Merged in JordanMacIntyre/nuttx/PWM_driver (pull request #106)

Pwm_driver

arch/arm/src/kinetis/kinetis_pwm.c

@@ -58,7 +58,7 @@
 #include "chip.h"
 
 #include "kinetis.h"
-#include "chip/kinetis_pwm.h"
+#include "kinetis_pwm.h"
 #include "chip/kinetis_gpio.h"
 #include "chip/kinetis_ftm.h"
 #include "chip/kinetis_sim.h"

arch/arm/src/kl/kl_pwm.h

@@ -90,13 +90,13 @@
 #  elif CONFIG_KL_TPM0_CHANNEL == 1
 #    define PWM_TPM0_PINCFG GPIO_TPM0_CH1OUT
 #  elif CONFIG_KL_TPM0_CHANNEL == 2
-#    define PWM_TPM0_PINCFG GPIO_TPM1_CH2OUT
+#    define PWM_TPM0_PINCFG GPIO_TPM0_CH2OUT
 #  elif CONFIG_KL_TPM0_CHANNEL == 3
-#    define PWM_TPM0_PINCFG GPIO_TPM1_CH3OUT
+#    define PWM_TPM0_PINCFG GPIO_TPM0_CH3OUT
 #  elif CONFIG_KL_TPM0_CHANNEL == 4
-#    define PWM_TPM0_PINCFG GPIO_TPM1_CH4OUT
+#    define PWM_TPM0_PINCFG GPIO_TPM0_CH4OUT
 #  elif CONFIG_KL_TPM0_CHANNEL == 5
-#    define PWM_TPM0_PINCFG GPIO_TPM1_CH5OUT
+#    define PWM_TPM0_PINCFG GPIO_TPM0_CH5OUT
 #  else
 #    error "Unsupported value of CONFIG_KL_TPM1_CHANNEL"
 #  endif

configs/freedom-k64f/include/board.h

@@ -134,6 +134,19 @@
 #  define BOARD_SDHC_SD4MODE_DIVISOR   SDHC_SYSCTL_DVS_DIV(3)
 #endif
 
+
+/* PWM Configuration */
+/* FTM0 Channels */
+/* Channels can be modified using kinetis_k64pinmux.h */
+
+#define GPIO_FTM0_CH0OUT PIN_FTM0_CH0_1
+#define GPIO_FTM0_CH1OUT PIN_FTM0_CH1_1
+#define GPIO_FTM0_CH2OUT PIN_FTM0_CH2_2
+#define GPIO_FTM0_CH3OUT PIN_FTM0_CH3_1
+#define GPIO_FTM0_CH4OUT PIN_FTM0_CH4_1
+#define GPIO_FTM0_CH5OUT PIN_FTM0_CH5_1
+
+
 /* LED definitions ******************************************************************/
 /* The Freedom K64F has a single RGB LED driven by the K64F as follows:
  *

configs/freedom-k64f/nsh/defconfig

@@ -8,12 +8,12 @@
 #
 # CONFIG_EXPERIMENTAL is not set
 # CONFIG_DEFAULT_SMALL is not set
-# CONFIG_HOST_LINUX is not set
+CONFIG_HOST_LINUX=y
 # CONFIG_HOST_OSX is not set
-CONFIG_HOST_WINDOWS=y
+# CONFIG_HOST_WINDOWS is not set
 # CONFIG_HOST_OTHER is not set
 # CONFIG_WINDOWS_NATIVE is not set
-CONFIG_WINDOWS_CYGWIN=y
+# CONFIG_WINDOWS_CYGWIN is not set
 # CONFIG_WINDOWS_MSYS is not set
 # CONFIG_WINDOWS_OTHER is not set
 
@@ -216,7 +216,7 @@ CONFIG_KINETIS_UART0=y
 # CONFIG_KINETIS_CMP is not set
 # CONFIG_KINETIS_VREF is not set
 CONFIG_KINETIS_SDHC=y
-# CONFIG_KINETIS_FTM0 is not set
+CONFIG_KINETIS_FTM0=y
 # CONFIG_KINETIS_FTM1 is not set
 # CONFIG_KINETIS_FTM2 is not set
 # CONFIG_KINETIS_LPTIMER is not set
@@ -232,6 +232,8 @@ CONFIG_KINETIS_SDHC=y
 # CONFIG_KINETIS_CRC is not set
 # CONFIG_KINETIS_PDB is not set
 # CONFIG_KINETIS_PIT is not set
+CONFIG_KINETIS_FTM0_PWM=y
+CONFIG_KINETIS_FTM0_CHANNEL=2
 
