Mouse code for the MacroRat
mbed-dev/targets/TARGET_NORDIC/TARGET_NRF5/TARGET_MCU_NRF51822_UNIFIED/pwmout_api.c@46:b156ef445742, 2017-06-03 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Sat Jun 03 00:22:44 2017 +0000
- Revision:
- 46:b156ef445742
- Parent:
- 18:6a4db94011d3
Final code for internal battlebot competition.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 18:6a4db94011d3 | 1 | /* |
sahilmgandhi | 18:6a4db94011d3 | 2 | * Copyright (c) 2013 Nordic Semiconductor ASA |
sahilmgandhi | 18:6a4db94011d3 | 3 | * All rights reserved. |
sahilmgandhi | 18:6a4db94011d3 | 4 | * |
sahilmgandhi | 18:6a4db94011d3 | 5 | * Redistribution and use in source and binary forms, with or without modification, |
sahilmgandhi | 18:6a4db94011d3 | 6 | * are permitted provided that the following conditions are met: |
sahilmgandhi | 18:6a4db94011d3 | 7 | * |
sahilmgandhi | 18:6a4db94011d3 | 8 | * 1. Redistributions of source code must retain the above copyright notice, this list |
sahilmgandhi | 18:6a4db94011d3 | 9 | * of conditions and the following disclaimer. |
sahilmgandhi | 18:6a4db94011d3 | 10 | * |
sahilmgandhi | 18:6a4db94011d3 | 11 | * 2. Redistributions in binary form, except as embedded into a Nordic Semiconductor ASA |
sahilmgandhi | 18:6a4db94011d3 | 12 | * integrated circuit in a product or a software update for such product, must reproduce |
sahilmgandhi | 18:6a4db94011d3 | 13 | * the above copyright notice, this list of conditions and the following disclaimer in |
sahilmgandhi | 18:6a4db94011d3 | 14 | * the documentation and/or other materials provided with the distribution. |
sahilmgandhi | 18:6a4db94011d3 | 15 | * |
sahilmgandhi | 18:6a4db94011d3 | 16 | * 3. Neither the name of Nordic Semiconductor ASA nor the names of its contributors may be |
sahilmgandhi | 18:6a4db94011d3 | 17 | * used to endorse or promote products derived from this software without specific prior |
sahilmgandhi | 18:6a4db94011d3 | 18 | * written permission. |
sahilmgandhi | 18:6a4db94011d3 | 19 | * |
sahilmgandhi | 18:6a4db94011d3 | 20 | * 4. This software, with or without modification, must only be used with a |
sahilmgandhi | 18:6a4db94011d3 | 21 | * Nordic Semiconductor ASA integrated circuit. |
sahilmgandhi | 18:6a4db94011d3 | 22 | * |
sahilmgandhi | 18:6a4db94011d3 | 23 | * 5. Any software provided in binary or object form under this license must not be reverse |
sahilmgandhi | 18:6a4db94011d3 | 24 | * engineered, decompiled, modified and/or disassembled. |
sahilmgandhi | 18:6a4db94011d3 | 25 | * |
sahilmgandhi | 18:6a4db94011d3 | 26 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND |
sahilmgandhi | 18:6a4db94011d3 | 27 | * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
sahilmgandhi | 18:6a4db94011d3 | 28 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
sahilmgandhi | 18:6a4db94011d3 | 29 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR |
sahilmgandhi | 18:6a4db94011d3 | 30 | * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
