[bsp][c28x] add driver for GPIO and improve pwm's driver (#6493)

1. 增加PWM模块的配置kconfig代码
2. 调整目录结构，新增c28x文件夹，将原有tms320f28379的porting移动至c28x文件夹下，通用设备驱动移动至c28x/libraries下
3. 增加gpio驱动代码以及外部中断触发驱动代码

目前已经在tms320f28379上通过测试

.gitignore

@@ -48,3 +48,4 @@ tags
 .history
 CMakeLists.txt
 cmake-build-debug
+*.mk

bsp/c28x/libraries/HAL_Drivers/config/pwm_config.h

@@ -15,10 +15,6 @@
 #include "rtthread.h"
 #include "drv_config.h"
 
-#define BSP_USING_PWM1
-#define BSP_USING_PWM2
-#define BSP_USING_PWM3
-#define BSP_USING_PWM4
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -58,18 +54,6 @@ extern "C" {
     }
     #endif
 #endif
-#define EPWM1_MAX_DB   0x03FF
-#define EPWM2_MAX_DB   0x03FF
-#define EPWM3_MAX_DB   0x03FF
-#define EPWM1_MIN_DB   0
-#define EPWM2_MIN_DB   0
-#define EPWM3_MIN_DB   0
-#define DB_UP          1
-#define DB_DOWN        0
-
-#define RT_HSPCLKDIV TB_DIV4
-#define RT_CLKDIV TB_DIV4
-#define RT_CTRMODE TB_COUNT_UPDOWN
 
