352 lines
9.4 KiB
C
352 lines
9.4 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
|
|
|
|
Licensed under the Apache License, Version 2.0 (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.apache.org/licenses/LICENSE-2.0
|
|
|
|
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.
|
|
*/
|
|
|
|
/*
|
|
This driver is based on the work done by Matteo Serva available at
|
|
http://github.com/matteoserva/ChibiOS-AVR
|
|
*/
|
|
|
|
/**
|
|
* @file AVR/gpt_lld.c
|
|
* @brief AVR GPT driver subsystem low level driver.
|
|
*
|
|
* @addtogroup GPT
|
|
* @{
|
|
*/
|
|
|
|
#include "ch.h"
|
|
#include "hal.h"
|
|
|
|
#if HAL_USE_GPT || defined(__DOXYGEN__)
|
|
|
|
/*===========================================================================*/
|
|
/* Driver local definitions. */
|
|
/*===========================================================================*/
|
|
|
|
#define PRESCALER_SIZE_BASE 5
|
|
#define PRESCALER_SIZE_EXTENDED 7
|
|
|
|
// FIXME: could use better names here!
|
|
typedef struct {
|
|
volatile uint8_t *tccra;
|
|
volatile uint8_t *tccrb;
|
|
volatile uint8_t *ocr1;
|
|
volatile uint8_t *ocr2;
|
|
volatile uint8_t *tcnt1;
|
|
volatile uint8_t *tcnt2;
|
|
volatile uint8_t *tifr;
|
|
volatile uint8_t *timsk;
|
|
} timer_registers_t;
|
|
|
|
const timer_registers_t regs_table[] = {
|
|
#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
|
|
{ &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 },
|
|
#endif
|
|
#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
|
|
{ &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 },
|
|
#endif
|
|
#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
|
|
{ &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 },
|
|
#endif
|
|
#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
|
|
{ &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 },
|
|
#endif
|
|
#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
|
|
{ &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 },
|
|
#endif
|
|
};
|
|
|
|
/*===========================================================================*/
|
|
/* Driver exported variables. */
|
|
/*===========================================================================*/
|
|
|
|
#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
|
|
GPTDriver GPTD1;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
|
|
GPTDriver GPTD2;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
|
|
GPTDriver GPTD3;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
|
|
GPTDriver GPTD4;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
|
|
GPTDriver GPTD5;
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Driver local variables. */
|
|
/*===========================================================================*/
|
|
|
|
static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 };
|
|
static uint8_t clock_source_base[]= { 5, 4, 3, 2, 1 };
|
|
static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 };
|
|
static uint8_t clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 };
|
|
|
|
/*===========================================================================*/
|
|
/* Driver local functions. */
|
|
/*===========================================================================*/
|
|
|
|
static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n)
|
|
{
|
|
uint8_t i;
|
|
for (i = 0; i < n; ++i) {
|
|
uint32_t result = F_CPU / ratio[i] / freq;
|
|
if (result > 256UL)
|
|
return i - 1;
|
|
if ((result * ratio[i] * freq) == F_CPU)
|
|
return i;
|
|
}
|
|
}
|
|
|
|
static void gpt_lld_serve_interrupt(GPTDriver *gptp)
|
|
{
|
|
gptp->counter++;
|
|
if (gptp->counter == gptp->period) {
|
|
gptp->counter = 0;
|
|
if (gptp->state == GPT_ONESHOT) {
|
|
gptp->state = GPT_READY; /* Back in GPT_READY state. */
|
|
gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */
|
|
}
|
|
gptp->callback(gptp);
|
|
}
|
|
}
|
|
|
|
static void gpt_lld_dummy_callback(GPTDriver *gptp)
|
|
{
|
|
}
|
|
|
|
static uint8_t getTimerIndex(GPTDriver *gptp)
|
|
{
|
|
uint8_t index = 0;
|
|
#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
|
|
if (gptp == &GPTD1) return index;
|
|
else index++;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
|
|
if (gptp == &GPTD2) return index;
|
|
else index++;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
|
|
if (gptp == &GPTD3) return index;
|
|
else index++;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
|
|
if (gptp == &GPTD4) return index;
|
|
else index++;
|
|
#endif
|
|
#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
|
|
if (gptp == &GPTD5) return index;
|
|
else index++;
|
|
#endif
|
|
}
|
|
|
|
/*===========================================================================*/
|
|
/* Driver interrupt handlers. */
|
|
/*===========================================================================*/
|
|
|
|
#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
|
|
CH_IRQ_HANDLER(TIMER1_COMPA_vect)
|
|
{
|
|
CH_IRQ_PROLOGUE();
|
|
gpt_lld_serve_interrupt(&GPTD1);
|
|
CH_IRQ_EPILOGUE();
|
|
}
|
|
#endif
|
|
|
|
#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
|
|
CH_IRQ_HANDLER(TIMER2_COMPA_vect)
|
|
{
|
|
CH_IRQ_PROLOGUE();
|
|
gpt_lld_serve_interrupt(&GPTD2);
|
|
CH_IRQ_EPILOGUE();
|
|
}
|
|
#endif
|
|
|
|
#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
|
|
CH_IRQ_HANDLER(TIMER3_COMPA_vect)
|
|
{
|
|
CH_IRQ_PROLOGUE();
|
|
gpt_lld_serve_interrupt(&GPTD3);
|
|
CH_IRQ_EPILOGUE();
|
|
}
|
|
#endif
|
|
|
|
#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
|
|
CH_IRQ_HANDLER(TIMER4_COMPA_vect)
|
|
{
|
|
CH_IRQ_PROLOGUE();
|
|
gpt_lld_serve_interrupt(&GPTD4);
|
|
CH_IRQ_EPILOGUE();
|
|
}
|
|
#endif
|
|
|
|
#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
|
|
CH_IRQ_HANDLER(TIMER5_COMPA_vect)
|
|
{
|
|
CH_IRQ_PROLOGUE();
|
|
gpt_lld_serve_interrupt(&GPTD5);
|
|
CH_IRQ_EPILOGUE();
|
|
}
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Driver exported functions. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Low level GPT driver initialization.