sahilmgandhi | 18:6a4db94011d3 | 31 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
sahilmgandhi | 18:6a4db94011d3 | 32 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON |
sahilmgandhi | 18:6a4db94011d3 | 33 | * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
sahilmgandhi | 18:6a4db94011d3 | 34 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
sahilmgandhi | 18:6a4db94011d3 | 35 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
sahilmgandhi | 18:6a4db94011d3 | 36 | * |
sahilmgandhi | 18:6a4db94011d3 | 37 | */ |
sahilmgandhi | 18:6a4db94011d3 | 38 | |
sahilmgandhi | 18:6a4db94011d3 | 39 | #include "mbed_assert.h" |
sahilmgandhi | 18:6a4db94011d3 | 40 | #include "mbed_error.h" |
sahilmgandhi | 18:6a4db94011d3 | 41 | #include "pwmout_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 42 | #include "cmsis.h" |
sahilmgandhi | 18:6a4db94011d3 | 43 | #include "pinmap.h" |
sahilmgandhi | 18:6a4db94011d3 | 44 | |
sahilmgandhi | 18:6a4db94011d3 | 45 | #if DEVICE_PWMOUT |
sahilmgandhi | 18:6a4db94011d3 | 46 | |
sahilmgandhi | 18:6a4db94011d3 | 47 | #include "nrf.h" |
sahilmgandhi | 18:6a4db94011d3 | 48 | #include "nrf_drv_timer.h" |
sahilmgandhi | 18:6a4db94011d3 | 49 | #include "app_pwm.h" |
sahilmgandhi | 18:6a4db94011d3 | 50 | |
sahilmgandhi | 18:6a4db94011d3 | 51 | #define PWM_INSTANCE_COUNT 2 |
sahilmgandhi | 18:6a4db94011d3 | 52 | #define PWM_CHANNELS_PER_INSTANCE 2 |
sahilmgandhi | 18:6a4db94011d3 | 53 | #define PWM_DEFAULT_PERIOD_US 20000 |
sahilmgandhi | 18:6a4db94011d3 | 54 | #define PWM_PERIOD_MIN 3 |
sahilmgandhi | 18:6a4db94011d3 | 55 | |
sahilmgandhi | 18:6a4db94011d3 | 56 | typedef struct |
sahilmgandhi | 18:6a4db94011d3 | 57 | { |
sahilmgandhi | 18:6a4db94011d3 | 58 | const app_pwm_t * const instance; |
sahilmgandhi | 18:6a4db94011d3 | 59 | NRF_TIMER_Type * const timer_reg; |
sahilmgandhi | 18:6a4db94011d3 | 60 | uint8_t channels_allocated; |
sahilmgandhi | 18:6a4db94011d3 | 61 | uint32_t pins[PWM_CHANNELS_PER_INSTANCE]; |
sahilmgandhi | 18:6a4db94011d3 | 62 | uint16_t period_us; |
sahilmgandhi | 18:6a4db94011d3 | 63 | uint16_t duty_ticks[PWM_CHANNELS_PER_INSTANCE]; |
sahilmgandhi | 18:6a4db94011d3 | 64 | } pwm_t; |
sahilmgandhi | 18:6a4db94011d3 | 65 | |
sahilmgandhi | 18:6a4db94011d3 | 66 | |
sahilmgandhi | 18:6a4db94011d3 | 67 | APP_PWM_INSTANCE(m_pwm_instance_0, 1); //PWM0: Timer 1 |
sahilmgandhi | 18:6a4db94011d3 | 68 | APP_PWM_INSTANCE(m_pwm_instance_1, 2); //PWM1: Timer 2 |
sahilmgandhi | 18:6a4db94011d3 | 69 | |
sahilmgandhi | 18:6a4db94011d3 | 70 | |
sahilmgandhi | 18:6a4db94011d3 | 71 | static pwm_t m_pwm[] = { |
sahilmgandhi | 18:6a4db94011d3 | 72 | {.instance = &m_pwm_instance_0, .timer_reg = NRF_TIMER1, .channels_allocated = 0}, |
sahilmgandhi | 18:6a4db94011d3 | 73 | {.instance = &m_pwm_instance_1, .timer_reg = NRF_TIMER2, .channels_allocated = 0} |
sahilmgandhi | 18:6a4db94011d3 | 74 | }; |
sahilmgandhi | 18:6a4db94011d3 | 75 | |
sahilmgandhi | 18:6a4db94011d3 | 76 | static inline void pwm_ticks_set(pwm_t* pwm, uint8_t channel, uint16_t ticks) |
