2011-12-16 17:17:34 +01:00
|
|
|
/****************************************************************************
|
2019-09-02 15:53:52 +02:00
|
|
|
* drivers/timers/pwm.c
|
2011-12-16 17:17:34 +01:00
|
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|
*
|
2020-04-01 18:13:52 +02:00
|
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
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|
|
* contributor license agreements. See the NOTICE file distributed with
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|
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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2011-12-16 17:17:34 +01:00
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*
|
2020-04-01 18:13:52 +02:00
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* http://www.apache.org/licenses/LICENSE-2.0
|
2011-12-16 17:17:34 +01:00
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*
|
2020-04-01 18:13:52 +02:00
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
|
2011-12-16 17:17:34 +01:00
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*
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|
****************************************************************************/
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/****************************************************************************
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|
|
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* Included Files
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|
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|
****************************************************************************/
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|
|
#include <nuttx/config.h>
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|
|
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#include <sys/types.h>
|
2020-11-20 23:51:32 +01:00
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#include <inttypes.h>
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2011-12-16 17:17:34 +01:00
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <fcntl.h>
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|
|
#include <assert.h>
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|
|
#include <errno.h>
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|
|
|
#include <debug.h>
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|
|
|
2016-11-03 18:00:47 +01:00
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|
|
#include <nuttx/arch.h>
|
2013-03-09 22:12:20 +01:00
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|
|
#include <nuttx/kmalloc.h>
|
2022-09-06 08:18:45 +02:00
|
|
|
#include <nuttx/mutex.h>
|
2016-11-03 18:00:47 +01:00
|
|
|
#include <nuttx/semaphore.h>
|
2012-03-21 19:01:07 +01:00
|
|
|
#include <nuttx/fs/fs.h>
|
2019-09-02 15:53:52 +02:00
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#include <nuttx/timers/pwm.h>
|
2011-12-16 17:17:34 +01:00
|
|
|
|
2016-02-14 14:32:58 +01:00
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|
|
#include <nuttx/irq.h>
|
2011-12-16 17:17:34 +01:00
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|
|
#ifdef CONFIG_PWM
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|
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/****************************************************************************
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|
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|
* Private Type Definitions
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|
|
|
****************************************************************************/
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|
2012-04-14 01:37:52 +02:00
|
|
|
/* This structure describes the state of the upper half driver */
|
2011-12-16 17:17:34 +01:00
|
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|
struct pwm_upperhalf_s
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|
|
|
{
|
2020-04-01 18:13:52 +02:00
|
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|
uint8_t crefs; /* The number of times the device has
|
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|
|
* been opened */
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|
|
volatile bool started; /* True: pulsed output is being
|
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|
|
* generated */
|
2012-01-09 19:23:30 +01:00
|
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|
#ifdef CONFIG_PWM_PULSECOUNT
|
2020-04-01 18:13:52 +02:00
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|
volatile bool waiting; /* True: Caller is waiting for the pulse
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|
|
* count to expire */
|
2012-01-09 19:23:30 +01:00
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|
