386 lines
12 KiB
C
386 lines
12 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file STM32/pwm_lld.h
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* @brief STM32 PWM subsystem low level driver header.
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*
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* @addtogroup PWM
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* @{
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*/
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#ifndef _PWM_LLD_H_
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#define _PWM_LLD_H_
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#if HAL_USE_PWM || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief Number of PWM channels per PWM driver.
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*/
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#define PWM_CHANNELS 4
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @brief PWM1 driver enable switch.
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* @details If set to @p TRUE the support for PWM1 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM1) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM1 TRUE
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#endif
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/**
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* @brief PWM2 driver enable switch.
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* @details If set to @p TRUE the support for PWM2 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM2) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM2 TRUE
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#endif
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/**
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* @brief PWM3 driver enable switch.
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* @details If set to @p TRUE the support for PWM3 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM3) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM3 TRUE
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#endif
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/**
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* @brief PWM4 driver enable switch.
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* @details If set to @p TRUE the support for PWM4 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM4) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM4 TRUE
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#endif
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/**
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* @brief PWM5 driver enable switch.
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* @details If set to @p TRUE the support for PWM5 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM5) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM5 TRUE
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#endif
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/**
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* @brief PWM1 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM1_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWM2 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM2_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWM3 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM3_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWM4 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM4_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWM5 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM5_IRQ_PRIORITY 7
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#endif
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/*===========================================================================*/
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/* Configuration checks. */
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/*===========================================================================*/
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#if STM32_PWM_USE_TIM1 && !STM32_HAS_TIM1
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#error "TIM1 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM2 && !STM32_HAS_TIM2
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#error "TIM2 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM3 && !STM32_HAS_TIM3
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#error "TIM3 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM4 && !STM32_HAS_TIM4
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#error "TIM4 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM5 && !STM32_HAS_TIM5
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#error "TIM5 not present in the selected device"
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#endif
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#if !STM32_PWM_USE_TIM1 && !STM32_PWM_USE_TIM2 && \
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!STM32_PWM_USE_TIM3 && !STM32_PWM_USE_TIM4 && \
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!STM32_PWM_USE_TIM5
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#error "PWM driver activated but no TIM peripheral assigned"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief PWM channel type.
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*/
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typedef uint8_t pwmchannel_t;
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/**
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* @brief PWM counter type.
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*/
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typedef uint16_t pwmcnt_t;
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/**
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* @brief Type of a structure representing an PWM driver.
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*/
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typedef struct PWMDriver PWMDriver;
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/**
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* @brief PWM notification callback type.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*/
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typedef void (*pwmcallback_t)(PWMDriver *pwmp);
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/**
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* @brief PWM driver channel configuration structure.
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*/
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typedef struct {
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/**
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* @brief Channel active logic level.
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*/
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pwmmode_t pcc_mode;
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/**
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* @brief Channel callback pointer.
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* @note This callback is invoked on the channel compare event. If set to
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* @p NULL then the callback is disabled.
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*/
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pwmcallback_t pcc_callback;
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/* End of the mandatory fields.*/
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} PWMChannelConfig;
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/**
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* @brief PWM driver configuration structure.
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*/
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typedef struct {
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/**
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* @brief Periodic callback pointer.
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* @note This callback is invoked on PWM counter reset. If set to
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* @p NULL then the callback is disabled.
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*/
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pwmcallback_t pc_callback;
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/**
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* @brief Channels configurations.
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*/
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PWMChannelConfig pc_channels[PWM_CHANNELS];
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/* End of the mandatory fields.*/
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/**
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* @brief TIM PSC (pre-scaler) register initialization data.
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*/
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uint16_t pc_psc;
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/**
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* @brief TIM ARR (auto-reload) register initialization data.
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*/
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uint16_t pc_arr;
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/**
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* @brief TIM CR2 register initialization data.
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* @note The value of this field should normally be equal to zero.
