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Merge branch 'feature/drv_pwm' into 'develop'

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Feature/drv pwm



See merge request !6
This commit is contained in:
tkl 2016-08-09 12:44:06 +00:00
commit 4d556a6235
14 changed files with 410 additions and 10 deletions
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23
.cproject
View File

@ -136,6 +136,7 @@
<buildTargets>
<target name="all" path="software/source/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
@ -143,6 +144,7 @@
</target>
<target name="clean" path="software/source/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
@ -150,7 +152,6 @@
</target>
<target name="distclean" path="software/source" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>distclean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -206,6 +207,7 @@
</target>
<target name="all" path="software/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
@ -237,6 +239,7 @@
</target>
<target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>distclean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -282,6 +285,22 @@
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="test pwm" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>TEST_APP=pwm BOARD=stm32f4-discovery DEBUG=y</buildArguments>
<buildTarget>test</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="test pwm install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>TEST_APP=pwm BOARD=stm32f4-discovery DEBUG=y</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="msp430-ccrf example_radio_rx all" path="software/source/test" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>APP=example_radio_rx BOARD=msp430-ccrf DEBUG=y</buildArguments>
@ -308,6 +327,7 @@
</target>
<target name="all" path="software/source/test/firmware/kernel/ringbuffer" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
@ -315,6 +335,7 @@
</target>
<target name="clean" path="software/source/test/firmware/kernel/ringbuffer" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>

2
Makefile
View File

@ -83,7 +83,7 @@ doc:
@$(MKDIR) $(DOC_DIR)
(cat $(DOXYFILE) ; echo "INPUT=$(DOC_SRC)" ; echo "OUTPUT_DIRECTORY=$(DOC_DIR)") | doxygen -
test: check $(OBJECTS) $(ASM_OBJECTS)
test: $(OBJECTS) $(ASM_OBJECTS)
@$(MKDIR) $(EXE_DIR)
@$(MKDIR) $(MAP_DIR)
@$(MKDIR) $(SIZE_DIR)

5
config/make/stm32f4xx.mk
View File

@ -9,8 +9,8 @@ endif
CROSS_COMPILE=arm-none-eabi-
INCLUDES += \
/usr/lib/arm-none-eabi/include \
/usr/lib/gcc/arm-none-eabi/4.8/include
/opt/arm-2011.09/arm-none-eabi/include \
/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include
ifeq ($(DEBUG),y)
OPTIM = 0
@ -35,7 +35,6 @@ CFLAGS += \
-mfloat-abi=softfp \
-fdata-sections \
-ffunction-sections
# -D inline= -mthumb\
CPPCHECK_FLAGS += \
-D USE_STDPERIPH_DRIVER\

59
source/firmware/arch/stm32f4xx/board/stm32f4-discovery/include/stm32f4-discovery.h
View File

@ -13,15 +13,18 @@
#include "driver.h"
#include "gpio.h"
#include "pwm.h"
#include "timer.h"
#include "uart.h"
#include "ringbuffer.h"
#include "sys_tick.h"
#include "stm32f4xx.h"
#include "stm32f4_gpio.h"
#include "stm32f4_pwm.h"
#include "stm32f4_uart.h"
#include "stm32_sys_tick.h"
// SYSTEM TICK
static const enum stm32_sys_tick_time_base stm23_sys_tick_time_base =
STM32_SYS_TICK_TIME_BASE_MS;
@ -36,6 +39,62 @@ static const struct loki_timer timer_1 = {
&timer_fp
};
// PWM CHANNEL 4
/* apb1 clock = 84MHz */
/* period_reg = src_clk / presc / cnt_clk */
/* 4199 = 84MHZ / (0 + 1) / 20kHz - 1 */
static const TIM_TimeBaseInitTypeDef timer_4_cfg = {
.TIM_RepetitionCounter = 0x0000,
.TIM_Prescaler = 0,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 4199
};
static const TIM_OCInitTypeDef t4_output_compare_cfg = {
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Set,
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_Pulse = 0,
};
static const GPIO_InitTypeDef port_cfg = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP,
.GPIO_Speed = GPIO_Speed_100MHz,
};
static struct stm32f4_pwm str32f4_pwm = {
.timer = TIM4,
.timer_cfg = &timer_4_cfg,
.output_compare_cfg = &t4_output_compare_cfg,
.port = GPIOD,
.pin_src = GPIO_PinSource15,
.port_cfg = &port_cfg,
.channel = channel_4,
};
static const struct pwm pwm_ch4 = {
.arch_dep_device = &str32f4_pwm,
.fp = &stm32f4_pwm_fp,
};
#ifdef TEST_APP
static const struct driver pwm_4 = {
#else
const struct driver pwm_4 = {
#endif
DRIVER_TYPE_PWM,
&pwm_ch4,
};
// UART 1
static char console_linear_buffer[80];
static struct ringbuffer console_buffer = {
console_linear_buffer,

