/*
    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
                 2011,2012,2013 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(PORT_D, PD_LED1);
}

static void pwmc1cb(PWMDriver *pwmp) {

  (void)pwmp;
  palSetPad(PORT_D, PD_LED1);
}

static PWMConfig pwmcfg = {
  250000,                                   /* 250kHz PWM clock frequency.*/
  50000,                                    /* Initial PWM period 0.2s.*/
  pwmpcb,
  {
   {PWM_OUTPUT_ACTIVE_HIGH, pwmc1cb},
   {PWM_OUTPUT_DISABLED, NULL}
  },
  EDGE_ALIGNED_PWM
};

icucnt_t last_width, last_period;

static void icuwidthcb(ICUDriver *icup) {

  palSetPad(PORT_D, PD_LED2);
  last_width = icuGetWidth(icup);
}

static void icuperiodcb(ICUDriver *icup) {

  palClearPad(PORT_D, PD_LED2);
  last_period = icuGetPeriod(icup);
}

static ICUConfig icucfg = {
  ICU_INPUT_ACTIVE_HIGH,
  250000,                                    /* 250kHz 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 1 and ICU driver 1.
   * GPIOD10 is the PWM output.
   * GPIOA0 is the ICU input.
   * The two pins have to be externally connected together.
   */
  icuStart(&ICUD1, &icucfg);
  icuEnable(&ICUD1);

  /* Sets A0 alternative function.*/
  SIU.PCR[0].R = 0b0100010100000100;

  pwmStart(&PWMD1, &pwmcfg);
  /* Sets D10 alternative function.*/
  SIU.PCR[58].R = 0b0100010100000100;

  chThdSleepMilliseconds(2000);

  /*
   * Starts the PWM channel 0 using 75% duty cycle.
   */
  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
  chThdSleepMilliseconds(5000);

  /*
   * Changes the PWM channel 0 to 50% duty cycle.
   */
  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
  chThdSleepMilliseconds(5000);

  /*
   * Changes the PWM channel 0 to 25% duty cycle.
   */
  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
  chThdSleepMilliseconds(5000);

  /*
   * Changes PWM period and the PWM channel 0 to 50% duty cycle.
   */
  pwmChangePeriod(&PWMD1, 25000);
  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
  chThdSleepMilliseconds(5000);

  /*
   * Disables channel 0 and stops the drivers.
   */
  pwmDisableChannel(&PWMD1, 0);
  pwmStop(&PWMD1);
  icuDisable(&ICUD1);
  icuStop(&ICUD1);
  palClearPad(PORT_D, PD_LED3);
  palClearPad(PORT_D, PD_LED4);

  /*
   * Normal main() thread activity, in this demo it does nothing.
   */
  while (TRUE) {
    chThdSleepMilliseconds(500);
  }
  return 0;
}