1 files changed, 150 insertions, 0 deletions
diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c
new file mode 100644
index 000000000..ef4260629
--- /dev/null
+++ b/os/hal/src/pwm.c
@@ -0,0 +1,150 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file PWM.c
+ * @brief PWM Driver code.
+ * @addtogroup PWM
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+/**
+ * @brief PWM Driver initialization.
+ */
+void pwmInit(void) {
+
+  pwm_lld_init();
+}
+
+/**
+ * @brief Initializes the standard part of a @p PWMDriver structure.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ */
+void pwmObjectInit(PWMDriver *pwmp) {
+
+  pwmp->pd_state    = PWM_STOP;
+  pwmp->pwm_config   = NULL;
+}
+
+/**
+ * @brief Configures and activates the PWM peripheral.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] config    pointer to the @p PWMConfig object
+ */
+void pwmStart(PWMDriver *pwmp, const PWMConfig *config) {
+
+  chDbgCheck((pwmp != NULL) && (config != NULL), "pwmStart");
+
+  chSysLock();
+  chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),
+              "pwmStart(), #1",
+              "invalid state");
+  pwmp->pd_config = config;
+  pwm_lld_start(pwmp);
+  pwmp->pd_state = PWM_READY;
+  chSysUnlock();
+}
+
+/**
+ * @brief Deactivates the PWM peripheral.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ */
+void pwmStop(PWMDriver *pwmp) {
+
+  chDbgCheck(pwmp != NULL, "pwmStop");
+
+  chSysLock();
+  chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),
+              "pwmStop(), #1",
+              "invalid state");
+  pwm_lld_stop(pwmp);
+  pwmp->pd_state = PWM_STOP;
+  chSysUnlock();
+}
+
+/**
+ * @brief Enables a callback mode for the specified PWM channel.
+ * @details The callback mode must be set before starting a PWM channel.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ * @param[in] edge      output edge mode
+ * @param[in] callback  the callback function
+ */
+void pwmSetCallback(PWMDriver *pwmp, pwmchannel_t channel,
+                    pwmedge_t edge, pwmcallback_t callback) {
+
+  chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
+             "pwmSetCallback");
+
+  chSysLock();
+  chDbgAssert((pwmp->pd_state == PWM_READY) &&
+              !pwm_lld_is_enabled(pwmp, channel),
+              "pwmSetCallback(), #1", "invalid state");
+  pwm_lld_set_callback(pwmp, channel, edge, callback);
+  chSysUnlock();
+}
+
+/**
+ * @brief Enables a PWM channel.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ * @param[in] width     PWM pulse width as clock pulses number
+ */
+void pwmEnableChannel(PWMDriver *pwmp,
+                      pwmchannel_t channel,
+                      pwmcnt_t width) {
+
+  chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
+             "pwmEnableChannel");
+
+  chSysLock();
+  chDbgAssert(pwmp->pd_state == PWM_READY,
+              "pwmEnableChannel(), #1", "invalid state");
+  pwm_lld_enable_channel(pwmp, channel, width);
+  chSysUnlock();
+}
+
+/**
+ * @brief Disables a PWM channel.
+ * @details The channel output line is returned to its idle state and disabled.
+ *
+ * @param[in] pwmp      pointer to the @p PWMDriver object
+ * @param[in] channel   PWM channel identifier
+ */
+void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+  chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
+             "pwmEnableChannel");
+
+  chSysLock();
+  chDbgAssert(pwmp->pd_state == PWM_READY,
+              "pwmDisableChannel(), #1", "invalid state");
+  pwm_lld_disable_channel(pwmp, channel);
+  chSysUnlock();
+}
+
+/** @} */