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Merged in young-mu/nuttx (pull request #187)

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Support PWM_PULSECOUNT feature for TI tiva
This commit is contained in:
Gregory Nutt 2016-12-20 07:00:35 -06:00
commit 1ed25c0d73
2 changed files with 313 additions and 24 deletions
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17
arch/arm/src/tiva/chip/tiva_pwm.h
View File

@ -107,6 +107,23 @@
#define CC_PWMDIV_64 (0x5) /* (Value) Divided by 64 */
#define TIVA_PWMn_CTL_ENABLE (0) /* (Bit) PWM Block Enable */
#define CTL_DISABLE (0) /* (Value) Disable */
#define CTL_ENABLE (1) /* (Value) Enable */
#define INTEN_GEN3 (3) /* (Bit) Enable PWM GEN3 Interrupt */
#define INTEN_GEN2 (2) /* (Bit) Enable PWM GEN2 Interrupt */
#define INTEN_GEN1 (1) /* (Bit) Enable PWM GEN1 Interrupt */
#define INTEN_GEN0 (0) /* (Bit) Enable PWM GEN0 Interrupt */
#define INT_DISABLE (0) /* (Value) Disable */
#define INT_ENABLE (1) /* (Value) Enable */
#define INTCMPBD (5) /* (Bit) Interrupt for Counter=PWMnCMPB Down */
#define INTCMPBU (4) /* (Bit) Interrupt for Counter=PWMnCMPB Up */
#define INTCMPAD (3) /* (Bit) Interrupt for Counter=PWMnCMPA Down */
#define INTCMPAU (2) /* (Bit) Interrupt for Counter=PWMnCMPA Up */
#define INTCNTLOAD (1) /* (Bit) Interrupt for Counter=PWMnLOAD */
#define INTCNTZERO (0) /* (Bit) Interrupt for Counter=0 */
#define INT_CLR (0) /* (Value) Bit Clear */
#define INT_SET (1) /* (Value) Bit Set */
#endif /* __ARCH_ARM_SRC_TIVA_CHIP_TIVA_PWM_H */

320
arch/arm/src/tiva/tiva_pwm.c
View File

@ -85,21 +85,57 @@ struct tiva_pwm_chan_s
uint8_t generator_id;
uintptr_t generator_base;
uint8_t channel_id;
#ifdef CONFIG_PWM_PULSECOUNT
bool inited;
uint8_t irq;
uint32_t count;
uint32_t cur_count;
FAR void *handle;
#endif
};
/************************************************************************************
* Private Function Prototypes
************************************************************************************/
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN0)
static int tiva_pwm_gen0_interrupt(int irq, FAR void *context);
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN2)
static int tiva_pwm_gen1_interrupt(int irq, FAR void *context);
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN4)
static int tiva_pwm_gen2_interrupt(int irq, FAR void *context);
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN6)
static int tiva_pwm_gen3_interrupt(int irq, FAR void *context);
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && \
(defined(CONFIG_TIVA_PWM0_CHAN0) || defined(CONFIG_TIVA_PWM0_CHAN2) || \
defined(CONFIG_TIVA_PWM0_CHAN4) || defined(CONFIG_TIVA_PWM0_CHAN6))
static int tiva_pwm_interrupt(struct tiva_pwm_chan_s *chan);
#endif
static inline void tiva_pwm_putreg(struct tiva_pwm_chan_s *chan,
unsigned int offset, uint32_t regval);
static inline uint32_t tiva_pwm_getreg(struct tiva_pwm_chan_s *chan,
unsigned int offset);
static inline int tiva_pwm_timer(FAR struct tiva_pwm_chan_s *chan,
FAR const struct pwm_info_s *info);
static int tiva_pwm_setup(FAR struct pwm_lowerhalf_s *dev);
static int tiva_pwm_shutdown(FAR struct pwm_lowerhalf_s *dev);
#ifdef CONFIG_PWM_PULSECOUNT
static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info, FAR void *handle);
#else
static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info);
#endif
static int tiva_pwm_stop(FAR struct pwm_lowerhalf_s *dev);
static int tiva_pwm_ioctl(FAR struct pwm_lowerhalf_s *dev,
int cmd, unsigned long arg);
@ -108,7 +144,7 @@ static int tiva_pwm_ioctl(FAR struct pwm_lowerhalf_s *dev,
* Private Data
************************************************************************************/
static uint32_t g_pwm_freq = 15000000;
static uint32_t g_pwm_freq = 1875000;
static uint32_t g_pwm_counter = (1 << 16);
static const struct pwm_ops_s g_pwm_ops =
@ -129,6 +165,13 @@ static struct tiva_pwm_chan_s g_pwm_chan0 =
.generator_id = 0,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 0,
.channel_id = 0,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN0,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -141,6 +184,13 @@ static struct tiva_pwm_chan_s g_pwm_chan1 =
.generator_id = 0,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 0,
.channel_id = 1,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN0,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -153,6 +203,13 @@ static struct tiva_pwm_chan_s g_pwm_chan2 =
