diff options
Diffstat (limited to 'os/hal/platforms/LPC122x/pwm_lld.c')
| -rw-r--r-- | os/hal/platforms/LPC122x/pwm_lld.c | 446 |
1 files changed, 446 insertions, 0 deletions
diff --git a/os/hal/platforms/LPC122x/pwm_lld.c b/os/hal/platforms/LPC122x/pwm_lld.c new file mode 100644 index 000000000..24e5b2639 --- /dev/null +++ b/os/hal/platforms/LPC122x/pwm_lld.c @@ -0,0 +1,446 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+ LPC122x PWM driver - Copyright (C) 2013 Marcin Jokel
+
+ 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 LPC122x/pwm_lld.c
+ * @brief LPC122x PWM subsystem low level driver header.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief PWMD1 driver identifier.
+ * @note The driver PWMD1 allocates the complex timer TIM1 when enabled.
+ */
+#if LPC122x_PWM_USE_CT16B0 || defined(__DOXYGEN__)
+PWMDriver PWMD1;
+#endif
+
+/**
+ * @brief PWMD2 driver identifier.
+ * @note The driver PWMD2 allocates the timer TIM2 when enabled.
+ */
+#if LPC122x_PWM_USE_CT16B1 || defined(__DOXYGEN__)
+PWMDriver PWMD2;
+#endif
+
+/**
+ * @brief PWMD3 driver identifier.
+ * @note The driver PWMD3 allocates the timer TIM3 when enabled.
+ */
+#if LPC122x_PWM_USE_CT32B0 || defined(__DOXYGEN__)
+PWMDriver PWMD3;
+#endif
+
+/**
+ * @brief PWMD4 driver identifier.
+ * @note The driver PWMD4 allocates the timer TIM4 when enabled.
+ */
+#if LPC122x_PWM_USE_CT32B1 || defined(__DOXYGEN__)
+PWMDriver PWMD4;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if LPC122x_PWM_USE_CT16B0 || LPC122x_PWM_USE_CT16B1 || \
+ LPC122x_PWM_USE_CT32B0 || LPC122x_PWM_USE_CT32B1 || defined(__DOXYGEN__)
+/**
+ * @brief Common TIM2...TIM5 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
+ */
+static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
+ uint16_t sr;
+
+ sr = pwmp->tim->IR;
+ pwmp->tim->IR = sr;
+ if ((sr & IR_MR0INT) != 0)
+ pwmp->config->channels[0].callback(pwmp);
+ if ((sr & IR_MR1INT) != 0)
+ pwmp->config->channels[1].callback(pwmp);
+ if ((sr & IR_MR3INT) != 0)
+ pwmp->config->callback(pwmp);
+}
+#endif
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if LPC122x_PWM_USE_CT16B0 || defined(__DOXYGEN__)
+/**
+ * @brief CT16B0 interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(Vector74) {
+
+ CH_IRQ_PROLOGUE();
+ pwm_lld_serve_interrupt(&PWMD1);
+ CH_IRQ_EPILOGUE();
+}
+
+#endif /* STM32_PWM_USE_TIM1 */
+
+#if LPC122x_PWM_USE_CT16B1 || defined(__DOXYGEN__)
+/**
+ * @brief CT16B1 interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(Vector78) {
+
+ CH_IRQ_PROLOGUE();
+ pwm_lld_serve_interrupt(&PWMD2);
+ CH_IRQ_EPILOGUE();
+}
+#endif /* LPC122x_PWM_USE_CT16B1 */
+
+#if LPC122x_PWM_USE_CT32B0 || defined(__DOXYGEN__)
+/**
+ * @brief CT32B0 interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(Vector7C) {
+
+ CH_IRQ_PROLOGUE();
+ pwm_lld_serve_interrupt(&PWMD3);
+ CH_IRQ_EPILOGUE();
+}
+#endif /* LPC122x_PWM_USE_CT32B0 */
+
+#if LPC122x_PWM_USE_CT32B1 || defined(__DOXYGEN__)
+/**
+ * @brief CT32B1 interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(Vector80) {
+
+ CH_IRQ_PROLOGUE();
+ pwm_lld_serve_interrupt(&PWMD4);
+ CH_IRQ_EPILOGUE();
+}
+#endif /* LPC122x_PWM_USE_CT32B1 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PWM driver initialization.