#endif
|
2022-09-06 08:18:45 +02:00
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|
|
mutex_t lock; /* Supports mutual exclusion */
|
2012-01-09 19:23:30 +01:00
|
|
|
#ifdef CONFIG_PWM_PULSECOUNT
|
2020-04-01 18:13:52 +02:00
|
|
|
sem_t waitsem; /* Used to wait for the pulse count to
|
|
|
|
* expire */
|
2012-01-09 19:23:30 +01:00
|
|
|
#endif
|
2020-04-01 18:13:52 +02:00
|
|
|
struct pwm_info_s info; /* Pulsed output characteristics */
|
2011-12-16 17:17:34 +01:00
|
|
|
FAR struct pwm_lowerhalf_s *dev; /* lower-half state */
|
|
|
|
};
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Private Function Prototypes
|
|
|
|
****************************************************************************/
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
static void pwm_dump(FAR const char *msg,
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|
|
|
FAR const struct pwm_info_s *info,
|
|
|
|
bool started);
|
2011-12-16 17:17:34 +01:00
|
|
|
static int pwm_open(FAR struct file *filep);
|
|
|
|
static int pwm_close(FAR struct file *filep);
|
2015-11-01 23:15:12 +01:00
|
|
|
static ssize_t pwm_read(FAR struct file *filep, FAR char *buffer,
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|
|
|
size_t buflen);
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|
|
|
static ssize_t pwm_write(FAR struct file *filep, FAR const char *buffer,
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|
|
|
size_t buflen);
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|
|
|
static int pwm_start(FAR struct pwm_upperhalf_s *upper,
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|
|
|
unsigned int oflags);
|
2011-12-16 17:17:34 +01:00
|
|
|
static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Private Data
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
static const struct file_operations g_pwmops =
|
|
|
|
{
|
|
|
|
pwm_open, /* open */
|
|
|
|
pwm_close, /* close */
|
|
|
|
pwm_read, /* read */
|
|
|
|
pwm_write, /* write */
|
2019-05-22 02:57:54 +02:00
|
|
|
NULL, /* seek */
|
2019-05-22 15:15:11 +02:00
|
|
|
pwm_ioctl, /* ioctl */
|
2011-12-16 17:17:34 +01:00
|
|
|
};
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Private Functions
|
|
|
|
****************************************************************************/
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
/****************************************************************************
|
|
|
|
* Name: pwm_dump
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
static void pwm_dump(FAR const char *msg, FAR const struct pwm_info_s *info,
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|
|
bool started)
|
|
|
|
{
|
|
|
|
#ifdef CONFIG_PWM_MULTICHAN
|
|
|
|
int i;
|
|
|
|
#endif
|
|
|
|
|
2020-11-20 23:51:32 +01:00
|
|
|
pwminfo("%s: frequency: %" PRId32 "\n", msg, info->frequency);
|
2015-11-01 23:15:12 +01:00
|
|
|
|
|
|
|
#ifdef CONFIG_PWM_MULTICHAN
|
|
|
|
for (i = 0; i < CONFIG_PWM_NCHANNELS; i++)
|
|
|
|
{
|
2020-11-20 23:51:32 +01:00
|
|
|
pwminfo(" channel: %d duty: %08" PRIx32 "\n",
|
2015-11-01 23:15:12 +01:00
|
|
|
info->channels[i].channel, info->channels[i].duty);
|
|
|
|
}
|
|
|
|
#else
|
2020-11-25 22:54:32 +01:00
|
|
|
pwminfo(" duty: %08" PRIx32 "\n", info->duty);
|
2015-11-01 23:15:12 +01:00
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef CONFIG_PWM_PULSECOUNT
|
2021-05-05 09:20:52 +02:00
|
|
|
pwminfo(" count: %" PRIx32 "\n", info->count);
|
2015-11-01 23:15:12 +01:00
|
|
|
#endif
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo(" started: %d\n", started);
|
2015-11-01 23:15:12 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
2011-12-16 17:17:34 +01:00
|
|
|
* Name: pwm_open
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* This function is called whenever the PWM device is opened.
|
|
|
|
*
|
2015-11-01 23:15:12 +01:00
|
|
|
****************************************************************************/
|
2011-12-16 17:17:34 +01:00
|
|
|
|
|
|
|
static int pwm_open(FAR struct file *filep)
|
|
|
|
{
|
|
|
|
FAR struct inode *inode = filep->f_inode;
|
|
|
|
FAR struct pwm_upperhalf_s *upper = inode->i_private;
|
|
|
|
uint8_t tmp;
|
|
|
|
int ret;
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("crefs: %d\n", upper->crefs);
|
2011-12-20 15:41:32 +01:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
/* Get exclusive access to the device structures */
|
|
|
|
|
2022-09-06 08:18:45 +02:00
|
|
|
ret = nxmutex_lock(&upper->lock);
|
2011-12-16 17:17:34 +01:00
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
goto errout;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Increment the count of references to the device. If this the first
|
|
|
|
* time that the driver has been opened for this device, then initialize
|
|
|
|
* the device.
