Added advanced mode and BTRD handling to the STM32 PWM driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2861 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/ARMCM3-STM32F100-DISCOVERY/main.c

@@ -73,7 +73,10 @@ static PWMConfig pwmcfg = {
     {PWM_OUTPUT_ACTIVE_HIGH, NULL}
   },
   /* HW dependent part.*/
+  0,
+#if STM32_PWM_USE_ADVANCED
   0
+#endif
 };
 
 /*

demos/ARMCM3-STM32F100-DISCOVERY/mcuconf.h

@@ -90,6 +90,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              FALSE
 #define STM32_PWM_USE_TIM1                  FALSE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  TRUE

demos/ARMCM3-STM32F103-FATFS-GCC/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

demos/ARMCM3-STM32F103/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

demos/ARMCM3-STM32F107/mcuconf.h

@@ -98,6 +98,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

os/hal/platforms/STM32/pwm_lld.c

@@ -394,7 +394,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
 
   /* Output enables and polarities setup.*/
   ccer = 0;
-  switch (pwmp->config->channels[0].mode) {
+  switch (pwmp->config->channels[0].mode & PWM_OUTPUT_MASK) {
   case PWM_OUTPUT_ACTIVE_LOW:
     ccer |= TIM_CCER_CC1P;
   case PWM_OUTPUT_ACTIVE_HIGH:
@@ -402,7 +402,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
   default:
     ;
   }
-  switch (pwmp->config->channels[1].mode) {
+  switch (pwmp->config->channels[1].mode & PWM_OUTPUT_MASK) {
   case PWM_OUTPUT_ACTIVE_LOW:
     ccer |= TIM_CCER_CC2P;
   case PWM_OUTPUT_ACTIVE_HIGH:
@@ -410,7 +410,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
   default:
     ;
   }
-  switch (pwmp->config->channels[2].mode) {
+  switch (pwmp->config->channels[2].mode & PWM_OUTPUT_MASK) {
   case PWM_OUTPUT_ACTIVE_LOW:
     ccer |= TIM_CCER_CC3P;
   case PWM_OUTPUT_ACTIVE_HIGH:
@@ -418,7 +418,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
   default:
     ;
   }
-  switch (pwmp->config->channels[3].mode) {
+  switch (pwmp->config->channels[3].mode & PWM_OUTPUT_MASK) {
   case PWM_OUTPUT_ACTIVE_LOW:
     ccer |= TIM_CCER_CC4P;
   case PWM_OUTPUT_ACTIVE_HIGH:
@@ -426,11 +426,44 @@ void pwm_lld_start(PWMDriver *pwmp) {
   default:
     ;
   }
+#if STM32_PWM_USE_ADVANCED
+  if (&PWMD1 == pwmp) {
+    switch (pwmp->config->channels[0].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
+    case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
+      ccer |= TIM_CCER_CC1NP;
+    case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
+      ccer |= TIM_CCER_CC1NE;
+    default:
+      ;
+    }
+    switch (pwmp->config->channels[1].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
+    case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
+      ccer |= TIM_CCER_CC2NP;
+    case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
+      ccer |= TIM_CCER_CC2NE;
+    default:
+      ;
+    }
+    switch (pwmp->config->channels[2].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
+    case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
+      ccer |= TIM_CCER_CC3NP;
+    case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
+      ccer |= TIM_CCER_CC3NE;
+    default:
+      ;
+    }
+  }
+#endif /* STM32_PWM_USE_ADVANCED*/
+
   pwmp->tim->CCER = ccer;
   pwmp->tim->EGR  = TIM_EGR_UG;             /* Update event.                */
   pwmp->tim->SR   = 0;                      /* Clear pending IRQs.          */
   pwmp->tim->DIER = pwmp->config->callback == NULL ? 0 : TIM_DIER_UIE;
+#if STM32_PWM_USE_ADVANCED
+  pwmp->tim->BDTR = pwmp->config->bdtr | TIM_BDTR_MOE;
+#else
   pwmp->tim->BDTR = TIM_BDTR_MOE;
+#endif
   /* Timer configured and started.*/
   pwmp->tim->CR1  = TIM_CR1_ARPE | TIM_CR1_URS | TIM_CR1_CEN;
 }
@@ -450,6 +483,7 @@ void pwm_lld_stop(PWMDriver *pwmp) {
     pwmp->tim->CR1  = 0;                    /* Timer disabled.              */
     pwmp->tim->DIER = 0;                    /* All IRQs disabled.           */
     pwmp->tim->SR   = 0;                    /* Clear eventual pending IRQs. */
+    pwmp->tim->BDTR  = 0;
 
