MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/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?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 *******************************************************************************
sahilmgandhi 18:6a4db94011d3 3 * Copyright (c) 2015, STMicroelectronics
sahilmgandhi 18:6a4db94011d3 4 * All rights reserved.
sahilmgandhi 18:6a4db94011d3 5 *
sahilmgandhi 18:6a4db94011d3 6 * Redistribution and use in source and binary forms, with or without
sahilmgandhi 18:6a4db94011d3 7 * modification, are permitted provided that the following conditions are met:
sahilmgandhi 18:6a4db94011d3 8 *
sahilmgandhi 18:6a4db94011d3 9 * 1. Redistributions of source code must retain the above copyright notice,
sahilmgandhi 18:6a4db94011d3 10 * this list of conditions and the following disclaimer.
sahilmgandhi 18:6a4db94011d3 11 * 2. Redistributions in binary form must reproduce the above copyright notice,
sahilmgandhi 18:6a4db94011d3 12 * this list of conditions and the following disclaimer in the documentation
sahilmgandhi 18:6a4db94011d3 13 * and/or other materials provided with the distribution.
sahilmgandhi 18:6a4db94011d3 14 * 3. Neither the name of STMicroelectronics nor the names of its contributors
sahilmgandhi 18:6a4db94011d3 15 * may be used to endorse or promote products derived from this software
sahilmgandhi 18:6a4db94011d3 16 * without specific prior written permission.
sahilmgandhi 18:6a4db94011d3 17 *
sahilmgandhi 18:6a4db94011d3 18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
sahilmgandhi 18:6a4db94011d3 19 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
sahilmgandhi 18:6a4db94011d3 20 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
sahilmgandhi 18:6a4db94011d3 21 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
sahilmgandhi 18:6a4db94011d3 22 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
sahilmgandhi 18:6a4db94011d3 23 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
sahilmgandhi 18:6a4db94011d3 24 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
sahilmgandhi 18:6a4db94011d3 25 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
sahilmgandhi 18:6a4db94011d3 26 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
sahilmgandhi 18:6a4db94011d3 27 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
sahilmgandhi 18:6a4db94011d3 28 *******************************************************************************
sahilmgandhi 18:6a4db94011d3 29 */
sahilmgandhi 18:6a4db94011d3 30 #include "pwmout_api.h"
sahilmgandhi 18:6a4db94011d3 31
sahilmgandhi 18:6a4db94011d3 32 #if DEVICE_PWMOUT
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 35 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 36 #include "mbed_error.h"
sahilmgandhi 18:6a4db94011d3 37 #include "PeripheralPins.h"
