pwm_lld.h
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @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
/**
* @brief Complementary output modes mask.
* @note This is an STM32-specific setting.
*/
#define PWM_COMPLEMENTARY_OUTPUT_MASK 0xF0
/**
* @brief Complementary output not driven.
* @note This is an STM32-specific setting.
*/
#define PWM_COMPLEMENTARY_OUTPUT_DISABLED 0x00
/**
* @brief Complementary output, active is logic level one.
* @note This is an STM32-specific setting.
* @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 is an STM32-specific setting.
* @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. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @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.
* @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 PWMD8 driver enable switch.
* @details If set to @p TRUE the support for PWMD8 is included.
* @note The default is @p TRUE.
*/
#if !defined(STM32_PWM_USE_TIM8) || defined(__DOXYGEN__)
#define STM32_PWM_USE_TIM8 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
/**
* @brief PWMD8 interrupt priority level setting.
*/
#if !defined(STM32_PWM_TIM8_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define STM32_PWM_TIM8_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_TIM8 && !STM32_HAS_TIM8
#error "TIM8 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 && !STM32_PWM_USE_TIM8
#error "PWM driver activated but no TIM peripheral assigned"
#endif
#if STM32_PWM_USE_ADVANCED && !STM32_PWM_USE_TIM1 && !STM32_PWM_USE_TIM8
#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.
*/
typedef uint8_t pwmchannel_t;
/**
* @brief PWM counter type.
*/
typedef uint16_t pwmcnt_t;
/**
* @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 Timer clock in Hz.
* @note The low level can use assertions in order to catch invalid
* frequency specifications.
*/
uint32_t frequency;
/**
* @brief PWM period in ticks.
* @note The low level can use assertions in order to catch invalid
* period specifications.
*/
pwmcnt_t period;
/**
* @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 CR2 register initialization data.
* @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;
/**
* @brief Structure representing a PWM driver.
*/
struct PWMDriver {
/**
* @brief Driver state.
*/
pwmstate_t state;
/**
* @brief Current driver configuration data.
*/
const PWMConfig *config;
/**
* @brief Current PWM period in ticks.
*/
pwmcnt_t period;
#if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
* @brief Timer base clock.
*/
uint32_t clock;
/**
* @brief Pointer to the TIMx registers block.
*/
stm32_tim_t *tim;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Changes the period the PWM peripheral.
* @details This function changes the period of a PWM unit that has already
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @note The function has effect at the next cycle start.
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
*
* @notapi
*/
#define pwm_lld_change_period(pwmp, period) \
((pwmp)->tim->ARR = (uint16_t)((period) - 1))
/*===========================================================================*/
/* 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
#if STM32_PWM_USE_TIM8 && !defined(__DOXYGEN__)
extern PWMDriver PWMD8;
#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_ */
/** @} */