/* 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 . --- 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_ */ /** @} */