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Merge pull request #6186 from haukepetersen/opt_stm32_pwm

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cpu/stm32x: unified PWM driver implementations
This commit is contained in:
Alexandre Abadie 2016-12-16 14:34:33 +01:00 committed by GitHub
commit 79043d2518
18 changed files with 289 additions and 762 deletions
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27
boards/msbiot/include/periph_conf.h
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@ -76,24 +76,21 @@ static const timer_conf_t timer_config[] = {
/** @} */ /** @} */
/** /**
* @name PWM configuration * @brief PWM configuration
* @{ * @{
*/ */
#define PWM_NUMOF (1U) static const pwm_conf_t pwm_config[] = {
#define PWM_0_EN 1 {
#define PWM_MAX_CHANNELS 1 /* Increase if Timer with more channels is used */ .dev = TIM11,
.rcc_mask = RCC_APB2ENR_TIM11EN,
.pins = { GPIO_PIN(PORT_B, 9), GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF },
.af = GPIO_AF3,
.chan = 1,
.bus = APB2
}
};
/* PWM 0 device configuration */ #define PWM_NUMOF (sizeof(pwm_config) / sizeof(pwm_config[0]))
#define PWM_0_DEV TIM11
#define PWM_0_CHANNELS 1
#define PWM_0_CLK (168000000U)
#define PWM_0_CLKEN() (RCC->APB2ENR |= RCC_APB2ENR_TIM11EN)
#define PWM_0_CLKDIS() (RCC->APB2ENR &= ~RCC_APB2ENR_TIM11EN)
/* PWM 0 pin configuration */
#define PWM_0_PORT GPIOB
#define PWM_0_PORT_CLKEN() (RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN)
#define PWM_0_PIN_CH0 9
#define PWM_0_PIN_AF 3
/** @} */ /** @} */
/** /**

32
boards/nucleo-f207/include/periph_conf.h
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@ -51,25 +51,22 @@ extern "C" {
/** @} */ /** @} */
/** /**
* @name PWM configuration * @brief PWM configuration
* @{ * @{
*/ */
#define PWM_NUMOF (1U) static const pwm_conf_t pwm_config[] = {
#define PWM_0_EN 1
static const pwm_conf_t pwm_config[PWM_NUMOF] = {
{ {
.tim = 2, .dev = TIM3,
.port = GPIOC, .rcc_mask = RCC_APB1ENR_TIM3EN,
.bus = AHB1, .pins = { GPIO_PIN(PORT_C, 6), GPIO_PIN(PORT_C, 7),
.rcc_mask = RCC_AHB1ENR_GPIOCEN, GPIO_PIN(PORT_C, 8), GPIO_PIN(PORT_C, 9) },
.CH0 = 6, .af = GPIO_AF2,
.CH1 = 7, .chan = 4,
.CH2 = 8, .bus = APB1
.CH3 = 9,
.AF = 2
} }
}; };
#define PWM_NUMOF (sizeof(pwm_config) / sizeof(pwm_config[0]))
/** @} */ /** @} */
/** /**
@ -91,13 +88,6 @@ static const timer_conf_t timer_config[] = {
.bus = APB1, .bus = APB1,
.irqn = TIM5_IRQn .irqn = TIM5_IRQn
}, },
{
.dev = TIM3,
.max = 0xffffffff,
.rcc_mask = RCC_APB1ENR_TIM3EN,
.bus = APB1,
.irqn = TIM3_IRQn
},
{ {
.dev = TIM4, .dev = TIM4,
.max = 0xffffffff, .max = 0xffffffff,

30
boards/nucleo-f303/include/periph_conf.h
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@ -127,25 +127,19 @@ static const timer_conf_t timer_config[] = {
* @brief PWM configuration * @brief PWM configuration
* @{ * @{
*/ */
#define PWM_NUMOF (1U) static const pwm_conf_t pwm_config[] = {
#define PWM_0_EN 1 {
.dev = TIM3,
.rcc_mask = RCC_APB1ENR_TIM3EN,
.pins = { GPIO_PIN(PORT_C, 6), GPIO_PIN(PORT_C, 7),
GPIO_PIN(PORT_C, 8), GPIO_PIN(PORT_C, 9) },
.af = GPIO_AF2,
.chan = 4,
.bus = APB1
}
};
#define PWM_MAX_CHANNELS 4 #define PWM_NUMOF (sizeof(pwm_config) / sizeof(pwm_config[0]))
/* PWM 0 device configuration */
#define PWM_0_DEV TIM3
#define PWM_0_CHANNELS 4
#define PWM_0_CLK (72000000U)
#define PWM_0_CLKEN() (RCC->APB1ENR |= RCC_APB1ENR_TIM3EN)
#define PWM_0_CLKDIS() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN))
/* PWM 0 pin configuration */
#define PWM_0_PORT GPIOC
#define PWM_0_PORT_CLKEN() (RCC->AHBENR |= RCC_AHBENR_GPIOCEN)
#define PWM_0_PIN_CH0 6
#define PWM_0_PIN_CH1 7
#define PWM_0_PIN_CH2 8
#define PWM_0_PIN_CH3 9
#define PWM_0_PIN_AF 2
/** @} */ /** @} */
/** /**

