git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7224 35acf78f-673a-0410-8e92-d51de3d6d3f4
gdisirio
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/*
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ChibiOS/HAL - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013,2014 Giovanni Di Sirio.
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This file is part of ChibiOS/HAL
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ChibiOS/HAL 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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* @defgroup ICU ICU Driver
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* @brief Generic ICU Driver.
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* @details This module implements a generic ICU (Input Capture Unit) driver.
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* The purpose of the driver is to measure period and duty cycle of
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* an input digital signal (PWM input).
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* @pre In order to use the ICU driver the @p HAL_USE_ICU option
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* must be enabled in @p halconf.h.
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*
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* @section icu_1 Driver State Machine
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* The driver implements a state machine internally, not all the driver
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* functionalities can be used in any moment, any transition not explicitly
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* shown in the following diagram has to be considered an error and shall
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* be captured by an assertion (if enabled).
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* @if LATEX_PDF
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* @dot
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digraph example {
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size="5, 7";
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rankdir="LR";
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node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
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edge [fontname=Sans, fontsize=8];
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stop [label="ICU_STOP\nLow Power"];
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uninit [label="ICU_UNINIT", style="bold"];
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ready [label="ICU_READY\nClock Enabled"];
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waiting [label="ICU_WAITING"];
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active [label="ICU_ACTIVE"];
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uninit -> stop [label=" icuInit()", constraint=false];
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stop -> stop [label="\nicuStop()"];
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stop -> ready [label="\nicuStart()"];
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ready -> stop [label="\nicuStop()"];
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ready -> ready [label="\nicuStart()\nicuStopCapture()"];
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ready -> waiting [label="\nicuStartCapture()"];
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waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];
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waiting -> ready [label="\nicuStopCapture()"];
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active -> ready [label="\nicuStopCapture()"];
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active -> active [label="\nActivation Edge\n>period_cb<"];
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active -> active [label="\nDe-activation Edge\n>width_cb<"];
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}
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* @enddot
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* @else
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
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edge [fontname=Sans, fontsize=8];
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stop [label="ICU_STOP\nLow Power"];
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uninit [label="ICU_UNINIT", style="bold"];
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ready [label="ICU_READY\nClock Enabled"];
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waiting [label="ICU_WAITING"];
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active [label="ICU_ACTIVE"];
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uninit -> stop [label=" icuInit()", constraint=false];
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stop -> stop [label="\nicuStop()"];
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stop -> ready [label="\nicuStart()"];
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ready -> stop [label="\nicuStop()"];
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ready -> ready [label="\nicuStart()\nicuStopCapture()"];
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ready -> waiting [label="\nicuStartCapture()"];
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waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];
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waiting -> ready [label="\nicuStopCapture()"];
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active -> ready [label="\nicuStopCapture()"];
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active -> active [label="\nActivation Edge\n>period_cb<"];
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active -> active [label="\nDe-activation Edge\n>width_cb<"];
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}
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* @enddot
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* @endif
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*
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* @section icu_2 ICU Operations.
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* This driver abstracts a generic Input Capture Unit composed of:
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* - A clock prescaler.
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* - A main up counter.
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* - Two capture registers triggered by the rising and falling edges on
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* the sampled input.
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* .
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* The ICU unit can be programmed to synchronize on the rising or falling
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* edge of the sample input:
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* - <b>ICU_INPUT_ACTIVE_HIGH</b>, a rising edge is the start signal.
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* - <b>ICU_INPUT_ACTIVE_LOW</b>, a falling edge is the start signal.
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* .
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* Callbacks are optionally invoked when:
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* - On the PWM de-activation edge.
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* - On the PWM activation edge, measurements for the previous cycle are
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* available from this callback and can be retrieved using
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* @p icuGetPeriodX() and @p icuGetWidthX().
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* .
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* @ingroup IO
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*/
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@ -0,0 +1,69 @@
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/*
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ChibiOS/HAL - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013,2014 Giovanni Di Sirio.
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This file is part of ChibiOS/HAL
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ChibiOS/HAL 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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* @defgroup PWM PWM Driver
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* @brief Generic PWM Driver.
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* @details This module implements a generic PWM (Pulse Width Modulation)
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* driver.
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* @pre In order to use the PWM driver the @p HAL_USE_PWM option
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* must be enabled in @p halconf.h.
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*
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* @section pwm_1 Driver State Machine
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* The driver implements a state machine internally, not all the driver
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* functionalities can be used in any moment, any transition not explicitly
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* shown in the following diagram has to be considered an error and shall
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* be captured by an assertion (if enabled).
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
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edge [fontname=Helvetica, fontsize=8];
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uninit [label="PWM_UNINIT", style="bold"];
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stop [label="PWM_STOP\nLow Power"];
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ready [label="PWM_READY\nClock Enabled"];
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uninit -> stop [label="pwmInit()"];
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stop -> stop [label="pwmStop()"];
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stop -> ready [label="pwmStart()"];
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ready -> stop [label="pwmStop()"];
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ready -> ready [label="pwmEnableChannel()\npwmDisableChannel()"];
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}
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* @enddot
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*
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* @section pwm_2 PWM Operations.