40
source/firmware/arch/stm32f4xx/driver/include/stm32f4_pwm.h Normal file
View File

@ -0,0 +1,40 @@
/*
* stm32f4_pwm.h
*
* Created on: Aug 9, 2016
* Author: tkl
*/
#ifndef SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
#define SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
enum stm32f4_pwm_channel {
channel_1 = 1,
channel_2,
channel_3,
channel_4
};
struct stm32f4_pwm {
TIM_TypeDef *timer;
const TIM_TimeBaseInitTypeDef *timer_cfg;
const TIM_OCInitTypeDef *output_compare_cfg;
const TIM_BDTRInitTypeDef *bdtr_cfg;
GPIO_TypeDef *port;
uint8_t pin_src;
const GPIO_InitTypeDef *port_cfg;
enum stm32f4_pwm_channel channel;
};
int stm32f4_pwm_open(const void *pwm);
int stm32f4_pwm_close(const void *pwm);
int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent);
static const struct pwm_fp stm32f4_pwm_fp = {
.open = stm32f4_pwm_open,
.close = stm32f4_pwm_close,
.set_duty_cycle = stm32f4_pwm_set_duty_cycle,
};
#endif /* SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_ */

113
source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c Normal file
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@ -0,0 +1,113 @@
/*
* stm32f4_pwm.c
*
* Created on: Aug 9, 2016
* Author: tkl
*/
#include <stdint.h>
#include <stddef.h>
#include "stm32f4xx.h"
#include "pwm.h"
#include "stm32f4_pwm.h"
struct stm32f4_pwm_object {
uint8_t used_channels;
uint32_t channel_1_max_period;
uint32_t channel_2_max_period;
uint32_t channel_3_max_period;
uint32_t channel_4_max_period;
};
static struct stm32f4_pwm_object stm32f4_pwm_object = {
.used_channels = 0,
.channel_1_max_period = 0,
.channel_2_max_period = 0,
.channel_3_max_period = 0,
.channel_4_max_period = 0,
};
int stm32f4_pwm_open(const void *pwm)
{
if(NULL == pwm)
return -1;
struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
uint32_t clk_ahb_timer = 0, clk_ahb_gpio = 0;
uint8_t gpio_af_timer = 0;
if(this->timer == TIM4) {
clk_ahb_timer = RCC_APB1Periph_TIM4;
gpio_af_timer = GPIO_AF_TIM4;
}
RCC_APB1PeriphClockCmd(clk_ahb_timer, ENABLE);
if(this->port == GPIOD) {
clk_ahb_gpio = RCC_AHB1Periph_GPIOD;
}
RCC_AHB1PeriphClockCmd(clk_ahb_gpio, ENABLE);
GPIO_Init(this->port, (GPIO_InitTypeDef *)this->port_cfg);
GPIO_PinAFConfig(this->port, this->pin_src, gpio_af_timer);
TIM_TimeBaseInit(this->timer, (TIM_TimeBaseInitTypeDef *)this->timer_cfg);
switch(this->channel) {
case channel_1:
TIM_OC1Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
TIM_OC1PreloadConfig(this->timer, TIM_OCPreload_Enable);
stm32f4_pwm_object.channel_1_max_period = this->timer_cfg->TIM_Period + 1;
break;
case channel_2:
TIM_OC2Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
TIM_OC2PreloadConfig(this->timer, TIM_OCPreload_Enable);
stm32f4_pwm_object.channel_2_max_period = this->timer_cfg->TIM_Period + 1;
break;
case channel_3:
TIM_OC3Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
TIM_OC3PreloadConfig(this->timer, TIM_OCPreload_Enable);
stm32f4_pwm_object.channel_3_max_period = this->timer_cfg->TIM_Period + 1;
break;
case channel_4:
TIM_OC4Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
TIM_OC4PreloadConfig(this->timer, TIM_OCPreload_Enable);
stm32f4_pwm_object.channel_4_max_period = this->timer_cfg->TIM_Period + 1;
break;
}
TIM_ARRPreloadConfig(this->timer, ENABLE);
TIM_Cmd(this->timer, ENABLE);
stm32f4_pwm_object.used_channels++;
return 0;
}
int stm32f4_pwm_close(const void *pwm)
{
if(NULL == pwm)
return -1;
struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
stm32f4_pwm_set_duty_cycle(pwm, 0);
stm32f4_pwm_object.used_channels--;
if(stm32f4_pwm_object.used_channels == 0) {
TIM_Cmd(this->timer, DISABLE);
}
return 0;
}
int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent)
{
if(NULL == pwm)
return -1;
struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
switch(this->channel) {
case channel_1:
TIM_SetCompare1(this->timer, stm32f4_pwm_object.channel_1_max_period * duty_cycle_percent / 100);
break;
case channel_2:
TIM_SetCompare2(this->timer, stm32f4_pwm_object.channel_2_max_period * duty_cycle_percent / 100);
break;
case channel_3:
TIM_SetCompare3(this->timer, stm32f4_pwm_object.channel_3_max_period * duty_cycle_percent / 100);
break;
case channel_4:
TIM_SetCompare4(this->timer, stm32f4_pwm_object.channel_4_max_period * duty_cycle_percent / 100);
break;
}
return 0;
}