sahilmgandhi 18:6a4db94011d3 38 #include "pwmout_device.h"
sahilmgandhi 18:6a4db94011d3 39
sahilmgandhi 18:6a4db94011d3 40 static TIM_HandleTypeDef TimHandle;
sahilmgandhi 18:6a4db94011d3 41
sahilmgandhi 18:6a4db94011d3 42 void pwmout_init(pwmout_t* obj, PinName pin)
sahilmgandhi 18:6a4db94011d3 43 {
sahilmgandhi 18:6a4db94011d3 44 // Get the peripheral name from the pin and assign it to the object
sahilmgandhi 18:6a4db94011d3 45 obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
sahilmgandhi 18:6a4db94011d3 46 MBED_ASSERT(obj->pwm != (PWMName)NC);
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 // Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
sahilmgandhi 18:6a4db94011d3 49 uint32_t function = pinmap_function(pin, PinMap_PWM);
sahilmgandhi 18:6a4db94011d3 50 MBED_ASSERT(function != (uint32_t)NC);
sahilmgandhi 18:6a4db94011d3 51 obj->channel = STM_PIN_CHANNEL(function);
sahilmgandhi 18:6a4db94011d3 52 obj->inverted = STM_PIN_INVERTED(function);
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 // Enable TIM clock
sahilmgandhi 18:6a4db94011d3 55 #if defined(TIM1_BASE)
sahilmgandhi 18:6a4db94011d3 56 if (obj->pwm == PWM_1){
sahilmgandhi 18:6a4db94011d3 57 __HAL_RCC_TIM1_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 58 }
sahilmgandhi 18:6a4db94011d3 59 #endif
sahilmgandhi 18:6a4db94011d3 60 #if defined(TIM2_BASE)
sahilmgandhi 18:6a4db94011d3 61 if (obj->pwm == PWM_2) {
sahilmgandhi 18:6a4db94011d3 62 __HAL_RCC_TIM2_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 63 }
sahilmgandhi 18:6a4db94011d3 64 #endif
sahilmgandhi 18:6a4db94011d3 65 #if defined(TIM3_BASE)
sahilmgandhi 18:6a4db94011d3 66 if (obj->pwm == PWM_3) {
sahilmgandhi 18:6a4db94011d3 67 __HAL_RCC_TIM3_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 68 }
sahilmgandhi 18:6a4db94011d3 69 #endif
sahilmgandhi 18:6a4db94011d3 70 #if defined(TIM4_BASE)
sahilmgandhi 18:6a4db94011d3 71 if (obj->pwm == PWM_4) {
sahilmgandhi 18:6a4db94011d3 72 __HAL_RCC_TIM4_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 73 }
sahilmgandhi 18:6a4db94011d3 74 #endif
sahilmgandhi 18:6a4db94011d3 75 #if defined(TIM5_BASE)
sahilmgandhi 18:6a4db94011d3 76 if (obj->pwm == PWM_5) {
sahilmgandhi 18:6a4db94011d3 77 __HAL_RCC_TIM5_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 78 }
sahilmgandhi 18:6a4db94011d3 79 #endif
sahilmgandhi 18:6a4db94011d3 80 #if defined(TIM8_BASE)
sahilmgandhi 18:6a4db94011d3 81 if (obj->pwm == PWM_8) {
sahilmgandhi 18:6a4db94011d3 82 __HAL_RCC_TIM8_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 83 }
sahilmgandhi 18:6a4db94011d3 84 #endif
sahilmgandhi 18:6a4db94011d3 85 #if defined(TIM9_BASE)
sahilmgandhi 18:6a4db94011d3 86 if (obj->pwm == PWM_9) {
sahilmgandhi 18:6a4db94011d3 87 __HAL_RCC_TIM9_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 88 }
sahilmgandhi 18:6a4db94011d3 89 #endif