1
boards/nucleo-f334/Makefile.features
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@ -1,6 +1,7 @@
# Put defined MCU peripherals here (in alphabetical order) # Put defined MCU peripherals here (in alphabetical order)
FEATURES_PROVIDED += periph_cpuid FEATURES_PROVIDED += periph_cpuid
FEATURES_PROVIDED += periph_gpio FEATURES_PROVIDED += periph_gpio
FEATURES_PROVIDED += periph_pwm
FEATURES_PROVIDED += periph_spi FEATURES_PROVIDED += periph_spi
FEATURES_PROVIDED += periph_timer FEATURES_PROVIDED += periph_timer
FEATURES_PROVIDED += periph_uart FEATURES_PROVIDED += periph_uart

19
boards/nucleo-f334/include/periph_conf.h
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@ -101,6 +101,25 @@ static const timer_conf_t timer_config[] = {
#define UART_0_AF 7 #define UART_0_AF 7
/** @} */ /** @} */
/**
* @brief PWM configuration
* @{
*/
static const pwm_conf_t pwm_config[] = {
{
.dev = TIM3,
.rcc_mask = RCC_APB1ENR_TIM3EN,
.pins = { GPIO_PIN(PORT_C, 6), GPIO_PIN(PORT_C, 7),
GPIO_PIN(PORT_C, 8), GPIO_PIN(PORT_C, 9) },
.af = GPIO_AF2,
.chan = 4,
.bus = APB1
}
};
#define PWM_NUMOF (sizeof(pwm_config) / sizeof(pwm_config[0]))
/** @} */
/** /**
* @name SPI configuration * @name SPI configuration
* @{ * @{

55
boards/stm32f3discovery/include/periph_conf.h
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@ -129,41 +129,28 @@ static const timer_conf_t timer_config[] = {
* @brief PWM configuration * @brief PWM configuration
* @{ * @{
*/ */
#define PWM_NUMOF (2U) static const pwm_conf_t pwm_config[] = {
#define PWM_0_EN 1 {
#define PWM_1_EN 1 .dev = TIM3,
.rcc_mask = RCC_APB1ENR_TIM3EN,
.pins = { GPIO_PIN(PORT_C, 6), GPIO_PIN(PORT_C, 7),
GPIO_PIN(PORT_C, 8), GPIO_PIN(PORT_C, 9) },
.af = GPIO_AF2,
.chan = 4,
.bus = APB1
},
{
.dev = TIM4,
.rcc_mask = RCC_APB1ENR_TIM4EN,
.pins = { GPIO_PIN(PORT_D, 12), GPIO_PIN(PORT_D, 13),
GPIO_PIN(PORT_D, 14), GPIO_PIN(PORT_D, 15) },
.af = GPIO_AF2,
.chan = 4,
.bus = APB1
}
};
#define PWM_MAX_CHANNELS 4 #define PWM_NUMOF (sizeof(pwm_config) / sizeof(pwm_config[0]))
/* PWM 0 device configuration */
#define PWM_0_DEV TIM3
#define PWM_0_CHANNELS 4
#define PWM_0_CLK (72000000U)
#define PWM_0_CLKEN() (RCC->APB1ENR |= RCC_APB1ENR_TIM3EN)
#define PWM_0_CLKDIS() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN))
/* PWM 0 pin configuration */
#define PWM_0_PORT GPIOC
#define PWM_0_PORT_CLKEN() (RCC->AHBENR |= RCC_AHBENR_GPIOCEN)
#define PWM_0_PIN_CH0 6
#define PWM_0_PIN_CH1 7
#define PWM_0_PIN_CH2 8
#define PWM_0_PIN_CH3 9
#define PWM_0_PIN_AF 2
/* PWM 1 device configuration */
#define PWM_1_DEV TIM4
#define PWM_1_CHANNELS 4
#define PWM_1_CLK (72000000U)
#define PWM_1_CLKEN() (RCC->APB1ENR |= RCC_APB1ENR_TIM4EN)
#define PWM_1_CLKDIS() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM4EN))
/* PWM 1 pin configuration */
#define PWM_1_PORT GPIOD
#define PWM_1_PORT_CLKEN() (RCC->AHBENR |= RCC_AHBENR_GPIODEN)
#define PWM_1_PIN_CH0 12
#define PWM_1_PIN_CH1 13
#define PWM_1_PIN_CH2 14
#define PWM_1_PIN_CH3 15
#define PWM_1_PIN_AF 2
/** @} */ /** @} */
/** /**

