diff options
Diffstat (limited to 'os/hal/platforms/STM32/pwm_lld.h')
| -rw-r--r-- | os/hal/platforms/STM32/pwm_lld.h | 238 |
1 files changed, 111 insertions, 127 deletions
diff --git a/os/hal/platforms/STM32/pwm_lld.h b/os/hal/platforms/STM32/pwm_lld.h index 1e9dd855a..2b3ce7183 100644 --- a/os/hal/platforms/STM32/pwm_lld.h +++ b/os/hal/platforms/STM32/pwm_lld.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -37,15 +38,55 @@ /**
* @brief Number of PWM channels per PWM driver.
*/
-#define PWM_CHANNELS 4
+#define PWM_CHANNELS 4
+
+/**
+ * @brief Complementary output modes mask.
+ * @note This is an STM32-specific setting.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_MASK 0xF0
+
+/**
+ * @brief Complementary output not driven.
+ * @note This is an STM32-specific setting.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_DISABLED 0x00
+
+/**
+ * @brief Complementary output, active is logic level one.
+ * @note This is an STM32-specific setting.
+ * @note This setting is only available if the configuration option
+ * @p STM32_PWM_USE_ADVANCED is set to TRUE and only for advanced
+ * timers TIM1 and TIM8.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH 0x10
+
+/**
+ * @brief Complementary output, active is logic level zero.
+ * @note This is an STM32-specific setting.
+ * @note This setting is only available if the configuration option
+ * @p STM32_PWM_USE_ADVANCED is set to TRUE and only for advanced
+ * timers TIM1 and TIM8.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW 0x20
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
- * @brief PWM1 driver enable switch.
- * @details If set to @p TRUE the support for PWM1 is included.
+ * @brief If advanced timer features switch.
+ * @details If set to @p TRUE the advanced features for TIM1 and TIM8 are
+ * enabled.
+ * @note The default is @p TRUE.
+ */
+#if !defined(STM32_PWM_USE_ADVANCED) || defined(__DOXYGEN__)
+#define STM32_PWM_USE_ADVANCED TRUE
+#endif
+
+/**
+ * @brief PWMD1 driver enable switch.
+ * @details If set to @p TRUE the support for PWMD1 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM1) || defined(__DOXYGEN__)
@@ -53,8 +94,8 @@ #endif
/**
- * @brief PWM2 driver enable switch.
- * @details If set to @p TRUE the support for PWM2 is included.
+ * @brief PWMD2 driver enable switch.
+ * @details If set to @p TRUE the support for PWMD2 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM2) || defined(__DOXYGEN__)
@@ -62,8 +103,8 @@ #endif
/**
- * @brief PWM3 driver enable switch.
- * @details If set to @p TRUE the support for PWM3 is included.
+ * @brief PWMD3 driver enable switch.
+ * @details If set to @p TRUE the support for PWMD3 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM3) || defined(__DOXYGEN__)
@@ -71,8 +112,8 @@ #endif
/**
- * @brief PWM4 driver enable switch.
- * @details If set to @p TRUE the support for PWM4 is included.
+ * @brief PWMD4 driver enable switch.
+ * @details If set to @p TRUE the support for PWMD4 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM4) || defined(__DOXYGEN__)
@@ -80,8 +121,8 @@ #endif
/**
- * @brief PWM5 driver enable switch.
- * @details If set to @p TRUE the support for PWM5 is included.
+ * @brief PWMD5 driver enable switch.
+ * @details If set to @p TRUE the support for PWMD5 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM5) || defined(__DOXYGEN__)
@@ -89,35 +130,35 @@ #endif
/**
- * @brief PWM1 interrupt priority level setting.
+ * @brief PWMD1 interrupt priority level setting.
*/
#if !defined(STM32_PWM_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
#endif
/**
- * @brief PWM2 interrupt priority level setting.
+ * @brief PWMD2 interrupt priority level setting.
*/
#if !defined(STM32_PWM_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_TIM2_IRQ_PRIORITY 7
#endif
/**
- * @brief PWM3 interrupt priority level setting.