sahilmgandhi | 18:6a4db94011d3 | 77 | { |
sahilmgandhi | 18:6a4db94011d3 | 78 | pwm->duty_ticks[channel] = ticks; |
sahilmgandhi | 18:6a4db94011d3 | 79 | while (app_pwm_channel_duty_ticks_set(pwm->instance, channel, ticks) != NRF_SUCCESS); |
sahilmgandhi | 18:6a4db94011d3 | 80 | } |
sahilmgandhi | 18:6a4db94011d3 | 81 | |
sahilmgandhi | 18:6a4db94011d3 | 82 | static void pwm_reinit(pwm_t * pwm) |
sahilmgandhi | 18:6a4db94011d3 | 83 | { |
sahilmgandhi | 18:6a4db94011d3 | 84 | app_pwm_uninit(pwm->instance); |
sahilmgandhi | 18:6a4db94011d3 | 85 | app_pwm_config_t pwm_cfg = APP_PWM_DEFAULT_CONFIG_2CH(pwm->period_us, |
sahilmgandhi | 18:6a4db94011d3 | 86 | pwm->pins[0], |
sahilmgandhi | 18:6a4db94011d3 | 87 | pwm->pins[1]); |
sahilmgandhi | 18:6a4db94011d3 | 88 | app_pwm_init(pwm->instance, &pwm_cfg, NULL); |
sahilmgandhi | 18:6a4db94011d3 | 89 | app_pwm_enable(pwm->instance); |
sahilmgandhi | 18:6a4db94011d3 | 90 | |
sahilmgandhi | 18:6a4db94011d3 | 91 | for (uint8_t channel = 0; channel < PWM_CHANNELS_PER_INSTANCE; ++channel) { |
sahilmgandhi | 18:6a4db94011d3 | 92 | if ((pwm->channels_allocated & (1 << channel)) && (pwm->pins[channel] != APP_PWM_NOPIN)) { |
sahilmgandhi | 18:6a4db94011d3 | 93 | app_pwm_channel_duty_ticks_set(pwm->instance, channel, pwm->duty_ticks[channel]); |
sahilmgandhi | 18:6a4db94011d3 | 94 | } |
sahilmgandhi | 18:6a4db94011d3 | 95 | } |
sahilmgandhi | 18:6a4db94011d3 | 96 | } |
sahilmgandhi | 18:6a4db94011d3 | 97 | |
sahilmgandhi | 18:6a4db94011d3 | 98 | void GPIOTE_IRQHandler(void);// exported from nrf_drv_gpiote.c |
sahilmgandhi | 18:6a4db94011d3 | 99 | |
sahilmgandhi | 18:6a4db94011d3 | 100 | void TIMER1_IRQHandler(void); |
sahilmgandhi | 18:6a4db94011d3 | 101 | void TIMER2_IRQHandler(void); |
sahilmgandhi | 18:6a4db94011d3 | 102 | |
sahilmgandhi | 18:6a4db94011d3 | 103 | static const peripheral_handler_desc_t timer_handlers[] = |
sahilmgandhi | 18:6a4db94011d3 | 104 | { |
sahilmgandhi | 18:6a4db94011d3 | 105 | { |
sahilmgandhi | 18:6a4db94011d3 | 106 | TIMER1_IRQn, |
sahilmgandhi | 18:6a4db94011d3 | 107 | (uint32_t)TIMER1_IRQHandler |
sahilmgandhi | 18:6a4db94011d3 | 108 | }, |
sahilmgandhi | 18:6a4db94011d3 | 109 | { |
sahilmgandhi | 18:6a4db94011d3 | 110 | TIMER2_IRQn, |
sahilmgandhi | 18:6a4db94011d3 | 111 | (uint32_t)TIMER2_IRQHandler |
sahilmgandhi | 18:6a4db94011d3 | 112 | } |
sahilmgandhi | 18:6a4db94011d3 | 113 | }; |
sahilmgandhi | 18:6a4db94011d3 | 114 | |
sahilmgandhi | 18:6a4db94011d3 | 115 | void pwmout_init(pwmout_t *obj, PinName pin) |
sahilmgandhi | 18:6a4db94011d3 | 116 | { |
sahilmgandhi | 18:6a4db94011d3 | 117 | if (pin == NC) { |
sahilmgandhi | 18:6a4db94011d3 | 118 | error("PwmOut init failed. Invalid pin name."); |
sahilmgandhi | 18:6a4db94011d3 | 119 | } |
sahilmgandhi | 18:6a4db94011d3 | 120 | |
sahilmgandhi | 18:6a4db94011d3 | 121 | // Check if pin is already initialized and find the next free channel. |
sahilmgandhi | 18:6a4db94011d3 | 122 | uint8_t free_instance = 0xFF; |
