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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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/>.
*/
#include "ch.h"
#include "hal.h"
static void pwmpcb(PWMDriver *pwmp) {
(void)pwmp;
palClearPad(GPIOE, GPIOE_LED4_BLUE);
}
static void pwmc1cb(PWMDriver *pwmp) {
(void)pwmp;
palSetPad(GPIOE, GPIOE_LED4_BLUE);
}
static PWMConfig pwmcfg = {
10000, /* 10kHz PWM clock frequency. */
10000, /* Initial PWM period 1S. */
pwmpcb,
{
{PWM_OUTPUT_ACTIVE_HIGH, pwmc1cb},
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL}
},
0,
};
icucnt_t last_width, last_period;
static void icuwidthcb(ICUDriver *icup) {
palSetPad(GPIOE, GPIOE_LED9_BLUE);
last_width = icuGetWidth(icup);
}
static void icuperiodcb(ICUDriver *icup) {
palClearPad(GPIOE, GPIOE_LED9_BLUE);
last_period = icuGetPeriod(icup);
}
static ICUConfig icucfg = {
ICU_INPUT_ACTIVE_HIGH,
10000, /* 10kHz ICU clock frequency. */
icuwidthcb,
icuperiodcb,
NULL,
ICU_CHANNEL_1
};
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Initializes the PWM driver 2 and ICU driver 3.
* GPIOA15 is the PWM output.
* GPIOC6 is the ICU input.
* The two pins have to be externally connected together.
*/
pwmStart(&PWMD2, &pwmcfg);
palSetPadMode(GPIOA, 15, PAL_MODE_ALTERNATE(1));
icuStart(&ICUD3, &icucfg);
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));
icuEnable(&ICUD3);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD2, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD2, 0);
pwmStop(&PWMD2);
icuDisable(&ICUD3);
icuStop(&ICUD3);
palClearPad(GPIOE, GPIOE_LED4_BLUE);
palClearPad(GPIOE, GPIOE_LED9_BLUE);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
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