481 lines
15 KiB
C
481 lines
15 KiB
C
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file STM32/pwm_lld.h
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* @brief STM32 PWM subsystem low level driver header.
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*
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* @addtogroup PWM
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* @{
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*/
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#ifndef _PWM_LLD_H_
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#define _PWM_LLD_H_
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#if HAL_USE_PWM || defined(__DOXYGEN__)
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#include "stm32_tim.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief Number of PWM channels per PWM driver.
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*/
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#define PWM_CHANNELS 4
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/**
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* @brief Complementary output modes mask.
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* @note This is an STM32-specific setting.
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*/
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#define PWM_COMPLEMENTARY_OUTPUT_MASK 0xF0
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/**
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* @brief Complementary output not driven.
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* @note This is an STM32-specific setting.
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*/
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#define PWM_COMPLEMENTARY_OUTPUT_DISABLED 0x00
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/**
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* @brief Complementary output, active is logic level one.
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* @note This is an STM32-specific setting.
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* @note This setting is only available if the configuration option
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* @p STM32_PWM_USE_ADVANCED is set to TRUE and only for advanced
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* timers TIM1 and TIM8.
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*/
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#define PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH 0x10
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/**
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* @brief Complementary output, active is logic level zero.
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* @note This is an STM32-specific setting.
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* @note This setting is only available if the configuration option
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* @p STM32_PWM_USE_ADVANCED is set to TRUE and only for advanced
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* timers TIM1 and TIM8.
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*/
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#define PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW 0x20
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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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* @name Configuration options
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* @{
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*/
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/**
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* @brief If advanced timer features switch.
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* @details If set to @p TRUE the advanced features for TIM1 and TIM8 are
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* enabled.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_ADVANCED) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_ADVANCED FALSE
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#endif
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/**
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* @brief PWMD1 driver enable switch.
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* @details If set to @p TRUE the support for PWMD1 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM1) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM1 FALSE
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#endif
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/**
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* @brief PWMD2 driver enable switch.
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* @details If set to @p TRUE the support for PWMD2 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM2) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM2 FALSE
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#endif
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/**
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* @brief PWMD3 driver enable switch.
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* @details If set to @p TRUE the support for PWMD3 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM3) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM3 FALSE
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#endif
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/**
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* @brief PWMD4 driver enable switch.
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* @details If set to @p TRUE the support for PWMD4 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM4) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM4 FALSE
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#endif
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/**
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* @brief PWMD5 driver enable switch.
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* @details If set to @p TRUE the support for PWMD5 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM5) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM5 FALSE
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#endif
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/**
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* @brief PWMD8 driver enable switch.
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* @details If set to @p TRUE the support for PWMD8 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM8) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM8 FALSE
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#endif
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/**
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* @brief PWMD9 driver enable switch.
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* @details If set to @p TRUE the support for PWMD9 is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(STM32_PWM_USE_TIM9) || defined(__DOXYGEN__)
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#define STM32_PWM_USE_TIM9 FALSE
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#endif
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/**
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* @brief PWMD1 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM1_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWMD2 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM2_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWMD3 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM3_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWMD4 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM4_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWMD5 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM5_IRQ_PRIORITY 7
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#endif
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/**
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* @brief PWMD8 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM8_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM8_IRQ_PRIORITY 7
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#endif
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/** @} */
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/**
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* @brief PWMD9 interrupt priority level setting.