56
boards/stm32f4discovery/include/periph_conf.h
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@ -148,43 +148,31 @@ static const uart_conf_t uart_config[] = {
/** @} */ /** @} */
/** /**
* @name PWM configuration * @brief PWM configuration
* @{ * @{
*/ */
#define PWM_NUMOF (2U) static const pwm_conf_t pwm_config[] = {
#define PWM_0_EN 1 {
#define PWM_1_EN 1 .dev = TIM1,
#define PWM_MAX_CHANNELS 4 .rcc_mask = RCC_APB2ENR_TIM1EN,
.pins = { GPIO_PIN(PORT_E, 9), GPIO_PIN(PORT_E, 11),
GPIO_PIN(PORT_E, 11), GPIO_PIN(PORT_E, 14) },
.af = GPIO_AF1,
.chan = 4,
.bus = APB2
},
{
.dev = TIM3,
.rcc_mask = RCC_APB1ENR_TIM3EN,
.pins = { GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5),
GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1) },
.af = GPIO_AF2,
.chan = 4,
.bus = APB1
}
};
/* PWM 0 device configuration */ #define PWM_NUMOF (sizeof(pwm_config) / sizeof(pwm_config[0]))
#define PWM_0_DEV TIM1
#define PWM_0_CHANNELS 4
#define PWM_0_CLK (168000000U)
#define PWM_0_CLKEN() (RCC->APB2ENR |= RCC_APB2ENR_TIM1EN)
#define PWM_0_CLKDIS() (RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN)
/* PWM 0 pin configuration */
#define PWM_0_PORT GPIOE
#define PWM_0_PORT_CLKEN() (RCC->AHB1ENR |= RCC_AHB1ENR_GPIOEEN)
#define PWM_0_PIN_CH0 9
#define PWM_0_PIN_CH1 11
#define PWM_0_PIN_CH2 13
#define PWM_0_PIN_CH3 14
#define PWM_0_PIN_AF 1
/* PWM 1 device configuration */
#define PWM_1_DEV TIM3
#define PWM_1_CHANNELS 3
#define PWM_1_CLK (84000000U)
#define PWM_1_CLKEN() (RCC->APB1ENR |= RCC_APB1ENR_TIM3EN)
#define PWM_1_CLKDIS() (RCC->APB1ENR &= ~RCC_APB1ENR_TIM3EN)
/* PWM 1 pin configuration */
#define PWM_1_PORT GPIOB
#define PWM_1_PORT_CLKEN() (RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN)
#define PWM_1_PIN_CH0 4
#define PWM_1_PIN_CH1 5
#define PWM_1_PIN_CH2 0
#define PWM_1_PIN_CH3 1
#define PWM_1_PIN_AF 2
/** @} */ /** @} */
/** /**

36
cpu/stm32_common/include/periph_cpu_common.h
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@ -70,6 +70,30 @@ typedef uint32_t gpio_t;
*/ */
#define GPIO_PIN(x, y) ((GPIOA_BASE + (x << 10)) | y) #define GPIO_PIN(x, y) ((GPIOA_BASE + (x << 10)) | y)
/**
* @brief Available MUX values for configuring a pin's alternate function
*/
typedef enum {
GPIO_AF0 = 0, /**< use alternate function 0 */
GPIO_AF1, /**< use alternate function 1 */
GPIO_AF2, /**< use alternate function 2 */
GPIO_AF3, /**< use alternate function 3 */
#ifndef CPU_FAM_STM32F0
GPIO_AF4, /**< use alternate function 4 */
GPIO_AF5, /**< use alternate function 5 */
GPIO_AF6, /**< use alternate function 6 */
GPIO_AF7, /**< use alternate function 7 */
GPIO_AF8, /**< use alternate function 8 */
GPIO_AF9, /**< use alternate function 9 */
GPIO_AF10, /**< use alternate function 10 */
GPIO_AF11, /**< use alternate function 11 */
GPIO_AF12, /**< use alternate function 12 */
GPIO_AF13, /**< use alternate function 13 */
GPIO_AF14, /**< use alternate function 14 */
GPIO_AF15 /**< use alternate function 15 */
#endif
} gpio_af_t;
/** /**
* @brief Timer configuration * @brief Timer configuration
*/ */
@ -81,6 +105,18 @@ typedef struct {
uint8_t irqn; /**< global IRQ channel */ uint8_t irqn; /**< global IRQ channel */
} timer_conf_t; } timer_conf_t;
/**
* @brief PWM configuration
*/
typedef struct {
TIM_TypeDef *dev; /**< Timer used */
uint32_t rcc_mask; /**< bit in clock enable register */
gpio_t pins[4]; /**< pins used, set to GPIO_UNDEF if not used */
gpio_af_t af; /**< alternate function used */
uint8_t chan; /**< number of configured channels */
uint8_t bus; /**< APB bus */
} pwm_conf_t;
/** /**
* @brief Get the actual bus clock frequency for the APB buses * @brief Get the actual bus clock frequency for the APB buses
* *

