Merged in young-mu/nuttx (pull request #107)

Add tiva PWM lower-half driver implementation

arch/arm/src/tiva/Make.defs

@@ -101,6 +101,10 @@ ifeq ($(CONFIG_TIVA_I2C),y)
 CHIP_CSRCS += tiva_i2c.c
 endif
 
+ifeq ($(CONFIG_TIVA_PWM),y)
+CHIP_CSRCS += tiva_pwm.c
+endif
+
 ifeq ($(CONFIG_TIVA_TIMER),y)
 CHIP_CSRCS += tiva_timerlib.c
 ifeq ($(CONFIG_TIVA_TIMER32_PERIODIC),y)

arch/arm/src/tiva/chip/tiva_pwm.h

@@ -0,0 +1,112 @@
+/************************************************************************************
+ * arch/arm/src/tiva/chip/tiva_pwm.h
+ *
+ *   Copyright (C) 2016 Young Mu. All rights reserved.
+ *   Author: Young Mu <young.mu@aliyun.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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_TIVA_CHIP_TIVA_PWM_H
+#define __ARCH_ARM_SRC_TIVA_CHIP_TIVA_PWM_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+#define TIVA_PWM_CTL_OFFSET             (0x0)   /* PWM Master Control */
+#define TIVA_PWM_SYNC_OFFSET            (0x4)   /* PWM Time Base Sync */
+#define TIVA_PWM_ENABLE_OFFSET          (0x8)   /* PWM Output Enable */
+#define TIVA_PWM_INVERT_OFFSET          (0xc)   /* PWM Output Inversion */
+#define TIVA_PWM_FAULT_OFFSET           (0x10)  /* PWM Output Fault */
+#define TIVA_PWM_INTEN_OFFSET           (0x14)  /* PWM Interrupt Enable */
+#define TIVA_PWM_RIS_OFFSET             (0x18)  /* PWM Raw Interrupt Status */
+#define TIVA_PWM_ISC_OFFSET             (0x1c)  /* PWM Interrupt Status and Clear */
+#define TIVA_PWM_STATUS_OFFSET          (0x20)  /* PWM Status */
+#define TIVA_PWM_FAULTVAL_OFFSET        (0x24)  /* PWM Fault Condition Value */
+#define TIVA_PWM_ENUPD_OFFSET           (0x28)  /* PWM Enable Update */
+
+#define TIVA_PWMn_BASE                  (0x40)  /* PWMn Base */
+#define TIVA_PWMn_INTERVAL              (0x40)  /* PWMn Interval */
+
+#define TIVA_PWMn_CTL_OFFSET            (0x0)   /* PWMn Control */
+#define TIVA_PWMn_INTEN_OFFSET          (0x4)   /* PWMn Interrupt and Trigger Enable */
+#define TIVA_PWMn_RIS_OFFSET            (0x8)   /* PWMn Raw Interrupt Status */
+#define TIVA_PWMn_ISC_OFFSET            (0xc)   /* PWMn Interrupt Status and Clear */
+#define TIVA_PWMn_LOAD_OFFSET           (0x10)  /* PWMn Load */
+#define TIVA_PWMn_COUNT_OFFSET          (0x14)  /* PWMn Counter */
+#define TIVA_PWMn_CMPA_OFFSET           (0x18)  /* PWMn Compare A */
+#define TIVA_PWMn_CMPB_OFFSET           (0x1c)  /* PWMn Compare B */
+#define TIVA_PWMn_GENA_OFFSET           (0x20)  /* PWMn Generator A Control */
+#define TIVA_PWMn_GENB_OFFSET           (0x24)  /* PWMn Generator B Control */
+#define TIVA_PWMn_DBCTL_OFFSET          (0x28)  /* PWMn Dead-Band Control */
