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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @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.
*/
#define PWM_CHANNELS 1
/**
* @brief PWM device interrupt priority level setting.
*/
#if !defined(AT91SAM7_PWM_PRIORITY) || defined(__DOXYGEN__)
#define AT91SAM7_PWM_PRIORITY (AT91C_AIC_PRIOR_HIGHEST - 4)
#endif
/**
* @brief PWMD1 driver enable switch.
* @details If set to @p TRUE the support for PWMD1 is included.
* @note The default is @p TRUE.
*/
#if !defined(PWM_USE_PWM1) || defined(__DOXYGEN__)
#define PWM_USE_PWM1 TRUE
#endif
/**
* @brief PWMD2 driver enable switch.
* @details If set to @p TRUE the support for PWMD1 is included.
* @note The default is @p TRUE.
*/
#if !defined(PWM_USE_PWM2) || defined(__DOXYGEN__)
#define PWM_USE_PWM2 TRUE
#endif
/**
* @brief PWMD3 driver enable switch.
* @details If set to @p TRUE the support for PWMD1 is included.
* @note The default is @p TRUE.
*/
#if !defined(PWM_USE_PWM3) || defined(__DOXYGEN__)
#define PWM_USE_PWM3 TRUE
#endif
/**
* @brief PWMD4 driver enable switch.
* @details If set to @p TRUE the support for PWMD1 is included.
* @note The default is @p TRUE.
*/
#if !defined(PWM_USE_PWM4) || defined(__DOXYGEN__)
#define PWM_USE_PWM4 TRUE
#endif
/**
* @brief PWM left (count up) logic
*/
#define PWM_OUTPUT_LEFT 0x00000000
/**
* @brief PWM center (count up-down) logic. Gives symetric waveform
*/
#define PWM_OUTPUT_CENTER 0x00000010
/**
* @brief PWM Master Clock = MCK / 1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, CLKA or CLKB. CLKA or CLKB uses the frequency field
*/
#define PWM_MCK_DIV_1 0x00000000
#define PWM_MCK_DIV_2 0x00000100
#define PWM_MCK_DIV_4 0x00000200
#define PWM_MCK_DIV_8 0x00000300
#define PWM_MCK_DIV_16 0x00000400
#define PWM_MCK_DIV_32 0x00000500
#define PWM_MCK_DIV_64 0x00000600
#define PWM_MCK_DIV_128 0x00000700
#define PWM_MCK_DIV_256 0x00000800
#define PWM_MCK_DIV_512 0x00000900
#define PWM_MCK_DIV_1024 0x00000A00
#define PWM_MCK_DIV_CLKA 0x00000B00
#define PWM_MCK_DIV_CLKB 0x00000C00
/**
* @brief Which PWM output pins to turn on. PIN1 is the lowest numbered pin, PIN2 next lowest, and then on some packages PIN3.
*/
#define PWM_OUTPUT_PIN1 0x00001000
#define PWM_OUTPUT_PIN2 0x00002000
#define PWM_OUTPUT_PIN3 0x00004000
/**
* @brief Which PWM output pins should have pullups disabled.
*/
#define PWM_DISABLEPULLUP_PIN1 0x00010000
#define PWM_DISABLEPULLUP_PIN2 0x00020000
#define PWM_DISABLEPULLUP_PIN3 0x00040000
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief PWM mode type.
*/
typedef uint32_t pwmmode_t;
/**
* @brief PWM channel type.
*/
typedef uint8_t pwmchannel_t;
/**
* @brief PWM counter type.
*/
typedef uint16_t pwmcnt_t;
/**
* @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 Timer clock in Hz.
* @note The low level can use assertions in order to catch invalid
* frequency specifications.
*/
uint32_t frequency;
/**
* @brief PWM period in ticks.
* @note The low level can use assertions in order to catch invalid
* period specifications.
*/
pwmcnt_t period;
/**
* @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;
/**
* @brief Current PWM period in ticks.
*/
pwmcnt_t period;
#if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief The PWM internal channel number as a bit mask (1, 2, 4 or 8).
*/
uint32_t chbit;
/**
* @brief Pointer to the PWMCx registers block.
*/
AT91S_PWMC_CH *reg;
/**
* @brief Pointer to the output pins descriptor.
*/
const struct pwmpindefs *pins;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if PWM_USE_PWM1 && !defined(__DOXYGEN__)
extern PWMDriver PWMD1;
#endif
#if PWM_USE_PWM2 && !defined(__DOXYGEN__)
extern PWMDriver PWMD2;
#endif
#if PWM_USE_PWM3 && !defined(__DOXYGEN__)
extern PWMDriver PWMD3;
#endif
#if PWM_USE_PWM4 && !defined(__DOXYGEN__)
extern PWMDriver PWMD4;
#endif
#ifdef __cplusplus
extern "C" {
#endif
void pwm_lld_init(void);
void pwm_lld_start(PWMDriver *pwmp);
void pwm_lld_stop(PWMDriver *pwmp);
void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period);
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_ */
/** @} */
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