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bertos/cpu/arm/drv/stepper_at91.h

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+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
+ * All Rights Reserved.
+ * -->
+ *
+ * \brief Stepper hardware-specific definitions
+ *
+ *
+ * \author Daniele Basile <asterix@develer.com>
+ */
+
+
+#include <cfg/compiler.h>
+#include <cfg/macros.h>
+#include <drv/stepper.h>
+#include <io/arm.h>
+
+/**
+ * Setting master clock prescaler for all timer couter
+ *
+ * You could choise one of these:
+ * - TC_CLKS_MCK2: Selects MCK / 2
+ * - TC_CLKS_MCK8: Selects MCK / 8
+ * - TC_CLKS_MCK32: Selects MCK / 32
+ * - TC_CLKS_MCK128: Selects MCK / 128
+ * - TC_CLKS_MCK1024: Selects MCK / 1024
+ */
+#if STEPPER_PRESCALER_LOG2 == 1
+	#define STEPPER_MCK_PRESCALER TC_CLKS_MCK2
+#elif STEPPER_PRESCALER_LOG2 == 3
+	#define STEPPER_MCK_PRESCALER TC_CLKS_MCK8
+#elif STEPPER_PRESCALER_LOG2 == 5
+	#define STEPPER_MCK_PRESCALER TC_CLKS_MCK32
+#elif STEPPER_PRESCALER_LOG2 == 7
+	#define STEPPER_MCK_PRESCALER TC_CLKS_MCK128
+#elif STEPPER_PRESCALER_LOG2 == 10
+	#define STEPPER_MCK_PRESCALER TC_CLKS_MCK1024
+#else
+	#error Unsupported stepper prescaler value.
+#endif
+
+/**
+ * Timer counter hw enumeration.
+ */
+enum
+{
+	TC_TIOA0 = 0,
+	TC_TIOB0,
+	TC_TIOA1,
+	TC_TIOB1,
+	TC_TIOA2,
+	TC_TIOB2,
+
+	TC_CNT
+};
+
+/**
+ * IRQ callback function type definition.
+ */
+typedef void (*irq_t)(void);
+
+/**
+ * Timer contex structure.
+ */
+typedef struct TimerCounter
+{
+	int timer_id;                  ///< Timer counter ID
+	uint32_t blk_ctrl_set;         ///< Control block setting for this timer
+	reg32_t *chl_mode_reg;         ///< Channel mode register
+	reg32_t *chl_ctrl_reg;         ///< Channel control register
+	reg32_t *comp_reg;             ///< Compare register
+	reg32_t *comp_c_reg;           ///< C compare register
+	reg32_t *count_val_reg;        ///< Current timer counter value
+	uint32_t comp_effect_mask;     ///< Bit mask for TIO register compare effects
+	uint32_t comp_effect_set;      ///< Set TIO on register compare event
+	uint32_t comp_effect_clear;    ///< Clear TIO on register compare event
+	uint32_t comp_effect_c_mask;   ///< Bit mask for TIO on C register compare effects
+	uint32_t comp_effect_c_clear;  ///< Clear TIO on C register compare event
+	uint32_t ext_event_set;        ///< Setting for extern event trigger for TIOB
+	reg32_t *irq_enable_reg;       ///< Enable interrupt register
+	reg32_t *irq_disable_reg;      ///< Disable interrupt register
+	uint32_t irq_set_mask;         ///< IRQ flag bit for select TIO
+	reg32_t *irq_mask_reg;         ///< IRQ mask register
+	irq_t isr;                     ///< IRQ handler
+	reg32_t *status_reg;           ///< Timer status register
+	int tio_pin;                   ///< Timer I/O pin
+	stepper_isr_t callback;        ///< Interrupt callback pointer
+	struct Stepper *motor;         ///< Stepper context structure
+
+} TimerCounter;
+
+/**
+ * Enable interrupt for timer counter compare event.
+ */
+INLINE void stepper_tc_irq_enable(struct TimerCounter *timer)
+{
+	*timer->irq_enable_reg = timer->irq_set_mask;
+}
+
+/**
+ * Disable interrupt for timer counter compare event.
+ */
+INLINE void  stepper_tc_irq_disable(struct TimerCounter *timer)
+{
+	*timer->irq_disable_reg = timer->irq_set_mask;
+}
+
+/**
+ * Set delay for next interrupt compare event.
+ */
+INLINE void  stepper_tc_setDelay(struct TimerCounter *timer, stepper_time_t delay)
+{
+	*timer->comp_reg += delay;
+}
+
+
+/**
+ * Set delay for next interrupt compare event.
+ */
+INLINE void  stepper_tc_resetTimer(struct TimerCounter *timer)
+{
+	*timer->comp_reg = 0;
+}
+
+/**
+ * Programm timer counter to generate a pulse on select TIO output.
+ */
+INLINE void FAST_FUNC stepper_tc_doPulse(struct TimerCounter *timer)
+{
+	*timer->chl_mode_reg &= ~timer->comp_effect_mask;
+	*timer->chl_mode_reg |= timer->comp_effect_set;
+}
+
+/**
+ * Programm timer counter to not generate a pulse on select TIO output.
+ */
+INLINE void FAST_FUNC stepper_tc_skipPulse(struct TimerCounter *timer)
+{
+	*timer->chl_mode_reg &= ~timer->comp_effect_mask;
+}
+
+void stepper_tc_setup(int index, stepper_isr_t callback, struct Stepper *motor);
+void stepper_tc_init(void);
+
+/*
+ * Test the hardware timer counter on board.
+ * This test generate a square waveform through irq, setting
+ * the timer register.
+ */
+void stepper_timer_test_brute(void);
+/*
+ * Test the timer driver structure.
+ * This test generate a square waveform through irq.
+ * The irq callback is programmable, and all timer setting
+ * are save in one data structure. Every pulse is generate through
+ * a call of this irq callback.
+ */
+void stepper_timer_test_prestepper(struct Stepper *local_motor, struct StepperConfig *local_cfg, int index);