212 lines
7.2 KiB
C
212 lines
7.2 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT 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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* @file templates/pwm_lld.h
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* @brief PWM Driver subsystem low level driver header template.
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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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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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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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* @brief Number of PWM channels per PWM driver.
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*/
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#if !defined(PWM_CHANNELS) || defined(__DOXYGEN__)
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#define PWM_CHANNELS 1
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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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 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 Type of a structure representing an PWM driver.
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*/
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typedef struct PWMDriver PWMDriver;
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/**
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* @brief PWM notification callback type.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*/
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typedef void (*pwmcallback_t)(PWMDriver *pwmp);
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/**
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* @brief PWM driver channel configuration structure.
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* @note Some architectures may not be able to support the channel mode
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* or the callback, in this case the fields are ignored.
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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 pcc_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 pcc_callback;
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/* End of the mandatory fields.*/
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} PWMChannelConfig;
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/**
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* @brief Driver configuration structure.
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* @note Implementations may extend this structure to contain more,
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* architecture dependent, fields.
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*/
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typedef struct {
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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 pc_callback;
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/**
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* @brief Channels configurations.
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*/
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PWMChannelConfig pc_channels[PWM_CHANNELS];
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/* End of the mandatory fields.*/
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} PWMConfig;
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/**
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* @brief Structure representing an PWM driver.
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* @note Implementations may extend this structure to contain more,
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* architecture dependent, fields.
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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 pd_state;
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/**
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* @brief Current configuration data.
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*/
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const PWMConfig *pd_config;
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#if defined(PWM_DRIVER_EXT_FIELDS)
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PWM_DRIVER_EXT_FIELDS
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#endif
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/* End of the mandatory fields.*/
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};
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @brief Converts from fraction to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] numerator numerator of the fraction
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* @param[in] denominator percentage as an integer between 0 and numerator
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator) 0
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/**
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* @brief Converts from degrees to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify hundredths of degrees but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] degrees degrees as an integer between 0 and 36000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_DEGREES_TO_WIDTH(pwmp, degrees) \
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PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees)
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/**
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* @brief Converts from percentage to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] percentage percentage as an integer between 0 and 10000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
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PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void pwm_lld_init(void);
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void pwm_lld_start(PWMDriver *pwmp);
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void pwm_lld_stop(PWMDriver *pwmp);
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bool_t pwm_lld_is_enabled(PWMDriver *pwmp, pwmchannel_t channel);
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void pwm_lld_enable_channel(PWMDriver *pwmp,
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pwmchannel_t channel,
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pwmcnt_t width);
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void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_PWM */
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#endif /* _PWM_LLD_H_ */
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/** @} */
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