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Add basic support for pulse count in the PWM interface

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git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4285 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo 2012-01-09 18:23:30 +00:00
parent d93908e421
commit 386925552d
2 changed files with 431 additions and 107 deletions
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3
arch/arm/src/lpc17xx/lpc17_can.c
View File

@ -473,9 +473,8 @@ static void can_putcommon(uint32_t addr, uint32_t value)
static void can_reset(FAR struct can_dev_s *dev) static void can_reset(FAR struct can_dev_s *dev)
{ {
FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv; FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
uint32_t baud;
int ret;
irqstate_t flags; irqstate_t flags;
int ret;
canvdbg("CAN%d\n", priv->port); canvdbg("CAN%d\n", priv->port);

535
arch/arm/src/stm32/stm32_pwm.c
View File

@ -45,6 +45,7 @@
#include <errno.h> #include <errno.h>
#include <debug.h> #include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/pwm.h> #include <nuttx/pwm.h>
#include <arch/board/board.h> #include <arch/board/board.h>
@ -69,6 +70,41 @@
/**************************************************************************** /****************************************************************************
* Pre-processor Definitions * Pre-processor Definitions
****************************************************************************/ ****************************************************************************/
/* PWM/Timer Definitions ****************************************************/
/* The following definitions are used to identify the various time types */
#define TIMTYPE_BASIC 0 /* Basic timers: TIM6-7 */
#define TIMTYPE_GENERAL16 1 /* General 16-bit timers: TIM2-5 on F1 */
#define TIMTYPE_COUNTUP16 2 /* General 16-bit count-up timers: TIM9-14 on F4 */
#define TIMTYPE_GENERAL32 3 /* General 32-bit timers: TIM2-5 on F4 */
#define TIMTYPE_ADVANCED 4 /* Advanced timers: TIM1-8 */
#define TIMTYPE_TIM1 TIMTYPE_ADVANCED
#ifdef CONFIG_STM32_STM32F10XX
# define TIMTYPE_TIM2 TIMTYPE_GENERAL16
# define TIMTYPE_TIM3 TIMTYPE_GENERAL16
# define TIMTYPE_TIM4 TIMTYPE_GENERAL16
# define TIMTYPE_TIM5 TIMTYPE_GENERAL16
#else
# define TIMTYPE_TIM2 TIMTYPE_GENERAL32
# define TIMTYPE_TIM3 TIMTYPE_GENERAL32
# define TIMTYPE_TIM4 TIMTYPE_GENERAL32
# define TIMTYPE_TIM5 TIMTYPE_GENERAL32
#endif
#define TIMTYPE_TIM6 TIMTYPE_BASIC
#define TIMTYPE_TIM7 TIMTYPE_BASIC
#define TIMTYPE_TIM8 TIMTYPE_ADVANCED
#define TIMTYPE_TIM9 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM10 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM11 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM12 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM13 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM14 TIMTYPE_COUNTUP16
/* The maximum repetition count is 128 */
#define PWM_MAX_COUNT 128
/* Debug ********************************************************************/ /* Debug ********************************************************************/
/* Non-standard debug that may be enabled just for testing PWM */ /* Non-standard debug that may be enabled just for testing PWM */
@ -94,12 +130,19 @@ struct stm32_pwmtimer_s
FAR const struct pwm_ops_s *ops; /* PWM operations */ FAR const struct pwm_ops_s *ops; /* PWM operations */
uint8_t timid; /* Timer ID {1,...,14} */ uint8_t timid; /* Timer ID {1,...,14} */
uint8_t channel; /* Timer output channel: {1,..4} */ uint8_t channel; /* Timer output channel: {1,..4} */
uint8_t unused2; uint8_t timtype; /* See the TIMTYPE_* definitions */
uint8_t unused3; #ifdef CONFIG_PWM_PULSECOUNT
uint8_t irq; /* Timer update IRQ */
#else
uint8_t unused;
#endif
uint32_t base; /* The base address of the timer */ uint32_t base; /* The base address of the timer */
