This patch performs following things:
- adds registers to appropriate header file
- Changes APIs to build RTEMS successful
I have tested PWM driver with RGB LED
https://youtu.be/jhjZO9amdSA
This code generate more accurate frequency compare to TI SW code.
There is licence issue with TISW as well. So BBBIO code has been added
from
https://github.com/VegetableAvenger/BBBIOlib/blob/master/BBBio_lib/BBBiolib_PWMSS.c
---
c/src/lib/libbsp/arm/beagle/Makefile.am | 4 +
c/src/lib/libbsp/arm/beagle/include/bbb-pwm.h | 34 +-
c/src/lib/libbsp/arm/beagle/preinstall.am | 4 +
c/src/lib/libbsp/arm/beagle/pwm/pwm.c | 665 +++++++++++++-------------
c/src/lib/libcpu/arm/shared/include/am335x.h | 82 +++-
5 files changed, 443 insertions(+), 346 deletions(-)
diff --git a/c/src/lib/libbsp/arm/beagle/Makefile.am
b/c/src/lib/libbsp/arm/beagle/Makefile.am
index 20d3092..3443cbc 100644
--- a/c/src/lib/libbsp/arm/beagle/Makefile.am
+++ b/c/src/lib/libbsp/arm/beagle/Makefile.am
@@ -41,6 +41,7 @@ include_bsp_HEADERS += include/irq.h
include_bsp_HEADERS += include/i2c.h
include_bsp_HEADERS += include/beagleboneblack.h
include_bsp_HEADERS += include/bbb-gpio.h
+include_bsp_HEADERS += include/bbb-pwm.h
include_libcpu_HEADERS =
include_libcpu_HEADERS += ../../../libcpu/arm/shared/include/arm-cp15.h
@@ -117,6 +118,9 @@ libbsp_a_SOURCES += misc/i2c.c
# GPIO
libbsp_a_SOURCES += gpio/bbb-gpio.c
+# PWM
+libbsp_a_SOURCES += pwm/pwm.c
+
#RTC
libbsp_a_SOURCES += rtc.c
libbsp_a_SOURCES += ../../shared/tod.c
diff --git a/c/src/lib/libbsp/arm/beagle/include/bbb-pwm.h
b/c/src/lib/libbsp/arm/beagle/include/bbb-pwm.h
index 64eb4c0..8f140c0 100644
--- a/c/src/lib/libbsp/arm/beagle/include/bbb-pwm.h
+++ b/c/src/lib/libbsp/arm/beagle/include/bbb-pwm.h
@@ -1,3 +1,23 @@
+/**
+ * @file
+ *
+ * @ingroup arm_beagle
+ *
+ * @brief BeagleBone Black BSP definitions.
+ */
+
+/**
+ * Copyright (c) 2016 Punit Vara <punitv...@gmail.com>
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+/** Some constants are taken from
+ *
https://github.com/VegetableAvenger/BBBIOlib/blob/master/BBBio_lib/BBBiolib_PWMSS.h
+ */
+
#ifndef LIBBSP_ARM_BEAGLE_BBB_PWM_H
#define LIBBSP_ARM_BEAGLE_BBB_PWM_H
@@ -26,13 +46,13 @@ extern "C" {
#define EPWM_GROUP2 2
#define EPWM_GROUP0 0
-int BBBIO_PWMSS_Setting(unsigned int PWMID , float HZ ,float dutyA ,float
dutyB);
-int BBBIO_PWM_Init();
-void BBBIO_PWM_Release();
-int BBBIO_PWMSS_Status(unsigned int PWMID);
-void BBBIO_ehrPWM_Enable(unsigned int PWMSS_ID);
-void BBBIO_ehrPWM_Disable(unsigned int PWMSS_ID);
-
+/**
+ * @brief BeagleBone Black PWM API.
+ */
+bool beagle_pwm_init(uint32_t pwmss_id);
+int beagle_pwmss_setting(uint32_t pwm_id, float pwm_freq, float dutyA, float
dutyB);
+bool beagle_ehrpwm_enable(uint32_t pwmid);
+bool beagle_ehrpwm_disable(uint32_t pwmid);
#ifdef __cplusplus
}
diff --git a/c/src/lib/libbsp/arm/beagle/preinstall.am
b/c/src/lib/libbsp/arm/beagle/preinstall.am
index 3701a2b..8a7ff8b 100644
--- a/c/src/lib/libbsp/arm/beagle/preinstall.am
+++ b/c/src/lib/libbsp/arm/beagle/preinstall.am
@@ -118,6 +118,10 @@ $(PROJECT_INCLUDE)/bsp/bbb-gpio.h: include/bbb-gpio.h
$(PROJECT_INCLUDE)/bsp/$(d
$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/bbb-gpio.h
PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/bbb-gpio.h
+$(PROJECT_INCLUDE)/bsp/bbb-pwm.h: include/bbb-pwm.h
$(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/bbb-pwm.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/bbb-pwm.h
+
$(PROJECT_INCLUDE)/libcpu/arm-cp15.h:
../../../libcpu/arm/shared/include/arm-cp15.h
$(PROJECT_INCLUDE)/libcpu/$(dirstamp)
$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/libcpu/arm-cp15.h
PREINSTALL_FILES += $(PROJECT_INCLUDE)/libcpu/arm-cp15.h
diff --git a/c/src/lib/libbsp/arm/beagle/pwm/pwm.c
b/c/src/lib/libbsp/arm/beagle/pwm/pwm.c
index 5cb3b4c..a4341a6 100644
--- a/c/src/lib/libbsp/arm/beagle/pwm/pwm.c
+++ b/c/src/lib/libbsp/arm/beagle/pwm/pwm.c
@@ -1,395 +1,384 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <sys/mman.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <time.h>
-#include "BBBiolib.h"
-/*-----------------------------------------------------------------------------------------------*/
-/*
- * PWMSS Registers
+/**
+ * @file
*
- * @Source : AM335x Technical Reference Manual ,page 1991
- * Table 15-5. PWMSS REGISTERS
+ * @ingroup arm_beagle
*
-*/
-
-#define PWMSS0_MMAP_ADDR 0x48300000
-#define PWMSS1_MMAP_ADDR 0x48302000
-#define PWMSS2_MMAP_ADDR 0x48304000
-#define PWMSS_MMAP_LEN 0x1000
-
-#define PWMSS_IDVER 0x0
-#define PWMSS_SYSCONFIG 0x4
-#define PWMSS_CLKCONFIG 0x8
-#define PWMSS_CLKSTATUS 0xC
+ * @brief Support for PWM for the BeagleBone Black.