142
cpu/stm32_common/periph/pwm.c Normal file
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@ -0,0 +1,142 @@
/*
* Copyright (C) 2014-2016 Freie Universität Berlin
* 2015 Engineering-Spirit
* 2016 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_stm32_common
* @{
*
* @file
* @brief Low-level PWM driver implementation
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Fabian Nack <nack@inf.fu-berlin.de>
* @author Nick v. IJzendoorn <nijzendoorn@engineering-spirit.nl>
* @author Aurelien Gonce <aurelien.gonce@altran.fr>
*
* @}
*/
#include "cpu.h"
#include "assert.h"
#include "periph/pwm.h"
#include "periph/gpio.h"
#ifdef PWM_NUMOF
#define CCMR_LEFT (TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | \
TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2)
#define CCMR_RIGHT (TIM_CCMR1_OC1M_0 | TIM_CCMR1_OC1M_1 | \
TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2M_0 | \
TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2);
static inline TIM_TypeDef *dev(pwm_t pwm)
{
return pwm_config[pwm].dev;
}
uint32_t pwm_init(pwm_t pwm, pwm_mode_t mode, uint32_t freq, uint16_t res)
{
uint32_t bus_clk = periph_apb_clk(pwm_config[pwm].bus);
/* verify parameters */
assert((pwm < PWM_NUMOF) && ((freq * res) < bus_clk));
/* power on the used timer */
pwm_poweron(pwm);
/* reset configuration and CC channels */
dev(pwm)->CR1 = 0;
dev(pwm)->CR2 = 0;
for (int i = 0; i < TIMER_CHAN; i++) {
dev(pwm)->CCR[i] = 0;
}
/* configure the used pins */
for (unsigned i = 0; i < pwm_config[pwm].chan; i++) {
gpio_init(pwm_config[pwm].pins[i], GPIO_OUT);
gpio_init_af(pwm_config[pwm].pins[i], pwm_config[pwm].af);
}
/* configure the PWM frequency and resolution by setting the auto-reload
* and prescaler registers */
dev(pwm)->PSC = (bus_clk / (res * freq)) - 1;
dev(pwm)->ARR = res - 1;
/* set PWM mode */
switch (mode) {
case PWM_LEFT:
dev(pwm)->CCMR1 = CCMR_LEFT;
dev(pwm)->CCMR2 = CCMR_LEFT;
break;
case PWM_RIGHT:
dev(pwm)->CCMR1 = CCMR_RIGHT;
dev(pwm)->CCMR2 = CCMR_RIGHT;
break;
case PWM_CENTER:
dev(pwm)->CCMR1 = 0;
dev(pwm)->CCMR2 = 0;
dev(pwm)->CR1 |= (TIM_CR1_CMS_0 | TIM_CR1_CMS_1);
break;
}
/* enable PWM outputs and start PWM generation */
#ifdef TIM_BDTR_MOE
dev(pwm)->BDTR = TIM_BDTR_MOE;
#endif
dev(pwm)->CCER = (TIM_CCER_CC1E | TIM_CCER_CC2E |
TIM_CCER_CC3E | TIM_CCER_CC4E);
dev(pwm)->CR1 |= TIM_CR1_CEN;
/* return the actual used PWM frequency */
return (bus_clk / (res * (dev(pwm)->PSC + 1)));
}
uint8_t pwm_channels(pwm_t pwm)
{
assert(pwm < PWM_NUMOF);
return pwm_config[pwm].chan;
}
void pwm_set(pwm_t pwm, uint8_t channel, uint16_t value)
{
assert((pwm < PWM_NUMOF) && (channel < pwm_config[pwm].chan));
/* norm value to maximum possible value */
if (value > dev(pwm)->ARR) {
value = (uint16_t)dev(pwm)->ARR;
}
/* set new value */
dev(pwm)->CCR[channel] = value;
}
void pwm_start(pwm_t pwm)
{
assert(pwm < PWM_NUMOF);
dev(pwm)->CR1 |= TIM_CR1_CEN;
}
void pwm_stop(pwm_t pwm)
{
assert(pwm < PWM_NUMOF);
dev(pwm)->CR1 &= ~TIM_CR1_CEN;
}
void pwm_poweron(pwm_t pwm)
{
assert(pwm < PWM_NUMOF);
periph_clk_en(pwm_config[pwm].bus, pwm_config[pwm].rcc_mask);
}
void pwm_poweroff(pwm_t pwm)
{
assert(pwm < PWM_NUMOF);
periph_clk_dis(pwm_config[pwm].bus, pwm_config[pwm].rcc_mask);
}
#endif /* PWM_NUMOF */

