309 lines
11 KiB
C
309 lines
11 KiB
C
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/*
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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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/**
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* @file hal_pwm.h
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* @brief PWM Driver macros and structures.
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*
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* @addtogroup PWM
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* @{
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*/
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#ifndef HAL_PWM_H
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#define HAL_PWM_H
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#if (HAL_USE_PWM == TRUE) || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name PWM output mode macros
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* @{
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*/
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/**
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* @brief Standard output modes mask.
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*/
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#define PWM_OUTPUT_MASK 0x0FU
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/**
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* @brief Output not driven, callback only.
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*/
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#define PWM_OUTPUT_DISABLED 0x00U
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/**
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* @brief Positive PWM logic, active is logic level one.
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*/
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#define PWM_OUTPUT_ACTIVE_HIGH 0x01U
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/**
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* @brief Inverse PWM logic, active is logic level zero.
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*/
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#define PWM_OUTPUT_ACTIVE_LOW 0x02U
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/** @} */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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PWM_UNINIT = 0, /**< Not initialized. */
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PWM_STOP = 1, /**< Stopped. */
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PWM_READY = 2 /**< Ready. */
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} pwmstate_t;
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/**
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* @brief Type of a structure representing a PWM driver.
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*/
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typedef struct PWMDriver PWMDriver;
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/**
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* @brief Type of a PWM notification callback.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*/
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typedef void (*pwmcallback_t)(PWMDriver *pwmp);
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#include "hal_pwm_lld.h"
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @name PWM duty cycle conversion
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* @{
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*/
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/**
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* @brief Converts from fraction to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] denominator denominator of the fraction
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* @param[in] numerator numerator of the fraction
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_FRACTION_TO_WIDTH(pwmp, denominator, numerator) \
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((pwmcnt_t)((((pwmcnt_t)(pwmp)->period) * \
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(pwmcnt_t)(numerator)) / (pwmcnt_t)(denominator)))
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/**
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* @brief Converts from degrees to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify hundredths of degrees but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] degrees degrees as an integer between 0 and 36000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_DEGREES_TO_WIDTH(pwmp, degrees) \
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PWM_FRACTION_TO_WIDTH(pwmp, 36000, degrees)
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/**
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* @brief Converts from percentage to pulse width.
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* @note Be careful with rounding errors, this is integer math not magic.
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* You can specify tenths of thousandth but make sure you have the
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* proper hardware resolution by carefully choosing the clock source
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* and prescaler settings, see @p PWM_COMPUTE_PSC.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] percentage percentage as an integer between 0 and 10000
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* @return The pulse width to be passed to @p pwmEnableChannel().
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*
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* @api
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*/
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#define PWM_PERCENTAGE_TO_WIDTH(pwmp, percentage) \
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PWM_FRACTION_TO_WIDTH(pwmp, 10000, percentage)
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/** @} */
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/**
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* @name Macro Functions
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* @{
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*/
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/**
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* @brief Changes the period the PWM peripheral.
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* @details This function changes the period of a PWM unit that has already
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* been activated using @p pwmStart().
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The PWM unit period is changed to the new value.
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* @note If a period is specified that is shorter than the pulse width
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* programmed in one of the channels then the behavior is not
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* guaranteed.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] value new cycle time in ticks
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*
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* @iclass
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*/
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#define pwmChangePeriodI(pwmp, value) { \
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(pwmp)->period = (value); \
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pwm_lld_change_period(pwmp, value); \
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}
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/**
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* @brief Enables a PWM channel.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is active using the specified configuration.
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* @note Depending on the hardware implementation this function has
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* effect starting on the next cycle (recommended implementation)
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* or immediately (fallback implementation).
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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* @param[in] width PWM pulse width as clock pulses number
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*
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* @iclass
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*/
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#define pwmEnableChannelI(pwmp, channel, width) do { \
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(pwmp)->enabled |= ((pwmchnmsk_t)1U << (pwmchnmsk_t)(channel)); \
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pwm_lld_enable_channel(pwmp, channel, width); \
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} while (false)
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/**
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* @brief Disables a PWM channel.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is disabled and its output line returned to the
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* idle state.
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* @note Depending on the hardware implementation this function has
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* effect starting on the next cycle (recommended implementation)
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* or immediately (fallback implementation).
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @iclass
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*/
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#define pwmDisableChannelI(pwmp, channel) do { \
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(pwmp)->enabled &= ~((pwmchnmsk_t)1U << (pwmchnmsk_t)(channel)); \
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pwm_lld_disable_channel(pwmp, channel); \
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} while (false)
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/**
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* @brief Returns a PWM channel status.
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* @pre The PWM unit must have been activated using @p pwmStart().
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @iclass
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*/
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#define pwmIsChannelEnabledI(pwmp, channel) \
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(((pwmp)->enabled & ((pwmchnmsk_t)1U << (pwmchnmsk_t)(channel))) != 0U)
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/**
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* @brief Enables the periodic activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @note If the notification is already enabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @iclass
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*/
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#define pwmEnablePeriodicNotificationI(pwmp) \
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pwm_lld_enable_periodic_notification(pwmp)
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/**
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* @brief Disables the periodic activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @note If the notification is already disabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @iclass
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*/
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#define pwmDisablePeriodicNotificationI(pwmp) \
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pwm_lld_disable_periodic_notification(pwmp)
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/**
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* @brief Enables a channel de-activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @pre The channel must have been activated using @p pwmEnableChannel().
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* @note If the notification is already enabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @iclass
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*/
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#define pwmEnableChannelNotificationI(pwmp, channel) \
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pwm_lld_enable_channel_notification(pwmp, channel)
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/**
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* @brief Disables a channel de-activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @pre The channel must have been activated using @p pwmEnableChannel().
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* @note If the notification is already disabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @iclass
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*/
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#define pwmDisableChannelNotificationI(pwmp, channel) \
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pwm_lld_disable_channel_notification(pwmp, channel)
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void pwmInit(void);
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void pwmObjectInit(PWMDriver *pwmp);
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void pwmStart(PWMDriver *pwmp, const PWMConfig *config);
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void pwmStop(PWMDriver *pwmp);
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void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period);
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void pwmEnableChannel(PWMDriver *pwmp,
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pwmchannel_t channel,
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pwmcnt_t width);
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void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel);
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void pwmEnablePeriodicNotification(PWMDriver *pwmp);
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void pwmDisablePeriodicNotification(PWMDriver *pwmp);
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void pwmEnableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel);
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void pwmDisableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel);
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#ifdef __cplusplus
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}
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#endif
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#endif /* HAL_USE_PWM == TRUE */
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#endif /* HAL_PWM_H */
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/** @} */
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