Generic PWM Driver. More...

Collaboration diagram for PWM Driver:

Description

Generic PWM Driver.

This module implements a generic PWM driver. The driver implements a state machine internally:

Data Structures
struct	PWMChannelConfig
	PWM driver channel configuration structure. More...
struct	PWMConfig
	Driver configuration structure. More...
struct	PWMDriver
	Structure representing an PWM driver. More...
Modules
	PWM Low Level Driver
	PWM Driver low level driver template.
Defines
#define	pwmEnableChannelI(pwmp, channel, width) pwm_lld_enable_channel(pwmp, channel, width)
	Enables a PWM channel.
#define	pwmDisableChannelI(pwmp, channel) pwm_lld_disable_channel(pwmp, channel)
	Disables a PWM channel.
#define	PWM_CHANNELS 4
	Number of PWM channels per PWM driver.
#define	USE_STM32_PWM1 TRUE
	PWM1 driver enable switch.
#define	USE_STM32_PWM2 TRUE
	PWM2 driver enable switch.
#define	USE_STM32_PWM3 TRUE
	PWM3 driver enable switch.
#define	USE_STM32_PWM4 TRUE
	PWM4 driver enable switch.
#define	STM32_PWM1_IRQ_PRIORITY 7
	PWM1 interrupt priority level setting.
#define	STM32_PWM2_IRQ_PRIORITY 7
	PWM2 interrupt priority level setting.
#define	STM32_PWM3_IRQ_PRIORITY 7
	PWM3 interrupt priority level setting.
#define	STM32_PWM4_IRQ_PRIORITY 7
	PWM4 interrupt priority level setting.
#define	PWM_COMPUTE_PSC(clksrc, pwmclk) ((uint16_t)(((clksrc) / (pwmclk)) - 1))
	PWM clock prescaler initialization utility.
#define	PWM_COMPUTE_ARR(pwmclk, pwmperiod) ((uint16_t)(((pwmclk) / (1000000000 / (pwmperiod))) - 1))
	PWM cycle period initialization utility.
#define	PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator)
	Converts from fraction to pulse width.
#define	PWM_DEGREES_TO_WIDTH(pwmp, degrees) PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees)
	Converts from degrees to pulse width.
#define	PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
	Converts from percentage to pulse width.
Typedefs
typedef uint8_t	pwmchannel_t
	PWM channel type.
typedef uint16_t	pwmcnt_t
	PWM counter type.
typedef struct PWMDriver	PWMDriver
	Type of a structure representing an PWM driver.
typedef void(*	pwmcallback_t )(PWMDriver *pwmp)
	PWM notification callback type.
Enumerations
enum	pwmstate_t { PWM_UNINIT = 0, PWM_STOP = 1, PWM_READY = 2 }
	Driver state machine possible states. More...
enum	pwmmode_t { PWM_OUTPUT_DISABLED = 0, PWM_OUTPUT_ACTIVE_HIGH = 1, PWM_OUTPUT_ACTIVE_LOW = 2 }
	PWM logic mode. More...
Functions
void	pwmInit (void)
	PWM Driver initialization.
void	pwmObjectInit (PWMDriver *pwmp)
	Initializes the standard part of a `PWMDriver` structure.
void	pwmStart (PWMDriver pwmp, const PWMConfig config)
	Configures and activates the PWM peripheral.
void	pwmStop (PWMDriver *pwmp)
	Deactivates the PWM peripheral.
void	pwmEnableChannel (PWMDriver *pwmp, pwmchannel_t channel, pwmcnt_t width)
	Enables a PWM channel.
void	pwmDisableChannel (PWMDriver *pwmp, pwmchannel_t channel)
	Disables a PWM channel.
void	pwm_lld_init (void)
	Low level PWM driver initialization.
void	pwm_lld_start (PWMDriver *pwmp)
	Configures and activates the PWM peripheral.
void	pwm_lld_stop (PWMDriver *pwmp)
	Deactivates the PWM peripheral.
void	pwm_lld_enable_channel (PWMDriver *pwmp, pwmchannel_t channel, pwmcnt_t width)
	Enables a PWM channel.
void	pwm_lld_disable_channel (PWMDriver *pwmp, pwmchannel_t channel)
	Disables a PWM channel.

Define Documentation

#define pwmEnableChannelI	(	pwmp,
		channel,
		width
	)		pwm_lld_enable_channel(pwmp, channel, width)

Enables a PWM channel.

Programs (or reprograms) a PWM channel.

Note:: This function has to be invoked from a lock zone.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	channel	PWM channel identifier
`[in]`	width	PWM pulse width as clock pulses number

Definition at line 89 of file pwm.h.

#define pwmDisableChannelI	(	pwmp,
		channel
	)		pwm_lld_disable_channel(pwmp, channel)

Disables a PWM channel.

The channel is disabled and its output line returned to the idle state.

Note:: This function has to be invoked from a lock zone.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	channel	PWM channel identifier

Definition at line 101 of file pwm.h.

#define PWM_CHANNELS 4

Number of PWM channels per PWM driver.

