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tinySA/os/hal/ports/KINETIS/KL2x/pwm_lld.c

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/*
ChibiOS - Copyright (C) 2014 Adam J. Porter
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.
*/
/**
* @file KL2x/pwm_lld.c
* @brief KINETIS PWM subsystem low level driver source.
*
* @addtogroup PWM
* @{
*/
#include "hal.h"
#if HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#define KINETIS_TPM0_CHANNELS 6
#define KINETIS_TPM1_CHANNELS 2
#define KINETIS_TPM2_CHANNELS 2
#define KINETIS_TPM0_HANDLER Vector84
#define KINETIS_TPM1_HANDLER Vector88
#define KINETIS_TPM2_HANDLER Vector8C
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief PWMD1 driver identifier.
* @note The driver PWMD1 allocates the timer TPM0 when enabled.
*/
#if KINETIS_PWM_USE_TPM0 || defined(__DOXYGEN__)
PWMDriver PWMD1;
#endif
/**
* @brief PWMD2 driver identifier.
* @note The driver PWMD2 allocates the timer TPM1 when enabled.
*/
#if KINETIS_PWM_USE_TPM1 || defined(__DOXYGEN__)
PWMDriver PWMD2;
#endif
/**
* @brief PWMD3 driver identifier.
* @note The driver PWMD3 allocates the timer TPM2 when enabled.
*/
#if KINETIS_PWM_USE_TPM2 || defined(__DOXYGEN__)
PWMDriver PWMD3;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
uint32_t sr;
sr = pwmp->tpm->STATUS;
pwmp->tpm->STATUS = 0xFFFFFFFF;
if (((sr & TPM_SC_TOF) != 0) &&
(pwmp->config->callback != NULL))
pwmp->config->callback(pwmp);
if (((sr & TPM_STATUS_CH0F) != 0) &&
(pwmp->config->channels[0].callback != NULL))
pwmp->config->channels[0].callback(pwmp);
if (((sr & TPM_STATUS_CH1F) != 0) &&
(pwmp->config->channels[1].callback != NULL))
pwmp->config->channels[1].callback(pwmp);
if (((sr & TPM_STATUS_CH2F) != 0) &&
(pwmp->config->channels[2].callback != NULL))
pwmp->config->channels[2].callback(pwmp);
if (((sr & TPM_STATUS_CH3F) != 0) &&
(pwmp->config->channels[3].callback != NULL))
pwmp->config->channels[3].callback(pwmp);
if (((sr & TPM_STATUS_CH4F) != 0) &&
(pwmp->config->channels[4].callback != NULL))
pwmp->config->channels[4].callback(pwmp);
if (((sr & TPM_STATUS_CH5F) != 0) &&
(pwmp->config->channels[5].callback != NULL))
pwmp->config->channels[5].callback(pwmp);
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if KINETIS_PWM_USE_TPM0
/**
* @brief TPM0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_TPM0_HANDLER) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD1);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM0 */
#if KINETIS_PWM_USE_TPM1
/**
* @brief TPM1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_TPM1_HANDLER) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD2);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM1 */
#if KINETIS_PWM_USE_TPM2
/**
* @brief TPM2 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(KINETIS_TPM2_HANDLER) {
OSAL_IRQ_PROLOGUE();
pwm_lld_serve_interrupt(&PWMD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* KINETIS_PWM_USE_TPM2 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level PWM driver initialization.
*
* @notapi
*/
void pwm_lld_init(void) {
#if KINETIS_PWM_USE_TPM0
pwmObjectInit(&PWMD1);
PWMD1.channels = KINETIS_TPM0_CHANNELS;
PWMD1.tpm = TPM0;
#endif
#if KINETIS_PWM_USE_TPM1
pwmObjectInit(&PWMD2);
PWMD2.channels = KINETIS_TPM1_CHANNELS;
PWMD2.tpm = TPM1;
#endif
#if KINETIS_PWM_USE_TPM2
pwmObjectInit(&PWMD3);
PWMD3.channels = KINETIS_TPM2_CHANNELS;
PWMD3.tpm = TPM2;
#endif
}
/**
* @brief Configures and activates the PWM peripheral.