+ */
-/* EPWM Registers
+/**
+ * Copyright (c) 2016 Punit Vara <punitvara at gmail.com>
*
- * @Source : AM335x Technical Reference Manual ,page 2084
- * Table 15-58. EPWM REGISTERS
- *
-*/
-#define EPWM_TBCTL 0x0
-#define EPWM_TBSTS 0x2
-#define EPWM_TBPHSHR 0x4
-#define EPWM_TBPHS 0x6
-#define EPWM_TBCNT 0x8
-#define EPWM_TBPRD 0xA
-#define EPWM_CMPCTL 0xE
-#define EPWM_CMPAHR 0x10
-#define EPWM_CMPA 0x12
-#define EPWM_CMPB 0x14
-#define EPWM_AQCTLA 0x16
-#define EPWM_AQCTLB 0x18
-#define EPWM_AQSFRC 0x1A
-#define EPWM_AQCSFRC 0x1C
-#define EPWM_DBCTL 0x1E
-#define EPWM_DBRED 0x20
-#define EPWM_DBFED 0x22
-/*-----------------------------------------------------------------------------------------------*/
-extern int memh;
-extern volatile unsigned int *CM_ptr; /*c ontrol module */
-volatile unsigned int *cm_per_addr;
-
-
-const unsigned int PWMSS_AddressOffset[]={PWMSS0_MMAP_ADDR,
- PWMSS1_MMAP_ADDR,
- PWMSS2_MMAP_ADDR};
-volatile unsigned int *pwmss_ptr[3] ={NULL, NULL, NULL} ;
-volatile unsigned int *epwm_ptr[3] ={NULL, NULL, NULL} ;
-volatile unsigned int *ecap_ptr[3] ={NULL, NULL, NULL} ;
-volatile unsigned int *eqep_ptr[3] ={NULL, NULL, NULL} ;
-
-#define TBCTL_CTRMODE_UP 0x0
-#define TBCTL_CTRMODE_DOWN 0x1
-#define TBCTL_CTRMODE_UPDOWN 0x2
-#define TBCTL_CTRMODE_FREEZE 0x3
-/*
-----------------------------------------------------------------------------------------------
*/
-/* PWMSS Timebase clock check
- * check the timenase clock enable or not
- *
- * @param PWMSS_ID : PWM sumsystem ID (BBBIO_PWMSS0 ,BBBIO_PWMSS1,
BBBIO_PWMSS2)
- *
- * @return : 0 for disable timebase clock , 1 for enable for timebase clock
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
*/
-static int PWMSS_TB_clock_check(unsigned int PWMSS_ID)
-{
- volatile unsigned int* reg;
- unsigned int reg_value ;
- /* Control module check */
- reg =(void *)CM_ptr + BBBIO_PWMSS_CTRL;
- reg_value = *reg ;
+/** This file is based on
+ *
https://github.com/VegetableAvenger/BBBIOlib/blob/master/BBBio_lib/BBBiolib_PWMSS.c
+ */
- return (reg_value & (1 << PWMSS_ID)) ;
+#include <libcpu/am335x.h>
+#include <stdio.h>
+#include <bsp/gpio.h>
+#include <bsp/bbb-gpio.h>
+#include <bsp.h>
+#include <bsp/bbb-pwm.h>
+
+/*
+ * @brief This function select PWM module to be enabled
+ *
+ * @param pwm_id It is the instance number of EPWM of pwm sub system.
+ *
+ * @return Base Address of respective pwm instant.
+*/
+
+static uint32_t select_pwmss(uint32_t pwm_id)
+{
+uint32_t baseAddr=0;
+ if (pwm_id == BBBIO_PWMSS0)
+ {
+ baseAddr = EPWM_0_REGS;
+ return baseAddr;
+ }
+ else if (pwm_id == BBBIO_PWMSS1)
+ {
+ baseAddr = EPWM_1_REGS;
+ return baseAddr;
+ }
+ else if (pwm_id == BBBIO_PWMSS2)
+ {
+ baseAddr = EPWM_2_REGS;
+ return baseAddr;
+ }
+ else
+ {
+ printf("Invalid PWM Id\n");
+ return 0;
+ }
}
-/*
-----------------------------------------------------------------------------------------------
*/
-/* PWM subsystem system control
- * enable or disable module clock
+/**
+ * @brief This function Enables pinmuxing for PWM module.
+ *
*
- * @param PWMSS_ID : PWM sumsystem ID (BBBIO_PWMSS0 ,BBBIO_PWMSS1,
BBBIO_PWMSS2).