uint32_t pincfg; /* Output pin configuration */ uint32_t pincfg; /* Output pin configuration */
uint32_t pclk; /* The frequency of the peripheral clock uint32_t pclk; /* The frequency of the peripheral clock
* that drives the timer module. */ * that drives the timer module. */
#ifdef CONFIG_PWM_PULSECOUNT
FAR void * handle; /* Handle used for upper-half callback */
#endif
}; };
/**************************************************************************** /****************************************************************************
@ -116,13 +159,38 @@ static void pwm_dumpregs(struct stm32_pwmtimer_s *priv, FAR const char *msg);
# define pwm_dumpregs(priv,msg) # define pwm_dumpregs(priv,msg)
#endif #endif
/* Timer management */
static int pwm_timer(FAR struct stm32_pwmtimer_s *priv,
FAR const struct pwm_info_s *info);
#if defined(CONFIG_PWM_PULSECOUNT) && (defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM))
static int pwm_interrupt(struct stm32_pwmtimer_s *priv);
#if defined(CONFIG_STM32_TIM1_PWM)
static int pwm_tim1interrupt(int irq, void *context);
#endif
#if defined(CONFIG_STM32_TIM1_PWM)
static int pwm_tim8interrupt(int irq, void *context);
#endif
#endif
/* PWM driver methods */ /* PWM driver methods */
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev); static int pwm_setup(FAR struct pwm_lowerhalf_s *dev);
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev); static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev);
static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_s *info);
#ifdef CONFIG_PWM_PULSECOUNT
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info,
FAR void *handle);
#else
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info);
#endif
static int pwm_stop(FAR struct pwm_lowerhalf_s *dev); static int pwm_stop(FAR struct pwm_lowerhalf_s *dev);
static int pwm_ioctl(FAR struct pwm_lowerhalf_s *dev, int cmd, unsigned long arg); static int pwm_ioctl(FAR struct pwm_lowerhalf_s *dev,
int cmd, unsigned long arg);
/**************************************************************************** /****************************************************************************
* Private Data * Private Data
@ -144,6 +212,10 @@ static struct stm32_pwmtimer_s g_pwm1dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 1, .timid = 1,
.channel = CONFIG_STM32_TIM1_CHANNEL, .channel = CONFIG_STM32_TIM1_CHANNEL,
.timtype = TIMTYPE_TIM1,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM1UP,
#endif
.base = STM32_TIM1_BASE, .base = STM32_TIM1_BASE,
.pincfg = PWM_TIM1_PINCFG, .pincfg = PWM_TIM1_PINCFG,
.pclk = STM32_APB2_TIM1_CLKIN, .pclk = STM32_APB2_TIM1_CLKIN,
@ -156,6 +228,10 @@ static struct stm32_pwmtimer_s g_pwm2dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 2, .timid = 2,
.channel = CONFIG_STM32_TIM2_CHANNEL, .channel = CONFIG_STM32_TIM2_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM2,
#endif
.timtype = TIMTYPE_TIM2,
.base = STM32_TIM2_BASE, .base = STM32_TIM2_BASE,
.pincfg = PWM_TIM2_PINCFG, .pincfg = PWM_TIM2_PINCFG,
.pclk = STM32_APB1_TIM2_CLKIN, .pclk = STM32_APB1_TIM2_CLKIN,
@ -168,6 +244,10 @@ static struct stm32_pwmtimer_s g_pwm3dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 3, .timid = 3,
.channel = CONFIG_STM32_TIM3_CHANNEL, .channel = CONFIG_STM32_TIM3_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM3,
#endif
.timtype = TIMTYPE_TIM3,
.base = STM32_TIM3_BASE, .base = STM32_TIM3_BASE,
.pincfg = PWM_TIM3_PINCFG, .pincfg = PWM_TIM3_PINCFG,
.pclk = STM32_APB1_TIM3_CLKIN, .pclk = STM32_APB1_TIM3_CLKIN,
@ -180,6 +260,10 @@ static struct stm32_pwmtimer_s g_pwm4dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 4, .timid = 4,
.channel = CONFIG_STM32_TIM4_CHANNEL, .channel = CONFIG_STM32_TIM4_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM4,
#endif
.timtype = TIMTYPE_TIM4,
.base = STM32_TIM4_BASE, .base = STM32_TIM4_BASE,
.pincfg = PWM_TIM4_PINCFG, .pincfg = PWM_TIM4_PINCFG,
