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Improvements to the PWM driver. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2853 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio 2011-03-31 10:21:52 +00:00
parent 8cdc7bd8f3
commit a58a524d4c
9 changed files with 290 additions and 228 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

109
os/hal/include/pwm.h
View File

@ -57,13 +57,16 @@ typedef enum {
} pwmstate_t;
/**
* @brief PWM logic mode.
* @brief Type of a structure representing a PWM driver.
*/
typedef enum {
PWM_OUTPUT_DISABLED = 0, /**< Output not driven, callback only. */
PWM_OUTPUT_ACTIVE_HIGH = 1, /**< Idle is logic level 0. */
PWM_OUTPUT_ACTIVE_LOW = 2 /**< Idle is logic level 1. */
} pwmmode_t;
typedef struct PWMDriver PWMDriver;
/**
* @brief PWM notification callback type.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
typedef void (*pwmcallback_t)(PWMDriver *pwmp);
#include "pwm_lld.h"
@ -72,12 +75,86 @@ typedef enum {
/*===========================================================================*/
/**
* @brief Enables a PWM channel.
* @details Programs (or reprograms) a PWM channel.
* @note This function has to be invoked from a lock zone.
* @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] channel PWM channel identifier
* @param[in] denominator denominator of the fraction
* @param[in] numerator numerator of the fraction
* @return The pulse width to be passed to @p pwmEnableChannel().
*
* @api
*/
#define PWM_FRACTION_TO_WIDTH(pwmp, denominator, numerator) \
((uint16_t)((((uint32_t)(pwmp)->period) * \
(uint32_t)(numerator)) / (uint32_t)(denominator)))
/**
* @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.
*
* @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().
*
* @api
*/
#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
/**
* @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.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @iclass
*/
#define pwmChangePeriodI(pwmp, period) { \
(pwmp)->period = (period); \
pwm_lld_change_period(pwmp, period); \
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
* @param[in] width PWM pulse width as clock pulses number
*
* @iclass
@ -86,13 +163,16 @@ typedef enum {
pwm_lld_enable_channel(pwmp, channel, width)
/**
* @brief Disables a PWM channel.
* @details The channel is disabled and its output line returned to the
* @brief Disables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note This function has to be invoked from a lock zone.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
*
* @iclass
*/
@ -110,6 +190,7 @@ extern "C" {
void pwmObjectInit(PWMDriver *pwmp);
void pwmStart(PWMDriver *pwmp, const PWMConfig *config);
void pwmStop(PWMDriver *pwmp);
void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period);
void pwmEnableChannel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);

1
os/hal/platforms/STM32/gpt_lld.c
View File

@ -325,6 +325,7 @@ void gpt_lld_stop(GPTDriver *gptp) {
if (gptp->state == GPT_READY) {
gptp->tim->CR1 = 0; /* Timer disabled. */
gptp->tim->DIER = 0; /* All IRQs disabled. */
gptp->tim->SR = 0; /* Clear eventual pending IRQs. */
#if STM32_GPT_USE_TIM1
if (&GPTD1 == gptp) {

