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kinetis:Implemented Tone Alarm using TPM timers
This commit is contained in:
David Sidrane
Daniel Agar
parent
6e2885cc4e
commit
520850f5f4
@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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* Copyright (C) 2017 PX4 Development Team. All rights reserved.
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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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@ -87,6 +87,7 @@
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*/
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#include <px4_config.h>
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#include <systemlib/px4_macros.h>
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#include <debug.h>
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#include <drivers/device/device.h>
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@ -107,17 +108,16 @@
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#include <board_config.h>
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#include <drivers/drv_hrt.h>
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#include <kinetis.h>
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/* TODO:Determin the correct type of timer to use.
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* TODO:This is stubbed out leving the code intact to document the needed
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* mechinsm for porting.
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*/
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//#include <kinetis_ftm.h>
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#include "kinetis.h"
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#include "chip/kinetis_sim.h"
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#include "kinetis_tpm.h"
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#include <systemlib/err.h>
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#include <systemlib/circuit_breaker.h>
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#define CAT3_(A, B, C) A##B##C
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#define CAT3(A, B, C) CAT3_(A, B, C)
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/* Check that tone alarm and HRT timers are different */
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#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
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# if TONE_ALARM_TIMER == HRT_TIMER
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@ -125,73 +125,73 @@
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# endif
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#endif
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# define TONE_ALARM_CLOCK 1000000
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#if TONE_ALARM_TIMER == 1
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//# define TONE_ALARM_BASE STM32_TIM1_BASE
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//# define TONE_ALARM_CLOCK 1000000
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//# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
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//# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM1EN
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//# ifdef CONFIG_STM32_TIM1
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//# error Must not set CONFIG_STM32_TIM1 when TONE_ALARM_TIMER is 1
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//# endif
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//#elif TONE_ALARM_TIMER == 2
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#else
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//# error Must set TONE_ALARM_TIMER to one of the timers between 1 and 11 (inclusive) to use this driver.
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#endif
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#if TONE_ALARM_CHANNEL == 1
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# define TONE_CCMR1 (3 << 4)
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# define TONE_CCMR2 0
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# define TONE_CCER (1 << 0)
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# define TONE_rCCR rCCR1
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#elif TONE_ALARM_CHANNEL == 2
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# define TONE_CCMR1 (3 << 12)
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# define TONE_CCMR2 0
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# define TONE_CCER (1 << 4)
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# define TONE_rCCR rCCR2
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#elif TONE_ALARM_CHANNEL == 3
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# define TONE_CCMR1 0
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# define TONE_CCMR2 (3 << 4)
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# define TONE_CCER (1 << 8)
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# define TONE_rCCR rCCR3
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#elif TONE_ALARM_CHANNEL == 4
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# define TONE_CCMR1 0
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# define TONE_CCMR2 (3 << 12)
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# define TONE_CCER (1 << 12)
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# define TONE_rCCR rCCR4
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#else
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# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver.
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#endif
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/*
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* Timer register accessors
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*/
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static volatile uint32_t dummy[18];
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#define REG(_reg) (*(volatile uint32_t *)(&dummy[(_reg)]))
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#undef modifyreg32
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#define modifyreg32(reg,clr,set)
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#define GTIM_CR1_CEN 0
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#define GTIM_EGR_UG 0
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* Period of the free-running counter, in microseconds.
