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-rw-r--r--os/hal/platforms/AVR/pwm_lld.c492
1 files changed, 0 insertions, 492 deletions
diff --git a/os/hal/platforms/AVR/pwm_lld.c b/os/hal/platforms/AVR/pwm_lld.c
deleted file mode 100644
index 900a7d8d1..000000000
--- a/os/hal/platforms/AVR/pwm_lld.c
+++ /dev/null
@@ -1,492 +0,0 @@
-/*
- 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/pwm_lld.c
- * @brief AVR PWM driver subsystem low level driver.
- *
- * @addtogroup PWM
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#if HAL_USE_PWM || defined(__DOXYGEN__)
-
-/*===========================================================================*/
-/* Driver local definitions. */
-/*===========================================================================*/
-
-typedef struct {
- volatile uint8_t *tccra;
- volatile uint8_t *tccrb;
- volatile uint8_t *ocrah;
- volatile uint8_t *ocral;
- volatile uint8_t *ocrbh;
- volatile uint8_t *ocrbl;
- volatile uint8_t *ocrch;
- volatile uint8_t *ocrcl;
- volatile uint8_t *tifr;
- volatile uint8_t *timsk;
-} timer_registers_t;
-
-static timer_registers_t regs_table[]=
-{
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-#if defined(OCR1C)
- {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL, &TIFR1, &TIMSK1},
-#else
- {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL, &TIFR1, &TIMSK1},
-#endif
-#endif
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
- {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL, &TIFR2, &TIMSK2},
-#endif
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
- {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL, &TIFR3, &TIMSK3},
-#endif
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
- {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL, &TIFR4, &TIMSK4},
-#endif
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
- {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL, &TIFR5, &TIMSK5},
-#endif
-};
-
-/*===========================================================================*/
-/* Driver exported variables. */
-/*===========================================================================*/
-
-/** @brief PWM driver identifiers.*/
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-PWMDriver PWMD1;
-#endif
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-PWMDriver PWMD2;
-#endif
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
-PWMDriver PWMD3;
-#endif
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
-PWMDriver PWMD4;
-#endif
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
-PWMDriver PWMD5;
-#endif
-
-/*===========================================================================*/
-/* Driver local variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions. */
-/*===========================================================================*/
-
-static void config_channel(volatile uint8_t *tccra,
- uint8_t com1,
- uint8_t com0,
- pwmmode_t mode)
-{
- *tccra &= ~((1 << com1) | (1 << com0));
- if (mode == PWM_OUTPUT_ACTIVE_HIGH)
- *tccra |= ((1 << com1) | (0 << com0)); /* non inverting mode */
- else if (mode == PWM_OUTPUT_ACTIVE_LOW)
- *tccra |= (1 << com1) | (1 << com0); /* inverting mode */
-}
-
-static uint8_t timer_index(PWMDriver *pwmp)
-{
- uint8_t index = 0;
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
- if (pwmp == &PWMD1) return index;
- else index++;
-#endif
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
- if (pwmp == &PWMD2) return index;
- else index++;
-#endif
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
- if (pwmp == &PWMD3) return index;
- else index++;
-#endif
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
- if (pwmp == &PWMD4) return index;
- else index++;
-#endif
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
- if (pwmp == &PWMD5) return index;
- else index++;
-#endif
-}
-
-/*===========================================================================*/
-/* Driver interrupt handlers. */
-/*===========================================================================*/
-
-/*
- * interrupt for compare1&2 and clock overflow. pwmd1 & pwmd2
- */
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-CH_IRQ_HANDLER(TIMER1_OVF_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD1.config->callback(&PWMD1);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER1_COMPA_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD1.config->channels[0].callback(&PWMD1);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER1_COMPB_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD1.config->channels[1].callback(&PWMD1);
- CH_IRQ_EPILOGUE();
-}
-#if PWM_CHANNELS > 2
-CH_IRQ_HANDLER(TIMER1_COMPC_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD1.config->channels[2].callback(&PWMD1);
- CH_IRQ_EPILOGUE();
-}
-#endif
-#endif
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-CH_IRQ_HANDLER(TIMER2_OVF_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD2.config->callback(&PWMD2);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER2_COMPA_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD2.config->channels[0].callback(&PWMD2);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER2_COMPB_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD2.config->channels[1].callback(&PWMD2);
- CH_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
-CH_IRQ_HANDLER(TIMER3_OVF_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD3.config->callback(&PWMD3);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER3_COMPA_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD3.config->channels[0].callback(&PWMD3);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER3_COMPB_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD3.config->channels[1].callback(&PWMD3);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER3_COMPC_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD3.config->channels[2].callback(&PWMD3);
- CH_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
-CH_IRQ_HANDLER(TIMER4_OVF_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD4.config->callback(&PWMD4);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER4_COMPA_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD4.config->channels[0].callback(&PWMD4);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER4_COMPB_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD4.config->channels[1].callback(&PWMD4);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER4_COMPC_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD4.config->channels[2].callback(&PWMD4);
- CH_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
-CH_IRQ_HANDLER(TIMER5_OVF_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD5.config->callback(&PWMD5);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER5_COMPA_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD5.config->channels[0].callback(&PWMD5);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER5_COMPB_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD5.config->channels[1].callback(&PWMD5);
- CH_IRQ_EPILOGUE();
-}
-
-CH_IRQ_HANDLER(TIMER5_COMPC_vect)
-{
- CH_IRQ_PROLOGUE();
- PWMD5.config->channels[2].callback(&PWMD5);
- CH_IRQ_EPILOGUE();
-}
-#endif
-
-/*===========================================================================*/
-/* Driver exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief Low level PWM driver initialization.
