1 files changed, 172 insertions, 0 deletions

diff --git a/lib/chibios-contrib/testhal/KINETIS/FRDM-KL26Z/PWM/main.c b/lib/chibios-contrib/testhal/KINETIS/FRDM-KL26Z/PWM/main.c
new file mode 100644
index 000000000..740471a54
--- /dev/null
+++ b/lib/chibios-contrib/testhal/KINETIS/FRDM-KL26Z/PWM/main.c
@@ -0,0 +1,172 @@
+/*
+ * (c) 2015 flabbergast <[email protected]>
+ * Based on ChibiOS 3.0.1 demo code, license below.
+ * Licensed under the Apache License, Version 2.0.
+ */
+
+/*
+ *  ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+/*
+ * on FRDM-KL26Z:
+ *   red LED on PTE29/TPM0_CH2 (AF3)
+ *   green LED on PTE31/TPM0_CH4 (AF3)
+ *   blue LED on PTD5/TPM0_CH5 (AF4)
+ */
+
+#define PWM_DRIVER PWMD1
+
+/* PWM config structure */
+/* Note: the PWM clock frequency must be so that
+ *   SYSCLK / FREQ is a power of 2 between 1 and 128.
+ */
+static const PWMConfig pwmcfg = {
+  750000,                                /* 750kHz PWM clock frequency.  */
+  1000,                                  /* PWM period is 1000 cycles.  */
+                                         /* meaning PWM resolution is 750 */
+  NULL,                                  /* no callback */
+  {
+   {PWM_OUTPUT_DISABLED, NULL},          /* ch0: mode, no callback */
+   {PWM_OUTPUT_DISABLED, NULL},          /* ch1: mode, no callback */
+   {PWM_OUTPUT_ACTIVE_LOW, NULL},        /* ch2: mode, no callback */
+   {PWM_OUTPUT_DISABLED, NULL},          /* ch3: mode, no callback */
+   {PWM_OUTPUT_ACTIVE_LOW, NULL},        /* ch4: mode, no callback */
+   {PWM_OUTPUT_ACTIVE_LOW, NULL}         /* ch5: mode, no callback */
+  },
+};
+
+#define BREATHE_STEP 16 /* ms; = 4000ms/TABLE_SIZE */
+
+/* Breathing Sleep LED brighness(PWM On period) table
+ *
+ * http://www.wolframalpha.com/input/?i=%28sin%28+x%2F64*pi%29**8+*+255%2C+x%3D0+to+63
+ * (0..63).each {|x| p ((sin(x/64.0*PI)**8)*255).to_i }
+ */
+/* ruby -e "a = ((0..255).map{|x| Math.exp(Math.cos(Math::PI+(2*x*(Math::PI)/255)))-Math.exp(-1) }); m = a.max; a.map\!{|x| (10000*x/m).to_i}; p a" */
+#define TABLE_SIZE 256
+static const uint16_t breathing_table[TABLE_SIZE] = {
+  0, 0, 1, 4, 7, 11, 17, 23, 30, 38, 47, 58, 69, 81, 94, 109, 124, 141, 159, 177, 197, 218, 241, 264, 289, 315, 343, 372, 402, 433, 466, 501, 537, 574, 613, 654, 696, 741, 786, 834, 883, 935, 988, 1043, 1100, 1159, 1220, 1283, 1349, 1416, 1486, 1558, 1632, 1709, 1788, 1870, 1954, 2040, 2129, 2220, 2314, 2411, 2510, 2611, 2715, 2822, 2932, 3044, 3158, 3275, 3395, 3517, 3641, 3768, 3897, 4028, 4162, 4298, 4436, 4576, 4717, 4861, 5006, 5152, 5300, 5449, 5600, 5751, 5903, 6055, 6208, 6361, 6513, 6666, 6818, 6970, 7120, 7269, 7417, 7563, 7708, 7850, 7990, 8127, 8261, 8391, 8519, 8643, 8762, 8878, 8989, 9095, 9196, 9293, 9383, 9469, 9548, 9622, 9689, 9750, 9805, 9853, 9895, 9930, 9957, 9978, 9992, 9999, 10000, 9992, 9978, 9957, 9930, 9895, 9853, 9805, 9750, 9689, 9622, 9548, 9469, 9383, 9293, 9196, 9095, 8989, 8878, 8762, 8643, 8519, 8391, 8261, 8127, 7990, 7850, 7708, 7563, 7417, 7269, 7120, 6970, 6818, 6666, 6513, 6361, 6208, 6055, 5903, 5751, 5600, 5449, 5300, 5152, 5006, 4861, 4717, 4576, 4436, 4298, 4162, 4028, 3897, 3768, 3641, 3517, 3395, 3275, 3158, 3044, 2932, 2822, 2715, 2611, 2510, 2411, 2314, 2220, 2129, 2040, 1954, 1870, 1788, 1709, 1632, 1558, 1486, 1416, 1349, 1283, 1220, 1159, 1100, 1043, 988, 935, 883, 834, 786, 741, 696, 654, 613, 574, 537, 501, 466, 433, 402, 372, 343, 315, 289, 264, 241, 218, 197, 177, 159, 141, 124, 109, 94, 81, 69, 58, 47, 38, 30, 23, 17, 11, 7, 4, 1, 0, 0
