1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
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 */
/**
* @}
*/
|