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<td><big><big>ChibiOS/RT</big></big><br><br>Architecture - Reference Manual - Guides</td>
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<h1>pwm.c</h1><a href="pwm_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment"> ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.</span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment"> This file is part of ChibiOS/RT.</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment"> ChibiOS/RT is free software; you can redistribute it and/or modify</span>
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<a name="l00007"></a>00007 <span class="comment"> it under the terms of the GNU General Public License as published by</span>
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<a name="l00008"></a>00008 <span class="comment"> the Free Software Foundation; either version 3 of the License, or</span>
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<a name="l00009"></a>00009 <span class="comment"> (at your option) any later version.</span>
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<a name="l00010"></a>00010 <span class="comment"></span>
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<a name="l00011"></a>00011 <span class="comment"> ChibiOS/RT is distributed in the hope that it will be useful,</span>
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<a name="l00012"></a>00012 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00013"></a>00013 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
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<a name="l00014"></a>00014 <span class="comment"> GNU General Public License for more details.</span>
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<a name="l00015"></a>00015 <span class="comment"></span>
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<a name="l00016"></a>00016 <span class="comment"> You should have received a copy of the GNU General Public License</span>
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<a name="l00017"></a>00017 <span class="comment"> along with this program. If not, see <http://www.gnu.org/licenses/>.</span>
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<a name="l00018"></a>00018 <span class="comment"></span>
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<a name="l00019"></a>00019 <span class="comment"> ---</span>
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<a name="l00020"></a>00020 <span class="comment"></span>
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<a name="l00021"></a>00021 <span class="comment"> A special exception to the GPL can be applied should you wish to distribute</span>
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<a name="l00022"></a>00022 <span class="comment"> a combined work that includes ChibiOS/RT, without being obliged to provide</span>
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<a name="l00023"></a>00023 <span class="comment"> the source code for any proprietary components. See the file exception.txt</span>
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<a name="l00024"></a>00024 <span class="comment"> for full details of how and when the exception can be applied.</span>
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<a name="l00025"></a>00025 <span class="comment">*/</span>
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<a name="l00026"></a>00026 <span class="comment"></span>
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<a name="l00027"></a>00027 <span class="comment">/**</span>
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<a name="l00028"></a>00028 <span class="comment"> * @file pwm.c</span>
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<a name="l00029"></a>00029 <span class="comment"> * @brief PWM Driver code.</span>
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<a name="l00030"></a>00030 <span class="comment"> * @addtogroup PWM</span>
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<a name="l00031"></a>00031 <span class="comment"> * @{</span>
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<a name="l00032"></a>00032 <span class="comment"> */</span>
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<a name="l00033"></a>00033
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<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="ch_8h.html" title="ChibiOS/RT main include file.">ch.h</a>"</span>
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<a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="hal_8h.html" title="HAL subsystem header.">hal.h</a>"</span>
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<a name="l00036"></a>00036
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<a name="l00037"></a>00037 <span class="preprocessor">#if CH_HAL_USE_PWM || defined(__DOXYGEN__)</span>
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<a name="l00038"></a>00038 <span class="preprocessor"></span>
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<a name="l00039"></a>00039 <span class="comment">/*===========================================================================*/</span>
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<a name="l00040"></a>00040 <span class="comment">/* Driver exported variables. */</span>
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<a name="l00041"></a>00041 <span class="comment">/*===========================================================================*/</span>
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<a name="l00042"></a>00042
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<a name="l00043"></a>00043 <span class="comment">/*===========================================================================*/</span>
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<a name="l00044"></a>00044 <span class="comment">/* Driver local variables. */</span>
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<a name="l00045"></a>00045 <span class="comment">/*===========================================================================*/</span>
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<a name="l00046"></a>00046
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<a name="l00047"></a>00047 <span class="comment">/*===========================================================================*/</span>