sahilmgandhi 18:6a4db94011d3 90 #if defined(TIM10_BASE)
sahilmgandhi 18:6a4db94011d3 91 if (obj->pwm == PWM_10) {
sahilmgandhi 18:6a4db94011d3 92 __HAL_RCC_TIM10_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 93 }
sahilmgandhi 18:6a4db94011d3 94 #endif
sahilmgandhi 18:6a4db94011d3 95 #if defined(TIM11_BASE)
sahilmgandhi 18:6a4db94011d3 96 if (obj->pwm == PWM_11) {
sahilmgandhi 18:6a4db94011d3 97 __HAL_RCC_TIM11_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 98 }
sahilmgandhi 18:6a4db94011d3 99 #endif
sahilmgandhi 18:6a4db94011d3 100 #if defined(TIM12_BASE)
sahilmgandhi 18:6a4db94011d3 101 if (obj->pwm == PWM_12) {
sahilmgandhi 18:6a4db94011d3 102 __HAL_RCC_TIM12_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 103 }
sahilmgandhi 18:6a4db94011d3 104 #endif
sahilmgandhi 18:6a4db94011d3 105 #if defined(TIM13_BASE)
sahilmgandhi 18:6a4db94011d3 106 if (obj->pwm == PWM_13) {
sahilmgandhi 18:6a4db94011d3 107 __HAL_RCC_TIM13_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 108 }
sahilmgandhi 18:6a4db94011d3 109 #endif
sahilmgandhi 18:6a4db94011d3 110 #if defined(TIM14_BASE)
sahilmgandhi 18:6a4db94011d3 111 if (obj->pwm == PWM_14) {
sahilmgandhi 18:6a4db94011d3 112 __HAL_RCC_TIM14_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 113 }
sahilmgandhi 18:6a4db94011d3 114 #endif
sahilmgandhi 18:6a4db94011d3 115 #if defined(TIM15_BASE)
sahilmgandhi 18:6a4db94011d3 116 if (obj->pwm == PWM_15) {
sahilmgandhi 18:6a4db94011d3 117 __HAL_RCC_TIM15_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 118 }
sahilmgandhi 18:6a4db94011d3 119 #endif
sahilmgandhi 18:6a4db94011d3 120 #if defined(TIM16_BASE)
sahilmgandhi 18:6a4db94011d3 121 if (obj->pwm == PWM_16) {
sahilmgandhi 18:6a4db94011d3 122 __HAL_RCC_TIM16_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 123 }
sahilmgandhi 18:6a4db94011d3 124 #endif
sahilmgandhi 18:6a4db94011d3 125 #if defined(TIM17_BASE)
sahilmgandhi 18:6a4db94011d3 126 if (obj->pwm == PWM_17) {
sahilmgandhi 18:6a4db94011d3 127 __HAL_RCC_TIM17_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 128 }
sahilmgandhi 18:6a4db94011d3 129 #endif
sahilmgandhi 18:6a4db94011d3 130 #if defined(TIM18_BASE)
sahilmgandhi 18:6a4db94011d3 131 if (obj->pwm == PWM_18) {
sahilmgandhi 18:6a4db94011d3 132 __HAL_RCC_TIM18_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 133 }
sahilmgandhi 18:6a4db94011d3 134 #endif
sahilmgandhi 18:6a4db94011d3 135 #if defined(TIM19_BASE)
sahilmgandhi 18:6a4db94011d3 136 if (obj->pwm == PWM_19) {
sahilmgandhi 18:6a4db94011d3 137 __HAL_RCC_TIM19_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 138 }
sahilmgandhi 18:6a4db94011d3 139 #endif
sahilmgandhi 18:6a4db94011d3 140 #if defined(TIM20_BASE)
sahilmgandhi 18:6a4db94011d3 141 if (obj->pwm == PWM_20) {
sahilmgandhi 18:6a4db94011d3 142 __HAL_RCC_TIM20_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 143 }
