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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 STM32/pwm_lld.h
* @brief STM32 PWM subsystem low level driver header.
*
* @addtogroup PWM
* @{
*/
#ifndef _PWM_LLD_H_
#define _PWM_LLD_H_
#if CH_HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief Number of PWM channels per PWM driver.
*/
#define PWM_CHANNELS 4
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @brief PWM1 driver enable switch.
* @details If set to @p TRUE the support for PWM1 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM1) || defined(__DOXYGEN__)
#define STM32_PWM_USE_TIM1 TRUE
#endif
/**
* @brief PWM2 driver enable switch.
* @details If set to @p TRUE the support for PWM2 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM2) || defined(__DOXYGEN__)
#define STM32_PWM_USE_TIM2 TRUE
#endif
/**
* @brief PWM3 driver enable switch.
* @details If set to @p TRUE the support for PWM3 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM3) || defined(__DOXYGEN__)
#define STM32_PWM_USE_TIM3 TRUE
#endif
/**
* @brief PWM4 driver enable switch.
* @details If set to @p TRUE the support for PWM4 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM4) || defined(__DOXYGEN__)
#define STM32_PWM_USE_TIM4 TRUE
#endif
/**
* @brief PWM1 interrupt priority level setting.
*/
#if !defined(STM32_PWM_PWM1_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_PWM1_IRQ_PRIORITY 7
#endif
/**
* @brief PWM2 interrupt priority level setting.
*/
#if !defined(STM32_PWM_PWM2_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_PWM2_IRQ_PRIORITY 7
#endif
/**
* @brief PWM3 interrupt priority level setting.
*/
#if !defined(STM32_PWM_PWM3_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_PWM3_IRQ_PRIORITY 7
#endif
/**
* @brief PWM4 interrupt priority level setting.
*/
#if !defined(STM32_PWM_PWM4_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_PWM4_IRQ_PRIORITY 7
#endif
/*===========================================================================*/
/* Configuration checks. */
/*===========================================================================*/
#if STM32_PWM_USE_TIM4 && defined(STM32F10X_LD)
#error "TIM4 not present in low density STM32 devices"
#endif
#if !STM32_SERIAL_USE_USART1 && !STM32_SERIAL_USE_USART2 && \
!STM32_SERIAL_USE_USART3 && !STM32_SERIAL_USE_UART4 && \
!STM32_SERIAL_USE_UART5
#error "PWM driver activated but no TIM peripheral assigned"
#endif
/*===========================================================================*/
/* 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.
*/
typedef struct {
/**
* @brief Channel active logic level.
*/
pwmmode_t pcc_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 pcc_callback;
/* End of the mandatory fields.*/
} PWMChannelConfig;
/**
* @brief PWM driver configuration structure.
*/
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 pc_callback;
/**
* @brief Channels configurations.
*/
PWMChannelConfig pc_channels[PWM_CHANNELS];
/* End of the mandatory fields.*/
/**
* @brief TIM PSC (pre-scaler) register initialization data.
*/
uint16_t pc_psc;
/**
* @brief TIM ARR (auto-reload) register initialization data.
*/
uint16_t pc_arr;
/**
* @brief TIM CR2 register initialization data.
* @note The value of this field should normally be equal to zero.
*/
uint16_t pc_cr2;
} PWMConfig;
/**
* @brief Structure representing a PWM driver.
*/
struct PWMDriver {
/**
* @brief Driver state.
*/
pwmstate_t pd_state;
/**
* @brief Current driver configuration data.
*/
const PWMConfig *pd_config;
#if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief Bit mask of the enabled channels.
*/
uint32_t pd_enabled_channels;
/**
* @brief Pointer to the TIMx registers block.
*/
TIM_TypeDef *pd_tim;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief PWM clock prescaler initialization utility.
* @note The real clock value is rounded to the lower valid value, please
* make sure that the source clock frequency is a multiple of the
* requested PWM clock frequency.
* @note The calculated value must fit into an unsigned 16 bits integer.
*
* @param[in] clksrc clock source frequency, depending on the target timer
* cell it can be one of:
* - STM32_TIMCLK1
* - STM32_TIMCLK2
* .
* Please refer to the STM32 HAL driver documentation
* and/or the STM32 Reference Manual for the right clock
* source.
* @param[in] nsec PWM clock cycle time in nanoseconds
* @return The value to be stored in the @p pc_psc field of the
* @p PWMConfig structure.
*/
#define PWM_COMPUTE_PSC(clksrc, nsec) \
((uint16_t)(((clksrc) / (1000000000 / (nsec))) - 1))
/**
* @brief PWM cycle period initialization utility.
* @note The calculated value must fit into an unsigned 16 bits integer.
*
* @param[in] clkperiod PWM clock period in nanoseconds
* @param[in] pwmperiod PWM cycle period in nanoseconds
*/
#define PWM_COMPUTE_ARR(clkperiod, pwmperiod) \
((uint16_t)(((clkperiod) / (1000000000 / (pwmperiod))) - 1))
/**
* @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) \
((uint16_t)(((((uint32_t)(pwmp)->pd_config->pc_arr + 1UL) * \
(uint32_t)(degrees)) / 36000UL) - 1UL))
/**
* @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) \
((uint16_t)(((((uint32_t)(pwmp)->pd_config->pc_arr + 1UL) * \
(uint32_t)(percentage)) / 10000UL) - 1UL))
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if defined(STM32_PWM_USE_TIM1) && !defined(__DOXYGEN__)
extern PWMDriver PWMD1;
#endif
#if defined(STM32_PWM_USE_TIM2) && !defined(__DOXYGEN__)
extern PWMDriver PWMD2;
#endif
#if defined(STM32_PWM_USE_TIM3) && !defined(__DOXYGEN__)
extern PWMDriver PWMD3;
#endif
#if defined(STM32_PWM_USE_TIM4) && !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_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width);
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
#ifdef __cplusplus
}
#endif
#endif /* CH_HAL_USE_PWM */
#endif /* _PWM_LLD_H_ */
/** @} */
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