From 94fe96d3ae4a8d05b7d752f9ff8e0bd4b3de25d6 Mon Sep 17 00:00:00 2001 From: marcoveeneman Date: Wed, 26 Oct 2016 21:09:34 +0200 Subject: Updated pwm_lld to use TivaWare. --- os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c | 114 ++++++++++++++++++++------------ os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.h | 10 +-- 2 files changed, 75 insertions(+), 49 deletions(-) (limited to 'os/hal/ports/TIVA') diff --git a/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c index ad7c587..6f132dd 100644 --- a/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c +++ b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.c @@ -59,6 +59,8 @@ PWMDriver PWMD2; /* Driver local variables and types. */ /*===========================================================================*/ +static uint32_t pwm_generator_offsets[] = { PWM_GEN_0_OFFSET, PWM_GEN_1_OFFSET, PWM_GEN_2_OFFSET, PWM_GEN_3_OFFSET}; + /*===========================================================================*/ /* Driver local functions. */ /*===========================================================================*/ @@ -75,9 +77,10 @@ PWMDriver PWMD2; static void pwm_lld_serve_generator_interrupt (PWMDriver *pwmp, uint8_t i) { uint32_t isc; + uint32_t pwm = pwmp->pwm; - isc = pwmp->pwm->PWM[i].ISC; - pwmp->pwm->PWM[i].ISC = isc; + isc = HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_ISC); + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_ISC) = isc; if (((isc & PWM_INT_CMPAD) != 0) && (pwmp->config->channels[i * 2 + 0].callback != NULL)) { @@ -311,13 +314,13 @@ void pwm_lld_init(void) #if TIVA_PWM_USE_PWM0 pwmObjectInit(&PWMD1); PWMD1.channels = PWM_CHANNELS; - PWMD1.pwm = PWM0; + PWMD1.pwm = PWM0_BASE; #endif #if TIVA_PWM_USE_PWM1 pwmObjectInit(&PWMD2); PWMD2.channels = PWM_CHANNELS; - PWMD2.pwm = PWM1; + PWMD2.pwm = PWM1_BASE; #endif } @@ -335,14 +338,15 @@ void pwm_lld_start(PWMDriver *pwmp) uint8_t i; uint32_t invert = 0; uint32_t enable = 0; + uint32_t pwm = pwmp->pwm; if (pwmp->state == PWM_STOP) { /* Clock activation.*/ #if TIVA_PWM_USE_PWM0 if (&PWMD1 == pwmp) { - SYSCTL->RCGCPWM |= (1 << 0); + HWREG(SYSCTL_RCGCPWM) |= (1 << 0); - while (!(SYSCTL->PRPWM & (1 << 0))) + while (!(HWREG(SYSCTL_PRPWM) & (1 << 0))) ; nvicEnableVector(TIVA_PWM0FAULT_NUMBER, @@ -356,9 +360,9 @@ void pwm_lld_start(PWMDriver *pwmp) #if TIVA_PWM_USE_PWM1 if (&PWMD2 == pwmp) { - SYSCTL->RCGCPWM |= (1 << 1); + HWREG(SYSCTL_RCGCPWM) |= (1 << 1); - while (!(SYSCTL->PRPWM & (1 << 1))) + while (!(HWREG(SYSCTL_PRPWM) & (1 << 1))) ; nvicEnableVector(TIVA_PWM1FAULT_NUMBER, @@ -372,20 +376,20 @@ void pwm_lld_start(PWMDriver *pwmp) } 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; + HWREG(pwm + PWM_O_0_CTL) = 0; + HWREG(pwm + PWM_O_1_CTL) = 0; + HWREG(pwm + PWM_O_2_CTL) = 0; + HWREG(pwm + PWM_O_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); + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_CTL) = 0; + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_GENA) = 0x08C; + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_GENB) = 0x80C; + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_LOAD) = (uint16_t)(pwmp->config->frequency - 1); + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_CMPA) = (uint16_t)(pwmp->period - 1); + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_CMPB) = (uint16_t)(pwmp->period - 1); } /* Output enables and polarities setup.*/ @@ -407,9 +411,9 @@ void pwm_lld_start(PWMDriver *pwmp) } } - pwmp->pwm->INVERT = invert; - pwmp->pwm->ENABLE = enable; - pwmp->pwm->ISC = 0xFFFFFFFF; + HWREG(pwm + PWM_O_INVERT) = invert; + HWREG(pwm + PWM_O_ENABLE) = enable; + HWREG(pwm + PWM_O_ISC) = 0xFFFFFFFF; } /** @@ -421,12 +425,14 @@ void pwm_lld_start(PWMDriver *pwmp) */ void pwm_lld_stop(PWMDriver *pwmp) { + uint32_t pwm = pwmp->pwm; + /* 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; + HWREG(pwm + PWM_O_0_CTL) = 0; + HWREG(pwm + PWM_O_1_CTL) = 0; + HWREG(pwm + PWM_O_2_CTL) = 0; + HWREG(pwm + PWM_O_3_CTL) = 0; #if TIVA_PWM_USE_PWM0 if (&PWMD1 == pwmp) { @@ -435,7 +441,7 @@ void pwm_lld_stop(PWMDriver *pwmp) nvicDisableVector(TIVA_PWM0GEN1_NUMBER); nvicDisableVector(TIVA_PWM0GEN2_NUMBER); nvicDisableVector(TIVA_PWM0GEN3_NUMBER); - SYSCTL->RCGCPWM &= ~(1 << 0); + HWREG(SYSCTL_RCGCPWM) &= ~(1 << 0); } #endif @@ -446,7 +452,7 @@ void pwm_lld_stop(PWMDriver *pwmp) nvicDisableVector(TIVA_PWM1GEN1_NUMBER); nvicDisableVector(TIVA_PWM1GEN2_NUMBER); nvicDisableVector(TIVA_PWM1GEN3_NUMBER); - SYSCTL->RCGCPWM &= ~(1 << 1); + HWREG(SYSCTL_RCGCPWM) &= ~(1 << 1); } #endif } @@ -469,9 +475,16 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, pwmchannel_t channel, pwmcnt_t width) { + uint32_t pwm = pwmp->pwm; + /* Changing channel duty cycle on the fly.*/ - pwmp->pwm->PWM[channel >> 1].CMP[channel & 1] = width; - pwmp->pwm->PWM[channel >> 1].CTL |= (1 << 0); + if (channel & 1) + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPB) = width; + else + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPA) = width; + + + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CTL) = (1 << 0); } /** @@ -488,8 +501,14 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, */ 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); + uint32_t pwm = pwmp->pwm; + + if (channel & 1) + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPB) = 0; + else + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CMPA) = 0; + + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_CTL) = (1 << 0); } /** @@ -505,18 +524,19 @@ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { uint32_t inten; uint8_t i; + uint32_t pwm = pwmp->pwm; /* 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; + inten = HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_INTEN); if ((inten & 0x03) == 0) { - pwmp->pwm->PWM[i].INTEN |= 0x03; - pwmp->pwm->PWM[i].ISC = 0x03; + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_INTEN) |= 0x03; + HWREG(pwm + pwm_generator_offsets[i] + PWM_O_X_ISC) = 0x03; } } - pwmp->pwm->INTEN = 0x3f; + HWREG(pwm + PWM_O_INTEN) = 0x3f; } /** @@ -530,11 +550,14 @@ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) */ 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); + uint32_t pwm = pwmp->pwm; + + HWREG(pwm + PWM_O_0_INTEN) = ~(0x03); + HWREG(pwm + PWM_O_1_INTEN) = ~(0x03); + HWREG(pwm + PWM_O_2_INTEN) = ~(0x03); + HWREG(pwm + PWM_O_3_INTEN) = ~(0x03); + + HWREG(pwm + PWM_O_INTEN) &= ~(0x3F); } /** @@ -551,13 +574,14 @@ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) void pwm_lld_enable_channel_notification(PWMDriver *pwmp, pwmchannel_t channel) { - uint32_t inten = pwmp->pwm->PWM[channel >> 1].INTEN; + uint32_t pwm = pwmp->pwm; + uint32_t inten = HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_ISC); /* 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)); + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_INTEN) |= (0x03 << (((channel & 1) * 2) + 2)); + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_ISC) = (0x03 << (((channel & 1) * 2) + 2)); } } @@ -575,7 +599,9 @@ void pwm_lld_enable_channel_notification(PWMDriver *pwmp, void pwm_lld_disable_channel_notification(PWMDriver *pwmp, pwmchannel_t channel) { - pwmp->pwm->PWM[channel >> 1].INTEN &= ~(0x03 << (((channel & 1) * 2) + 2)); + uint32_t pwm = pwmp->pwm; + + HWREG(pwm + pwm_generator_offsets[channel >> 1] + PWM_O_X_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 index ac64fe1..7ddbd4d 100644 --- a/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.h +++ b/os/hal/ports/TIVA/LLD/PWM/hal_pwm_lld.h @@ -304,7 +304,7 @@ struct PWMDriver { /** * @brief Pointer to the PWMx registers block. */ - PWM_TypeDef *pwm; + uint32_t pwm; }; /*===========================================================================*/ @@ -328,10 +328,10 @@ struct PWMDriver { * @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)) + HWREG((pwmp)->pwm + PWM_O_0_LOAD) = (uint16_t)((period) - 1); \ + HWREG((pwmp)->pwm + PWM_O_1_LOAD) = (uint16_t)((period) - 1); \ + HWREG((pwmp)->pwm + PWM_O_2_LOAD) = (uint16_t)((period) - 1); \ + HWREG((pwmp)->pwm + PWM_O_3_LOAD) = (uint16_t)((period) - 1) /*===========================================================================*/ /* External declarations. */ -- cgit v1.2.3