EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

targets/TARGET_STM/pwmout_api.c@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 /* mbed Microcontroller Library
be_bryan 0:b74591d5ab33 2 *******************************************************************************
be_bryan 0:b74591d5ab33 3 * Copyright (c) 2015, STMicroelectronics
be_bryan 0:b74591d5ab33 4 * All rights reserved.
be_bryan 0:b74591d5ab33 5 *
be_bryan 0:b74591d5ab33 6 * Redistribution and use in source and binary forms, with or without
be_bryan 0:b74591d5ab33 7 * modification, are permitted provided that the following conditions are met:
be_bryan 0:b74591d5ab33 8 *
be_bryan 0:b74591d5ab33 9 * 1. Redistributions of source code must retain the above copyright notice,
be_bryan 0:b74591d5ab33 10 * this list of conditions and the following disclaimer.
be_bryan 0:b74591d5ab33 11 * 2. Redistributions in binary form must reproduce the above copyright notice,
be_bryan 0:b74591d5ab33 12 * this list of conditions and the following disclaimer in the documentation
be_bryan 0:b74591d5ab33 13 * and/or other materials provided with the distribution.
be_bryan 0:b74591d5ab33 14 * 3. Neither the name of STMicroelectronics nor the names of its contributors
be_bryan 0:b74591d5ab33 15 * may be used to endorse or promote products derived from this software
be_bryan 0:b74591d5ab33 16 * without specific prior written permission.
be_bryan 0:b74591d5ab33 17 *
be_bryan 0:b74591d5ab33 18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
be_bryan 0:b74591d5ab33 19 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
be_bryan 0:b74591d5ab33 20 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
be_bryan 0:b74591d5ab33 21 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
be_bryan 0:b74591d5ab33 22 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
be_bryan 0:b74591d5ab33 23 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
be_bryan 0:b74591d5ab33 24 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
be_bryan 0:b74591d5ab33 25 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
be_bryan 0:b74591d5ab33 26 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
be_bryan 0:b74591d5ab33 27 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
be_bryan 0:b74591d5ab33 28 *******************************************************************************
be_bryan 0:b74591d5ab33 29 */
be_bryan 0:b74591d5ab33 30 #include "pwmout_api.h"
be_bryan 0:b74591d5ab33 31
be_bryan 0:b74591d5ab33 32 #if DEVICE_PWMOUT
be_bryan 0:b74591d5ab33 33
be_bryan 0:b74591d5ab33 34 #include "cmsis.h"
be_bryan 0:b74591d5ab33 35 #include "pinmap.h"
be_bryan 0:b74591d5ab33 36 #include "mbed_error.h"
be_bryan 0:b74591d5ab33 37 #include "PeripheralPins.h"
be_bryan 0:b74591d5ab33 38 #include "pwmout_device.h"
be_bryan 0:b74591d5ab33 39
be_bryan 0:b74591d5ab33 40 static TIM_HandleTypeDef TimHandle;
be_bryan 0:b74591d5ab33 41
be_bryan 0:b74591d5ab33 42 void pwmout_init(pwmout_t* obj, PinName pin)