+ *
+ * @notapi
+ */
+void pwm_lld_init(void) {
+
+#if LPC122x_PWM_USE_CT16B0
+ /* Driver initialization.*/
+ pwmObjectInit(&PWMD1);
+ PWMD1.tim = LPC_CT16B0;
+
+#if LPC122x_PWM_USE_CT16B0_CH0
+#if LPC122x_PWM_CT16B0_CH0_SELECTOR == PWM_CT16B0_CH0_IS_PIO0_11
+ LPC_IOCON->PIO0_11 = 0x84;
+#elif LPC122x_PWM_CT16B0_CH0_SELECTOR == PWM_CT16B0_CH0_IS_PIO0_28
+ LPC_IOCON->PIO0_28 = 0x84;
+#else /* LPC122x_PWM_CT16B0_CH0_SELECTOR == PWM_CT16B0_CH0_IS_PIO2_0 */
+ LPC_IOCON->PIO2_0 = 0x84;
+#endif
+#endif
+
+#if LPC122x_PWM_USE_CT16B0_CH1
+#if LPC122x_PWM_CT16B0_CH1_SELECTOR == PWM_CT16B0_CH1_IS_PIO0_12
+ LPC_IOCON->PIO0_12 = 0x84;
+#elif LPC122x_PWM_CT16B0_CH1_SELECTOR == PWM_CT16B0_CH1_IS_PIO0_29
+ LPC_IOCON->PIO0_29 = 0x84;
+#else /* LPC122x_PWM_CT16B0_CH1_SELECTOR == PWM_CT16B0_CH1_IS_PIO2_1 */
+ LPC_IOCON->PIO2_1 = 0x83;
+#endif
+#endif
+#endif
+
+#if LPC122x_PWM_USE_CT16B1
+ /* Driver initialization.*/
+ pwmObjectInit(&PWMD2);
+ PWMD2.tim = LPC_CT16B1;
+
+#if LPC122x_PWM_USE_CT16B1_CH0
+#if LPC122x_PWM_CT16B1_CH0_SELECTOR == PWM_CT16B1_CH0_IS_PIO0_15
+ LPC_IOCON->PIO0_15 = 0x84;
+#elif LPC122x_PWM_CT16B1_CH0_SELECTOR == PWM_CT16B1_CH0_IS_PIO1_5
+ LPC_IOCON->PIO1_5 = 0x83;
+#else /* LPC122x_PWM_CT16B1_CH0_SELECTOR == PWM_CT16B1_CH0_IS_PIO2_2 */
+ LPC_IOCON->PIO2_2 = 0x83;
+#endif
+#endif
+
+#if LPC122x_PWM_USE_CT16B1_CH1
+#if LPC122x_PWM_CT16B1_CH1_SELECTOR == PWM_CT16B1_CH1_IS_PIO0_16
+ LPC_IOCON->PIO0_16 = 0x84;
+#elif LPC122x_PWM_CT16B1_CH1_SELECTOR == PWM_CT16B1_CH1_IS_PIO1_6
+ LPC_IOCON->PIO1_6 = 0x82;
+#else /* LPC122x_PWM_CT16B1_CH1_SELECTOR == PWM_CT16B1_CH1_IS_PIO2_3 */
+ LPC_IOCON->PIO2_3 = 0x83;
+#endif
+#endif
+#endif
+
+#if LPC122x_PWM_USE_CT32B0
+ /* Driver initialization.*/
+ pwmObjectInit(&PWMD3);
+ PWMD3.tim = LPC_CT32B0;
+
+#if LPC122x_PWM_USE_CT32B0_CH0
+#if LPC122x_PWM_CT32B0_CH0_SELECTOR == PWM_CT32B0_CH0_IS_PIO0_1
+ LPC_IOCON->PIO0_1 = 0x84;
+#elif LPC122x_PWM_CT32B0_CH0_SELECTOR == PWM_CT32B0_CH0_IS_PIO0_18
+ LPC_IOCON->PIO0_18 = 0x84;
+#else /* LPC122x_PWM_CT32B0_CH0_SELECTOR == PWM_CT32B0_CH0_IS_PIO2_4 */
+ LPC_IOCON->PIO2_4 = 0x83;
+#endif
+#endif
+
+#if LPC122x_PWM_USE_CT32B0_CH1
+#if LPC122x_PWM_CT32B0_CH1_SELECTOR == PWM_CT32B0_CH1_IS_PIO0_2
+ LPC_IOCON->PIO0_2 = 0x84;
+#elif LPC122x_PWM_CT32B0_CH1_SELECTOR == PWM_CT32B0_CH1_IS_PIO0_19