- * @param enable : 0 for disable , else for enable .
+ * @param pwm_id It is the instance number of EPWM of pwmsubsystem.
*
- * @return : 1 for success , 0 for error
- */
-static int PWMSS_module_ctrl(unsigned int PWMSS_ID, int enable)
+ *
+ * @return None
+ **/
+
+static void epwm_pinmux_setup(uint32_t pwm_id)
{
- volatile unsigned int *reg = NULL;
- unsigned int module_set[] = {BBBIO_PWMSS0, BBBIO_PWMSS1, BBBIO_PWMSS2};
- unsigned int module_clk_set[] = {BBBIO_CM_PER_EPWMSS0_CLKCTRL,
BBBIO_CM_PER_EPWMSS1_CLKCTRL, BBBIO_CM_PER_EPWMSS2_CLKCTRL};
- int ret = 1;
-
- reg = (void*)cm_per_addr + module_clk_set[PWMSS_ID];
- if(enable) {
- if(PWMSS_TB_clock_check(module_set[PWMSS_ID])) {
- /* Enable module clock */
- *reg = 0x2; /* Module enable and fully functional */
- return ret;
- }
-#ifdef BBBIO_LIB_DBG
- else {
- printf("PWMSS_module_ctrl : PWMSS-%d timebase clock
disable in Control Module\n", PWMSS_ID);
- }
-#endif
- ret = 0 ;
- }
- *reg = 0x3 << 16; /* Module is disabled and cannot be accessed */
- return ret;
+ switch(pwm_id) {
+ case EPWM_GROUP2:
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_GPMC_AD(9)) =
BBB_MUXMODE(MUXMODE4);
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_GPMC_AD(8)) =
BBB_MUXMODE(MUXMODE4);
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_LCD_DATA(0)) =
BBB_MUXMODE(MUXMODE3);
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_LCD_DATA(1)) =
BBB_MUXMODE(MUXMODE3);
+ printf("Pinmux mode on \n");
+ break;
+ case EPWM_GROUP1:
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_LCD_DATA(11)) =
BBB_MUXMODE(MUXMODE2);
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_LCD_DATA(10)) =
BBB_MUXMODE(MUXMODE2);
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_GPMC_AD(2)) =
BBB_MUXMODE(MUXMODE6);
+ REG(AM335X_PADCONF_BASE + CONTROL_CONF_GPMC_AD(3)) =
BBB_MUXMODE(MUXMODE6);
+ break;
+ case EPWM_GROUP0:
+ REG(AM335X_PADCONF_BASE + AM335X_CONF_SPI0_D0) =
BBB_MUXMODE(MUXMODE3);
+ REG(AM335X_PADCONF_BASE + AM335X_CONF_SPI0_SCLK) =
BBB_MUXMODE(MUXMODE3);
+ REG(AM335X_PADCONF_BASE + AM335X_CONF_MCASP0_FSX) =
BBB_MUXMODE(MUXMODE1);
+ REG(AM335X_PADCONF_BASE + AM335X_CONF_MCASP0_ACLKX) =
BBB_MUXMODE(MUXMODE1);
+ break;
+
+ default:
+ printf("PWM output is not available on this pin\n");
+ break;
+}
+
}
-/*
-----------------------------------------------------------------------------------------------
*/
-/* PWM init
- * iolib_init will run this function automatically
+/**
+ * @brief This function Enables TBCLK(Time Base Clock) for specific
+ * EPWM instance of pwmsubsystem.
*
- * @return : 1 for success , 0 for failed
- */
+ * @param instance It is the instance number of EPWM of pwmsubsystem.
+ *
+ * @return true if successful
+ **/
-int BBBIO_PWM_Init()
+static bool pwmss_tbclk_enable(unsigned int instance)
{
- int i = 0;
-
- if (memh == 0) {
-#ifdef BBBIO_LIB_DBG
- printf("BBBIO_PWM_Init: memory not mapped?\n");
-#endif
- return 0;
- }
-
- /* Create Memory map */
- for (i = 0 ; i < 3 ; i ++) {
- pwmss_ptr[i] = mmap(0, PWMSS_MMAP_LEN, PROT_READ | PROT_WRITE,
MAP_SHARED, memh, PWMSS_AddressOffset[i]);
- if(pwmss_ptr[i] == MAP_FAILED) {
-#ifdef BBBIO_LIB_DBG
- printf("BBBIO_PWM_Init: PWMSS %d mmap failure!\n", i);
-#endif
- goto INIT_ERROR ;
- }
- ecap_ptr[i] = (void *)pwmss_ptr[i] + 0x100 ;
- eqep_ptr[i] = (void *)pwmss_ptr[i] + 0x180 ;
- epwm_ptr[i] = (void *)pwmss_ptr[i] + 0x200 ;
-
- if(!PWMSS_module_ctrl(i, 1)) {
-#ifdef BBBIO_LIB_DBG
- printf("BBBIO_PWM_Init: PWMSS %d clock failure!\n", i);
-#endif
- goto INIT_ERROR ;
- }
- }
- return 1;
+uint32_t enable_bit;
+bool is_valid = true;
+
+ if (instance == BBBIO_PWMSS0)
+ {
+ enable_bit = BBBIO_PWMSS_CTRL_PWMSS0_TBCLKEN;
+ }
+ else if (instance == BBBIO_PWMSS1)
+ {
+ enable_bit = BBBIO_PWMSS_CTRL_PWMSS1_TBCLKEN;
+ }
+ else if (instance == BBBIO_PWMSS2)
+ {
+ enable_bit = BBBIO_PWMSS_CTRL_PWMSS2_TBCLKEN;
+ }
+ else
+ {
+ is_valid = false;
+ }
+
+ if (is_valid)
+ {
+ REG(AM335X_PADCONF_BASE + BBBIO_PWMSS_CTRL) |= enable_bit;
+ }
+
+ return is_valid;
+ }
+
+/**
+ * @brief This functions enables clock for EHRPWM module in PWMSS subsystem.