|
|
|
|
*/
|
|
|
|
|
|
|
|
tmp = upper->crefs + 1;
|
|
|
|
if (tmp == 0)
|
|
|
|
{
|
|
|
|
/* More than 255 opens; uint8_t overflows to zero */
|
|
|
|
|
|
|
|
ret = -EMFILE;
|
2022-09-06 08:18:45 +02:00
|
|
|
goto errout_with_lock;
|
2011-12-16 17:17:34 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
/* Check if this is the first time that the driver has been opened. */
|
|
|
|
|
|
|
|
if (tmp == 1)
|
|
|
|
{
|
|
|
|
FAR struct pwm_lowerhalf_s *lower = upper->dev;
|
|
|
|
|
|
|
|
/* Yes.. perform one time hardware initialization. */
|
|
|
|
|
2011-12-20 15:41:32 +01:00
|
|
|
DEBUGASSERT(lower->ops->setup != NULL);
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("calling setup\n");
|
2011-12-20 15:41:32 +01:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
ret = lower->ops->setup(lower);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
2022-09-06 08:18:45 +02:00
|
|
|
goto errout_with_lock;
|
2011-12-16 17:17:34 +01:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Save the new open count on success */
|
|
|
|
|
|
|
|
upper->crefs = tmp;
|
|
|
|
ret = OK;
|
|
|
|
|
2022-09-06 08:18:45 +02:00
|
|
|
errout_with_lock:
|
|
|
|
nxmutex_unlock(&upper->lock);
|
2014-04-13 22:32:20 +02:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
errout:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
/****************************************************************************
|
2011-12-16 17:17:34 +01:00
|
|
|
* Name: pwm_close
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* This function is called when the PWM device is closed.
|
|
|
|
*
|
2015-11-01 23:15:12 +01:00
|
|
|
****************************************************************************/
|
2011-12-16 17:17:34 +01:00
|
|
|
|
|
|
|
static int pwm_close(FAR struct file *filep)
|
|
|
|
{
|
|
|
|
FAR struct inode *inode = filep->f_inode;
|
|
|
|
FAR struct pwm_upperhalf_s *upper = inode->i_private;
|
|
|
|
int ret;
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("crefs: %d\n", upper->crefs);
|
2011-12-20 15:41:32 +01:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
/* Get exclusive access to the device structures */
|
|
|
|
|
2022-09-06 08:18:45 +02:00
|
|
|
ret = nxmutex_lock(&upper->lock);
|
2011-12-16 17:17:34 +01:00
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
goto errout;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Decrement the references to the driver. If the reference count will
|
|
|
|
* decrement to 0, then uninitialize the driver.
|
|
|
|
*/
|
|
|
|
|
|
|
|
if (upper->crefs > 1)
|
|
|
|
{
|
|
|
|
upper->crefs--;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
FAR struct pwm_lowerhalf_s *lower = upper->dev;
|
|
|
|
|
|
|
|
/* There are no more references to the port */
|
|
|
|
|
|
|
|
upper->crefs = 0;
|
|
|
|
|
|
|
|
/* Disable the PWM device */
|
|
|
|
|
2011-12-20 15:41:32 +01:00
|
|
|
DEBUGASSERT(lower->ops->shutdown != NULL);
|
2020-11-20 23:51:32 +01:00
|
|
|
pwminfo("calling shutdown\n");
|
2011-12-20 15:41:32 +01:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
lower->ops->shutdown(lower);
|
|
|
|
}
|
|
|
|
|
2018-02-17 18:59:07 +01:00
|
|
|
ret = OK;
|
2022-09-06 08:18:45 +02:00
|
|
|
nxmutex_unlock(&upper->lock);
|
2014-04-13 22:32:20 +02:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
errout:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
/****************************************************************************
|
2011-12-16 17:17:34 +01:00
|
|
|
* Name: pwm_read
|
|
|
|
*
|
|
|
|
* Description:
|
2014-04-06 17:02:02 +02:00
|
|
|
* A dummy read method. This is provided only to satisfy the VFS layer.