 #define TZ_OFF  2
 #define TZ_ON   1

bsp/c28x/libraries/HAL_Drivers/drv_gpio.c

@@ -0,0 +1,439 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-08-28     qiyu     first version
+ */
+#include <rthw.h>
+#include "drv_gpio.h"
+#include "F2837xD_device.h"
+#include "F28x_Project.h"     // Device Headerfile and Examples Include File
+#ifdef RT_USING_PIN
+
+// the gpio pin number for each port is 32, while it is 16 for ARM
+#define PIN_NUM(port, no) (((((port) & 0xFu) << 5) | ((no) & 0x1F)))
+#define PIN_PORT(pin) ((rt_uint16_t)(((pin) >> 5) & 0xFu))
+#define PIN_NO(pin) ((rt_uint16_t)((pin) & 0x1Fu))
+
+#define PIN_c28x_PORT(pin) (volatile Uint32 *)&GpioDataRegs + (PIN_PORT(pin))*GPY_DATA_OFFSET
+#define PIN_c28x_PIN(pin) ((rt_uint32_t)(1u << PIN_NO(pin)))
+
+#define PIN_c28x_PORT_MAX 6 /* gpioA to GPIOF in total*/
+#define PIN_IRQ_MAX 5   /* XINT1 to XINT5 in total */
+
+static rt_err_t c28x_pin_attach_irq(struct rt_device *device, rt_int32_t pin,
+                                     rt_uint32_t mode, void (*hdr)(void *args), void *args);
+static rt_err_t c28x_pin_dettach_irq(struct rt_device *device, rt_int32_t pin);
+static rt_err_t c28x_pin_irq_enable(struct rt_device *device, rt_base_t pin,
+                                     rt_uint32_t enabled);
+
+static rt_base_t c28x_pin_get(const char *name)
+{
+    int hw_pin_num = 0;
+    int i, name_len;
+
+    name_len = rt_strlen(name);
+
+    if ((name_len < 3) || (name_len >= 7))
+    {
+        return -RT_EINVAL;
+    }
+    /*
+     * PX.y
+     */
+    if ((name[0] != 'P') || (name[2] != '.'))
+    {
+        return -RT_EINVAL;
+    }
+
+    for (i = 3; i < name_len; i++)
+    {
+        hw_pin_num *= 10;
+        hw_pin_num += name[i] - '0';
+    }
+    return hw_pin_num;
+}
+
+static void c28x_pin_write(rt_device_t dev, rt_base_t pin, rt_base_t value)
+{
+    volatile Uint32 *gpioDataReg;
+    Uint32 pinMask;
+    if (PIN_PORT(pin) < PIN_c28x_PORT_MAX)
+    {
+        gpioDataReg = PIN_c28x_PORT(pin);
+        pinMask = 1UL << (PIN_NO(pin));
+        if (value == 0)
+        {
+            gpioDataReg[GPYCLEAR] = pinMask;
+        }
+        else
+        {
+            gpioDataReg[GPYSET] = pinMask;
+        }
+    }
+}
+
+static int c28x_pin_read(rt_device_t dev, rt_base_t pin)
+{
+    volatile Uint32 *gpioDataReg;
+    int value = PIN_LOW;
+
+    if (PIN_PORT(pin) < PIN_c28x_PORT_MAX)
+    {
+        gpioDataReg = PIN_c28x_PORT(pin);
+        value = (gpioDataReg[GPYDAT] >> PIN_NO(pin)) & 0x1;
+    }
+
+    return value;
+}
+
+static void c28x_pin_mode(rt_device_t dev, rt_base_t pin, rt_base_t mode)
+{
+    volatile Uint32 *gpioBaseAddr;
+    volatile Uint32 *dir, *pud, *odr;
+    if (PIN_PORT(pin) >= PIN_c28x_PORT_MAX)
+    {
+        return;
+    }
+    rt_uint32_t pinMask;
+    pinMask = 1UL << PIN_NO(pin);
+    gpioBaseAddr = (Uint32 *)&GpioCtrlRegs + (PIN_PORT(pin))*GPY_CTRL_OFFSET;
+
+    dir = gpioBaseAddr + GPYDIR;
+    pud = gpioBaseAddr + GPYPUD;
+    odr = gpioBaseAddr + GPYODR;
+
+    EALLOW;
+    if (mode == PIN_MODE_OUTPUT)
+    {
+        *dir |= pinMask;
+    }
+    else if (mode == PIN_MODE_INPUT)
+    {
+        *dir &= ~pinMask;
+    }
+    else if (mode == PIN_MODE_INPUT_PULLUP)
+    {
+        *dir &= ~pinMask;
+        *pud &= ~pinMask;
+    }
+    else if (mode == PIN_MODE_INPUT_PULLDOWN)
+    {
+        /* input setting: pull down. */
+        *dir &= ~pinMask;
+        *pud |= pinMask;
+    }
+    else if (mode == PIN_MODE_OUTPUT_OD)
+    {
+        /* output setting: od. */
+        *dir |= pinMask;
+        *odr |= pinMask;
+    }
+    EDIS;
+}
+
+const static struct rt_pin_ops _c28x_pin_ops =
+{
+    c28x_pin_mode,
+    c28x_pin_write,
+    c28x_pin_read,
+    c28x_pin_attach_irq,
+    c28x_pin_dettach_irq,
+    c28x_pin_irq_enable,
+    c28x_pin_get,
+};
+
+int rt_hw_pin_init(void)
+{
+    return rt_device_pin_register("pin", &_c28x_pin_ops, RT_NULL);
+}
+
+static struct rt_pin_irq_hdr pin_irq_hdr_tab[] =
+{
+    {-1, 0, RT_NULL, RT_NULL},
+    {-1, 0, RT_NULL, RT_NULL},
+    {-1, 0, RT_NULL, RT_NULL},
+    {-1, 0, RT_NULL, RT_NULL},
+    {-1, 0, RT_NULL, RT_NULL},
+};
+
+static rt_int16_t pin_irq_xint_tab[] =
+{
+    BSP_XINT1_PIN,
+    BSP_XINT2_PIN,
+    BSP_XINT3_PIN,
+    BSP_XINT4_PIN,
+    BSP_XINT5_PIN
+};
+rt_inline rt_int32_t get_irq_index(rt_uint32_t pin)
+{
+    int i;
+    for(i = 0 ; i < PIN_IRQ_MAX ; i++)
+    {
+        if(pin_irq_xint_tab[i] == pin)
+        {
+            return i;
+        }
+    }
+    return -1;
+}
+
+#define ITEM_NUM(items) sizeof(items) / sizeof(items[0])
+
+static rt_err_t c28x_pin_attach_irq(struct rt_device *device, rt_int32_t pin,
+                                     rt_uint32_t mode, void (*hdr)(void *args), void *args)
+{
+    rt_base_t level;
+    rt_int32_t irqindex = -1;
+
+    if (PIN_PORT(pin) >= PIN_c28x_PORT_MAX)
+    {
+        return -RT_ENOSYS;
+    }
+    irqindex = get_irq_index(pin);
+    level = rt_hw_interrupt_disable();
+    if (pin_irq_hdr_tab[irqindex].pin == pin &&
+        pin_irq_hdr_tab[irqindex].hdr == hdr &&
+        pin_irq_hdr_tab[irqindex].mode == mode &&
+        pin_irq_hdr_tab[irqindex].args == args)
+    {
+        rt_hw_interrupt_enable(level);
+        return RT_EOK;
+    }
+    if (pin_irq_hdr_tab[irqindex].pin != -1)
+    {
+        rt_hw_interrupt_enable(level);
+        return -RT_EBUSY;
+    }
+    pin_irq_hdr_tab[irqindex].pin = pin;
+    pin_irq_hdr_tab[irqindex].hdr = hdr;
+    pin_irq_hdr_tab[irqindex].mode = mode;
+    pin_irq_hdr_tab[irqindex].args = args;
+    rt_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+static rt_err_t c28x_pin_dettach_irq(struct rt_device *device, rt_int32_t pin)
+{
+    rt_base_t level;
+    rt_int32_t irqindex = -1;
+    rt_uint16_t i;
+    if (PIN_PORT(pin) >= PIN_c28x_PORT_MAX)
+    {
+        return -RT_ENOSYS;
+    }
+