41
source/firmware/kernel/driver/driver.c
View File

@ -11,6 +11,7 @@
#include "adc.h"
#include "gpio.h"
#include "i2c.h"
#include "pwm.h"
#include "rtc.h"
#include "spi.h"
#include "uart.h"
@ -30,6 +31,9 @@ int open(const struct driver *driver)
case DRIVER_TYPE_I2C:
ret = i2c_open((struct i2c *)(driver->device_driver));
break;
case DRIVER_TYPE_PWM:
ret = pwm_open((const struct pwm *)(driver->device_driver));
break;
case DRIVER_TYPE_RTC:
ret = rtc_open((const struct rtc *)(driver->device_driver));
break;
@ -58,6 +62,9 @@ int close(const struct driver *driver)
case DRIVER_TYPE_I2C:
ret = i2c_close((struct i2c *)(driver->device_driver));
break;
case DRIVER_TYPE_PWM:
ret = pwm_close((const struct pwm *)(driver->device_driver));
break;
case DRIVER_TYPE_RTC:
ret = rtc_close((const struct rtc *)(driver->device_driver));
break;
@ -88,6 +95,9 @@ int read(const struct driver *driver, char *buffer, int len)
break;
case DRIVER_TYPE_I2C:
break;
case DRIVER_TYPE_PWM:
ret = -1;
break;
case DRIVER_TYPE_RTC:
break;
case DRIVER_TYPE_SPI:
@ -118,6 +128,9 @@ int write(const struct driver *driver, const char *buffer, int len)
break;
case DRIVER_TYPE_I2C:
break;
case DRIVER_TYPE_PWM:
ret = -1;
break;
case DRIVER_TYPE_RTC:
break;
case DRIVER_TYPE_SPI:
@ -128,3 +141,31 @@ int write(const struct driver *driver, const char *buffer, int len)
}
return ret;
}
int ioctl(const struct driver *driver, unsigned int cmd, const void *data)
{
int ret = -1;
if(NULL == driver)
return ret;
switch(driver->driver_type) {
case DRIVER_TYPE_ADC:
break;
case DRIVER_TYPE_GPIO:
break;
case DRIVER_TYPE_I2C:
break;
case DRIVER_TYPE_PWM:
if(cmd == IOCTL_PWM_SET_DUTY_CYCLE) {
unsigned int *duty = (unsigned int *)data;
pwm_set_duty_cycle((const struct pwm *)(driver->device_driver), *duty);
}
break;
case DRIVER_TYPE_RTC:
break;
case DRIVER_TYPE_SPI:
break;
case DRIVER_TYPE_UART:
break;
}
return ret;
}

35
source/firmware/kernel/driver/include/pwm.h Normal file
View File

@ -0,0 +1,35 @@
/*
* pwm.h
*
* Created on: Aug 9, 2016
* Author: tkl
*/
#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_
#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_
//! \brief Function pointer to the open function.
typedef int (*pwm_fp_open_t)(const void*);
//! \brief Function pointer to the close function.
typedef int (*pwm_fp_close_t)(const void*);
//! \brief Function pointer to the read function.
typedef int (*pwm_fp_set_duty_cycle_t)(const void*, unsigned int duty_cycle_percent);
struct pwm_fp {
const pwm_fp_open_t open;
const pwm_fp_close_t close;
const pwm_fp_set_duty_cycle_t set_duty_cycle;
};
struct pwm {
const void *arch_dep_device; //!< Architecture depended pwm device (i.e. stm32f10x_pwm_t).
const struct pwm_fp *fp; //!< Function pointer for the pwm driver access.
};
int pwm_open(const struct pwm *device);
int pwm_close(const struct pwm *device);
int pwm_set_duty_cycle(const struct pwm *device, unsigned int duty_cycle_percent);
#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_ */

