diff options
Diffstat (limited to 'c/src/lib/libbsp/arm/beagle/pwm/pwm.c')
| -rw-r--r-- | c/src/lib/libbsp/arm/beagle/pwm/pwm.c | 454 |
1 files changed, 0 insertions, 454 deletions
diff --git a/c/src/lib/libbsp/arm/beagle/pwm/pwm.c b/c/src/lib/libbsp/arm/beagle/pwm/pwm.c deleted file mode 100644 index 0bc5d125bf..0000000000 --- a/c/src/lib/libbsp/arm/beagle/pwm/pwm.c +++ /dev/null @@ -1,454 +0,0 @@ -/** - * @file - * - * @ingroup arm_beagle - * - * @brief Support for PWM for the BeagleBone Black. - */ - -/** - * Copyright (c) 2016 Punit Vara <punitvara@gmail.com> - * - * The license and distribution terms for this file may be - * found in the file LICENSE in this distribution or at - * http://www.rtems.org/license/LICENSE. - */ - -/** This file is based on - * https://github.com/VegetableAvenger/BBBIOlib/blob/master/BBBio_lib/BBBiolib_PWMSS.c - */ - -#include <libcpu/am335x.h> -#include <stdio.h> -#include <bsp/gpio.h> -#include <bsp/bbb-gpio.h> -#include <bsp.h> -#include <bsp/bbb-pwm.h> -#include <bsp/beagleboneblack.h> - -/* Currently these definitions are for BeagleBone Black board only - * Later on Beagle-xM board support can be added in this code. - * After support gets added if condition should be removed - */ -#if IS_AM335X - -/* - * @brief This function selects EPWM module to be enabled - * - * @param pwm_id It is the instance number of EPWM of pwm sub system. - * - * @return Base Address of respective pwm instant. -*/ -static uint32_t select_pwm(BBB_PWMSS pwm_id) -{ - uint32_t baseAddr=0; - - if (pwm_id == BBB_PWMSS0) { - baseAddr = AM335X_EPWM_0_REGS; - } else if (pwm_id == BBB_PWMSS1) { - baseAddr = AM335X_EPWM_1_REGS; - } else if (pwm_id == BBB_PWMSS2) { - baseAddr = AM335X_EPWM_2_REGS; - } else { - baseAddr = 0; - } - return baseAddr; -} - -/* - * @brief This function selects PWM Sub system to be enabled - * - * @param pwmss_id The instance number of ePWMSS whose system clocks - * have to be configured. - * - * @return Base Address of respective pwmss instant. -*/ -static uint32_t select_pwmss(BBB_PWMSS pwmss_id) -{ - uint32_t baseAddr=0; - - if (pwmss_id == BBB_PWMSS0) { - baseAddr = AM335X_PWMSS0_MMAP_ADDR; - } else if (pwmss_id == BBB_PWMSS1) { - baseAddr = AM335X_PWMSS1_MMAP_ADDR; - } else if (pwmss_id == BBB_PWMSS2) { - baseAddr = AM335X_PWMSS2_MMAP_ADDR; - } else { - baseAddr = 0; - } - return baseAddr; -} - -bool beagle_pwm_pinmux_setup(bbb_pwm_pin_t pin_no, BBB_PWMSS pwm_id) -{ - bool is_valid = true; - - if(pwm_id == BBB_PWMSS0) { - if (pin_no == BBB_P9_21_0B) { - REG(AM335X_PADCONF_BASE + AM335X_CONF_SPI0_D0) = BBB_MUXMODE(BBB_P9_21_MUX_PWM); - } else if (pin_no == BBB_P9_22_0A) { - REG(AM335X_PADCONF_BASE + AM335X_CONF_SPI0_SCLK) = BBB_MUXMODE(BBB_P9_22_MUX_PWM); - } else if (pin_no == BBB_P9_29_0B) { - REG(AM335X_PADCONF_BASE + AM335X_CONF_MCASP0_FSX) = BBB_MUXMODE(BBB_P9_29_MUX_PWM); - } else if (pin_no == BBB_P9_31_0A) { - REG(AM335X_PADCONF_BASE + AM335X_CONF_MCASP0_ACLKX) = BBB_MUXMODE(BBB_P9_31_MUX_PWM); - } else { - is_valid = false; - } - - } else if (pwm_id == BBB_PWMSS1) { - if (pin_no == BBB_P8_34_1B) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_LCD_DATA(11)) = BBB_MUXMODE(BBB_P8_34_MUX_PWM); - } else if (pin_no == BBB_P8_36_1A) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_LCD_DATA(10)) = BBB_MUXMODE(BBB_P8_36_MUX_PWM); - } else if (pin_no == BBB_P9_14_1A) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_GPMC_AD(2)) = BBB_MUXMODE(BBB_P9_14_MUX_PWM); - } else if (pin_no == BBB_P9_16_1B) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_GPMC_AD(3)) = BBB_MUXMODE(BBB_P9_16_MUX_PWM); - } else { - is_valid = false; - } - } else if (pwm_id == BBB_PWMSS2) { - if (pin_no == BBB_P8_13_2B) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_GPMC_AD(9)) = BBB_MUXMODE(BBB_P8_13_MUX_PWM); - } else if (pin_no == BBB_P8_19_2A) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_GPMC_AD(8)) = BBB_MUXMODE(BBB_P8_19_MUX_PWM); - } else if (pin_no == BBB_P8_45_2A) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_LCD_DATA(0)) = BBB_MUXMODE(BBB_P8_45_MUX_PWM); - } else if (pin_no == BBB_P8_46_2B) { - REG(AM335X_PADCONF_BASE + BBB_CONTROL_CONF_LCD_DATA(1)) = BBB_MUXMODE(BBB_P8_46_MUX_PWM); - } else { - is_valid = false; - } - } else { - is_valid = false; - } - return is_valid; -} - -/** - * @brief This function Enables TBCLK(Time Base Clock) for specific - * EPWM instance of pwmsubsystem. - * - * @param instance It is the instance number of EPWM of pwmsubsystem. - * - * @return true if successful - * false if unsuccessful - **/ -static bool pwmss_tbclk_enable(BBB_PWMSS instance) -{ - uint32_t enable_bit; - bool is_valid = true; - - if (instance == BBB_PWMSS0) { - enable_bit = AM335X_PWMSS_CTRL_PWMSS0_TBCLKEN; - } else if (instance == BBB_PWMSS1) { - enable_bit = AM335X_PWMSS_CTRL_PWMSS1_TBCLKEN; - } else if (instance == BBB_PWMSS2) { - enable_bit = AM335X_PWMSS_CTRL_PWMSS2_TBCLKEN; - } else { - is_valid = false; - } - - if (is_valid) - { - REG(AM335X_PADCONF_BASE + AM335X_PWMSS_CTRL) |= enable_bit; - } - - return is_valid; - } - -/** - * @brief This functions enables clock for EHRPWM module in PWMSS subsystem. - * - * @param pwm_id It is the instance number of EPWM of pwm sub system. - * - * @return true if successful - * false if unsuccessful - * - **/ -static bool pwm_clock_enable(BBB_PWMSS pwm_id) -{ - const bool id_is_valid = pwm_id < BBB_PWMSS_COUNT; - bool status = true; - - if (id_is_valid) { - const uint32_t baseAddr = select_pwmss(pwm_id); - REG(baseAddr + AM335X_PWMSS_CLKCONFIG) |= AM335X_PWMSS_CLK_EN_ACK; - } else { - status = false; - } - return status; -} - -/** - * @brief This function configures the L3 and L4_PER system clocks. - * It also configures the system clocks for the specified ePWMSS - * instance. - * - * @param pwmss_id The instance number of ePWMSS whose system clocks - * have to be configured. - * - * 