+    for(i = 0 ; i < PIN_IRQ_MAX ; i++)
+    {
+        if(pin_irq_hdr_tab[i].pin == pin)
+        {
+            irqindex = i;
+            break;
+        }
+    }
+    if (irqindex == -1)
+    {
+        return -RT_ENOSYS;
+    }
+    level = rt_hw_interrupt_disable();
+    pin_irq_hdr_tab[irqindex].pin = -1;
+    pin_irq_hdr_tab[irqindex].hdr = RT_NULL;
+    pin_irq_hdr_tab[irqindex].mode = 0;
+    pin_irq_hdr_tab[irqindex].args = RT_NULL;
+    rt_hw_interrupt_enable(level);
+
+    return RT_EOK;
+}
+
+static rt_err_t c28x_pin_irq_enable(struct rt_device *device, rt_base_t pin,
+                                     rt_uint32_t enabled)
+{
+    rt_base_t level;
+    rt_int32_t irqindex = -1;
+    rt_uint16_t channel;
+    rt_uint16_t edge_mode,pin_mode;
+
+    if (PIN_PORT(pin) >= PIN_c28x_PORT_MAX)
+    {
+        return -RT_ENOSYS;
+    }
+
+    irqindex = get_irq_index(pin);
+
+    /* irqindex+1 = channel*/
+    if (irqindex < 0 || irqindex >= PIN_IRQ_MAX)
+    {
+        return -RT_ENOSYS;
+    }
+
+    if (enabled == PIN_IRQ_ENABLE)
+    {
+        level = rt_hw_interrupt_disable();
+
+        if (pin_irq_hdr_tab[irqindex].pin == -1)
+        {
+            rt_hw_interrupt_enable(level);
+            return -RT_ENOSYS;
+        }
+
+        /*
+         * 1. set the edge mode of interrupt triggering
+         * 2. set the GPIO mode
+         * 3. enable XINT channel and set the input source
+        */
+        channel = irqindex+1;
+        switch (pin_irq_hdr_tab[irqindex].mode)
+        {
+        case PIN_IRQ_MODE_RISING:
+            edge_mode = 1;
+            pin_mode = PIN_MODE_INPUT_PULLDOWN;
+            break;
+        case PIN_IRQ_MODE_FALLING:
+            edge_mode = 0;
+            pin_mode = PIN_MODE_INPUT_PULLUP;
+            break;
+        case PIN_IRQ_MODE_RISING_FALLING:
+            edge_mode = 3;
+            pin_mode = PIN_MODE_INPUT;
+            break;
+        }
+        if(channel == 1)
+        {
+            XintRegs.XINT1CR.bit.ENABLE = 1;        // Enable XINT1
+            EALLOW;
+            InputXbarRegs.INPUT4SELECT = pin;       //Set XINT1 source to GPIO-pin
+            EDIS;
+            XintRegs.XINT1CR.bit.POLARITY = edge_mode;      // Falling edge interrupt
+        }
+        else if(channel == 2)
+        {
+            XintRegs.XINT2CR.bit.ENABLE = 1;        // Enable XINT2
+            EALLOW;
+            InputXbarRegs.INPUT5SELECT = pin;       //Set XINT1 source to GPIO-pin
+            EDIS;
+            XintRegs.XINT2CR.bit.POLARITY = edge_mode;      // Falling edge interrupt
+        }
+        else if(channel == 3)
+        {
+            XintRegs.XINT3CR.bit.ENABLE = 1;        // Enable XINT2
+            EALLOW;
+            InputXbarRegs.INPUT6SELECT = pin;       //Set XINT1 source to GPIO-pin
+            EDIS;
+            XintRegs.XINT3CR.bit.POLARITY = edge_mode;      // Falling edge interrupt
+        }
+        else if(channel == 4)
+        {
+            XintRegs.XINT4CR.bit.ENABLE = 1;        // Enable XINT2
+            EALLOW;
+            InputXbarRegs.INPUT13SELECT = pin;       //Set XINT1 source to GPIO-pin
+            EDIS;
+            XintRegs.XINT4CR.bit.POLARITY = edge_mode;      // Falling edge interrupt
+        }
+        else if(channel == 5)
+        {
+            XintRegs.XINT5CR.bit.ENABLE = 1;        // Enable XINT2
+            EALLOW;
+            InputXbarRegs.INPUT14SELECT = pin;       //Set XINT1 source to GPIO-pin
+            EDIS;
+            XintRegs.XINT5CR.bit.POLARITY = edge_mode;      // Falling edge interrupt
+        }
+
+        c28x_pin_mode(device, pin, pin_mode);
+        rt_hw_interrupt_enable(level);
+    }
+    else if (enabled == PIN_IRQ_DISABLE)
+    {
+        level = rt_hw_interrupt_disable();
+        channel = irqindex+1;
+        /*
+         * TODO modify this simpler
+         */
+        if(channel == 1)
+        {
+            XintRegs.XINT1CR.bit.ENABLE = 0;        // Disable XINT1
+        }
+        else if(channel == 2)
+        {
+            XintRegs.XINT2CR.bit.ENABLE = 0;        // Disable XINT2
+        }
+        else if(channel == 3)
+        {
+            XintRegs.XINT3CR.bit.ENABLE = 0;        // Disable XINT2
+        }
+        else if(channel == 4)
+        {
+            XintRegs.XINT4CR.bit.ENABLE = 0;        // Disable XINT2
+        }
+        else if(channel == 5)
+        {
+            XintRegs.XINT5CR.bit.ENABLE = 0;        // Disable XINT2
+        }
+        rt_hw_interrupt_enable(level);
+    }
+    else
+    {
+        return -RT_ENOSYS;
+    }
+
+    return RT_EOK;
+}
+
+void GPIO_XINT_Callback(rt_int16_t XINT_number);
+
+interrupt void XINT1_Handler(void)
+{
+    rt_interrupt_enter();
+    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
+    GPIO_XINT_Callback(1);
+    rt_interrupt_leave();
+}
+
+interrupt void XINT2_Handler(void)
+{
+    rt_interrupt_enter();
+    GPIO_XINT_Callback(2);
+    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
+    rt_interrupt_leave();
+}
+
+interrupt void XINT3_Handler(void)
+{
+    rt_interrupt_enter();
+    GPIO_XINT_Callback(3);
+    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
+    rt_interrupt_leave();
+}
+
+interrupt void XINT4_Handler(void)
+{
+    rt_interrupt_enter();
+    GPIO_XINT_Callback(4);
+    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
+    rt_interrupt_leave();
+}
+
+interrupt void XINT5_Handler(void)
+{
+    rt_interrupt_enter();
+    GPIO_XINT_Callback(5);
+    PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
+    rt_interrupt_leave();
+}
+
+void GPIO_XINT_Callback(rt_int16_t XINT_number)
+{
+    rt_int32_t irqindex = XINT_number - 1;
+    if(pin_irq_hdr_tab[irqindex].hdr)
+    {
+        pin_irq_hdr_tab[irqindex].hdr(pin_irq_hdr_tab[irqindex].args);
+    }
+}
+
+#endif /* RT_USING_PIN */
+
+
+