33
source/firmware/kernel/driver/pwm.c Normal file
View File

@ -0,0 +1,33 @@
/*
* pwm.c
*
* Created on: Aug 9, 2016
* Author: tkl
*/
#include <stddef.h>
#include <pwm.h>
int pwm_open(const struct pwm *device)
{
if(NULL == device)
return -1;
pwm_fp_open_t open = device->fp->open;
return open(device->arch_dep_device);
}
int pwm_close(const struct pwm *device)
{
if(NULL == device)
return -1;
pwm_fp_close_t close = device->fp->close;
return close(device->arch_dep_device);
}
int pwm_set_duty_cycle(const struct pwm *device, unsigned int duty_cycle_percent)
{
if(NULL == device)
return -1;
pwm_fp_set_duty_cycle_t set = device->fp->set_duty_cycle;
return set(device->arch_dep_device, duty_cycle_percent);
}

4
source/firmware/kernel/interface/driver.h
View File

@ -8,10 +8,13 @@
#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
#define IOCTL_PWM_SET_DUTY_CYCLE 0
enum driver_type {
DRIVER_TYPE_ADC,
DRIVER_TYPE_GPIO,
DRIVER_TYPE_I2C,
DRIVER_TYPE_PWM,
DRIVER_TYPE_RTC,
DRIVER_TYPE_SPI,
DRIVER_TYPE_UART
@ -26,5 +29,6 @@ int open(const struct driver *driver);
int close(const struct driver *driver);
int read(const struct driver *driver, char *buffer, int len);
int write(const struct driver *driver, const char *buffer, int len);
int ioctl(const struct driver *driver, unsigned int cmd, const void *data);
#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_ */

8
source/firmware/kernel/shell.c
View File

@ -23,9 +23,9 @@ struct shell_object {
struct shell_object shell_object;
#define RX_STACK_SIZE 256
stack_t rx_stack[RX_STACK_SIZE];
struct thread_context rx_thread;
#define TH_STACK_SIZE 256
stack_t th_stack[TH_STACK_SIZE];
struct thread_context th_ctx;
static void parse(const char *buffer, unsigned int len)
{
@ -71,7 +71,7 @@ int shell_init(const struct driver *shell_device)
return -1;
list_init(&shell_object.command_list);
shell_object.shell_device = shell_device;
thread_create(&rx_thread, rx_stack, RX_STACK_SIZE, rx_func, NULL, THREAD_PRIO_LOW);
thread_create(&th_ctx, th_stack, TH_STACK_SIZE, rx_func, NULL, THREAD_PRIO_LOW);
return 0;
}

48
source/test/pwm/main.c Normal file
View File

@ -0,0 +1,48 @@
/*
* main.c
*
* Created on: Aug 2, 2016
* Author: tkl
*/
#include <stdbool.h>
#include "driver.h"
#include "board.h"
#include "stack.h"
#include "queue.h"
#include "kernel.h"
#include "driver.h"
#include "list.h"
#include "shell.h"
#define TH_STACK_SIZE 256
stack_t th_stack[TH_STACK_SIZE];
struct thread_context th_ctx;
static void th_func(void *arg)
{
unsigned int duty = 0;
open(&pwm_4);
while(1) {
while(duty < 100) {
ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
pwm_set_duty_cycle(&pwm_ch4, duty);
sleep_ms(10);
duty++;
}
while(duty > 0) {
ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(10);
duty--;
}
}
}
int main(void)
{
thread_create(&th_ctx, th_stack, TH_STACK_SIZE, th_func, NULL, THREAD_PRIO_LOW);
schedule_start();
return 0;
}

4
source/test/pwm/pwm.mk Normal file
View File

@ -0,0 +1,4 @@
CHECK_FOLDER += source/test/pwm
SUB_FOLDER += source/test/pwm
INCLUDES += source/test/pwm
DOC_SRC += source/test/pwm

3
source/test/test.mk
View File

@ -1,3 +1,6 @@
ifeq ($(TEST_APP), shell)
include source/test/shell/shell.mk
endif
ifeq ($(TEST_APP), pwm)
include source/test/pwm/pwm.mk
endif