76
os/hal/platforms/STM32/pwm_lld.c
View File

@ -289,12 +289,15 @@ void pwm_lld_init(void) {
/**
* @brief Configures and activates the PWM peripheral.
* @note Starting a driver that is already in the @p PWM_READY state
* disables all the active channels.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_start(PWMDriver *pwmp) {
uint32_t clock, psc;
uint16_t ccer;
/* Reset channels.*/
@ -311,6 +314,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
CORTEX_PRIORITY_MASK(STM32_PWM_TIM1_IRQ_PRIORITY));
NVICEnableVector(TIM1_CC_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM1_IRQ_PRIORITY));
clock = STM32_TIMCLK2;
}
#endif
#if STM32_PWM_USE_TIM2
@ -320,6 +324,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
RCC->APB1RSTR = 0;
NVICEnableVector(TIM2_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM2_IRQ_PRIORITY));
clock = STM32_TIMCLK1;
}
#endif
#if STM32_PWM_USE_TIM3
@ -329,6 +334,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
RCC->APB1RSTR = 0;
NVICEnableVector(TIM3_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM3_IRQ_PRIORITY));
clock = STM32_TIMCLK1;
}
#endif
#if STM32_PWM_USE_TIM4
@ -338,6 +344,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
RCC->APB1RSTR = 0;
NVICEnableVector(TIM4_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM4_IRQ_PRIORITY));
clock = STM32_TIMCLK1;
}
#endif
@ -348,6 +355,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
RCC->APB1RSTR = 0;
NVICEnableVector(TIM5_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM5_IRQ_PRIORITY));
clock = STM32_TIMCLK1;
}
#endif
@ -364,21 +372,26 @@ void pwm_lld_start(PWMDriver *pwmp) {
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
/* Really required ?????????? */
pwmp->tim->CR1 = 0; /* Timer stopped. */
pwmp->tim->CR2 = 0; /* Timer stopped. */
pwmp->tim->SMCR = 0; /* Slave mode disabled. */
pwmp->enabled_channels = 0; /* All channels disabled. */
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->DIER = 0; /* All IRQs disabled. */
pwmp->tim->SR = 0; /* Clear eventual pending IRQs. */
pwmp->tim->CCR1 = 0; /* Comparator 1 disabled. */
pwmp->tim->CCR2 = 0; /* Comparator 2 disabled. */
pwmp->tim->CCR3 = 0; /* Comparator 3 disabled. */
pwmp->tim->CCR4 = 0; /* Comparator 4 disabled. */
pwmp->tim->CNT = 0;
pwmp->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
psc = (clock / pwmp->config->frequency) - 1;
chDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * pwmp->config->frequency) == clock,
"pwm_lld_start(), #1", "invalid frequency");
pwmp->tim->PSC = (uint16_t)psc;
pwmp->tim->ARR = (uint16_t)(pwmp->period - 1);
pwmp->tim->CR2 = pwmp->config->cr2;
pwmp->tim->PSC = pwmp->config->psc;
pwmp->tim->ARR = pwmp->config->arr;
/* Output enables and polarities setup.*/
ccer = 0;
switch (pwmp->config->channels[0].mode) {
@ -434,17 +447,9 @@ void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/
if (pwmp->state == PWM_READY) {
pwmp->enabled_channels = 0; /* All channels disabled. */
pwmp->tim->CR1 = 0;
pwmp->tim->CR2 = 0;
pwmp->tim->CCER = 0; /* Outputs disabled. */
pwmp->tim->CCR1 = 0; /* Comparator 1 disabled. */
pwmp->tim->CCR2 = 0; /* Comparator 2 disabled. */
pwmp->tim->CCR3 = 0; /* Comparator 3 disabled. */
pwmp->tim->CCR4 = 0; /* Comparator 4 disabled. */
pwmp->tim->BDTR = 0;
pwmp->tim->DIER = 0;
pwmp->tim->SR = 0;
pwmp->tim->EGR = TIM_EGR_UG; /* Update event. */
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->DIER = 0; /* All IRQs disabled. */
pwmp->tim->SR = 0; /* Clear eventual pending IRQs. */
#if STM32_PWM_USE_TIM1
if (&PWMD1 == pwmp) {
@ -480,8 +485,39 @@ void pwm_lld_stop(PWMDriver *pwmp) {
}
}
/**
* @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.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @api
*/
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {
pwmp->enabled_channels = 0; /* All channels disabled. */
pwmp->tim->DIER &= ~(TIM_DIER_CC1IE |
TIM_DIER_CC2IE |
TIM_DIER_CC3IE |
TIM_DIER_CC4IE); /* Channels sources disabled. */
pwmp->tim->SR = ~(TIM_SR_CC1IF |
TIM_SR_CC1IF |
TIM_SR_CC1IF |
TIM_SR_CC1IF); /* Clears eventual pending IRQs. */
pwmp->tim->ARR = (uint16_t)(period - 1);
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
@ -508,8 +544,10 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
/**
* @brief Disables a PWM channel.
* @details The channel is disabled and its output line returned to the
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)