|
2011-12-16 17:17:34 +01:00
|
|
|
*
|
2015-11-01 23:15:12 +01:00
|
|
|
****************************************************************************/
|
2011-12-16 17:17:34 +01:00
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
static ssize_t pwm_read(FAR struct file *filep, FAR char *buffer,
|
|
|
|
size_t buflen)
|
2011-12-16 17:17:34 +01:00
|
|
|
{
|
|
|
|
/* Return zero -- usually meaning end-of-file */
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
/****************************************************************************
|
2011-12-16 17:17:34 +01:00
|
|
|
* Name: pwm_write
|
|
|
|
*
|
|
|
|
* Description:
|
2014-04-06 17:02:02 +02:00
|
|
|
* A dummy write method. This is provided only to satisfy the VFS layer.
|
2011-12-16 17:17:34 +01:00
|
|
|
*
|
2015-11-01 23:15:12 +01:00
|
|
|
****************************************************************************/
|
2011-12-16 17:17:34 +01:00
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
static ssize_t pwm_write(FAR struct file *filep, FAR const char *buffer,
|
|
|
|
size_t buflen)
|
2011-12-16 17:17:34 +01:00
|
|
|
{
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
/****************************************************************************
|
2012-01-09 19:23:30 +01:00
|
|
|
* Name: pwm_start
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* Handle the PWMIOC_START ioctl command
|
2014-04-13 22:32:20 +02:00
|
|
|
*
|
2015-11-01 23:15:12 +01:00
|
|
|
****************************************************************************/
|
2012-01-09 19:23:30 +01:00
|
|
|
|
|
|
|
#ifdef CONFIG_PWM_PULSECOUNT
|
|
|
|
static int pwm_start(FAR struct pwm_upperhalf_s *upper, unsigned int oflags)
|
|
|
|
{
|
2017-05-15 15:20:32 +02:00
|
|
|
FAR struct pwm_lowerhalf_s *lower;
|
2012-01-09 19:23:30 +01:00
|
|
|
irqstate_t flags;
|
|
|
|
int ret = OK;
|
|
|
|
|
2017-05-15 15:20:32 +02:00
|
|
|
DEBUGASSERT(upper != NULL);
|
|
|
|
lower = upper->dev;
|
|
|
|
DEBUGASSERT(lower != NULL && lower->ops->start != NULL);
|
2012-01-09 19:23:30 +01:00
|
|
|
|
|
|
|
/* Verify that the PWM is not already running */
|
|
|
|
|
|
|
|
if (!upper->started)
|
|
|
|
{
|
|
|
|
/* Disable interrupts to avoid race conditions */
|
|
|
|
|
2016-02-14 14:32:58 +01:00
|
|
|
flags = enter_critical_section();
|
2012-01-09 19:23:30 +01:00
|
|
|
|
|
|
|
/* Indicate that if will be waiting for the pulse count to complete.
|
|
|
|
* Note that we will only wait if a non-zero pulse count is specified
|
|
|
|
* and if the PWM driver was opened in normal, blocking mode. Also
|
|
|
|
* assume for now that the pulse train will be successfully started.
|
|
|
|
*
|
|
|
|
* We do these things before starting the PWM to avoid race conditions.
|
|
|
|
*/
|
|
|
|
|
2020-04-01 18:13:52 +02:00
|
|
|
upper->waiting = (upper->info.count > 0) &&
|
|
|
|
((oflags & O_NONBLOCK) == 0);
|
2012-01-09 19:23:30 +01:00
|
|
|
upper->started = true;
|
|
|
|
|
|
|
|
/* Invoke the bottom half method to start the pulse train */
|
|
|
|
|
|
|
|
ret = lower->ops->start(lower, &upper->info, upper);
|
|
|
|
|
|
|
|
/* A return value of zero means that the pulse train was started
|
|
|
|
* successfully.
|
|
|
|
*/
|
|
|
|
|
|
|
|
if (ret == OK)
|
|
|
|
{
|
|
|
|
/* Should we wait for the pulse output to complete? Loop in
|
2017-10-04 23:22:27 +02:00
|
|
|
* in case the wakeup form nxsem_wait() is a false alarm.
|
2012-01-09 19:23:30 +01:00
|
|
|
*/
|
|
|
|
|
|
|
|
while (upper->waiting)
|
|
|
|
{
|
|
|
|
/* Wait until we are awakened by pwm_expired(). When
|
|
|
|
* pwm_expired is called, it will post the waitsem and
|
|
|
|
* clear the waiting flag.