+ *
+ * @param pwm_id It is the instance number of EPWM of pwm sub system.
+ *
+ * @return None.
+ *
+ **/
-INIT_ERROR :
- BBBIO_PWM_Release();
- return 0;
+static void epwm_clock_enable(uint32_t pwm_id)
+{
+ uint32_t baseAddr;
+ baseAddr = select_pwmss(pwm_id);
+ REG(baseAddr - BBBIO_EPWM_REGS + PWMSS_CLKCONFIG) |= PWMSS_CLK_EN_ACK;
}
-/*
-----------------------------------------------------------------------------------------------
*/
-void BBBIO_PWM_Release()
+/**
+ * @brief This function configures the L3 and L4_PER system clocks.
+ * It also configures the system clocks for the specified ePWMSS
+ * instance.
+ *
+ * @param pwmss_id The instance number of ePWMSS whose system clocks
+ * have to be configured.
+ *
+ * 'pwmss_id' can take one of the following values:
+ * (0 <= pwmss_id <= 2)
+ *
+ * @return None.
+ *
+ */
+
+static void module_clk_config(uint32_t pwmss_id)
{
- int i = 0;
- for(i = 0 ; i < 3 ; i ++) {
- if(pwmss_ptr[i] != NULL) {
- munmap((void *)pwmss_ptr[i], PWMSS_MMAP_LEN);
- pwmss_ptr[i] = NULL;
- ecap_ptr[i] = NULL;
- eqep_ptr[i] = NULL;
- epwm_ptr[i] = NULL;
- }
- }
+ if(pwmss_id == 0)
+ {
+ REG(BBBIO_CM_PER_ADDR + BBBIO_CM_PER_EPWMSS0_CLKCTRL) |=
+ BBBIO_CM_PER_EPWMSS0_CLKCTRL_MODULEMODE_ENABLE;
+ }
+ else if(pwmss_id == 1)
+ {
+ REG(BBBIO_CM_PER_ADDR + BBBIO_CM_PER_EPWMSS1_CLKCTRL) |=
+ BBBIO_CM_PER_EPWMSS1_CLKCTRL_MODULEMODE_ENABLE;
+ }
+ else if(pwmss_id == 2)
+ {
+ REG(BBBIO_CM_PER_ADDR + BBBIO_CM_PER_EPWMSS2_CLKCTRL) |=
+ BBBIO_CM_PER_EPWMSS2_CLKCTRL_MODULEMODE_ENABLE;
+ }
+ else
+ {
+ printf("Please enter valid pwm Id \n");
+ }
}
-/*
-----------------------------------------------------------------------------------------------
*/
-/* PWMSS status (no effect now)
- * set pluse rgument of epwm module
+/**
+ * @brief This function intilize clock and pinmuxing for pwm sub system.
*
- * @param PWMID : EPWMSS number , 0~3
- *
- * @return : 1 for success , 0 for failed
- */
-int BBBIO_PWMSS_Status(unsigned int PWMID)
+ * @param PWMSS_ID It is the instance number of EPWM of pwm sub system.
+ *
+ * @return true if successful
+ **/
+
+bool beagle_pwm_init(uint32_t pwmss_id)
{
- int param_error = 1;
- volatile unsigned int* reg;
- unsigned int reg_value ;
+ bool status = true;
+ if(pwmss_id <3 & pwmss_id >=0)
+ {
+ module_clk_config(pwmss_id);
+ epwm_pinmux_setup(pwmss_id);
+ epwm_clock_enable(pwmss_id);
+ pwmss_tbclk_enable(pwmss_id);
+ return status;
+ }
+ else {
+ status =false;
+ return status;
+ }
+}
- if (memh == 0)
- param_error = 0;
- if (PWMID > 2) /* if input is not EPWMSS 0~ WPEMSS 2 */
- param_error = 0;
- if (param_error == 0) {
-#ifdef BBBIO_LIB_DBG
- printf("BBBIO_PWM_Status: parameter error!\n");
-#endif
- return 0;
- }
- reg =(void *)CM_ptr + BBBIO_PWMSS_CTRL;
- reg_value = *reg >> PWMID & 0x01 ;
- if(reg_value == 0) {
- printf("PWMSS [%d] Timebase clock Disable , Control Module
[pwmss_ctrl register]\n", PWMID);
- }
- else {
- reg=(void *)pwmss_ptr[PWMID] + PWMSS_CLKSTATUS;
- reg_value = *reg ;
-
- printf("PWMSS [%d] :\tCLKSTOP_ACK %d , CLK_EN_ACK %d ,
CLKSTOP_ACK %d , CLK_EN_ACK %d , CLKSTOP_ACK %d , CLK_EN_ACK %d\n",
- PWMID ,
- reg_value >>9 & 0x1 ,
- reg_value >>8 & 0x1 ,
- reg_value >>5 & 0x1 ,
- reg_value >>4 & 0x1 ,
- reg_value >>1 & 0x1 ,
- reg_value >>0 & 0x1 );
- }
- return 1 ;
-}
-/*
-----------------------------------------------------------------------------------------------
*/
/* PWMSS setting
- * set pluse rgument of epwm module
+ * set pulse argument of epwm module
*
- * @param PWMID : EPWMSS number , 0~2
- * @param HZ : pluse HZ
+ * @param pwm_id : EPWMSS number , 0~2
+ * @param pwm_freq : frequency to be generated
* @param dutyA : Duty Cycle in ePWM A
* @param dutyB : Duty Cycle in ePWM B
*
* @return : 1 for success , 0 for failed
*
- * @example : BBBIO_PWMSS_Setting(0 , 50.0f , 50.0f , 25.0f);
// Generate 50HZ pwm in PWM0 ,
- *
// duty cycle is 50% for ePWM0A , 25% for ePWM0B
+ * @example : PWMSS_Setting(0 , 50.0f , 50.0f , 25.0f); //
Generate 50HZ pwm in PWM0 ,
+ *
// duty cycle is 50% for ePWM0A , 25% for ePWM0B
*
- * @Note :
- * find an number nearst 65535 for TBPRD , to improve duty
precision,
+ * @Note :
+ * find an number nearst 65535 for TBPRD , to improve duty
precision,
*
- * Using big TBPRD can increase the range of CMPA and CMPB ,
- * and it means we can get better precision on duty cycle.