|
|
*
|
|
* @notapi
|
|
*/
|
|
void gpt_lld_init(void)
|
|
{
|
|
#if AVR_GPT_USE_GPT1 || defined(__DOXYGEN__)
|
|
gptObjectInit(&GPTD1);
|
|
#endif
|
|
#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
|
|
gptObjectInit(&GPTD2);
|
|
#endif
|
|
#if AVR_GPT_USE_GPT3 || defined(__DOXYGEN__)
|
|
gptObjectInit(&GPTD3);
|
|
#endif
|
|
#if AVR_GPT_USE_GPT4 || defined(__DOXYGEN__)
|
|
gptObjectInit(&GPTD4);
|
|
#endif
|
|
#if AVR_GPT_USE_GPT5 || defined(__DOXYGEN__)
|
|
gptObjectInit(&GPTD5);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Configures and activates the GPT peripheral.
|
|
*
|
|
* @param[in] gptp pointer to the @p GPTDriver object
|
|
*
|
|
* @notapi
|
|
*/
|
|
void gpt_lld_start(GPTDriver *gptp)
|
|
{
|
|
uint8_t psc;
|
|
|
|
if (gptp->state == GPT_STOP) {
|
|
/* Clock activation.*/
|
|
}
|
|
|
|
/* Configuration.*/
|
|
|
|
#if AVR_GPT_USE_GPT2 || defined(__DOXYGEN__)
|
|
if (gptp == &GPTD2) {
|
|
psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED);
|
|
gptp->clock_source = clock_source_extended[psc] & 0x07;
|
|
TCCR2A = (1 << WGM21) | (0 << WGM20);
|
|
TCCR2B = (0 << WGM22);
|
|
OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1;
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
uint8_t i = getTimerIndex(gptp);
|
|
psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE);
|
|
gptp->clock_source = clock_source_base[psc] & 0x07;
|
|
*regs_table[i].tccra = (0 << WGM11) |
|
|
(0 << WGM10) |
|
|
(0 << COM1A1) |
|
|
(0 << COM1A0) |
|
|
(0 << COM1B1) |
|
|
(0 << COM1B0);
|
|
*regs_table[i].tccrb = (1 << WGM12);
|
|
*regs_table[i].ocr1 = 0;
|
|
*regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1;
|
|
}
|
|
|
|
/**
|
|
* @brief Deactivates the GPT peripheral.
|
|
*
|
|
* @param[in] gptp pointer to the @p GPTDriver object
|
|
*
|
|
* @notapi
|
|
*/
|
|
void gpt_lld_stop(GPTDriver *gptp)
|
|
{
|
|
/* nothing to be done */
|
|
if (gptp->state == GPT_READY) {
|
|
/* Clock de-activation.*/
|
|
}
|
|
gpt_lld_stop_timer(gptp);
|
|
}
|
|
|
|
/**
|
|
* @brief Starts the timer in continuous mode.
|
|
*
|
|
* @param[in] gptp pointer to the @p GPTDriver object
|
|
* @param[in] period period in ticks
|
|
*
|
|
* @notapi
|
|
*/
|
|
void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period)
|
|
{
|
|
gptp->callback = gptp->config->callback;
|
|
gptp->period = period;
|
|
gptp->counter = 0;
|
|
|
|
uint8_t i = getTimerIndex(gptp);
|
|
*regs_table[i].tcnt1 = 0;
|
|
*regs_table[i].tcnt2 = 0;
|
|
*regs_table[i].tifr = (1 << OCF1A);
|
|
*regs_table[i].timsk = (1 << OCIE1A);
|
|
*regs_table[i].tccrb |= (gptp->clock_source << CS10);
|
|
}
|
|
|
|
/**
|
|
* @brief Stops the timer.
|
|
*
|
|
* @param[in] gptp pointer to the @p GPTDriver object
|
|
*
|
|
* @notapi
|
|
*/
|
|
void gpt_lld_stop_timer(GPTDriver *gptp)
|
|
{
|
|
uint8_t i = getTimerIndex(gptp);
|
|
*regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A));
|
|
*regs_table[i].tifr = (1 << OCF1A);
|
|
}
|
|
|
|
/**
|
|
* @brief Starts the timer in one shot mode and waits for completion.
|
|
* @details This function specifically polls the timer waiting for completion
|
|
* in order to not have extra delays caused by interrupt servicing,
|
|
* this function is only recommended for short delays.
|
|
*
|
|
* @param[in] gptp pointer to the @p GPTDriver object
|
|
* @param[in] interval time interval in ticks
|
|
*
|
|
* @notapi
|
|
*/
|
|
void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval)
|
|
{
|
|
gptp->callback = gpt_lld_dummy_callback;
|
|
gpt_lld_start_timer(gptp, interval);
|
|
//FIX
|
|
while (gptp->state != GPT_READY) {}
|
|
}
|
|
|
|
#endif /* HAL_USE_GPT */
|
|
|
|
/** @} */
|