253 lines
9.1 KiB
C
253 lines
9.1 KiB
C
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file pwm.h
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* @brief PWM Driver macros and structures.
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*
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* @addtogroup PWM
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* @{
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*/
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#ifndef _PWM_H_
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#define _PWM_H_
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#if HAL_USE_PWM || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name PWM output mode macros
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* @{
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*/
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/**
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* @brief Standard output modes mask.
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*/
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#define PWM_OUTPUT_MASK 0x0F
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/**
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* @brief Output not driven, callback only.
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*/
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#define PWM_OUTPUT_DISABLED 0x00
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/**
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* @brief Positive PWM logic, active is logic level one.
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*/
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#define PWM_OUTPUT_ACTIVE_HIGH 0x01
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/**
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* @brief Inverse PWM logic, active is logic level zero.
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*/
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#define PWM_OUTPUT_ACTIVE_LOW 0x02
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/** @} */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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PWM_UNINIT = 0, /**< Not initialized. */
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PWM_STOP = 1, /**< Stopped. */
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PWM_READY = 2, /**< Ready. */
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} pwmstate_t;
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/**
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* @brief Type of a structure representing a PWM driver.
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*/
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typedef struct PWMDriver PWMDriver;
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/**
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* @brief PWM notification callback type.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*/
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typedef void (*pwmcallback_t)(PWMDriver *pwmp);
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#include "pwm_lld.h"
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @name PWM duty cycle conversion
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* @{
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*/
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/**
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* @brief Converts from fraction to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] denominator denominator of the fraction
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* @param[in] numerator numerator of the fraction
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_FRACTION_TO_WIDTH(pwmp, denominator, numerator) \
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((uint16_t)((((uint32_t)(pwmp)->period) * \
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(uint32_t)(numerator)) / (uint32_t)(denominator)))
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/**
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* @brief Converts from degrees to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify hundredths of degrees but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] degrees degrees as an integer between 0 and 36000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_DEGREES_TO_WIDTH(pwmp, degrees) \
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PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees)
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/**
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* @brief Converts from percentage to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] percentage percentage as an integer between 0 and 10000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
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PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
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/** @} */
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/**
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* @name Macro Functions
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* @{
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*/
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/**
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* @brief Changes the period the PWM peripheral.
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* @details This function changes the period of a PWM unit that has already
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* been activated using @p pwmStart().
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The PWM unit period is changed to the new value.
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* @note If a period is specified that is shorter than the pulse width
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* programmed in one of the channels then the behavior is not
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* guaranteed.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] period new cycle time in ticks
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*
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* @iclass
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*/
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#define pwmChangePeriodI(pwmp, period) { \
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(pwmp)->period = (period); \
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pwm_lld_change_period(pwmp, period); \
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}
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/**
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* @brief Enables a PWM channel.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is active using the specified configuration.
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* @note Depending on the hardware implementation this function has
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* effect starting on the next cycle (recommended implementation)
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* or immediately (fallback implementation).
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
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* @param[in] width PWM pulse width as clock pulses number
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*
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* @iclass
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*/
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#define pwmEnableChannelI(pwmp, channel, width) \
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pwm_lld_enable_channel(pwmp, channel, width)
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/**
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* @brief Disables a PWM channel.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is disabled and its output line returned to the
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* idle state.
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* @note Depending on the hardware implementation this function has
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* effect starting on the next cycle (recommended implementation)
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* or immediately (fallback implementation).
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
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*
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* @iclass
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*/
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#define pwmDisableChannelI(pwmp, channel) \
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pwm_lld_disable_channel(pwmp, channel)
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/**
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* @brief Returns a PWM channel status.
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* @pre The PWM unit must have been activated using @p pwmStart().
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
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*
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* @iclass
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*/
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#define pwmIsChannelEnabledI(pwmp, channel) \
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pwm_lld_is_channel_enabled(pwmp, channel)
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void pwmInit(void);
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void pwmObjectInit(PWMDriver *pwmp);
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void pwmStart(PWMDriver *pwmp, const PWMConfig *config);
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void pwmStop(PWMDriver *pwmp);
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void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period);
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void pwmEnableChannel(PWMDriver *pwmp,
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pwmchannel_t channel,
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pwmcnt_t width);
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void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel);
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_PWM */
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#endif /* _PWM_H_ */
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/** @} */
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