sahilmgandhi 18:6a4db94011d3 144 #endif
sahilmgandhi 18:6a4db94011d3 145 #if defined(TIM21_BASE)
sahilmgandhi 18:6a4db94011d3 146 if (obj->pwm == PWM_21) {
sahilmgandhi 18:6a4db94011d3 147 __HAL_RCC_TIM21_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 148 }
sahilmgandhi 18:6a4db94011d3 149 #endif
sahilmgandhi 18:6a4db94011d3 150 #if defined(TIM22_BASE)
sahilmgandhi 18:6a4db94011d3 151 if (obj->pwm == PWM_22) {
sahilmgandhi 18:6a4db94011d3 152 __HAL_RCC_TIM22_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 153 }
sahilmgandhi 18:6a4db94011d3 154 #endif
sahilmgandhi 18:6a4db94011d3 155 // Configure GPIO
sahilmgandhi 18:6a4db94011d3 156 pinmap_pinout(pin, PinMap_PWM);
sahilmgandhi 18:6a4db94011d3 157
sahilmgandhi 18:6a4db94011d3 158 obj->pin = pin;
sahilmgandhi 18:6a4db94011d3 159 obj->period = 0;
sahilmgandhi 18:6a4db94011d3 160 obj->pulse = 0;
sahilmgandhi 18:6a4db94011d3 161 obj->prescaler = 1;
sahilmgandhi 18:6a4db94011d3 162
sahilmgandhi 18:6a4db94011d3 163 pwmout_period_us(obj, 20000); // 20 ms per default
sahilmgandhi 18:6a4db94011d3 164 }
sahilmgandhi 18:6a4db94011d3 165
sahilmgandhi 18:6a4db94011d3 166 void pwmout_free(pwmout_t* obj)
sahilmgandhi 18:6a4db94011d3 167 {
sahilmgandhi 18:6a4db94011d3 168 // Configure GPIO
sahilmgandhi 18:6a4db94011d3 169 pin_function(obj->pin, STM_PIN_DATA(STM_MODE_INPUT, GPIO_NOPULL, 0));
sahilmgandhi 18:6a4db94011d3 170 }
sahilmgandhi 18:6a4db94011d3 171
sahilmgandhi 18:6a4db94011d3 172 void pwmout_write(pwmout_t* obj, float value)
sahilmgandhi 18:6a4db94011d3 173 {
sahilmgandhi 18:6a4db94011d3 174 TIM_OC_InitTypeDef sConfig;
sahilmgandhi 18:6a4db94011d3 175 int channel = 0;
sahilmgandhi 18:6a4db94011d3 176
sahilmgandhi 18:6a4db94011d3 177 TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
sahilmgandhi 18:6a4db94011d3 178
sahilmgandhi 18:6a4db94011d3 179 if (value < (float)0.0) {
sahilmgandhi 18:6a4db94011d3 180 value = 0.0;
sahilmgandhi 18:6a4db94011d3 181 } else if (value > (float)1.0) {
sahilmgandhi 18:6a4db94011d3 182 value = 1.0;
sahilmgandhi 18:6a4db94011d3 183 }
sahilmgandhi 18:6a4db94011d3 184
sahilmgandhi 18:6a4db94011d3 185 obj->pulse = (uint32_t)((float)obj->period * value);
sahilmgandhi 18:6a4db94011d3 186
sahilmgandhi 18:6a4db94011d3 187 // Configure channels
sahilmgandhi 18:6a4db94011d3 188 sConfig.OCMode = TIM_OCMODE_PWM1;
sahilmgandhi 18:6a4db94011d3 189 sConfig.Pulse = obj->pulse / obj->prescaler;
sahilmgandhi 18:6a4db94011d3 190 sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sahilmgandhi 18:6a4db94011d3 191 sConfig.OCFastMode = TIM_OCFAST_DISABLE;
sahilmgandhi 18:6a4db94011d3 192 #if defined(TIM_OCIDLESTATE_RESET)
sahilmgandhi 18:6a4db94011d3 193 sConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sahilmgandhi 18:6a4db94011d3 194 #endif
