/* ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. */ /** * @file TIMv1/hal_pwm_lld.c * @brief STM32 PWM subsystem low level driver header. * * @addtogroup PWM * @{ */ #include "hal.h" #if HAL_USE_PWM || defined(__DOXYGEN__) /*===========================================================================*/ /* Driver local definitions. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver exported variables. */ /*===========================================================================*/ /** * @brief PWMD1 driver identifier. * @note The driver PWMD1 allocates the complex timer TIM1 when enabled. */ #if STM32_PWM_USE_TIM1 || defined(__DOXYGEN__) PWMDriver PWMD1; #endif /** * @brief PWMD2 driver identifier. * @note The driver PWMD2 allocates the timer TIM2 when enabled. */ #if STM32_PWM_USE_TIM2 || defined(__DOXYGEN__) PWMDriver PWMD2; #endif /** * @brief PWMD3 driver identifier. * @note The driver PWMD3 allocates the timer TIM3 when enabled. */ #if STM32_PWM_USE_TIM3 || defined(__DOXYGEN__) PWMDriver PWMD3; #endif /** * @brief PWMD4 driver identifier. * @note The driver PWMD4 allocates the timer TIM4 when enabled. */ #if STM32_PWM_USE_TIM4 || defined(__DOXYGEN__) PWMDriver PWMD4; #endif /** * @brief PWMD5 driver identifier. * @note The driver PWMD5 allocates the timer TIM5 when enabled. */ #if STM32_PWM_USE_TIM5 || defined(__DOXYGEN__) PWMDriver PWMD5; #endif /** * @brief PWMD8 driver identifier. * @note The driver PWMD8 allocates the timer TIM8 when enabled. */ #if STM32_PWM_USE_TIM8 || defined(__DOXYGEN__) PWMDriver PWMD8; #endif /** * @brief PWMD9 driver identifier. * @note The driver PWMD9 allocates the timer TIM9 when enabled. */ #if STM32_PWM_USE_TIM9 || defined(__DOXYGEN__) PWMDriver PWMD9; #endif /** * @brief PWMD10 driver identifier. * @note The driver PWMD10 allocates the timer TIM10 when enabled. */ #if STM32_PWM_USE_TIM10 || defined(__DOXYGEN__) PWMDriver PWMD10; #endif /** * @brief PWMD11 driver identifier. * @note The driver PWMD11 allocates the timer TIM11 when enabled. */ #if STM32_PWM_USE_TIM11 || defined(__DOXYGEN__) PWMDriver PWMD11; #endif /** * @brief PWMD12 driver identifier. * @note The driver PWMD12 allocates the timer TIM12 when enabled. */ #if STM32_PWM_USE_TIM12 || defined(__DOXYGEN__) PWMDriver PWMD12; #endif /** * @brief PWMD13 driver identifier. * @note The driver PWMD13 allocates the timer TIM13 when enabled. */ #if STM32_PWM_USE_TIM13 || defined(__DOXYGEN__) PWMDriver PWMD13; #endif /** * @brief PWMD14 driver identifier. * @note The driver PWMD14 allocates the timer TIM14 when enabled. */ #if STM32_PWM_USE_TIM14 || defined(__DOXYGEN__) PWMDriver PWMD14; #endif /** * @brief PWMD15 driver identifier. * @note The driver PWMD15 allocates the timer TIM15 when enabled. */ #if STM32_PWM_USE_TIM15 || defined(__DOXYGEN__) PWMDriver PWMD15; #endif /** * @brief PWMD16 driver identifier. * @note The driver PWMD16 allocates the timer TIM16 when enabled. */ #if STM32_PWM_USE_TIM16 || defined(__DOXYGEN__) PWMDriver PWMD16; #endif /** * @brief PWMD17 driver identifier. * @note The driver PWMD17 allocates the timer TIM17 when enabled. */ #if STM32_PWM_USE_TIM17 || defined(__DOXYGEN__) PWMDriver PWMD17; #endif /** * @brief PWMD20 driver identifier. * @note The driver PWMD20 allocates the timer TIM20 when enabled. */ #if STM32_PWM_USE_TIM20 || defined(__DOXYGEN__) PWMDriver PWMD20; #endif /** * @brief PWMD21 driver identifier. * @note The driver PWMD21 allocates the timer TIM21 when enabled. */ #if STM32_PWM_USE_TIM21 || defined(__DOXYGEN__) PWMDriver PWMD21; #endif /** * @brief PWMD22 driver identifier. * @note The driver PWMD22 allocates the timer TIM22 when enabled. */ #if STM32_PWM_USE_TIM22 || defined(__DOXYGEN__) PWMDriver PWMD22; #endif /*===========================================================================*/ /* Driver local variables and types. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver local functions. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver interrupt handlers. */ /*===========================================================================*/ #if STM32_PWM_USE_TIM1 || defined(__DOXYGEN__) #if !defined(STM32_TIM1_SUPPRESS_ISR) #if !defined(STM32_TIM1_UP_HANDLER) #error "STM32_TIM1_UP_HANDLER not defined" #endif /** * @brief TIM1 update interrupt handler. * @note It is assumed that this interrupt is only activated if the callback * pointer is not equal to @p NULL in order to not perform an extra * check in a potentially critical interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM1_UP_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD1); OSAL_IRQ_EPILOGUE(); } #if !defined(STM32_TIM1_CC_HANDLER) #error "STM32_TIM1_CC_HANDLER not defined" #endif /** * @brief TIM1 compare interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM1_CC_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD1); OSAL_IRQ_EPILOGUE(); } #endif /* !defined(STM32_TIM1_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM1 */ #if STM32_PWM_USE_TIM2 || defined(__DOXYGEN__) #if !defined(STM32_TIM2_SUPPRESS_ISR) #if !defined(STM32_TIM2_HANDLER) #error "STM32_TIM2_HANDLER not defined" #endif /** * @brief TIM2 interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM2_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD2); OSAL_IRQ_EPILOGUE(); } #endif /* !defined(STM32_TIM2_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM2 */ #if STM32_PWM_USE_TIM3 || defined(__DOXYGEN__) #if !defined(STM32_TIM3_SUPPRESS_ISR) #if !defined(STM32_TIM3_HANDLER) #error "STM32_TIM3_HANDLER not defined" #endif /** * @brief TIM3 interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM3_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD3); OSAL_IRQ_EPILOGUE(); } #endif /* !defined(STM32_TIM3_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM3 */ #if STM32_PWM_USE_TIM4 || defined(__DOXYGEN__) #if !defined(STM32_TIM4_SUPPRESS_ISR) #if !defined(STM32_TIM4_HANDLER) #error "STM32_TIM4_HANDLER not defined" #endif /** * @brief TIM4 interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM4_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD4); OSAL_IRQ_EPILOGUE(); } #endif /* !defined(STM32_TIM4_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM4 */ #if STM32_PWM_USE_TIM5 || defined(__DOXYGEN__) #if !defined(STM32_TIM5_SUPPRESS_ISR) #if !defined(STM32_TIM5_HANDLER) #error "STM32_TIM5_HANDLER not defined" #endif /** * @brief TIM5 interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM5_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD5); OSAL_IRQ_EPILOGUE(); } #endif /* !defined(STM32_TIM5_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM5 */ #if STM32_PWM_USE_TIM8 || defined(__DOXYGEN__) #if !defined(STM32_TIM8_SUPPRESS_ISR) #if !defined(STM32_TIM8_UP_HANDLER) #error "STM32_TIM8_UP_HANDLER not defined" #endif /** * @brief TIM8 update interrupt handler. * @note It is assumed that this interrupt is only activated if the callback * pointer is not equal to @p NULL in order to not perform an extra * check in a potentially critical interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM8_UP_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD8); OSAL_IRQ_EPILOGUE(); } #if !defined(STM32_TIM8_CC_HANDLER) #error "STM32_TIM8_CC_HANDLER not defined" #endif /** * @brief TIM8 compare interrupt handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @isr */ OSAL_IRQ_HANDLER(STM32_TIM8_CC_HANDLER) { OSAL_IRQ_PROLOGUE(); pwm_lld_serve_interrupt(&PWMD8); OSAL_IRQ_EPILOGUE(); } #endif /* !defined(STM32_TIM8_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM8 */ #if STM32_PWM_USE_TIM9 || defined(__DOXYGEN__) #if !defined(STM32_TIM9_SUPPRESS_ISR) #error "TIM9 ISR not defined by platform" #endif /* !defined(STM32_TIM9_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM9 */ #if STM32_PWM_USE_TIM10 || defined(__DOXYGEN__) #if !defined(STM32_TIM10_SUPPRESS_ISR) #error "TIM10 ISR not defined by platform" #endif /* !defined(STM32_TIM10_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM10 */ #if STM32_PWM_USE_TIM11 || defined(__DOXYGEN__) #if !defined(STM32_TIM11_SUPPRESS_ISR) #error "TIM11 ISR not defined by platform" #endif /* !defined(STM32_TIM11_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM11 */ #if STM32_PWM_USE_TIM12 || defined(__DOXYGEN__) #if !defined(STM32_TIM12_SUPPRESS_ISR) #error "TIM12 ISR not defined by platform" #endif /* !defined(STM32_TIM12_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM12 */ #if STM32_PWM_USE_TIM13 || defined(__DOXYGEN__) #if !defined(STM32_TIM13_SUPPRESS_ISR) #error "TIM13 ISR not defined by platform" #endif /* !defined(STM32_TIM13_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM13 */ #if STM32_PWM_USE_TIM14 || defined(__DOXYGEN__) #if !defined(STM32_TIM14_SUPPRESS_ISR) #error "TIM14 ISR not defined by platform" #endif /* !defined(STM32_TIM14_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM14 */ #if STM32_PWM_USE_TIM15 || defined(__DOXYGEN__) #if !defined(STM32_TIM15_SUPPRESS_ISR) #error "TIM15 ISR not defined by platform" #endif /* !defined(STM32_TIM15_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM15 */ #if STM32_PWM_USE_TIM16 || defined(__DOXYGEN__) #if !defined(STM32_TIM16_SUPPRESS_ISR) #error "TIM16 ISR not defined by platform" #endif /* !defined(STM32_TIM16_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM16 */ #if STM32_PWM_USE_TIM17 || defined(__DOXYGEN__) #if !defined(STM32_TIM17_SUPPRESS_ISR) #error "TIM17 ISR not defined by platform" #endif /* !defined(STM32_TIM17_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM17 */ #if STM32_PWM_USE_TIM20 || defined(__DOXYGEN__) #if !defined(STM32_TIM20_SUPPRESS_ISR) #error "TIM20 ISR not defined by platform" #endif /* !defined(STM32_TIM20_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM20 */ #if STM32_PWM_USE_TIM21 || defined(__DOXYGEN__) #if !defined(STM32_TIM21_SUPPRESS_ISR) #error "TIM21 ISR not defined by platform" #endif /* !defined(STM32_TIM21_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM21 */ #if STM32_PWM_USE_TIM22 || defined(__DOXYGEN__) #if !defined(STM32_TIM22_SUPPRESS_ISR) #error "TIM22 ISR not defined by platform" #endif /* !defined(STM32_TIM22_SUPPRESS_ISR) */ #endif /* STM32_PWM_USE_TIM22 */ /*===========================================================================*/ /* Driver exported functions. */ /*===========================================================================*/ /** * @brief Low level PWM driver initialization. * * @notapi */ void pwm_lld_init(void) { #if STM32_PWM_USE_TIM1 /* Driver initialization.*/ pwmObjectInit(&PWMD1); PWMD1.channels = STM32_TIM1_CHANNELS; PWMD1.tim = STM32_TIM1; PWMD1.has_bdtr = true; #endif #if STM32_PWM_USE_TIM2 /* Driver initialization.*/ pwmObjectInit(&PWMD2); PWMD2.channels = STM32_TIM2_CHANNELS; PWMD2.tim = STM32_TIM2; PWMD2.has_bdtr = false; #endif #if STM32_PWM_USE_TIM3 /* Driver initialization.