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-rw-r--r--os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c585
-rw-r--r--os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.h372
2 files changed, 957 insertions, 0 deletions
diff --git a/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c
new file mode 100644
index 0000000..ad7c587
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c
@@ -0,0 +1,585 @@
+/*
+ Copyright (C) 2014..2016 Marco Veeneman
+
+ 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 TIVA/LLD/pwm_lld.c
+ * @brief TM4C123x/TM4C129x PWM subsystem low level driver.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define PWM_INT_CMPBD (1 << 5)
+#define PWM_INT_CMPBU (1 << 4)
+#define PWM_INT_CMPAD (1 << 3)
+#define PWM_INT_CMPAU (1 << 2)
+#define PWM_INT_CNTLOAD (1 << 1)
+#define PWM_INT_CNTZERO (1 << 0)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief PWMD1 driver identifier.
+ */
+#if TIVA_PWM_USE_PWM0 || defined(__DOXYGEN__)
+PWMDriver PWMD1;
+#endif
+
+/**
+ * @brief PWMD2 driver identifier.
+ */
+#if TIVA_PWM_USE_PWM1 || defined(__DOXYGEN__)
+PWMDriver PWMD2;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Common PWM Generator IRQ 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.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] i pwm generator number
+ */
+static void pwm_lld_serve_generator_interrupt (PWMDriver *pwmp, uint8_t i)
+{
+ uint32_t isc;
+
+ isc = pwmp->pwm->PWM[i].ISC;
+ pwmp->pwm->PWM[i].ISC = isc;
+
+ if (((isc & PWM_INT_CMPAD) != 0) &&
+ (pwmp->config->channels[i * 2 + 0].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 0].callback(pwmp);
+ }
+
+ if (((isc & PWM_INT_CMPAU) != 0) &&
+ (pwmp->config->channels[i * 2 + 0].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 0].callback(pwmp);
+ }
+
+ if (((isc & PWM_INT_CMPBD) != 0) &&
+ (pwmp->config->channels[i * 2 + 1].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 1].callback(pwmp);
+ }
+
+ if (((isc & PWM_INT_CMPBU) != 0) &&
+ (pwmp->config->channels[i * 2 + 1].callback != NULL)) {
+ pwmp->config->channels[i * 2 + 1].callback(pwmp);
+ }
+
+ if (((isc & PWM_INT_CNTLOAD) != 0) && (pwmp->config->callback != NULL)) {
+ pwmp->config->callback(pwmp);
+ }
+
+ if (((isc & PWM_INT_CNTZERO) != 0) && (pwmp->config->callback != NULL)) {
+ pwmp->config->callback(pwmp);
+ }
+}
+
+/**
+ * @brief Common PWM fault IRQ handler.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ */
+static void pwm_lld_serve_fault_interrupt (PWMDriver *pwmp)
+{
+ (void) pwmp;
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if TIVA_PWM_USE_PWM0
+#if !defined(TIVA_PWM0FAULT_HANDLER)
+#error "TIVA_PWM0FAULT_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Fault handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0FAULT_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_fault_interrupt(&PWMD1);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN0_HANDLER)
+#error "TIVA_PWM0GEN0_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 0 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN0_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 0);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN1_HANDLER)
+#error "TIVA_PWM0GEN1_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 1 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN1_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 1);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN2_HANDLER)
+#error "TIVA_PWM0GEN2_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 2 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN2_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 2);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM0GEN3_HANDLER)
+#error "TIVA_PWM0GEN3_HANDLER not defined"
+#endif
+/*
+ * @brief PWM0 Generator 3 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM0GEN3_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD1, 3);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_PWM_USE_PWM1
+#if !defined(TIVA_PWM1FAULT_HANDLER)
+#error "TIVA_PWM1FAULT_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Fault handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1FAULT_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_fault_interrupt(&PWMD2);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN0_HANDLER)
+#error "TIVA_PWM1GEN0_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 0 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN0_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 0);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN1_HANDLER)
+#error "TIVA_PWM1GEN1_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 1 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN1_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 1);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN2_HANDLER)
+#error "TIVA_PWM1GEN2_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 2 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN2_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 2);
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+#if !defined(TIVA_PWM1GEN3_HANDLER)
+#error "TIVA_PWM1GEN3_HANDLER not defined"
+#endif
+/*
+ * @brief PWM1 Generator 3 handler
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_PWM1GEN3_HANDLER)
+{
+ OSAL_IRQ_PROLOGUE();
+
+ pwm_lld_serve_generator_interrupt(&PWMD2, 3);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PWM driver initialization.