+ * @brief PWMD3 interrupt priority level setting.
*/
#if !defined(STM32_PWM_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_TIM3_IRQ_PRIORITY 7
#endif
/**
- * @brief PWM4 interrupt priority level setting.
+ * @brief PWMD4 interrupt priority level setting.
*/
#if !defined(STM32_PWM_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_TIM4_IRQ_PRIORITY 7
#endif
/**
- * @brief PWM5 interrupt priority level setting.
+ * @brief PWMD5 interrupt priority level setting.
*/
#if !defined(STM32_PWM_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_TIM5_IRQ_PRIORITY 7
@@ -153,11 +194,20 @@ #error "PWM driver activated but no TIM peripheral assigned"
#endif
+#if STM32_PWM_USE_ADVANCED && !STM32_PWM_USE_TIM1
+#error "advanced mode selected but no advanced timer assigned"
+#endif
+
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
+ * @brief PWM mode type.
+ */
+typedef uint32_t pwmmode_t;
+
+/**
* @brief PWM channel type.
*/
typedef uint8_t pwmchannel_t;
@@ -168,31 +218,19 @@ typedef uint8_t pwmchannel_t; typedef uint16_t pwmcnt_t;
/**
- * @brief Type of a structure representing an PWM driver.
- */
-typedef struct PWMDriver PWMDriver;
-
-/**
- * @brief PWM notification callback type.
- *
- * @param[in] pwmp pointer to a @p PWMDriver object
- */
-typedef void (*pwmcallback_t)(PWMDriver *pwmp);
-
-/**
* @brief PWM driver channel configuration structure.
*/
typedef struct {
/**
* @brief Channel active logic level.
*/
- pwmmode_t pcc_mode;
+ pwmmode_t mode;
/**
* @brief Channel callback pointer.
* @note This callback is invoked on the channel compare event. If set to
* @p NULL then the callback is disabled.
*/
- pwmcallback_t pcc_callback;
+ pwmcallback_t callback;
/* End of the mandatory fields.*/
} PWMChannelConfig;
@@ -201,29 +239,40 @@ typedef struct { */
typedef struct {
/**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ uint32_t frequency;
+ /**
+ * @brief PWM period in ticks.
+ * @note The low level can use assertions in order to catch invalid
+ * period specifications.
+ */
+ pwmcnt_t period;
+ /**
* @brief Periodic callback pointer.
* @note This callback is invoked on PWM counter reset. If set to
* @p NULL then the callback is disabled.
*/
- pwmcallback_t pc_callback;
+ pwmcallback_t callback;
/**
* @brief Channels configurations.
*/
- PWMChannelConfig pc_channels[PWM_CHANNELS];
+ PWMChannelConfig channels[PWM_CHANNELS];
/* End of the mandatory fields.*/
/**
- * @brief TIM PSC (pre-scaler) register initialization data.
- */
- uint16_t pc_psc;
- /**
- * @brief TIM ARR (auto-reload) register initialization data.
- */
- uint16_t pc_arr;
- /**
* @brief TIM CR2 register initialization data.
* @note The value of this field should normally be equal to zero.
*/
- uint16_t pc_cr2;
+ uint16_t cr2;
+#if STM32_PWM_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief TIM BDTR (break & dead-time) register initialization data.
+ * @note The value of this field should normally be equal to zero.
+ */ \
+ uint16_t bdtr;
+#endif
} PWMConfig;
/**
@@ -233,23 +282,23 @@ struct PWMDriver { /**
* @brief Driver state.
*/
- pwmstate_t pd_state;
+ pwmstate_t state;
/**
* @brief Current driver configuration data.
*/
- const PWMConfig *pd_config;
+ const PWMConfig *config;
+ /**
+ * @brief Current PWM period in ticks.
+ */
+ pwmcnt_t period;
#if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
- * @brief Bit mask of the enabled channels.
- */
- uint32_t pd_enabled_channels;
- /**
* @brief Pointer to the TIMx registers block.
*/
- TIM_TypeDef *pd_tim;
+ TIM_TypeDef *tim;
};
/*===========================================================================*/
@@ -257,88 +306,23 @@ struct PWMDriver { /*===========================================================================*/
/**
- * @brief PWM clock prescaler initialization utility.
