/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011 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 . */ /** * @file templates/pwm_lld.h * @brief PWM Driver subsystem low level driver header template. * * @addtogroup PWM * @{ */ #ifndef _PWM_LLD_H_ #define _PWM_LLD_H_ #if HAL_USE_PWM || defined(__DOXYGEN__) /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @brief Number of PWM channels per PWM driver. */ #if !defined(PWM_CHANNELS) || defined(__DOXYGEN__) #define PWM_CHANNELS 1 #endif /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @brief PWM channel type. */ typedef uint8_t pwmchannel_t; /** * @brief PWM counter type. */ typedef uint16_t pwmcnt_t; /** * @brief Type of a structure representing an PWM driver. */ typedef struct PWMDriver PWMDriver; /** * @brief PWM notification callback type. * * @param[in] pwmp pointer to a @p PWMDriver object */ typedef void (*pwmcallback_t)(PWMDriver *pwmp); /** * @brief PWM driver channel configuration structure. * @note Some architectures may not be able to support the channel mode * or the callback, in this case the fields are ignored. */ typedef struct { /** * @brief Channel active logic level. */ pwmmode_t mode; /** * @brief Channel callback pointer. * @note This callback is invoked on the channel compare event. If set to * @p NULL then the callback is disabled. */ pwmcallback_t callback; /* End of the mandatory fields.*/ } PWMChannelConfig; /** * @brief Driver configuration structure. * @note Implementations may extend this structure to contain more, * architecture dependent, fields. */ typedef struct { /** * @brief Periodic callback pointer. * @note This callback is invoked on PWM counter reset. If set to * @p NULL then the callback is disabled. */ pwmcallback_t callback; /** * @brief Channels configurations. */ PWMChannelConfig channels[PWM_CHANNELS]; /* End of the mandatory fields.*/ } PWMConfig; /** * @brief Structure representing an PWM driver. * @note Implementations may extend this structure to contain more, * architecture dependent, fields. */ struct PWMDriver { /** * @brief Driver state. */ pwmstate_t state; /** * @brief Current configuration data. */ const PWMConfig *config; #if defined(PWM_DRIVER_EXT_FIELDS) PWM_DRIVER_EXT_FIELDS #endif /* End of the mandatory fields.*/ }; /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @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] numerator numerator of the fraction * @param[in] denominator percentage as an integer between 0 and numerator * @return The pulse width to be passed to @p pwmEnableChannel(). * * @api */ #define PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator) 0 /** * @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) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif 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_enable_channel(PWMDriver *pwmp, pwmchannel_t channel, pwmcnt_t width); void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel); #ifdef __cplusplus } #endif #endif /* HAL_USE_PWM */ #endif /* _PWM_LLD_H_ */ /** @} */