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* This driver abstracts a generic PWM timer composed of:
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* - A clock prescaler.
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* - A main up counter.
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* - A comparator register that resets the main counter to zero when the limit
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* is reached. An optional callback can be generated when this happens.
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* - An array of @p PWM_CHANNELS PWM channels, each channel has an output,
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* a comparator and is able to invoke an optional callback when a comparator
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* match with the main counter happens.
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* .
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* A PWM channel output can be in two different states:
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* - <b>IDLE</b>, when the channel is disabled or after a match occurred.
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* - <b>ACTIVE</b>, when the channel is enabled and a match didn't occur yet
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* in the current PWM cycle.
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* .
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* Note that the two states can be associated to both logical zero or one in
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* the @p PWMChannelConfig structure.
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*
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* @ingroup IO
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*/
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@ -93,11 +93,7 @@ typedef void (*icucallback_t)(ICUDriver *icup);
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} while (0)
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} while (0)
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/**
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/**
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* @brief Waits for the next cycle activation edge.
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* @brief Waits for a completed capture.
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* @details The function waits for the next PWM input activation front then
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* brings the driver in the @p ICU_ACTIVE state.
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* @note If notifications are enabled then the transition to the
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* @p ICU_ACTIVE state is done automatically on the first edge.
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*
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*
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* @param[in] icup pointer to the @p ICUDriver object
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* @param[in] icup pointer to the @p ICUDriver object
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*
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*
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@ -102,6 +102,34 @@ ICUDriver ICUD9;
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/* Driver local functions. */
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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static void icu_lld_wait_edge(ICUDriver *icup) {
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/* Polled mode so re-enabling the interrupts while the operation is
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performed.*/
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chSysUnlock();
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/* Polling the right bit depending on the input channel.*/
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if (icup->config->channel == ICU_CHANNEL_1) {
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/* Waiting for an edge.*/
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while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)
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;
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/* Resetting capture flag.*/
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icup->tim->SR &= ~STM32_TIM_SR_CC1IF;
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}
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else {
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/* Waiting for an edge.*/
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while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)
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;
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/* Resetting capture flag.*/
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icup->tim->SR &= ~STM32_TIM_SR_CC2IF;
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}
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/* Done, disabling interrupts again.*/
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chSysLock();
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}
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/**
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/**
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* @brief Shared IRQ handler.
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* @brief Shared IRQ handler.
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*
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*
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@ -615,12 +643,9 @@ void icu_lld_start_capture(ICUDriver *icup) {
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}
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}
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/**
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/**
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* @brief Waits for the next cycle activation edge.
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* @brief Waits for a completed capture.
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* @details The function waits for the next PWM input activation front then
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* brings the driver in the @p ICU_ACTIVE state.
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* @note If notifications are enabled then the transition to the
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* @p ICU_ACTIVE state is done automatically on the first edge.
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* @note The wait is performed in polled mode.
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* @note The wait is performed in polled mode.
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* @note The function cannot work if notifications are enabled.
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*
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*
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* @param[in] icup pointer to the @p ICUDriver object
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* @param[in] icup pointer to the @p ICUDriver object
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*
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*
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@ -628,22 +653,13 @@ void icu_lld_start_capture(ICUDriver *icup) {
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*/
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*/
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void icu_lld_wait_capture(ICUDriver *icup) {
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void icu_lld_wait_capture(ICUDriver *icup) {
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if (icup->config->channel == ICU_CHANNEL_1) {
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/* If the driver is still in the ICU_WAITING state then we need to wait
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/* Resetting capture flag.*/
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for the first activation edge.*/
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icup->tim->SR &= ~STM32_TIM_SR_CC1IF;
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if (icup->state == ICU_WAITING)
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icu_lld_wait_edge(icup);
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/* Waiting for an edge.*/
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/* This edge marks the availability of a capture result.*/
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while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)
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icu_lld_wait_edge(icup);
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;
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}
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else {
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/* Resetting capture flag.*/
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icup->tim->SR &= ~STM32_TIM_SR_CC2IF;
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/* Waiting for an edge.*/
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while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)
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;
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}
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}
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}
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/**
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/**
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@ -133,11 +133,7 @@ void icuStartCapture(ICUDriver *icup) {
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}
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}
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/**
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/**
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* @brief Waits for the next cycle activation edge.
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* @brief Waits for a completed capture.
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* @details The function waits for the next PWM input activation front then
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* brings the driver in the @p ICU_ACTIVE state.
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* @note If notifications are enabled then the transition to the
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* @p ICU_ACTIVE state is done automatically on the first edge.
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*
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*
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* @param[in] icup pointer to the @p ICUDriver object
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* @param[in] icup pointer to the @p ICUDriver object
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*
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*
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Loading…
Reference in New Issue