|
|
|
|
*/
|
|
|
|
|
2020-04-01 18:13:52 +02:00
|
|
|
ret = nxsem_wait_uninterruptible(&upper->waitsem);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
upper->started = false;
|
|
|
|
upper->waiting = false;
|
|
|
|
}
|
2012-01-09 19:23:30 +01:00
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
/* Looks like we won't be waiting after all */
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("start failed: %d\n", ret);
|
2012-01-09 19:23:30 +01:00
|
|
|
upper->started = false;
|
|
|
|
upper->waiting = false;
|
|
|
|
}
|
|
|
|
|
2016-02-14 14:32:58 +01:00
|
|
|
leave_critical_section(flags);
|
2012-01-09 19:23:30 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
#else
|
|
|
|
static int pwm_start(FAR struct pwm_upperhalf_s *upper, unsigned int oflags)
|
|
|
|
{
|
2017-05-15 15:20:32 +02:00
|
|
|
FAR struct pwm_lowerhalf_s *lower;
|
2012-01-09 19:23:30 +01:00
|
|
|
int ret = OK;
|
|
|
|
|
2017-05-15 15:20:32 +02:00
|
|
|
DEBUGASSERT(upper != NULL);
|
|
|
|
lower = upper->dev;
|
|
|
|
DEBUGASSERT(lower != NULL && lower->ops->start != NULL);
|
2012-01-09 19:23:30 +01:00
|
|
|
|
|
|
|
/* Verify that the PWM is not already running */
|
|
|
|
|
|
|
|
if (!upper->started)
|
|
|
|
{
|
|
|
|
/* Invoke the bottom half method to start the pulse train */
|
|
|
|
|
|
|
|
ret = lower->ops->start(lower, &upper->info);
|
|
|
|
|
|
|
|
/* A return value of zero means that the pulse train was started
|
|
|
|
* successfully.
|
|
|
|
*/
|
|
|
|
|
|
|
|
if (ret == OK)
|
|
|
|
{
|
|
|
|
/* Indicate that the pulse train has started */
|
|
|
|
|
|
|
|
upper->started = true;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
/****************************************************************************
|
2011-12-16 17:17:34 +01:00
|
|
|
* Name: pwm_ioctl
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* The standard ioctl method. This is where ALL of the PWM work is done.
|
2014-04-13 22:32:20 +02:00
|
|
|
*
|
2015-11-01 23:15:12 +01:00
|
|
|
****************************************************************************/
|
2011-12-16 17:17:34 +01:00
|
|
|
|
|
|
|
static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
|
|
{
|
|
|
|
FAR struct inode *inode = filep->f_inode;
|
|
|
|
FAR struct pwm_upperhalf_s *upper = inode->i_private;
|
|
|
|
FAR struct pwm_lowerhalf_s *lower = upper->dev;
|
2012-01-09 19:23:30 +01:00
|
|
|
int ret;
|
2011-12-16 17:17:34 +01:00
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("cmd: %d arg: %ld\n", cmd, arg);
|
2011-12-20 15:41:32 +01:00
|
|
|
|
2012-01-09 19:23:30 +01:00
|
|
|
/* Get exclusive access to the device structures */
|
|
|
|
|
2022-09-06 08:18:45 +02:00
|
|
|
ret = nxmutex_lock(&upper->lock);
|
2012-01-09 19:23:30 +01:00
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Handle built-in ioctl commands */
|
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
switch (cmd)
|
|
|
|
{
|
2020-04-01 18:13:52 +02:00
|
|
|
/* PWMIOC_SETCHARACTERISTICS - Set the characteristics of the next
|
2023-08-23 17:04:03 +02:00
|
|
|
* pulsed output and start the pulsed output. It will change the
|
2020-04-01 18:13:52 +02:00
|
|
|
* characteristics of the pulsed output on the fly if the timer is
|
|
|
|
* already started.
|
2011-12-16 17:17:34 +01:00
|
|
|
*
|
2020-04-01 18:13:52 +02:00
|
|
|
* ioctl argument: A read-only reference to struct pwm_info_s that
|
|
|
|
* provides the characteristics of the pulsed output.
