166 lines
4.6 KiB
C
166 lines
4.6 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include "ch.h"
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#include "hal.h"
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/*===========================================================================*/
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/* PWM driver related. */
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/*===========================================================================*/
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static void pwmpcb(PWMDriver *pwmp) {
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(void)pwmp;
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}
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static void pwmc1cb(PWMDriver *pwmp) {
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(void)pwmp;
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}
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static PWMConfig pwmcfg = {
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10000, /* 10kHz PWM clock frequency. */
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10000, /* Initial PWM period 1S. */
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pwmpcb,
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{
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{PWM_OUTPUT_ACTIVE_HIGH, pwmc1cb},
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{PWM_OUTPUT_DISABLED, NULL},
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{PWM_OUTPUT_DISABLED, NULL},
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{PWM_OUTPUT_DISABLED, NULL}
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},
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0,
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0
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};
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/*===========================================================================*/
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/* ICU driver related. */
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/*===========================================================================*/
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icucnt_t last_width, last_period;
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static void icuwidthcb(ICUDriver *icup) {
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palSetLine(LINE_ARD_D13);
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last_width = icuGetWidthX(icup);
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}
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static void icuperiodcb(ICUDriver *icup) {
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palClearLine(LINE_ARD_D13);
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last_period = icuGetPeriodX(icup);
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}
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static void icuovfcb(ICUDriver *icup) {
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(void)icup;
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}
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static ICUConfig icucfg = {
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ICU_INPUT_ACTIVE_HIGH,
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10000, /* 10kHz ICU clock frequency. */
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icuwidthcb,
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icuperiodcb,
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icuovfcb,
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ICU_CHANNEL_1,
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0
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};
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/*===========================================================================*/
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/* Application code. */
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/*===========================================================================*/
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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Starting PWM driver 1 and enabling the notifications.
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* GPIOA8 is programmed as PWM output (channel 1 of TIM1).
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*/
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pwmStart(&PWMD1, &pwmcfg);
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pwmEnablePeriodicNotification(&PWMD1);
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palSetLineMode(LINE_ARD_D5, PAL_MODE_ALTERNATE(1));
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/*
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* Starting ICU driver 2.
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* GPIOA15 is programmed as ICU input (channel 1 of TIM2).
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*/
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icuStart(&ICUD2, &icucfg);
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palSetLineMode(LINE_ARD_D9, PAL_MODE_ALTERNATE(1));
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/*
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* GPIOI1 is programmed as output (board LED).
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*/
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palClearLine(LINE_ARD_D13);
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palSetLineMode(LINE_ARD_D13, PAL_MODE_OUTPUT_PUSHPULL);
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chThdSleepMilliseconds(1000);
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/*
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* Starting ICU capture and enabling the notifications.
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*/
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icuStartCapture(&ICUD2);
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icuEnableNotifications(&ICUD2);
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/*
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* Normal main() thread activity, various PWM patterns are generated
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* cyclically, if the ICU input is connected to the PWM output the
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* board LED mirrors the PWM output.
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*/
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while (true) {
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/*
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* Starts the PWM channel 0 using 75% duty cycle.
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*/
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pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
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pwmEnableChannelNotification(&PWMD1, 0);
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chThdSleepMilliseconds(5000);
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/*
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* Changes the PWM channel 0 to 50% duty cycle.
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*/
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pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
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chThdSleepMilliseconds(5000);
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/*
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* Changes the PWM channel 0 to 25% duty cycle.
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*/
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pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
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chThdSleepMilliseconds(5000);
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/*
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* Changes PWM period to half second the duty cycle becomes 50%
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* implicitly.
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*/
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pwmChangePeriod(&PWMD1, 5000);
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chThdSleepMilliseconds(5000);
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/*
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* Disables channel 0.
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*/
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pwmDisableChannel(&PWMD1, 0);
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}
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}
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