+ * Using big TBPRD can increase the range of CMPA and CMPB ,
+ * and it means we can get better precision on duty cycle.
*
- * EX : 20.25% duty cycle
+ * EX : 20.25% duty cycle
* on TBPRD = 62500 , CMPA = 12656.25 ( .25 rejection) , real
duty : 20.2496% (12656 /62500)
* on TBPRD = 6250 , CMPA = 1265.625 ( .625 rejection), real
duty : 20.24% (1265 6250)
* on TBPRD = 500 , CMPA = 101.25 ( .25 rejection) , real
duty : 20.2% (101/500)
*
- * Divisor = CLKDIV * HSPCLKDIV
- * 1 TBPRD : 10 ns (default)
- * 65535 TBPRD : 655350 ns
- * 65535 TBPRD : 655350 * Divisor ns = X TBPRD : Cyclens
+ * Divisor = CLKDIV * HSPCLKDIV
+ * 1 TBPRD : 10 ns (default)
+ * 65535 TBPRD : 655350 ns
+ * 65535 TBPRD : 655350 * Divisor ns = X TBPRD : Cyclens
*
- * accrooding to that , we must find a Divisor value , let X
nearest 65535 .
- * so , Divisor must Nearest Cyclens/655350
-*/
-
-int BBBIO_PWMSS_Setting(unsigned int PWMID , float HZ ,float dutyA ,float
dutyB)
-{
- int param_error = 1;
- volatile unsigned short* reg16 ;
- if (memh == 0)
- param_error = 0;
- if (PWMID > 2) // if input is not EPWMSS 0~ WPEMSS 2
- param_error = 0;
- if (HZ < 0 )
- param_error = 0;
- if(dutyA < 0.0f || dutyA > 100.0f || dutyB < 0.0f || dutyB > 100.0f)
- param_error = 0;
-
- if (param_error == 0) {
-#ifdef BBBIO_LIB_DBG
- printf("BBBIO_PWMSS_Setting: parameter error!\n");
-#endif
- return 0;
- }
+ * accrooding to that , we must find a Divisor value , let X
nearest 65535 .
+ * so , Divisor must Nearest Cyclens/655350
+ */
- dutyA /= 100.0f ;
- dutyB /= 100.0f ;
-
- /* compute neccessary TBPRD */
- float Cyclens =0.0f ;
- float Divisor =0;
- int i , j ;
- const float CLKDIV_div[] = {1.0 ,2.0 ,4.0 ,8.0 ,16.0 ,32.0 , 64.0 ,
128.0};
- const float HSPCLKDIV_div[] ={1.0 ,2.0 ,4.0 ,6.0 ,8.0 ,10.0 , 12.0 ,
14.0};
- int NearCLKDIV =7;
- int NearHSPCLKDIV =7;
- int NearTBPRD =0;
-
- Cyclens = 1000000000.0f / HZ ; /* 10^9 / HZ , comput time per cycle
(ns) */
-
-
- Divisor = (Cyclens / 655350.0f) ; /* am335x provide (128*14)
divider , and per TBPRD means 10 ns when divider /1 ,
- * and max TBPRD is 65535 , so
, the max cycle is 128*14* 65535 *10ns
- */
-#ifdef BBBIO_LIB_DBG
- printf("Cyclens %f , Divisor %f\n", Cyclens, Divisor);
-#endif
-
- if(Divisor > (128 * 14)) {
-#ifdef BBBIO_LIB_DBG
- printf("BBBIO_PWMSS_Setting : Can't generate %f HZ \n", HZ);
-#endif
- return 0;
- }
- else {
- /* using Exhaustive Attack metho */
- for(i = 0 ; i < 8 ; i ++) {
- for(j = 0 ; j < 8 ; j ++) {
- if((CLKDIV_div[i] * HSPCLKDIV_div[j]) <
(CLKDIV_div[NearCLKDIV] * HSPCLKDIV_div[NearHSPCLKDIV]) &&
- ((CLKDIV_div[i] * HSPCLKDIV_div[j]) >
Divisor)) {
- NearCLKDIV = i ;
- NearHSPCLKDIV = j ;
- }
+int beagle_pwmss_setting(uint32_t pwm_id, float pwm_freq, float dutyA, float
dutyB)
+{
+ uint32_t baseAddr;
+ int param_error =1;
+ if(pwm_freq < 0)
+ param_error =0;
+ if(dutyA < 0.0f || dutyA > 100.0f || dutyB < 0.0f || dutyB > 100.0f)
+ param_error = 0;
+ if(param_error == 0) {
+ printf("ERROR in parameter \n");
+ }
+ dutyA /= 100.0f;
+ dutyB /= 100.0f;
+
+ /*Compute necessary TBPRD*/
+ float Cyclens = 0.0f;
+ float Divisor =0;
+ int i,j;
+ const float CLKDIV_div[] = {1.0,2.0,4.0,8.0,16.0,32.0,64.0,128.0};