*/ pwmObjectInit(&PWMD3); PWMD3.channels = STM32_TIM3_CHANNELS; PWMD3.tim = STM32_TIM3; PWMD3.has_bdtr = false; #endif #if STM32_PWM_USE_TIM4 /* Driver initialization.*/ pwmObjectInit(&PWMD4); PWMD4.channels = STM32_TIM4_CHANNELS; PWMD4.tim = STM32_TIM4; PWMD4.has_bdtr = false; #endif #if STM32_PWM_USE_TIM5 /* Driver initialization.*/ pwmObjectInit(&PWMD5); PWMD5.channels = STM32_TIM5_CHANNELS; PWMD5.tim = STM32_TIM5; PWMD5.has_bdtr = false; #endif #if STM32_PWM_USE_TIM8 /* Driver initialization.*/ pwmObjectInit(&PWMD8); PWMD8.channels = STM32_TIM8_CHANNELS; PWMD8.tim = STM32_TIM8; PWMD8.has_bdtr = true; #endif #if STM32_PWM_USE_TIM9 /* Driver initialization.*/ pwmObjectInit(&PWMD9); PWMD9.channels = STM32_TIM9_CHANNELS; PWMD9.tim = STM32_TIM9; PWMD9.has_bdtr = false; #endif #if STM32_PWM_USE_TIM10 /* Driver initialization.*/ pwmObjectInit(&PWMD10); PWMD10.channels = STM32_TIM10_CHANNELS; PWMD10.tim = STM32_TIM10; PWMD10.has_bdtr = false; #endif #if STM32_PWM_USE_TIM11 /* Driver initialization.*/ pwmObjectInit(&PWMD11); PWMD11.channels = STM32_TIM11_CHANNELS; PWMD11.tim = STM32_TIM11; PWMD11.has_bdtr = false; #endif #if STM32_PWM_USE_TIM12 /* Driver initialization.*/ pwmObjectInit(&PWMD12); PWMD12.channels = STM32_TIM12_CHANNELS; PWMD12.tim = STM32_TIM12; PWMD12.has_bdtr = false; #endif #if STM32_PWM_USE_TIM13 /* Driver initialization.*/ pwmObjectInit(&PWMD13); PWMD13.channels = STM32_TIM13_CHANNELS; PWMD13.tim = STM32_TIM13; PWMD13.has_bdtr = false; #endif #if STM32_PWM_USE_TIM14 /* Driver initialization.*/ pwmObjectInit(&PWMD14); PWMD14.channels = STM32_TIM14_CHANNELS; PWMD14.tim = STM32_TIM14; PWMD14.has_bdtr = false; #endif #if STM32_PWM_USE_TIM15 /* Driver initialization.*/ pwmObjectInit(&PWMD15); PWMD15.channels = STM32_TIM15_CHANNELS; PWMD15.tim = STM32_TIM15; PWMD15.has_bdtr = true; #endif #if STM32_PWM_USE_TIM16 /* Driver initialization.*/ pwmObjectInit(&PWMD16); PWMD16.channels = STM32_TIM16_CHANNELS; PWMD16.tim = STM32_TIM16; PWMD16.has_bdtr = true; #endif #if STM32_PWM_USE_TIM17 /* Driver initialization.*/ pwmObjectInit(&PWMD17); PWMD17.channels = STM32_TIM17_CHANNELS; PWMD17.tim = STM32_TIM17; PWMD17.has_bdtr = true; #endif #if STM32_PWM_USE_TIM20 /* Driver initialization.*/ pwmObjectInit(&PWMD20); PWMD20.channels = STM32_TIM20_CHANNELS; PWMD20.tim = STM32_TIM20; PWMD20.has_bdtr = true; #endif #if STM32_PWM_USE_TIM21 /* Driver initialization.*/ pwmObjectInit(&PWMD21); PWMD21.channels = STM32_TIM21_CHANNELS; PWMD21.tim = STM32_TIM21; PWMD21.has_bdtr = false; #endif #if STM32_PWM_USE_TIM22 /* Driver initialization.*/ pwmObjectInit(&PWMD22); PWMD22.channels = STM32_TIM22_CHANNELS; PWMD22.tim = STM32_TIM22; PWMD22.has_bdtr = false; #endif } /** * @brief Configures and activates the PWM peripheral. * @note Starting a driver that is already in the @p PWM_READY state * disables all the active channels. * * @param[in] pwmp pointer to a @p PWMDriver object * * @notapi */ void pwm_lld_start(PWMDriver *pwmp) { uint32_t psc; uint32_t ccer; if (pwmp->state == PWM_STOP) { /* Clock activation and timer reset.*/ #if STM32_PWM_USE_TIM1 if (&PWMD1 == pwmp) { rccEnableTIM1(true); rccResetTIM1(); #if !defined(STM32_TIM1_SUPPRESS_ISR) nvicEnableVector(STM32_TIM1_UP_NUMBER, STM32_PWM_TIM1_IRQ_PRIORITY); nvicEnableVector(STM32_TIM1_CC_NUMBER, STM32_PWM_TIM1_IRQ_PRIORITY); #endif #if defined(STM32_TIM1CLK) pwmp->clock = STM32_TIM1CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM2 if (&PWMD2 == pwmp) { rccEnableTIM2(true); rccResetTIM2(); #if !defined(STM32_TIM2_SUPPRESS_ISR) nvicEnableVector(STM32_TIM2_NUMBER, STM32_PWM_TIM2_IRQ_PRIORITY); #endif #if defined(STM32_TIM2CLK) pwmp->clock = STM32_TIM2CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM3 if (&PWMD3 == pwmp) { rccEnableTIM3(true); rccResetTIM3(); #if !defined(STM32_TIM3_SUPPRESS_ISR) nvicEnableVector(STM32_TIM3_NUMBER, STM32_PWM_TIM3_IRQ_PRIORITY); #endif #if defined(STM32_TIM3CLK) pwmp->clock = STM32_TIM3CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM4 if (&PWMD4 == pwmp) { rccEnableTIM4(true); rccResetTIM4(); #if !defined(STM32_TIM4_SUPPRESS_ISR) nvicEnableVector(STM32_TIM4_NUMBER, STM32_PWM_TIM4_IRQ_PRIORITY); #endif #if defined(STM32_TIM4CLK) pwmp->clock = STM32_TIM4CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM5 if (&PWMD5 == pwmp) { rccEnableTIM5(true); rccResetTIM5(); #if !defined(STM32_TIM5_SUPPRESS_ISR) nvicEnableVector(STM32_TIM5_NUMBER, STM32_PWM_TIM5_IRQ_PRIORITY); #endif #if defined(STM32_TIM5CLK) pwmp->clock = STM32_TIM5CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM8 if (&PWMD8 == pwmp) { rccEnableTIM8(true); rccResetTIM8(); #if !defined(STM32_TIM8_SUPPRESS_ISR) nvicEnableVector(STM32_TIM8_UP_NUMBER, STM32_PWM_TIM8_IRQ_PRIORITY); nvicEnableVector(STM32_TIM8_CC_NUMBER, STM32_PWM_TIM8_IRQ_PRIORITY); #endif #if defined(STM32_TIM8CLK) pwmp->clock = STM32_TIM8CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM9 if (&PWMD9 == pwmp) { rccEnableTIM9(true); rccResetTIM9(); #if defined(STM32_TIM9CLK) pwmp->clock = STM32_TIM9CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM10 if (&PWMD10 == pwmp) { rccEnableTIM10(true); rccResetTIM10(); #if defined(STM32_TIM10CLK) pwmp->clock = STM32_TIM10CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM11 if (&PWMD11 == pwmp) { rccEnableTIM11(true); rccResetTIM11(); #if defined(STM32_TIM11CLK) pwmp->clock = STM32_TIM11CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM12 if (&PWMD12 == pwmp) { rccEnableTIM12(true); rccResetTIM12(); #if defined(STM32_TIM12CLK) pwmp->clock = STM32_TIM12CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM13 if (&PWMD13 == pwmp) { rccEnableTIM13(true); rccResetTIM13(); #if defined(STM32_TIM13CLK) pwmp->clock = STM32_TIM13CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM14 if (&PWMD14 == pwmp) { rccEnableTIM14(true); rccResetTIM14(); #if defined(STM32_TIM14CLK) pwmp->clock = STM32_TIM14CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM15 if (&PWMD15 == pwmp) { rccEnableTIM15(true); rccResetTIM15(); #if defined(STM32_TIM15CLK) pwmp->clock = STM32_TIM15CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM16 if (&PWMD16 == pwmp) { rccEnableTIM16(true); rccResetTIM16(); #if defined(STM32_TIM16CLK) pwmp->clock = STM32_TIM16CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM17 if (&PWMD17 == pwmp) { rccEnableTIM17(true); rccResetTIM17(); #if defined(STM32_TIM17CLK) pwmp->clock = STM32_TIM17CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM20 if (&PWMD20 == pwmp) { rccEnableTIM20(true); rccResetTIM20(); #if defined(STM32_TIM20CLK) pwmp->clock = STM32_TIM20CLK; #else pwmp->clock = STM32_TIMCLK2; #endif } #endif #if STM32_PWM_USE_TIM21 if (&PWMD21 == pwmp) { rccEnableTIM21(true); rccResetTIM21(); #if defined(STM32_TIM21CLK) pwmp->clock = STM32_TIM21CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif #if STM32_PWM_USE_TIM22 if (&PWMD22 == pwmp) { rccEnableTIM22(true); rccResetTIM22(); #if defined(STM32_TIM22CLK) pwmp->clock = STM32_TIM22CLK; #else pwmp->clock = STM32_TIMCLK1; #endif } #endif /* All channels configured in PWM1 mode with preload enabled and will stay that way until the driver is stopped.*/ pwmp->tim->CCMR1 = STM32_TIM_CCMR1_OC1M(6) | STM32_TIM_CCMR1_OC1PE | STM32_TIM_CCMR1_OC2M(6) | STM32_TIM_CCMR1_OC2PE; pwmp->tim->CCMR2 = STM32_TIM_CCMR2_OC3M(6) | STM32_TIM_CCMR2_OC3PE | STM32_TIM_CCMR2_OC4M(6) | STM32_TIM_CCMR2_OC4PE; #if STM32_TIM_MAX_CHANNELS > 4 pwmp->tim->CCMR3 = STM32_TIM_CCMR3_OC5M(6) | STM32_TIM_CCMR3_OC5PE | STM32_TIM_CCMR3_OC6M(6) | STM32_TIM_CCMR3_OC6PE; #endif } else { /* Driver re-configuration scenario, it must be stopped first.