'pwmss_id' can take one of the following values: - * (0 <= pwmss_id <= 2) - * - * @return True if successful - * False if Unsuccessful - */ -static bool pwmss_module_clk_config(BBB_PWMSS pwmss_id) -{ - bool is_valid = true; - - if(pwmss_id == BBB_PWMSS0) { - const uint32_t is_functional = AM335X_CM_PER_EPWMSS0_CLKCTRL_IDLEST_FUNC << - AM335X_CM_PER_EPWMSS0_CLKCTRL_IDLEST_SHIFT; - const uint32_t clkctrl = AM335X_CM_PER_ADDR + AM335X_CM_PER_EPWMSS0_CLKCTRL; - const uint32_t idle_bits = AM335X_CM_PER_EPWMSS0_CLKCTRL_IDLEST; - const uint32_t is_enable = AM335X_CM_PER_EPWMSS0_CLKCTRL_MODULEMODE_ENABLE; - const uint32_t module_mode = AM335X_CM_PER_EPWMSS0_CLKCTRL_MODULEMODE; - - REG(clkctrl) |= is_enable; - while((REG(clkctrl) & module_mode) != is_enable); - while((REG(clkctrl) & idle_bits) != is_functional); - } - else if(pwmss_id == BBB_PWMSS1) { - const uint32_t is_functional = AM335X_CM_PER_EPWMSS1_CLKCTRL_IDLEST_FUNC << - AM335X_CM_PER_EPWMSS1_CLKCTRL_IDLEST_SHIFT; - const uint32_t clkctrl = AM335X_CM_PER_ADDR + AM335X_CM_PER_EPWMSS1_CLKCTRL; - const uint32_t idle_bits = AM335X_CM_PER_EPWMSS1_CLKCTRL_IDLEST; - const uint32_t is_enable = AM335X_CM_PER_EPWMSS1_CLKCTRL_MODULEMODE_ENABLE; - const uint32_t module_mode = AM335X_CM_PER_EPWMSS1_CLKCTRL_MODULEMODE; - - REG(clkctrl) |= is_enable; - while((REG(clkctrl) & module_mode) != is_enable); - while((REG(clkctrl) & idle_bits) != is_functional); - } else if(pwmss_id == BBB_PWMSS2) { - const uint32_t is_functional = AM335X_CM_PER_EPWMSS2_CLKCTRL_IDLEST_FUNC << - AM335X_CM_PER_EPWMSS2_CLKCTRL_IDLEST_SHIFT; - const uint32_t clkctrl = AM335X_CM_PER_ADDR + AM335X_CM_PER_EPWMSS2_CLKCTRL; - const uint32_t idle_bits = AM335X_CM_PER_EPWMSS2_CLKCTRL_IDLEST; - const uint32_t is_enable = AM335X_CM_PER_EPWMSS2_CLKCTRL_MODULEMODE_ENABLE; - const uint32_t module_mode = AM335X_CM_PER_EPWMSS2_CLKCTRL_MODULEMODE; - - REG(clkctrl) |= is_enable; - while((REG(clkctrl) & module_mode) != is_enable); - while((REG(clkctrl) & idle_bits) != is_functional); - } else - is_valid = false; - return is_valid; -} - -bool beagle_pwm_init(BBB_PWMSS pwmss_id) -{ - const bool id_is_valid = pwmss_id < BBB_PWMSS_COUNT; - bool status = true; - - if(id_is_valid) { - pwmss_module_clk_config(pwmss_id); - pwm_clock_enable(pwmss_id); - pwmss_tbclk_enable(pwmss_id); - } else { - status =false; - } - return status; -} - -int beagle_pwm_configure(BBB_PWMSS pwm_id, float pwm_freq, float duty_a, float duty_b) -{ - uint32_t baseAddr; - int status = 1; - float cycle = 0.0f,divisor = 0; - unsigned int i,j; - const float CLKDIV_div[] = {1.0,2.0,4.0,8.0,16.0,32.0,64.0,128.0}; - const float HSPCLKDIV_div[] = {1.0, 2.0, 4.0, 6.0, 8.0, 10.0,12.0, 14.0}; - int NearCLKDIV =7,NearHSPCLKDIV =7,NearTBPRD =0; - - if (pwm_freq <= BBB_PWM_FREQ_THRESHOLD) { - status =0; - } - - if (duty_a < 0.0f || duty_a > 100.0f || duty_b < 0.0f || duty_b > 100.0f) { - status = 0; - } - duty_a /= 100.0f; - duty_b /= 100.0f; - - /** 