/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011 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 . */ /** * @file STM32/pwm_lld.h * @brief STM32 PWM subsystem low level driver header. * * @addtogroup PWM * @{ */ #ifndef _PWM_LLD_H_ #define _PWM_LLD_H_ #if HAL_USE_PWM || defined(__DOXYGEN__) /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @brief Number of PWM channels per PWM driver. */ #define PWM_CHANNELS 4 /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @brief PWMD1 driver enable switch. * @details If set to @p TRUE the support for PWMD1 is included. * @note The default is @p TRUE. */ #if !defined(STM32_PWM_USE_TIM1) || defined(__DOXYGEN__) #define STM32_PWM_USE_TIM1 TRUE #endif /** * @brief PWMD2 driver enable switch. * @details If set to @p TRUE the support for PWMD2 is included. * @note The default is @p TRUE. */ #if !defined(STM32_PWM_USE_TIM2) || defined(__DOXYGEN__) #define STM32_PWM_USE_TIM2 TRUE #endif /** * @brief PWMD3 driver enable switch. * @details If set to @p TRUE the support for PWMD3 is included. * @note The default is @p TRUE. */ #if !defined(STM32_PWM_USE_TIM3) || defined(__DOXYGEN__) #define STM32_PWM_USE_TIM3 TRUE #endif /** * @brief PWMD4 driver enable switch. * @details If set to @p TRUE the support for PWMD4 is included. * @note The default is @p TRUE. */ #if !defined(STM32_PWM_USE_TIM4) || defined(__DOXYGEN__) #define STM32_PWM_USE_TIM4 TRUE #endif /** * @brief PWMD5 driver enable switch. * @details If set to @p TRUE the support for PWMD5 is included. * @note The default is @p TRUE. */ #if !defined(STM32_PWM_USE_TIM5) || defined(__DOXYGEN__) #define STM32_PWM_USE_TIM5 TRUE #endif /** * @brief PWMD1 interrupt priority level setting. */ #if !defined(STM32_PWM_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__) #define STM32_PWM_TIM1_IRQ_PRIORITY 7 #endif /** * @brief PWMD2 interrupt priority level setting. */ #if !defined(STM32_PWM_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__) #define STM32_PWM_TIM2_IRQ_PRIORITY 7 #endif /** * @brief PWMD3 interrupt priority level setting. */ #if !defined(STM32_PWM_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__) #define STM32_PWM_TIM3_IRQ_PRIORITY 7 #endif /** * @brief PWMD4 interrupt priority level setting. */ #if !defined(STM32_PWM_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__) #define STM32_PWM_TIM4_IRQ_PRIORITY 7 #endif /** * @brief PWMD5 interrupt priority level setting. */ #if !defined(STM32_PWM_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__) #define STM32_PWM_TIM5_IRQ_PRIORITY 7 #endif /*===========================================================================*/ /* Configuration checks. */ /*===========================================================================*/ #if STM32_PWM_USE_TIM1 && !STM32_HAS_TIM1 #error "TIM1 not present in the selected device" #endif #if STM32_PWM_USE_TIM2 && !STM32_HAS_TIM2 #error "TIM2 not present in the selected device" #endif #if STM32_PWM_USE_TIM3 && !STM32_HAS_TIM3 #error "TIM3 not present in the selected device" #endif #if STM32_PWM_USE_TIM4 && !STM32_HAS_TIM4 #error "TIM4 not present in the selected device" #endif #if STM32_PWM_USE_TIM5 && !STM32_HAS_TIM5 #error "TIM5 not present in the selected device" #endif #if !STM32_PWM_USE_TIM1 && !STM32_PWM_USE_TIM2 && \ !STM32_PWM_USE_TIM3 && !STM32_PWM_USE_TIM4 && \ !STM32_PWM_USE_TIM5 #error "PWM driver activated but no TIM peripheral assigned" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @brief PWM channel type. */ typedef uint8_t pwmchannel_t; /** * @brief PWM counter type. */ typedef uint16_t pwmcnt_t; /** * @brief Type of a structure representing an PWM driver. */ typedef struct PWMDriver PWMDriver; /** * @brief PWM notification callback type. * * @param[in] pwmp pointer to a @p PWMDriver object */ typedef void (*pwmcallback_t)(PWMDriver *pwmp); /** * @brief PWM driver channel configuration structure. */ typedef struct { /** * @brief Channel active logic level. */ pwmmode_t mode; /** * @brief Channel callback pointer. * @note This callback is invoked on the channel compare event. If set to * @p NULL then the callback is disabled. */ pwmcallback_t callback; /* End of the mandatory fields.