be_bryan 0:b74591d5ab33 43 {
be_bryan 0:b74591d5ab33 44 // Get the peripheral name from the pin and assign it to the object
be_bryan 0:b74591d5ab33 45 obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
be_bryan 0:b74591d5ab33 46 MBED_ASSERT(obj->pwm != (PWMName)NC);
be_bryan 0:b74591d5ab33 47
be_bryan 0:b74591d5ab33 48 // Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
be_bryan 0:b74591d5ab33 49 uint32_t function = pinmap_function(pin, PinMap_PWM);
be_bryan 0:b74591d5ab33 50 MBED_ASSERT(function != (uint32_t)NC);
be_bryan 0:b74591d5ab33 51 obj->channel = STM_PIN_CHANNEL(function);
be_bryan 0:b74591d5ab33 52 obj->inverted = STM_PIN_INVERTED(function);
be_bryan 0:b74591d5ab33 53
be_bryan 0:b74591d5ab33 54 // Enable TIM clock
be_bryan 0:b74591d5ab33 55 #if defined(TIM1_BASE)
be_bryan 0:b74591d5ab33 56 if (obj->pwm == PWM_1){
be_bryan 0:b74591d5ab33 57 __HAL_RCC_TIM1_CLK_ENABLE();
be_bryan 0:b74591d5ab33 58 }
be_bryan 0:b74591d5ab33 59 #endif
be_bryan 0:b74591d5ab33 60 #if defined(TIM2_BASE)
be_bryan 0:b74591d5ab33 61 if (obj->pwm == PWM_2) {
be_bryan 0:b74591d5ab33 62 __HAL_RCC_TIM2_CLK_ENABLE();
be_bryan 0:b74591d5ab33 63 }
be_bryan 0:b74591d5ab33 64 #endif
be_bryan 0:b74591d5ab33 65 #if defined(TIM3_BASE)
be_bryan 0:b74591d5ab33 66 if (obj->pwm == PWM_3) {
be_bryan 0:b74591d5ab33 67 __HAL_RCC_TIM3_CLK_ENABLE();
be_bryan 0:b74591d5ab33 68 }
be_bryan 0:b74591d5ab33 69 #endif
be_bryan 0:b74591d5ab33 70 #if defined(TIM4_BASE)
be_bryan 0:b74591d5ab33 71 if (obj->pwm == PWM_4) {
be_bryan 0:b74591d5ab33 72 __HAL_RCC_TIM4_CLK_ENABLE();
be_bryan 0:b74591d5ab33 73 }
be_bryan 0:b74591d5ab33 74 #endif
be_bryan 0:b74591d5ab33 75 #if defined(TIM5_BASE)
be_bryan 0:b74591d5ab33 76 if (obj->pwm == PWM_5) {
be_bryan 0:b74591d5ab33 77 __HAL_RCC_TIM5_CLK_ENABLE();
be_bryan 0:b74591d5ab33 78 }
be_bryan 0:b74591d5ab33 79 #endif
be_bryan 0:b74591d5ab33 80 #if defined(TIM8_BASE)
be_bryan 0:b74591d5ab33 81 if (obj->pwm == PWM_8) {
be_bryan 0:b74591d5ab33 82 __HAL_RCC_TIM8_CLK_ENABLE();
be_bryan 0:b74591d5ab33 83 }
be_bryan 0:b74591d5ab33 84 #endif
be_bryan 0:b74591d5ab33 85 #if defined(TIM9_BASE)
be_bryan 0:b74591d5ab33 86 if (obj->pwm == PWM_9) {
be_bryan 0:b74591d5ab33 87 __HAL_RCC_TIM9_CLK_ENABLE();
be_bryan 0:b74591d5ab33 88 }
be_bryan 0:b74591d5ab33 89 #endif
be_bryan 0:b74591d5ab33 90 #if defined(TIM10_BASE)
be_bryan 0:b74591d5ab33 91 if (obj->pwm == PWM_10) {
be_bryan 0:b74591d5ab33 92 __HAL_RCC_TIM10_CLK_ENABLE();
be_bryan 0:b74591d5ab33 93 }
be_bryan 0:b74591d5ab33 94 #endif
be_bryan 0:b74591d5ab33 95 #if defined(TIM11_BASE)
be_bryan 0:b74591d5ab33 96 if (obj->pwm == PWM_11) {
be_bryan 0:b74591d5ab33 97 __HAL_RCC_TIM11_CLK_ENABLE();
be_bryan 0:b74591d5ab33 98 }
be_bryan 0:b74591d5ab33 99 #endif
be_bryan 0:b74591d5ab33 100 #if defined(TIM12_BASE)
be_bryan 0:b74591d5ab33 101 if (obj->pwm == PWM_12) {
be_bryan 0:b74591d5ab33 102 __HAL_RCC_TIM12_CLK_ENABLE();
be_bryan 0:b74591d5ab33 103 }
be_bryan 0:b74591d5ab33 104 #endif
be_bryan 0:b74591d5ab33 105 #if defined(TIM13_BASE)