bsp/c28x/libraries/HAL_Drivers/drv_gpio.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-08-28     qiyu     first version
+ */
+
+#ifndef DRIVERS_DRV_GPIO_H_
+#define DRIVERS_DRV_GPIO_H_
+
+#include <board.h>
+#include "rtdevice.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int rt_hw_pin_init(void);
+
+#ifndef BSP_XINT1_PIN
+#define BSP_XINT1_PIN -1
+#endif
+#ifndef BSP_XINT2_PIN
+#define BSP_XINT2_PIN -1
+#endif
+#ifndef BSP_XINT3_PIN
+#define BSP_XINT3_PIN -1
+#endif
+#ifndef BSP_XINT4_PIN
+#define BSP_XINT4_PIN -1
+#endif
+#ifndef BSP_XINT5_PIN
+#define BSP_XINT5_PIN -1
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* DRIVERS_DRV_GPIO_H_ */

bsp/c28x/libraries/HAL_Drivers/drv_pwm.c

@@ -17,7 +17,7 @@
 /*
  * for now, cpu rate is a fixed value, waiting to be modified to an auto-ajustable variable.
 */
-
+#ifdef BSP_USING_PWM
 rt_err_t rt_device_pwm_register(struct rt_device_pwm *device, const char *name, const struct rt_pwm_ops *ops, const void *user_data);
 