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<a name="l00048"></a>00048 <span class="comment">/* Driver local functions. */</span>
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<a name="l00049"></a>00049 <span class="comment">/*===========================================================================*/</span>
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<a name="l00050"></a>00050
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<a name="l00051"></a>00051 <span class="comment">/*===========================================================================*/</span>
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<a name="l00052"></a>00052 <span class="comment">/* Driver exported functions. */</span>
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<a name="l00053"></a>00053 <span class="comment">/*===========================================================================*/</span>
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<a name="l00054"></a>00054 <span class="comment"></span>
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<a name="l00055"></a>00055 <span class="comment">/**</span>
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<a name="l00056"></a>00056 <span class="comment"> * @brief PWM Driver initialization.</span>
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<a name="l00057"></a>00057 <span class="comment"> */</span>
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<a name="l00058"></a><a class="code" href="group___p_w_m.html#ga1c8ae46921c4ae7d57bd44dd994e10bd">00058</a> <span class="keywordtype">void</span> <a class="code" href="group___p_w_m.html#ga1c8ae46921c4ae7d57bd44dd994e10bd" title="PWM Driver initialization.">pwmInit</a>(<span class="keywordtype">void</span>) {
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<a name="l00059"></a>00059
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<a name="l00060"></a>00060 <a class="code" href="group___p_w_m___l_l_d.html#ga7cb5729a65c0996584808e4f93b28a0d" title="Low level PWM driver initialization.">pwm_lld_init</a>();
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<a name="l00061"></a>00061 }
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<a name="l00062"></a>00062 <span class="comment"></span>
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<a name="l00063"></a>00063 <span class="comment">/**</span>
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<a name="l00064"></a>00064 <span class="comment"> * @brief Initializes the standard part of a @p PWMDriver structure.</span>
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<a name="l00065"></a>00065 <span class="comment"> *</span>
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<a name="l00066"></a>00066 <span class="comment"> * @param[in] pwmp pointer to a @p PWMDriver object</span>
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<a name="l00067"></a>00067 <span class="comment"> */</span>
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<a name="l00068"></a><a class="code" href="group___p_w_m.html#ga4dbf1fded2984ff6dc240afd2e1fcd74">00068</a> <span class="keywordtype">void</span> <a class="code" href="group___p_w_m.html#ga4dbf1fded2984ff6dc240afd2e1fcd74" title="Initializes the standard part of a PWMDriver structure.">pwmObjectInit</a>(<a class="code" href="struct_p_w_m_driver.html" title="Structure representing an PWM driver.">PWMDriver</a> *pwmp) {
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<a name="l00069"></a>00069
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<a name="l00070"></a>00070 pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> = <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a4da638211112ff017325e9472592a151" title="Stopped.">PWM_STOP</a>;
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<a name="l00071"></a>00071 pwmp-><a class="code" href="struct_p_w_m_driver.html#a45bb852cfb3b30143315632e74703cb8" title="Current configuration data.">pd_config</a> = NULL;
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<a name="l00072"></a>00072 }
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<a name="l00073"></a>00073 <span class="comment"></span>
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<a name="l00074"></a>00074 <span class="comment">/**</span>
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<a name="l00075"></a>00075 <span class="comment"> * @brief Configures and activates the PWM peripheral.</span>
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<a name="l00076"></a>00076 <span class="comment"> *</span>
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<a name="l00077"></a>00077 <span class="comment"> * @param[in] pwmp pointer to a @p PWMDriver object</span>
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<a name="l00078"></a>00078 <span class="comment"> * @param[in] config pointer to a @p PWMConfig object</span>
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<a name="l00079"></a>00079 <span class="comment"> */</span>
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<a name="l00080"></a><a class="code" href="group___p_w_m.html#ga9c14dc1b026c78809440281786aceda3">00080</a> <span class="keywordtype">void</span> <a class="code" href="group___p_w_m.html#ga9c14dc1b026c78809440281786aceda3" title="Configures and activates the PWM peripheral.">pwmStart</a>(<a class="code" href="struct_p_w_m_driver.html" title="Structure representing an PWM driver.">PWMDriver</a> *pwmp, <span class="keyword">const</span> <a class="code" href="struct_p_w_m_config.html" title="Driver configuration structure.">PWMConfig</a> *config) {
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<a name="l00081"></a>00081
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<a name="l00082"></a>00082 <a class="code" href="group__debug.html#ga6bb6c0f97caab3a66332c8bfbf7a3844" title="Function parameter check.">chDbgCheck</a>((pwmp != NULL) && (config != NULL), <span class="stringliteral">"pwmStart"</span>);
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<a name="l00083"></a>00083
