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kinetis:Implemented Tone Alarm using TPM timers

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This commit is contained in:
David Sidrane
2017-09-29 10:13:51 -04:00
committed by Daniel Agar
parent 6e2885cc4e
commit 520850f5f4
1 changed files with 123 additions and 110 deletions
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src/drivers/kinetis/tone_alarm/tone_alarm.cpp
+123 -110
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@@ -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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -87,6 +87,7 @@
*/ */
#include <px4_config.h> #include <px4_config.h>
#include <systemlib/px4_macros.h>
#include <debug.h> #include <debug.h>
#include <drivers/device/device.h> #include <drivers/device/device.h>
@@ -107,17 +108,16 @@
#include <board_config.h> #include <board_config.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <kinetis.h> #include "kinetis.h"
/* TODO:Determin the correct type of timer to use. #include "chip/kinetis_sim.h"
* TODO:This is stubbed out leving the code intact to document the needed #include "kinetis_tpm.h"
* mechinsm for porting.
*/
//#include <kinetis_ftm.h>
#include <systemlib/err.h> #include <systemlib/err.h>
#include <systemlib/circuit_breaker.h> #include <systemlib/circuit_breaker.h>
#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 */ /* Check that tone alarm and HRT timers are different */
#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER) #if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
# if TONE_ALARM_TIMER == HRT_TIMER # if TONE_ALARM_TIMER == HRT_TIMER
@@ -125,73 +125,73 @@
# endif # endif
#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 * Period of the free-running counter, in microseconds.
*/ */
static volatile uint32_t dummy[18]; #define TONE_ALARM_COUNTER_PERIOD 65536
#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
# define rCR1 REG(0) /* Tone Alarm configuration */
# define rCR2 REG(1)
# define rSMCR REG(2) #define TONE_ALARM_TIMER_CLOCK BOARD_TPM_FREQ /* The input clock frequency to the TPM block */
# define rDIER REG(3) #define TONE_ALARM_TIMER_BASE CAT(CAT(KINETIS_TPM, TONE_ALARM_TIMER),_BASE) /* The Base address of the TPM */
# define rSR REG(4) #define TONE_ALARM_TIMER_VECTOR CAT(KINETIS_IRQ_TPM, TONE_ALARM_TIMER) /* The TPM Interrupt vector */
# define rEGR REG(5) #define TONE_ALARM_SIM_SCGC2_TPM CAT(SIM_SCGC2_TPM, TONE_ALARM_TIMER) /* The Clock Gating enable bit for this TPM */
# define rCCMR1 REG(6) #define TONE_ALARM_TIMER_PRESCALE TPM_SC_PS_DIV16 /* The constant Prescaler */
# define rCCMR2 REG(7)
# define rCCER REG(8) #if TONE_ALARM_TIMER == 1 && defined(CONFIG_KINETIS_TPM1)
# define rCNT REG(9) # error must not set CONFIG_KINETIS_TPM1=y and TONE_ALARM_TIMER=1
# define rPSC REG(10) #elif TONE_ALARM_TIMER == 2 && defined(CONFIG_KINETIS_TPM2)
# define rARR REG(11) # error must not set CONFIG_STM32_TIM2=y and TONE_ALARM_TIMER=2
# define rCCR1 REG(12) #endif
# define rCCR2 REG(13)
# define rCCR3 REG(14)
# define rCCR4 REG(15) # define TONE_ALARM_TIMER_FREQ (BOARD_TPM_FREQ/(1 << (TONE_ALARM_TIMER_PRESCALE >> TPM_SC_PS_SHIFT)))
# define rDCR REG(16)
# define rDMAR REG(17) /*
* 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 #define CBRK_BUZZER_KEY 782097
@@ -305,7 +305,7 @@ ToneAlarm::ToneAlarm() :
_user_tune(nullptr), _user_tune(nullptr),
_tune(nullptr), _tune(nullptr),
_next(nullptr), _next(nullptr),
_cbrk(CBRK_UNINIT) _cbrk(CBRK_OFF)
{ {
// enable debug() calls // enable debug() calls
//_debug_enabled = true; //_debug_enabled = true;
@@ -361,36 +361,54 @@ ToneAlarm::init()
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE); px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
#ifdef GPIO_TONE_ALARM_NEG #ifdef GPIO_TONE_ALARM_NEG
px4_arch_configgpio(GPIO_TONE_ALARM_NEG); px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
#endif #endif
/* clock/power on our timer */
modifyreg32(TONE_ALARM_CLOCK_POWER_REG, 0, TONE_ALARM_CLOCK_ENABLE);
/* initialise the timer */ /* Select a the clock source to the TPM */
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;
#ifdef rBDTR // If using an advanced timer, you need to activate the output uint32_t regval = _REG(KINETIS_SIM_SOPT2);
rBDTR = ATIM_BDTR_MOE; // enable the main output of the advanced timer regval &= ~(SIM_SOPT2_TPMSRC_MASK);
#endif 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 */ /* Enabled System Clock Gating Control for TPM */
rPSC = 0;
/* make sure the timer is running */ regval = _REG(KINETIS_SIM_SCGC2);
rCR1 = GTIM_CR1_CEN; 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"); DEVICE_DEBUG("ready");
return OK; return OK;
@@ -402,12 +420,14 @@ ToneAlarm::note_to_divisor(unsigned note)
// compute the frequency first (Hz) // compute the frequency first (Hz)
float freq = 880.0f * expf(logf(2.0f) * ((int)note - 46) / 12.0f); 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 /* Since we use a toggle, there is an inherent divide by 2
unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f; * 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 unsigned
@@ -482,17 +502,10 @@ ToneAlarm::start_note(unsigned note)
// compute the divisor // compute the divisor
unsigned divisor = note_to_divisor(note); unsigned divisor = note_to_divisor(note);
// pick the lowest prescaler value that we can use rCNT = 0;
// (note that the effective prescale value is 1 greater) rMOD = divisor; // load new toggle period
unsigned prescale = divisor / 65536;
// calculate the timer period for the selected prescaler value rSC |= (TPM_SC_CMOD_LPTPM_CLK);
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
// configure the GPIO to enable timer output // configure the GPIO to enable timer output
px4_arch_configgpio(GPIO_TONE_ALARM); px4_arch_configgpio(GPIO_TONE_ALARM);
@@ -502,7 +515,7 @@ void
ToneAlarm::stop_note() ToneAlarm::stop_note()
{ {
/* stop the current note */ /* stop the current note */
rCCER &= ~TONE_CCER; rSC &= ~TPM_SC_CMOD_MASK;
/* /*
* Make sure the GPIO is not driving the speaker. * Make sure the GPIO is not driving the speaker.