates the complex timer SMOD9 when enabled. */ #if SPC5_ICU_USE_SMOD9 || defined(__DOXYGEN__) ICUDriver ICUD10; #endif /** * @brief ICUD11 driver identifier. * @note The driver ICUD11 allocates the complex timer SMOD10 when enabled. */ #if SPC5_ICU_USE_SMOD10 || defined(__DOXYGEN__) ICUDriver ICUD11; #endif /** * @brief ICUD12 driver identifier. * @note The driver ICUD12 allocates the complex timer SMOD11 when enabled. */ #if SPC5_ICU_USE_SMOD11 || defined(__DOXYGEN__) ICUDriver ICUD12; #endif /** * @brief ICUD13 driver identifier. * @note The driver ICUD13 allocates the complex timer SMOD12 when enabled. */ #if SPC5_ICU_USE_SMOD12 || defined(__DOXYGEN__) ICUDriver ICUD13; #endif /** * @brief ICUD14 driver identifier. * @note The driver ICUD14 allocates the complex timer SMOD13 when enabled. */ #if SPC5_ICU_USE_SMOD13 || defined(__DOXYGEN__) ICUDriver ICUD14; #endif /** * @brief ICUD15 driver identifier. * @note The driver ICUD15 allocates the complex timer SMOD14 when enabled. */ #if SPC5_ICU_USE_SMOD14 || defined(__DOXYGEN__) ICUDriver ICUD15; #endif /** * @brief ICUD16 driver identifier. * @note The driver ICUD16 allocates the complex timer SMOD15 when enabled. */ #if SPC5_ICU_USE_SMOD15 || defined(__DOXYGEN__) ICUDriver ICUD16; #endif /** * @brief ICUD17 driver identifier. * @note The driver ICUD17 allocates the complex timer SMOD16 when enabled. */ #if SPC5_ICU_USE_SMOD16 || defined(__DOXYGEN__) ICUDriver ICUD17; #endif /** * @brief ICUD18 driver identifier. * @note The driver ICUD18 allocates the complex timer SMOD17 when enabled. */ #if SPC5_ICU_USE_SMOD17 || defined(__DOXYGEN__) ICUDriver ICUD18; #endif /*===========================================================================*/ /* Driver local variables. */ /*===========================================================================*/ /** * @brief Number of active eTimer Submodules. */ static uint32_t icu_active_submodules0; static uint32_t icu_active_submodules1; static uint32_t icu_active_submodules2; /** * @brief Width and Period registers. */ uint16_t width; uint16_t period; /*===========================================================================*/ /* Driver local functions. */ /*===========================================================================*/ /** * @brief Shared IRQ handler. * * @param[in] icup pointer to the @p ICUDriver object */ static void icu_lld_serve_interrupt(ICUDriver *icup) { uint16_t sr = icup->etimerp->CHANNEL[icup->smod_number].STS.R & icup->etimerp->CHANNEL[icup->smod_number].INTDMA.R; if (ICU_SKIP_FIRST_CAPTURE) { if ((sr & 0x0008) != 0) { /* TOF */ icup->etimerp->CHANNEL[icup->smod_number].STS.B.TOF = 1U; _icu_isr_invoke_overflow_cb(icup); } if ((sr & 0x0040) != 0) { /* ICF1 */ if (icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.CNTMODE == SPC5_ETIMER_CNTMODE_RFE_SIHA) { icup->etimerp->CHANNEL[icup->smod_number].STS.B.ICF1 = 1U; icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.CNTMODE = SPC5_ETIMER_CNTMODE_RE; } else { icup->etimerp->CHANNEL[icup->smod_number].STS.B.ICF1 = 1U; if (icup->etimerp->CHANNEL[icup->smod_number].CTRL3.B.C1FCNT == 2) { period = icup->etimer->CHANNEL[icup->smod_number].CAPT1.R; period = icup->etimer->CHANNEL[icup->smod_number].CAPT1.R; } else { period = icup->etimer->CHANNEL[icup->smod_number].CAPT1.R; } _icu_isr_invoke_period_cb(icup); } } else if ((sr & 0x0080) != 0) { /* ICF2 */ if (icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.CNTMODE == SPC5_ETIMER_CNTMODE_RFE_SIHA) { icup->etimerp->CHANNEL[icup->smod_number].STS.B.ICF2 = 1U; icup->etimerp->CHANNEL[icup->smod_number].CNTR.R = 0; } else { icup->etimerp->CHANNEL[icup->smod_number].STS.B.ICF2 = 1U; if (icup->etimerp->CHANNEL[icup->smod_number].CTRL3.B.C2FCNT == 2) { width = icup->etimer->CHANNEL[icup->smod_number].CAPT2.R; width = icup->etimer->CHANNEL[icup->smod_number].CAPT2.R; } else { width = icup->etimer->CHANNEL[icup->smod_number].CAPT2.R; } _icu_isr_invoke_width_cb(icup); } } } else { /* ICU_SKIP_FIRST_CAPTURE = TRUE*/ if ((sr & 0x0008) != 0) { /* TOF */ icup->etimerp->CHANNEL[icup->smod_number].STS.B.TOF = 1U; _icu_isr_invoke_overflow_cb(icup); } if ((sr & 0x0040) != 0) { /* ICF1 */ icup->etimerp->CHANNEL[icup->smod_number].STS.B.ICF1 = 1U; if (icup->etimerp->CHANNEL[icup->smod_number].CTRL3.B.C1FCNT == 2) { period = icup->etimer->CHANNEL[icup->smod_number].CAPT1.R; period = icup->etimer->CHANNEL[icup->smod_number].CAPT1.R; } else { period = icup->etimer->CHANNEL[icup->smod_number].CAPT1.R; } _icu_isr_invoke_period_cb(icup); } else if ((sr & 0x0080) != 0) { /* ICF2 */ icup->etimerp->CHANNEL[icup->smod_number].STS.B.ICF2 = 1U; if (icup->etimerp->CHANNEL[icup->smod_number].CTRL3.B.C2FCNT == 2) { width = icup->etimer->CHANNEL[icup->smod_number].CAPT2.R; width = icup->etimer->CHANNEL[icup->smod_number].CAPT2.R; } else { width = icup->etimer->CHANNEL[icup->smod_number].CAPT2.R; } _icu_isr_invoke_width_cb(icup); } } /* ICU_SKIP_FIRST_CAPTURE = FALSE */ } /** * @brief eTimer SubModules initialization. * @details This function must be invoked with interrupts disabled. * * @param[in] sdp pointer to a @p ICUDriver object * @param[in] config the architecture-dependent ICU driver configuration */ static void spc5_icu_smod_init(ICUDriver *icup) { uint32_t psc = (icup->clock / icup->config->frequency); chDbgAssert((psc <= 0xFFFF) && (((psc) * icup->config->frequency) == icup->clock) && ((psc == 1) || (psc == 2) || (psc == 4) || (psc == 8) || (psc == 16) || (psc == 32) || (psc == 64) || (psc == 128)), "icu_lld_start(), #1", "invalid frequency"); /* Set primary source and clock prescaler.*/ switch (psc) { case 1: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_1; break; case 2: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_2; break; case 4: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_4; break; case 8: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_8; break; case 16: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_16; break; case 32: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_32; break; case 64: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_64; break; case 128: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.PRISRC = SPC5_ETIMER_IP_BUS_CLOCK_DIVIDE_BY_128; break; } /* Set control registers.*/ icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.ONCE = 0U; icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.LENGTH = 0U; icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.DIR = 0U; icup->etimerp->CHANNEL[icup->smod_number].CTRL2.B.PIPS = 0U; /* Set secondary source.*/ switch (icup->smod_number) { case 0: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.SECSRC = SPC5_ETIMER_COUNTER_0_INPUT_PIN; break; case 1: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.SECSRC = SPC5_ETIMER_COUNTER_1_INPUT_PIN; break; case 2: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.SECSRC = SPC5_ETIMER_COUNTER_2_INPUT_PIN; break; case 3: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.SECSRC = SPC5_ETIMER_COUNTER_3_INPUT_PIN; break; case 4: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.SECSRC = SPC5_ETIMER_COUNTER_4_INPUT_PIN; break; case 5: icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.SECSRC = SPC5_ETIMER_COUNTER_5_INPUT_PIN; break; } /* Set secondary source polarity.