10
cpu/stm32f0/include/periph_cpu.h
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@ -75,16 +75,6 @@ enum {
PORT_F = 5, /**< port F */ PORT_F = 5, /**< port F */
}; };
/**
* @brief Available MUX values for configuring a pin's alternate function
*/
typedef enum {
GPIO_AF0 = 0, /**< use alternate function 0 */
GPIO_AF1, /**< use alternate function 1 */
GPIO_AF2, /**< use alternate function 2 */
GPIO_AF3, /**< use alternate function 3 */
} gpio_af_t;
#ifndef DOXYGEN #ifndef DOXYGEN
/** /**
* @brief Override ADC resolution values * @brief Override ADC resolution values

37
cpu/stm32f2/include/periph_cpu.h
View File

@ -76,43 +76,6 @@ enum {
PORT_I = 8 /**< port I */ PORT_I = 8 /**< port I */
}; };
/**
* @brief Available MUX values for configuring a pin's alternate function
*/
typedef enum {
GPIO_AF0 = 0, /**< use alternate function 0 */
GPIO_AF1, /**< use alternate function 1 */
GPIO_AF2, /**< use alternate function 2 */
GPIO_AF3, /**< use alternate function 3 */
GPIO_AF4, /**< use alternate function 4 */
GPIO_AF5, /**< use alternate function 5 */
GPIO_AF6, /**< use alternate function 6 */
GPIO_AF7, /**< use alternate function 7 */
GPIO_AF8, /**< use alternate function 8 */
GPIO_AF9, /**< use alternate function 9 */
GPIO_AF10, /**< use alternate function 10 */
GPIO_AF11, /**< use alternate function 11 */
GPIO_AF12, /**< use alternate function 12 */
GPIO_AF13, /**< use alternate function 13 */
GPIO_AF14 /**< use alternate function 14 */
} gpio_af_t;
/**
* @name PWM configuration
* @{
*/
typedef struct {
uint8_t tim; /**< timer used */
GPIO_TypeDef *port; /**< pwm device */
uint8_t bus; /**< AHBx bus */
uint32_t rcc_mask; /**< corresponding bit in the RCC register */
uint8_t CH0; /**< channel 0 */
uint8_t CH1; /**< channel 1 */
uint8_t CH2; /**< channel 2 */
uint8_t CH3; /**< channel 3 */
uint8_t AF; /**< alternate function */
} pwm_conf_t;
/** /**
* @brief Structure for UART configuration data * @brief Structure for UART configuration data
* @{ * @{

33
cpu/stm32f3/include/periph_cpu.h
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@ -64,29 +64,6 @@ enum {
PORT_F = 5, /**< port F */ PORT_F = 5, /**< port F */
}; };
/**
* @brief Available MUX values for configuring a pin's alternate function
*
* For some reason AF13 is not used on this CPU.
*/
typedef enum {
GPIO_AF0 = 0, /**< use alternate function 0 */
GPIO_AF1, /**< use alternate function 1 */
GPIO_AF2, /**< use alternate function 2 */
GPIO_AF3, /**< use alternate function 3 */
GPIO_AF4, /**< use alternate function 4 */
GPIO_AF5, /**< use alternate function 5 */
GPIO_AF6, /**< use alternate function 6 */
GPIO_AF7, /**< use alternate function 7 */
GPIO_AF8, /**< use alternate function 8 */
GPIO_AF9, /**< use alternate function 9 */
GPIO_AF10, /**< use alternate function 10 */
GPIO_AF11, /**< use alternate function 11 */
GPIO_AF12, /**< use alternate function 12 */
GPIO_AF14, /**< use alternate function 14 */
GPIO_AF15 /**< use alternate function 14 */
} gpio_af_t;
/** /**
* @brief DAC line configuration support * @brief DAC line configuration support
*/ */
@ -96,6 +73,16 @@ typedef struct {
uint8_t chan; /**< DAC device used for this line */ uint8_t chan; /**< DAC device used for this line */
} dac_conf_t; } dac_conf_t;
/**
* @brief Configure the alternate function for the given pin
*
* @note This is meant for internal use in STM32F4 peripheral drivers only
*
* @param[in] pin pin to configure
* @param[in] af alternate function to use
*/
void gpio_init_af(gpio_t pin, gpio_af_t af);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