+#define TIVA_PWMn_DBRISE_OFFSET         (0x2c)  /* PWMn Dead-Band Rising-Edge-Delay */
+#define TIVA_PWMn_DBFALL_OFFSET         (0x30)  /* PWMn Dead-Band Falling-Edge-Delay */
+#define TIVA_PWMn_FLTSRC0_OFFSET        (0x34)  /* PWMn Fault Source 0 */
+#define TIVA_PWMn_FLTSRC1_OFFSET        (0x38)  /* PWMn Fault Source 1 */
+#define TIVA_PWMn_MINFLTPER_OFFSET      (0x3c)  /* PWMn Minimum Fault Period */
+
+#define TIVA_PWMn_FAULT_BASE            (0x800) /* PWMn Fault Base */
+#define TIVA_PWMn_FAULT_INTERVAL        (0x80)  /* PWMn Fault Interval */
+
+#define TIVA_PWMn_FAULT_SEN_OFFSET      (0x0)   /* PWMn Fault Pin Logic Sense */
+#define TIVA_PWMn_FAULT_STAT0_OFFSET    (0x4)   /* PWMn Fault Status 0 */
+#define TIVA_PWMn_FAULT_STAT1_OFFSET    (0x8)   /* PWMn Fault Status 1 */
+
+#define TIVA_PWM_PP                     (0xfc0) /* PWM Peripheral Properties */
+#define TIVA_PWM_CC                     (0xfc8) /* PWM Clock Configuration */
+
+#define TIVA_PWMn_GENx_ACTCMPBD         (10)    /* (Bit) Action for Comparator B Down */
+#define TIVA_PWMn_GENx_ACTCMPBU         (8)     /* (Bit) Action for Comparator B Up */
+#define TIVA_PWMn_GENx_ACTCMPAD         (6)     /* (Bit) Action for Comparator A Down */
+#define TIVA_PWMn_GENx_ACTCMPAU         (4)     /* (Bit) Action for Comparator A Up */
+#define TIVA_PWMn_GENx_ACTLOAD          (2)     /* (Bit) Action for Counter equals LOAD */
+#define TIVA_PWMn_GENx_ACTZERO          (0)     /* (Bit) Action for Counter equals ZERO */
+#define GENx_INVERT                     (0x1)   /* (Value) Invert */
+#define GENx_LOW                        (0x2)   /* (Value) Drive Low */
+#define GENx_HIGH                       (0x3)   /* (Value) Drive High */
+
+#define TIVA_PWM_CC_USEPWM              (8)     /* (Bit) Use PWM Clock Divisor */
+#define TIVA_PWM_CC_PWMDIV              (0)     /* (Bit) PWM Clock Divider */
+#define CC_USEPWM                       (0x1)   /* (Value) Use PWM divider as clock source */
+#define CC_PWMDIV_2                     (0x0)   /* (Value) Divided by 2 */
+#define CC_PWMDIV_4                     (0x1)   /* (Value) Divided by 4 */
+#define CC_PWMDIV_8                     (0x2)   /* (Value) Divided by 8 */
+#define CC_PWMDIV_16                    (0x3)   /* (Value) Divided by 16 */
+#define CC_PWMDIV_32                    (0x4)   /* (Value) Divided by 32 */
+#define CC_PWMDIV_64                    (0x5)   /* (Value) Divided by 64 */
+
+#define TIVA_PWMn_CTL_ENABLE            (0)     /* (Bit) PWM Block Enable */
+#define CTL_ENABLE                      (1)     /* (Value) Enable */
+
+#endif /* __ARCH_ARM_SRC_TIVA_CHIP_TIVA_PWM_H */