*/ if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH) { icup->etimerp->CHANNEL[icup->smod_number].CTRL2.B.SIPS = 0U; } else { icup->etimerp->CHANNEL[icup->smod_number].CTRL2.B.SIPS = 1U; } /* Direct pointers to the capture registers in order to make reading data faster from within callbacks.*/ icup->pccrp = . icup->wccrp = &width; /* Enable channel.*/ icup->etimerp->ENBL.B.ENBL |= 1U << (icup->smod_number); } /*===========================================================================*/ /* Driver interrupt handlers. */ /*===========================================================================*/ #if SPC5_ICU_USE_SMOD0 #if !defined(SPC5_ETIMER0_TC0IR_HANDLER) #error "SPC5_ETIMER0_TC0IR_HANDLER not defined" #endif /** * @brief eTimer0 Channel 0 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */CH_IRQ_HANDLER(SPC5_ETIMER0_TC0IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD1); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD0 */ #if SPC5_ICU_USE_SMOD1 #if !defined(SPC5_ETIMER0_TC1IR_HANDLER) #error "SPC5_ETIMER0_TC1IR_HANDLER not defined" #endif /** * @brief eTimer0 Channel 1 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER0_TC1IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD2); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD1 */ #if SPC5_ICU_USE_SMOD2 #if !defined(SPC5_ETIMER0_TC2IR_HANDLER) #error "SPC5_ETIMER0_TC2IR_HANDLER not defined" #endif /** * @brief eTimer0 Channel 2 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER0_TC2IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD3); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD2 */ #if SPC5_ICU_USE_SMOD3 #if !defined(SPC5_ETIMER0_TC3IR_HANDLER) #error "SPC5_ETIMER0_TC3IR_HANDLER not defined" #endif /** * @brief eTimer0 Channel 3 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER0_TC3IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD4); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD3 */ #if SPC5_ICU_USE_SMOD4 #if !defined(SPC5_ETIMER0_TC4IR_HANDLER) #error "SPC5_ETIMER0_TC4IR_HANDLER not defined" #endif /** * @brief eTimer0 Channel 4 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER0_TC4IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD5); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD4 */ #if SPC5_ICU_USE_SMOD5 #if !defined(SPC5_ETIMER0_TC5IR_HANDLER) #error "SPC5_ETIMER0_TC5IR_HANDLER not defined" #endif /** * @brief eTimer0 Channel 5 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER0_TC5IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD6); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD5 */ #if SPC5_ICU_USE_SMOD6 #if !defined(SPC5_ETIMER1_TC0IR_HANDLER) #error "SPC5_ETIMER1_TC0IR_HANDLER not defined" #endif /** * @brief eTimer1 Channel 0 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER1_TC0IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD7); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD6 */ #if SPC5_ICU_USE_SMOD7 #if !defined(SPC5_ETIMER1_TC1IR_HANDLER) #error "SPC5_ETIMER1_TC1IR_HANDLER not defined" #endif /** * @brief eTimer1 Channel 1 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER1_TC1IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD8); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD7 */ #if SPC5_ICU_USE_SMOD8 #if !defined(SPC5_ETIMER1_TC2IR_HANDLER) #error "SPC5_ETIMER1_TC2IR_HANDLER not defined" #endif /** * @brief eTimer1 Channel 2 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER1_TC2IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD9); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD8 */ #if SPC5_ICU_USE_SMOD9 #if !defined(SPC5_ETIMER1_TC3IR_HANDLER) #error "SPC5_ETIMER1_TC3IR_HANDLER not defined" #endif /** * @brief eTimer1 Channel 3 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER1_TC3IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD10); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD9 */ #if SPC5_ICU_USE_SMOD10 #if !defined(SPC5_ETIMER1_TC4IR_HANDLER) #error "SPC5_ETIMER1_TC4IR_HANDLER not defined" #endif /** * @brief eTimer1 Channel 4 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER1_TC4IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD11); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD10 */ #if SPC5_ICU_USE_SMOD11 #if !defined(SPC5_ETIMER1_TC5IR_HANDLER) #error "SPC5_ETIMER1_TC5IR_HANDLER not defined" #endif /** * @brief eTimer1 Channel 5 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER1_TC5IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD12); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD11 */ #if SPC5_ICU_USE_SMOD12 #if !defined(SPC5_ETIMER2_TC0IR_HANDLER) #error "SPC5_ETIMER2_TC0IR_HANDLER not defined" #endif /** * @brief eTimer2 Channel 0 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER2_TC0IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD13); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD12 */ #if SPC5_ICU_USE_SMOD13 #if !defined(SPC5_ETIMER2_TC1IR_HANDLER) #error "SPC5_ETIMER2_TC1IR_HANDLER not defined" #endif /** * @brief eTimer2 Channel 1 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER2_TC1IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD14); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD13 */ #if SPC5_ICU_USE_SMOD14 #if !defined(SPC5_ETIMER2_TC2IR_HANDLER) #error "SPC5_ETIMER2_TC2IR_HANDLER not defined" #endif /** * @brief eTimer2 Channel 2 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER2_TC2IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD15); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD14 */ #if SPC5_ICU_USE_SMOD15 #if !defined(SPC5_ETIMER2_TC3IR_HANDLER) #error "SPC5_ETIMER2_TC3IR_HANDLER not defined" #endif /** * @brief eTimer2 Channel 3 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER2_TC3IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD16); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD15 */ #if SPC5_ICU_USE_SMOD16 #if !defined(SPC5_ETIMER2_TC4IR_HANDLER) #error "SPC5_ETIMER2_TC4IR_HANDLER not defined" #endif /** * @brief eTimer2 Channel 4 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER2_TC4IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD17); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD16 */ #if SPC5_ICU_USE_SMOD17 #if !defined(SPC5_ETIMER2_TC5IR_HANDLER) #error "SPC5_ETIMER2_TC5IR_HANDLER not defined" #endif /** * @brief eTimer2 Channel 5 interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ CH_IRQ_HANDLER(SPC5_ETIMER2_TC5IR_HANDLER) { CH_IRQ_PROLOGUE(); icu_lld_serve_interrupt(&ICUD18); CH_IRQ_EPILOGUE(); } #endif /* SPC5_ICU_USE_SMOD17 */ /*===========================================================================*/ /* Driver exported functions. */ /*===========================================================================*/ /** * @brief Low level ICU driver initialization. * * @notapi */ void icu_lld_init(void) { /* Submodules initially all not in use.