+ const float HSPCLKDIV_div[] = {1.0, 2.0, 4.0, 6.0, 8.0, 10.0,12.0, 14.0};
+ int NearCLKDIV =7;
+ int NearHSPCLKDIV =7;
+ int NearTBPRD =0;
+
+ /** 10^9 /Hz compute time per cycle (ns) */
+ Cyclens = 1000000000.0f / pwm_freq;
+
+ /** am335x provide (128* 14) divider and per TBPRD means 10ns when divider
+ * and max TBPRD is 65535 so max cycle is 128 * 8 * 14 * 65535 * 10ns */
+ Divisor = (Cyclens / 655350.0f);
+
+ if(Divisor > (128 * 14)) {
+ printf("Can't generate %f HZ",pwm_freq);
+ return 0;
+ }
+ else {
+ for (i=0;i<8;i++) {
+ for(j=0 ; j<8; j++) {
+ if((CLKDIV_div[i] * HSPCLKDIV_div[j]) <
(CLKDIV_div[NearCLKDIV]
+ * HSPCLKDIV_div[NearHSPCLKDIV])
&& (CLKDIV_div[i] * HSPCLKDIV_div[j] > Divisor)) {
+ NearCLKDIV = i;
+ NearHSPCLKDIV = j;
}
}
-#ifdef BBBIO_LIB_DBG
- printf("nearest CLKDIV %f , HSPCLKDIV %f\n"
,CLKDIV_div[NearCLKDIV] ,HSPCLKDIV_div[NearHSPCLKDIV]);
-#endif
- NearTBPRD = (Cyclens / (10.0 *CLKDIV_div[NearCLKDIV]
*HSPCLKDIV_div[NearHSPCLKDIV])) ;
-
-#ifdef BBBIO_LIB_DBG
- printf("nearest TBPRD %d, %f %f\n ",NearTBPRD,NearTBPRD *
dutyA, NearTBPRD * dutyB);
-#endif
-
- /* setting clock diver and freeze time base */
- reg16=(void*)epwm_ptr[PWMID] +EPWM_TBCTL;
- *reg16 = TBCTL_CTRMODE_FREEZE | (NearCLKDIV << 10) |
(NearHSPCLKDIV << 7);
-
- /* setting duty A and duty B */
- reg16=(void*)epwm_ptr[PWMID] +EPWM_CMPB;
- *reg16 =(unsigned short)((float)NearTBPRD * dutyB);
-
- reg16=(void*)epwm_ptr[PWMID] +EPWM_CMPA;
- *reg16 =(unsigned short)((float)NearTBPRD * dutyA);
-
- reg16=(void*)epwm_ptr[PWMID] +EPWM_TBPRD;
- *reg16 =(unsigned short)NearTBPRD;
-
- /* reset time base counter */
- reg16 = (void *)epwm_ptr[PWMID] + EPWM_TBCNT;
- *reg16 = 0;
}
- return 1;
+ baseAddr = select_pwmss(pwm_id);
+ REG16(baseAddr + EPWM_TBCTL) &= ~(TBCTL_CLKDIV_MASK | TBCTL_HSPCLKDIV_MASK);
+
+ REG16(baseAddr + EPWM_TBCTL) = (REG16(baseAddr + EPWM_TBCTL) &
+ (~EPWM_TBCTL_CLKDIV)) | ((NearCLKDIV
+ << EPWM_TBCTL_CLKDIV_SHIFT) & EPWM_TBCTL_CLKDIV);
+
+ REG16(baseAddr + EPWM_TBCTL) = (REG16(baseAddr + EPWM_TBCTL) &
+ (~EPWM_TBCTL_HSPCLKDIV)) | ((NearHSPCLKDIV <<
+ EPWM_TBCTL_HSPCLKDIV_SHIFT) & EPWM_TBCTL_HSPCLKDIV);
+
+ NearTBPRD = (Cyclens / (10.0 * CLKDIV_div[NearCLKDIV] *
HSPCLKDIV_div[NearHSPCLKDIV]));
+
+ REG16(baseAddr + EPWM_TBCTL) = (REG16(baseAddr + EPWM_TBCTL) &
+ (~EPWM_PRD_LOAD_SHADOW_MASK)) | (((bool)EPWM_SHADOW_WRITE_DISABLE <<
+ EPWM_TBCTL_PRDLD_SHIFT) & EPWM_PRD_LOAD_SHADOW_MASK);
+
+ REG16(baseAddr + EPWM_TBCTL) = (REG16(baseAddr + EPWM_TBCTL) &
+ (~EPWM_COUNTER_MODE_MASK)) | (((unsigned int)EPWM_COUNT_UP <<
+ EPWM_TBCTL_CTRMODE_SHIFT) & EPWM_COUNTER_MODE_MASK);
+
+ /*setting clock divider and freeze time base*/
+ REG16(baseAddr + EPWM_CMPB) = (unsigned short)((float)(NearTBPRD) * dutyB);
+ REG16(baseAddr + EPWM_CMPA) = (unsigned short)((float)(NearTBPRD) * dutyA);
+ REG16(baseAddr + EPWM_TBPRD) = (unsigned short)NearTBPRD;
+ REG16(baseAddr + EPWM_TBCNT) = 0;
+ }
+ return 1;
}
-/*
-----------------------------------------------------------------------------------------------
*/
-/* Enable/Disable ehrPWM module
- * @param PWMID : PWMSS number , 0~2
+
+
+/**
+ * @brief This API enables the particular PWM module.