.pclk = STM32_APB1_TIM4_CLKIN, .pclk = STM32_APB1_TIM4_CLKIN,
@ -192,6 +276,10 @@ static struct stm32_pwmtimer_s g_pwm5dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 5, .timid = 5,
.channel = CONFIG_STM32_TIM5_CHANNEL, .channel = CONFIG_STM32_TIM5_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM5,
#endif
.timtype = TIMTYPE_TIM5,
.base = STM32_TIM5_BASE, .base = STM32_TIM5_BASE,
.pincfg = PWM_TIM5_PINCFG, .pincfg = PWM_TIM5_PINCFG,
.pclk = STM32_APB1_TIM5_CLKIN, .pclk = STM32_APB1_TIM5_CLKIN,
@ -204,6 +292,10 @@ static struct stm32_pwmtimer_s g_pwm8dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 8, .timid = 8,
.channel = CONFIG_STM32_TIM8_CHANNEL, .channel = CONFIG_STM32_TIM8_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM8UP,
#endif
.timtype = TIMTYPE_TIM8,
.base = STM32_TIM8_BASE, .base = STM32_TIM8_BASE,
.pincfg = PWM_TIM8_PINCFG, .pincfg = PWM_TIM8_PINCFG,
.pclk = STM32_APB2_TIM8_CLKIN, .pclk = STM32_APB2_TIM8_CLKIN,
@ -216,6 +308,10 @@ static struct stm32_pwmtimer_s g_pwm9dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 9, .timid = 9,
.channel = CONFIG_STM32_TIM9_CHANNEL, .channel = CONFIG_STM32_TIM9_CHANNEL,
.timtype = TIMTYPE_TIM9,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM9,
#endif
.base = STM32_TIM9_BASE, .base = STM32_TIM9_BASE,
.pincfg = PWM_TIM9_PINCFG, .pincfg = PWM_TIM9_PINCFG,
.pclk = STM32_APB2_TIM9_CLKIN, .pclk = STM32_APB2_TIM9_CLKIN,
@ -228,6 +324,10 @@ static struct stm32_pwmtimer_s g_pwm10dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 10, .timid = 10,
.channel = CONFIG_STM32_TIM10_CHANNEL, .channel = CONFIG_STM32_TIM10_CHANNEL,
.timtype = TIMTYPE_TIM10,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM10,
#endif
.base = STM32_TIM10_BASE, .base = STM32_TIM10_BASE,
.pincfg = PWM_TIM10_PINCFG, .pincfg = PWM_TIM10_PINCFG,
.pclk = STM32_APB2_TIM10_CLKIN, .pclk = STM32_APB2_TIM10_CLKIN,
@ -240,6 +340,10 @@ static struct stm32_pwmtimer_s g_pwm11dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 11, .timid = 11,
.channel = CONFIG_STM32_TIM11_CHANNEL, .channel = CONFIG_STM32_TIM11_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM11,
#endif
.timtype = TIMTYPE_TIM11,
.base = STM32_TIM11_BASE, .base = STM32_TIM11_BASE,
.pincfg = PWM_TIM11_PINCFG, .pincfg = PWM_TIM11_PINCFG,
.pclk = STM32_APB2_TIM11_CLKIN, .pclk = STM32_APB2_TIM11_CLKIN,
@ -252,6 +356,10 @@ static struct stm32_pwmtimer_s g_pwm12dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 12, .timid = 12,
.channel = CONFIG_STM32_TIM12_CHANNEL, .channel = CONFIG_STM32_TIM12_CHANNEL,
.timtype = TIMTYPE_TIM12,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM12,
#endif
.base = STM32_TIM12_BASE, .base = STM32_TIM12_BASE,
.pincfg = PWM_TIM12_PINCFG, .pincfg = PWM_TIM12_PINCFG,
.pclk = STM32_APB1_TIM12_CLKIN, .pclk = STM32_APB1_TIM12_CLKIN,
@ -264,6 +372,10 @@ static struct stm32_pwmtimer_s g_pwm13dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 13, .timid = 13,
.channel = CONFIG_STM32_TIM13_CHANNEL, .channel = CONFIG_STM32_TIM13_CHANNEL,
.timtype = TIMTYPE_TIM13,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM13,
#endif
.base = STM32_TIM13_BASE, .base = STM32_TIM13_BASE,
.pincfg = PWM_TIM13_PINCFG, .pincfg = PWM_TIM13_PINCFG,
.pclk = STM32_APB1_TIM13_CLKIN, .pclk = STM32_APB1_TIM13_CLKIN,
@ -276,6 +388,10 @@ static struct stm32_pwmtimer_s g_pwm14dev =
.ops = &g_pwmops, .ops = &g_pwmops,
.timid = 14, .timid = 14,
.channel = CONFIG_STM32_TIM14_CHANNEL, .channel = CONFIG_STM32_TIM14_CHANNEL,
.timtype = TIMTYPE_TIM14,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM14,
#endif
.base = STM32_TIM14_BASE, .base = STM32_TIM14_BASE,
.pincfg = PWM_TIM14_PINCFG, .pincfg = PWM_TIM14_PINCFG,
.pclk = STM32_APB1_TIM14_CLKIN, .pclk = STM32_APB1_TIM14_CLKIN,
@ -365,7 +481,7 @@ static void pwm_dumpregs(struct stm32_pwmtimer_s *priv, FAR const char *msg)