+ *
+ * @notapi
+ */
+void pwm_lld_init(void)
+{
+ /* Driver initialization.*/
+#if TIVA_PWM_USE_PWM0
+ pwmObjectInit(&PWMD1);
+ PWMD1.channels = PWM_CHANNELS;
+ PWMD1.pwm = PWM0;
+#endif
+
+#if TIVA_PWM_USE_PWM1
+ pwmObjectInit(&PWMD2);
+ PWMD2.channels = PWM_CHANNELS;
+ PWMD2.pwm = PWM1;
+#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)
+{
+ uint8_t i;
+ uint32_t invert = 0;
+ uint32_t enable = 0;
+
+ if (pwmp->state == PWM_STOP) {
+ /* Clock activation.*/
+#if TIVA_PWM_USE_PWM0
+ if (&PWMD1 == pwmp) {
+ SYSCTL->RCGCPWM |= (1 << 0);
+
+ while (!(SYSCTL->PRPWM & (1 << 0)))
+ ;
+
+ nvicEnableVector(TIVA_PWM0FAULT_NUMBER,
+ TIVA_PWM_PWM0_FAULT_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN0_NUMBER, TIVA_PWM_PWM0_0_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN1_NUMBER, TIVA_PWM_PWM0_1_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN2_NUMBER, TIVA_PWM_PWM0_2_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM0GEN3_NUMBER, TIVA_PWM_PWM0_3_IRQ_PRIORITY);
+ }
+#endif
+
+#if TIVA_PWM_USE_PWM1
+ if (&PWMD2 == pwmp) {
+ SYSCTL->RCGCPWM |= (1 << 1);
+
+ while (!(SYSCTL->PRPWM & (1 << 1)))
+ ;
+
+ nvicEnableVector(TIVA_PWM1FAULT_NUMBER,
+ TIVA_PWM_PWM1_FAULT_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN0_NUMBER, TIVA_PWM_PWM1_0_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN1_NUMBER, TIVA_PWM_PWM1_1_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN2_NUMBER, TIVA_PWM_PWM1_2_IRQ_PRIORITY);
+ nvicEnableVector(TIVA_PWM1GEN3_NUMBER, TIVA_PWM_PWM1_3_IRQ_PRIORITY);
+ }
+#endif
+ }
+ else {
+ /* Driver re-configuration scenario, it must be stopped first.*/
+ pwmp->pwm->PWM[0].CTL = 0;
+ pwmp->pwm->PWM[1].CTL = 0;
+ pwmp->pwm->PWM[2].CTL = 0;
+ pwmp->pwm->PWM[3].CTL = 0;
+ }
+
+ /* Timer configuration.*/
+ for (i = 0; i < (PWM_CHANNELS >> 1); i++) {
+ pwmp->pwm->PWM[i].CTL = 0;
+ pwmp->pwm->PWM[i].GEN[0] = 0x08C;
+ pwmp->pwm->PWM[i].GEN[1] = 0x80C;
+ pwmp->pwm->PWM[i].LOAD = (uint16_t)(pwmp->config->frequency - 1);
+ pwmp->pwm->PWM[i].CMP[0] = (uint16_t)(pwmp->period - 1);
+ pwmp->pwm->PWM[i].CMP[1] = (uint16_t)(pwmp->period - 1);
+ }
+
+ /* Output enables and polarities setup.*/
+ for (i = 0; i < PWM_CHANNELS; i++) {
+ switch (pwmp->config->channels[i].mode & PWM_OUTPUT_MASK) {
+ case PWM_OUTPUT_DISABLED:
+ enable &= ~(1 << i);
+ break;
+ case PWM_OUTPUT_ACTIVE_LOW:
+ invert |= (1 << i);
+ enable |= (1 << i);
+ break;
+ case PWM_OUTPUT_ACTIVE_HIGH:
+ invert &= ~(1 << i);
+ enable |= (1 << i);
+ break;
+ default:
+ ;
+ }
+ }
+
+ pwmp->pwm->INVERT = invert;
+ pwmp->pwm->ENABLE = enable;
+ pwmp->pwm->ISC = 0xFFFFFFFF;
+}
+
+/**
+ * @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) {
+ pwmp->pwm->PWM[0].CTL = 0;
+ pwmp->pwm->PWM[1].CTL = 0;
+ pwmp->pwm->PWM[2].CTL = 0;
+ pwmp->pwm->PWM[3].CTL = 0;
+
+#if TIVA_PWM_USE_PWM0
+ if (&PWMD1 == pwmp) {