*
- * @return : void
+ * @param pwmid It is the instance number of EPWM of pwm sub system.
*
- * @example : BBBIO_PWMSS_Enable(0) ;// Enable PWMSS 0
- */
-
-void BBBIO_ehrPWM_Enable(unsigned int PWMSS_ID)
+ * @return true if successful
+ *
+ **/
+bool beagle_ehrpwm_enable(uint32_t pwmid)
{
- volatile unsigned short *reg16 ;
-
- reg16=(void*)epwm_ptr[PWMSS_ID] +EPWM_AQCTLA;
- *reg16 = 0x2 | ( 0x3 << 4) ;
-
- reg16=(void*)epwm_ptr[PWMSS_ID] +EPWM_AQCTLB;
- *reg16 = 0x2 | ( 0x3 << 8) ;
-
- reg16 = (void *)epwm_ptr[PWMSS_ID] + EPWM_TBCNT;
- *reg16 = 0;
-
- reg16=(void *)epwm_ptr[PWMSS_ID] + EPWM_TBCTL;
- *reg16 &= ~0x3;
+ bool status = true;
+ uint32_t baseAddr;
+ if(pwmid<3 & pwmid >=0) {
+ baseAddr = select_pwmss(pwmid);
+ REG16(baseAddr + EPWM_AQCTLA) = EPWM_AQCTLA_ZRO_EPWMXAHIGH |
(EPWM_AQCTLA_CAU_EPWMXATOGGLE << EPWM_AQCTLA_CAU_SHIFT);
+ REG16(baseAddr + EPWM_AQCTLB) = EPWM_AQCTLB_ZRO_EPWMXBHIGH |
(EPWM_AQCTLB_CBU_EPWMXBTOGGLE << EPWM_AQCTLB_CBU_SHIFT);
+ REG16(baseAddr + EPWM_TBCNT) = 0;
+ REG16(baseAddr + EPWM_TBCTL) |= TBCTL_FREERUN | TBCTL_CTRMODE_UP;
+ return status;
+ }
+ else {
+ status =false;
+ return status;
+ }
}
-void BBBIO_ehrPWM_Disable(unsigned int PWMSS_ID)
-{
- volatile unsigned short *reg16 ;
- reg16=(void *)epwm_ptr[PWMSS_ID] + EPWM_TBCTL;
- *reg16 |= 0x3;
-
- reg16=(void*)epwm_ptr[PWMSS_ID] +EPWM_AQCTLA;
- *reg16 = 0x1 | ( 0x3 << 4) ;
-
- reg16=(void*)epwm_ptr[PWMSS_ID] +EPWM_AQCTLB;
- *reg16 = 0x1 | ( 0x3 << 8) ;
+/**
+ * @brief This API disables the HR sub-module.
+ *
+ * @param pwmid It is the instance number of EPWM of pwm sub system.
+ *
+ * @return true if successful
+ *
+ **/
- reg16 = (void *)epwm_ptr[PWMSS_ID] + EPWM_TBCNT;
- *reg16 = 0;
+bool beagle_ehrpwm_disable(uint32_t pwmid)
+{
+ bool status = true;
+ uint32_t baseAddr;
+ if(pwmid<3 & pwmid >=0) {
+ baseAddr = select_pwmss(pwmid);
+ REG16(baseAddr + EPWM_TBCTL) = EPWM_TBCTL_CTRMODE_STOPFREEZE;
+ REG16(baseAddr + EPWM_AQCTLA) = EPWM_AQCTLA_ZRO_EPWMXALOW |
(EPWM_AQCTLA_CAU_EPWMXATOGGLE << EPWM_AQCTLA_CAU_SHIFT);
+ REG16(baseAddr + EPWM_AQCTLB) = EPWM_AQCTLA_ZRO_EPWMXBLOW |
(EPWM_AQCTLB_CBU_EPWMXBTOGGLE << EPWM_AQCTLB_CBU_SHIFT);
+ REG16(baseAddr + EPWM_TBCNT) = 0;
+ return status;
+ }
+ else {
+ status = false;
+ return status;
+ }
}
-//--------------------------------------------------------
+
diff --git a/c/src/lib/libcpu/arm/shared/include/am335x.h
b/c/src/lib/libcpu/arm/shared/include/am335x.h
index 2009cef..31078aa 100644
--- a/c/src/lib/libcpu/arm/shared/include/am335x.h
+++ b/c/src/lib/libcpu/arm/shared/include/am335x.h
@@ -467,4 +467,84 @@
#define AM335X_CONF_EXT_WAKEUP 0xA00
#define AM335X_CONF_RTC_KALDO_ENN 0xA04
#define AM335X_CONF_USB0_DRVVBUS 0xA1C
-#define AM335X_CONF_USB1_DRVVBUS 0xA34
\ No newline at end of file
+#define AM335X_CONF_USB1_DRVVBUS 0xA34
+
+/* Registers for PWM Subsystem */
+#define BBBIO_PWMSS_CTRL (0x664)
+#define BBBIO_CM_PER_EPWMSS0_CLKCTRL (0xD4)
