/** * \brief Set the timer TOP/period value. * * For 8-bit counter size this function writes the top value to the period * register. * * For 16- and 32-bit counter size this function writes the top value to * Capture Compare register 0. The value in this register can not be used for * any other purpose. * * \note This function is designed to be used in PWM or frequency * match modes only. When the counter is set to 16- or 32-bit counter * size. In 8-bit counter size it will always be possible to change the * top value even in normal mode. * * \param[in] module_inst Pointer to the software module instance struct * \param[in] top_value New timer TOP value to set * * \return Status of the TOP set procedure. * * \retval STATUS_OK The timer TOP value was updated successfully * \retval STATUS_ERR_INVALID_ARG The configured TC module counter size in the * module instance is invalid */ enum status_code tc_set_top_value ( const struct tc_module *const module_inst, const uint32_t top_value) { Assert(module_inst); Assert(module_inst->hw); Assert(top_value); Tc *const tc_module = module_inst->hw; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } switch (module_inst->counter_size) { case TC_COUNTER_SIZE_8BIT: tc_module->COUNT8.PER.reg = (uint8_t)top_value; return STATUS_OK; case TC_COUNTER_SIZE_16BIT: tc_module->COUNT16.CC[0].reg = (uint16_t)top_value; return STATUS_OK; case TC_COUNTER_SIZE_32BIT: tc_module->COUNT32.CC[0].reg = (uint32_t)top_value; return STATUS_OK; default: Assert(false); return STATUS_ERR_INVALID_ARG; } }
/** * \brief Get TC module count value. * * Retrieves the current count value of a TC module. The specified TC module * may be started or stopped. * * \param[in] module_inst Pointer to the software module instance struct * * \return Count value of the specified TC module. */ uint32_t tc_get_count_value( const struct tc_module *const module_inst) { /* Sanity check arguments */ Assert(module_inst); Assert(module_inst->hw); /* Get a pointer to the module's hardware instance */ Tc *const tc_module = module_inst->hw; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } /* Read from based on the TC counter size */ switch (module_inst->counter_size) { case TC_COUNTER_SIZE_8BIT: return (uint32_t)tc_module->COUNT8.COUNT.reg; case TC_COUNTER_SIZE_16BIT: return (uint32_t)tc_module->COUNT16.COUNT.reg; case TC_COUNTER_SIZE_32BIT: return tc_module->COUNT32.COUNT.reg; } Assert(false); return 0; }
/** * \brief Resets the TC module. * * Resets the TC module, restoring all hardware module registers to their * default values and disabling the module. The TC module will not be * accessible while the reset is being performed. * * \note When resetting a 32-bit counter only the master TC module's instance * structure should be passed to the function. * * \param[in] module_inst Pointer to the software module instance struct * * \return Status of the procedure. * \retval STATUS_OK The module was reset successfully * \retval STATUS_ERR_UNSUPPORTED_DEV A 32-bit slave TC module was passed to * the function. Only use reset on master * TC */ enum status_code tc_reset( const struct tc_module *const module_inst) { /* Sanity check arguments */ Assert(module_inst); Assert(module_inst->hw); /* Get a pointer to the module hardware instance */ TcCount8 *const tc_module = &(module_inst->hw->COUNT8); if (tc_module->STATUS.reg & TC_STATUS_SLAVE) { return STATUS_ERR_UNSUPPORTED_DEV; } /* Disable this module if it is running */ if (tc_module->CTRLA.reg & TC_CTRLA_ENABLE) { tc_disable(module_inst); while (tc_is_syncing(module_inst)) { /* wait while module is disabling */ } } /* Reset this TC module */ tc_module->CTRLA.reg |= TC_CTRLA_SWRST; return STATUS_OK; }