|
2011-12-16 17:17:34 +01:00
|
|
|
*/
|
|
|
|
|
|
|
|
case PWMIOC_SETCHARACTERISTICS:
|
|
|
|
{
|
2019-12-07 06:36:33 +01:00
|
|
|
FAR const struct pwm_info_s *info =
|
|
|
|
(FAR const struct pwm_info_s *)((uintptr_t)arg);
|
2011-12-20 15:41:32 +01:00
|
|
|
DEBUGASSERT(info != NULL && lower->ops->start != NULL);
|
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
pwm_dump("PWMIOC_SETCHARACTERISTICS", info, upper->started);
|
2012-01-09 19:23:30 +01:00
|
|
|
|
|
|
|
/* Save the pulse train characteristics */
|
2011-12-20 15:41:32 +01:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
memcpy(&upper->info, info, sizeof(struct pwm_info_s));
|
2012-01-09 19:23:30 +01:00
|
|
|
|
2020-05-17 16:47:40 +02:00
|
|
|
/* If PWM is already running, then re-start it with the new
|
|
|
|
* characteristics.
|
|
|
|
*/
|
2012-01-09 19:23:30 +01:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
if (upper->started)
|
|
|
|
{
|
2012-01-09 19:23:30 +01:00
|
|
|
#ifdef CONFIG_PWM_PULSECOUNT
|
|
|
|
ret = lower->ops->start(lower, &upper->info, upper);
|
|
|
|
#else
|
2011-12-16 17:17:34 +01:00
|
|
|
ret = lower->ops->start(lower, &upper->info);
|
2012-01-09 19:23:30 +01:00
|
|
|
#endif
|
2011-12-16 17:17:34 +01:00
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2020-04-01 18:13:52 +02:00
|
|
|
/* PWMIOC_GETCHARACTERISTICS - Get the currently selected
|
|
|
|
* characteristics of the pulsed output (independent of whether the
|
|
|
|
* output is start or stopped).
|
2011-12-16 17:17:34 +01:00
|
|
|
*
|
2014-04-06 17:02:02 +02:00
|
|
|
* ioctl argument: A reference to struct pwm_info_s to receive the
|
2011-12-16 17:17:34 +01:00
|
|
|
* characteristics of the pulsed output.
|
|
|
|
*/
|
|
|
|
|
|
|
|
case PWMIOC_GETCHARACTERISTICS:
|
|
|
|
{
|
2020-04-01 18:13:52 +02:00
|
|
|
FAR struct pwm_info_s *info =
|
|
|
|
(FAR struct pwm_info_s *)((uintptr_t)arg);
|
2011-12-20 15:41:32 +01:00
|
|
|
DEBUGASSERT(info != NULL);
|
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
memcpy(info, &upper->info, sizeof(struct pwm_info_s));
|
2012-01-09 19:23:30 +01:00
|
|
|
|
2015-11-01 23:15:12 +01:00
|
|
|
pwm_dump("PWMIOC_GETCHARACTERISTICS", info, upper->started);
|
2011-12-16 17:17:34 +01:00
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2020-04-01 18:13:52 +02:00
|
|
|
/* PWMIOC_START - Start the pulsed output. The
|
|
|
|
* PWMIOC_SETCHARACTERISTICS command must have previously been sent.
|
2011-12-16 17:17:34 +01:00
|
|
|
*
|
|
|
|
* ioctl argument: None
|
|
|
|
*/
|
|
|
|
|
|
|
|
case PWMIOC_START:
|
|
|
|
{
|
2015-11-01 23:15:12 +01:00
|
|
|
pwm_dump("PWMIOC_START", &upper->info, upper->started);
|
2011-12-20 15:41:32 +01:00
|
|
|
DEBUGASSERT(lower->ops->start != NULL);
|
|
|
|
|
2012-01-09 19:23:30 +01:00
|
|
|
/* Start the pulse train */
|
|
|
|
|
|
|
|
ret = pwm_start(upper, filep->f_oflags);
|
2011-12-16 17:17:34 +01:00
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
/* PWMIOC_STOP - Stop the pulsed output.