*/ icu_active_submodules0 = 0; icu_active_submodules1 = 0; icu_active_submodules2 = 0; /* Reset width and period registers.*/ width = 0; period = 0; #if SPC5_ICU_USE_SMOD0 /* Driver initialization.*/ icuObjectInit(&ICUD1); ICUD1.etimerp = &SPC5_ETIMER_0; ICUD1.smod_number = 0U; #endif #if SPC5_ICU_USE_SMOD1 /* Driver initialization.*/ icuObjectInit(&ICUD2); ICUD2.etimerp = &SPC5_ETIMER_0; ICUD2.smod_number = 1U; #endif #if SPC5_ICU_USE_SMOD2 /* Driver initialization.*/ icuObjectInit(&ICUD3); ICUD3.etimerp = &SPC5_ETIMER_0; ICUD3.smod_number = 2U; #endif #if SPC5_ICU_USE_SMOD3 /* Driver initialization.*/ icuObjectInit(&ICUD4); ICUD4.etimerp = &SPC5_ETIMER_0; ICUD4.smod_number = 3U; #endif #if SPC5_ICU_USE_SMOD4 /* Driver initialization.*/ icuObjectInit(&ICUD5); ICUD5.etimerp = &SPC5_ETIMER_0; ICUD5.smod_number = 4U; #endif #if SPC5_ICU_USE_SMOD5 /* Driver initialization.*/ icuObjectInit(&ICUD6); ICUD6.etimerp = &SPC5_ETIMER_0; ICUD6.smod_number = 5U; #endif #if SPC5_ICU_USE_SMOD6 /* Driver initialization.*/ icuObjectInit(&ICUD7); ICUD7.etimerp = &SPC5_ETIMER_1; ICUD7.smod_number = 0U; #endif #if SPC5_ICU_USE_SMOD7 /* Driver initialization.*/ icuObjectInit(&ICUD8); ICUD8.etimerp = &SPC5_ETIMER_1; ICUD8.smod_number = 1U; #endif #if SPC5_ICU_USE_SMOD8 /* Driver initialization.*/ icuObjectInit(&ICUD9); ICUD9.etimerp = &SPC5_ETIMER_1; ICUD9.smod_number = 2U; #endif #if SPC5_ICU_USE_SMOD9 /* Driver initialization.*/ icuObjectInit(&ICUD10); ICUD10.etimerp = &SPC5_ETIMER_1; ICUD10.smod_number = 3U; #endif #if SPC5_ICU_USE_SMOD10 /* Driver initialization.*/ icuObjectInit(&ICUD11); ICUD11.etimerp = &SPC5_ETIMER_1; ICUD11.smod_number = 4U; #endif #if SPC5_ICU_USE_SMOD11 /* Driver initialization.*/ icuObjectInit(&ICUD12); ICUD12.etimerp = &SPC5_ETIMER_1; ICUD12.smod_number = 5U; #endif #if SPC5_ICU_USE_SMOD12 /* Driver initialization.*/ icuObjectInit(&ICUD13); ICUD13.etimerp = &SPC5_ETIMER_2; ICUD13.smod_number = 0U; #endif #if SPC5_ICU_USE_SMOD13 /* Driver initialization.*/ icuObjectInit(&ICUD14); ICUD14.etimerp = &SPC5_ETIMER_2; ICUD14.smod_number = 1U; #endif #if SPC5_ICU_USE_SMOD14 /* Driver initialization.*/ icuObjectInit(&ICUD15); ICUD15.etimerp = &SPC5_ETIMER_2; ICUD15.smod_number = 2U; #endif #if SPC5_ICU_USE_SMOD15 /* Driver initialization.*/ icuObjectInit(&ICUD16); ICUD16.etimerp = &SPC5_ETIMER_2; ICUD16.smod_number = 3U; #endif #if SPC5_ICU_USE_SMOD16 /* Driver initialization.*/ icuObjectInit(&ICUD17); ICUD17.etimerp = &SPC5_ETIMER_2; ICUD17.smod_number = 4U; #endif #if SPC5_ICU_USE_SMOD17 /* Driver initialization.*/ icuObjectInit(&ICUD18); ICUD18.etimerp = &SPC5_ETIMER_2; ICUD18.smod_number = 5U; #endif #if SPC5_ICU_USE_ETIMER0 INTC.PSR[SPC5_ETIMER0_TC0IR_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; INTC.PSR[SPC5_ETIMER0_TC1IR_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; INTC.PSR[SPC5_ETIMER0_TC2IR_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; INTC.PSR[SPC5_ETIMER0_TC3IR_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; INTC.PSR[SPC5_ETIMER0_TC4IR_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; INTC.PSR[SPC5_ETIMER0_TC5IR_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; INTC.PSR[SPC5_ETIMER0_WTIF_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; INTC.PSR[SPC5_ETIMER0_RCF_NUMBER].R = SPC5_ICU_ETIMER0_PRIORITY; #endif #if SPC5_ICU_USE_ETIMER1 INTC.PSR[SPC5_ETIMER1_TC0IR_NUMBER].R = SPC5_ICU_ETIMER1_PRIORITY; INTC.PSR[SPC5_ETIMER1_TC1IR_NUMBER].R = SPC5_ICU_ETIMER1_PRIORITY; INTC.PSR[SPC5_ETIMER1_TC2IR_NUMBER].R = SPC5_ICU_ETIMER1_PRIORITY; INTC.PSR[SPC5_ETIMER1_TC3IR_NUMBER].R = SPC5_ICU_ETIMER1_PRIORITY; INTC.PSR[SPC5_ETIMER1_TC4IR_NUMBER].R = SPC5_ICU_ETIMER1_PRIORITY; INTC.PSR[SPC5_ETIMER1_TC5IR_NUMBER].R = SPC5_ICU_ETIMER1_PRIORITY; INTC.PSR[SPC5_ETIMER1_RCF_NUMBER].R = SPC5_ICU_ETIMER1_PRIORITY; #endif #if SPC5_ICU_USE_ETIMER2 INTC.PSR[SPC5_ETIMER2_TC0IR_NUMBER].R = SPC5_ICU_ETIMER2_PRIORITY; INTC.PSR[SPC5_ETIMER2_TC1IR_NUMBER].R = SPC5_ICU_ETIMER2_PRIORITY; INTC.PSR[SPC5_ETIMER2_TC2IR_NUMBER].R = SPC5_ICU_ETIMER2_PRIORITY; INTC.PSR[SPC5_ETIMER2_TC3IR_NUMBER].R = SPC5_ICU_ETIMER2_PRIORITY; INTC.PSR[SPC5_ETIMER2_TC4IR_NUMBER].R = SPC5_ICU_ETIMER2_PRIORITY; INTC.PSR[SPC5_ETIMER2_TC5IR_NUMBER].R = SPC5_ICU_ETIMER2_PRIORITY; INTC.PSR[SPC5_ETIMER2_RCF_NUMBER].R = SPC5_ICU_ETIMER2_PRIORITY; #endif } /** * @brief Configures and activates the ICU peripheral. * * @param[in] icup pointer to the @p ICUDriver object * * @notapi */ void icu_lld_start(ICUDriver *icup) { chDbgAssert((icup->config->channel == ICU_CHANNEL_1) || (icup->config->channel == ICU_CHANNEL_2) || (icup->config->channel == ICU_CHANNEL_3) || (icup->config->channel == ICU_CHANNEL_4) || (icup->config->channel == ICU_CHANNEL_5) || (icup->config->channel == ICU_CHANNEL_6), "icu_lld_start(), #1", "invalid input"); chDbgAssert(icu_active_submodules0 < 6, "icu_lld_start(), #1", "too many submodules"); chDbgAssert(icu_active_submodules1 < 6, "icu_lld_start(), #1", "too many submodules"); chDbgAssert(icu_active_submodules2 < 6, "icu_lld_start(), #1", "too many submodules"); if (icup->state == ICU_STOP) { #if SPC5_ICU_USE_SMOD0 if (&ICUD1 == icup) icu_active_submodules0++; #endif #if SPC5_ICU_USE_SMOD1 if (&ICUD2 == icup) icu_active_submodules0++; #endif #if SPC5_ICU_USE_SMOD2 if (&ICUD3 == icup) icu_active_submodules0++; #endif #if SPC5_ICU_USE_SMOD3 if (&ICUD4 == icup) icu_active_submodules0++; #endif #if SPC5_ICU_USE_SMOD4 if (&ICUD5 == icup) icu_active_submodules0++; #endif #if SPC5_ICU_USE_SMOD5 if (&ICUD6 == icup) icu_active_submodules0++; #endif #if SPC5_ICU_USE_SMOD6 if (&ICUD7 == icup) icu_active_submodules1++; #endif #if SPC5_ICU_USE_SMOD7 if (&ICUD8 == icup) icu_active_submodules1++; #endif #if SPC5_ICU_USE_SMOD8 if (&ICUD9 == icup) icu_active_submodules1++; #endif #if SPC5_ICU_USE_SMOD9 if (&ICUD10 == icup) icu_active_submodules1++; #endif #if SPC5_ICU_USE_SMOD10 if (&ICUD11 == icup) icu_active_submodules1++; #endif #if SPC5_ICU_USE_SMOD11 if (&ICUD12 == icup) icu_active_submodules1++; #endif #if SPC5_ICU_USE_SMOD12 if (&ICUD13 == icup) icu_active_submodules2++; #endif #if SPC5_ICU_USE_SMOD13 if (&ICUD14 == icup) icu_active_submodules2++; #endif #if SPC5_ICU_USE_SMOD14 if (&ICUD15 == icup) icu_active_submodules2++; #endif #if SPC5_ICU_USE_SMOD15 if (&ICUD16 == icup) icu_active_submodules2++; #endif #if SPC5_ICU_USE_SMOD16 if (&ICUD17 == icup) icu_active_submodules2++; #endif #if SPC5_ICU_USE_SMOD17 if (&ICUD18 == icup) icu_active_submodules2++; #endif /* Set eTimer0 Clock.*/ #if SPC5_ICU_USE_ETIMER0 /* If this is the first Submodule activated then the eTimer0 is enabled.*/ if (icu_active_submodules0 == 1) { halSPCSetPeripheralClockMode(SPC5_ETIMER0_PCTL, SPC5_ICU_ETIMER0_START_PCTL); } #endif /* Set eTimer1 Clock.*/ #if SPC5_ICU_USE_ETIMER1 /* If this is the first Submodule activated then the eTimer1 is enabled.*/ if (icu_active_submodules1 == 1) { halSPCSetPeripheralClockMode(SPC5_ETIMER1_PCTL, SPC5_ICU_ETIMER1_START_PCTL); } #endif /* Set eTimer2 Clock.