Definition at line 40 of file platforms/STM32/pwm_lld.h.

#define USE_STM32_PWM1 TRUE

PWM1 driver enable switch.

If set to TRUE the support for PWM1 is included.

Note:: The default is TRUE.

Definition at line 52 of file platforms/STM32/pwm_lld.h.

#define USE_STM32_PWM2 TRUE

PWM2 driver enable switch.

If set to TRUE the support for PWM2 is included.

Note:: The default is TRUE.

Definition at line 61 of file platforms/STM32/pwm_lld.h.

#define USE_STM32_PWM3 TRUE

PWM3 driver enable switch.

If set to TRUE the support for PWM3 is included.

Note:: The default is TRUE.

Definition at line 70 of file platforms/STM32/pwm_lld.h.

#define USE_STM32_PWM4 TRUE

PWM4 driver enable switch.

If set to TRUE the support for PWM4 is included.

Note:: The default is TRUE.

Definition at line 79 of file platforms/STM32/pwm_lld.h.

#define STM32_PWM1_IRQ_PRIORITY 7

PWM1 interrupt priority level setting.

Definition at line 86 of file platforms/STM32/pwm_lld.h.

Referenced by pwm_lld_start().

#define STM32_PWM2_IRQ_PRIORITY 7

PWM2 interrupt priority level setting.

Definition at line 93 of file platforms/STM32/pwm_lld.h.

Referenced by pwm_lld_start().

#define STM32_PWM3_IRQ_PRIORITY 7

PWM3 interrupt priority level setting.

Definition at line 100 of file platforms/STM32/pwm_lld.h.

Referenced by pwm_lld_start().

#define STM32_PWM4_IRQ_PRIORITY 7

PWM4 interrupt priority level setting.

Definition at line 107 of file platforms/STM32/pwm_lld.h.

Referenced by pwm_lld_start().

#define PWM_COMPUTE_PSC	(	clksrc,
		pwmclk
	)		((uint16_t)(((clksrc) / (pwmclk)) - 1))

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.; The calculated value must fit into an unsigned 16 bits integer.

Parameters:

[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.

[in] pwmclk PWM clock frequency in cycles

Returns:: The value to be stored in the pc_psc field of the PWMConfig structure.

Definition at line 245 of file platforms/STM32/pwm_lld.h.

#define PWM_COMPUTE_ARR	(	pwmclk,
		pwmperiod
	)		((uint16_t)(((pwmclk) / (1000000000 / (pwmperiod))) - 1))

PWM cycle period initialization utility.

Note:: The calculated value must fit into an unsigned 16 bits integer.

Parameters:

`[in]`	pwmclk	PWM clock frequency in cycles
`[in]`	pwmperiod	PWM cycle period in nanoseconds

Returns:: The value to be stored in the pc_arr field of the PWMConfig structure.

Definition at line 257 of file platforms/STM32/pwm_lld.h.

#define PWM_FRACTION_TO_WIDTH	(	pwmp,
		numerator,
		denominator
	)

Value:

((uint16_t)((((uint32_t)(pwmp)->pd_config->pc_arr + 1UL) *                \
               (uint32_t)(denominator)) / (uint32_t)(numerator)))

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 PWM_COMPUTE_PSC.

Parameters:

`[in]`	numerator	numerator of the fraction
`[in]`	denominator	percentage as an integer between 0 and numerator

Returns:: The pulse width to be passed to pwmEnableChannel().

Definition at line 273 of file platforms/STM32/pwm_lld.h.

#define PWM_DEGREES_TO_WIDTH	(	pwmp,
		degrees
	)		PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees)

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 PWM_COMPUTE_PSC.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	degrees	degrees as an integer between 0 and 36000

Returns:: The pulse width to be passed to pwmEnableChannel().

Definition at line 290 of file platforms/STM32/pwm_lld.h.

#define PWM_PERCENTAGE_TO_WIDTH	(	pwmp,
		percentage
	)		PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)

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 PWM_COMPUTE_PSC.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	percentage	percentage as an integer between 0 and 10000

Returns:: The pulse width to be passed to pwmEnableChannel().

Definition at line 306 of file platforms/STM32/pwm_lld.h.

Typedef Documentation

typedef uint8_t pwmchannel_t

PWM channel type.

Definition at line 130 of file platforms/STM32/pwm_lld.h.

typedef uint16_t pwmcnt_t

PWM counter type.

Definition at line 135 of file platforms/STM32/pwm_lld.h.

typedef struct PWMDriver PWMDriver

Type of a structure representing an PWM driver.

Definition at line 140 of file platforms/STM32/pwm_lld.h.

typedef void(* pwmcallback_t)(PWMDriver *pwmp)

PWM notification callback type.

Parameters:

[in] pwmp pointer to a PWMDriver object

Definition at line 147 of file platforms/STM32/pwm_lld.h.

Enumeration Type Documentation

enum pwmstate_t

Driver state machine possible states.

Enumerator:

PWM_UNINIT	Not initialized.
PWM_STOP	Stopped.
PWM_READY	Ready.