pwm_getreg(priv, STM32_GTIM_CCR3_OFFSET), pwm_getreg(priv, STM32_GTIM_CCR3_OFFSET),
pwm_getreg(priv, STM32_GTIM_CCR4_OFFSET)); pwm_getreg(priv, STM32_GTIM_CCR4_OFFSET));
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM) #if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if (priv->timid == 1 || priv->timid == 8) if (priv->timtype == TIMTYPE_ADVANCED)
{ {
pwmvdbg(" RCR: %04x BDTR: %04x DCR: %04x DMAR: %04x\n", pwmvdbg(" RCR: %04x BDTR: %04x DCR: %04x DMAR: %04x\n",
pwm_getreg(priv, STM32_ATIM_RCR_OFFSET), pwm_getreg(priv, STM32_ATIM_RCR_OFFSET),
@ -384,89 +500,13 @@ static void pwm_dumpregs(struct stm32_pwmtimer_s *priv, FAR const char *msg)
#endif #endif
/**************************************************************************** /****************************************************************************
* Name: pwm_setup * Name: pwm_timer
*
* Description:
* This method is called when the driver is opened. The lower half driver
* should configure and initialize the device so that it is ready for use.
* It should not, however, output pulses until the start method is called.
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
* Assumptions:
* AHB1 or 2 clocking for the GPIOs and timer has already been configured
* by the RCC logic at power up.
*
****************************************************************************/
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
pwm_dumpregs(priv, "Initially");
/* Configure the PWM output pin, but do not start the timer yet */
stm32_configgpio(priv->pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
* stop pulsed output, free any resources, disable the timer hardware, and
* put the system into the lowest possible power usage state
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
uint32_t pincfg;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
/* Make sure that the output has been stopped */
pwm_stop(dev);
/* Then put the GPIO pin back to the default state */
pincfg = priv->pincfg & (GPIO_PORT_MASK|GPIO_PIN_MASK);
#if defined(CONFIG_STM32_STM32F10XX)
pincfg |= (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT);
#elif defined(CONFIG_STM32_STM32F40XX)
pincfg |= (GPIO_INPUT|GPIO_FLOAT);
#else
# error "Unrecognized STM32 chip"
#endif
stm32_configgpio(pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_start
* *
* Description: * Description:
* (Re-)initialize the timer resources and start the pulsed output * (Re-)initialize the timer resources and start the pulsed output
* *
* Input parameters: * Input parameters:
* dev - A reference to the lower half PWM driver state structure * priv - A reference to the lower half PWM driver state structure
* info - A reference to the characteristics of the pulsed output * info - A reference to the characteristics of the pulsed output
* *
* Returned Value: * Returned Value:
@ -474,10 +514,9 @@ static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
* *
****************************************************************************/ ****************************************************************************/
static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_s *info) static int pwm_timer(FAR struct stm32_pwmtimer_s *priv,
FAR const struct pwm_info_s *info)
{ {
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
/* Calculated values */ /* Calculated values */
uint32_t prescaler; uint32_t prescaler;
@ -505,6 +544,13 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
priv->timid, priv->channel, info->frequency, info->duty); priv->timid, priv->channel, info->frequency, info->duty);
DEBUGASSERT(info->frequency > 0 && info->duty > 0 && info->duty < uitoub16(100)); DEBUGASSERT(info->frequency > 0 && info->duty > 0 && info->duty < uitoub16(100));
/* Disable all interrupts and DMA requests, clear all pending status */
#ifdef CONFIG_PWM_PULSECOUNT
pwm_putreg(priv, STM32_GTIM_DIER_OFFSET, 0);
pwm_putreg(priv, STM32_GTIM_SR_OFFSET, 0);