237
cpu/stm32f3/periph/pwm.c
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@ -1,237 +0,0 @@
/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_stm32f3
* @{
*
* @file
* @brief Low-level PWM driver implementation
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <stdint.h>
#include <string.h>
#include "cpu.h"
#include "periph_conf.h"
/* guard file in case no PWM device is defined */
#if (PWM_0_EN || PWM_1_EN)
/* pull the PWM header inside the guards for now. Guards will be removed on
* adapting this driver implementation... */
#include "periph/pwm.h"
uint32_t pwm_init(pwm_t dev, pwm_mode_t mode, uint32_t freq, uint16_t res)
{
TIM_TypeDef *tim = NULL;
GPIO_TypeDef *port = NULL;
uint32_t pins[PWM_MAX_CHANNELS];
uint32_t af;
int channels;
uint32_t pwm_clk;
pwm_poweron(dev);
switch (dev) {
#if PWM_0_EN
case PWM_0:
tim = PWM_0_DEV;
port = PWM_0_PORT;
pins[0] = PWM_0_PIN_CH0;
pins[1] = PWM_0_PIN_CH1;
pins[2] = PWM_0_PIN_CH2;
pins[3] = PWM_0_PIN_CH3;
af = PWM_0_PIN_AF;
channels = PWM_0_CHANNELS;
pwm_clk = PWM_0_CLK;
PWM_0_PORT_CLKEN();
break;
#endif
#if PWM_1_EN
case PWM_1:
tim = PWM_1_DEV;
port = PWM_1_PORT;
pins[0] = PWM_1_PIN_CH0;
pins[1] = PWM_1_PIN_CH1;
pins[2] = PWM_1_PIN_CH2;
pins[3] = PWM_1_PIN_CH3;
af = PWM_1_PIN_AF;
channels = PWM_1_CHANNELS;
pwm_clk = PWM_1_CLK;
PWM_1_PORT_CLKEN();
break;
#endif
default:
pwm_poweroff(dev);
return 0;
}
/* setup pins: alternate function */
for (int i = 0; i < channels; i++) {
port->MODER &= ~(3 << (pins[i] * 2));
port->MODER |= (2 << (pins[i] * 2));
if (pins[i] < 8) {
port->AFR[0] &= ~(0xf << (pins[i] * 4));
port->AFR[0] |= (af << (pins[i] * 4));
}
else {
port->AFR[1] &= ~(0xf << ((pins[i] - 8) * 4));
port->AFR[1] |= (af << ((pins[i] - 8) * 4));
}
}
/* reset timer configuration registers */
tim->CR1 = 0;
tim->CR2 = 0;
tim->CCMR1 = 0;
tim->CCMR2 = 0;
/* set prescale and auto-reload registers to matching values for resolution and frequency */
if ((res > 0xffff) || ((res * freq) > pwm_clk)) {
return 0;
}
tim->PSC = (pwm_clk / (res * freq)) - 1;
tim->ARR = res - 1;
freq = (pwm_clk / (res * (tim->PSC + 1)));
/* set PWM mode */
switch (mode) {
case PWM_LEFT:
tim->CCMR1 |= (TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 |
TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2);
tim->CCMR2 |= (TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 |
TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2);
break;
case PWM_RIGHT:
tim->CCMR1 |= (TIM_CCMR1_OC1M_0 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 |
TIM_CCMR1_OC2M_0 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2);
tim->CCMR2 |= (TIM_CCMR2_OC3M_0 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 |
TIM_CCMR2_OC4M_0 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2);
break;
case PWM_CENTER:
tim->CR1 |= (TIM_CR1_CMS_0 | TIM_CR1_CMS_1);
break;
}
/* enable output on PWM pins */
tim->CCER |= (TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E);
/* enable PWM generation */
pwm_start(dev);
return freq;
}
uint8_t pwm_channels(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
return PWM_0_CHANNELS;
#endif
#if PWM_1_EN
case PWM_1:
return PWM_1_CHANNELS;
#endif
default:
return 0;
}
}
void pwm_set(pwm_t dev, uint8_t channel, uint16_t value)
{
TIM_TypeDef *tim = NULL;
switch (dev) {
#if PWM_0_EN
case PWM_0:
tim = PWM_0_DEV;
break;
#endif
#if PWM_1_EN
case PWM_1:
tim = PWM_1_DEV;
break;
#endif
default:
return;
}
tim->CCR[channel] = value;
}
void pwm_start(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_DEV->CR1 |= TIM_CR1_CEN;
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_DEV->CR1 |= TIM_CR1_CEN;
break;
#endif
}
}
void pwm_stop(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_DEV->CR1 &= ~(TIM_CR1_CEN);
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_DEV->CR1 &= ~(TIM_CR1_CEN);
break;
#endif
}
}
void pwm_poweron(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_CLKEN();
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_CLKEN();
break;
#endif
}
}
void pwm_poweroff(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_CLKDIS();
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_CLKDIS();
break;
#endif
}
}
#endif /* (PWM_0_EN || PWM_1_EN) */

