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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1425 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2009-12-16 15:48:50 +00:00
parent ba37ee4f4b
commit 494cd0f095
3 changed files with 107 additions and 3 deletions
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79
os/hal/platforms/STM32/pwm_lld.c
View File

@ -46,10 +46,64 @@ PWMDriver PWMD1;
/* Low Level Driver local functions. */
/*===========================================================================*/
/**
* @brief Stops all channels.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
void stop_channels(PWMDriver *pwmp) {
pwmp->pd_enabled_channels = 0; /* All channels disabled. */
pwmp->pd_tim->CCER = 0; /* Outputs disabled. */
pwmp->pd_tim->CCMR1 = 0; /* Channels 1 and 2 frozen. */
pwmp->pd_tim->CCMR2 = 0; /* Channels 3 and 4 frozen. */
}
/*===========================================================================*/
/* Low Level Driver interrupt handlers. */
/*===========================================================================*/
#if USE_STM32_PWM1
/**
* @brief TIM1 update interrupt handler.
* @note It is assumed that this interrupt is only activated if the callback
* pointer is not equal to @p NULL in order to not perform an extra
* check in a potentially critical interrupt handler.
*/
CH_IRQ_HANDLER(VectorA4) {
CH_IRQ_PROLOGUE();
PWMD1.pd_config->pc_callback();
CH_IRQ_EPILOGUE();
}
/**
* @brief TIM1 compare interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*/
CH_IRQ_HANDLER(VectorAC) {
uint16_t sr;
CH_IRQ_PROLOGUE();
sr = TIM1->SR;
TIM1->SR &= ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF | TIM_SR_CC4IF);
if ((sr & TIM_SR_CC1IF) != 0)
PWMD1.pd_channel_configs[0]->pcc_callback();
if ((sr & TIM_SR_CC2IF) != 0)
PWMD1.pd_channel_configs[1]->pcc_callback();
if ((sr & TIM_SR_CC3IF) != 0)
PWMD1.pd_channel_configs[2]->pcc_callback();
if ((sr & TIM_SR_CC4IF) != 0)
PWMD1.pd_channel_configs[3]->pcc_callback();
CH_IRQ_EPILOGUE();
}
#endif /* USE_STM32_PWM1 */
/*===========================================================================*/
/* Low Level Driver exported functions. */
/*===========================================================================*/
@ -66,6 +120,8 @@ void pwm_lld_init(void) {
/* Driver initialization.*/
pwmObjectInit(&PWMD1);
PWMD1.pd_enabled_channels = 0;
PWMD1.pd_tim = TIM1;
#endif
}
@ -81,12 +137,28 @@ void pwm_lld_start(PWMDriver *pwmp) {
/* Clock activation.*/
#if USE_STM32_PWM1
if (&PWMD1 == pwmp) {
NVICEnableVector(TIM1_UP_IRQn, STM32_PWM1_IRQ_PRIORITY);
NVICEnableVector(TIM1_CC_IRQn, STM32_PWM1_IRQ_PRIORITY);
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
}
#endif
}
/* Configuration.*/
/* Reset channels.*/
stop_channels(pwmp);
/* Configuration or reconfiguration.*/
pwmp->pd_tim->CR1 = pwmp->pd_config->pc_cr1;
pwmp->pd_tim->CR2 = pwmp->pd_config->pc_cr2;
pwmp->pd_tim->PSC = pwmp->pd_config->pc_psc;
pwmp->pd_tim->ARR = pwmp->pd_config->pc_arr;
pwmp->pd_tim->CNT = 0;
pwmp->pd_tim->EGR = TIM_EGR_UG; /* Update event. */
pwmp->pd_tim->SR = 0; /* Clear pending IRQs. */
if (pwmp->pd_config->pc_callback == NULL)
pwmp->pd_tim->DIER = 0; /* No IRQs. */
else
pwmp->pd_tim->DIER = TIM_DIER_UIE; /* IRQ on update event. */
pwmp->pd_tim->CR1 |= TIM_CR1_CEN; /* Starts the timer. */
}
/**
@ -100,11 +172,16 @@ void pwm_lld_stop(PWMDriver *pwmp) {
if (pwmp->pd_state == PWM_READY) {
#if USE_STM32_PWM1
if (&PWMD1 == pwmp) {
NVICDisableVector(TIM1_UP_IRQn);
NVICDisableVector(TIM1_CC_IRQn);
RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN;
}
#endif
}
stop_channels(pwmp);
pwmp->pd_tim->CR1 = 0;
pwmp->pd_tim->DIER = 0;
}
/**

22
os/hal/platforms/STM32/pwm_lld.h
View File

@ -85,6 +85,24 @@ typedef struct {
*/
pwmcallback_t pc_callback;
/* 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 CR1 register initialization data.
* @note The value of this field should normally be equal to zero.
*/
uint16_t pc_cr1;
/**
* @brief TIM CR2 register initialization data.
* @note The value of this field should normally be equal to zero.
*/
uint16_t pc_cr2;
} PWMConfig;
/**
@ -126,6 +144,10 @@ typedef struct {
* @brief Bit mask of the enabled channels.
*/
uint32_t pd_enabled_channels;
/**
* @brief Pointer to the TIMx registers block.
*/
TIM_TypeDef *pd_tim;
} PWMDriver;
/*===========================================================================*/

9
os/hal/src/pwm.c
View File

@ -88,6 +88,9 @@ void pwmStop(PWMDriver *pwmp) {
/**
* @brief Setups a PWM channel.
* @details Associates a configuration to a PWM channel, this operation is
* required before a channel can be enabled using
* @p pwmEnableChannel().
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier
@ -123,7 +126,8 @@ void pwmEnableChannel(PWMDriver *pwmp,
"pwmEnableChannel");
chSysLock();
chDbgAssert(pwmp->pd_state == PWM_READY,
chDbgAssert((pwmp->pd_state == PWM_READY) &&
(pwmp->pd_channel_configs[channel] != NULL),
"pwmEnableChannel(), #1", "invalid state");
pwm_lld_enable_channel(pwmp, channel, width);
chSysUnlock();
@ -143,7 +147,8 @@ void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {
"pwmEnableChannel");
chSysLock();
chDbgAssert(pwmp->pd_state == PWM_READY,
chDbgAssert((pwmp->pd_state == PWM_READY) &&
(pwmp->pd_channel_configs[channel] != NULL),
"pwmDisableChannel(), #1", "invalid state");
pwm_lld_disable_channel(pwmp, channel);
chSysUnlock();