+ LPC_IOCON->PIO0_19 = 0x84;
+#else /* LPC122x_PWM_CT32B0_CH1_SELECTOR == PWM_CT32B0_CH1_IS_PIO2_5 */
+ LPC_IOCON->PIO2_5 = 0x83;
+#endif
+#endif
+#endif
+
+#if LPC122x_PWM_USE_CT32B1
+ /* Driver initialization.*/
+ pwmObjectInit(&PWMD4);
+ PWMD4.tim = LPC_CT32B1;
+
+#if LPC122x_PWM_USE_CT32B1_CH0
+#if LPC122x_PWM_CT32B1_CH0_SELECTOR == PWM_CT32B1_CH0_IS_PIO0_6
+ LPC_IOCON->PIO0_6 = 0x84;
+#elif LPC122x_PWM_CT32B1_CH0_SELECTOR == PWM_CT32B1_CH0_IS_PIO0_23
+ LPC_IOCON->PIO0_23 = 0x84;
+#else /* LPC122x_PWM_CT32B1_CH0_SELECTOR == PWM_CT32B1_CH0_IS_PIO2_8 */
+ LPC_IOCON->PIO2_8 = 0x83;
+#endif
+#endif
+
+#if LPC122x_PWM_USE_CT32B1_CH1
+#if LPC122x_PWM_CT32B1_CH1_SELECTOR == PWM_CT32B1_CH1_IS_PIO0_7
+ LPC_IOCON->PIO0_7 = 0x84;
+#elif LPC122x_PWM_CT32B1_CH1_SELECTOR == PWM_CT32B1_CH1_IS_PIO0_24
+ LPC_IOCON->PIO0_24 = 0x84;
+#else /* LPC122x_PWM_CT32B1_CH1_SELECTOR == PWM_CT32B1_CH1_IS_PIO2_9 */
+ LPC_IOCON->PIO2_9 = 0x83;
+#endif
+#endif
+#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 pr;
+
+ if (pwmp->state == PWM_STOP) {
+ /* Clock activation and timer reset.*/
+#if LPC122x_PWM_USE_CT16B0
+ if (&PWMD1 == pwmp) {
+ LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 7);
+ nvicEnableVector(TIMER_16_0_IRQn, LPC122x_PWM_CT16B0_IRQ_PRIORITY);
+ }
+#endif
+#if LPC122x_PWM_USE_CT16B1
+ if (&PWMD2 == pwmp) {
+ LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 8);
+ nvicEnableVector(TIMER_16_1_IRQn, LPC122x_PWM_CT16B1_IRQ_PRIORITY);
+ }
+#endif
+#if LPC122x_PWM_USE_CT32B0
+ if (&PWMD3 == pwmp) {
+ LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 9);
+ nvicEnableVector(TIMER_32_0_IRQn, LPC122x_PWM_CT32B0_IRQ_PRIORITY);
+ }
+#endif
+#if LPC122x_PWM_USE_CT32B1
+ if (&PWMD4 == pwmp) {
+ LPC_SYSCON->SYSAHBCLKCTRL |= (1 << 10);
+ nvicEnableVector(TIMER_32_1_IRQn, LPC122x_PWM_CT32B1_IRQ_PRIORITY);
+ }
+#endif
+ }
+ else {
+ /* Driver re-configuration scenario, it must be stopped first.*/
+ pwmp->tim->TCR = 0;
+ }
+
+ /* Output enables and polarities setup.*/
+ if(pwmp->config->channels[0].mode == PWM_OUTPUT_ACTIVE_LOW)
+ pwmp->tim->PWMC = (1 << 0);
+
+ if(pwmp->config->channels[1].mode == PWM_OUTPUT_ACTIVE_LOW)
+ pwmp->tim->PWMC |= (1 << 1);
+
+ /* Timer configured and started.*/
+ pr = (uint16_t)((LPC122x_SYSCLK / pwmp->config->frequency) - 1);