|
|
|
|
*
|
|
|
|
* ioctl argument: None
|
|
|
|
*/
|
|
|
|
|
|
|
|
case PWMIOC_STOP:
|
|
|
|
{
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("PWMIOC_STOP: started: %d\n", upper->started);
|
2011-12-20 15:41:32 +01:00
|
|
|
DEBUGASSERT(lower->ops->stop != NULL);
|
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
if (upper->started)
|
|
|
|
{
|
|
|
|
ret = lower->ops->stop(lower);
|
|
|
|
upper->started = false;
|
2012-01-09 19:23:30 +01:00
|
|
|
#ifdef CONFIG_PWM_PULSECOUNT
|
|
|
|
if (upper->waiting)
|
|
|
|
{
|
2015-11-01 23:15:12 +01:00
|
|
|
upper->waiting = false;
|
2012-01-09 19:23:30 +01:00
|
|
|
}
|
|
|
|
#endif
|
2011-12-16 17:17:34 +01:00
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2020-05-17 16:47:40 +02:00
|
|
|
/* Any unrecognized IOCTL commands might be platform-specific ioctl
|
|
|
|
* commands.
|
|
|
|
*/
|
2011-12-16 17:17:34 +01:00
|
|
|
|
|
|
|
default:
|
|
|
|
{
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
|
2011-12-20 15:41:32 +01:00
|
|
|
DEBUGASSERT(lower->ops->ioctl != NULL);
|
2011-12-16 17:17:34 +01:00
|
|
|
ret = lower->ops->ioctl(lower, cmd, arg);
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
2012-01-09 19:23:30 +01:00
|
|
|
|
2022-09-06 08:18:45 +02:00
|
|
|
nxmutex_unlock(&upper->lock);
|
2011-12-16 17:17:34 +01:00
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Public Functions
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: pwm_register
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* This function binds an instance of a "lower half" timer driver with the
|
|
|
|
* "upper half" PWM device and registers that device so that can be used
|
|
|
|
* by application code.
|
|
|
|
*
|
|
|
|
* When this function is called, the "lower half" driver should be in the
|
|
|
|
* reset state (as if the shutdown() method had already been called).
|
|
|
|
*
|
2018-02-01 17:00:02 +01:00
|
|
|
* Input Parameters:
|
2014-04-06 17:02:02 +02:00
|
|
|
* path - The full path to the driver to be registered in the NuttX pseudo-
|
2011-12-16 17:17:34 +01:00
|
|
|
* filesystem. The recommended convention is to name all PWM drivers
|
|
|
|
* as "/dev/pwm0", "/dev/pwm1", etc. where the driver path differs only
|
|
|
|
* in the "minor" number at the end of the device name.
|
2020-04-01 18:13:52 +02:00
|
|
|
* dev - A pointer to an instance of lower half timer driver. This
|
|
|
|
* instance is bound to the PWM driver and must persists as long as the
|
|
|
|
* driver persists.
|
2011-12-16 17:17:34 +01:00
|
|
|
*
|
|
|
|
* Returned Value:
|
|
|
|
* Zero on success; a negated errno value on failure.
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
int pwm_register(FAR const char *path, FAR struct pwm_lowerhalf_s *dev)
|
|
|
|
{
|
|
|
|
FAR struct pwm_upperhalf_s *upper;
|
|
|
|
|
|
|
|
/* Allocate the upper-half data structure */
|
|
|
|
|
2020-04-01 18:13:52 +02:00
|
|
|
upper = (FAR struct pwm_upperhalf_s *)
|
|
|
|
kmm_zalloc(sizeof(struct pwm_upperhalf_s));
|
2011-12-16 17:17:34 +01:00
|
|
|
if (!upper)
|
|
|
|
{
|
2016-06-11 23:50:49 +02:00
|
|
|
pwmerr("Allocation failed\n");
|
2011-12-16 17:17:34 +01:00
|
|
|
return -ENOMEM;
|
|
|
|
}
|
|
|
|
|
2020-05-17 16:47:40 +02:00
|
|
|
/* Initialize the PWM device structure (it was already zeroed by
|
|
|
|
* kmm_zalloc()).
