nuttx/arch/arm/src/samv7/sam_dac.c

/************************************************************************************
 * arch/arm/src/samv7/sam_dac.c
 *
 *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * 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 <stdint.h>
#include <stdbool.h>
#include <semaphore.h>
#include <errno.h>
#include <debug.h>

#include <arch/board/board.h>

#include <nuttx/irq.h>
#include <nuttx/arch.h>
#include <nuttx/analog/dac.h>

#include "up_internal.h"
#include "up_arch.h"
#include "cache.h"

#include "chip/sam_dacc.h"
#include "chip/sam_pmc.h"
#include "chip/sam_pinmap.h"

#include "sam_gpio.h"
#include "sam_xdmac.h"
#include "sam_periphclks.h"
#include "sam_tc.h"
#include "sam_dac.h"

#if defined(CONFIG_SAMV7_DAC0) || defined(CONFIG_SAMV7_DAC1)

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

/* Get TC channel number from Trigger Selection value */

#define SAMV7_DAC_TC_CHANNEL (CONFIG_SAMV7_DAC_TRIGGER_SELECT - 1)

/****************************************************************************
 * Private Types
 ****************************************************************************/

/* This structure represents the internal state of a single SAMV7 DAC module */

struct sam_dac_s
{
  uint8_t   initialized : 1;       /* True, the DAC block has been initialized */
#ifdef CONFIG_SAMV7_DAC_TRIGGER
  TC_HANDLE tc;                    /* Timer handle */
#endif
};

/* This structure represents the internal state of one SAMV7 DAC channel */

struct sam_chan_s
{
  uint8_t   inuse  : 1;            /* True, the driver is in use and not available */
  uint8_t   intf;                  /* DAC zero-based interface number (0 or 1) */
  uint32_t  dro;                   /* Conversion Data Register */
#ifdef CONFIG_SAMV7_DAC_TRIGGER
  uint32_t  reg_dacc_trigr_clear;  /* channel DACC_TRIGR register clear bits */
  uint32_t  reg_dacc_trigr_set;    /* channel DACC_TRIGR register set bits */
#endif
};

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

/* Interrupt handler */

static int  dac_interrupt(int irq, FAR void *context, FAR void *arg);

/* DAC methods */

static void dac_reset(FAR struct dac_dev_s *dev);
static int  dac_setup(FAR struct dac_dev_s *dev);
static void dac_shutdown(FAR struct dac_dev_s *dev);
static void dac_txint(FAR struct dac_dev_s *dev, bool enable);
static int  dac_send(FAR struct dac_dev_s *dev, FAR struct dac_msg_s *msg);
static int  dac_ioctl(FAR struct dac_dev_s *dev, int cmd, unsigned long arg);

/* Initialization */

#ifdef CONFIG_SAMV7_DAC_TRIGGER
static int  dac_timer_init(struct sam_dac_s *priv, uint32_t freq_required,
                           int channel);
static void dac_timer_free(struct sam_dac_s *priv);
#endif
static int  dac_channel_init(FAR struct sam_chan_s *chan);
static int  dac_module_init(void);

/****************************************************************************
 * Private Data
 ****************************************************************************/

static const struct dac_ops_s g_dacops =
{
  .ao_reset    = dac_reset,
  .ao_setup    = dac_setup,
  .ao_shutdown = dac_shutdown,
  .ao_txint    = dac_txint,
  .ao_send     = dac_send,
  .ao_ioctl    = dac_ioctl,
};

#ifdef CONFIG_SAMV7_DAC0
static struct sam_chan_s g_dac1priv =
{
  .intf       = 0,
  .dro        = SAM_DACC_CDR0,
#ifdef CONFIG_SAMV7_DAC_TRIGGER
  .reg_dacc_trigr_clear = DACC_TRIGR_TRGSEL0_MASK,
  .reg_dacc_trigr_set   = DACC_TRIGR_TRGSEL0(CONFIG_SAMV7_DAC_TRIGGER_SELECT) | DACC_TRIGR_TRGEN0,
#endif
};

static struct dac_dev_s g_dac1dev =
{
  .ad_ops  = &g_dacops,
  .ad_priv = &g_dac1priv,
};
#endif