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*/
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uint16_t pc_cr2;
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} PWMConfig;
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/**
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* @brief Structure representing a PWM driver.
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*/
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struct PWMDriver {
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/**
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* @brief Driver state.
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*/
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pwmstate_t pd_state;
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/**
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* @brief Current driver configuration data.
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*/
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const PWMConfig *pd_config;
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#if defined(PWM_DRIVER_EXT_FIELDS)
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PWM_DRIVER_EXT_FIELDS
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#endif
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/* End of the mandatory fields.*/
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/**
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* @brief Bit mask of the enabled channels.
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*/
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uint32_t pd_enabled_channels;
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/**
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* @brief Pointer to the TIMx registers block.
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*/
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TIM_TypeDef *pd_tim;
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};
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @brief PWM clock prescaler initialization utility.
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* @note The real clock value is rounded to the lower valid value, please
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* make sure that the source clock frequency is a multiple of the
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* requested PWM clock frequency.
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* @note The calculated value must fit into an unsigned 16 bits integer.
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*
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* @param[in] clksrc clock source frequency, depending on the target timer
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* cell it can be one of:
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* - STM32_TIMCLK1
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* - STM32_TIMCLK2
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* .
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* Please refer to the STM32 HAL driver documentation
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* and/or the STM32 Reference Manual for the right clock
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* source.
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* @param[in] pwmclk PWM clock frequency in cycles
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* @return The value to be stored in the @p pc_psc field of the
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* @p PWMConfig structure.
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*/
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#define PWM_COMPUTE_PSC(clksrc, pwmclk) \
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((uint16_t)(((clksrc) / (pwmclk)) - 1))
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/**
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* @brief PWM cycle period initialization utility.
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* @note The calculated value must fit into an unsigned 16 bits integer.
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*
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* @param[in] pwmclk PWM clock frequency in cycles
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* @param[in] pwmperiod PWM cycle period in nanoseconds
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* @return The value to be stored in the @p pc_arr field of the
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* @p PWMConfig structure.
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*/
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#define PWM_COMPUTE_ARR(pwmclk, pwmperiod) \
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((uint16_t)(((pwmclk) / (1000000000 / (pwmperiod))) - 1))
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/**
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* @brief Converts from fraction to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] numerator numerator of the fraction
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* @param[in] denominator percentage as an integer between 0 and numerator
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator) \
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((uint16_t)((((uint32_t)(pwmp)->pd_config->pc_arr + 1UL) * \
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(uint32_t)(denominator)) / (uint32_t)(numerator)))
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/**
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* @brief Converts from degrees to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify hundredths of degrees but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] degrees degrees as an integer between 0 and 36000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_DEGREES_TO_WIDTH(pwmp, degrees) \
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PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees)
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/**
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* @brief Converts from percentage to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] percentage percentage as an integer between 0 and 10000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
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PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#if STM32_PWM_USE_TIM1 && !defined(__DOXYGEN__)
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extern PWMDriver PWMD1;
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#endif
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#if STM32_PWM_USE_TIM2 && !defined(__DOXYGEN__)
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extern PWMDriver PWMD2;
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#endif
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#if STM32_PWM_USE_TIM3 && !defined(__DOXYGEN__)
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extern PWMDriver PWMD3;
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#endif
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#if STM32_PWM_USE_TIM4 && !defined(__DOXYGEN__)
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extern PWMDriver PWMD4;
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#endif
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#if STM32_PWM_USE_TIM5 && !defined(__DOXYGEN__)
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extern PWMDriver PWMD5;
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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void pwm_lld_init(void);
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void pwm_lld_start(PWMDriver *pwmp);
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void pwm_lld_stop(PWMDriver *pwmp);
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void pwm_lld_enable_channel(PWMDriver *pwmp,
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pwmchannel_t channel,
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pwmcnt_t width);
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void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_PWM */
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#endif /* _PWM_LLD_H_ */
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/** @} */
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