 #define CPU_FREQUENCY 200e6
@@ -120,8 +120,6 @@ static rt_err_t drv_pwm_set(volatile struct EPWM_REGS *epwm,struct rt_pwm_config
     {
         return -RT_ERROR;
     }
-
-
     /*
      * TODO Unknown problem
      * the clock division configuration of PWM module is 1
@@ -136,13 +134,8 @@ static rt_err_t drv_pwm_set(volatile struct EPWM_REGS *epwm,struct rt_pwm_config
 
     epwm->TBPRD = prd;                       /* Set timer period*/
     epwm->TBCTR = 0x0000;                     /* Clear counter*/
-    epwm->TBCTL.bit.CTRMODE = RT_CTRMODE; /* Count up*/
-    epwm->TBCTL.bit.HSPCLKDIV = TB_DIV1;       /* Clock ratio to SYSCLKOUT*/
-    epwm->TBCTL.bit.CLKDIV = TB_DIV1;
     epwm->CMPCTL.bit.SHDWAMODE = RT_SHADOW_MODE;    /* Load registers every ZERO*/
     epwm->CMPCTL.bit.SHDWBMODE = RT_SHADOW_MODE;
-    epwm->CMPCTL.bit.LOADAMODE = RT_LOAD_TIME;
-    epwm->CMPCTL.bit.LOADBMODE = RT_LOAD_TIME;
     /* Setup compare */
     if(configuration->channel == CHANNEL_A)
     {
@@ -180,9 +173,7 @@ static rt_err_t drv_pwm_set(volatile struct EPWM_REGS *epwm,struct rt_pwm_config
     epwm->DBCTL.bit.IN_MODE = DBA_ALL;
     /* if disable dead time, set dead_time to 0 */
 
-    epwm->ETSEL.bit.INTSEL = ET_CTR_ZERO;    /* Select INT on Zero event */
-    epwm->ETPS.bit.INTPRD = ET_1ST;          /* Generate INT on 1st event */
-
+#ifdef BSP_PWM1_CTR_MODE_UPDOWN
     if(phase<180)
     {
         epwm->TBPHS.bit.TBPHS = prd * phase/180;
@@ -192,6 +183,7 @@ static rt_err_t drv_pwm_set(volatile struct EPWM_REGS *epwm,struct rt_pwm_config
         epwm->TBPHS.bit.TBPHS = prd-prd * (phase-180)/180;
         epwm->TBCTL.bit.PHSDIR = 1; /* count up*/
     }
+#endif
     if(epwm == &EPwm1Regs)
     {
         epwm->TBCTL.bit.PHSEN = TB_DISABLE;        /* Disable phase loading */
@@ -374,52 +366,168 @@ static void pwm_isr(struct rt_device_pwm *rt_pwm)
     rt_interrupt_leave();   \
 }
 
-#ifdef BSP_USING_PWM1
+#ifdef BSP_PWM1_IT_ENABLE
 EPWM_ISR_DEFINE(1)
+void EPWM1_Isr();
+#endif
+#ifdef BSP_PWM2_IT_ENABLE
+EPWM_ISR_DEFINE(2)
+void EPWM2_Isr();
+#endif
+#ifdef BSP_PWM3_IT_ENABLE
+EPWM_ISR_DEFINE(3)
+void EPWM3_Isr();
+#endif
+#ifdef BSP_PWM4_IT_ENABLE
+EPWM_ISR_DEFINE(4)
+void EPWM4_Isr();
 #endif
 
-void EPWM1_Isr();
 