+ chDbgAssert(((uint32_t)(pr + 1) * pwmp->config->frequency) == LPC122x_SYSCLK,
+ "pwm_lld_start(), #1", "invalid frequency");
+
+ pwmp->tim->TC = 0;
+ pwmp->tim->PR = pr;
+ pwmp->tim->IR = 0xFF;
+ pwmp->tim->MCR = MCR_MR3R; /* Reset on Match3 */
+ pwmp->tim->MR3 = pwmp->config->period;
+
+ if (pwmp->config->callback != NULL)
+ pwmp->tim->MCR |= MCR_MR3I;
+
+ pwmp->tim->TCR = 1; /* Timer start */
+}
+
+/**
+ * @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->tim->TCR = 0; /* Timer disabled. */
+ pwmp->tim->MCR = 0; /* All IRQs disabled. */
+ pwmp->tim->IR = 0xFF; /* Clear eventual pending IRQs. */
+ pwmp->tim->PWMC = 0; /* PWM outputs disable */
+
+#if LPC122x_PWM_USE_CT16B0
+ if (&PWMD1 == pwmp) {
+ nvicDisableVector(TIMER_16_0_IRQn);
+ LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 7);
+ }
+#endif
+#if LPC122x_PWM_USE_CT16B1
+ if (&PWMD2 == pwmp) {
+ nvicDisableVector(TIMER_16_1_IRQn);
+ LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 8);
+ }
+#endif
+#if LPC122x_PWM_USE_CT32B0
+ if (&PWMD3 == pwmp) {
+ nvicDisableVector(TIMER_32_0_IRQn);
+ LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 9);
+ }
+#endif
+#if LPC122x_PWM_USE_CT32B1
+ if (&PWMD4 == pwmp) {
+ nvicDisableVector(TIMER_32_1_IRQn);
+ LPC_SYSCON->SYSAHBCLKCTRL &= ~(1 << 10);
+ }
+#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.
+ *
+ * @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) {
+
+ pwmp->tim->MCR &= ~(7 << (channel * 3));
+
+ if ( channel == 0)
+ pwmp->tim->MR0 = width; /* New duty cycle. */
+ else
+ pwmp->tim->MR1 = width; /* New duty cycle. */
+ /* If there is a callback defined for the channel then the associated
+ interrupt must be enabled.*/
+ if (pwmp->config->channels[channel].callback != NULL) {
+ pwmp->tim->IR = (1 << channel); /* Clear interrupt flag*/
+ pwmp->tim->MCR |= (1 << (channel * 3)); /* Set interrupt on selected channel */
+ }
+
+}
+
+/**
+ * @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 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...PWM_CHANNELS-1)
+ *
+ * @notapi
+ */
+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+ if ( channel == 0)
+ pwmp->tim->MR0 = 0;
+ else
+ pwmp->tim->MR1 = 0;
+ pwmp->tim->MCR &= ~(7 << (channel * 3));
+ pwmp->tim->IR = (1 << channel);
+}
+
+#endif /* HAL_USE_PWM */
+
+/** @} */
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