arch/arm/src/tiva/chip/tm4c129_syscontrol.h

@@ -1895,7 +1895,9 @@
 
 /* PWM Power Control */
 
-#define SYSCON_PCPWM_P0                (1 << 0)   /* Bit 0:  PWM Module 0 Power Control */
+#define SYSCON_PCPWM(n)                (1 << (n)) /* Bit n:  PWM module n Power Control */
+#  define SYSCON_PCPWM_P0              (1 << 0)   /* Bit 0:  PWM Module 0 Power Control */
+#  define SYSCON_PCPWM_P1              (1 << 1)   /* Bit 1:  PWM Module 1 Power Control */
 
 /* QE Interface Power Control */
 

arch/arm/src/tiva/tiva_pwm.h

@@ -0,0 +1,54 @@
+/************************************************************************************
+ * arch/arm/src/tiva/tiva_pwm.h
+ *
+ *   Copyright (C) 2016 Young Mu. All rights reserved.
+ *   Author: Young Mu <young.mu@aliyun.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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_TIVA_TIVA_PWM_H
+#define __ARCH_ARM_SRC_TIVA_TIVA_PWM_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/drivers/pwm.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+FAR struct pwm_lowerhalf_s *tiva_pwm_initialize(int channel);
+
+void tm4c_pwm_register(int channel);
+int board_pwm_setup(void);
+
+#endif /* __ARCH_ARM_SRC_TIVA_TIVA_PWM_H */

arch/arm/src/tiva/tiva_timerlow32.c

@@ -511,7 +511,7 @@ static int tiva_ioctl(struct timer_lowerhalf_s *lower, int cmd,
 {
   int ret = -ENOTTY;
 
-  DEBUGASSERT(priv);
+  DEBUGASSERT(lower);
   tmrinfo("Entry: cmd=%d arg=%ld\n", cmd, arg);
 
   return ret;

configs/tm4c1294-launchpad/src/tm4c_bringup.c

@@ -37,6 +37,9 @@
  * Included Files
  ****************************************************************************/
 
+#include <stdio.h>
+#include <stdint.h>
+
 #include <nuttx/config.h>
 
 #include <debug.h>
@@ -45,8 +48,13 @@
 #include <arch/board/board.h>
 
 #include "tiva_i2c.h"
+#include "tiva_pwm.h"
 #include "tm4c1294-launchpad.h"
 
+#define PWM_PATH_FMT        "/dev/pwm%d"
+#define PWM_PATH_FMTLEN     (10)
+
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -55,6 +63,10 @@
 #  define HAVE_TIMER
 #endif
 
+#ifdef CONFIG_TM4C1294_LAUNCHPAD_PWM
+#  define HAVE_PWM
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -136,6 +148,82 @@ static void tm4c_i2ctool(void)
 #  define tm4c_i2ctool()
 #endif
 
+/****************************************************************************
+* Name: tm4c_pwm_register
+*
+* Description:
+*   Register a PWM dev file with the upper_level PWM driver.
+*
+* Input Parameters:
+*   channel - A number identifying the PWM channel use.
+*
+* Returned Value:
+*   None.
+*
+****************************************************************************/
+
+void tm4c_pwm_register(int channel)
+{
+  FAR struct pwm_lowerhalf_s *dev;
+  int ret;
+  char pwm_path[PWM_PATH_FMTLEN];
+
+  dev = tiva_pwm_initialize(channel);
+  if (dev == NULL)
+    {
+      dbg("ERROR: Failed to get PWM%d interface\n", channel);
+    }
+  else
+    {
+      snprintf(pwm_path, PWM_PATH_FMTLEN, PWM_PATH_FMT, channel);
+      ret = pwm_register(pwm_path, dev);
+      if (ret < 0)
+        {
+          dbg("ERROR: Failed to register PWM%d driver: %d\n", channel, ret);
+        }
+    }
+}
+
+/****************************************************************************
+ * Name: tm4c_pwm
+ *
+ * Description:
+ *   Register PWM drivers for the PWM tool.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_PWM
+
+static void tm4c_pwm(void)
+{
+#ifdef CONFIG_TIVA_PWM0_CHAN0
+  tm4c_pwm_register(0);
+#endif
+#ifdef CONFIG_TIVA_PWM0_CHAN1
+  tm4c_pwm_register(1);
+#endif
+#ifdef CONFIG_TIVA_PWM0_CHAN2
+  tm4c_pwm_register(2);
+#endif
+#ifdef CONFIG_TIVA_PWM0_CHAN3
+  tm4c_pwm_register(3);
+#endif
+#ifdef CONFIG_TIVA_PWM0_CHAN4
+  tm4c_pwm_register(4);
+#endif
+#ifdef CONFIG_TIVA_PWM0_CHAN5
+  tm4c_pwm_register(5);
+#endif
+#ifdef CONFIG_TIVA_PWM0_CHAN6
+  tm4c_pwm_register(6);
+#endif
+#ifdef CONFIG_TIVA_PWM0_CHAN7
+  tm4c_pwm_register(7);
+#endif
+}
+
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -158,6 +246,10 @@ int tm4c_bringup(void)
 
   tm4c_i2ctool();
 
+  /* Register PWM drivers */
+
+  tm4c_pwm();
+
 #ifdef HAVE_TIMER
   /* Initialize the timer driver */