sahilmgandhi 18:6a4db94011d3 195 #if defined(TIM_OCNIDLESTATE_RESET)
sahilmgandhi 18:6a4db94011d3 196 sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sahilmgandhi 18:6a4db94011d3 197 sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
sahilmgandhi 18:6a4db94011d3 198 #endif
sahilmgandhi 18:6a4db94011d3 199
sahilmgandhi 18:6a4db94011d3 200 switch (obj->channel) {
sahilmgandhi 18:6a4db94011d3 201 case 1:
sahilmgandhi 18:6a4db94011d3 202 channel = TIM_CHANNEL_1;
sahilmgandhi 18:6a4db94011d3 203 break;
sahilmgandhi 18:6a4db94011d3 204 case 2:
sahilmgandhi 18:6a4db94011d3 205 channel = TIM_CHANNEL_2;
sahilmgandhi 18:6a4db94011d3 206 break;
sahilmgandhi 18:6a4db94011d3 207 case 3:
sahilmgandhi 18:6a4db94011d3 208 channel = TIM_CHANNEL_3;
sahilmgandhi 18:6a4db94011d3 209 break;
sahilmgandhi 18:6a4db94011d3 210 case 4:
sahilmgandhi 18:6a4db94011d3 211 channel = TIM_CHANNEL_4;
sahilmgandhi 18:6a4db94011d3 212 break;
sahilmgandhi 18:6a4db94011d3 213 default:
sahilmgandhi 18:6a4db94011d3 214 return;
sahilmgandhi 18:6a4db94011d3 215 }
sahilmgandhi 18:6a4db94011d3 216
sahilmgandhi 18:6a4db94011d3 217 if (HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, channel) != HAL_OK) {
sahilmgandhi 18:6a4db94011d3 218 error("Cannot initialize PWM\n");
sahilmgandhi 18:6a4db94011d3 219 }
sahilmgandhi 18:6a4db94011d3 220
sahilmgandhi 18:6a4db94011d3 221 #if !defined(PWMOUT_INVERTED_NOT_SUPPORTED)
sahilmgandhi 18:6a4db94011d3 222 if (obj->inverted) {
sahilmgandhi 18:6a4db94011d3 223 HAL_TIMEx_PWMN_Start(&TimHandle, channel);
sahilmgandhi 18:6a4db94011d3 224 } else
sahilmgandhi 18:6a4db94011d3 225 #endif
sahilmgandhi 18:6a4db94011d3 226 {
sahilmgandhi 18:6a4db94011d3 227 HAL_TIM_PWM_Start(&TimHandle, channel);
sahilmgandhi 18:6a4db94011d3 228 }
sahilmgandhi 18:6a4db94011d3 229 }
sahilmgandhi 18:6a4db94011d3 230
sahilmgandhi 18:6a4db94011d3 231 float pwmout_read(pwmout_t* obj)
sahilmgandhi 18:6a4db94011d3 232 {
sahilmgandhi 18:6a4db94011d3 233 float value = 0;
sahilmgandhi 18:6a4db94011d3 234 if (obj->period > 0) {
sahilmgandhi 18:6a4db94011d3 235 value = (float)(obj->pulse) / (float)(obj->period);
sahilmgandhi 18:6a4db94011d3 236 }
sahilmgandhi 18:6a4db94011d3 237 return ((value > (float)1.0) ? (float)(1.0) : (value));
sahilmgandhi 18:6a4db94011d3 238 }
sahilmgandhi 18:6a4db94011d3 239
sahilmgandhi 18:6a4db94011d3 240 void pwmout_period(pwmout_t* obj, float seconds)
sahilmgandhi 18:6a4db94011d3 241 {
sahilmgandhi 18:6a4db94011d3 242 pwmout_period_us(obj, seconds * 1000000.0f);
sahilmgandhi 18:6a4db94011d3 243 }
sahilmgandhi 18:6a4db94011d3 244
sahilmgandhi 18:6a4db94011d3 245 void pwmout_period_ms(pwmout_t* obj, int ms)
sahilmgandhi 18:6a4db94011d3 246 {
sahilmgandhi 18:6a4db94011d3 247 pwmout_period_us(obj, ms * 1000);
sahilmgandhi 18:6a4db94011d3 248 }
sahilmgandhi 18:6a4db94011d3 249