+ nvicDisableVector(TIVA_PWM0FAULT_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN0_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN1_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN2_NUMBER);
+ nvicDisableVector(TIVA_PWM0GEN3_NUMBER);
+ SYSCTL->RCGCPWM &= ~(1 << 0);
+ }
+#endif
+
+#if TIVA_PWM_USE_PWM1
+ if (&PWMD2 == pwmp) {
+ nvicDisableVector(TIVA_PWM1FAULT_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN0_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN1_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN2_NUMBER);
+ nvicDisableVector(TIVA_PWM1GEN3_NUMBER);
+ SYSCTL->RCGCPWM &= ~(1 << 1);
+ }
+#endif
+ }
+}
+
+/**
+ * @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)
+{
+ /* Changing channel duty cycle on the fly.*/
+ pwmp->pwm->PWM[channel >> 1].CMP[channel & 1] = width;
+ pwmp->pwm->PWM[channel >> 1].CTL |= (1 << 0);
+}
+
+/**
+ * @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->pwm->PWM[channel >> 1].CMP[channel & 1] = 0;
+ pwmp->pwm->PWM[channel >> 1].CTL &= ~(1 << 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)
+{
+ uint32_t inten;
+ uint8_t i;
+
+ /* If the IRQ is not already enabled care must be taken to clear it,
+ it is probably already pending because the timer is running.*/
+ for(i = 0; i < (PWM_CHANNELS >> 1); i++) {
+ inten = pwmp->pwm->PWM[i].INTEN;
+ if ((inten & 0x03) == 0) {
+ pwmp->pwm->PWM[i].INTEN |= 0x03;
+ pwmp->pwm->PWM[i].ISC = 0x03;
+ }
+ }
+
+ pwmp->pwm->INTEN = 0x3f;
+}
+
+/**
+ * @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->pwm->PWM[0].INTEN &= ~(0x03);
+ pwmp->pwm->PWM[1].INTEN &= ~(0x03);
+ pwmp->pwm->PWM[2].INTEN &= ~(0x03);
+ pwmp->pwm->PWM[3].INTEN &= ~(0x03);
+ pwmp->pwm->INTEN &= ~(0x3F);
+}
+
+/**
+ * @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)
+{
+ uint32_t inten = pwmp->pwm->PWM[channel >> 1].INTEN;
+
+ /* 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 ((inten & (0x03 << (((channel & 1) * 2) + 2))) == 0) {
+ pwmp->pwm->PWM[channel >> 1].INTEN |= (0x03 << (((channel & 1) * 2) + 2));
+ pwmp->pwm->PWM[channel >> 1].ISC = (0x03 << (((channel & 1) * 2) + 2));
+ }
+}
+
+/**
+ * @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->pwm->PWM[channel >> 1].INTEN &= ~(0x03 << (((channel & 1) * 2) + 2));
+}
+
+#endif /* HAL_USE_PWM */
+
+/**
+ * @}
+ */
diff --git a/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.h b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.h
new file mode 100644
index 0000000..ac64fe1
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.h
@@ -0,0 +1,372 @@
+/*
+ Copyright (C) 2014..2016 Marco Veeneman
+
+ 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 TIVA/LLD/pwm_lld.c
+ * @brief TM4C123x/TM4C129x PWM subsystem low level driver header.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#ifndef HAL_PWM_LLD_H
+#define HAL_PWM_LLD_H
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief Number of PWM channels per PWM driver.
