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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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imxrt: tone_alarm: Add FlexPWM based Tone alarm driver
This commit is contained in:
Peter van der Perk
committed by
Daniel Agar
Daniel Agar
parent
a7e4000861
commit
5d29c7811b
@@ -41,15 +41,155 @@
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#include <systemlib/px4_macros.h>
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#include "chip.h"
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#ifdef TONE_ALARM_FLEXPWM
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#include "hardware/imxrt_flexpwm.h"
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#else
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#include "hardware/imxrt_gpt.h"
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#endif
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#include "imxrt_periphclks.h"
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#define CAT4_(A, B, C, D) A##B##C##D
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#define CAT4(A, B, C, D) CAT4_(A, B, C, D)
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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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#define CAT2_(A, B) A##B
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#define CAT2(A, B) CAT2_(A, B)
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#ifdef TONE_ALARM_FLEXPWM
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/*
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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 4294967296
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/* Tone Alarm configuration */
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#define TONE_ALARM_TIMER_CLOCK BOARD_GPT_FREQUENCY /* The input clock frequency to the GPT block */
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#define TONE_ALARM_TIMER_BASE CAT3(IMXRT_FLEXPWM, TONE_ALARM_TIMER,_BASE) /* The Base address of the GPT */
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#define TONE_ALARM_TIMER_VECTOR CAT4(IMXRT_IRQ_FLEXPWM, TONE_ALARM_TIMER, _, TONE_ALARM_CHANNEL) /* The GPT Interrupt vector */
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#if TONE_ALARM_TIMER == 1
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# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm1() /* The Clock Gating macro for this PWM */
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#elif TONE_ALARM_TIMER == 2
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# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm2() /* The Clock Gating macro for this PWM */
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#elif TONE_ALARM_TIMER == 3
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# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm3() /* The Clock Gating macro for this PWM */
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#elif TONE_ALARM_TIMER == 4
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# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm4() /* The Clock Gating macro for this PWM */
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#endif
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# define TONE_ALARM_TIMER_FREQ 1000000
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#define SM_SPACING (IMXRT_FLEXPWM_SM1CNT_OFFSET-IMXRT_FLEXPWM_SM0CNT_OFFSET)
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/* Register accessors */
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#define _REG(_addr) (*(volatile uint16_t *)(_addr))
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#define _REG16(_base, _reg) (*(volatile uint16_t *)(_base + _reg))
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#define REG(_tmr, _sm, _reg) _REG16(TONE_ALARM_TIMER_BASE + ((_sm) * SM_SPACING), (_reg))
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#define rINIT(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0INIT_OFFSET) /* Initial Count Register */
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#define rCTRL(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0CTRL_OFFSET) /* Control Register */
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#define rCTRL2(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0CTRL2_OFFSET) /* Control 2 Register */
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#define rFSTS0(_tim) REG(_tim, 0, IMXRT_FLEXPWM_FSTS0_OFFSET) /* Fault Status Register */
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#define rVAL0(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL0_OFFSET) /* Value Register 0 */
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#define rVAL1(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL1_OFFSET) /* Value Register 1 */
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#define rVAL2(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL2_OFFSET) /* Value Register 2 */
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#define rVAL3(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL3_OFFSET) /* Value Register 3 */
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#define rVAL4(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL4_OFFSET) /* Value Register 4 */
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#define rVAL5(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL5_OFFSET) /* Value Register 5 */
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#define rFFILT0(_tim) REG(_tim, 0, IMXRT_FLEXPWM_FFILT0_OFFSET) /* Fault Filter Register */
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#define rDISMAP0(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0DISMAP0_OFFSET) /* Fault Disable Mapping Register 0 */
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#define rDISMAP1(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0DISMAP1_OFFSET) /* Fault Disable Mapping Register 1 */
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#define rOUTEN(_tim) REG(_tim, 0, IMXRT_FLEXPWM_OUTEN_OFFSET) /* Output Enable Register */
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#define rDTSRCSEL(_tim) REG(_tim, 0, IMXRT_FLEXPWM_DTSRCSEL_OFFSET) /* PWM Source Select Register */
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#define rMCTRL(_tim) REG(_tim, 0, IMXRT_FLEXPWM_MCTRL_OFFSET) /* Master Control Register */
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namespace ToneAlarmInterface