sahilmgandhi | 18:6a4db94011d3 | 123 | uint8_t free_channel = 0xFF; |
sahilmgandhi | 18:6a4db94011d3 | 124 | |
sahilmgandhi | 18:6a4db94011d3 | 125 | for (uint8_t inst = 0; inst < PWM_INSTANCE_COUNT; ++inst) { |
sahilmgandhi | 18:6a4db94011d3 | 126 | if (m_pwm[inst].channels_allocated) { |
sahilmgandhi | 18:6a4db94011d3 | 127 | for (uint8_t channel = 0; channel < PWM_CHANNELS_PER_INSTANCE; ++channel) { |
sahilmgandhi | 18:6a4db94011d3 | 128 | if (m_pwm[inst].channels_allocated & (1 << channel)) { |
sahilmgandhi | 18:6a4db94011d3 | 129 | if (m_pwm[inst].pins[channel] == (uint32_t)pin) { |
sahilmgandhi | 18:6a4db94011d3 | 130 | error("PwmOut init failed. Pin is already in use."); |
sahilmgandhi | 18:6a4db94011d3 | 131 | return; |
sahilmgandhi | 18:6a4db94011d3 | 132 | } |
sahilmgandhi | 18:6a4db94011d3 | 133 | } |
sahilmgandhi | 18:6a4db94011d3 | 134 | else { |
sahilmgandhi | 18:6a4db94011d3 | 135 | if (free_instance == 0xFF) { |
sahilmgandhi | 18:6a4db94011d3 | 136 | free_instance = inst; |
sahilmgandhi | 18:6a4db94011d3 | 137 | free_channel = channel; |
sahilmgandhi | 18:6a4db94011d3 | 138 | } |
sahilmgandhi | 18:6a4db94011d3 | 139 | } |
sahilmgandhi | 18:6a4db94011d3 | 140 | } |
sahilmgandhi | 18:6a4db94011d3 | 141 | } |
sahilmgandhi | 18:6a4db94011d3 | 142 | else { |
sahilmgandhi | 18:6a4db94011d3 | 143 | if (free_instance == 0xFF) { |
sahilmgandhi | 18:6a4db94011d3 | 144 | free_instance = inst; |
sahilmgandhi | 18:6a4db94011d3 | 145 | free_channel = 0; |
sahilmgandhi | 18:6a4db94011d3 | 146 | } |
sahilmgandhi | 18:6a4db94011d3 | 147 | } |
sahilmgandhi | 18:6a4db94011d3 | 148 | } |
sahilmgandhi | 18:6a4db94011d3 | 149 | |
sahilmgandhi | 18:6a4db94011d3 | 150 | if (free_instance == 0xFF) |
sahilmgandhi | 18:6a4db94011d3 | 151 | { |
sahilmgandhi | 18:6a4db94011d3 | 152 | error("PwmOut init failed. All available PWM channels are in use."); |
sahilmgandhi | 18:6a4db94011d3 | 153 | return; |
sahilmgandhi | 18:6a4db94011d3 | 154 | } |
sahilmgandhi | 18:6a4db94011d3 | 155 | |
sahilmgandhi | 18:6a4db94011d3 | 156 | // Init / reinit PWM instance. |
sahilmgandhi | 18:6a4db94011d3 | 157 | m_pwm[free_instance].pins[free_channel] = (uint32_t) pin; |
sahilmgandhi | 18:6a4db94011d3 | 158 | m_pwm[free_instance].duty_ticks[free_channel] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 159 | if (!m_pwm[free_instance].channels_allocated) { |
sahilmgandhi | 18:6a4db94011d3 | 160 | |
sahilmgandhi | 18:6a4db94011d3 | 161 | NVIC_SetVector(GPIOTE_IRQn, (uint32_t) GPIOTE_IRQHandler); |
sahilmgandhi | 18:6a4db94011d3 | 162 | |
sahilmgandhi | 18:6a4db94011d3 | 163 | NVIC_SetVector(timer_handlers[free_instance].IRQn, timer_handlers[free_instance].vector); |
sahilmgandhi | 18:6a4db94011d3 | 164 | |
sahilmgandhi | 18:6a4db94011d3 | 165 | m_pwm[free_instance].period_us = PWM_DEFAULT_PERIOD_US; |
sahilmgandhi | 18:6a4db94011d3 | 166 | for (uint8_t channel = 1; channel < PWM_CHANNELS_PER_INSTANCE; ++channel) { |
sahilmgandhi | 18:6a4db94011d3 | 167 | m_pwm[free_instance].pins[channel] = APP_PWM_NOPIN; |