*/ pwmp->tim->CR1 = 0; /* Timer disabled. */ pwmp->tim->CCR[0] = 0; /* Comparator 1 disabled. */ pwmp->tim->CCR[1] = 0; /* Comparator 2 disabled. */ pwmp->tim->CCR[2] = 0; /* Comparator 3 disabled. */ pwmp->tim->CCR[3] = 0; /* Comparator 4 disabled. */ #if STM32_TIM_MAX_CHANNELS > 4 if (pwmp->channels > 4) { pwmp->tim->CCXR[0] = 0; /* Comparator 5 disabled. */ pwmp->tim->CCXR[1] = 0; /* Comparator 6 disabled. */ } #endif pwmp->tim->CNT = 0; /* Counter reset to zero. */ } /* Timer configuration.*/ psc = (pwmp->clock / pwmp->config->frequency) - 1; osalDbgAssert((psc <= 0xFFFF) && ((psc + 1) * pwmp->config->frequency) == pwmp->clock, "invalid frequency"); pwmp->tim->PSC = psc; pwmp->tim->ARR = pwmp->period - 1; pwmp->tim->CR2 = pwmp->config->cr2; /* Output enables and polarities setup.*/ ccer = 0; switch (pwmp->config->channels[0].mode & PWM_OUTPUT_MASK) { case PWM_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC1P; /* Falls through.*/ case PWM_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC1E; /* Falls through.*/ default: ; } switch (pwmp->config->channels[1].mode & PWM_OUTPUT_MASK) { case PWM_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC2P; /* Falls through.*/ case PWM_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC2E; /* Falls through.*/ default: ; } switch (pwmp->config->channels[2].mode & PWM_OUTPUT_MASK) { case PWM_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC3P; /* Falls through.*/ case PWM_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC3E; /* Falls through.*/ default: ; } switch (pwmp->config->channels[3].mode & PWM_OUTPUT_MASK) { case PWM_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC4P; /* Falls through.*/ case PWM_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC4E; /* Falls through.*/ default: ; } if (pwmp->has_bdtr) { switch (pwmp->config->channels[0].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) { case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC1NP; /* Falls through.*/ case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC1NE; /* Falls through.*/ default: ; } switch (pwmp->config->channels[1].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) { case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC2NP; /* Falls through.*/ case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC2NE; /* Falls through.*/ default: ; } switch (pwmp->config->channels[2].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) { case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC3NP; /* Falls through.*/ case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC3NE; /* Falls through.*/ default: ; } switch (pwmp->config->channels[3].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) { case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW: ccer |= STM32_TIM_CCER_CC4NP; /* Falls through.*/ case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH: ccer |= STM32_TIM_CCER_CC4NE; /* Falls through.*/ default: ; } } pwmp->tim->CCER = ccer; pwmp->tim->EGR = STM32_TIM_EGR_UG; /* Update event. */ pwmp->tim->SR = 0; /* Clear pending IRQs. */ pwmp->tim->DIER = pwmp->config->dier & /* DMA-related DIER settings. */ ~STM32_TIM_DIER_IRQ_MASK; if (pwmp->has_bdtr) { pwmp->tim->BDTR = pwmp->config->bdtr | STM32_TIM_BDTR_MOE; } /* Timer configured and started.