+#define BBBIO_CM_PER_EPWMSS1_CLKCTRL (0xCC)
+#define BBBIO_CM_PER_EPWMSS2_CLKCTRL (0xD8)
+#define BBBIO_CONTROL_MODULE (0x44e10000)
+#define BBBIO_CM_PER_ADDR (0x44e00000)
+#define PWMSS_CLKSTATUS (0xC)
+#define PWMSS0_MMAP_ADDR 0x48300000
+#define PWMSS1_MMAP_ADDR 0x48302000
+#define PWMSS2_MMAP_ADDR 0x48304000
+#define PWMSS_MMAP_LEN 0x1000
+#define PWMSS_IDVER 0x0
+#define PWMSS_SYSCONFIG 0x4
+#define PWMSS_CLKCONFIG 0x8
+#define PWMSS_CLK_EN_ACK 0x100
+#define PWMSS_CLKSTATUS 0xC
+#define EPWM_TBCTL 0x0
+#define EPWM_TBSTS 0x2
+#define EPWM_TBPHSHR 0x4
+#define EPWM_TBPHS 0x6
+#define EPWM_TBCNT 0x8
+#define EPWM_TBPRD 0xA
+#define EPWM_CMPCTL 0xE
+#define EPWM_CMPAHR 0x10
+#define EPWM_CMPA 0x12
+#define EPWM_CMPB 0x14
+#define EPWM_AQCTLA 0x16
+#define EPWM_AQCTLB 0x18
+#define EPWM_AQSFRC 0x1A
+#define EPWM_AQCSFRC 0x1C
+#define EPWM_DBCTL 0x1E
+#define EPWM_DBRED 0x20
+#define EPWM_DBFED 0x22
+#define TBCTL_CTRMODE_UP 0x0
+#define TBCTL_CTRMODE_DOWN 0x1
+#define TBCTL_CTRMODE_UPDOWN 0x2
+#define TBCTL_CTRMODE_FREEZE 0x3
+#define EPWM_AQCTLA_ZRO_EPWMXALOW (0x0001u)
+#define EPWM_AQCTLA_ZRO_EPWMXAHIGH (0x0002u)
+#define EPWM_AQCTLA_CAU_EPWMXATOGGLE (0x0003u)
+#define EPWM_AQCTLA_CAU_SHIFT (0x0004u)
+#define EPWM_AQCTLA_ZRO_EPWMXBLOW (0x0001u)
+#define EPWM_AQCTLB_ZRO_EPWMXBHIGH (0x0002u)
+#define EPWM_AQCTLB_CBU_EPWMXBTOGGLE (0x0003u)
+#define EPWM_AQCTLB_CBU_SHIFT (0x0008u)
+#define EPWM_TBCTL_CTRMODE_STOPFREEZE (0x0003u)
+#define BBBIO_PWMSS_CTRL_PWMSS0_TBCLKEN (0x00000001u)
+#define BBBIO_PWMSS_CTRL_PWMSS1_TBCLKEN (0x00000002u)
+#define BBBIO_PWMSS_CTRL_PWMSS2_TBCLKEN (0x00000004u)
+#define BBBIO_CM_PER_EPWMSS0_CLKCTRL_MODULEMODE_ENABLE (0x2u)
+#define BBBIO_CM_PER_EPWMSS1_CLKCTRL_MODULEMODE_ENABLE (0x2u)
+#define BBBIO_CM_PER_EPWMSS2_CLKCTRL_MODULEMODE_ENABLE (0x2u)
+#define TBCTL_CLKDIV_MASK (3 << 10)
+#define TBCTL_HSPCLKDIV_MASK (3 << 7)
+#define EPWM_TBCTL_CLKDIV (0x1C00u)
+#define EPWM_TBCTL_CLKDIV_SHIFT (0x000Au)
+#define EPWM_TBCTL_HSPCLKDIV (0x0380u)
+#define EPWM_TBCTL_HSPCLKDIV_SHIFT (0x0007u)
+#define EPWM_TBCTL_PRDLD (0x0008u)
+#define EPWM_PRD_LOAD_SHADOW_MASK EPWM_TBCTL_PRDLD
+#define EPWM_SHADOW_WRITE_ENABLE 0x0
+#define EPWM_SHADOW_WRITE_DISABLE 0x1
+#define EPWM_TBCTL_PRDLD_SHIFT (0x0003u)
+#define EPWM_TBCTL_CTRMODE (0x0003u)
+#define EPWM_COUNTER_MODE_MASK EPWM_TBCTL_CTRMODE
+#define TBCTL_FREERUN (2 << 14)
+#define EPWM_TBCTL_CTRMODE_UP (0x0000u)
+#define EPWM_TBCTL_CTRMODE_SHIFT (0x0000u)
+#define EPWM_COUNT_UP (EPWM_TBCTL_CTRMODE_UP << \
+
EPWM_TBCTL_CTRMODE_SHIFT)
+
+#define BBBIO_EPWM_REGS (0x00000200)
+#define EPWM_0_REGS (PWMSS0_MMAP_ADDR + BBBIO_EPWM_REGS)
+#define EPWM_1_REGS (PWMSS1_MMAP_ADDR + BBBIO_EPWM_REGS)
+#define EPWM_2_REGS (PWMSS2_MMAP_ADDR + BBBIO_EPWM_REGS)
+#define CONTROL_CONF_GPMC_AD(n) (0x800 + (n * 4))
+#define CONTROL_CONF_LCD_DATA(n) (0x8a0 + (n * 4))
+
--
2.7.1
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