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*/
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#define TONE_ALARM_COUNTER_PERIOD 65536
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# define rCR1 REG(0)
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# define rCR2 REG(1)
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# define rSMCR REG(2)
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# define rDIER REG(3)
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# define rSR REG(4)
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# define rEGR REG(5)
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# define rCCMR1 REG(6)
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# define rCCMR2 REG(7)
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# define rCCER REG(8)
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# define rCNT REG(9)
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# define rPSC REG(10)
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# define rARR REG(11)
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# define rCCR1 REG(12)
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# define rCCR2 REG(13)
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# define rCCR3 REG(14)
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# define rCCR4 REG(15)
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# define rDCR REG(16)
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# define rDMAR REG(17)
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/* Tone Alarm configuration */
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#define TONE_ALARM_TIMER_CLOCK BOARD_TPM_FREQ /* The input clock frequency to the TPM block */
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#define TONE_ALARM_TIMER_BASE CAT(CAT(KINETIS_TPM, TONE_ALARM_TIMER),_BASE) /* The Base address of the TPM */
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#define TONE_ALARM_TIMER_VECTOR CAT(KINETIS_IRQ_TPM, TONE_ALARM_TIMER) /* The TPM Interrupt vector */
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#define TONE_ALARM_SIM_SCGC2_TPM CAT(SIM_SCGC2_TPM, TONE_ALARM_TIMER) /* The Clock Gating enable bit for this TPM */
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#define TONE_ALARM_TIMER_PRESCALE TPM_SC_PS_DIV16 /* The constant Prescaler */
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#if TONE_ALARM_TIMER == 1 && defined(CONFIG_KINETIS_TPM1)
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# error must not set CONFIG_KINETIS_TPM1=y and TONE_ALARM_TIMER=1
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#elif TONE_ALARM_TIMER == 2 && defined(CONFIG_KINETIS_TPM2)
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# error must not set CONFIG_STM32_TIM2=y and TONE_ALARM_TIMER=2
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#endif
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# define TONE_ALARM_TIMER_FREQ (BOARD_TPM_FREQ/(1 << (TONE_ALARM_TIMER_PRESCALE >> TPM_SC_PS_SHIFT)))
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/*
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* Toan Alarm clock must be a multiple of 1MHz greater than 1MHz
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*/
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#if (TONE_ALARM_TIMER_CLOCK % TONE_ALARM_TIMER_FREQ) != 0
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# error TONE_ALARM_TIMER_CLOCK must be a multiple of 1MHz
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#endif
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#if TONE_ALARM_TIMER_CLOCK <= TONE_ALARM_TIMER_FREQ
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# error TONE_ALARM_TIMER_CLOCK must be greater than 1MHz
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#endif
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#if (TONE_ALARM_CHANNEL != 0) && (TONE_ALARM_CHANNEL != 1)
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# error TONE_ALARM_CHANNEL must be a value between 0 and 1
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#endif
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/* Register accessors */
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#define _REG(_addr) (*(volatile uint32_t *)(_addr))
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/* Timer register accessors */
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#define REG(_reg) _REG(TONE_ALARM_TIMER_BASE + (_reg))
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#define rSC REG(KINETIS_TPM_SC_OFFSET)
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#define rCNT REG(KINETIS_TPM_CNT_OFFSET)
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#define rMOD REG(KINETIS_TPM_MOD_OFFSET)
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#define rC0SC REG(KINETIS_TPM_C0SC_OFFSET)
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#define rC0V REG(KINETIS_TPM_C0V_OFFSET)
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#define rC1SC REG(KINETIS_TPM_C1SC_OFFSET)
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#define rC1V REG(KINETIS_TPM_C1V_OFFSET)
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#define rSTATUS REG(KINETIS_TPM_STATUS_OFFSET)
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#define rCOMBINE REG(KINETIS_TPM_COMBINE_OFFSET)
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#define rPOL REG(KINETIS_TPM_POL_OFFSET)
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#define rFILTER REG(KINETIS_TPM_FILTER_OFFSET)
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#define rQDCTRL REG(KINETIS_TPM_QDCTRL_OFFSET)
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#define rCONF REG(KINETIS_TPM_CONF_OFFSET)
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/*
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* Specific registers and bits used by Tone Alarm sub-functions
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*/
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# define rCNV CAT3(rC, TONE_ALARM_CHANNEL, V) /* Channel Value Register used by Tone alarm */
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# define rCNSC CAT3(rC, TONE_ALARM_CHANNEL, SC) /* Channel Status and Control Register used by Tone alarm */
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# define STATUS CAT3(TPM_STATUS_CH, TONE_ALARM_CHANNEL, F) /* Capture and Compare Status Register used by Tone alarm */
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#define CBRK_BUZZER_KEY 782097
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@ -305,7 +305,7 @@ ToneAlarm::ToneAlarm() :
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_user_tune(nullptr),
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_tune(nullptr),
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_next(nullptr),
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_cbrk(CBRK_UNINIT)
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_cbrk(CBRK_OFF)
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{
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// enable debug() calls
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//_debug_enabled = true;
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@ -361,36 +361,54 @@ ToneAlarm::init()
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px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
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#ifdef GPIO_TONE_ALARM_NEG
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px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
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#endif
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/* clock/power on our timer */