*/ pwmp->tim->CR1 = STM32_TIM_CR1_ARPE | STM32_TIM_CR1_URS | STM32_TIM_CR1_CEN; } /** * @brief Deactivates the PWM peripheral. * * @param[in] pwmp pointer to a @p PWMDriver object * * @notapi */ void pwm_lld_stop(PWMDriver *pwmp) { /* If in ready state then disables the PWM clock.*/ if (pwmp->state == PWM_READY) { pwmp->tim->CR1 = 0; /* Timer disabled. */ pwmp->tim->DIER = 0; /* All IRQs disabled. */ pwmp->tim->SR = 0; /* Clear eventual pending IRQs. */ if (pwmp->has_bdtr) { pwmp->tim->BDTR = 0; } #if STM32_PWM_USE_TIM1 if (&PWMD1 == pwmp) { #if !defined(STM32_TIM1_SUPPRESS_ISR) nvicDisableVector(STM32_TIM1_UP_NUMBER); nvicDisableVector(STM32_TIM1_CC_NUMBER); #endif rccDisableTIM1(); } #endif #if STM32_PWM_USE_TIM2 if (&PWMD2 == pwmp) { #if !defined(STM32_TIM2_SUPPRESS_ISR) nvicDisableVector(STM32_TIM2_NUMBER); #endif rccDisableTIM2(); } #endif #if STM32_PWM_USE_TIM3 if (&PWMD3 == pwmp) { #if !defined(STM32_TIM3_SUPPRESS_ISR) nvicDisableVector(STM32_TIM3_NUMBER); #endif rccDisableTIM3(); } #endif #if STM32_PWM_USE_TIM4 if (&PWMD4 == pwmp) { #if !defined(STM32_TIM4_SUPPRESS_ISR) nvicDisableVector(STM32_TIM4_NUMBER); #endif rccDisableTIM4(); } #endif #if STM32_PWM_USE_TIM5 if (&PWMD5 == pwmp) { #if !defined(STM32_TIM5_SUPPRESS_ISR) nvicDisableVector(STM32_TIM5_NUMBER); #endif rccDisableTIM5(); } #endif #if STM32_PWM_USE_TIM8 if (&PWMD8 == pwmp) { #if !defined(STM32_TIM8_SUPPRESS_ISR) nvicDisableVector(STM32_TIM8_UP_NUMBER); nvicDisableVector(STM32_TIM8_CC_NUMBER); #endif rccDisableTIM8(); } #endif #if STM32_PWM_USE_TIM9 if (&PWMD9 == pwmp) { rccDisableTIM9(); } #endif #if STM32_PWM_USE_TIM10 if (&PWMD10 == pwmp) { rccDisableTIM10(); } #endif #if STM32_PWM_USE_TIM11 if (&PWMD11 == pwmp) { rccDisableTIM11(); } #endif #if STM32_PWM_USE_TIM12 if (&PWMD12 == pwmp) { rccDisableTIM12(); } #endif #if STM32_PWM_USE_TIM13 if (&PWMD13 == pwmp) { rccDisableTIM13(); } #endif #if STM32_PWM_USE_TIM14 if (&PWMD14 == pwmp) { rccDisableTIM14(); } #endif #if STM32_PWM_USE_TIM15 if (&PWMD15 == pwmp) { rccDisableTIM15(); } #endif #if STM32_PWM_USE_TIM16 if (&PWMD16 == pwmp) { rccDisableTIM16(); } #endif #if STM32_PWM_USE_TIM17 if (&PWMD17 == pwmp) { rccDisableTIM17(); } #endif #if STM32_PWM_USE_TIM20 if (&PWMD20 == pwmp) { rccDisableTIM20(); } #endif #if STM32_PWM_USE_TIM21 if (&PWMD21 == pwmp) { rccDisableTIM21(); } #endif #if STM32_PWM_USE_TIM22 if (&PWMD22 == pwmp) { rccDisableTIM22(); } #endif } } /** * @brief Enables a PWM channel. * @pre The PWM unit must have been activated using @p pwmStart(). * @post The channel is active using the specified configuration. * @note The function has effect at the next cycle start. * @note Channel notification is not enabled. * * @param[in] pwmp pointer to a @p PWMDriver object * @param[in] channel PWM channel identifier (0...channels-1) * @param[in] width PWM pulse width as clock pulses number * * @notapi */ void pwm_lld_enable_channel(PWMDriver *pwmp, pwmchannel_t channel, pwmcnt_t width) { /* Changing channel duty cycle on the fly.*/ #if STM32_TIM_MAX_CHANNELS <= 4 pwmp->tim->CCR[channel] = width; #else if (channel < 4) pwmp->tim->CCR[channel] = width; else pwmp->tim->CCXR[channel - 4] = width; #endif } /** * @brief Disables a PWM channel and its notification. * @pre The PWM unit must have been activated using @p pwmStart(). * @post The channel is disabled and its output line returned to the * idle state. * @note The function has effect at the next cycle start. * * @param[in] pwmp pointer to a @p PWMDriver object * @param[in] channel PWM channel identifier (0...channels-1) * * @notapi */ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) { #if STM32_TIM_MAX_CHANNELS <= 4 pwmp->tim->CCR[channel] = 0; pwmp->tim->DIER &= ~(2 << channel); #else if (channel < 4) { pwmp->tim->CCR[channel] = 