.generator_id = 1,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 1,
.channel_id = 2,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN1,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -165,6 +222,13 @@ static struct tiva_pwm_chan_s g_pwm_chan3 =
.generator_id = 1,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 1,
.channel_id = 3,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN1,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -177,6 +241,13 @@ static struct tiva_pwm_chan_s g_pwm_chan4 =
.generator_id = 2,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 2,
.channel_id = 4,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN2,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -189,6 +260,13 @@ static struct tiva_pwm_chan_s g_pwm_chan5 =
.generator_id = 2,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 2,
.channel_id = 5,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN2,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -198,9 +276,16 @@ static struct tiva_pwm_chan_s g_pwm_chan6 =
.ops = &g_pwm_ops,
.controller_id = 0,
.controller_base = TIVA_PWM0_BASE,
.generator_id = 3,
.generator_id = 3,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 3,
.channel_id = 6,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN3,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -213,6 +298,13 @@ static struct tiva_pwm_chan_s g_pwm_chan7 =
.generator_id = 3,
.generator_base = TIVA_PWM0_BASE + TIVA_PWMn_BASE + TIVA_PWMn_INTERVAL * 3,
.channel_id = 7,
#ifdef CONFIG_PWM_PULSECOUNT
.inited = false,
.irq = TIVA_IRQ_PWM0_GEN3,
.count = 0,
.cur_count = 0,
.handle = NULL,
#endif
};
#endif
@ -220,6 +312,60 @@ static struct tiva_pwm_chan_s g_pwm_chan7 =
* Private Functions
************************************************************************************/
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN0)
static int tiva_pwm_gen0_interrupt(int irq, FAR void *context)
{
return tiva_pwm_interrupt(&g_pwm_chan0);
}
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN2)
static int tiva_pwm_gen1_interrupt(int irq, FAR void *context)
{
return tiva_pwm_interrupt(&g_pwm_chan2);
}
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN4)
static int tiva_pwm_gen2_interrupt(int irq, FAR void *context)
{
return tiva_pwm_interrupt(&g_pwm_chan4);
}
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_TIVA_PWM0_CHAN6)
static int tiva_pwm_gen3_interrupt(int irq, FAR void *context)
{
return tiva_pwm_interrupt(&g_pwm_chan6);
}
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && \
(defined(CONFIG_TIVA_PWM0_CHAN0) || defined(CONFIG_TIVA_PWM0_CHAN2) || \
defined(CONFIG_TIVA_PWM0_CHAN4) || defined(CONFIG_TIVA_PWM0_CHAN6))
static int tiva_pwm_interrupt(struct tiva_pwm_chan_s *chan)
{
/* Clear interrupt */
tiva_pwm_putreg(chan, TIVA_PWMn_ISC_OFFSET, INT_SET << INTCMPAD);
/* Count down current pulse count */
chan->cur_count--;
/* Disable PWM generator and reload current pulse count */
if (chan->cur_count == 0)
{
tiva_pwm_putreg(chan, TIVA_PWMn_CTL_OFFSET, CTL_DISABLE << TIVA_PWMn_CTL_ENABLE);
chan->cur_count = chan->count;
pwm_expired(chan->handle);
}
return 0;
}
#endif
/************************************************************************************
* Name: tiva_pwm_getreg
*
@ -251,7 +397,7 @@ static inline void tiva_pwm_putreg(struct tiva_pwm_chan_s *chan,
}
/****************************************************************************
* Name: pwm_setup
* Name: tiva_pwm_setup
*
* Description:
* This method is called when the driver is opened. The lower half driver
@ -288,7 +434,7 @@ static int tiva_pwm_setup(FAR struct pwm_lowerhalf_s *dev)
}
/****************************************************************************
* Name: pwm_shutdown
* Name: tiva_pwm_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
@ -320,7 +466,7 @@ static int tiva_pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
}
/****************************************************************************
* Name: pwm_start
* Name: tiva_pwm_start
*
* Description:
* (Re-)initialize the timer resources and start the pulsed output
@ -328,33 +474,117 @@ static int tiva_pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
* info - A reference to the characteristics of the pulsed output
* handle - This is the handle that was provided to the lower-half
* start() method.