Definition at line 59 of file pwm.h.

enum pwmmode_t

PWM logic mode.

Enumerator:

PWM_OUTPUT_DISABLED	Output not driven, callback only.
PWM_OUTPUT_ACTIVE_HIGH	Idle is logic level 0.
PWM_OUTPUT_ACTIVE_LOW	Idle is logic level 1.

Definition at line 68 of file pwm.h.

Function Documentation

void pwmInit ( void )

PWM Driver initialization.

Definition at line 59 of file pwm.c.

References pwm_lld_init().

Referenced by halInit().

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void pwmObjectInit ( PWMDriver * pwmp )

Initializes the standard part of a PWMDriver structure.

Parameters:

[in] pwmp pointer to a PWMDriver object

Definition at line 69 of file pwm.c.

References PWMDriver::pd_config, and PWMDriver::pd_state.

Referenced by pwm_lld_init().

void pwmStart	(	PWMDriver *	pwmp,
		const PWMConfig *	config
	)

Configures and activates the PWM peripheral.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	config	pointer to a `PWMConfig` object

Definition at line 84 of file pwm.c.

References chDbgAssert, chDbgCheck, chSysLock, chSysUnlock, PWMDriver::pd_config, PWMDriver::pd_state, pwm_lld_start(), PWM_READY, and PWM_STOP.

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void pwmStop ( PWMDriver * pwmp )

Deactivates the PWM peripheral.

Parameters:

[in] pwmp pointer to a PWMDriver object

Definition at line 102 of file pwm.c.

References chDbgAssert, chDbgCheck, chSysLock, chSysUnlock, PWMDriver::pd_state, pwm_lld_stop(), PWM_READY, and PWM_STOP.

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void pwmEnableChannel	(	PWMDriver *	pwmp,
		pwmchannel_t	channel,
		pwmcnt_t	width
	)

Enables a PWM channel.

Programs (or reprograms) a PWM channel.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	channel	PWM channel identifier (0...PWM_CHANNELS-1)
`[in]`	width	PWM pulse width as clock pulses number

Definition at line 122 of file pwm.c.

References chDbgAssert, chDbgCheck, chSysLock, chSysUnlock, PWMDriver::pd_state, PWM_CHANNELS, pwm_lld_enable_channel(), and PWM_READY.

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void pwmDisableChannel	(	PWMDriver *	pwmp,
		pwmchannel_t	channel
	)

Disables a PWM channel.

The channel is disabled and its output line returned to the idle state.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	channel	PWM channel identifier (0...PWM_CHANNELS-1)

Definition at line 144 of file pwm.c.

References chDbgAssert, chDbgCheck, chSysLock, chSysUnlock, PWMDriver::pd_state, PWM_CHANNELS, pwm_lld_disable_channel(), and PWM_READY.

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void pwm_lld_init ( void )

Low level PWM driver initialization.

Definition at line 206 of file platforms/STM32/pwm_lld.c.

References PWMDriver::pd_enabled_channels, PWMDriver::pd_tim, and pwmObjectInit().

Referenced by pwmInit().

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void pwm_lld_start ( PWMDriver * pwmp )

Configures and activates the PWM peripheral.

Parameters:

`[in]`	pwmp	pointer to the `PWMDriver` object
`[in]`	pwmp	pointer to a `PWMDriver` object

Definition at line 258 of file platforms/STM32/pwm_lld.c.

References CORTEX_PRIORITY_MASK, NVICEnableVector(), PWMConfig::pc_arr, PWMConfig::pc_callback, PWMConfig::pc_channels, PWMConfig::pc_cr2, PWMConfig::pc_psc, PWMChannelConfig::pcc_mode, PWMDriver::pd_config, PWMDriver::pd_enabled_channels, PWMDriver::pd_state, PWMDriver::pd_tim, PWM_OUTPUT_ACTIVE_HIGH, PWM_OUTPUT_ACTIVE_LOW, PWM_STOP, STM32_PWM1_IRQ_PRIORITY, STM32_PWM2_IRQ_PRIORITY, STM32_PWM3_IRQ_PRIORITY, and STM32_PWM4_IRQ_PRIORITY.

Referenced by pwmStart().

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void pwm_lld_stop ( PWMDriver * pwmp )

Deactivates the PWM peripheral.

Parameters:

`[in]`	pwmp	pointer to the `PWMDriver` object
`[in]`	pwmp	pointer to a `PWMDriver` object

Definition at line 370 of file platforms/STM32/pwm_lld.c.

References NVICDisableVector(), PWMDriver::pd_enabled_channels, PWMDriver::pd_state, PWMDriver::pd_tim, and PWM_READY.

Referenced by pwmStop().

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void pwm_lld_enable_channel	(	PWMDriver *	pwmp,
		pwmchannel_t	channel,
		pwmcnt_t	width
	)

Enables a PWM channel.

Parameters:

`[in]`	pwmp	pointer to a `PWMDriver` object
`[in]`	channel	PWM channel identifier (0...PWM_CHANNELS-1)
`[in]`	width	PWM pulse width as clock pulses number