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<a name="l00084"></a>00084 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00085"></a>00085 <a class="code" href="group__debug.html#ga43d50c69eb730d0f024eb832d61f30c9" title="Condition assertion.">chDbgAssert</a>((pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> == <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a4da638211112ff017325e9472592a151" title="Stopped.">PWM_STOP</a>) || (pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> == <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a1bb17b80878c81e8a0e4671a44bc7086" title="Ready.">PWM_READY</a>),
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<a name="l00086"></a>00086 <span class="stringliteral">"pwmStart(), #1"</span>,
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<a name="l00087"></a>00087 <span class="stringliteral">"invalid state"</span>);
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<a name="l00088"></a>00088 pwmp-><a class="code" href="struct_p_w_m_driver.html#a45bb852cfb3b30143315632e74703cb8" title="Current configuration data.">pd_config</a> = config;
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<a name="l00089"></a>00089 <a class="code" href="group___p_w_m___l_l_d.html#ga8a4d803d25a5326b48b3713ffd5fce53" title="Configures and activates the PWM peripheral.">pwm_lld_start</a>(pwmp);
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<a name="l00090"></a>00090 pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> = <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a1bb17b80878c81e8a0e4671a44bc7086" title="Ready.">PWM_READY</a>;
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<a name="l00091"></a>00091 <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00092"></a>00092 }
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<a name="l00093"></a>00093 <span class="comment"></span>
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<a name="l00094"></a>00094 <span class="comment">/**</span>
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<a name="l00095"></a>00095 <span class="comment"> * @brief Deactivates the PWM peripheral.</span>
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<a name="l00096"></a>00096 <span class="comment"> *</span>
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<a name="l00097"></a>00097 <span class="comment"> * @param[in] pwmp pointer to a @p PWMDriver object</span>
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<a name="l00098"></a>00098 <span class="comment"> */</span>
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<a name="l00099"></a><a class="code" href="group___p_w_m.html#ga8a4d0d8a47883efe286a332cade14080">00099</a> <span class="keywordtype">void</span> <a class="code" href="group___p_w_m.html#ga8a4d0d8a47883efe286a332cade14080" title="Deactivates the PWM peripheral.">pwmStop</a>(<a class="code" href="struct_p_w_m_driver.html" title="Structure representing an PWM driver.">PWMDriver</a> *pwmp) {
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<a name="l00100"></a>00100
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<a name="l00101"></a>00101 <a class="code" href="group__debug.html#ga6bb6c0f97caab3a66332c8bfbf7a3844" title="Function parameter check.">chDbgCheck</a>(pwmp != NULL, <span class="stringliteral">"pwmStop"</span>);
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<a name="l00102"></a>00102
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<a name="l00103"></a>00103 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00104"></a>00104 <a class="code" href="group__debug.html#ga43d50c69eb730d0f024eb832d61f30c9" title="Condition assertion.">chDbgAssert</a>((pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> == <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a4da638211112ff017325e9472592a151" title="Stopped.">PWM_STOP</a>) || (pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> == <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a1bb17b80878c81e8a0e4671a44bc7086" title="Ready.">PWM_READY</a>),
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<a name="l00105"></a>00105 <span class="stringliteral">"pwmStop(), #1"</span>,
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<a name="l00106"></a>00106 <span class="stringliteral">"invalid state"</span>);
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<a name="l00107"></a>00107 <a class="code" href="group___p_w_m___l_l_d.html#ga48b759363af69a6aaee37a362ed5bfd2" title="Deactivates the PWM peripheral.">pwm_lld_stop</a>(pwmp);
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<a name="l00108"></a>00108 pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> = <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a4da638211112ff017325e9472592a151" title="Stopped.">PWM_STOP</a>;
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<a name="l00109"></a>00109 <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00110"></a>00110 }
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<a name="l00111"></a>00111 <span class="comment"></span>
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<a name="l00112"></a>00112 <span class="comment">/**</span>
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<a name="l00113"></a>00113 <span class="comment"> * @brief Enables a PWM channel.</span>
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<a name="l00114"></a>00114 <span class="comment"> *</span>
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<a name="l00115"></a>00115 <span class="comment"> * @param[in] pwmp pointer to a @p PWMDriver object</span>
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<a name="l00116"></a>00116 <span class="comment"> * @param[in] channel PWM channel identifier</span>
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<a name="l00117"></a>00117 <span class="comment"> * @param[in] width PWM pulse width as clock pulses number</span>
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<a name="l00118"></a>00118 <span class="comment"> */</span>
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<a name="l00119"></a><a class="code" href="group___p_w_m.html#gafd6c45693467da77ab13edca8420620d">00119</a> <span class="keywordtype">void</span> <a class="code" href="group___p_w_m.html#gafd6c45693467da77ab13edca8420620d" title="Enables a PWM channel.">pwmEnableChannel</a>(<a class="code" href="struct_p_w_m_driver.html" title="Structure representing an PWM driver.">PWMDriver</a> *pwmp,