#ifdef CONFIG_SAMV7_DAC1
static struct sam_chan_s g_dac2priv =
{
  .intf       = 1,
  .dro        = SAM_DACC_CDR1,
#ifdef CONFIG_SAMV7_DAC_TRIGGER
  .reg_dacc_trigr_clear = DACC_TRIGR_TRGSEL1_MASK,
  .reg_dacc_trigr_set   = DACC_TRIGR_TRGSEL1(CONFIG_SAMV7_DAC_TRIGGER_SELECT) | DACC_TRIGR_TRGEN1,
#endif
};

static struct dac_dev_s g_dac2dev =
{
  .ad_ops  = &g_dacops,
  .ad_priv = &g_dac2priv,
};
#endif

static struct sam_dac_s g_dacmodule;

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Name: dac_interrupt
 *
 * Description:
 *   DAC interrupt handler.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   OK
 *
 ****************************************************************************/

static int dac_interrupt(int irq, FAR void *context, FAR void *arg)
{
#ifdef CONFIG_SAMV7_DAC1
  uint32_t status;

  status = getreg32(SAM_DACC_ISR) & getreg32(SAM_DACC_IMR);
  if (status & DACC_INT_TXRDY1)
    {
      dac_txdone(&g_dac2dev);
    }

  if (status & DACC_INT_TXRDY0)
#endif
    {
      dac_txdone(&g_dac1dev);
    }

  return OK;
}

/****************************************************************************
 * Name: dac_reset
 *
 * Description:
 *   Reset the DAC channel.  Called early to initialize the hardware. This
 *   is called, before dac_setup() and on error conditions.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

static void dac_reset(FAR struct dac_dev_s *dev)
{
  irqstate_t flags;

  /* Reset only the selected DAC channel; the other DAC channel must remain
   * functional.
   */

  flags   = enter_critical_section();

#warning "Missing logic"

  leave_critical_section(flags);
}

/****************************************************************************
 * Name: dac_setup
 *
 * Description:
 *   Configure the DAC. This method is called the first time that the DAC
 *   device is opened.  This will occur when the port is first opened.
 *   This setup includes configuring and attaching DAC interrupts.  Interrupts
 *   are all disabled upon return.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   Zero on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int dac_setup(FAR struct dac_dev_s *dev)
{
#warning "Missing logic"
  return OK;
}

/****************************************************************************
 * Name: dac_shutdown
 *
 * Description:
 *   Disable the DAC.  This method is called when the DAC device is closed.
 *   This method reverses the operation the setup method.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

static void dac_shutdown(FAR struct dac_dev_s *dev)
{
#warning "Missing logic"
}

/****************************************************************************
 * Name: dac_txint
 *
 * Description:
 *   Call to enable or disable TX interrupts.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

static void dac_txint(FAR struct dac_dev_s *dev, bool enable)
{
  FAR struct sam_chan_s *chan;

  chan = dev->ad_priv;
  if (enable)
    {
      putreg32(DACC_INT_TXRDY0 << chan->intf, SAM_DACC_IER);
    }
  else
    {
      putreg32(DACC_INT_TXRDY0 << chan->intf, SAM_DACC_IDR);
    }
}

/****************************************************************************
 * Name: dac_send
 *
 * Description:
 *   Set the DAC output.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   Zero on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int dac_send(FAR struct dac_dev_s *dev, FAR struct dac_msg_s *msg)
{
  FAR struct sam_chan_s *chan = dev->ad_priv;

  /* Interrupt based transfer */

  putreg16(msg->am_data >> 16, chan->dro);

  return OK;
}

/****************************************************************************
 * Name: dac_ioctl
 *
 * Description:
 *   All ioctl calls will be routed through this method.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   Zero on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int dac_ioctl(FAR struct dac_dev_s *dev, int cmd, unsigned long arg)
{
  return -ENOTTY;
}