10^9 /Hz compute time per cycle (ns) */ - cycle = 1000000000.0f / pwm_freq; - - /** am335x provide (128* 14) divider and per TBPRD means 10ns when divider - * and max TBPRD is 65535 so max cycle is 128 * 8 * 14 * 65535 * 10ns */ - divisor = (cycle / 655350.0f); - if (divisor > (128 * 14)) { - return 0; - } - else { - for (i=0;i<8;i++) { - for(j=0 ; j<8; j++) { - if((CLKDIV_div[i] * HSPCLKDIV_div[j]) < (CLKDIV_div[NearCLKDIV] - * HSPCLKDIV_div[NearHSPCLKDIV]) && (CLKDIV_div[i] * HSPCLKDIV_div[j] > divisor)) { - NearCLKDIV = i; - NearHSPCLKDIV = j; - } - } - } - - baseAddr = select_pwm(pwm_id); - - REG16(baseAddr + AM335X_EPWM_TBCTL) &= ~(AM335X_TBCTL_CLKDIV_MASK | AM335X_TBCTL_HSPCLKDIV_MASK); - const uint16_t clkdiv_clear = (REG16(baseAddr + AM335X_EPWM_TBCTL) & - (~AM335X_EPWM_TBCTL_CLKDIV)); - const uint16_t clkdiv_write = ((NearCLKDIV - << AM335X_EPWM_TBCTL_CLKDIV_SHIFT) & AM335X_EPWM_TBCTL_CLKDIV); - REG16(baseAddr + AM335X_EPWM_TBCTL) = clkdiv_clear | clkdiv_write; - const uint16_t hspclkdiv_clear = (REG16(baseAddr + AM335X_EPWM_TBCTL) & - (~AM335X_EPWM_TBCTL_HSPCLKDIV)); - const uint16_t hspclkdiv_write = ((NearHSPCLKDIV << - AM335X_EPWM_TBCTL_HSPCLKDIV_SHIFT) & AM335X_EPWM_TBCTL_HSPCLKDIV); - REG16(baseAddr + AM335X_EPWM_TBCTL) = hspclkdiv_clear | hspclkdiv_write; - NearTBPRD = (cycle / (10.0 * CLKDIV_div[NearCLKDIV] * HSPCLKDIV_div[NearHSPCLKDIV])); - const uint16_t shadow_mask = (REG16(baseAddr + AM335X_EPWM_TBCTL) & - (~AM335X_EPWM_PRD_LOAD_SHADOW_MASK)); - const uint16_t shadow_disable = (((bool)AM335X_EPWM_SHADOW_WRITE_DISABLE << - AM335X_EPWM_TBCTL_PRDLD_SHIFT) & AM335X_EPWM_PRD_LOAD_SHADOW_MASK); - REG16(baseAddr + AM335X_EPWM_TBCTL) = shadow_mask | shadow_disable; - const uint16_t counter_mask = (REG16(baseAddr + AM335X_EPWM_TBCTL) & - (~AM335X_EPWM_COUNTER_MODE_MASK)); - const uint16_t counter_shift = (((unsigned int)AM335X_EPWM_COUNT_UP << - AM335X_TBCTL_CTRMODE_SHIFT) & AM335X_EPWM_COUNTER_MODE_MASK); - REG16(baseAddr + AM335X_EPWM_TBCTL) = counter_mask | counter_shift; - /*setting clock divider and freeze time base*/ - REG16(baseAddr + AM335X_EPWM_CMPB) = (unsigned short)((float)(NearTBPRD) * duty_b); - REG16(baseAddr + AM335X_EPWM_CMPA) = (unsigned short)((float)(NearTBPRD) * duty_a); - REG16(baseAddr + AM335X_EPWM_TBPRD) = (unsigned short)NearTBPRD; - REG16(baseAddr + AM335X_EPWM_TBCNT) = 0; - } - return status; -} - -bool beagle_pwm_enable(BBB_PWMSS pwmid) -{ - const bool id_is_valid = pwmid < BBB_PWMSS_COUNT; - bool status = true; - - if (id_is_valid) { - const uint32_t baseAddr = select_pwm(pwmid); - /* Initially set EPWMxA o/p high , when increasing counter = CMPA toggle o/p of EPWMxA */ - REG16(baseAddr + AM335X_EPWM_AQCTLA) = AM335X_EPWM_AQCTLA_ZRO_XAHIGH | (AM335X_EPWM_AQCTLA_CAU_EPWMXATOGGLE << AM335X_EPWM_AQCTLA_CAU_SHIFT); - /* Initially set EPWMxB o/p high , when increasing counter = CMPA toggle o/p of EPWMxB */ - REG16(baseAddr + AM335X_EPWM_AQCTLB) = AM335X_EPWM_AQCTLB_ZRO_XBHIGH | (AM335X_EPWM_AQCTLB_CBU_EPWMXBTOGGLE << AM335X_EPWM_AQCTLB_CBU_SHIFT); - REG16(baseAddr + AM335X_EPWM_TBCNT) = 0; - /* Set counter mode : Up-count mode */ - REG16(baseAddr + AM335X_EPWM_TBCTL) |= AM335X_TBCTL_FREERUN | AM335X_TBCTL_CTRMODE_UP; - } else { - status =false; - } - return status; -} - -bool beagle_pwm_disable(BBB_PWMSS pwmid) -{ - const bool id_is_valid = pwmid < BBB_PWMSS_COUNT; - bool status = true; - - if (id_is_valid) { - const uint32_t baseAddr = select_pwm(pwmid); - REG16(baseAddr + AM335X_EPWM_TBCTL) = AM335X_EPWM_TBCTL_CTRMODE_STOPFREEZE; - REG16(baseAddr + AM335X_EPWM_AQCTLA) = AM335X_EPWM_AQCTLA_ZRO_XALOW | (AM335X_EPWM_AQCTLA_CAU_EPWMXATOGGLE << AM335X_EPWM_AQCTLA_CAU_SHIFT); - REG16(baseAddr + AM335X_EPWM_AQCTLB) = AM335X_EPWM_AQCTLA_ZRO_XBLOW | (AM335X_EPWM_AQCTLB_CBU_EPWMXBTOGGLE << AM335X_EPWM_AQCTLB_CBU_SHIFT); - REG16(baseAddr + AM335X_EPWM_TBCNT) = 0; - } else { - status = false; - } - return status; -} - -/** - * @brief This functions determines whether time base clock is enabled for EPWMSS - * - * @param pwmss_id The instance number of ePWMSS whose time base clock need to - * be checked - * - * @return returns 4 for PWMSS_ID = 2 - * returns 2 for PWMSS_ID = 1 - * returns 1 for PWMSS_ID = 0 - **/ -static int pwmss_tb_clock_check(unsigned int pwmss_id) -{ - unsigned int reg_value; - - /*control module check*/ - reg_value = REG(AM335X_CONTROL_MODULE + AM335X_PWMSS_CTRL); - return (reg_value & (1 << pwmss_id)); -} - -/** - * @brief This functions determines whether clock for EPWMSS is enabled or not. - * - * @param It is the Memory address of the PWMSS instance used. - * - * @return - * - **/ -static unsigned int pwmss_clock_en_status(unsigned int pwmid) -{ - unsigned int status; - const uint32_t baseAddr = select_pwmss(pwmid); - - status = REG(baseAddr + AM335X_PWMSS_CLKSTATUS); - status = status >> 8 & 0x1; - return status; -} - -bool beagle_pwmss_is_running(unsigned int pwmss_id) -{ - const bool id_is_valid = pwmss_id < BBB_PWMSS_COUNT; - bool status=true; - - if (id_is_valid) { - status = pwmss_clock_en_status(pwmss_id); - if(status){ - status = pwmss_tb_clock_check(pwmss_id); - } else { - status = false; - } - } else { - status = false; - } - return status; -} - -#endif - -/* For support of BeagleboardxM */ -#if IS_DM3730 - -/* Currently this section is just to satisfy - * GPIO API and to make the build successful. - * Later on support can be added here. - */ -bool beagle_pwm_init(BBB_PWMSS pwmss_id) -{ - return false; -} -bool beagle_pwm_disable(BBB_PWMSS pwmid) -{ - return false; -} -bool beagle_pwm_enable(BBB_PWMSS pwmid) -{ - return false; -} -int beagle_pwm_configure(BBB_PWMSS pwm_id, float pwm_freq, float duty_a, float duty_b) -{ - return -1; -} -bool beagle_pwm_pinmux_setup(bbb_pwm_pin_t pin_no, BBB_PWMSS pwm_id) -{ - return false; -} -bool beagle_pwmss_is_running(unsigned int pwmss_id) -{ -return false; -} -#endif |