|
|
|
|
*/
|
2011-12-16 17:17:34 +01:00
|
|
|
|
2022-09-06 08:18:45 +02:00
|
|
|
nxmutex_init(&upper->lock);
|
2012-01-09 19:23:30 +01:00
|
|
|
#ifdef CONFIG_PWM_PULSECOUNT
|
2017-10-03 20:51:15 +02:00
|
|
|
nxsem_init(&upper->waitsem, 0, 0);
|
2012-01-09 19:23:30 +01:00
|
|
|
#endif
|
2016-11-03 18:00:47 +01:00
|
|
|
|
2011-12-16 17:17:34 +01:00
|
|
|
upper->dev = dev;
|
|
|
|
|
|
|
|
/* Register the PWM device */
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
pwminfo("Registering %s\n", path);
|
2011-12-20 15:41:32 +01:00
|
|
|
return register_driver(path, &g_pwmops, 0666, upper);
|
2011-12-16 17:17:34 +01:00
|
|
|
}
|
|
|
|
|
2012-01-09 19:23:30 +01:00
|
|
|
/****************************************************************************
|
|
|
|
* Name: pwm_expired
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* If CONFIG_PWM_PULSECOUNT is defined and the pulse count was configured
|
|
|
|
* to a non-zero value, then the "upper half" driver will wait for the
|
|
|
|
* pulse count to expire. The sequence of expected events is as follows:
|
|
|
|
*
|
|
|
|
* 1. The upper half driver calls the start method, providing the lower
|
|
|
|
* half driver with the pulse train characteristics. If a fixed
|
|
|
|
* number of pulses is required, the 'count' value will be nonzero.
|
2021-12-28 11:53:39 +01:00
|
|
|
* 2. The lower half driver's start() method must verify that it can
|
2012-01-09 19:23:30 +01:00
|
|
|
* support the request pulse train (frequency, duty, AND pulse count).
|
2014-04-06 17:02:02 +02:00
|
|
|
* If it cannot, it should return an error. If the pulse count is
|
2012-01-09 19:23:30 +01:00
|
|
|
* non-zero, it should set up the hardware for that number of pulses
|
|
|
|
* and return success. NOTE: That is CONFIG_PWM_PULSECOUNT is
|
|
|
|
* defined, the start() method receives an additional parameter
|
|
|
|
* that must be used in this callback.
|
|
|
|
* 3. When the start() method returns success, the upper half driver
|
|
|
|
* will "sleep" until the pwm_expired method is called.
|
|
|
|
* 4. When the lower half detects that the pulse count has expired
|
|
|
|
* (probably through an interrupt), it must call the pwm_expired
|
|
|
|
* interface using the handle that was previously passed to the
|
|
|
|
* start() method
|
|
|
|
*
|
2018-02-01 17:00:02 +01:00
|
|
|
* Input Parameters:
|
2012-01-09 19:23:30 +01:00
|
|
|
* handle - This is the handle that was provided to the lower-half
|
|
|
|
* start() method.
|
|
|
|
*
|
|
|
|
* Returned Value:
|
|
|
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* None
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*
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* Assumptions:
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* This function may be called from an interrupt handler.
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*
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****************************************************************************/
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#ifdef CONFIG_PWM_PULSECOUNT
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void pwm_expired(FAR void *handle)
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{
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FAR struct pwm_upperhalf_s *upper = (FAR struct pwm_upperhalf_s *)handle;
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2016-06-20 19:59:15 +02:00
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pwminfo("started: %d waiting: %d\n", upper->started, upper->waiting);
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2012-01-11 19:44:12 +01:00
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2012-01-09 19:23:30 +01:00
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/* Make sure that the PWM is started */
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if (upper->started)
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{
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/* Is there a thread waiting for the pulse train to complete? */
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if (upper->waiting)
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{
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/* Yes.. clear the waiting flag and awakened the waiting thread */
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upper->waiting = false;
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2017-10-03 23:35:24 +02:00
|
|
|
nxsem_post(&upper->waitsem);
|
2012-01-09 19:23:30 +01:00
|
|
|
}
|
2014-04-13 22:32:20 +02:00
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|
2012-01-09 19:23:30 +01:00
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/* The PWM is now stopped */
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upper->started = false;
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}
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}
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#endif
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2011-12-16 17:17:34 +01:00
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#endif /* CONFIG_PWM */
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