0; pwmp->tim->DIER &= ~(2 << channel); } else pwmp->tim->CCXR[channel - 4] = 0; #endif } /** * @brief Enables the periodic activation edge notification. * @pre The PWM unit must have been activated using @p pwmStart(). * @note If the notification is already enabled then the call has no effect. * * @param[in] pwmp pointer to a @p PWMDriver object * * @notapi */ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { uint32_t dier = pwmp->tim->DIER; /* If the IRQ is not already enabled care must be taken to clear it, it is probably already pending because the timer is running.*/ if ((dier & STM32_TIM_DIER_UIE) == 0) { pwmp->tim->SR = ~STM32_TIM_SR_UIF; pwmp->tim->DIER = dier | STM32_TIM_DIER_UIE; } } /** * @brief Disables the periodic activation edge notification. * @pre The PWM unit must have been activated using @p pwmStart(). * @note If the notification is already disabled then the call has no effect. * * @param[in] pwmp pointer to a @p PWMDriver object * * @notapi */ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { pwmp->tim->DIER &= ~STM32_TIM_DIER_UIE; } /** * @brief Enables a channel de-activation edge notification. * @pre The PWM unit must have been activated using @p pwmStart(). * @pre The channel must have been activated using @p pwmEnableChannel(). * @note If the notification is already enabled then the call has no effect. * * @param[in] pwmp pointer to a @p PWMDriver object * @param[in] channel PWM channel identifier (0...channels-1) * * @notapi */ void pwm_lld_enable_channel_notification(PWMDriver *pwmp, pwmchannel_t channel) { uint32_t dier = pwmp->tim->DIER; #if STM32_TIM_MAX_CHANNELS > 4 /* Channels 4 and 5 do not support callbacks.*/ osalDbgAssert(channel < 4, "callback not supported"); #endif /* If the IRQ is not already enabled care must be taken to clear it, it is probably already pending because the timer is running.*/ if ((dier & (2 << channel)) == 0) { pwmp->tim->SR = ~(2 << channel); pwmp->tim->DIER = dier | (2 << channel); } } /** * @brief Disables a channel de-activation edge notification. * @pre The PWM unit must have been activated using @p pwmStart(). * @pre The channel must have been activated using @p pwmEnableChannel(). * @note If the notification is already disabled then the call has no effect. * * @param[in] pwmp pointer to a @p PWMDriver object * @param[in] channel PWM channel identifier (0...channels-1) * * @notapi */ void pwm_lld_disable_channel_notification(PWMDriver *pwmp, pwmchannel_t channel) { pwmp->tim->DIER &= ~(2 << channel); } /** * @brief Common TIM2...TIM5,TIM9 IRQ handler. * @note It is assumed that the various sources are only activated if the * associated callback pointer is not equal to @p NULL in order to not * perform an extra check in a potentially critical interrupt handler. * * @param[in] pwmp pointer to a @p PWMDriver object * * @notapi */ void pwm_lld_serve_interrupt(PWMDriver *pwmp) { uint32_t sr; sr = pwmp->tim->SR; sr &= pwmp->tim->DIER & STM32_TIM_DIER_IRQ_MASK; pwmp->tim->SR = ~sr; if (((sr & STM32_TIM_SR_CC1IF) != 0) && (pwmp->config->channels[0].callback != NULL)) pwmp->config->channels[0].callback(pwmp); if (((sr & STM32_TIM_SR_CC2IF) != 0) && (pwmp->config->channels[1].callback != NULL)) pwmp->config->channels[1].callback(pwmp); if (((sr & STM32_TIM_SR_CC3IF) != 0) && (pwmp->config->channels[2].callback != NULL)) pwmp->config->channels[2].callback(pwmp); if (((sr & STM32_TIM_SR_CC4IF) != 0) && (pwmp->config->channels[3].callback != NULL)) pwmp->config->channels[3].callback(pwmp); if (((sr & STM32_TIM_SR_UIF) != 0) && (pwmp->config->callback != NULL)) pwmp->config->callback(pwmp); } #endif /* HAL_USE_PWM */ /** @} */