sahilmgandhi | 18:6a4db94011d3 | 168 | m_pwm[free_instance].duty_ticks[channel] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 169 | } |
sahilmgandhi | 18:6a4db94011d3 | 170 | app_pwm_config_t pwm_cfg = APP_PWM_DEFAULT_CONFIG_1CH(PWM_DEFAULT_PERIOD_US, pin); |
sahilmgandhi | 18:6a4db94011d3 | 171 | app_pwm_init(m_pwm[free_instance].instance, &pwm_cfg, NULL); |
sahilmgandhi | 18:6a4db94011d3 | 172 | app_pwm_enable(m_pwm[free_instance].instance); |
sahilmgandhi | 18:6a4db94011d3 | 173 | } |
sahilmgandhi | 18:6a4db94011d3 | 174 | else { |
sahilmgandhi | 18:6a4db94011d3 | 175 | pwm_reinit(&m_pwm[free_instance]); |
sahilmgandhi | 18:6a4db94011d3 | 176 | } |
sahilmgandhi | 18:6a4db94011d3 | 177 | m_pwm[free_instance].channels_allocated |= (1 << free_channel); |
sahilmgandhi | 18:6a4db94011d3 | 178 | |
sahilmgandhi | 18:6a4db94011d3 | 179 | obj->pin = pin; |
sahilmgandhi | 18:6a4db94011d3 | 180 | obj->pwm_struct = (void *) &m_pwm[free_instance]; |
sahilmgandhi | 18:6a4db94011d3 | 181 | obj->pwm_channel = free_channel; |
sahilmgandhi | 18:6a4db94011d3 | 182 | } |
sahilmgandhi | 18:6a4db94011d3 | 183 | |
sahilmgandhi | 18:6a4db94011d3 | 184 | void pwmout_free(pwmout_t *obj) |
sahilmgandhi | 18:6a4db94011d3 | 185 | { |
sahilmgandhi | 18:6a4db94011d3 | 186 | MBED_ASSERT(obj->pwm_name != (PWMName)NC); |
sahilmgandhi | 18:6a4db94011d3 | 187 | MBED_ASSERT(obj->pwm_channel < PWM_CHANNELS_PER_INSTANCE); |
sahilmgandhi | 18:6a4db94011d3 | 188 | |
sahilmgandhi | 18:6a4db94011d3 | 189 | pwm_t * pwm = (pwm_t *) obj->pwm_struct; |
sahilmgandhi | 18:6a4db94011d3 | 190 | pwm->channels_allocated &= ~(1 << obj->pwm_channel); |
sahilmgandhi | 18:6a4db94011d3 | 191 | pwm->pins[obj->pwm_channel] = APP_PWM_NOPIN; |
sahilmgandhi | 18:6a4db94011d3 | 192 | pwm->duty_ticks[obj->pwm_channel] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 193 | |
sahilmgandhi | 18:6a4db94011d3 | 194 | app_pwm_uninit(pwm->instance); |
sahilmgandhi | 18:6a4db94011d3 | 195 | if (pwm->channels_allocated) { |
sahilmgandhi | 18:6a4db94011d3 | 196 | pwm_reinit(pwm); |
sahilmgandhi | 18:6a4db94011d3 | 197 | } |
sahilmgandhi | 18:6a4db94011d3 | 198 | |
sahilmgandhi | 18:6a4db94011d3 | 199 | obj->pwm_struct = NULL; |
sahilmgandhi | 18:6a4db94011d3 | 200 | } |
sahilmgandhi | 18:6a4db94011d3 | 201 | |
sahilmgandhi | 18:6a4db94011d3 | 202 | void pwmout_write(pwmout_t *obj, float value) |
sahilmgandhi | 18:6a4db94011d3 | 203 | { |
sahilmgandhi | 18:6a4db94011d3 | 204 | pwm_t * pwm = (pwm_t *) obj->pwm_struct; |
sahilmgandhi | 18:6a4db94011d3 | 205 | if (value > 1.0f) { |
sahilmgandhi | 18:6a4db94011d3 | 206 | value = 1.0f; |
sahilmgandhi | 18:6a4db94011d3 | 207 | } |
sahilmgandhi | 18:6a4db94011d3 | 208 | |
sahilmgandhi | 18:6a4db94011d3 | 209 | app_pwm_channel_duty_set(pwm->instance, obj->pwm_channel, (app_pwm_duty_t)(value * 100.0f) ); |
sahilmgandhi | 18:6a4db94011d3 | 210 | } |
sahilmgandhi | 18:6a4db94011d3 | 211 | |