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<a name="l00120"></a>00120 <a class="code" href="group___p_w_m___l_l_d.html#ga605a8a67c0f1cf38cecfcfada45b28b5" title="PWM channel type.">pwmchannel_t</a> channel,
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<a name="l00121"></a>00121 <a class="code" href="group___p_w_m___l_l_d.html#gaef1826611f5a65369e9e02d04e81ed61" title="PWM counter type.">pwmcnt_t</a> width) {
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<a name="l00122"></a>00122
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<a name="l00123"></a>00123 <a class="code" href="group__debug.html#ga6bb6c0f97caab3a66332c8bfbf7a3844" title="Function parameter check.">chDbgCheck</a>((pwmp != NULL) && (channel < <a class="code" href="group___p_w_m___l_l_d.html#ga312588cf680d50931666643dea45bb13" title="Number of PWM channels per PWM driver.">PWM_CHANNELS</a>),
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<a name="l00124"></a>00124 <span class="stringliteral">"pwmEnableChannel"</span>);
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<a name="l00125"></a>00125
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<a name="l00126"></a>00126 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00127"></a>00127 <a class="code" href="group__debug.html#ga43d50c69eb730d0f024eb832d61f30c9" title="Condition assertion.">chDbgAssert</a>(pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> == <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a1bb17b80878c81e8a0e4671a44bc7086" title="Ready.">PWM_READY</a>,
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<a name="l00128"></a>00128 <span class="stringliteral">"pwmEnableChannel(), #1"</span>, <span class="stringliteral">"invalid state"</span>);
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<a name="l00129"></a>00129 <a class="code" href="group___p_w_m___l_l_d.html#ga8c6320208680a823925d2816856437cc" title="Enables a PWM channel.">pwm_lld_enable_channel</a>(pwmp, channel, width);
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<a name="l00130"></a>00130 <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00131"></a>00131 }
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<a name="l00132"></a>00132 <span class="comment"></span>
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<a name="l00133"></a>00133 <span class="comment">/**</span>
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<a name="l00134"></a>00134 <span class="comment"> * @brief Disables a PWM channel.</span>
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<a name="l00135"></a>00135 <span class="comment"> * @details The channel is disabled and its output line returned to the</span>
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<a name="l00136"></a>00136 <span class="comment"> * idle state.</span>
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<a name="l00137"></a>00137 <span class="comment"> *</span>
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|
<a name="l00138"></a>00138 <span class="comment"> * @param[in] pwmp pointer to a @p PWMDriver object</span>
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<a name="l00139"></a>00139 <span class="comment"> * @param[in] channel PWM channel identifier</span>
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<a name="l00140"></a>00140 <span class="comment"> */</span>
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<a name="l00141"></a><a class="code" href="group___p_w_m.html#gac2679d11833a4ea9df5a9ed2e4a2c2e7">00141</a> <span class="keywordtype">void</span> <a class="code" href="group___p_w_m.html#gac2679d11833a4ea9df5a9ed2e4a2c2e7" title="Disables a PWM channel.">pwmDisableChannel</a>(<a class="code" href="struct_p_w_m_driver.html" title="Structure representing an PWM driver.">PWMDriver</a> *pwmp, <a class="code" href="group___p_w_m___l_l_d.html#ga605a8a67c0f1cf38cecfcfada45b28b5" title="PWM channel type.">pwmchannel_t</a> channel) {
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<a name="l00142"></a>00142
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<a name="l00143"></a>00143 <a class="code" href="group__debug.html#ga6bb6c0f97caab3a66332c8bfbf7a3844" title="Function parameter check.">chDbgCheck</a>((pwmp != NULL) && (channel < <a class="code" href="group___p_w_m___l_l_d.html#ga312588cf680d50931666643dea45bb13" title="Number of PWM channels per PWM driver.">PWM_CHANNELS</a>),
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<a name="l00144"></a>00144 <span class="stringliteral">"pwmEnableChannel"</span>);
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<a name="l00145"></a>00145
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<a name="l00146"></a>00146 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00147"></a>00147 <a class="code" href="group__debug.html#ga43d50c69eb730d0f024eb832d61f30c9" title="Condition assertion.">chDbgAssert</a>(pwmp-><a class="code" href="struct_p_w_m_driver.html#a773d182992e086ff89dd85d2f5e17dea" title="Driver state.">pd_state</a> == <a class="code" href="group___p_w_m.html#gga9b63d6f4d51e8ca9ee1fce2a1bc86bc5a1bb17b80878c81e8a0e4671a44bc7086" title="Ready.">PWM_READY</a>,
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<a name="l00148"></a>00148 <span class="stringliteral">"pwmDisableChannel(), #1"</span>, <span class="stringliteral">"invalid state"</span>);
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<a name="l00149"></a>00149 <a class="code" href="group___p_w_m___l_l_d.html#ga78cb61d7ea9fc996e3c2adec3f37cfd8" title="Disables a PWM channel.">pwm_lld_disable_channel</a>(pwmp, channel);
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<a name="l00150"></a>00150 <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00151"></a>00151 }
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<a name="l00152"></a>00152
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<a name="l00153"></a>00153 <span class="preprocessor">#endif </span><span class="comment">/* CH_HAL_USE_PWM */</span>
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<a name="l00154"></a>00154 <span class="comment"></span>
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<a name="l00155"></a>00155 <span class="comment">/** @} */</span>
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</pre></div></div>
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