/****************************************************************************
 * Name: dac_timer_init
 *
 * Description:
 *   Configure a timer to periodically trigger conversion. Only channels TC0,
 *   TC1, TC2 can be used with DAC.
 *
 ****************************************************************************/

#ifdef CONFIG_SAMV7_DAC_TRIGGER
static int dac_timer_init(struct sam_dac_s *priv, uint32_t freq_required,
                          int channel)
{
  uint32_t mode;
  uint32_t regval;
  uint32_t freq_actual;

  ainfo("required frequency=%ld [Hz], channel=%d\n",
        (long)freq_required, channel);

  DEBUGASSERT(priv && (freq_required > 0) && (channel >= 0 && channel <= 2));

  /* Set the timer/counter waveform mode the the clock input. Use smallest
   * MCK divisor of 8 to have highest clock resolution thus smallest frequency
   * error. With 32 bit counter the lowest possible frequency of 1 Hz is easily
   * supported.
   */

  /* TODO Add support for TC_CMR_TCCLKS_PCK6 to reduce frequency error */

  mode = (TC_CMR_TCCLKS_MCK8 |      /* Use MCK/8 clock signal */
          TC_CMR_WAVSEL_UPRC |      /* UP mode w/ trigger on RC Compare */
          TC_CMR_WAVE |             /* Wave mode */
          TC_CMR_ACPA_CLEAR |       /* RA Compare Effect on TIOA: Clear */
          TC_CMR_ACPC_SET);         /* RC Compare Effect on TIOA: Set */

  /* Now allocate and configure the channel */

  priv->tc = sam_tc_allocate(channel, mode);
  if (!priv->tc)
    {
      aerr("ERROR: Failed to allocate channel %d mode %08x\n", channel, mode);
      return -EINVAL;
    }

  /* Calculate the actual counter value from this divider and the tc input
   * frequency.
   */

  regval = BOARD_MCK_FREQUENCY / 8 / freq_required;
  DEBUGASSERT(regval > 0); /* Will check for integer underflow */

  /* Set up TC_RA and TC_RC.  The frequency is determined by RA and RC:
   * TIOA is cleared on RA match; TIOA is set on RC match.
   */

  sam_tc_setregister(priv->tc, TC_REGA, regval >> 1);
  sam_tc_setregister(priv->tc, TC_REGC, regval);

  freq_actual = BOARD_MCK_FREQUENCY / 8 / regval;
  ainfo("configured frequency=%ld [Hz]\n", (long)freq_actual);

  /* And start the timer */

  sam_tc_start(priv->tc);
  return OK;
}
#endif

/****************************************************************************
 * Name: dac_timer_free
 *
 * Description:
 *   Free the timer resource
 *
 ****************************************************************************/

#ifdef CONFIG_SAMV7_DAC_TRIGGER
static void dac_timer_free(struct sam_dac_s *priv)
{
  /* Is a timer allocated? */

  ainfo("tc=%p\n", priv->tc);

  if (priv->tc)
    {
      /* Yes.. stop it and free it */

      sam_tc_stop(priv->tc);
      sam_tc_free(priv->tc);
      priv->tc = NULL;
    }
}
#endif

/****************************************************************************
 * Name: dac_channel_init
 *
 * Description:
 *   Initialize the DAC channel.
 *
 * Input Parameters:
 *   chan - A reference to the DAC channel state data
 *
 * Returned Value:
 *   Zero on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int dac_channel_init(FAR struct sam_chan_s *chan)
{
  /* Is the selected channel already in-use? */

  if (chan->inuse)
    {
      /* Yes.. then return EBUSY */

      return -EBUSY;
    }

#ifdef CONFIG_SAMV7_DAC_TRIGGER
  /* Configure trigger mode operation */

  ainfo("Enabled trigger mode for DAC%d\n", chan->intf);

  modifyreg32(SAM_DACC_TRIGR,
              chan->reg_dacc_trigr_clear,
              chan->reg_dacc_trigr_set);
#endif

  /* Enable DAC Channel */

  putreg32(1 << chan->intf, SAM_DACC_CHER);