*/ } PWMChannelConfig; /** * @brief PWM driver configuration structure. */ typedef struct { /** * @brief Periodic callback pointer. * @note This callback is invoked on PWM counter reset. If set to * @p NULL then the callback is disabled. */ pwmcallback_t callback; /** * @brief Channels configurations. */ PWMChannelConfig channels[PWM_CHANNELS]; /* End of the mandatory fields.*/ /** * @brief TIM PSC (pre-scaler) register initialization data. */ uint16_t psc; /** * @brief TIM ARR (auto-reload) register initialization data. */ uint16_t arr; /** * @brief TIM CR2 register initialization data. * @note The value of this field should normally be equal to zero. */ uint16_t cr2; } PWMConfig; /** * @brief Structure representing a PWM driver. */ struct PWMDriver { /** * @brief Driver state. */ pwmstate_t state; /** * @brief Current driver configuration data. */ const PWMConfig *config; #if defined(PWM_DRIVER_EXT_FIELDS) PWM_DRIVER_EXT_FIELDS #endif /* End of the mandatory fields.*/ /** * @brief Bit mask of the enabled channels. */ uint32_t enabled_channels; /** * @brief Pointer to the TIMx registers block. */ TIM_TypeDef *tim; }; /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief PWM clock prescaler initialization utility. * @note The real clock value is rounded to the lower valid value, please * make sure that the source clock frequency is a multiple of the * requested PWM clock frequency. * @note The calculated value must fit into an unsigned 16 bits integer. * * @param[in] clksrc clock source frequency, depending on the target timer * cell it can be one of: * - STM32_TIMCLK1 * - STM32_TIMCLK2 * . * Please refer to the STM32 HAL driver documentation * and/or the STM32 Reference Manual for the right clock * source. * @param[in] pwmclk PWM clock frequency in cycles * @return The value to be stored in the @p psc field of the * @p PWMConfig structure. */ #define PWM_COMPUTE_PSC(clksrc, pwmclk) \ ((uint16_t)(((clksrc) / (pwmclk)) - 1)) /** * @brief PWM cycle period initialization utility. * @note The calculated value must fit into an unsigned 16 bits integer. * * @param[in] pwmclk PWM clock frequency in cycles * @param[in] pwmperiod PWM cycle period in nanoseconds * @return The value to be stored in the @p arr field of the * @p PWMConfig structure. */ #define PWM_COMPUTE_ARR(pwmclk, pwmperiod) \ ((uint16_t)(((pwmclk) / (1000000000 / (pwmperiod))) - 1)) /** * @brief Converts from fraction to pulse width. * @note Be careful with rounding errors, this is integer math not magic. * You can specify tenths of thousandth but make sure you have the * proper hardware resolution by carefully choosing the clock source * and prescaler settings, see @p PWM_COMPUTE_PSC. * * @param[in] pwmp pointer to a @p PWMDriver object * @param[in] numerator numerator of the fraction * @param[in] denominator percentage as an integer between 0 and numerator * @return The pulse width to be passed to @p pwmEnableChannel(). * * @api */ #define PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator) \ ((uint16_t)((((uint32_t)(pwmp)->config->arr + 1UL) * \ (uint32_t)(denominator)) / (uint32_t)(numerator))) /** * @brief Converts from degrees to pulse width. * @note Be careful with rounding errors, this is integer math not magic. * You can specify hundredths of degrees but make sure you have the * proper hardware resolution by carefully choosing the clock source * and prescaler settings, see @p PWM_COMPUTE_PSC. * * @param[in] pwmp pointer to a @p PWMDriver object * @param[in] degrees degrees as an integer between 0 and 36000 * @return The pulse width to be passed to @p pwmEnableChannel(). * * @api */ #define PWM_DEGREES_TO_WIDTH(pwmp, degrees) \ PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees) /** * @brief Converts from percentage to pulse width. * @note Be careful with rounding errors, this is integer math not magic. * You can specify tenths of thousandth but make sure you have the * proper hardware resolution by carefully choosing the clock source * and prescaler settings, see @p PWM_COMPUTE_PSC. * * @param[in] pwmp pointer to a @p PWMDriver object * @param[in] percentage percentage as an integer between 0 and 10000 * @return The pulse width to be passed to @p pwmEnableChannel(). * * @api */ #define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \ PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage) /*===========================================================================*/ /* 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 #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_ */ /** @} */