diff --git a/src/drivers/kinetis/tone_alarm/tone_alarm.cpp b/src/drivers/kinetis/tone_alarm/tone_alarm.cpp index a58680c9f0..97972feab6 100644 --- a/src/drivers/kinetis/tone_alarm/tone_alarm.cpp +++ b/src/drivers/kinetis/tone_alarm/tone_alarm.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2016 PX4 Development Team. All rights reserved. + * Copyright (C) 2017 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -87,6 +87,7 @@ */ #include +#include #include #include @@ -107,17 +108,16 @@ #include #include -#include -/* TODO:Determin the correct type of timer to use. - * TODO:This is stubbed out leving the code intact to document the needed - * mechinsm for porting. - */ - -//#include +#include "kinetis.h" +#include "chip/kinetis_sim.h" +#include "kinetis_tpm.h" #include #include +#define CAT3_(A, B, C) A##B##C +#define CAT3(A, B, C) CAT3_(A, B, C) + /* Check that tone alarm and HRT timers are different */ #if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER) # if TONE_ALARM_TIMER == HRT_TIMER @@ -125,73 +125,73 @@ # endif #endif -# define TONE_ALARM_CLOCK 1000000 - -#if TONE_ALARM_TIMER == 1 -//# define TONE_ALARM_BASE STM32_TIM1_BASE -//# define TONE_ALARM_CLOCK 1000000 -//# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR -//# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM1EN -//# ifdef CONFIG_STM32_TIM1 -//# error Must not set CONFIG_STM32_TIM1 when TONE_ALARM_TIMER is 1 -//# endif -//#elif TONE_ALARM_TIMER == 2 -#else -//# error Must set TONE_ALARM_TIMER to one of the timers between 1 and 11 (inclusive) to use this driver. -#endif - -#if TONE_ALARM_CHANNEL == 1 -# define TONE_CCMR1 (3 << 4) -# define TONE_CCMR2 0 -# define TONE_CCER (1 << 0) -# define TONE_rCCR rCCR1 -#elif TONE_ALARM_CHANNEL == 2 -# define TONE_CCMR1 (3 << 12) -# define TONE_CCMR2 0 -# define TONE_CCER (1 << 4) -# define TONE_rCCR rCCR2 -#elif TONE_ALARM_CHANNEL == 3 -# define TONE_CCMR1 0 -# define TONE_CCMR2 (3 << 4) -# define TONE_CCER (1 << 8) -# define TONE_rCCR rCCR3 -#elif TONE_ALARM_CHANNEL == 4 -# define TONE_CCMR1 0 -# define TONE_CCMR2 (3 << 12) -# define TONE_CCER (1 << 12) -# define TONE_rCCR rCCR4 -#else -# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver. -#endif /* - * Timer register accessors - */ -static volatile uint32_t dummy[18]; -#define REG(_reg) (*(volatile uint32_t *)(&dummy[(_reg)])) -#undef modifyreg32 -#define modifyreg32(reg,clr,set) -#define GTIM_CR1_CEN 0 -#define GTIM_EGR_UG 0 +* Period of the free-running counter, in microseconds. +*/ +#define TONE_ALARM_COUNTER_PERIOD 65536 -# define rCR1 REG(0) -# define rCR2 REG(1) -# define rSMCR REG(2) -# define rDIER REG(3) -# define rSR REG(4) -# define rEGR REG(5) -# define rCCMR1 REG(6) -# define rCCMR2 REG(7) -# define rCCER REG(8) -# define rCNT REG(9) -# define rPSC REG(10) -# define rARR REG(11) -# define rCCR1 REG(12) -# define rCCR2 REG(13) -# define rCCR3 REG(14) -# define rCCR4 REG(15) -# define rDCR REG(16) -# define rDMAR REG(17) +/* Tone Alarm configuration */ + +#define TONE_ALARM_TIMER_CLOCK BOARD_TPM_FREQ /* The input clock frequency to the TPM block */ +#define TONE_ALARM_TIMER_BASE CAT(CAT(KINETIS_TPM, TONE_ALARM_TIMER),_BASE) /* The Base address of the TPM */ +#define TONE_ALARM_TIMER_VECTOR CAT(KINETIS_IRQ_TPM, TONE_ALARM_TIMER) /* The TPM Interrupt vector */ +#define TONE_ALARM_SIM_SCGC2_TPM CAT(SIM_SCGC2_TPM, TONE_ALARM_TIMER) /* The Clock Gating enable bit for this TPM */ +#define TONE_ALARM_TIMER_PRESCALE TPM_SC_PS_DIV16 /* The constant Prescaler */ + +#if TONE_ALARM_TIMER == 1 && defined(CONFIG_KINETIS_TPM1) +# error must not set CONFIG_KINETIS_TPM1=y and TONE_ALARM_TIMER=1 +#elif TONE_ALARM_TIMER == 2 && defined(CONFIG_KINETIS_TPM2) +# error must not set CONFIG_STM32_TIM2=y and TONE_ALARM_TIMER=2 +#endif + + +# define TONE_ALARM_TIMER_FREQ (BOARD_TPM_FREQ/(1 << (TONE_ALARM_TIMER_PRESCALE >> TPM_SC_PS_SHIFT))) + +/* +* Toan Alarm clock must be a multiple of 1MHz greater than 1MHz +*/ +#if (TONE_ALARM_TIMER_CLOCK % TONE_ALARM_TIMER_FREQ) != 0 +# error TONE_ALARM_TIMER_CLOCK must be a multiple of 1MHz +#endif +#if TONE_ALARM_TIMER_CLOCK <= TONE_ALARM_TIMER_FREQ +# error TONE_ALARM_TIMER_CLOCK must be greater than 1MHz +#endif + +#if (TONE_ALARM_CHANNEL != 0) && (TONE_ALARM_CHANNEL != 1) +# error TONE_ALARM_CHANNEL must be a value between 0 and 1 +#endif + + +/* Register accessors */ + +#define _REG(_addr) (*(volatile uint32_t *)(_addr)) + +/* Timer register accessors */ + +#define REG(_reg) _REG(TONE_ALARM_TIMER_BASE + (_reg)) + +#define rSC REG(KINETIS_TPM_SC_OFFSET) +#define rCNT REG(KINETIS_TPM_CNT_OFFSET) +#define rMOD REG(KINETIS_TPM_MOD_OFFSET) +#define rC0SC REG(KINETIS_TPM_C0SC_OFFSET) +#define rC0V REG(KINETIS_TPM_C0V_OFFSET) +#define rC1SC REG(KINETIS_TPM_C1SC_OFFSET) +#define rC1V REG(KINETIS_TPM_C1V_OFFSET) +#define rSTATUS REG(KINETIS_TPM_STATUS_OFFSET) +#define rCOMBINE REG(KINETIS_TPM_COMBINE_OFFSET) +#define rPOL REG(KINETIS_TPM_POL_OFFSET) +#define rFILTER REG(KINETIS_TPM_FILTER_OFFSET) +#define rQDCTRL REG(KINETIS_TPM_QDCTRL_OFFSET) +#define rCONF REG(KINETIS_TPM_CONF_OFFSET) + +/* +* Specific registers and bits used by Tone Alarm sub-functions +*/ + +# define rCNV CAT3(rC, TONE_ALARM_CHANNEL, V) /* Channel Value Register used by Tone alarm */ +# define rCNSC CAT3(rC, TONE_ALARM_CHANNEL, SC) /* Channel Status and Control Register used by Tone alarm */ +# define STATUS CAT3(TPM_STATUS_CH, TONE_ALARM_CHANNEL, F) /* Capture and Compare Status Register used by Tone alarm */ #define CBRK_BUZZER_KEY 782097 @@ -305,7 +305,7 @@ ToneAlarm::ToneAlarm() : _user_tune(nullptr), _tune(nullptr), _next(nullptr), - _cbrk(CBRK_UNINIT) + _cbrk(CBRK_OFF) { // enable debug() calls //_debug_enabled = true; @@ -361,36 +361,54 @@ ToneAlarm::init() px4_arch_configgpio(GPIO_TONE_ALARM_IDLE); #ifdef GPIO_TONE_ALARM_NEG - px4_arch_configgpio(GPIO_TONE_ALARM_NEG); #endif - /* clock/power on our timer */ - modifyreg32(TONE_ALARM_CLOCK_POWER_REG, 0, TONE_ALARM_CLOCK_ENABLE); - /* initialise the timer */ - rCR1 = 0; - rCR2 = 0; - rSMCR = 0; - rDIER = 0; - rCCER &= TONE_CCER; /* unlock CCMR* registers */ - rCCMR1 = TONE_CCMR1; - rCCMR2 = TONE_CCMR2; - rCCER = TONE_CCER; - rDCR = 0; + /* Select a the clock source to the TPM */ -#ifdef rBDTR // If using an advanced timer, you need to activate the output - rBDTR = ATIM_BDTR_MOE; // enable the main output of the advanced timer -#endif + uint32_t regval = _REG(KINETIS_SIM_SOPT2); + regval &= ~(SIM_SOPT2_TPMSRC_MASK); + regval |= BOARD_TPM_CLKSRC; + _REG(KINETIS_SIM_SOPT2) = regval; - /* toggle the CC output each time the count passes 1 */ - TONE_rCCR = 1; - /* default the timer to a prescale value of 1; playing notes will change this */ - rPSC = 0; + /* Enabled System Clock Gating Control for TPM */ - /* make sure the timer is running */ - rCR1 = GTIM_CR1_CEN; + regval = _REG(KINETIS_SIM_SCGC2); + regval |= TONE_ALARM_SIM_SCGC2_TPM; + _REG(KINETIS_SIM_SCGC2) = regval; + + /* disable and configure the timer */ + + rSC = TPM_SC_TOF; + + rCNT = 0; + rMOD = TONE_ALARM_COUNTER_PERIOD - 1; + + rSTATUS = (TPM_STATUS_TOF | STATUS); + + /* Configure for output compare to toggle on over flow */ + + rCNSC = (TPM_CnSC_CHF | TPM_CnSC_MSA | TPM_CnSC_ELSA); + + rCOMBINE = 0; + rPOL = 0; + rFILTER = 0; + rQDCTRL = 0; + rCONF = TPM_CONF_DBGMODE_CONT; + + /* toggle the CC output each time the count passes 0 */ + + rCNV = 0; + + /* enable the timer */ + + rSC |= (TPM_SC_CMOD_LPTPM_CLK | TONE_ALARM_TIMER_PRESCALE); + + + /* default the timer to a modulo value of 1; playing notes will change this */ + rMOD = 0; DEVICE_DEBUG("ready"); return OK; @@ -402,12 +420,14 @@ ToneAlarm::note_to_divisor(unsigned note) // compute the frequency first (Hz) float freq = 880.0f * expf(logf(2.0f) * ((int)note - 46) / 12.0f); - float period = 0.5f / freq; - // and the divisor, rounded to the nearest integer - unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f; + /* Since we use a toggle, there is an inherent divide by 2 + * So we need 2 X frequency or + * div = fTimer / (2 * f) + * div = (fTimer / 2) / f + */ - return divisor; + return (TONE_ALARM_TIMER_FREQ >> 1) / freq; } unsigned @@ -482,17 +502,10 @@ ToneAlarm::start_note(unsigned note) // compute the divisor unsigned divisor = note_to_divisor(note); - // pick the lowest prescaler value that we can use - // (note that the effective prescale value is 1 greater) - unsigned prescale = divisor / 65536; + rCNT = 0; + rMOD = divisor; // load new toggle period - // calculate the timer period for the selected prescaler value - unsigned period = (divisor / (prescale + 1)) - 1; - - rPSC = prescale; // load new prescaler - rARR = period; // load new toggle period - rEGR = GTIM_EGR_UG; // force a reload of the period - rCCER |= TONE_CCER; // enable the output + rSC |= (TPM_SC_CMOD_LPTPM_CLK); // configure the GPIO to enable timer output px4_arch_configgpio(GPIO_TONE_ALARM); @@ -502,7 +515,7 @@ void ToneAlarm::stop_note() { /* stop the current note */ - rCCER &= ~TONE_CCER; + rSC &= ~TPM_SC_CMOD_MASK; /* * Make sure the GPIO is not driving the speaker.