 static int c28x_hw_pwm_init(struct c28x_pwm *device)
 {
+    IER |= M_INT3;
+    rt_err_t result = 0;
     EALLOW;
+#ifdef BSP_USING_PWM1
+    GpioCtrlRegs.GPAPUD.all |= 5<<(1-1)*4;      /* Disable pull-up(EPWM1A) */
+    GpioCtrlRegs.GPAMUX1.all|= 5<<(1-1)*4;      /* Configure as EPWM1A */
+    EPwm1Regs.TZCTL.bit.TZA = TZ_OFF;           /* diable A when trip zone */
+    EPwm1Regs.TZCTL.bit.TZB = TZ_OFF;           /* diable B when trip zone */
+    EPwm1Regs.TBCTL.bit.CTRMODE = BSP_PWM1_CTRMODE;
+    EPwm1Regs.TBCTL.bit.HSPCLKDIV = BSP_PWM1_HSPCLKDIV;       /* Clock ratio to SYSCLKOUT*/
+    EPwm1Regs.TBCTL.bit.CLKDIV = BSP_PWM1_CLKDIV;
+    EPwm1Regs.CMPCTL.bit.LOADAMODE = BSP_PWM1_LOADAMODE;
+    EPwm1Regs.CMPCTL.bit.LOADBMODE = BSP_PWM1_LOADAMODE;
+    #ifdef BSP_PWM1_IT_ENABLE
+        EPwm1Regs.ETSEL.bit.INTEN = 1;               /* Enable INT */
+        EPwm1Regs.ETSEL.bit.INTSEL = BSP_PWM1_INTSEL;
+        EPwm1Regs.ETPS.bit.INTPRD = BSP_PWM1_INTPRD;
         /* Assigning ISR to PIE */
         PieVectTable.EPWM1_INT = &EPWM1_Isr;
         /* ENABLE Interrupt */
-    EDIS;
-    IER |= M_INT3;
-    rt_err_t result = 0;
-
-    EALLOW;
-#ifdef BSP_USING_PWM1
-    GpioCtrlRegs.GPAPUD.all |= 5<<(1-1)*4;      /* Disable pull-up on GPIO0 (EPWM1A) */
-    GpioCtrlRegs.GPAMUX1.all|= 5<<(1-1)*4;      /* Configure GPIO0 as EPWM1A */
-    EPwm1Regs.TZCTL.bit.TZA = TZ_OFF;           /* diable A when trip zone */
-    EPwm1Regs.TZCTL.bit.TZB = TZ_OFF;           /* diable B when trip zone */
+    #else
+        EPwm1Regs.ETSEL.bit.INTEN = 0;               /* Disable INT */
+    #endif
+    #ifdef BSP_PWM1_ADC_TRIGGER
+        EPwm1Regs.ETSEL.bit.SOCAEN    = 1;        // Enable SOC on A group
+        EPwm1Regs.ETSEL.bit.SOCASEL  = BSP_PWM1_SOCASEL;        // Select SOC from zero
+        EPwm1Regs.ETPS.bit.SOCAPRD   = BSP_PWM1_SOCAPRD;        // Generate pulse on 1st event
+    #else
+        EPwm1Regs.ETSEL.bit.SOCAEN    = 0;        // Disable SOC on A group
+    #endif
+    #ifdef BSP_PWM1_MASTER
+        EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        /* Disable phase loading */
+        EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
+    #else
+        EPwm1Regs.TBCTL.bit.PHSEN = TB_ENABLE;        /* Disable phase loading */
+        EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
+    #endif
 #endif
 #ifdef BSP_USING_PWM2
-    GpioCtrlRegs.GPAPUD.all |= 5<<(2-1)*4;      /* Disable pull-up on GPIO0 (EPWM1A) */
-    GpioCtrlRegs.GPAMUX1.all|= 5<<(2-1)*4;      /* Configure GPIO0 as EPWM1A */
+    GpioCtrlRegs.GPAPUD.all |= 5<<(2-1)*4;      /* Disable pull-up on  (EPWM2A) */
+    GpioCtrlRegs.GPAMUX1.all|= 5<<(2-1)*4;      /* Configure as EPWM2A */
     EPwm2Regs.TZCTL.bit.TZA = TZ_OFF;           /* diable A when trip zone */
     EPwm2Regs.TZCTL.bit.TZB = TZ_OFF;           /* diable B when trip zone */
+    EPwm2Regs.TBCTL.bit.CTRMODE = BSP_PWM2_CTRMODE;
+    EPwm2Regs.TBCTL.bit.HSPCLKDIV = BSP_PWM2_HSPCLKDIV;       /* Clock ratio to SYSCLKOUT*/
+    EPwm2Regs.TBCTL.bit.CLKDIV = BSP_PWM2_CLKDIV;
+    EPwm2Regs.CMPCTL.bit.LOADAMODE = BSP_PWM2_LOADAMODE;
+    EPwm2Regs.CMPCTL.bit.LOADBMODE = BSP_PWM2_LOADAMODE;
+    #ifdef BSP_PWM2_IT_ENABLE
+        EPwm2Regs.ETSEL.bit.INTEN = 1;               /* Enable INT */
+        EPwm2Regs.ETSEL.bit.INTSEL = BSP_PWM2_INTSEL;
+        EPwm2Regs.ETPS.bit.INTPRD = BSP_PWM2_INTPRD;
+        /* Assigning ISR to PIE */
+        PieVectTable.EPWM2_INT = &EPWM2_Isr;
+        /* ENABLE Interrupt */
+    #else
+        EPwm2Regs.ETSEL.bit.INTEN = 0;               /* Disable INT */
+    #endif
+    #ifdef BSP_PWM2_ADC_TRIGGER
+        EPwm2Regs.ETSEL.bit.SOCAEN    = 1;        // Enable SOC on A group
+        EPwm2Regs.ETSEL.bit.SOCASEL  = BSP_PWM2_SOCASEL;        // Select SOC from zero
+        EPwm2Regs.ETPS.bit.SOCAPRD   = BSP_PWM2_SOCAPRD;        // Generate pulse on 1st event
+    #else
+        EPwm2Regs.ETSEL.bit.SOCAEN    = 0;        // Disable SOC on A group
+    #endif
+    #ifdef BSP_PWM2_MASTER
+        EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE;        /* Disable phase loading */
+        EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
+    #else
+        EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE;        /* Disable phase loading */
+        EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
+    #endif