#endif
/* Calculate optimal values for the timer prescaler and for the timer reload /* Calculate optimal values for the timer prescaler and for the timer reload
* register. If' frequency' is the desired frequency, then * register. If' frequency' is the desired frequency, then
* *
@ -585,24 +631,25 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
cr1 &= ~GTIM_CR1_CEN; cr1 &= ~GTIM_CR1_CEN;
/* Set the counter mode for the advanced timers (1,8) and most general /* Set the counter mode for the advanced timers (1,8) and most general
* purpose timers (2-5, but not 9-14): * purpose timers (all 2-5, but not 9-14), i.e., all but TIMTYPE_COUNTUP16
* and TIMTYPE_BASIC
*/ */
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM2_PWM) || \ #if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM2_PWM) || \
defined(CONFIG_STM32_TIM3_PWM) || defined(CONFIG_STM32_TIM4_PWM) || \ defined(CONFIG_STM32_TIM3_PWM) || defined(CONFIG_STM32_TIM4_PWM) || \
defined(CONFIG_STM32_TIM5_PWM) || defined(CONFIG_STM32_TIM8_PWM) defined(CONFIG_STM32_TIM5_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if ((priv->timid >= 1 && priv->timid <= 5) || priv->timid == 8) if (priv->timtype != TIMTYPE_BASIC && priv->timtype != TIMTYPE_COUNTUP16)
{ {
/* Select the Counter Mode == count up: /* Select the Counter Mode == count up:
* *
* ATIM_CR1_EDGE: The counter counts up or down depending on the * GTIM_CR1_EDGE: The counter counts up or down depending on the
* direction bit(DIR). * direction bit(DIR).
* ATIM_CR1_DIR: 0: count up, 1: count down * GTIM_CR1_DIR: 0: count up, 1: count down
*/ */
cr1 &= ~(ATIM_CR1_DIR | ATIM_CR1_CMS_MASK); cr1 &= ~(GTIM_CR1_DIR | GTIM_CR1_CMS_MASK);
cr1 |= ATIM_CR1_EDGE; cr1 |= GTIM_CR1_EDGE;
} }
#endif #endif
@ -618,12 +665,29 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
pwm_putreg(priv, STM32_GTIM_ARR_OFFSET, (uint16_t)reload); pwm_putreg(priv, STM32_GTIM_ARR_OFFSET, (uint16_t)reload);
pwm_putreg(priv, STM32_GTIM_PSC_OFFSET, (uint16_t)(prescaler - 1)); pwm_putreg(priv, STM32_GTIM_PSC_OFFSET, (uint16_t)(prescaler - 1));
/* Clear the advanced timers repitition counter in all but the advanced timers */ /* Set the advanced timer's repitition counter */
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM) #if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if (priv->timid == 1 || priv->timid == 8) if (priv->timtype == TIMTYPE_ADVANCED)
{ {
pwm_putreg(priv, STM32_ATIM_RCR_OFFSET, 0); /* If a non-zero repetition count has been selected, then set the
* repitition counter to the count-1 (pwm_start() has already
* assured us that the count value is within range).
*/
#ifdef CONFIG_PWM_PULSECOUNT
if (info->count > 0)
{
pwm_putreg(priv, STM32_ATIM_RCR_OFFSET, info->count - 1);
}
/* Otherwise, just clear the repitition counter */
else
#endif
{
pwm_putreg(priv, STM32_ATIM_RCR_OFFSET, 0);
}
} }
#endif #endif
@ -747,7 +811,7 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
/* Some special setup for advanced timers */ /* Some special setup for advanced timers */
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM) #if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if (priv->timid == 1 || priv->timid == 8) if (priv->timtype == TIMTYPE_ADVANCED)
{ {
/* Reset output N polarity level, output N state, output compre state, /* Reset output N polarity level, output N state, output compre state,
* output compare N idle state. * output compare N idle state.
@ -789,15 +853,238 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
cr1 |= GTIM_CR1_ARPE; cr1 |= GTIM_CR1_ARPE;
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1); pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1);
/* And, finally, enable the timer */ /* Setup update interrupt. If info->count is > 0, then we can be
* assured that pwm_start() has already verified: (1) that this is an
* advanced timer, and that (2) the repetitioncount is within range.