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
#ifdef CONFIG_PWM_PULSECOUNT
static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info, FAR void *handle)
{
FAR struct tiva_pwm_chan_s *chan = (FAR struct tiva_pwm_chan_s *)dev;
pwminfo("start PWM for channel %d\n", chan->channel_id);
/* Save the handle */
chan->handle = handle;
/* Load pulse count and current pulse count
*
* Workaround:
* Count should be add 1 for the first time
*/
chan->count = info->count;
chan->cur_count = info->count;
if (!chan->inited)
{
chan->count++;
chan->cur_count++;
chan->inited = true;
}
/* Count 0 means to generate indefinite number of pulses */
if (info->count == 0)
{
pwm_expired(chan->handle);
/* Disable interrupt */
uint32_t enable = getreg32(chan->controller_base + TIVA_PWM_INTEN_OFFSET);
enable &= ~(INT_ENABLE << chan->generator_id);
putreg32(enable, chan->controller_base + TIVA_PWM_INTEN_OFFSET);
}
else
{
/* Enable interrupt */
uint32_t enable = getreg32(chan->controller_base + TIVA_PWM_INTEN_OFFSET);
enable |= (INT_ENABLE << chan->generator_id);
putreg32(enable, chan->controller_base + TIVA_PWM_INTEN_OFFSET);
}
/* Start the timer */
return tiva_pwm_timer(chan, info);
}
#else
static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info)
{
FAR struct tiva_pwm_chan_s *chan = (FAR struct tiva_pwm_chan_s *)dev;
pwminfo("start PWM for channel %d\n", chan->channel_id);
/* Start the timer */
return tiva_pwm_timer(chan, info);
}
#endif
/****************************************************************************
* Name: tiva_pwm_timer
*
* Description:
* Configure PWM registers and start the PWM timer
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
* info - A reference to the characteristics of the pulsed output
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info)
static inline int tiva_pwm_timer(FAR struct tiva_pwm_chan_s *chan,
FAR const struct pwm_info_s *info)
{
FAR struct tiva_pwm_chan_s *chan = (FAR struct tiva_pwm_chan_s *)dev;
pwminfo("start PWM for channel %d\n", chan->channel_id);
uint16_t duty = info->duty;
uint32_t frequency = info->frequency;
pwminfo("> frequency = %d\n", frequency);
pwminfo("> duty = %d\n", duty);
/* Configure PWM countdown mode (refer to TM4C1294NC 23.4.6) */
tiva_pwm_putreg(chan, TIVA_PWMn_CTL_OFFSET, 0);
if (chan->channel_id % 2 == 0)
{
tiva_pwm_putreg(chan, TIVA_PWMn_GENA_OFFSET,
GENx_LOW << TIVA_PWMn_GENx_ACTCMPAD | GENx_HIGH << TIVA_PWMn_GENx_ACTLOAD);
GENx_LOW << TIVA_PWMn_GENx_ACTCMPAD |
GENx_HIGH << TIVA_PWMn_GENx_ACTLOAD);
}
else
{
tiva_pwm_putreg(chan, TIVA_PWMn_GENB_OFFSET,
GENx_LOW << TIVA_PWMn_GENx_ACTCMPBD | GENx_HIGH << TIVA_PWMn_GENx_ACTLOAD);
GENx_LOW << TIVA_PWMn_GENx_ACTCMPBD |
GENx_HIGH << TIVA_PWMn_GENx_ACTLOAD);
}
/* Set the PWM period (refer to TM4C1294NC 23.4.7) */
@ -363,7 +593,7 @@ static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
uint32_t pwm_max_freq = g_pwm_freq;
uint32_t load = (uint32_t)(g_pwm_freq / frequency);
pwminfo("channel %d: load = %u (%08x)\n", chan->channel_id, load, load);
pwminfo("> load = %u (%08x)\n", load, load);