 #endif
 #ifdef BSP_USING_PWM3
-    GpioCtrlRegs.GPAPUD.all |= 5<<(3-1)*4;      /* Disable pull-up on GPIO0 (EPWM1A) */
-    GpioCtrlRegs.GPAMUX1.all|= 5<<(3-1)*4;      /* Configure GPIO0 as EPWM1A */
+    GpioCtrlRegs.GPAPUD.all |= 5<<(3-1)*4;      /* Disable pull-up on (EPWM3A) */
+    GpioCtrlRegs.GPAMUX1.all|= 5<<(3-1)*4;      /* Configure as EPWM3A */
     EPwm3Regs.TZCTL.bit.TZA = TZ_OFF;           /* diable A when trip zone */
     EPwm3Regs.TZCTL.bit.TZB = TZ_OFF;           /* diable B when trip zone */
+    EPwm3Regs.TBCTL.bit.CTRMODE = BSP_PWM3_CTRMODE;
+    EPwm3Regs.TBCTL.bit.HSPCLKDIV = BSP_PWM3_HSPCLKDIV;       /* Clock ratio to SYSCLKOUT*/
+    EPwm3Regs.TBCTL.bit.CLKDIV = BSP_PWM3_CLKDIV;
+    EPwm3Regs.CMPCTL.bit.LOADAMODE = BSP_PWM3_LOADAMODE;
+    EPwm3Regs.CMPCTL.bit.LOADBMODE = BSP_PWM3_LOADAMODE;
+    #ifdef BSP_PWM3_IT_ENABLE
+        EPwm3Regs.ETSEL.bit.INTEN = 1;               /* Enable INT */
+        EPwm3Regs.ETSEL.bit.INTSEL = BSP_PWM3_INTSEL;
+        EPwm3Regs.ETPS.bit.INTPRD = BSP_PWM3_INTPRD;
+        /* Assigning ISR to PIE */
+        PieVectTable.EPWM3_INT = &EPWM3_Isr;
+        /* ENABLE Interrupt */
+    #else
+        EPwm3Regs.ETSEL.bit.INTEN = 0;               /* Disable INT */
+    #endif
+    #ifdef BSP_PWM3_ADC_TRIGGER
+        EPwm3Regs.ETSEL.bit.SOCAEN    = 1;        // Enable SOC on A group
+        EPwm3Regs.ETSEL.bit.SOCASEL  = BSP_PWM3_SOCASEL;        // Select SOC from zero
+        EPwm3Regs.ETPS.bit.SOCAPRD   = BSP_PWM3_SOCAPRD;        // Generate pulse on 1st event
+    #else
+        EPwm3Regs.ETSEL.bit.SOCAEN    = 0;        // Disable SOC on A group
+    #endif
+    #ifdef BSP_PWM3_MASTER
+        EPwm3Regs.TBCTL.bit.PHSEN = TB_DISABLE;        /* Disable phase loading */
+        EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
+    #else
+        EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE;        /* Disable phase loading */
+        EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
+    #endif
 #endif
 #ifdef BSP_USING_PWM4
-    GpioCtrlRegs.GPAPUD.all |= 5<<(4-1)*4;      /* Disable pull-up on GPIO0 (EPWM1A) */
-    GpioCtrlRegs.GPAMUX1.all|= 5<<(4-1)*4;      /* Configure GPIO0 as EPWM1A */
+    GpioCtrlRegs.GPAPUD.all |= 5<<(4-1)*4;      /* Disable pull-up on (EPWM4A) */
+    GpioCtrlRegs.GPAMUX1.all|= 5<<(4-1)*4;      /* Configure as EPWM4A */
     EPwm4Regs.TZCTL.bit.TZA = TZ_OFF;           /* diable A when trip zone */
     EPwm4Regs.TZCTL.bit.TZB = TZ_OFF;           /* diable B when trip zone */
-#endif
-#ifdef BSP_USING_PWM5
-    GpioCtrlRegs.GPAPUD.all |= 5<<(5-1)*4;      /* Disable pull-up on GPIO0 (EPWM1A) */
-    GpioCtrlRegs.GPAMUX1.all|= 5<<(5-1)*4;      /* Configure GPIO0 as EPWM1A */
-    EPwm5Regs.TZCTL.bit.TZA = TZ_OFF;           /* diable A when trip zone */
-    EPwm5Regs.TZCTL.bit.TZB = TZ_OFF;           /* diable B when trip zone */
+    EPwm4Regs.TBCTL.bit.CTRMODE = BSP_PWM4_CTRMODE;
+    EPwm4Regs.TBCTL.bit.HSPCLKDIV = BSP_PWM4_HSPCLKDIV;       /* Clock ratio to SYSCLKOUT*/
+    EPwm4Regs.TBCTL.bit.CLKDIV = BSP_PWM4_CLKDIV;
+    EPwm4Regs.CMPCTL.bit.LOADAMODE = BSP_PWM4_LOADAMODE;
+    EPwm4Regs.CMPCTL.bit.LOADBMODE = BSP_PWM4_LOADAMODE;
+    #ifdef BSP_PWM4_IT_ENABLE
+        EPwm4Regs.ETSEL.bit.INTEN = 1;               /* Enable INT */
+        EPwm4Regs.ETSEL.bit.INTSEL = BSP_PWM4_INTSEL;
+        EPwm4Regs.ETPS.bit.INTPRD = BSP_PWM4_INTPRD;
+        /* Assigning ISR to PIE */
+        PieVectTable.EPWM4_INT = &EPWM4_Isr;
+        /* ENABLE Interrupt */
+    #else
+        EPwm4Regs.ETSEL.bit.INTEN = 0;               /* Disable INT */
+    #endif
+    #ifdef BSP_PWM4_ADC_TRIGGER
+        EPwm4Regs.ETSEL.bit.SOCAEN    = 1;        // Enable SOC on A group
+        EPwm4Regs.ETSEL.bit.SOCASEL  = BSP_PWM4_SOCASEL;        // Select SOC from zero
+        EPwm4Regs.ETPS.bit.SOCAPRD   = BSP_PWM4_SOCAPRD;        // Generate pulse on 1st event
+    #else
+        EPwm4Regs.ETSEL.bit.SOCAEN    = 0;        // Disable SOC on A group
+    #endif
+    #ifdef BSP_PWM4_MASTER
+        EPwm4Regs.TBCTL.bit.PHSEN = TB_DISABLE;        /* Disable phase loading */
+        EPwm4Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
+    #else
+        EPwm4Regs.TBCTL.bit.PHSEN = TB_ENABLE;        /* Disable phase loading */
+        EPwm4Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;
+    #endif
 #endif
     EDIS;
 