*/
cr1 |= GTIM_CR1_CEN; #ifdef CONFIG_PWM_PULSECOUNT
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1); if (info->count > 0)
{
/* Enable the update interrupt. */
pwm_putreg(priv, STM32_GTIM_DIER_OFFSET, ATIM_DIER_UIE);
/* Enable the timer */
cr1 |= GTIM_CR1_CEN;
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1);
/* And enable timer interrupts at the NVIC */
up_enable_irq(priv->irq);
}
else
#endif
{
/* Just enable the timer, leaving all interrupts disabled */
cr1 |= GTIM_CR1_CEN;
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1);
}
pwm_dumpregs(priv, "After starting"); pwm_dumpregs(priv, "After starting");
return OK; return OK;
} }
/****************************************************************************
* Name: pwm_interrupt
*
* Description:
* Handle timer interrupts.
*
* Input parameters:
* priv - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
#if defined(CONFIG_PWM_PULSECOUNT) && (defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM))
static int pwm_interrupt(struct stm32_pwmtimer_s *priv)
{
/* Verify that this is an update interrupt. Nothing else is expected. */
pwmllvdbg("Update interrupt: %04x\n", pwm_getreg(STM32_GTIM_SR_OFFSET));
DEBUGASSERT((pwm_getreg(STM32_GTIM_SR_OFFSET) & ATIM_SR_UIF) != 0);
/* Disable further interrupts and stop the timer */
(void)pwm_stop((FAR struct pwm_lowerhalf_s *)priv)
/* Then perform the callback into the upper half driver */
pwm_expired(priv->handle);
priv->handle = NULL;
return OK;
}
#endif
/****************************************************************************
* Name: pwm_tim1/8interrupt
*
* Description:
* Handle timer 1 and 8 interrupts.
*
* Input parameters:
* Standard NuttX interrupt inputs
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_STM32_TIM1_PWM)
static int pwm_tim1interrupt(int irq, void *context)
{
return pwm_interrupt(&g_pwm1dev);
}
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_STM32_TIM8_PWM)
static int pwm_tim8interrupt(int irq, void *context)
{
return pwm_interrupt(&g_pwm8dev);
}
#endif
/****************************************************************************
* Name: pwm_setup
*
* Description:
* This method is called when the driver is opened. The lower half driver
* should configure and initialize the device so that it is ready for use.
* It should not, however, output pulses until the start method is called.
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
* Assumptions:
* AHB1 or 2 clocking for the GPIOs and timer has already been configured
* by the RCC logic at power up.
*
****************************************************************************/
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
pwm_dumpregs(priv, "Initially");
/* Configure the PWM output pin, but do not start the timer yet */
stm32_configgpio(priv->pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
* stop pulsed output, free any resources, disable the timer hardware, and
* put the system into the lowest possible power usage state
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
uint32_t pincfg;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
/* Make sure that the output has been stopped */
pwm_stop(dev);
/* Then put the GPIO pin back to the default state */
pincfg = priv->pincfg & (GPIO_PORT_MASK|GPIO_PIN_MASK);
#if defined(CONFIG_STM32_STM32F10XX)
pincfg |= (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT);
#elif defined(CONFIG_STM32_STM32F40XX)
pincfg |= (GPIO_INPUT|GPIO_FLOAT);
#else
# error "Unrecognized STM32 chip"
#endif
stm32_configgpio(pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_start
*
* Description:
* (Re-)initialize the timer resources and start the pulsed output
*
* 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
*
****************************************************************************/
#ifdef CONFIG_PWM_PULSECOUNT
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info,
FAR void *handle)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
/* Check if a pulsecount has been selected */
if (info->count > 0)
{
/* Only the advanced timers (TIM1,8 can support the pulse counting) */
if (priv->timtype != TIMTYPE_ADVANCED)
{
pwmdbg("ERROR: TIM%d cannot support pulse count: %d\n",
priv->timid, info->count);
return -EPERM;
}
/* The maximum repetition count supported by the advanced timers
* is PWM_MAX_COUNT.
*/
if (info->count > PWM_MAX_COUNT)
{
pwmdbg("ERROR: TIM%d count=%d exceeds maximum repeition count: %d\n",
priv->timid, info->count, PWM_MAX_COUNT);
return -EDOM;
}
}
/* Start the time */
return pwm_timer(priv, info);
}
#else
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
return pwm_timer(priv, info);
}
#endif
/**************************************************************************** /****************************************************************************
* Name: pwm_stop * Name: pwm_stop
* *
@ -810,6 +1097,11 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
* Returned Value: * Returned Value:
* Zero on success; a negated errno value on failure * Zero on success; a negated errno value on failure
* *
* Assumptions:
* This function is called to stop the pulsed output at anytime. This
* method is also called from the timer interrupt handler when a repetition
* count expires... automatically stopping the timer.