* @note Starting a driver that is already in the @p PWM_READY state
* disables all the active channels.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_start(PWMDriver *pwmp) {
uint32_t psc;
int i;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if KINETIS_PWM_USE_TPM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM0;
nvicEnableVector(TPM0_IRQn, KINETIS_PWM_TPM0_IRQ_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_TPM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM1;
nvicEnableVector(TPM1_IRQn, KINETIS_PWM_TPM1_IRQ_PRIORITY);
}
#endif
#if KINETIS_PWM_USE_TPM2
if (&PWMD3 == pwmp) {
SIM->SCGC6 |= SIM_SCGC6_TPM2;
nvicEnableVector(TPM2_IRQn, KINETIS_PWM_TPM2_IRQ_PRIORITY);
}
#endif
}
/* Disable LPTPM counter.*/
pwmp->tpm->SC = 0;
/* Clear count register.*/
pwmp->tpm->CNT = 0;
/* Prescaler value calculation.*/
psc = (KINETIS_SYSCLK_FREQUENCY / pwmp->config->frequency);
/* Prescaler must be power of two between 1 and 128.*/
osalDbgAssert(psc <= 128 && !(psc & (psc - 1)), "invalid frequency");
/* Prescaler register value determination.
Prescaler register value conveniently corresponds to bit position,
i.e., register value for prescaler CLK/64 is 6 ((1 << 6) == 64).*/
for (i = 0; i < 8; i++) {
if (psc == (1UL << i)) {
break;
}
}
/* Set prescaler and clock mode.
This also sets the following:
CPWM up-counting mode
Timer overflow interrupt disabled
DMA disabled.*/
pwmp->tpm->SC = TPM_SC_CMOD_LPTPM_CLK | i;
/* Configure period.*/
pwmp->tpm->MOD = pwmp->period - 1;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/
if (pwmp->state == PWM_READY) {
#if KINETIS_PWM_USE_TPM0
if (&PWMD1 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM0;
nvicDisableVector(TPM0_IRQn);
}
#endif
#if KINETIS_PWM_USE_TPM1
if (&PWMD2 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM1;
nvicDisableVector(TPM1_IRQn);
}
#endif
#if KINETIS_PWM_USE_TPM2
if (&PWMD3 == pwmp) {
SIM->SCGC6 &= ~SIM_SCGC6_TPM2;
nvicDisableVector(TPM2_IRQn);
}
#endif
/* Disable LPTPM counter.*/
pwmp->tpm->SC = 0;
pwmp->tpm->MOD = 0;
}
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note The function has effect at the next cycle start.
* @note Channel notification is not enabled.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
* @param[in] width PWM pulse width as clock pulses number
*
* @notapi
*/
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width) {
uint32_t mode = TPM_CnSC_MSB; /* Edge-aligned PWM mode.*/
switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_HIGH:
mode |= TPM_CnSC_ELSB;
break;
case PWM_OUTPUT_ACTIVE_LOW:
mode |= TPM_CnSC_ELSA;
break;
}
if (pwmp->tpm->C[channel].SC & TPM_CnSC_CHIE)
mode |= TPM_CnSC_CHIE;
pwmp->tpm->C[channel].SC = mode;
pwmp->tpm->C[channel].V = width;
}
/**
* @brief Disables a PWM channel and its notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
pwmp->tpm->C[channel].SC = 0;
pwmp->tpm->C[channel].V = 0;
}
/**
* @brief Enables the periodic activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @note If the notification is already enabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
pwmp->tpm->SC |= TPM_SC_TOIE;
}
/**
* @brief Disables the periodic activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @note If the notification is already disabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
pwmp->tpm->SC &= ~TPM_SC_TOIE;
}
/**
* @brief Enables a channel de-activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already enabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
pwmp->tpm->C[channel].SC |= TPM_CnSC_CHIE;
}
/**
* @brief Disables a channel de-activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already disabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
pwmchannel_t channel) {
pwmp->tpm->C[channel].SC &= ~TPM_CnSC_CHIE;
}
#endif /* HAL_USE_PWM */
/** @} */
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