diff options
| -rw-r--r-- | os/hal/include/pwm.h | 2 | ||||
| -rw-r--r-- | os/hal/platforms/STM32/pwm_lld.c | 169 | ||||
| -rw-r--r-- | os/hal/platforms/STM32/pwm_lld.h | 51 | ||||
| -rw-r--r-- | os/hal/src/pwm.c | 31 |
4 files changed, 146 insertions, 107 deletions
diff --git a/os/hal/include/pwm.h b/os/hal/include/pwm.h index 55e890ea4..b48f067c9 100644 --- a/os/hal/include/pwm.h +++ b/os/hal/include/pwm.h @@ -62,8 +62,6 @@ extern "C" { void pwmObjectInit(PWMDriver *pwmp);
void pwmStart(PWMDriver *pwmp, const PWMConfig *config);
void pwmStop(PWMDriver *pwmp);
- void pwmSetupChannel(PWMDriver *pwmp, pwmchannel_t channel,
- const PWMChannelConfig *pccp);
void pwmEnableChannel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);
diff --git a/os/hal/platforms/STM32/pwm_lld.c b/os/hal/platforms/STM32/pwm_lld.c index 3c9092ad5..b1e4f7bc3 100644 --- a/os/hal/platforms/STM32/pwm_lld.c +++ b/os/hal/platforms/STM32/pwm_lld.c @@ -55,6 +55,10 @@ void stop_channels(PWMDriver *pwmp) { pwmp->pd_enabled_channels = 0; /* All channels disabled. */
pwmp->pd_tim->CCER = 0; /* Outputs disabled. */
+ pwmp->pd_tim->CCR1 = 0; /* Comparator 1 disabled. */
+ pwmp->pd_tim->CCR2 = 0; /* Comparator 2 disabled. */
+ pwmp->pd_tim->CCR3 = 0; /* Comparator 3 disabled. */
+ pwmp->pd_tim->CCR4 = 0; /* Comparator 4 disabled. */
pwmp->pd_tim->CCMR1 = 0; /* Channels 1 and 2 frozen. */
pwmp->pd_tim->CCMR2 = 0; /* Channels 3 and 4 frozen. */
}
@@ -93,13 +97,14 @@ CH_IRQ_HANDLER(VectorAC) { 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();
+ PWMD1.pd_config->pc_channels[0].pcc_callback();
if ((sr & TIM_SR_CC2IF) != 0)
- PWMD1.pd_channel_configs[1]->pcc_callback();
+ PWMD1.pd_config->pc_channels[1].pcc_callback();
if ((sr & TIM_SR_CC3IF) != 0)
- PWMD1.pd_channel_configs[2]->pcc_callback();
+ PWMD1.pd_config->pc_channels[2].pcc_callback();
if ((sr & TIM_SR_CC4IF) != 0)
- PWMD1.pd_channel_configs[3]->pcc_callback();
+ PWMD1.pd_config->pc_channels[3].pcc_callback();
+
CH_IRQ_EPILOGUE();
}
#endif /* USE_STM32_PWM1 */
@@ -132,6 +137,7 @@ void pwm_lld_init(void) { * @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwm_lld_start(PWMDriver *pwmp) {
+ uint16_t ccer;
if (pwmp->pd_state == PWM_STOP) {
/* Clock activation.*/
@@ -147,18 +153,27 @@ void pwm_lld_start(PWMDriver *pwmp) { 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. */
+ pwmp->pd_tim->CR1 = 0; /* Timer stopped. */
+ pwmp->pd_tim->SMCR = 0; /* Slave mode disabled. */
+ pwmp->pd_tim->CR2 = pwmp->pd_config->pc_cr2;
+ pwmp->pd_tim->PSC = pwmp->pd_config->pc_psc;
+ pwmp->pd_tim->CNT = 0;
+ pwmp->pd_tim->ARR = pwmp->pd_config->pc_arr;
+ ccer = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E;
+ if (pwmp->pd_config->pc_channels[0].pcc_mode == PWM_ACTIVE_LOW)
+ ccer |= TIM_CCER_CC1P;
+ if (pwmp->pd_config->pc_channels[1].pcc_mode == PWM_ACTIVE_LOW)
+ ccer |= TIM_CCER_CC2P;
+ if (pwmp->pd_config->pc_channels[2].pcc_mode == PWM_ACTIVE_LOW)
+ ccer |= TIM_CCER_CC3P;
+ if (pwmp->pd_config->pc_channels[3].pcc_mode == PWM_ACTIVE_LOW)
+ ccer |= TIM_CCER_CC4P;
+ pwmp->pd_tim->CCER = ccer;
+ pwmp->pd_tim->EGR = TIM_EGR_UG; /* Update event. */
+ pwmp->pd_tim->SR = 0; /* Clear pending IRQs. */
+ pwmp->pd_tim->DIER = pwmp->pd_config->pc_callback == NULL ? 0 : TIM_DIER_UIE;
+ pwmp->pd_tim->CR1 = TIM_CR1_ARPE | TIM_CR1_URS |
+ TIM_CR1_CEN; /* Timer configured and started.*/
}
/**
@@ -167,9 +182,12 @@ void pwm_lld_start(PWMDriver *pwmp) { * @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwm_lld_stop(PWMDriver *pwmp) {
-
/* If in ready state then disables the PWM clock.*/
if (pwmp->pd_state == PWM_READY) {
+ stop_channels(pwmp);
+ pwmp->pd_tim->CR1 = 0;
+ pwmp->pd_tim->DIER = 0;
+
#if USE_STM32_PWM1
if (&PWMD1 == pwmp) {
NVICDisableVector(TIM1_UP_IRQn);
@@ -178,35 +196,6 @@ void pwm_lld_stop(PWMDriver *pwmp) { }
#endif
}
-
- stop_channels(pwmp);
- pwmp->pd_tim->CR1 = 0;
- pwmp->pd_tim->DIER = 0;
-}
-
-/**
- * @brief Determines whatever the PWM channel is already enabled.
- * - * @param[in] pwmp pointer to a @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. - */
-bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel) {
-
- return (pwmp->pd_enabled_channels & (1 << channel)) != 0;
-}
-
-/**
- * @brief Setups a PWM channel.
- *
- * @param[in] pwmp pointer to a @p PWMDriver object
- * @param[in] channel PWM channel identifier
- */
-void pwm_lld_setup_channel(PWMDriver *pwmp, pwmchannel_t channel) {
-
}
/**
@@ -220,7 +209,67 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, pwmchannel_t channel,
pwmcnt_t width) {
- pwmp->pd_enabled_channels |= (1 << channel);
+ /*
+ * Changes the pulse width. + */
+ switch (channel) {
+ case 0:
+ pwmp->pd_tim->CCR1 = width;
+ break;
+ case 1:
+ pwmp->pd_tim->CCR2 = width;
+ break;
+ case 2:
+ pwmp->pd_tim->CCR3 = width;
+ break;
+ case 3:
+ pwmp->pd_tim->CCR4 = width;
+ break;
+ }
+ if ((pwmp->pd_enabled_channels & (1 << channel)) == 0) {
+ /*
+ * The channel is not enabled yet. + */
+ pwmp->pd_enabled_channels |= (1 << channel);
+ /*
+ * Setup the comparator, the channel is configured as PWM mode 1 with
+ * preload enabled.
+ */
+ switch (channel) {
+ case 0:
+ pwmp->pd_tim->CCMR1 = (pwmp->pd_tim->CCMR1 & 0xFF00) |
+ TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 |
+ TIM_CCMR1_OC1PE;
+ pwmp->pd_tim->DIER |= pwmp->pd_config->pc_channels[0].pcc_callback == NULL
+ ? 0 : TIM_DIER_CC1IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC1IF;
+ break;
+ case 1:
+ pwmp->pd_tim->CCMR1 = (pwmp->pd_tim->CCMR1 & 0x00FF) |
+ TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 |
+ TIM_CCMR1_OC2PE;
+ pwmp->pd_tim->DIER |= pwmp->pd_config->pc_channels[1].pcc_callback == NULL
+ ? 0 : TIM_DIER_CC2IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC2IF;
+ break;
+ case 2:
+ pwmp->pd_tim->CCMR2 = (pwmp->pd_tim->CCMR2 & 0xFF00) |
+ TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 |
+ TIM_CCMR2_OC3PE;
+ pwmp->pd_tim->DIER |= pwmp->pd_config->pc_channels[2].pcc_callback == NULL
+ ? 0 : TIM_DIER_CC3IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC3IF;
+ break;
+ case 3:
+ pwmp->pd_tim->CCMR2 = (pwmp->pd_tim->CCMR2 & 0x00FF) |
+ TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 |
+ TIM_CCMR2_OC4PE;
+ pwmp->pd_tim->DIER |= pwmp->pd_config->pc_channels[3].pcc_callback == NULL
+ ? 0 : TIM_DIER_CC4IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC4IF;
+ break;
+ }
+ }
}
/**
@@ -234,6 +283,32 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
pwmp->pd_enabled_channels &= ~(1 << channel);
+ switch (channel) {
+ case 0:
+ pwmp->pd_tim->CCR1 = 0;
+ pwmp->pd_tim->CCMR1 = pwmp->pd_tim->CCMR1 & 0xFF00;
+ pwmp->pd_tim->DIER &= ~TIM_DIER_CC1IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC1IF;
+ break;
+ case 1:
+ pwmp->pd_tim->CCR2 = 0;
+ pwmp->pd_tim->CCMR1 = pwmp->pd_tim->CCMR1 & 0x00FF;
+ pwmp->pd_tim->DIER &= ~TIM_DIER_CC2IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC2IF;
+ break;
+ case 2:
+ pwmp->pd_tim->CCR3 = 0;
+ pwmp->pd_tim->CCMR2 = pwmp->pd_tim->CCMR2 & 0xFF00;
+ pwmp->pd_tim->DIER &= ~TIM_DIER_CC3IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC3IF;
+ break;
+ case 3:
+ pwmp->pd_tim->CCR4 = 0;
+ pwmp->pd_tim->CCMR2 = pwmp->pd_tim->CCMR2 & 0x00FF;
+ pwmp->pd_tim->DIER &= ~TIM_DIER_CC4IE;
+ pwmp->pd_tim->SR = ~TIM_SR_CC4IF;
+ break;
+ }
}
#endif /* CH_HAL_USE_PWM */
diff --git a/os/hal/platforms/STM32/pwm_lld.h b/os/hal/platforms/STM32/pwm_lld.h index a48a93619..d44c1fdbf 100644 --- a/os/hal/platforms/STM32/pwm_lld.h +++ b/os/hal/platforms/STM32/pwm_lld.h @@ -74,6 +74,24 @@ typedef uint8_t pwmchannel_t; typedef uint16_t pwmcnt_t;
/**
+ * @brief PWM driver channel configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief Channel active logic level.