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*/
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#if !defined(STM32_PWM_TIM9_IRQ_PRIORITY) || defined(__DOXYGEN__)
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#define STM32_PWM_TIM9_IRQ_PRIORITY 7
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#endif
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/** @} */
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/*===========================================================================*/
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/* Configuration checks. */
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/*===========================================================================*/
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#if STM32_PWM_USE_TIM1 && !STM32_HAS_TIM1
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#error "TIM1 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM2 && !STM32_HAS_TIM2
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#error "TIM2 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM3 && !STM32_HAS_TIM3
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#error "TIM3 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM4 && !STM32_HAS_TIM4
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#error "TIM4 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM5 && !STM32_HAS_TIM5
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#error "TIM5 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM8 && !STM32_HAS_TIM8
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#error "TIM8 not present in the selected device"
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#endif
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#if STM32_PWM_USE_TIM9 && !STM32_HAS_TIM9
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#error "TIM9 not present in the selected device"
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#endif
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#if !STM32_PWM_USE_TIM1 && !STM32_PWM_USE_TIM2 && \
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!STM32_PWM_USE_TIM3 && !STM32_PWM_USE_TIM4 && \
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!STM32_PWM_USE_TIM5 && !STM32_PWM_USE_TIM8 && \
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!STM32_PWM_USE_TIM9
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#error "PWM driver activated but no TIM peripheral assigned"
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#endif
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#if STM32_PWM_USE_ADVANCED && !STM32_PWM_USE_TIM1 && !STM32_PWM_USE_TIM8
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#error "advanced mode selected but no advanced timer assigned"
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#endif
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#if STM32_PWM_USE_TIM1 && \
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!CORTEX_IS_VALID_KERNEL_PRIORITY(STM32_PWM_TIM1_IRQ_PRIORITY)
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#error "Invalid IRQ priority assigned to TIM1"
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#endif
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#if STM32_PWM_USE_TIM2 && \
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!CORTEX_IS_VALID_KERNEL_PRIORITY(STM32_PWM_TIM2_IRQ_PRIORITY)
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#error "Invalid IRQ priority assigned to TIM2"
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#endif
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#if STM32_PWM_USE_TIM3 && \
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!CORTEX_IS_VALID_KERNEL_PRIORITY(STM32_PWM_TIM3_IRQ_PRIORITY)
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#error "Invalid IRQ priority assigned to TIM3"
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#endif
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#if STM32_PWM_USE_TIM4 && \
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!CORTEX_IS_VALID_KERNEL_PRIORITY(STM32_PWM_TIM4_IRQ_PRIORITY)
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#error "Invalid IRQ priority assigned to TIM4"
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#endif
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#if STM32_PWM_USE_TIM5 && \
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!CORTEX_IS_VALID_KERNEL_PRIORITY(STM32_PWM_TIM5_IRQ_PRIORITY)
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#error "Invalid IRQ priority assigned to TIM5"
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#endif
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#if STM32_PWM_USE_TIM8 && \
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!CORTEX_IS_VALID_KERNEL_PRIORITY(STM32_PWM_TIM8_IRQ_PRIORITY)
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#error "Invalid IRQ priority assigned to TIM8"
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#endif
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#if STM32_PWM_USE_TIM9 && \
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!CORTEX_IS_VALID_KERNEL_PRIORITY(STM32_PWM_TIM9_IRQ_PRIORITY)
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#error "Invalid IRQ priority assigned to TIM9"
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#endif
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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 PWM mode type.
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*/
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typedef uint32_t pwmmode_t;
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/**
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* @brief PWM channel type.
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*/
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typedef uint8_t pwmchannel_t;
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/**
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* @brief PWM counter type.
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*/
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typedef uint16_t pwmcnt_t;
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/**
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* @brief PWM driver channel configuration structure.
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*/
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typedef struct {
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/**
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* @brief Channel active logic level.
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*/
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pwmmode_t mode;
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/**
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* @brief Channel callback pointer.
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* @note This callback is invoked on the channel compare event. If set to
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* @p NULL then the callback is disabled.
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*/
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pwmcallback_t callback;
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/* End of the mandatory fields.*/
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} PWMChannelConfig;
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/**
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* @brief PWM driver configuration structure.
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*/
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typedef struct {
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/**
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* @brief Timer clock in Hz.
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* @note The low level can use assertions in order to catch invalid
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* frequency specifications.
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*/
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uint32_t frequency;
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/**
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* @brief PWM period in ticks.
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* @note The low level can use assertions in order to catch invalid
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* period specifications.