21
cpu/stm32f4/include/periph_cpu.h
View File

@ -102,27 +102,6 @@ enum {
PORT_I = 8 /**< port I */ PORT_I = 8 /**< port I */
}; };
/**
* @brief Available MUX values for configuring a pin's alternate function
*/
typedef enum {
GPIO_AF0 = 0, /**< use alternate function 0 */
GPIO_AF1, /**< use alternate function 1 */
GPIO_AF2, /**< use alternate function 2 */
GPIO_AF3, /**< use alternate function 3 */
GPIO_AF4, /**< use alternate function 4 */
GPIO_AF5, /**< use alternate function 5 */
GPIO_AF6, /**< use alternate function 6 */
GPIO_AF7, /**< use alternate function 7 */
GPIO_AF8, /**< use alternate function 8 */
GPIO_AF9, /**< use alternate function 9 */
GPIO_AF10, /**< use alternate function 10 */
GPIO_AF11, /**< use alternate function 11 */
GPIO_AF12, /**< use alternate function 12 */
GPIO_AF13, /**< use alternate function 13 */
GPIO_AF14 /**< use alternate function 14 */
} gpio_af_t;
/** /**
* @brief Structure for UART configuration data * @brief Structure for UART configuration data
* @{ * @{

281
cpu/stm32f4/periph/pwm.c
View File

@ -1,281 +0,0 @@
/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup cpu_stm32f4
* @{
*
* @file
* @brief Low-level PWM driver implementation
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Fabian Nack <nack@inf.fu-berlin.de>
*
* @}
*/
#include <stdint.h>
#include <string.h>
#include "cpu.h"
#include "periph_conf.h"
/* guard file in case no PWM device is defined */
#if (PWM_0_EN || PWM_1_EN)
/* pull the PWM header inside the guards for now. Guards will be removed on
* adapting this driver implementation... */
#include "periph/pwm.h"
uint32_t pwm_init(pwm_t dev, pwm_mode_t mode, uint32_t freq, uint16_t res)
{
TIM_TypeDef *tim = NULL;
GPIO_TypeDef *port = NULL;
uint32_t pins[PWM_MAX_CHANNELS];
uint32_t af = 0;
uint32_t pwm_clk = 0;
int channels = 0;
pwm_poweron(dev);
switch (dev) {
#if PWM_0_EN
case PWM_0:
tim = PWM_0_DEV;
port = PWM_0_PORT;
pins[0] = PWM_0_PIN_CH0;
#if (PWM_0_CHANNELS > 1)
pins[1] = PWM_0_PIN_CH1;
#endif
#if (PWM_0_CHANNELS > 2)
pins[2] = PWM_0_PIN_CH2;
#endif
#if (PWM_0_CHANNELS > 3)
pins[3] = PWM_0_PIN_CH3;
#endif
af = PWM_0_PIN_AF;
channels = PWM_0_CHANNELS;
pwm_clk = PWM_0_CLK;
PWM_0_PORT_CLKEN();
break;
#endif
#if PWM_1_EN
case PWM_1:
tim = PWM_1_DEV;
port = PWM_1_PORT;
pins[0] = PWM_1_PIN_CH0;
#if (PWM_1_CHANNELS > 1)
pins[1] = PWM_1_PIN_CH1;
#endif
#if (PWM_1_CHANNELS > 2)
pins[2] = PWM_1_PIN_CH2;
#endif
#if (PWM_1_CHANNELS > 3)
pins[3] = PWM_1_PIN_CH3;
#endif
af = PWM_1_PIN_AF;
channels = PWM_1_CHANNELS;
pwm_clk = PWM_1_CLK;
PWM_1_PORT_CLKEN();
break;
#endif
}
/* setup pins: alternate function */
for (int i = 0; i < channels; i++) {
port->MODER &= ~(3 << (pins[i] * 2));
port->MODER |= (2 << (pins[i] * 2));
if (pins[i] < 8) {
port->AFR[0] &= ~(0xf << (pins[i] * 4));
port->AFR[0] |= (af << (pins[i] * 4));
} else {
port->AFR[1] &= ~(0xf << ((pins[i] - 8) * 4));
port->AFR[1] |= (af << ((pins[i] - 8) * 4));
}
}
/* Reset C/C and timer configuration register */
switch (channels) {
case 4:
tim->CCR[3] = 0;
/* Fall through */
case 3:
tim->CCR[2] = 0;
tim->CR2 = 0;
/* Fall through */
case 2:
tim->CCR[1] = 0;
/* Fall through */
case 1:
tim->CCR[0] = 0;
tim->CR1 = 0;
break;
}
/* set prescale and auto-reload registers to matching values for resolution
* and frequency */
if (res > 0xffff || (res * freq) > pwm_clk) {
return 0;
}
tim->PSC = (pwm_clk / (res * freq)) - 1;
tim->ARR = res - 1;
/* calculate the actual PWM frequency */
freq = (pwm_clk / (res * (tim->PSC + 1)));
/* set PWM mode */
switch (mode) {
case PWM_LEFT:
tim->CCMR1 = (TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 |
TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2);
if (channels > 2) {
tim->CCMR2 = (TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 |
TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2);
}
break;
case PWM_RIGHT:
tim->CCMR1 = (TIM_CCMR1_OC1M_0 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 |
TIM_CCMR1_OC2M_0 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2);
if (channels > 2) {
tim->CCMR2 = (TIM_CCMR2_OC3M_0 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 |
TIM_CCMR2_OC4M_0 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2);
}
break;
case PWM_CENTER:
tim->CCMR1 = 0;
if (channels > 2) {
tim->CCMR2 = 0;
}
tim->CR1 |= (TIM_CR1_CMS_0 | TIM_CR1_CMS_1);
break;
}
/* enable output on PWM pins */
tim->CCER = (TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E);
/* enable PWM outputs */
tim->BDTR = TIM_BDTR_MOE;
/* enable timer ergo the PWM generation */
pwm_start(dev);
return freq;
}
uint8_t pwm_channels(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
return PWM_0_CHANNELS;
#endif
#if PWM_1_EN
case PWM_1:
return PWM_1_CHANNELS;
#endif
default:
return 0;
}
}
void pwm_set(pwm_t dev, uint8_t channel, uint16_t value)
{
TIM_TypeDef *tim = NULL;
switch (dev) {
#if PWM_0_EN
case PWM_0:
tim = PWM_0_DEV;
if (channel >= PWM_0_CHANNELS) {
return;
}
break;
#endif
#if PWM_1_EN
case PWM_1:
tim = PWM_1_DEV;
if (channel >= PWM_1_CHANNELS) {
return;
}
break;
#endif
}
/* norm value to maximum possible value */
if (value > tim->ARR) {
value = (uint32_t)tim->ARR;
}
tim->CCR[channel] = value;
}
void pwm_start(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_DEV->CR1 |= TIM_CR1_CEN;
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_DEV->CR1 |= TIM_CR1_CEN;
break;
#endif
}
}
void pwm_stop(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_DEV->CR1 &= ~(TIM_CR1_CEN);
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_DEV->CR1 &= ~(TIM_CR1_CEN);
break;
#endif
}
}
void pwm_poweron(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_CLKEN();
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_CLKEN();
break;
#endif
}
}
void pwm_poweroff(pwm_t dev)
{
switch (dev) {
#if PWM_0_EN
case PWM_0:
PWM_0_CLKDIS();
break;
#endif
#if PWM_1_EN
case PWM_1:
PWM_1_CLKDIS();
break;
#endif
}
}
#endif /* (PWM_0_EN || PWM_1_EN) */

