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Diffstat (limited to 'os/hal/include/hal_pwm.h')
| -rw-r--r-- | os/hal/include/hal_pwm.h | 308 |
1 files changed, 308 insertions, 0 deletions
diff --git a/os/hal/include/hal_pwm.h b/os/hal/include/hal_pwm.h new file mode 100644 index 000000000..5704b40bc --- /dev/null +++ b/os/hal/include/hal_pwm.h @@ -0,0 +1,308 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file pwm.h
+ * @brief PWM Driver macros and structures.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#ifndef _PWM_H_
+#define _PWM_H_
+
+#if (HAL_USE_PWM == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name PWM output mode macros
+ * @{
+ */
+/**
+ * @brief Standard output modes mask.
+ */
+#define PWM_OUTPUT_MASK 0x0FU
+
+/**
+ * @brief Output not driven, callback only.
+ */
+#define PWM_OUTPUT_DISABLED 0x00U
+
+/**
+ * @brief Positive PWM logic, active is logic level one.
+ */
+#define PWM_OUTPUT_ACTIVE_HIGH 0x01U
+
+/**
+ * @brief Inverse PWM logic, active is logic level zero.
+ */
+#define PWM_OUTPUT_ACTIVE_LOW 0x02U
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ PWM_UNINIT = 0, /**< Not initialized. */
+ PWM_STOP = 1, /**< Stopped. */
+ PWM_READY = 2 /**< Ready. */
+} pwmstate_t;
+
+/**
+ * @brief Type of a structure representing a PWM driver.
+ */
+typedef struct PWMDriver PWMDriver;
+
+/**
+ * @brief Type of a PWM notification callback.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ */
+typedef void (*pwmcallback_t)(PWMDriver *pwmp);
+
+#include "pwm_lld.h"
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name PWM duty cycle conversion
+ * @{
+ */
+/**
+ * @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] 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) \
+ ((pwmcnt_t)((((pwmcnt_t)(pwmp)->period) * \
+ (pwmcnt_t)(numerator)) / (pwmcnt_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)
+/** @} */
+
+/**
+ * @name Macro Functions
+ * @{
+ */
+/**
+ * @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 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] value new cycle time in ticks
+ *
+ * @iclass
+ */
+#define pwmChangePeriodI(pwmp, value) { \
+ (pwmp)->period = (value); \
+ pwm_lld_change_period(pwmp, value); \
+}
+
+/**
+ * @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...channels-1)
+ * @param[in] width PWM pulse width as clock pulses number
+ *
+ * @iclass
+ */
+#define pwmEnableChannelI(pwmp, channel, width) do { \
+ (pwmp)->enabled |= ((pwmchnmsk_t)1U << (pwmchnmsk_t)(channel)); \
+ pwm_lld_enable_channel(pwmp, channel, width); \
+} while (false)
+
+/**
+ * @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 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...channels-1)
+ *
+ * @iclass
+ */
+#define pwmDisableChannelI(pwmp, channel) do { \
+ (pwmp)->enabled &= ~((pwmchnmsk_t)1U << (pwmchnmsk_t)(channel)); \
+ pwm_lld_disable_channel(pwmp, channel); \
+} while (false)
+
+/**
+ * @brief Returns a PWM channel status.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier (0...channels-1)
+ *
+ * @iclass
+ */
+#define pwmIsChannelEnabledI(pwmp, channel) \
+ (((pwmp)->enabled & ((pwmchnmsk_t)1U << (pwmchnmsk_t)(channel))) != 0U)
+
+/**
+ * @brief Enables the periodic activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @note If the notification is already enabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ *
+ * @iclass
+ */
+#define pwmEnablePeriodicNotificationI(pwmp) \
+ pwm_lld_enable_periodic_notification(pwmp)
+
+/**
+ * @brief Disables the periodic activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @note If the notification is already disabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ *
+ * @iclass
+ */
+#define pwmDisablePeriodicNotificationI(pwmp) \
+ pwm_lld_disable_periodic_notification(pwmp)
+
+/**
+ * @brief Enables a channel de-activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @pre The channel must have been activated using @p pwmEnableChannel().
+ * @note If the notification is already enabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier (0...channels-1)
+ *
+ * @iclass
+ */
+#define pwmEnableChannelNotificationI(pwmp, channel) \
+ pwm_lld_enable_channel_notification(pwmp, channel)
+
+/**
+ * @brief Disables a channel de-activation edge notification.
+ * @pre The PWM unit must have been activated using @p pwmStart().
+ * @pre The channel must have been activated using @p pwmEnableChannel().
+ * @note If the notification is already disabled then the call has no effect.
+ *
+ * @param[in] pwmp pointer to a @p PWMDriver object
+ * @param[in] channel PWM channel identifier (0...channels-1)
+ *
+ * @iclass
+ */
+#define pwmDisableChannelNotificationI(pwmp, channel) \
+ pwm_lld_disable_channel_notification(pwmp, channel)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void pwmInit(void);
+ 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);
+ void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel);
+ void pwmEnablePeriodicNotification(PWMDriver *pwmp);
+ void pwmDisablePeriodicNotification(PWMDriver *pwmp);
+ void pwmEnableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel);
+ void pwmDisableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_PWM == TRUE */
+
+#endif /* _PWM_H_ */
+
+/** @} */
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