+ */
+#define PWM_CHANNELS 8
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+
+/**
+ * @brief PWMD1 driver enable switch.
+ * @details If set to @p TRUE the support for PWMD1 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(TIVA_PWM_USE_PWM0) || defined(__DOXYGEN__)
+#define TIVA_PWM_USE_PWM0 FALSE
+#endif
+
+/**
+ * @brief PWMD2 driver enable switch.
+ * @details If set to @p TRUE the support for PWMD2 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(TIVA_PWM_USE_PWM1) || defined(__DOXYGEN__)
+#define TIVA_PWM_USE_PWM1 FALSE
+#endif
+
+/**
+ * @brief PWMD1 fault interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM0_FAULT_IRQ_PRIORITY) || defined (__DOXYGEN__)
+#define TIVA_PWM_PWM0_FAULT_IRQ_PRIORITY
+#endif
+
+/**
+ * @brief PWMD1 channel 0 & 1 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM0_0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM0_0_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief PWMD1 channel 2 & 3 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM0_1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM0_1_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief PWMD1 channel 4 & 5 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM0_2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM0_2_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief PWMD1 channel 6 & 7 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM0_3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM0_3_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief PWMD2 fault interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM1_FAULT_IRQ_PRIORITY) || defined (__DOXYGEN__)
+#define TIVA_PWM_PWM1_FAULT_IRQ_PRIORITY
+#endif
+
+/**
+ * @brief PWMD2 channel 0 & 1 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM1_0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM1_0_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief PWMD2 channel 2 & 3 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM1_1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM1_1_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief PWMD2 channel 4 & 5 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM1_2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM1_2_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief PWMD2 channel 6 & 7 interrupt priority level setting.
+ */
+#if !defined(TIVA_PWM_PWM1_3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_PWM_PWM1_3_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @}
+ */
+
+/*===========================================================================*/
+/* Configuration checks. */
+/*===========================================================================*/
+
+#if TIVA_PWM_USE_PWM0 && !TIVA_HAS_PWM0
+#error "PWM0 not present in the selected device"
+#endif
+
+#if TIVA_PWM_USE_PWM1 && !TIVA_HAS_PWM1
+#error "PWM1 not present in the selected device"
+#endif
+
+#if !TIVA_PWM_USE_PWM0 && !TIVA_PWM_USE_PWM1
+#error "PWM driver activated but no PWM peripheral assigned"
+#endif
+
+#if TIVA_PWM_USE_PWM0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM0_FAULT_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM0 FAULT"
+#endif
+
+#if TIVA_PWM_USE_PWM0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM0_0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM0 GEN0"
+#endif
+
+#if TIVA_PWM_USE_PWM0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM0_1_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM0 GEN1"
+#endif
+
+#if TIVA_PWM_USE_PWM0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM0_2_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM0 GEN2"
+#endif
+
+#if TIVA_PWM_USE_PWM0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM0_3_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM0 GEN3"
+#endif
+
+#if TIVA_PWM_USE_PWM1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM1_FAULT_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM1 FAULT"
+#endif
+
+#if TIVA_PWM_USE_PWM1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM1_0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM1 GEN0"
+#endif
+
+#if TIVA_PWM_USE_PWM1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM1_1_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM1 GEN1"
+#endif
+
+#if TIVA_PWM_USE_PWM1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM1_2_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM1 GEN2"
+#endif
+
+#if TIVA_PWM_USE_PWM1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_PWM_PWM1_3_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PWM1 GEN3"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a PWM mode.
