341 lines
8.3 KiB
C
341 lines
8.3 KiB
C
/****************************************************************************
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* config/tm4c1294-launchpad/src/tm4c_bringup.c
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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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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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <debug.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sensors/qencoder.h>
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#include <arch/board/board.h>
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#include <nuttx/drivers/pwm.h>
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#include "tiva_i2c.h"
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#include "tiva_pwm.h"
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#include "tiva_qencoder.h"
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#include "tm4c1294-launchpad.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifdef CONFIG_DK_TM4C129X_TIMER
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# define HAVE_TIMER
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#endif
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#ifdef CONFIG_TM4C1294_LAUNCHPAD_PWM
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# define HAVE_PWM
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#endif
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#if defined(CONFIG_TIVA_QEI0) || defined(CONFIG_TIVA_QEI1)
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# define HAVE_QEI
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#endif
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#define PWM_PATH_FMT "/dev/pwm%d"
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#define PWM_PATH_FMTLEN (10)
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#define QEI_PATH_FMT "/dev/qei%d"
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#define QEI_PATH_FMTLEN (10)
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: tm4c_i2c_register
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*
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* Description:
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* Register one I2C drivers for the I2C tool.
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*
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****************************************************************************/
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#ifdef HAVE_I2CTOOL
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static void tm4c_i2c_register(int bus)
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{
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FAR struct i2c_master_s *i2c;
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int ret;
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i2c = tiva_i2cbus_initialize(bus);
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if (i2c == NULL)
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{
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_err("ERROR: Failed to get I2C%d interface\n", bus);
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}
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else
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{
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ret = i2c_register(i2c, bus);
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if (ret < 0)
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{
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_err("ERROR: Failed to register I2C%d driver: %d\n", bus, ret);
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tiva_i2cbus_uninitialize(i2c);
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}
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}
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}
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#endif
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/****************************************************************************
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* Name: tm4c_i2ctool
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*
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* Description:
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* Register I2C drivers for the I2C tool.
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*
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****************************************************************************/
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#ifdef HAVE_I2CTOOL
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static void tm4c_i2ctool(void)
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{
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#ifdef CONFIG_TIVA_I2C0
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tm4c_i2c_register(0);
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#endif
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#ifdef CONFIG_TIVA_I2C1
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tm4c_i2c_register(1);
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#endif
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#ifdef CONFIG_TIVA_I2C2
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tm4c_i2c_register(2);
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#endif
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#ifdef CONFIG_TIVA_I2C3
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tm4c_i2c_register(3);
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#endif
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#ifdef CONFIG_TIVA_I2C4
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tm4c_i2c_register(4);
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#endif
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#ifdef CONFIG_TIVA_I2C5
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tm4c_i2c_register(5);
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#endif
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#ifdef CONFIG_TIVA_I2C6
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tm4c_i2c_register(6);
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#endif
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#ifdef CONFIG_TIVA_I2C7
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tm4c_i2c_register(7);
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#endif
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#ifdef CONFIG_TIVA_I2C8
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tm4c_i2c_register(8);
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#endif
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#ifdef CONFIG_TIVA_I2C9
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tm4c_i2c_register(9);
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#endif
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}
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#else
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# define tm4c_i2ctool()
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#endif
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/****************************************************************************
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* Name: tm4c_pwm_register
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*
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* Description:
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* Register a PWM dev file with the upper_level PWM driver.
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*
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* Input Parameters:
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* channel - A number identifying the PWM channel use.
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*
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* Returned Value:
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* None.
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*
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****************************************************************************/
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#ifdef HAVE_PWM
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static void tm4c_pwm_register(int channel)
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{
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FAR struct pwm_lowerhalf_s *dev;
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char pwm_path[PWM_PATH_FMTLEN];
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int ret;
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dev = tiva_pwm_initialize(channel);
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if (dev == NULL)
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{
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_err("ERROR: Failed to get PWM%d interface\n", channel);
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}
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else
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{
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snprintf(pwm_path, PWM_PATH_FMTLEN, PWM_PATH_FMT, channel);
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ret = pwm_register(pwm_path, dev);
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if (ret < 0)
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{
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_err("ERROR: Failed to register PWM%d driver: %d\n",
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channel, ret);
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}
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}
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}
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#endif
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/****************************************************************************
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* Name: tm4c_pwm
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*
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* Description:
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* Register PWM drivers for the PWM tool.
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*
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****************************************************************************/
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#ifdef HAVE_PWM
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static void tm4c_pwm(void)
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{
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#ifdef CONFIG_TIVA_PWM0_CHAN0
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tm4c_pwm_register(0);
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#endif
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#ifdef CONFIG_TIVA_PWM0_CHAN1
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tm4c_pwm_register(1);
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#endif
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#ifdef CONFIG_TIVA_PWM0_CHAN2
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tm4c_pwm_register(2);
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#endif
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#ifdef CONFIG_TIVA_PWM0_CHAN3
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tm4c_pwm_register(3);
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#endif
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#ifdef CONFIG_TIVA_PWM0_CHAN4
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tm4c_pwm_register(4);
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#endif
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#ifdef CONFIG_TIVA_PWM0_CHAN5
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tm4c_pwm_register(5);
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#endif
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#ifdef CONFIG_TIVA_PWM0_CHAN6
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tm4c_pwm_register(6);
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#endif
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#ifdef CONFIG_TIVA_PWM0_CHAN7
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tm4c_pwm_register(7);
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#endif
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}
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#endif
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/****************************************************************************
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* Name: tm4c_qei_register
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*
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* Description:
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* Register a QEI dev file with the upper_level QEI driver.
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*
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* Input Parameters:
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* id - A number identifying the QEI.
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*
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* Returned Value:
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* None.
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*
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****************************************************************************/
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#ifdef HAVE_QEI
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static void tm4c_qei_register(int id)
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{
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FAR struct qe_lowerhalf_s *dev;
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int ret;
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char qe_path[QEI_PATH_FMTLEN];
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dev = tiva_qei_initialize(id);
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if (dev == NULL)
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{
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_err("ERROR: Failed to get QEI %d\n", id);
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}
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else
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{
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snprintf(qe_path, QEI_PATH_FMTLEN, QEI_PATH_FMT, id);
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ret = qe_register(qe_path, dev);
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if (ret < 0)
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{
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_err("ERROR: Failed to register QEI %d driver: %d\n", id, ret);
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}
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}
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}
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#endif
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/****************************************************************************
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* Name: tm4c_qei
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*
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* Description:
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* Register QEI drivers for the QEI tool.
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*
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****************************************************************************/
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#ifdef HAVE_QEI
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static void tm4c_qei(void)
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{
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#ifdef CONFIG_TIVA_QEI0
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tm4c_qei_register(0);
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#endif
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#ifdef CONFIG_TIVA_QEI1
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tm4c_qei_register(1);
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#endif
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}
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#endif
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: tm4c_bringup
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*
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* Description:
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* Bring up board features
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*
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****************************************************************************/
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int tm4c_bringup(void)
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{
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#ifdef HAVE_TIMER
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int ret;
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#endif
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/* Register I2C drivers on behalf of the I2C tool */
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tm4c_i2ctool();
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#ifdef HAVE_PWM
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/* Register PWM drivers */
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tm4c_pwm();
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#endif
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#ifdef HAVE_QEI
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/* Register QEI drivers */
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tm4c_qei();
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#endif
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#ifdef HAVE_TIMER
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/* Initialize the timer driver */
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ret = tiva_timer_configure();
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if (ret < 0)
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{
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_err("ERROR: Failed to initialize timer driver: %d\n", ret);
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}
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#endif
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return OK;
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}
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