if (load >= g_pwm_counter || load < 1)
{
@ -383,7 +613,7 @@ static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
uint32_t comp = (uint32_t)((1 - (float)duty / g_pwm_counter) * load);
comp = (duty == 0) ? (comp - 1) : (comp);
pwminfo("channel %d: comp = %u (%08x)\n", chan->channel_id, comp, comp);
pwminfo("> comp = %u (%08x)\n", comp, comp);
if (chan->channel_id % 2 == 0)
{
@ -408,7 +638,7 @@ static int tiva_pwm_start(FAR struct pwm_lowerhalf_s *dev,
}
/****************************************************************************
* Name: pwm_stop
* Name: tiva_pwm_stop
*
* Description:
* Stop the pulsed output and reset the timer resources
@ -441,7 +671,7 @@ static int tiva_pwm_stop(FAR struct pwm_lowerhalf_s *dev)
}
/****************************************************************************
* Name: pwm_ioctl
* Name: tiva_pwm_ioctl
*
* Description:
* Lower-half logic may support platform-specific ioctl commands
@ -550,11 +780,12 @@ FAR struct pwm_lowerhalf_s *tiva_pwm_initialize(int channel)
return NULL;
}
pwminfo("channel %d: channel_id=%d, ", channel, chan->channel_id);
pwminfo("controller_id=%d, controller_base=%08x, ",
chan->controller_id, chan->controller_base);
pwminfo("generator_id=%d, generator_base=%08x\n",
chan->generator_id, chan->generator_base);
pwminfo("channel %d:\n", channel);
pwminfo("> channel_id = %d\n", chan->channel_id);
pwminfo("> controller_id = %d\n", chan->controller_id);
pwminfo("> controller_base = %08x\n", chan->controller_base);
pwminfo("> generator_id = %d\n", chan->generator_id);
pwminfo("> generator_base = %08x\n", chan->generator_base);
/* Enable PWM controller (refer to TM4C1294NC 23.4.1) */
@ -564,14 +795,55 @@ FAR struct pwm_lowerhalf_s *tiva_pwm_initialize(int channel)
/* Configure PWM Clock Configuration (refer to TM4C1294NC 23.4.5)
*
* On TM4C1294NC, configure the PWM clock source as 15MHz (the system
* clock 120MHz divided by 8)
* On TM4C1294NC, configure the PWM clock source as 1.875MHz (the system
* clock 120MHz divided by 64)
*
* TODO: need an algorithm to choose the best divider and load value combo.
*/
putreg32(CC_USEPWM << TIVA_PWM_CC_USEPWM | CC_PWMDIV_8 << TIVA_PWM_CC_PWMDIV,
putreg32(CC_USEPWM << TIVA_PWM_CC_USEPWM | CC_PWMDIV_64 << TIVA_PWM_CC_PWMDIV,
chan->controller_base + TIVA_PWM_CC);
#ifdef CONFIG_PWM_PULSECOUNT
/* Enable interrupt INTCMPAD mode */
tiva_pwm_putreg(chan, TIVA_PWMn_INTEN_OFFSET, INT_SET << INTCMPAD);
/* Attach IRQ handler and enable interrupt*/
switch (chan->channel_id)
{
#ifdef CONFIG_TIVA_PWM0_CHAN0
case 0:
irq_attach(chan->irq, tiva_pwm_gen0_interrupt);
up_enable_irq(chan->irq);
break;
#endif
#ifdef CONFIG_TIVA_PWM0_CHAN2
case 2:
irq_attach(chan->irq, tiva_pwm_gen1_interrupt);
up_enable_irq(chan->irq);
break;
#endif
#ifdef CONFIG_TIVA_PWM0_CHAN4
case 4:
irq_attach(chan->irq, tiva_pwm_gen2_interrupt);
up_enable_irq(chan->irq);
break;
#endif
#ifdef CONFIG_TIVA_PWM0_CHAN6
case 6:
irq_attach(chan->irq, tiva_pwm_gen3_interrupt);
up_enable_irq(chan->irq);
break;
#endif
}
#endif
return (FAR struct pwm_lowerhalf_s *)chan;
}