1 files changed, 120 insertions, 0 deletions

diff --git a/lib/chibios-contrib/testhal/KINETIS/TEENSY_LC/PWM/main.c b/lib/chibios-contrib/testhal/KINETIS/TEENSY_LC/PWM/main.c
new file mode 100644
index 000000000..9e489ae7d
--- /dev/null
+++ b/lib/chibios-contrib/testhal/KINETIS/TEENSY_LC/PWM/main.c
@@ -0,0 +1,120 @@
+/*
+    (C) 2015-2016 flabbergast <[email protected]>
+
+    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 "hal.h"
+
+#define PWM_DRIVER PWMD1
+
+static void pwmpcb(PWMDriver *pwmp) {
+  (void)pwmp;
+  palSetLine(LINE_LED);
+}
+
+static void pwmc0cb(PWMDriver *pwmp) {
+  (void)pwmp;
+  palClearLine(LINE_LED);
+}
+
+static PWMConfig pwmcfg = {
+  12000000,          /* 12MHz PWM clock frequency.   */
+  12000,             /* Initial PWM period 1ms     */
+  pwmpcb,            /* Callback on counter overflow */
+  {
+    {PWM_OUTPUT_DISABLED, pwmc0cb},     /* ch2: mode, callback! */
+    {PWM_OUTPUT_DISABLED, NULL},        /* ch2: mode, no callback */
+    {PWM_OUTPUT_DISABLED, NULL},        /* ch2: mode, no callback */
+    {PWM_OUTPUT_DISABLED, NULL},        /* ch3: mode, no callback */
+    {PWM_OUTPUT_DISABLED, NULL},        /* ch4: mode, no callback */
+    {PWM_OUTPUT_DISABLED, NULL}         /* ch5: mode, no callback */
+  },
+};
+
+/* 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| (9900*x/m).to_i+1}; p a" */
+#define BREATHE_STEP 16 /* ms; = 4000ms/TABLE_SIZE */
+#define TABLE_SIZE 256
+static const uint16_t breathing_table[TABLE_SIZE] = {
+  1, 1, 2, 5, 8, 12, 17, 24, 31, 39, 48, 58, 69, 81, 95, 109, 124, 140, 158, 177, 196, 217, 239, 263, 287, 313, 340, 369, 399, 430, 463, 497, 532, 570, 608, 649, 691, 734, 779, 827, 875, 926, 979, 1033, 1090, 1148, 1209, 1271, 1336, 1403, 1472, 1543, 1617, 1693, 1771, 1852, 1935, 2021, 2109, 2199, 2292, 2387, 2486, 2586, 2689, 2795, 2903, 3014, 3127, 3243, 3362, 3482, 3606, 3731, 3859, 3989, 4122, 4256, 4392, 4531, 4671, 4813, 4957, 5102, 5248, 5396, 5545, 5694, 5845, 5995, 6147, 6298, 6449, 6600, 6751, 6901, 7050, 7198, 7344, 7489, 7632, 7772, 7911, 8046, 8179, 8309, 8435, 8557, 8676, 8790, 8900, 9005, 9105, 9201, 9291, 9375, 9454, 9527, 9593, 9654, 9708, 9756, 9797, 9831, 9859, 9880, 9894, 9900, 9901, 9894, 9880, 9859, 9831, 9797, 9756, 9708, 9654, 9593, 9527, 9454, 9375, 9291, 9201, 9105, 9005, 8900, 8790, 8676, 8557, 8435, 8309, 8179, 8046, 7911, 7772, 7632, 7489, 7344, 7198, 7050, 6901, 6751, 6600, 6449, 6298, 6147, 5995, 5845, 5694, 5545, 5396, 5248, 5102, 4957, 4813, 4671, 4531, 4392, 4256, 4122, 3989, 3859, 3731, 3606, 3482, 3362, 3243, 3127, 3014, 2903, 2795, 2689, 2586, 2486, 2387, 2292, 2199, 2109, 2021, 1935, 1852, 1771, 1693, 1617, 1543, 1472, 1403, 1336, 1271, 1209, 1148, 1090, 1033, 979, 926, 875, 827, 779, 734, 691, 649, 608, 570, 532, 497, 463, 430, 399, 369, 340, 313, 287, 263, 239, 217, 196, 177, 158, 140, 124, 109, 95, 81, 69, 58, 48, 39, 31, 24, 17, 12, 8, 5, 2, 1, 1
+};
+
+uint16_t table_pos = 0;
+
+static THD_WORKING_AREA(waBreatheThread, 128);
+static THD_FUNCTION(BreatheThread, arg) {
+  (void)arg;
+  chRegSetThreadName("breatheThread");
+
+  while(!chThdShouldTerminateX()) {
+    pwmEnableChannel(&PWM_DRIVER, 0, PWM_PERCENTAGE_TO_WIDTH(&PWM_DRIVER,breathing_table[table_pos]));
+    table_pos = (table_pos+1) % TABLE_SIZE;
+    chThdSleepMilliseconds(BREATHE_STEP);
+  }
+}
+
+/*
+ * 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();
+
+  /*
+   * Initialize the PWM driver.
+   */
+  pwmStart(&PWM_DRIVER, &pwmcfg);
+  pwmEnablePeriodicNotification(&PWM_DRIVER);
+
+  /*
+   * Starts the PWM channel 0, turn the LED off.
+   */
+  pwmEnableChannel(&PWM_DRIVER, 0, 0);
+  pwmEnableChannelNotification(&PWM_DRIVER, 0); // MUST be before EnableChannel...
+  
+  /*
+   * Create the breathe thread.
+   */
+  thread_t *breathe_thread_p;
+  breathe_thread_p = chThdCreateStatic(waBreatheThread, sizeof(waBreatheThread), NORMALPRIO, BreatheThread, NULL);
+
+  /*
+   * Normal main() thread activity, in this demo it does nothing.
+   */
+  while (!chThdShouldTerminateX()) {
+    chThdSleepMilliseconds(500);
+  }
+
+  chThdTerminate(breathe_thread_p);
+  chThdSleepMilliseconds(2*BREATHE_STEP);
+
+  /*
+   * Disables channel 0 and stops the drivers.
+   */
+  pwmDisableChannel(&PWM_DRIVER, 0);
+  pwmStop(&PWM_DRIVER);
+
+  return 0;
+}