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modifyreg32(TONE_ALARM_CLOCK_POWER_REG, 0, TONE_ALARM_CLOCK_ENABLE);
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/* initialise the timer */
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rCR1 = 0;
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rCR2 = 0;
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rSMCR = 0;
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rDIER = 0;
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rCCER &= TONE_CCER; /* unlock CCMR* registers */
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rCCMR1 = TONE_CCMR1;
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rCCMR2 = TONE_CCMR2;
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rCCER = TONE_CCER;
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rDCR = 0;
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/* Select a the clock source to the TPM */
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#ifdef rBDTR // If using an advanced timer, you need to activate the output
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rBDTR = ATIM_BDTR_MOE; // enable the main output of the advanced timer
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#endif
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uint32_t regval = _REG(KINETIS_SIM_SOPT2);
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regval &= ~(SIM_SOPT2_TPMSRC_MASK);
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regval |= BOARD_TPM_CLKSRC;
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_REG(KINETIS_SIM_SOPT2) = regval;
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/* toggle the CC output each time the count passes 1 */
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TONE_rCCR = 1;
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/* default the timer to a prescale value of 1; playing notes will change this */
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rPSC = 0;
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/* Enabled System Clock Gating Control for TPM */
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/* make sure the timer is running */
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rCR1 = GTIM_CR1_CEN;
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regval = _REG(KINETIS_SIM_SCGC2);
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regval |= TONE_ALARM_SIM_SCGC2_TPM;
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_REG(KINETIS_SIM_SCGC2) = regval;
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/* disable and configure the timer */
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rSC = TPM_SC_TOF;
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rCNT = 0;
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rMOD = TONE_ALARM_COUNTER_PERIOD - 1;
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rSTATUS = (TPM_STATUS_TOF | STATUS);
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/* Configure for output compare to toggle on over flow */
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rCNSC = (TPM_CnSC_CHF | TPM_CnSC_MSA | TPM_CnSC_ELSA);
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rCOMBINE = 0;
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rPOL = 0;
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rFILTER = 0;
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rQDCTRL = 0;
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rCONF = TPM_CONF_DBGMODE_CONT;
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/* toggle the CC output each time the count passes 0 */
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rCNV = 0;
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/* enable the timer */
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rSC |= (TPM_SC_CMOD_LPTPM_CLK | TONE_ALARM_TIMER_PRESCALE);
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/* default the timer to a modulo value of 1; playing notes will change this */
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rMOD = 0;
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DEVICE_DEBUG("ready");
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return OK;
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@ -402,12 +420,14 @@ ToneAlarm::note_to_divisor(unsigned note)
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// compute the frequency first (Hz)
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float freq = 880.0f * expf(logf(2.0f) * ((int)note - 46) / 12.0f);
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float period = 0.5f / freq;
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// and the divisor, rounded to the nearest integer
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unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f;
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/* Since we use a toggle, there is an inherent divide by 2
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* So we need 2 X frequency or
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* div = fTimer / (2 * f)
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* div = (fTimer / 2) / f
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*/
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return divisor;
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return (TONE_ALARM_TIMER_FREQ >> 1) / freq;
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}
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unsigned
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@ -482,17 +502,10 @@ ToneAlarm::start_note(unsigned note)
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// compute the divisor
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unsigned divisor = note_to_divisor(note);
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// pick the lowest prescaler value that we can use
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// (note that the effective prescale value is 1 greater)
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unsigned prescale = divisor / 65536;
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rCNT = 0;
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rMOD = divisor; // load new toggle period
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// calculate the timer period for the selected prescaler value
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unsigned period = (divisor / (prescale + 1)) - 1;
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rPSC = prescale; // load new prescaler
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rARR = period; // load new toggle period
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rEGR = GTIM_EGR_UG; // force a reload of the period
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rCCER |= TONE_CCER; // enable the output
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rSC |= (TPM_SC_CMOD_LPTPM_CLK);
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// configure the GPIO to enable timer output
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px4_arch_configgpio(GPIO_TONE_ALARM);
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@ -502,7 +515,7 @@ void
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ToneAlarm::stop_note()
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{
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/* stop the current note */
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rCCER &= ~TONE_CCER;
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rSC &= ~TPM_SC_CMOD_MASK;
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/*
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* Make sure the GPIO is not driving the speaker.
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