+ */
+ pwmmode_t pcc_mode;
+ /**
+ * @brief Channel callback pointer.
+ * @details This callback is invoked on the channel compare event. If set to
+ * @p NULL then the callback is disabled.
+ */
+ pwmcallback_t pcc_callback;
+ /* End of the mandatory fields.*/
+} PWMChannelConfig;
+
+/**
* @brief PWM driver configuration structure.
* @note It could be empty on some architectures.
*/
@@ -84,6 +102,10 @@ typedef struct { * @p NULL then the callback is disabled.
*/
pwmcallback_t pc_callback;
+ /**
+ * @brief Channels configurations.
+ */
+ PWMChannelConfig pc_channels[PWM_CHANNELS];
/* End of the mandatory fields.*/
/**
* @brief TIM PSC (pre-scaler) register initialization data.
@@ -94,11 +116,6 @@ typedef struct { */
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.
*/
@@ -106,24 +123,6 @@ typedef struct { } PWMConfig;
/**
- * @brief PWM driver channel configuration structure.
- * @note It could be empty on some architectures.
- */
-typedef struct {
- /**
- * @brief Channel idle logic level. - */
- pwmmode_t pcc_mode;
- /**
- * @brief Channel callback pointer.
- * @details This callback is invoked on the channel compare event. If set to
- * @p NULL then the callback is disabled. - */
- pwmcallback_t pcc_callback;
- /* End of the mandatory fields.*/
-} PWMChannelConfig;
-
-/**
* @brief Structure representing a PWM driver.
*/
typedef struct {
@@ -135,10 +134,6 @@ typedef struct { * @brief Current driver configuration data.
*/
const PWMConfig *pd_config;
- /**
- * @brief Current channel configurations. - */
- const PWMChannelConfig *pd_channel_configs[PWM_CHANNELS];
/* End of the mandatory fields.*/
/**
* @brief Bit mask of the enabled channels. @@ -165,8 +160,6 @@ 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_setup_channel(PWMDriver *pwmp, pwmchannel_t channel);
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);
diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c index ad3c15728..f6164ea35 100644 --- a/os/hal/src/pwm.c +++ b/os/hal/src/pwm.c @@ -87,31 +87,6 @@ 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
- * @param[in] pccp pointer to a @p PWMChannelConfig object
- */
-void pwmSetupChannel(PWMDriver *pwmp, pwmchannel_t channel,
- const PWMChannelConfig *pccp) {
-
- chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS) && (pccp != NULL),
- "pwmSetupChannel");
-
- chSysLock();
- chDbgAssert((pwmp->pd_state == PWM_READY) &&
- !pwm_lld_is_enabled(pwmp, channel),
- "pwmSetupChannel(), #1", "invalid state");
- pwmp->pd_channel_configs[channel] = pccp;
- pwm_lld_setup_channel(pwmp, channel);
- chSysUnlock();
-}
-
-/**
* @brief Enables a PWM channel.
* * @param[in] pwmp pointer to a @p PWMDriver object
@@ -126,8 +101,7 @@ void pwmEnableChannel(PWMDriver *pwmp, "pwmEnableChannel");
chSysLock();
- chDbgAssert((pwmp->pd_state == PWM_READY) &&
- (pwmp->pd_channel_configs[channel] != NULL),
+ chDbgAssert(pwmp->pd_state == PWM_READY,
"pwmEnableChannel(), #1", "invalid state");
pwm_lld_enable_channel(pwmp, channel, width);
chSysUnlock();
@@ -147,8 +121,7 @@ void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) { "pwmEnableChannel");
chSysLock();
- chDbgAssert((pwmp->pd_state == PWM_READY) &&
- (pwmp->pd_channel_configs[channel] != NULL),
+ chDbgAssert(pwmp->pd_state == PWM_READY,
"pwmDisableChannel(), #1", "invalid state");
pwm_lld_disable_channel(pwmp, channel);
chSysUnlock();
|