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{
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void init()
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{
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#if defined(TONE_ALARM_TIMER)
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/* configure the GPIO to the idle state */
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px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
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/* Enable the Module clock */
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TONE_ALARM_CLOCK_ALL();
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/* Clear all Faults */
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rFSTS0(TONE_ALARM_TIMER) = FSTS_FFLAG_MASK;
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rMCTRL(TONE_ALARM_TIMER) |= (1 << (TONE_ALARM_CHANNEL + MCTRL_CLDOK_SHIFT));
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rCTRL2(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
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rCTRL(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
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/* Edge aligned at 0 */
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rINIT(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
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rVAL0(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
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rVAL2(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
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rVAL4(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
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rFFILT0(TONE_ALARM_TIMER) &= ~FFILT_FILT_PER_MASK;
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rDISMAP0(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0xf000;
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rDISMAP1(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0xf000;
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rOUTEN(TONE_ALARM_TIMER) |= TONE_ALARM_FLEXPWM == PWMA_VAL ? OUTEN_PWMA_EN(1 << TONE_ALARM_CHANNEL)
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: OUTEN_PWMB_EN(1 << TONE_ALARM_CHANNEL);
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rDTSRCSEL(TONE_ALARM_TIMER) = 0;
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rMCTRL(TONE_ALARM_TIMER) |= MCTRL_LDOK(1 << TONE_ALARM_CHANNEL);
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#endif /* TONE_ALARM_TIMER */
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}
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hrt_abstime start_note(unsigned frequency)
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{
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hrt_abstime time_started = 0;
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#if defined(TONE_ALARM_TIMER)
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rMCTRL(TONE_ALARM_TIMER) |= (1 << (TONE_ALARM_CHANNEL + MCTRL_CLDOK_SHIFT));
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rVAL1(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = (TONE_ALARM_TIMER_FREQ / frequency) - 1;
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if (TONE_ALARM_FLEXPWM == PWMA_VAL) {
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rVAL3(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = ((TONE_ALARM_TIMER_FREQ / frequency) / 2);
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} else {
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rVAL5(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = ((TONE_ALARM_TIMER_FREQ / frequency) / 2);
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}
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rMCTRL(TONE_ALARM_TIMER) |= MCTRL_LDOK(1 << TONE_ALARM_CHANNEL) | MCTRL_RUN(1 << TONE_ALARM_CHANNEL);
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// configure the GPIO to enable timer output
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irqstate_t flags = enter_critical_section();
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time_started = hrt_absolute_time();
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px4_arch_configgpio(GPIO_TONE_ALARM);
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leave_critical_section(flags);
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#endif /* TONE_ALARM_TIMER */
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return time_started;
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}
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void stop_note()
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{
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#if defined(TONE_ALARM_TIMER)
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/* stop the current note */
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rMCTRL(TONE_ALARM_TIMER) &= ~MCTRL_RUN(1 << TONE_ALARM_CHANNEL);
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/*
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* Make sure the GPIO is not driving the speaker.
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*/
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px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
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#endif /* TONE_ALARM_TIMER */
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}
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} /* namespace ToneAlarmInterface */
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#else
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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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@@ -134,8 +274,6 @@
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#define CR_OM CAT3(GPT_CR_OM, TONE_ALARM_CHANNEL,_TOGGLE) /* Output Compare mode */
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#define CBRK_BUZZER_KEY 782097
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namespace ToneAlarmInterface
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{
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@@ -215,3 +353,5 @@ void stop_note()
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}
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} /* namespace ToneAlarmInterface */
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#endif
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