  /* Mark the DAC channel "in-use" */

  chan->inuse = 1;
  return OK;
}

/****************************************************************************
 * Name: dac_module_init
 *
 * Description:
 *   Initialize the DAC. All ioctl calls will be routed through this method.
 *
 * Input Parameters:
 *
 * Returned Value:
 *   Zero on success; a negated errno value on failure.
 *
 ****************************************************************************/

static int dac_module_init(void)
{
  uint32_t regval;
  int ret;

  /* Has the DAC block already been initialized? */

  if (g_dacmodule.initialized)
    {
      /* Yes.. then return success  We only have to do this once */

      return OK;
    }

  ainfo("Initializing...\n");

  /* Disable DAC peripheral clock */

  sam_dacc_disableclk();

  /* Configure DAC pins */

#ifdef CONFIG_SAMV7_DAC0
  sam_configgpio(GPIO_DAC0);
#endif
#ifdef CONFIG_SAMV7_DAC1
  sam_configgpio(GPIO_DAC1);
#endif

  /* Enable the DAC peripheral clock */

  sam_dacc_enableclk();

  /* Reset the DAC controller */

  putreg32(DACC_CR_SWRST, SAM_DACC_CR);

  /* Set the MCK clock prescaler: PRESCAL = (MCK / DACClock) - 2 */

  regval =  DACC_MR_PRESCALER(CONFIG_SAMV7_DAC_PRESCAL);
  putreg32(regval, SAM_DACC_MR);

  /* Configure trigger mode operation */

#ifdef CONFIG_SAMV7_DAC_TRIGGER
  ret = dac_timer_init(&g_dacmodule,
                       CONFIG_SAMV7_DAC_TRIGGER_FREQUENCY,
                       SAMV7_DAC_TC_CHANNEL);
  if (ret < 0)
    {
      aerr("ERROR: Failed to initialize the timer: %d\n", ret);
      return ret;
    }
#endif

  /* Configure interrupts */

  ret = irq_attach(SAM_IRQ_DACC, dac_interrupt, NULL);
  if (ret < 0)
    {
      aerr("irq_attach failed: %d\n", ret);
      return ret;
    }

  ainfo("Enable the DAC interrupt: irq=%d\n", SAM_IRQ_DACC);
  up_enable_irq(SAM_IRQ_DACC);

  /* Mark the DAC module as initialized */

  g_dacmodule.initialized = 1;
  return OK;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: sam_dac_initialize
 *
 * Description:
 *   Initialize the DAC.
 *
 * Input Parameters:
 *   intf - The DAC interface number.
 *
 * Returned Value:
 *   Valid DAC device structure reference on success, NULL on failure.
 *
 ****************************************************************************/

FAR struct dac_dev_s *sam_dac_initialize(int intf)
{
  FAR struct dac_dev_s *dev;
  FAR struct sam_chan_s *chan;
  int ret;

#ifdef CONFIG_SAMV7_DAC0
  if (intf == 0)
    {
      ainfo("DAC1 Selected\n");
      dev = &g_dac1dev;
    }
  else
#endif
#ifdef CONFIG_SAMV7_DAC1
  if (intf == 1)
    {
      ainfo("DAC2 Selected\n");
      dev = &g_dac2dev;
    }
  else
#endif
    {
      aerr("ERROR: No such DAC interface: %d\n", intf);
      errno = ENODEV;
      return NULL;
    }

  /* Initialize the DAC peripheral module */

  ret = dac_module_init();
  if (ret < 0)
    {
      aerr("ERROR: Failed to initialize the DAC peripheral module: %d\n", ret);
      errno = -ret;
      return NULL;
    }

  /* Configure the selected DAC channel */

  chan = dev->ad_priv;
  ret  = dac_channel_init(chan);
  if (ret < 0)
    {
      aerr("ERROR: Failed to initialize DAC channel %d: %d\n", intf, ret);
      errno = -ret;
      return NULL;
    }

  return dev;
}

#endif /* CONFIG_SAMV7_DAC0 || CONFIG_SAMV7_DAC1 */