21
cpu/stm32l1/include/periph_cpu.h
View File

@ -68,27 +68,6 @@ enum {
PORT_H = 5, /**< port H */ PORT_H = 5, /**< port H */
}; };
/**
* @brief Available MUX values for configuring a pin's alternate function
*/
typedef enum {
GPIO_AF0 = 0, /**< use alternate function 0 */
GPIO_AF1, /**< use alternate function 1 */
GPIO_AF2, /**< use alternate function 2 */
GPIO_AF3, /**< use alternate function 3 */
GPIO_AF4, /**< use alternate function 4 */
GPIO_AF5, /**< use alternate function 5 */
GPIO_AF6, /**< use alternate function 6 */
GPIO_AF7, /**< use alternate function 7 */
GPIO_AF8, /**< use alternate function 8 */
GPIO_AF9, /**< use alternate function 9 */
GPIO_AF10, /**< use alternate function 10 */
GPIO_AF11, /**< use alternate function 11 */
GPIO_AF12, /**< use alternate function 12 */
GPIO_AF13, /**< use alternate function 13 */
GPIO_AF14 /**< use alternate function 14 */
} gpio_af_t;
/** /**
* @brief DAC line configuration data * @brief DAC line configuration data
*/ */

7
drivers/include/periph/pwm.h
View File

@ -33,13 +33,6 @@
extern "C" { extern "C" {
#endif #endif
/**
* @brief Make sure the number of available PWM devices is defined
*/
#ifndef PWM_NUMOF
#error "PWM_NUMOF undefined for the target platform"
#endif
/** /**
* @brief Default PWM access macro * @brief Default PWM access macro
* @{ * @{

2
tests/driver_servo/main.c
View File

@ -30,7 +30,7 @@
#include "periph/pwm.h" #include "periph/pwm.h"
#include "servo.h" #include "servo.h"
#define DEV PWM_0 #define DEV PWM_DEV(0)
#define CHANNEL 0 #define CHANNEL 0
#define SERVO_MIN (1000U) #define SERVO_MIN (1000U)