 #if STM32_PWM_USE_TIM1
     if (&PWMD1 == pwmp) {

os/hal/platforms/STM32/pwm_lld.h

@@ -40,10 +40,66 @@
  */
 #define PWM_CHANNELS                            4
 
+/**
+ * @brief   Standard output modes mask.
+ */
+#define PWM_OUTPUT_MASK                         0x07
+
+/**
+ * @brief   Output not driven, callback only.
+ */
+#define PWM_OUTPUT_DISABLED                     0x00
+
+/**
+ * @brief   Positive PWM logic, active is logic level one.
+ */
+#define PWM_OUTPUT_ACTIVE_HIGH                  0x01
+
+/**
+ * @brief   Inverse PWM logic, active is logic level zero.
+ */
+#define PWM_OUTPUT_ACTIVE_LOW                   0x02
+
+/**
+ * @brief   Complementary output modes mask.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_MASK           0x70
+
+/**
+ * @brief   Complementary output not driven.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_DISABLED       0x00
+
+/**
+ * @brief   Complementary output, active is logic level one.
+ * @note    This setting is only available if the configuration option
+ *          @p STM32_PWM_USE_ADVANCED is set to TRUE and only for advanced
+ *          timers TIM1 and TIM8.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH    0x10
+
+/**
+ * @brief   Complementary output, active is logic level zero.
+ * @note    This setting is only available if the configuration option
+ *          @p STM32_PWM_USE_ADVANCED is set to TRUE and only for advanced
+ *          timers TIM1 and TIM8.
+ */
+#define PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW     0x20
+
 /*===========================================================================*/
 /* Driver pre-compile time settings.                                         */
 /*===========================================================================*/
 
+/**
+ * @brief   If advanced timer features switch.
+ * @details If set to @p TRUE the advanced features for TIM1 and TIM8 are
+ *          enabled.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_PWM_USE_ADVANCED) || defined(__DOXYGEN__)
+#define STM32_PWM_USE_ADVANCED              TRUE
+#endif
+
 /**
  * @brief   PWMD1 driver enable switch.
  * @details If set to @p TRUE the support for PWMD1 is included.
@@ -154,10 +210,19 @@
 #error "PWM driver activated but no TIM peripheral assigned"
 #endif
 
+#if STM32_PWM_USE_ADVANCED && !STM32_PWM_USE_TIM1
+#error "advanced mode selected but no advanced timer assigned"
+#endif
+
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
 /*===========================================================================*/
 
+/**
+ * @brief PWM mode type.
+ */
+typedef uint32_t pwmmode_t;
+
 /**
  * @brief   PWM channel type.
  */
@@ -168,15 +233,6 @@ typedef uint8_t pwmchannel_t;
  */
 typedef uint16_t pwmcnt_t;
 
-/**
- * @brief PWM logic mode.
- */
-typedef enum {
-  PWM_OUTPUT_DISABLED = 0,          /**< Output not driven, callback only.  */
-  PWM_OUTPUT_ACTIVE_HIGH = 1,       /**< Idle is logic level 0.             */
-  PWM_OUTPUT_ACTIVE_LOW = 2         /**< Idle is logic level 1.             */
-} pwmmode_t;
-
 /**
  * @brief   PWM driver channel configuration structure.
  */
@@ -226,6 +282,13 @@ typedef struct {
    * @note  The value of this field should normally be equal to zero.
    */
   uint16_t                  cr2;
+#if STM32_PWM_USE_ADVANCED || defined(__DOXYGEN__)
+  /**
+   * @brief TIM BDTR (break & dead-time) register initialization data.
+   * @note  The value of this field should normally be equal to zero.
+   */                                                                     \
+  uint16_t                  bdtr;
+#endif
 } PWMConfig;
 
 /**

readme.txt

@@ -86,6 +86,7 @@
     even from within callbacks. Formerly it was required to stop and restart
     the driver.
   - Improved driver documentation.
+- NEW: Added advanced mode to the STM32 PWM driver (TIM1 only).
 - NEW: Added new ICU driver model, Input Capture Unit.
 - NEW: ICU driver implementation for STM32.
 - NEW: Implemented stack checking in the Cortex-Mx RVCT port (backported

testhal/STM32/ADC/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/CAN/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/GPT/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  FALSE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/IRQ_STORM/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  FALSE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/PWM-ICU/main.c

@@ -43,7 +43,10 @@ static PWMConfig pwmcfg = {
    {PWM_OUTPUT_DISABLED, NULL},
    {PWM_OUTPUT_DISABLED, NULL}
   },
+  0,
+#if STM32_PWM_USE_ADVANCED
   0
+#endif
 };
 
 icucnt_t last_width, last_period;

testhal/STM32/PWM-ICU/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/SPI/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/UART/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/USB_CDC/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE

testhal/STM32/USB_MSC/mcuconf.h

@@ -91,6 +91,7 @@
 /*
  * PWM driver system settings.
  */
+#define STM32_PWM_USE_ADVANCED              TRUE
 #define STM32_PWM_USE_TIM1                  TRUE
 #define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE