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/*
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 hal_pwm.h
* @brief PWM Driver macros and structures.
*
* @addtogroup PWM
* @{
*/
#ifndef HAL_PWM_H
#define HAL_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 "hal_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 /* HAL_PWM_H */
/** @} */
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