*/ #if SPC5_ICU_USE_ETIMER2 /* If this is the first Submodule activated then the eTimer2 is enabled.*/ if (icu_active_submodules2 == 1) { halSPCSetPeripheralClockMode(SPC5_ETIMER2_PCTL, SPC5_ICU_ETIMER2_START_PCTL); } #endif /* Timer disabled.*/ icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.CNTMODE = SPC5_ETIMER_CNTMODE_NO_OPERATION; /* Clear pending IRQs (if any).*/ icup->etimerp->CHANNEL[icup->smod_number].STS.R = 0xFFFF; /* All IRQs and DMA requests disabled.*/ icup->etimerp->CHANNEL[icup->smod_number].INTDMA.R = 0U; /* Compare Load 1 and Compare Load 2 disabled.*/ icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CLC1 = 0U; icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CLC2 = 0U; /* Capture 1 and Capture 2 disabled.*/ icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CPT1MODE = SPC5_ETIMER_CPT1MODE_DISABLED; icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CPT2MODE = SPC5_ETIMER_CPT2MODE_DISABLED; /* Counter reset to zero.*/ icup->etimerp->CHANNEL[icup->smod_number].CNTR.R = 0U; } /* Configuration.*/ spc5_icu_smod_init(icup); } /** * @brief Deactivates the ICU peripheral. * * @param[in] icup pointer to the @p ICUDriver object * * @notapi */ void icu_lld_stop(ICUDriver *icup) { chDbgAssert(icu_active_submodules0 < 6, "icu_lld_stop(), #1", "too many submodules"); chDbgAssert(icu_active_submodules1 < 6, "icu_lld_stop(), #1", "too many submodules"); chDbgAssert(icu_active_submodules2 < 6, "icu_lld_stop(), #1", "too many submodules"); if (icup->state == ICU_READY) { #if SPC5_ICU_USE_SMOD0 if (&ICUD1 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFE; icu_active_submodules0--; } #endif #if SPC5_ICU_USE_SMOD1 if (&ICUD2 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFD; icu_active_submodules0--; } #endif #if SPC5_ICU_USE_SMOD2 if (&ICUD3 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFB; icu_active_submodules0--; } #endif #if SPC5_ICU_USE_SMOD3 if (&ICUD4 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xF7; icu_active_submodules0--; } #endif #if SPC5_ICU_USE_SMOD4 if (&ICUD5 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xEF; icu_active_submodules0--; } #endif #if SPC5_ICU_USE_SMOD5 if (&ICUD6 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xDF; icu_active_submodules0--; } #endif #if SPC5_ICU_USE_SMOD6 if (&ICUD7 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFE; icu_active_submodules1--; } #endif #if SPC5_ICU_USE_SMOD7 if (&ICUD8 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFD; icu_active_submodules1--; } #endif #if SPC5_ICU_USE_SMOD8 if (&ICUD9 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFB; icu_active_submodules1--; } #endif #if SPC5_ICU_USE_SMOD9 if (&ICUD10 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xF7; icu_active_submodules1--; } #endif #if SPC5_ICU_USE_SMOD10 if (&ICUD11 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xEF; icu_active_submodules1--; } #endif #if SPC5_ICU_USE_SMOD11 if (&ICUD12 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xDF; icu_active_submodules1--; } #endif #if SPC5_ICU_USE_SMOD12 if (&ICUD13 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFE; icu_active_submodules2--; } #endif #if SPC5_ICU_USE_SMOD13 if (&ICUD14 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFD; icu_active_submodules2--; } #endif #if SPC5_ICU_USE_SMOD14 if (&ICUD15 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xFB; icu_active_submodules2--; } #endif #if SPC5_ICU_USE_SMOD15 if (&ICUD16 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xF7; icu_active_submodules2--; } #endif #if SPC5_ICU_USE_SMOD16 if (&ICUD17 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xEF; icu_active_submodules2--; } #endif #if SPC5_ICU_USE_SMOD17 if (&ICUD18 == icup) { /* Disable channel.