sahilmgandhi 18:6a4db94011d3 250 void pwmout_period_us(pwmout_t* obj, int us)
sahilmgandhi 18:6a4db94011d3 251 {
sahilmgandhi 18:6a4db94011d3 252 TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
sahilmgandhi 18:6a4db94011d3 253 RCC_ClkInitTypeDef RCC_ClkInitStruct;
sahilmgandhi 18:6a4db94011d3 254 uint32_t PclkFreq = 0;
sahilmgandhi 18:6a4db94011d3 255 uint32_t APBxCLKDivider = RCC_HCLK_DIV1;
sahilmgandhi 18:6a4db94011d3 256 float dc = pwmout_read(obj);
sahilmgandhi 18:6a4db94011d3 257 uint8_t i = 0;
sahilmgandhi 18:6a4db94011d3 258
sahilmgandhi 18:6a4db94011d3 259 __HAL_TIM_DISABLE(&TimHandle);
sahilmgandhi 18:6a4db94011d3 260
sahilmgandhi 18:6a4db94011d3 261 // Get clock configuration
sahilmgandhi 18:6a4db94011d3 262 // Note: PclkFreq contains here the Latency (not used after)
sahilmgandhi 18:6a4db94011d3 263 HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &PclkFreq);
sahilmgandhi 18:6a4db94011d3 264
sahilmgandhi 18:6a4db94011d3 265 /* Parse the pwm / apb mapping table to find the right entry */
sahilmgandhi 18:6a4db94011d3 266 while(pwm_apb_map_table[i].pwm != obj->pwm) {
sahilmgandhi 18:6a4db94011d3 267 i++;
sahilmgandhi 18:6a4db94011d3 268 }
sahilmgandhi 18:6a4db94011d3 269
sahilmgandhi 18:6a4db94011d3 270 if(pwm_apb_map_table[i].pwm == 0)
sahilmgandhi 18:6a4db94011d3 271 error("Unknown PWM instance");
sahilmgandhi 18:6a4db94011d3 272
sahilmgandhi 18:6a4db94011d3 273 if(pwm_apb_map_table[i].pwmoutApb == PWMOUT_ON_APB1) {
sahilmgandhi 18:6a4db94011d3 274 PclkFreq = HAL_RCC_GetPCLK1Freq();
sahilmgandhi 18:6a4db94011d3 275 APBxCLKDivider = RCC_ClkInitStruct.APB1CLKDivider;
sahilmgandhi 18:6a4db94011d3 276 } else {
sahilmgandhi 18:6a4db94011d3 277 #if !defined(PWMOUT_APB2_NOT_SUPPORTED)
sahilmgandhi 18:6a4db94011d3 278 PclkFreq = HAL_RCC_GetPCLK2Freq();
sahilmgandhi 18:6a4db94011d3 279 APBxCLKDivider = RCC_ClkInitStruct.APB2CLKDivider;
sahilmgandhi 18:6a4db94011d3 280 #endif
sahilmgandhi 18:6a4db94011d3 281 }
sahilmgandhi 18:6a4db94011d3 282
sahilmgandhi 18:6a4db94011d3 283
sahilmgandhi 18:6a4db94011d3 284 /* By default use, 1us as SW pre-scaler */
sahilmgandhi 18:6a4db94011d3 285 obj->prescaler = 1;
sahilmgandhi 18:6a4db94011d3 286 // TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx
sahilmgandhi 18:6a4db94011d3 287 if (APBxCLKDivider == RCC_HCLK_DIV1) {
sahilmgandhi 18:6a4db94011d3 288 TimHandle.Init.Prescaler = (((PclkFreq) / 1000000)) - 1; // 1 us tick
sahilmgandhi 18:6a4db94011d3 289 } else {
sahilmgandhi 18:6a4db94011d3 290 TimHandle.Init.Prescaler = (((PclkFreq * 2) / 1000000)) - 1; // 1 us tick
sahilmgandhi 18:6a4db94011d3 291 }
sahilmgandhi 18:6a4db94011d3 292 TimHandle.Init.Period = (us - 1);
sahilmgandhi 18:6a4db94011d3 293
sahilmgandhi 18:6a4db94011d3 294 /* In case period or pre-scalers are out of range, loop-in to get valid values */