- * @note The real clock value is rounded to the lower valid value, please
- * make sure that the source clock frequency is a multiple of the
- * requested PWM clock frequency.
- * @note The calculated value must fit into an unsigned 16 bits integer.
- *
- * @param[in] clksrc clock source frequency, depending on the target timer
- * cell it can be one of:
- * - STM32_TIMCLK1
- * - STM32_TIMCLK2
- * .
- * Please refer to the STM32 HAL driver documentation
- * and/or the STM32 Reference Manual for the right clock
- * source.
- * @param[in] pwmclk PWM clock frequency in cycles
- * @return The value to be stored in the @p pc_psc field of the
- * @p PWMConfig structure.
- */
-#define PWM_COMPUTE_PSC(clksrc, pwmclk) \
- ((uint16_t)(((clksrc) / (pwmclk)) - 1))
-
-/**
- * @brief PWM cycle period initialization utility.
- * @note The calculated value must fit into an unsigned 16 bits integer.
- *
- * @param[in] pwmclk PWM clock frequency in cycles
- * @param[in] pwmperiod PWM cycle period in nanoseconds
- * @return The value to be stored in the @p pc_arr field of the
- * @p PWMConfig structure.
- */
-#define PWM_COMPUTE_ARR(pwmclk, pwmperiod) \
- ((uint16_t)(((pwmclk) / (1000000000 / (pwmperiod))) - 1))
-
-/**
- * @brief Converts from fraction to pulse width.
- * @note Be careful with rounding errors, this is integer math not magic.
- * You can specify tenths of thousandth but make sure you have the
- * proper hardware resolution by carefully choosing the clock source
- * and prescaler settings, see @p PWM_COMPUTE_PSC.
- *
- * @param[in] pwmp pointer to a @p PWMDriver object
- * @param[in] numerator numerator of the fraction
- * @param[in] denominator percentage as an integer between 0 and numerator
- * @return The pulse width to be passed to @p pwmEnableChannel().
- *
- * @api
- */
-#define PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator) \
- ((uint16_t)((((uint32_t)(pwmp)->pd_config->pc_arr + 1UL) * \
- (uint32_t)(denominator)) / (uint32_t)(numerator)))
-
-/**
- * @brief Converts from degrees to pulse width.
- * @note Be careful with rounding errors, this is integer math not magic.
- * You can specify hundredths of degrees but make sure you have the
- * proper hardware resolution by carefully choosing the clock source
- * and prescaler settings, see @p PWM_COMPUTE_PSC.
- *
- * @param[in] pwmp pointer to a @p PWMDriver object
- * @param[in] degrees degrees as an integer between 0 and 36000
- * @return The pulse width to be passed to @p pwmEnableChannel().
- *
- * @api
- */
-#define PWM_DEGREES_TO_WIDTH(pwmp, degrees) \
- PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees)
-
-/**
- * @brief Converts from percentage to pulse width.
- * @note Be careful with rounding errors, this is integer math not magic.
- * You can specify tenths of thousandth but make sure you have the
- * proper hardware resolution by carefully choosing the clock source
- * and prescaler settings, see @p PWM_COMPUTE_PSC.
+ * @brief Changes the period the PWM peripheral.
+ * @details This function changes the period of a PWM unit that has already
+ * been activated using @p pwmStart().
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @post The PWM unit period is changed to the new value.
+ * @note The function has effect at the next cycle start.
+ * @note If a period is specified that is shorter than the pulse width
+ * programmed in one of the channels then the behavior is not
+ * guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
- * @param[in] percentage percentage as an integer between 0 and 10000
- * @return The pulse width to be passed to @p pwmEnableChannel().
+ * @param[in] period new cycle time in ticks
*
- * @api
+ * @notapi
*/
-#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
- PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
+#define pwm_lld_change_period(pwmp, period) \
+ ((pwmp)->tim->ARR = (uint16_t)((period) - 1))
/*===========================================================================*/
/* External declarations. */
|