diff options
Diffstat (limited to 'os/hal/platforms/STM32/pwm_lld.c')
| -rw-r--r-- | os/hal/platforms/STM32/pwm_lld.c | 79 |
1 files changed, 78 insertions, 1 deletions
diff --git a/os/hal/platforms/STM32/pwm_lld.c b/os/hal/platforms/STM32/pwm_lld.c index d816aa47a..3c9092ad5 100644 --- a/os/hal/platforms/STM32/pwm_lld.c +++ b/os/hal/platforms/STM32/pwm_lld.c @@ -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;
}
/**
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