- *
- * @notapi
- */
-void pwm_lld_init(void)
-{
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
- pwmObjectInit(&PWMD1);
- TCCR1A = (1 << WGM11) | (1 << WGM10);
- TCCR1B = (0 << WGM13) | (1 << WGM12);
-#endif
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
- pwmObjectInit(&PWMD2);
- TCCR2A = (1 << WGM21) | (1 << WGM20);
- TCCR2B = (0 << WGM22);
-#endif
-
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
- pwmObjectInit(&PWMD3);
- TCCR3A = (1 << WGM31) | (1 << WGM30);
- TCCR3B = (0 << WGM33) | (1 << WGM32);
-#endif
-
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
- pwmObjectInit(&PWMD4);
- TCCR4A = (1 << WGM41) | (1 << WGM40);
- TCCR4B = (0 << WGM43) | (1 << WGM42);
-#endif
-
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
- pwmObjectInit(&PWMD5);
- TCCR5A = (1 << WGM51) | (1 << WGM50);
- TCCR5B = (0 << WGM53) | (1 << WGM52);
-#endif
-}
-
-/**
- * @brief Configures and activates the PWM peripheral.
- *
- * @param[in] pwmp pointer to the @p PWMDriver object
- *
- * @notapi
- */
-void pwm_lld_start(PWMDriver *pwmp)
-{
- if (pwmp->state == PWM_STOP) {
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
- if (pwmp == &PWMD2) {
- TCCR2B &= ~((1 << CS22) | (1 << CS21));
- TCCR2B |= (1 << CS20);
- if (pwmp->config->callback != NULL)
- TIMSK2 |= (1 << TOIE2);
- return;
- }
-#endif
-
- /* TODO: support other prescaler options */
-
- uint8_t i = timer_index(pwmp);
- *regs_table[i].tccrb &= ~(1 << CS11);
- *regs_table[i].tccrb |= (1 << CS12) | (1 << CS10);
- *regs_table[i].timsk = (1 << TOIE1);
- }
-}
-
-/**
- * @brief Deactivates the PWM peripheral.
- *
- * @param[in] pwmp pointer to the @p PWMDriver object
- *
- * @notapi
- */
-void pwm_lld_stop(PWMDriver *pwmp)
-{
- uint8_t i = timer_index(pwmp);
- *regs_table[i].tccrb &= ~((1 << CS12) | (1 << CS11) | (1 << CS10));
- *regs_table[i].timsk = 0;
-}
-
-/**
- * @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
- */
-void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period)
-{
-}
-
-/**
- * @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 Depending on the hardware implementation this function has
- * effect starting on the next cycle (recommended implementation)
- * or immediately (fallback implementation).
- *
- * @param[in] pwmp pointer to a @p PWMDriver object
- * @param[in] channel PWM channel identifier (0...PWM_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)
-{
- uint16_t val = width;
- if (val > MAX_PWM_VALUE)
- val = MAX_PWM_VALUE;
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
- if (pwmp == &PWMD2) {
- config_channel(&TCCR2A,
- 7 - 2*channel,
- 6 - 2*channel,
- pwmp->config->channels[channel].mode);
- TIMSK2 |= (1 << (channel + 1));
- /* Timer 2 is 8 bit */
- if (val > 0xFF)
- val = 0xFF;
- if (pwmp->config->channels[channel].callback) {
- switch (channel) {
- case 0: OCR2A = val; break;
- case 1: OCR2B = val; break;
- }
- }
- return;
- }
-#endif
-
- uint8_t i = timer_index(pwmp);
- config_channel(regs_table[i].tccra,
- 7 - 2*channel,
- 6 - 2*channel,
- pwmp->config->channels[channel].mode);
- volatile uint8_t *ocrh, *ocrl;
- switch (channel) {
- case 1:
- ocrh = regs_table[i].ocrbh;
- ocrl = regs_table[i].ocrbl;
- break;
- case 2:
- ocrh = regs_table[i].ocrch;
- ocrl = regs_table[i].ocrcl;
- break;
- default:
- ocrh = regs_table[i].ocrah;
- ocrl = regs_table[i].ocral;
- }
- *ocrh = val >> 8;
- *ocrl = val & 0xFF;
- *regs_table[i].tifr |= (1 << (channel + 1));
- if (pwmp->config->channels[channel].callback)
- *regs_table[i].timsk |= (1 << (channel + 1));
-}
-
-/**
- * @brief Disables a PWM channel.
- * @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 Depending on the hardware implementation this function has
- * effect starting on the next cycle (recommended implementation)
- * or immediately (fallback implementation).
- *
- * @param[in] pwmp pointer to a @p PWMDriver object
- * @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
- *
- * @notapi
- */
-void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel)
-{
- uint8_t i = timer_index(pwmp);
- config_channel(regs_table[i].tccra,
- 7 - 2*channel,
- 6 - 2*channel,
- PWM_OUTPUT_DISABLED);
- *regs_table[i].timsk &= ~(1 << (channel + 1));
-}
-
-#endif /* HAL_USE_PWM */
-
-/** @} */
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