sahilmgandhi 18:6a4db94011d3 295 while ((TimHandle.Init.Period > 0xFFFF) || (TimHandle.Init.Prescaler > 0xFFFF)) {
sahilmgandhi 18:6a4db94011d3 296 obj->prescaler = obj->prescaler * 2;
sahilmgandhi 18:6a4db94011d3 297 if (APBxCLKDivider == RCC_HCLK_DIV1) {
sahilmgandhi 18:6a4db94011d3 298 TimHandle.Init.Prescaler = (((PclkFreq) / 1000000) * obj->prescaler) - 1;
sahilmgandhi 18:6a4db94011d3 299 } else {
sahilmgandhi 18:6a4db94011d3 300 TimHandle.Init.Prescaler = (((PclkFreq * 2) / 1000000) * obj->prescaler) - 1;
sahilmgandhi 18:6a4db94011d3 301 }
sahilmgandhi 18:6a4db94011d3 302 TimHandle.Init.Period = (us - 1) / obj->prescaler;
sahilmgandhi 18:6a4db94011d3 303 /* Period decreases and prescaler increases over loops, so check for
sahilmgandhi 18:6a4db94011d3 304 * possible out of range cases */
sahilmgandhi 18:6a4db94011d3 305 if ((TimHandle.Init.Period < 0xFFFF) && (TimHandle.Init.Prescaler > 0xFFFF)) {
sahilmgandhi 18:6a4db94011d3 306 error("Cannot initialize PWM\n");
sahilmgandhi 18:6a4db94011d3 307 break;
sahilmgandhi 18:6a4db94011d3 308 }
sahilmgandhi 18:6a4db94011d3 309 }
sahilmgandhi 18:6a4db94011d3 310
sahilmgandhi 18:6a4db94011d3 311 TimHandle.Init.ClockDivision = 0;
sahilmgandhi 18:6a4db94011d3 312 TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
sahilmgandhi 18:6a4db94011d3 313
sahilmgandhi 18:6a4db94011d3 314 if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) {
sahilmgandhi 18:6a4db94011d3 315 error("Cannot initialize PWM\n");
sahilmgandhi 18:6a4db94011d3 316 }
sahilmgandhi 18:6a4db94011d3 317
sahilmgandhi 18:6a4db94011d3 318 // Save for future use
sahilmgandhi 18:6a4db94011d3 319 obj->period = us;
sahilmgandhi 18:6a4db94011d3 320
sahilmgandhi 18:6a4db94011d3 321 // Set duty cycle again
sahilmgandhi 18:6a4db94011d3 322 pwmout_write(obj, dc);
sahilmgandhi 18:6a4db94011d3 323
sahilmgandhi 18:6a4db94011d3 324 __HAL_TIM_ENABLE(&TimHandle);
sahilmgandhi 18:6a4db94011d3 325 }
sahilmgandhi 18:6a4db94011d3 326
sahilmgandhi 18:6a4db94011d3 327 void pwmout_pulsewidth(pwmout_t* obj, float seconds)
sahilmgandhi 18:6a4db94011d3 328 {
sahilmgandhi 18:6a4db94011d3 329 pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
sahilmgandhi 18:6a4db94011d3 330 }
sahilmgandhi 18:6a4db94011d3 331
sahilmgandhi 18:6a4db94011d3 332 void pwmout_pulsewidth_ms(pwmout_t* obj, int ms)
sahilmgandhi 18:6a4db94011d3 333 {
sahilmgandhi 18:6a4db94011d3 334 pwmout_pulsewidth_us(obj, ms * 1000);
sahilmgandhi 18:6a4db94011d3 335 }
sahilmgandhi 18:6a4db94011d3 336
sahilmgandhi 18:6a4db94011d3 337 void pwmout_pulsewidth_us(pwmout_t* obj, int us)
sahilmgandhi 18:6a4db94011d3 338 {
sahilmgandhi 18:6a4db94011d3 339 float value = (float)us / (float)obj->period;
sahilmgandhi 18:6a4db94011d3 340 pwmout_write(obj, value);
sahilmgandhi 18:6a4db94011d3 341 }
sahilmgandhi 18:6a4db94011d3 342
sahilmgandhi 18:6a4db94011d3 343 #endif