/** * \brief Sets TC module count value. * * Sets the current timer count value of a initialized TC module. The * specified TC module may be started or stopped. * * \param[in] module_inst Pointer to the software module instance struct * \param[in] count New timer count value to set * * \return Status of the count update procedure. * * \retval STATUS_OK The timer count was updated successfully * \retval STATUS_ERR_INVALID_ARG An invalid timer counter size was specified */ enum status_code tc_set_count_value( const struct tc_module *const module_inst, const uint32_t count) { /* Sanity check arguments */ Assert(module_inst); Assert(module_inst->hw); /* Get a pointer to the module's hardware instance*/ Tc *const tc_module = module_inst->hw; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } /* Write to based on the TC counter_size */ switch (module_inst->counter_size) { case TC_COUNTER_SIZE_8BIT: tc_module->COUNT8.COUNT.reg = (uint8_t)count; return STATUS_OK; case TC_COUNTER_SIZE_16BIT: tc_module->COUNT16.COUNT.reg = (uint16_t)count; return STATUS_OK; case TC_COUNTER_SIZE_32BIT: tc_module->COUNT32.COUNT.reg = (uint32_t)count; return STATUS_OK; default: return STATUS_ERR_INVALID_ARG; } }
/** * \brief Sets a TC module compare value. * * Writes a compare value to the given TC module compare/capture channel. * * \param[in] module_inst Pointer to the software module instance struct * \param[in] channel_index Index of the compare channel to write to * \param[in] compare New compare value to set * * \return Status of the compare update procedure. * * \retval STATUS_OK The compare value was updated successfully * \retval STATUS_ERR_INVALID_ARG An invalid channel index was supplied */ enum status_code tc_set_compare_value( const struct tc_module *const module_inst, const enum tc_compare_capture_channel channel_index, const uint32_t compare) { /* Sanity check arguments */ Assert(module_inst); Assert(module_inst->hw); Assert(compare); /* Get a pointer to the module's hardware instance */ Tc *const tc_module = module_inst->hw; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } /* Read out based on the TC counter size */ switch (module_inst->counter_size) { case TC_COUNTER_SIZE_8BIT: if (channel_index < NUMBER_OF_COMPARE_CAPTURE_CHANNELS) { tc_module->COUNT8.CC[channel_index].reg = (uint8_t)compare; return STATUS_OK; } case TC_COUNTER_SIZE_16BIT: if (channel_index < NUMBER_OF_COMPARE_CAPTURE_CHANNELS) { tc_module->COUNT16.CC[channel_index].reg = (uint16_t)compare; return STATUS_OK; } case TC_COUNTER_SIZE_32BIT: if (channel_index < NUMBER_OF_COMPARE_CAPTURE_CHANNELS) { tc_module->COUNT32.CC[channel_index].reg = (uint32_t)compare; return STATUS_OK; } } return STATUS_ERR_INVALID_ARG; }
/** * \brief Gets the TC module capture value. * * Retrieves the capture value in the indicated TC module capture channel. * * \param[in] module_inst Pointer to the software module instance struct * \param[in] channel_index Index of the Compare Capture channel to read * * \return Capture value stored in the specified timer channel. */ uint32_t tc_get_capture_value( const struct tc_module *const module_inst, const enum tc_compare_capture_channel channel_index) { /* Sanity check arguments */ Assert(module_inst); Assert(module_inst->hw); /* Get a pointer to the module's hardware instance */ Tc *const tc_module = module_inst->hw; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } /* Read out based on the TC counter size */ switch (module_inst->counter_size) { case TC_COUNTER_SIZE_8BIT: if (channel_index < NUMBER_OF_COMPARE_CAPTURE_CHANNELS) { return tc_module->COUNT8.CC[channel_index].reg; } case TC_COUNTER_SIZE_16BIT: if (channel_index < NUMBER_OF_COMPARE_CAPTURE_CHANNELS) { return tc_module->COUNT16.CC[channel_index].reg; } case TC_COUNTER_SIZE_32BIT: if (channel_index < NUMBER_OF_COMPARE_CAPTURE_CHANNELS) { return tc_module->COUNT32.CC[channel_index].reg; } } Assert(false); return 0; }
/** * \brief Initializes a hardware TC module instance. * * Enables the clock and initializes the TC module, based on the given * configuration values. * * \param[in,out] module_inst Pointer to the software module instance struct * \param[in] hw Pointer to the TC hardware module * \param[in] config Pointer to the TC configuration options struct * * \return Status of the initialization procedure. * * \retval STATUS_OK The module was initialized successfully * \retval STATUS_BUSY Hardware module was busy when the * initialization procedure was attempted * \retval STATUS_INVALID_ARG An invalid configuration option or argument * was supplied * \retval STATUS_ERR_DENIED Hardware module was already enabled, or the * hardware module is configured in 32-bit * slave mode */ enum status_code