+ */
+typedef uint32_t pwmmode_t;
+
+/**
+ * @brief Type of a PWM channel.
+ */
+typedef uint8_t pwmchannel_t;
+
+/**
+ * @brief Type of a channels mask.
+ */
+typedef uint32_t pwmchnmsk_t;
+
+/**
+ * @brief Type of a PWM counter.
+ */
+typedef uint16_t pwmcnt_t;
+
+/**
+ * @brief Type of a PWM driver channel configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief Channel active logic level.
+ */
+ pwmmode_t mode;
+ /**
+ * @brief Channel callback pointer.
+ * @note This callback is invoked on the channel compare event. If set to
+ * @p NULL then the callback is disabled.
+ */
+ pwmcallback_t callback;
+ /* End of the mandatory fields.*/
+} PWMChannelConfig;
+
+/**
+ * @brief Type of a PWM driver configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ uint32_t frequency;
+ /**
+ * @brief PWM period in ticks.
+ * @note The low level can use assertions in order to catch invalid
+ * period specifications.
+ */
+ pwmcnt_t period;
+ /**
+ * @brief Periodic callback pointer.
+ * @note This callback is invoked on PWM counter reset. If set to
+ * @p NULL then the callback is disabled.
+ */
+ pwmcallback_t callback;
+ /**
+ * @brief Channels configurations.
+ */
+ PWMChannelConfig channels[PWM_CHANNELS];
+ /* End of the mandatory fields.*/
+} PWMConfig;
+
+/**
+ * @brief Structure representing a PWM driver.
+ */
+struct PWMDriver {
+ /**
+ * @brief Driver state.
+ */
+ pwmstate_t state;
+ /**
+ * @brief Current driver configuration data.
+ */
+ const PWMConfig *config;
+ /**
+ * @brief Current PWM period in ticks.
+ */
+ pwmcnt_t period;
+ /**
+ * @brief Mask of the enabled channels.
+ */
+ pwmchnmsk_t enabled;
+ /**
+ * @brief Number of channels in this instance.
+ */
+ pwmchannel_t channels;
+#if defined(PWM_DRIVER_EXT_FIELDS)
+ PWM_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Pointer to the PWMx registers block.
+ */
+ PWM_TypeDef *pwm;
+};
+
+/*===========================================================================*/
+/* 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)->pwm->PWM[0].LOAD = (uint16_t)((period) - 1)); \
+ ((pwmp)->pwm->PWM[1].LOAD = (uint16_t)((period) - 1)); \
+ ((pwmp)->pwm->PWM[2].LOAD = (uint16_t)((period) - 1)); \
+ ((pwmp)->pwm->PWM[3].LOAD = (uint16_t)((period) - 1))
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if TIVA_PWM_USE_PWM0 && !defined(__DOXYGEN__)
+extern PWMDriver PWMD1;
+#endif
+
+#if TIVA_PWM_USE_PWM1 && !defined(__DOXYGEN__)
+extern PWMDriver PWMD2;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void pwm_lld_init(void);
+ void pwm_lld_start(PWMDriver *pwmp);
+ void pwm_lld_stop(PWMDriver *pwmp);
+ void pwm_lld_enable_channel(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmcnt_t width);
+ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
+ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp);
+ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp);
+ void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
+ pwmchannel_t channel);
+ void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
+ pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_PWM */
+
+#endif /* HAL_PWM_LLD_H */
+
+/** @} */
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