*/ icup->etimerp->ENBL.B.ENBL &= 0xDF; icu_active_submodules2--; } #endif /* eTimer0 clock deactivation.*/ #if SPC5_ICU_USE_ETIMER0 /* If it is the last active submodules then the eTimer0 is disabled.*/ if (icu_active_submodules0 == 0) { if (icup->etimerp->ENBL.B.ENBL == 0) { halSPCSetPeripheralClockMode(SPC5_ETIMER0_PCTL, SPC5_ICU_ETIMER0_STOP_PCTL); } } #endif /* eTimer1 clock deactivation.*/ #if SPC5_ICU_USE_ETIMER1 /* If it is the last active submodules then the eTimer1 is disabled.*/ if (icu_active_submodules1 == 0) { if (icup->etimerp->ENBL.B.ENBL == 0) { halSPCSetPeripheralClockMode(SPC5_ETIMER1_PCTL, SPC5_ICU_ETIMER1_STOP_PCTL); } } #endif /* eTimer2 clock deactivation.*/ #if SPC5_ICU_USE_ETIMER2 /* If it is the last active submodules then the eTimer2 is disabled.*/ if (icu_active_submodules2 == 0) { if (icup->etimerp->ENBL.B.ENBL == 0) { halSPCSetPeripheralClockMode(SPC5_ETIMER2_PCTL, SPC5_ICU_ETIMER2_STOP_PCTL); } } #endif } } /** * @brief Enables the input capture. * * @param[in] icup pointer to the @p ICUDriver object * * @notapi */ void icu_lld_enable(ICUDriver *icup) { /* Clear pending IRQs (if any).*/ icup->etimerp->CHANNEL[icup->smod_number].STS.R = 0xFFFF; /* Set Capture 1 and Capture 2 Mode.*/ icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CPT1MODE = SPC5_ETIMER_CPT1MODE_RISING_EDGE; icup->etimerp->CHANNEL[icup->smod_number].CTRL3.B.ROC = SPC5_ETIMER_ROC_REL_ON_CAP1; icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CPT2MODE = SPC5_ETIMER_CPT2MODE_FALLING_EDGE; /* Active interrupts.*/ if (icup->config->period_cb != NULL || icup->config->width_cb != NULL) { icup->etimerp->CHANNEL[icup->smod_number].INTDMA.B.ICF1IE = 1U; icup->etimerp->CHANNEL[icup->smod_number].INTDMA.B.ICF2IE = 1U; } if (icup->config->overflow_cb != NULL) { icup->etimerp->CHANNEL[icup->smod_number].INTDMA.B.TOFIE = 1U; } /* Set Capture FIFO Water Mark.*/ icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CFWM = 0U; /* Enable Counter.*/ if (ICU_SKIP_FIRST_CAPTURE) { icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.CNTMODE = SPC5_ETIMER_CNTMODE_RFE_SIHA; } else { icup->etimerp->CHANNEL[icup->smod_number].CTRL.B.CNTMODE = SPC5_ETIMER_CNTMODE_RE; } /* Enable Capture process.*/ icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.ARM = 1U; } /** * @brief Disables the input capture. * * @param[in] icup pointer to the @p ICUDriver object * * @notapi */ void icu_lld_disable(ICUDriver *icup) { /* Disable Capture process.*/ icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.ARM = 0U; /* Clear pending IRQs (if any).*/ icup->etimerp->CHANNEL[icup->smod_number].STS.R = 0xFFFF; /* Set Capture 1 and Capture 2 Mode to Disabled.*/ icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CPT1MODE = SPC5_ETIMER_CPT1MODE_DISABLED; icup->etimerp->CHANNEL[icup->smod_number].CCCTRL.B.CPT2MODE = SPC5_ETIMER_CPT2MODE_DISABLED; /* Disable interrupts.*/ if (icup->config->period_cb != NULL || icup->config->width_cb != NULL) { icup->etimerp->CHANNEL[icup->smod_number].INTDMA.B.ICF1IE = 0U; icup->etimerp->CHANNEL[icup->smod_number].INTDMA.B.ICF2IE = 0U; } if (icup->config->overflow_cb != NULL) icup->etimerp->CHANNEL[icup->smod_number].INTDMA.B.TOFIE = 0U; } #endif /* HAL_USE_ICU */ /** @} */