+};
+
+uint16_t table_pos = 0;
+uint8_t active_led = 0;
+
+static THD_WORKING_AREA(waBreatheThread, 128);
+static THD_FUNCTION(BreatheThread, arg) {
+  (void)arg;
+  chRegSetThreadName("breatheThread");
+
+  while(true) {
+    switch(active_led) {
+      case 0: /* red LED */
+        pwmEnableChannel(&PWM_DRIVER, 2, PWM_PERCENTAGE_TO_WIDTH(&PWM_DRIVER,breathing_table[table_pos]));
+        break;
+      case 1: /* green LED */    
+        pwmEnableChannel(&PWM_DRIVER, 4, PWM_PERCENTAGE_TO_WIDTH(&PWM_DRIVER,breathing_table[table_pos]));
+        break;
+      case 2: /* blue LED */    
+        pwmEnableChannel(&PWM_DRIVER, 5, PWM_PERCENTAGE_TO_WIDTH(&PWM_DRIVER,breathing_table[table_pos]));
+        break;
+    }
+    table_pos++;
+    if(table_pos == TABLE_SIZE) {
+      table_pos = 0;
+      active_led = (active_led+1) % 3;
+    }
+    chThdSleepMilliseconds(BREATHE_STEP);
+  }
+}
+
+/*
+ * Check button thread
+ */
+static THD_WORKING_AREA(waButtonThread, 128);
+static THD_FUNCTION(ButtonThread, arg) {
+  (void)arg;
+  chRegSetThreadName("buttonThread");
+
+  uint8_t newstate, state = PAL_HIGH;
+
+  while(true) {
+    if(palReadLine(LINE_BUTTON) != state) {
+      chThdSleepMilliseconds(20); /* debounce */
+      newstate = palReadLine(LINE_BUTTON);
+      if(newstate != state) {
+        state = newstate;
+        if(newstate == PAL_LOW) {
+          table_pos = (table_pos + 120)%TABLE_SIZE;
+        }
+      }
+    }
+    chThdSleepMilliseconds(20);
+  }
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  /*
+   * Turn off the RGB LED.
+   */
+  palSetLine(LINE_LED_RED); /* red */
+  palSetLine(LINE_LED_GREEN); /* green */
+  palSetLine(LINE_LED_BLUE); /* blue */
+
+  /*
+   * Create the button check thread.
+   */
+  chThdCreateStatic(waButtonThread, sizeof(waButtonThread), NORMALPRIO, ButtonThread, NULL);
+
+  /*
+   * Start the PWM driver, route TPM0 output to PTE29, PTE31, PTD5.
+   * Enable channels now to avoid a blink later.
+   */
+  pwmStart(&PWM_DRIVER, &pwmcfg);
+  palSetLineMode(LINE_LED_RED, PAL_MODE_ALTERNATIVE_3);
+  palSetLineMode(LINE_LED_GREEN, PAL_MODE_ALTERNATIVE_3);
+  palSetLineMode(LINE_LED_BLUE, PAL_MODE_ALTERNATIVE_4);
+  pwmEnableChannel(&PWM_DRIVER, 2, 0);
+  pwmEnableChannel(&PWM_DRIVER, 4, 0);
+  pwmEnableChannel(&PWM_DRIVER, 5, 0);
+
+  /*
+   * Create the breathe thread.
+   */
+  chThdCreateStatic(waBreatheThread, sizeof(waBreatheThread), NORMALPRIO, BreatheThread, NULL);
+
+  /*
+   * Normal main() thread activity, in this demo it does nothing except
+   * sleeping in a loop and check the button state, when the button is
+   * pressed ... nothing happens.
+   */
+  while(true) {
+    chThdSleepMilliseconds(500);
+  }
+}