tc_init( struct tc_module *const module_inst, Tc *const hw, const struct tc_config *const config) { /* Sanity check arguments */ Assert(hw); Assert(module_inst); Assert(config); /* Temporary variable to hold all updates to the CTRLA * register before they are written to it */ uint16_t ctrla_tmp = 0; /* Temporary variable to hold all updates to the CTRLBSET * register before they are written to it */ uint8_t ctrlbset_tmp = 0; /* Temporary variable to hold all updates to the CTRLC * register before they are written to it */ uint8_t ctrlc_tmp = 0; /* Temporary variable to hold TC instance number */ uint8_t instance = _tc_get_inst_index(hw); /* Array of GLCK ID for different TC instances */ uint8_t inst_gclk_id[] = TC_INST_GCLK_ID; /* Array of PM APBC mask bit position for different TC instances */ uint16_t inst_pm_apbmask[] = TC_INST_PM_APBCMASK; struct system_pinmux_config pin_config; struct system_gclk_chan_config gclk_chan_config; #if TC_ASYNC == true /* Initialize parameters */ for (uint8_t i = 0; i < TC_CALLBACK_N; i++) { module_inst->callback[i] = NULL; } module_inst->register_callback_mask = 0x00; module_inst->enable_callback_mask = 0x00; /* Register this instance for callbacks*/ _tc_instances[instance] = module_inst; #endif /* Associate the given device instance with the hardware module */ module_inst->hw = hw; #if SAMD10 || SAMD11 /* Check if even numbered TC modules are being configured in 32-bit * counter size. Only odd numbered counters are allowed to be * configured in 32-bit counter size. */ if ((config->counter_size == TC_COUNTER_SIZE_32BIT) && !((instance + TC_INSTANCE_OFFSET) & 0x01)) { Assert(false); return STATUS_ERR_INVALID_ARG; } #else /* Check if odd numbered TC modules are being configured in 32-bit * counter size. Only even numbered counters are allowed to be * configured in 32-bit counter size. */ if ((config->counter_size == TC_COUNTER_SIZE_32BIT) && ((instance + TC_INSTANCE_OFFSET) & 0x01)) { Assert(false); return STATUS_ERR_INVALID_ARG; } #endif /* Make the counter size variable in the module_inst struct reflect * the counter size in the module */ module_inst->counter_size = config->counter_size; if (hw->COUNT8.CTRLA.reg & TC_CTRLA_SWRST) { /* We are in the middle of a reset. Abort. */ return STATUS_BUSY; } if (hw->COUNT8.STATUS.reg & TC_STATUS_SLAVE) { /* Module is used as a slave */ return STATUS_ERR_DENIED; } if (hw->COUNT8.CTRLA.reg & TC_CTRLA_ENABLE) { /* Module must be disabled before initialization. Abort. */ return STATUS_ERR_DENIED; } /* Set up the TC PWM out pin for channel 0 */ if (config->pwm_channel[0].enabled) { system_pinmux_get_config_defaults(&pin_config); pin_config.mux_position = config->pwm_channel[0].pin_mux; pin_config.direction = SYSTEM_PINMUX_PIN_DIR_OUTPUT; system_pinmux_pin_set_config( config->pwm_channel[0].pin_out, &pin_config); } /* Set up the TC PWM out pin for channel 1 */ if (config->pwm_channel[1].enabled) { system_pinmux_get_config_defaults(&pin_config); pin_config.mux_position = config->pwm_channel[1].pin_mux; pin_config.direction = SYSTEM_PINMUX_PIN_DIR_OUTPUT; system_pinmux_pin_set_config( config->pwm_channel[1].pin_out, &pin_config); } /* Enable the user interface clock in the PM */ system_apb_clock_set_mask(SYSTEM_CLOCK_APB_APBC, inst_pm_apbmask[instance]); /* Enable the slave counter if counter_size is 32-bit */ if ((config->counter_size == TC_COUNTER_SIZE_32BIT)) { /* Enable the user interface clock in the PM */ system_apb_clock_set_mask(SYSTEM_CLOCK_APB_APBC, inst_pm_apbmask[instance + 1]); } /* Setup clock for module */ system_gclk_chan_get_config_defaults(&gclk_chan_config); gclk_chan_config.source_generator = config->clock_source; system_gclk_chan_set_config(inst_gclk_id[instance], &gclk_chan_config); system_gclk_chan_enable(inst_gclk_id[instance]); /* Set ctrla register */ ctrla_tmp = (uint32_t)config->counter_size | (uint32_t)config->wave_generation | (uint32_t)config->reload_action | (uint32_t)config->clock_prescaler; if (config->run_in_standby) { ctrla_tmp |= TC_CTRLA_RUNSTDBY; } /* Write configuration to register */ while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT8.CTRLA.reg = ctrla_tmp; /* Set ctrlb register */ if (config->oneshot) { ctrlbset_tmp = TC_CTRLBSET_ONESHOT; } if (config->count_direction) { ctrlbset_tmp |= TC_CTRLBSET_DIR; } /* Clear old ctrlb configuration */ while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT8.CTRLBCLR.reg = 0xFF; /* Check if we actually need to go into a wait state. */ if (ctrlbset_tmp) { while (tc_is_syncing(module_inst)) { /* Wait for sync */ } /* Write configuration to register */ hw->COUNT8.CTRLBSET.reg = ctrlbset_tmp; } /* Set ctrlc register*/ ctrlc_tmp = config->waveform_invert_output; for (uint8_t i = 0; i < NUMBER_OF_COMPARE_CAPTURE_CHANNELS; i++) { if (config->enable_capture_on_channel[i] == true) { ctrlc_tmp |= (TC_CTRLC_CPTEN(1) << i); } } /* Write configuration to register */ while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT8.CTRLC.reg = ctrlc_tmp; /* Write configuration to register */ while (tc_is_syncing(module_inst)) { /* Wait for sync */ } /* Switch for TC counter size */ switch (module_inst->counter_size) { case TC_COUNTER_SIZE_8BIT: while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT8.COUNT.reg = config->counter_8_bit.value; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT8.PER.reg = config->counter_8_bit.period; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT8.CC[0].reg = config->counter_8_bit.compare_capture_channel[0]; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT8.CC[1].reg = config->counter_8_bit.compare_capture_channel[1]; return STATUS_OK; case TC_COUNTER_SIZE_16BIT: while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT16.COUNT.reg = config->counter_16_bit.value; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT16.CC[0].reg = config->counter_16_bit.compare_capture_channel[0]; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT16.CC[1].reg = config->counter_16_bit.compare_capture_channel[1]; return STATUS_OK; case TC_COUNTER_SIZE_32BIT: while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT32.COUNT.reg = config->counter_32_bit.value; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT32.CC[0].reg = config->counter_32_bit.compare_capture_channel[0]; while (tc_is_syncing(module_inst)) { /* Wait for sync */ } hw->COUNT32.CC[1].reg = config->counter_32_bit.compare_capture_channel[1]; return STATUS_OK; } Assert(false); return STATUS_ERR_INVALID_ARG; }
/** * \internal * \brief Test initializing and resetting 32-bit TC and reinitialize * * This test tests the software reset of a 32-bit TC by the use of the * tc_reset(). It also test re-enabling the two TC modules used in the 32-bit * TC into two separate 16-bit TC's. * * \param test Current test case. */ static void run_reset_32bit_master_test(const struct test_case *test) { test_assert_true(test, tc_init_success == true, "TC initialization failed, skipping test"); /* Configure 32-bit TC module and run test*/ tc_reset(&tc_test0_module); tc_get_config_defaults(&tc_test0_config); tc_test0_config.counter_size = TC_COUNTER_SIZE_32BIT; tc_init(&tc_test0_module, CONF_TEST_TC0, &tc_test0_config); tc_enable(&tc_test0_module); while (tc_is_syncing(&tc_test0_module)) { /* Synchronize enable */ } test_assert_true(test, tc_test0_module.hw->COUNT32.CTRLA.reg & TC_CTRLA_ENABLE, "Failed first enable of 32-bit TC"); /* Reset and test if both TC modules are disabled after reset */ tc_reset(&tc_test0_module); while (tc_is_syncing(&tc_test0_module)) { /* Synchronize reset */ } test_assert_false(test, tc_test0_module.hw->COUNT32.CTRLA.reg & TC_CTRLA_ENABLE, "Failed reset of 32-bit master TC TEST0"); test_assert_false(test, tc_test1_module.hw->COUNT32.CTRLA.reg & TC_CTRLA_ENABLE, "Failed reset of 32-bit slave TC TEST1"); /* Change to 16-bit counter on TC0 */ tc_test0_config.counter_size = TC_COUNTER_SIZE_16BIT; tc_init(&tc_test0_module, CONF_TEST_TC0, &tc_test0_config); tc_enable(&tc_test0_module); while (tc_is_syncing(&tc_test0_module)) { /* Synchronize enable */ } tc_init(&tc_test1_module, CONF_TEST_TC1, &tc_test1_config); tc_enable(&tc_test1_module); while (tc_is_syncing(&tc_test1_module)) { /* Synchronize enable */ } test_assert_true(test, tc_test0_module.hw->COUNT16.CTRLA.reg & TC_CTRLA_ENABLE, "Failed re-enable of TC TEST0"); test_assert_true(test, tc_test1_module.hw->COUNT16.CTRLA.reg & TC_CTRLA_ENABLE, "Failed re-enable of TC TEST1"); }