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*/
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pwmcnt_t period;
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/**
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* @brief Periodic callback pointer.
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* @note This callback is invoked on PWM counter reset. If set to
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* @p NULL then the callback is disabled.
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*/
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pwmcallback_t callback;
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/**
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* @brief Channels configurations.
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*/
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PWMChannelConfig channels[PWM_CHANNELS];
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/* End of the mandatory fields.*/
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/**
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* @brief TIM CR2 register initialization data.
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* @note The value of this field should normally be equal to zero.
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*/
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uint32_t cr2;
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#if STM32_PWM_USE_ADVANCED || defined(__DOXYGEN__)
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/**
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* @brief TIM BDTR (break & dead-time) register initialization data.
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* @note The value of this field should normally be equal to zero.
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*/ \
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uint32_t bdtr;
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#endif
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/**
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* @brief TIM DIER register initialization data.
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* @note The value of this field should normally be equal to zero.
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* @note Only the DMA-related bits can be specified in this field.
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*/
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uint32_t dier;
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} PWMConfig;
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/**
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* @brief Structure representing a PWM driver.
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*/
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struct PWMDriver {
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/**
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* @brief Driver state.
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*/
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pwmstate_t state;
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/**
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* @brief Current driver configuration data.
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*/
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const PWMConfig *config;
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/**
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* @brief Current PWM period in ticks.
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*/
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pwmcnt_t period;
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#if defined(PWM_DRIVER_EXT_FIELDS)
|
||
|
|
PWM_DRIVER_EXT_FIELDS
|
||
|
|
#endif
|
||
|
|
/* End of the mandatory fields.*/
|
||
|
|
/**
|
||
|
|
* @brief Timer base clock.
|
||
|
|
*/
|
||
|
|
uint32_t clock;
|
||
|
|
/**
|
||
|
|
* @brief Pointer to the TIMx registers block.
|
||
|
|
*/
|
||
|
|
stm32_tim_t *tim;
|
||
|
|
};
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver macros. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 The function has effect at the next cycle start.
|
||
|
|
* @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] period new cycle time in ticks
|
||
|
|
*
|
||
|
|
* @notapi
|
||
|
|
*/
|
||
|
|
#define pwm_lld_change_period(pwmp, period) \
|
||
|
|
((pwmp)->tim->ARR = (uint16_t)((period) - 1))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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...PWM_CHANNELS-1)
|
||
|
|
*
|
||
|
|
* @notapi
|
||
|
|
*/
|
||
|
|
#define pwm_lld_is_channel_enabled(pwmp, channel) \
|
||
|
|
(((pwmp)->tim->CCR[channel] != 0) || \
|
||
|
|
(((pwmp)->tim->DIER & (2 << channel)) != 0))
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* External declarations. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#if STM32_PWM_USE_TIM1 && !defined(__DOXYGEN__)
|
||
|
|
extern PWMDriver PWMD1;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if STM32_PWM_USE_TIM2 && !defined(__DOXYGEN__)
|
||
|
|
extern PWMDriver PWMD2;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if STM32_PWM_USE_TIM3 && !defined(__DOXYGEN__)
|
||
|
|
extern PWMDriver PWMD3;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if STM32_PWM_USE_TIM4 && !defined(__DOXYGEN__)
|
||
|
|
extern PWMDriver PWMD4;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if STM32_PWM_USE_TIM5 && !defined(__DOXYGEN__)
|
||
|
|
extern PWMDriver PWMD5;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if STM32_PWM_USE_TIM8 && !defined(__DOXYGEN__)
|
||
|
|
extern PWMDriver PWMD8;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if STM32_PWM_USE_TIM9 && !defined(__DOXYGEN__)
|
||
|
|
extern PWMDriver PWMD9;
|
||
|
|
#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 /* HAL_USE_PWM */
|
||
|
|
|
||
|
|
#endif /* _PWM_LLD_H_ */
|
||
|
|
|
||
|
|
/** @} */
|