124
os/hal/platforms/STM32/pwm_lld.h
View File

@ -169,16 +169,13 @@ typedef uint8_t pwmchannel_t;
typedef uint16_t pwmcnt_t;
/**
* @brief Type of a structure representing an PWM driver.
* @brief PWM logic mode.
*/
typedef struct PWMDriver PWMDriver;
/**
* @brief PWM notification callback type.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
typedef void (*pwmcallback_t)(PWMDriver *pwmp);
typedef enum {
PWM_OUTPUT_DISABLED = 0, /**< Output not driven, callback only. */
PWM_OUTPUT_ACTIVE_HIGH = 1, /**< Idle is logic level 0. */
PWM_OUTPUT_ACTIVE_LOW = 2 /**< Idle is logic level 1. */
} pwmmode_t;
/**
* @brief PWM driver channel configuration structure.
@ -201,6 +198,18 @@ typedef struct {
* @brief PWM driver configuration structure.
*/
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
@ -212,14 +221,6 @@ typedef struct {
*/
PWMChannelConfig channels[PWM_CHANNELS];
/* End of the mandatory fields.*/
/**
* @brief TIM PSC (pre-scaler) register initialization data.
*/
uint16_t psc;
/**
* @brief TIM ARR (auto-reload) register initialization data.
*/
uint16_t arr;
/**
* @brief TIM CR2 register initialization data.
* @note The value of this field should normally be equal to zero.
@ -239,6 +240,10 @@ struct PWMDriver {
* @brief Current driver configuration data.
*/
const PWMConfig *config;
/**
* @brief Current PWM period in ticks.
*/
pwmcnt_t period;
#if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS
#endif
@ -257,90 +262,6 @@ struct PWMDriver {
/* Driver macros. */
/*===========================================================================*/
/**
* @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 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 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)->config->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.
*
* @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().
*
* @api
*/
#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
@ -371,6 +292,7 @@ extern "C" {
void pwm_lld_init(void);
void pwm_lld_start(PWMDriver *pwmp);
void pwm_lld_stop(PWMDriver *pwmp);
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period);
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);

43
os/hal/src/pwm.c
View File

@ -77,6 +77,8 @@ void pwmObjectInit(PWMDriver *pwmp) {
/**
* @brief Configures and activates the PWM peripheral.
* @note Starting a driver that is already in the @p PWM_READY state
* disables all the active channels.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] config pointer to a @p PWMConfig object
@ -91,6 +93,7 @@ void pwmStart(PWMDriver *pwmp, const PWMConfig *config) {
chDbgAssert((pwmp->state == PWM_STOP) || (pwmp->state == PWM_READY),
"pwmStart(), #1", "invalid state");
pwmp->config = config;
pwmp->period = config->period;
pwm_lld_start(pwmp);
pwmp->state = PWM_READY;
chSysUnlock();
@ -115,9 +118,41 @@ void pwmStop(PWMDriver *pwmp) {
chSysUnlock();
}
/**
* @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.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @api
*/
void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period) {
chDbgCheck(pwmp != NULL, "pwmChangePeriod");
chSysLock();
chDbgAssert(pwmp->state == PWM_READY,
"pwmChangePeriod(), #1", "invalid state");
pwmp->period = period;
pwm_lld_change_period(pwmp, period);
chSysUnlock();
}
/**
* @brief Enables a PWM channel.
* @details Programs (or reprograms) a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
@ -141,8 +176,12 @@ void pwmEnableChannel(PWMDriver *pwmp,
/**
* @brief Disables a PWM channel.
* @details The channel is disabled and its output line returned to the
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)

35
os/hal/templates/pwm_lld.c
View File

@ -87,23 +87,32 @@ void pwm_lld_stop(PWMDriver *pwmp) {
}
/**
* @brief Determines whatever the PWM channel is already enabled.
* @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.
* @post Any active channel is disabled by this function and must be
* activated explicitly using @p pwmEnableChannel().
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to the @p PWMDriver object
* @param[in] channel PWM channel identifier
* @return The PWM channel status.
* @retval FALSE the channel is not enabled.
* @retval TRUE the channel is enabled.
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
* @api
*/
bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel) {
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) {
return FALSE;
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
@ -119,11 +128,17 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
/**
* @brief Disables a PWM channel.
* @details The channel is disabled and its output line returned to the
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note Depending on the hardware implementation this function has
* effect starting on the next cycle (recommended implementation)
* or immediately (fallback implementation).
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
*
* @notapi
*/
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {

81
os/hal/templates/pwm_lld.h
View File

@ -65,16 +65,13 @@ typedef uint8_t pwmchannel_t;
typedef uint16_t pwmcnt_t;
/**
* @brief Type of a structure representing an PWM driver.
* @brief PWM logic mode.
*/
typedef struct PWMDriver PWMDriver;
/**
* @brief PWM notification callback type.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
typedef void (*pwmcallback_t)(PWMDriver *pwmp);
typedef enum {
PWM_OUTPUT_DISABLED = 0, /**< Output not driven, callback only. */
PWM_OUTPUT_ACTIVE_HIGH = 1, /**< Idle is logic level 0. */
PWM_OUTPUT_ACTIVE_LOW = 2 /**< Idle is logic level 1. */
} pwmmode_t;
/**
* @brief PWM driver channel configuration structure.
@ -101,6 +98,18 @@ typedef struct {
* architecture dependent, fields.
*/
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
@ -128,6 +137,10 @@ struct PWMDriver {
* @brief Current configuration data.
*/
const PWMConfig *config;
/**
* @brief Current PWM period in ticks.
*/
pwmcnt_t period;
#if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS
#endif
@ -138,54 +151,6 @@ struct PWMDriver {
/* Driver macros. */
/*===========================================================================*/
/**
* @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) 0
/**
* @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.
*
* @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().
*
* @api
*/
#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
@ -196,7 +161,7 @@ extern "C" {
void pwm_lld_init(void);
void pwm_lld_start(PWMDriver *pwmp);
void pwm_lld_stop(PWMDriver *pwmp);
bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel);
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period);
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);

9
readme.txt
View File

@ -79,7 +79,14 @@
- FIX: Fixed wrong checks in I/O Queues (bug 3219197)(backported to 2.2.3).
- FIX: Fixed invalid assertion in adcConvert() (bug 3205410)(backported
to 2.2.3).
- NEW: Added new ICU driver model, Input Capture Unit..
- NEW: Improvements to the PWM driver model:
- Easier configuration similar to the GPT driver initializations, macros
are no more required.
- Added a new function that allows to change the PWM period on the fly,
even from within callbacks. Formerly it was required to stop and restart
the driver.
- Improved driver documentation.
- NEW: Added new ICU driver model, Input Capture Unit.
- NEW: ICU driver implementation for STM32.
- NEW: Implemented stack checking in the Cortex-Mx RVCT port (backported
to 2.2.3).

40
testhal/STM32/PWM/main.c
View File

@ -21,33 +21,21 @@
#include "ch.h"
#include "hal.h"
/*
* Red LEDs blinker thread, times are in milliseconds.
*/
static WORKING_AREA(waThread1, 128);
static msg_t Thread1(void *arg) {
(void)arg;
while (TRUE) {
palClearPad(IOPORT3, GPIOC_LED);
chThdSleepMilliseconds(500);
palSetPad(IOPORT3, GPIOC_LED);
chThdSleepMilliseconds(500);
}
return 0;
}
static void pwmpcb(PWMDriver *pwmp) {
(void)pwmp;
palSetPad(IOPORT3, GPIOC_LED);
}
static void pwmc1cb(PWMDriver *pwmp) {
(void)pwmp;
palClearPad(IOPORT3, GPIOC_LED);
}
static PWMConfig pwmcfg = {
10000, /* 10KHz PWM clock frequency. */
10000, /* Initial PWM period 1S. */
pwmpcb,
{
{PWM_OUTPUT_ACTIVE_HIGH, pwmc1cb},
@ -55,8 +43,6 @@ static PWMConfig pwmcfg = {
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL}
},
PWM_COMPUTE_PSC(STM32_TIMCLK1, 10000), /* 10KHz PWM clock frequency. */
PWM_COMPUTE_ARR(10000, 1000000), /* PWM period 1S. */
0
};
@ -76,9 +62,9 @@ int main(void) {
chSysInit();
/*
* Creates the blinker thread.
* LED initially off.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
palSetPad(IOPORT3, GPIOC_LED);
/*
* Initializes the PWM driver 1.
@ -88,9 +74,9 @@ int main(void) {
chThdSleepMilliseconds(2000);
/*
* Starts the channel 0 using 50% duty cycle.
* Starts the channel 0 using 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
@ -99,11 +85,19 @@ int main(void) {
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second and duty cycle to 50%.
*/
pwmChangePeriod(&PWMD1, 5000);
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Disables channel 0.
*/
pwmDisableChannel(&PWMD1, 0);
pwmStop(&PWMD1);
palSetPad(IOPORT3, GPIOC_LED);
/*
* Normal main() thread activity, in this demo it does nothing.