@@ -459,20 +567,21 @@ int c28x_pwm_init(void)
     struct rt_pwm_configuration config_tmp1 =
     {
        .channel = CHANNEL_A,
-       .period = 10000,
-       .pulse = 5000,
-       .dead_time = 100,
+       .period = BSP_PWM1_INIT_PERIOD,
+       .pulse = BSP_PWM1_INIT_PULSE,
+       .dead_time = BSP_PWM1_DB,
        .phase = 0,
        .complementary = RT_TRUE
     };
     drv_pwm_set(c28x_pwm_obj[0].pwm_regs,&config_tmp1);
-    config_tmp1.phase = 180;
-    drv_pwm_set(c28x_pwm_obj[1].pwm_regs,&config_tmp1);
-    config_tmp1.phase = 90;
-    drv_pwm_set(c28x_pwm_obj[2].pwm_regs,&config_tmp1);
-    config_tmp1.phase = 270;
-    drv_pwm_set(c28x_pwm_obj[3].pwm_regs,&config_tmp1);
+//    config_tmp1.phase = BSP_PWM2_PHASE;
+//    drv_pwm_set(c28x_pwm_obj[1].pwm_regs,&config_tmp1);
+//    config_tmp1.phase = BSP_PWM3_PHASE;
+//    drv_pwm_set(c28x_pwm_obj[2].pwm_regs,&config_tmp1);
+//    config_tmp1.phase = BSP_PWM4_PHASE;
+//    drv_pwm_set(c28x_pwm_obj[3].pwm_regs,&config_tmp1);
     return result;
 
 }
 INIT_DEVICE_EXPORT(c28x_pwm_init);
+#endif /* BSP_USING_PWM */

bsp/c28x/libraries/HAL_Drivers/drv_pwm.h

@@ -13,6 +13,7 @@
 #include <board.h>
 #include "rtdevice.h"
 
+#ifdef BSP_USING_PWM
 struct c28x_pwm
 {
     struct rt_device_pwm pwm_device;
@@ -21,5 +22,5 @@ struct c28x_pwm
 };
 
 int c28x_pwm_init(void);
-
+#endif /* BSP_USING_PWM */
 #endif /* DRIVERS_DRV_PWM_H_ */

bsp/c28x/libraries/HAL_Drivers/drv_sci.c

@@ -14,7 +14,7 @@
 #include "F2837xD_device.h"
 #include "F2837xD_sci.h"
 
-typedef long off_t;
+//typedef long off_t;
 #include "F2837xD_sci_io.h"
 
 #ifdef RT_USING_SERIAL