sahilmgandhi | 18:6a4db94011d3 | 212 | float pwmout_read(pwmout_t *obj) |
sahilmgandhi | 18:6a4db94011d3 | 213 | { |
sahilmgandhi | 18:6a4db94011d3 | 214 | pwm_t * pwm = (pwm_t *) obj->pwm_struct; |
sahilmgandhi | 18:6a4db94011d3 | 215 | MBED_ASSERT(pwm != NULL); |
sahilmgandhi | 18:6a4db94011d3 | 216 | return ((float)pwm->duty_ticks[obj->pwm_channel] / (float)app_pwm_cycle_ticks_get(pwm->instance)); |
sahilmgandhi | 18:6a4db94011d3 | 217 | } |
sahilmgandhi | 18:6a4db94011d3 | 218 | |
sahilmgandhi | 18:6a4db94011d3 | 219 | void pwmout_period(pwmout_t *obj, float seconds) |
sahilmgandhi | 18:6a4db94011d3 | 220 | { |
sahilmgandhi | 18:6a4db94011d3 | 221 | pwmout_period_us(obj, seconds * 1000000.0f); |
sahilmgandhi | 18:6a4db94011d3 | 222 | } |
sahilmgandhi | 18:6a4db94011d3 | 223 | |
sahilmgandhi | 18:6a4db94011d3 | 224 | void pwmout_period_ms(pwmout_t *obj, int ms) |
sahilmgandhi | 18:6a4db94011d3 | 225 | { |
sahilmgandhi | 18:6a4db94011d3 | 226 | pwmout_period_us(obj, ms * 1000); |
sahilmgandhi | 18:6a4db94011d3 | 227 | } |
sahilmgandhi | 18:6a4db94011d3 | 228 | |
sahilmgandhi | 18:6a4db94011d3 | 229 | void pwmout_period_us(pwmout_t *obj, int us) |
sahilmgandhi | 18:6a4db94011d3 | 230 | { |
sahilmgandhi | 18:6a4db94011d3 | 231 | pwm_t * pwm = (pwm_t *) obj->pwm_struct; |
sahilmgandhi | 18:6a4db94011d3 | 232 | MBED_ASSERT(pwm != NULL); |
sahilmgandhi | 18:6a4db94011d3 | 233 | if (us < PWM_PERIOD_MIN) { |
sahilmgandhi | 18:6a4db94011d3 | 234 | us = PWM_PERIOD_MIN; |
sahilmgandhi | 18:6a4db94011d3 | 235 | } |
sahilmgandhi | 18:6a4db94011d3 | 236 | pwm->period_us = (uint32_t)us; |
sahilmgandhi | 18:6a4db94011d3 | 237 | pwm_reinit(pwm); |
sahilmgandhi | 18:6a4db94011d3 | 238 | } |
sahilmgandhi | 18:6a4db94011d3 | 239 | |
sahilmgandhi | 18:6a4db94011d3 | 240 | void pwmout_pulsewidth(pwmout_t *obj, float seconds) |
sahilmgandhi | 18:6a4db94011d3 | 241 | { |
sahilmgandhi | 18:6a4db94011d3 | 242 | pwmout_pulsewidth_us(obj, seconds * 1000000.0f); |
sahilmgandhi | 18:6a4db94011d3 | 243 | } |
sahilmgandhi | 18:6a4db94011d3 | 244 | |
sahilmgandhi | 18:6a4db94011d3 | 245 | void pwmout_pulsewidth_ms(pwmout_t *obj, int ms) |
sahilmgandhi | 18:6a4db94011d3 | 246 | { |
sahilmgandhi | 18:6a4db94011d3 | 247 | pwmout_pulsewidth_us(obj, ms * 1000); |
sahilmgandhi | 18:6a4db94011d3 | 248 | } |
sahilmgandhi | 18:6a4db94011d3 | 249 | |
sahilmgandhi | 18:6a4db94011d3 | 250 | void pwmout_pulsewidth_us(pwmout_t *obj, int us) |
sahilmgandhi | 18:6a4db94011d3 | 251 | { |
sahilmgandhi | 18:6a4db94011d3 | 252 | pwm_t * pwm = (pwm_t *) obj->pwm_struct; |
sahilmgandhi | 18:6a4db94011d3 | 253 | MBED_ASSERT(pwm); |
sahilmgandhi | 18:6a4db94011d3 | 254 | |
sahilmgandhi | 18:6a4db94011d3 | 255 | uint16_t ticks = nrf_timer_us_to_ticks((uint32_t)us, nrf_timer_frequency_get(pwm->timer_reg)); |
sahilmgandhi | 18:6a4db94011d3 | 256 | pwm_ticks_set(pwm, obj->pwm_channel, ticks); |
sahilmgandhi | 18:6a4db94011d3 | 257 | } |
sahilmgandhi | 18:6a4db94011d3 | 258 | |
sahilmgandhi | 18:6a4db94011d3 | 259 | #endif // DEVICE_PWMOUT |