*
****************************************************************************/ ****************************************************************************/
static int pwm_stop(FAR struct pwm_lowerhalf_s *dev) static int pwm_stop(FAR struct pwm_lowerhalf_s *dev)
@ -822,6 +1114,19 @@ static int pwm_stop(FAR struct pwm_lowerhalf_s *dev)
pwmvdbg("TIM%d\n", priv->timid); pwmvdbg("TIM%d\n", priv->timid);
/* Disable interrupts momentary to stop any ongoing timer processing and
* to prevent any concurrent access to the reset register.
*/
flags = irqsave();
/* Disable further interrupts and stop the timer */
pwm_putreg(priv, STM32_GTIM_DIER_OFFSET, 0);
pwm_putreg(priv, STM32_GTIM_SR_OFFSET, 0);
/* Determine which timer to reset */
switch (priv->timid) switch (priv->timid)
{ {
#ifdef CONFIG_STM32_TIM1_PWM #ifdef CONFIG_STM32_TIM1_PWM
@ -898,12 +1203,6 @@ static int pwm_stop(FAR struct pwm_lowerhalf_s *dev)
#endif #endif
} }
/* Disable interrupts momentary to stop any ongoing timer processing and
* to prevent any concurrent access to the reset register.
*/
flags = irqsave();
/* Reset the timer - stopping the output and putting the timer back /* Reset the timer - stopping the output and putting the timer back
* into a state where pwm_start() can be called. * into a state where pwm_start() can be called.
*/ */
@ -981,63 +1280,89 @@ FAR struct pwm_lowerhalf_s *stm32_pwminitialize(int timer)
#ifdef CONFIG_STM32_TIM1_PWM #ifdef CONFIG_STM32_TIM1_PWM
case 1: case 1:
lower = &g_pwm1dev; lower = &g_pwm1dev;
/* Attach but disable the TIM1 update interrupt */
#ifdef CONFIG_PWM_PULSECOUNT
irq_attach(lower->irq, pwm_tim1interrupt);
up_disable_irq(lower->irq);
#endif
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM2_PWM #ifdef CONFIG_STM32_TIM2_PWM
case 2: case 2:
lower = &g_pwm2dev; lower = &g_pwm2dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM3_PWM #ifdef CONFIG_STM32_TIM3_PWM
case 3: case 3:
lower = &g_pwm3dev; lower = &g_pwm3dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM4_PWM #ifdef CONFIG_STM32_TIM4_PWM
case 4: case 4:
lower = &g_pwm4dev; lower = &g_pwm4dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM5_PWM #ifdef CONFIG_STM32_TIM5_PWM
case 5: case 5:
lower = &g_pwm5dev; lower = &g_pwm5dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM8_PWM #ifdef CONFIG_STM32_TIM8_PWM
case 8: case 8:
lower = &g_pwm8dev; lower = &g_pwm8dev;
/* Attach but disable the TIM8 update interrupt */
#ifdef CONFIG_PWM_PULSECOUNT
irq_attach(lower->irq, pwm_tim8interrupt);
up_disable_irq(lower->irq);
#endif
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM9_PWM #ifdef CONFIG_STM32_TIM9_PWM
case 9: case 9:
lower = &g_pwm9dev; lower = &g_pwm9dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM10_PWM #ifdef CONFIG_STM32_TIM10_PWM
case 10: case 10:
lower = &g_pwm10dev; lower = &g_pwm10dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM11_PWM #ifdef CONFIG_STM32_TIM11_PWM
case 11: case 11:
lower = &g_pwm11dev; lower = &g_pwm11dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM12_PWM #ifdef CONFIG_STM32_TIM12_PWM
case 12: case 12:
lower = &g_pwm12dev; lower = &g_pwm12dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM13_PWM #ifdef CONFIG_STM32_TIM13_PWM
case 13: case 13:
lower = &g_pwm13dev; lower = &g_pwm13dev;
break; break;
#endif #endif
#ifdef CONFIG_STM32_TIM14_PWM #ifdef CONFIG_STM32_TIM14_PWM
case 14: case 14:
lower = &g_pwm14dev; lower = &g_pwm14dev;
break; break;
#endif #endif
default: default:
pwmdbg("No such timer configured\n"); pwmdbg("No such timer configured\n");
return NULL; return NULL;