 #
 # Kinetis GPIO Interrupt Configuration
@@ -339,7 +341,7 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_UNIQUEID is not set
 # CONFIG_BOARDCTL_TSCTEST is not set
 # CONFIG_BOARDCTL_ADCTEST is not set
-# CONFIG_BOARDCTL_PWMTEST is not set
+CONFIG_BOARDCTL_PWMTEST=y
 # CONFIG_BOARDCTL_GRAPHICS is not set
 # CONFIG_BOARDCTL_IOCTL is not set
 
@@ -347,11 +349,11 @@ CONFIG_LIB_BOARDCTL=y
 # RTOS Features
 #
 CONFIG_DISABLE_OS_API=y
-# CONFIG_DISABLE_POSIX_TIMERS is not set
+CONFIG_DISABLE_POSIX_TIMERS=y
 # CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_DISABLE_SIGNALS is not set
-# CONFIG_DISABLE_MQUEUE is not set
+CONFIG_DISABLE_MQUEUE=y
-# CONFIG_DISABLE_ENVIRON is not set
+CONFIG_DISABLE_ENVIRON=y
 
 #
 # Clocks and Timers
@@ -468,7 +470,7 @@ CONFIG_DEV_NULL=y
 # CONFIG_CAN is not set
 # CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
 # CONFIG_ARCH_HAVE_PWM_MULTICHAN is not set
-# CONFIG_PWM is not set
+CONFIG_PWM=y
 # CONFIG_ARCH_HAVE_I2CRESET is not set
 # CONFIG_I2C is not set
 # CONFIG_SPI is not set
@@ -777,6 +779,11 @@ CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_PCA9635 is not set
 # CONFIG_EXAMPLES_POSIXSPAWN is not set
 # CONFIG_EXAMPLES_PPPD is not set
+CONFIG_EXAMPLES_PWM=y
+CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm0"
+CONFIG_EXAMPLES_PWM_FREQUENCY=100
+CONFIG_EXAMPLES_PWM_DURATION=5
+CONFIG_EXAMPLES_PWM_DUTYPCT=50
 # CONFIG_EXAMPLES_RGBLED is not set
 # CONFIG_EXAMPLES_RGMP is not set
 # CONFIG_EXAMPLES_SENDMAIL is not set

configs/freedom-k64f/src/Makefile

@@ -69,4 +69,8 @@ ifeq ($(CONFIG_USBMSC),y)
 CSRCS += k64_usbmsc.c
 endif
 
+ifeq ($(CONFIG_PWM),y)
+CSRCS += k64_pwm.c
+endif
+
 include $(TOPDIR)/configs/Board.mk

configs/freedom-k64f/src/k64_pwm.c

@@ -0,0 +1,122 @@
+/************************************************************************************
+ * configs/freedom-k64f/src/k64_pwm.c
+ *
+ *   Copyright (C) 2013, 2015, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *           Jordan MacIntyre <jordanroymax@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/pwm.h>
+
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+#include "kinetis_pwm.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration *******************************************************************/
+/* PWM
+ *
+ * The Kinetis Freedom board provides a LED on GPIO.
+ */
+
+#ifdef CONFIG_PWM
+
+extern struct pwm_lowerhalf_s *kinetis_pwminitialize(int timer);
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: board_pwm_setup
+ *
+ * Description:
+ *   All Kinetis K architectures must provide the following interface to work with
+ *   examples/pwm.
+ *
+ ************************************************************************************/
+
+int board_pwm_setup(void)
+{
+  static bool initialized = false;
+  struct pwm_lowerhalf_s *pwm;
+  int ret;
+
+  /* Have we already initialized? */
+
+  if (!initialized)
+    {
+      /* Call k64_pwminitialize() to get an instance of the PWM interface */
+
+      pwm = kinetis_pwminitialize(0);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the K64 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm0" */
+
+      ret = pwm_register("/dev/pwm0", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Now we are initialized */
+
+      initialized = true;
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_PWM */

configs/freedom-kl25z/nsh/defconfig

@@ -186,7 +186,7 @@ CONFIG_KL_TPM0=y
 CONFIG_KL_SYSTICK_CORECLK=y
 # CONFIG_KL_SYSTICK_CORECLK_DIV16 is not set
 CONFIG_KL_TPM0_PWM=y
-CONFIG_KL_TPM0_CHANNEL=0
+CONFIG_KL_TPM0_CHANNEL=2
 
 #
 # Kinetis GPIO Interrupt Configuration