be_bryan 0:b74591d5ab33 106 if (obj->pwm == PWM_13) {
be_bryan 0:b74591d5ab33 107 __HAL_RCC_TIM13_CLK_ENABLE();
be_bryan 0:b74591d5ab33 108 }
be_bryan 0:b74591d5ab33 109 #endif
be_bryan 0:b74591d5ab33 110 #if defined(TIM14_BASE)
be_bryan 0:b74591d5ab33 111 if (obj->pwm == PWM_14) {
be_bryan 0:b74591d5ab33 112 __HAL_RCC_TIM14_CLK_ENABLE();
be_bryan 0:b74591d5ab33 113 }
be_bryan 0:b74591d5ab33 114 #endif
be_bryan 0:b74591d5ab33 115 #if defined(TIM15_BASE)
be_bryan 0:b74591d5ab33 116 if (obj->pwm == PWM_15) {
be_bryan 0:b74591d5ab33 117 __HAL_RCC_TIM15_CLK_ENABLE();
be_bryan 0:b74591d5ab33 118 }
be_bryan 0:b74591d5ab33 119 #endif
be_bryan 0:b74591d5ab33 120 #if defined(TIM16_BASE)
be_bryan 0:b74591d5ab33 121 if (obj->pwm == PWM_16) {
be_bryan 0:b74591d5ab33 122 __HAL_RCC_TIM16_CLK_ENABLE();
be_bryan 0:b74591d5ab33 123 }
be_bryan 0:b74591d5ab33 124 #endif
be_bryan 0:b74591d5ab33 125 #if defined(TIM17_BASE)
be_bryan 0:b74591d5ab33 126 if (obj->pwm == PWM_17) {
be_bryan 0:b74591d5ab33 127 __HAL_RCC_TIM17_CLK_ENABLE();
be_bryan 0:b74591d5ab33 128 }
be_bryan 0:b74591d5ab33 129 #endif
be_bryan 0:b74591d5ab33 130 #if defined(TIM18_BASE)
be_bryan 0:b74591d5ab33 131 if (obj->pwm == PWM_18) {
be_bryan 0:b74591d5ab33 132 __HAL_RCC_TIM18_CLK_ENABLE();
be_bryan 0:b74591d5ab33 133 }
be_bryan 0:b74591d5ab33 134 #endif
be_bryan 0:b74591d5ab33 135 #if defined(TIM19_BASE)
be_bryan 0:b74591d5ab33 136 if (obj->pwm == PWM_19) {
be_bryan 0:b74591d5ab33 137 __HAL_RCC_TIM19_CLK_ENABLE();
be_bryan 0:b74591d5ab33 138 }
be_bryan 0:b74591d5ab33 139 #endif
be_bryan 0:b74591d5ab33 140 #if defined(TIM20_BASE)
be_bryan 0:b74591d5ab33 141 if (obj->pwm == PWM_20) {
be_bryan 0:b74591d5ab33 142 __HAL_RCC_TIM20_CLK_ENABLE();
be_bryan 0:b74591d5ab33 143 }
be_bryan 0:b74591d5ab33 144 #endif
be_bryan 0:b74591d5ab33 145 #if defined(TIM21_BASE)
be_bryan 0:b74591d5ab33 146 if (obj->pwm == PWM_21) {
be_bryan 0:b74591d5ab33 147 __HAL_RCC_TIM21_CLK_ENABLE();
be_bryan 0:b74591d5ab33 148 }
be_bryan 0:b74591d5ab33 149 #endif
be_bryan 0:b74591d5ab33 150 #if defined(TIM22_BASE)
be_bryan 0:b74591d5ab33 151 if (obj->pwm == PWM_22) {
be_bryan 0:b74591d5ab33 152 __HAL_RCC_TIM22_CLK_ENABLE();
be_bryan 0:b74591d5ab33 153 }
be_bryan 0:b74591d5ab33 154 #endif
be_bryan 0:b74591d5ab33 155 // Configure GPIO
be_bryan 0:b74591d5ab33 156 pinmap_pinout(pin, PinMap_PWM);
be_bryan 0:b74591d5ab33 157
be_bryan 0:b74591d5ab33 158 obj->pin = pin;
be_bryan 0:b74591d5ab33 159 obj->period = 0;
be_bryan 0:b74591d5ab33 160 obj->pulse = 0;
be_bryan 0:b74591d5ab33 161 obj->prescaler = 1;
be_bryan 0:b74591d5ab33 162
be_bryan 0:b74591d5ab33 163 pwmout_period_us(obj, 20000); // 20 ms per default
be_bryan 0:b74591d5ab33 164 }
be_bryan 0:b74591d5ab33 165
be_bryan 0:b74591d5ab33 166 void pwmout_free(pwmout_t* obj)
be_bryan 0:b74591d5ab33 167 {
be_bryan 0:b74591d5ab33 168 // Configure GPIO
be_bryan 0:b74591d5ab33 169 pin_function(obj->pin, STM_PIN_DATA(STM_MODE_INPUT, GPIO_NOPULL, 0));
be_bryan 0:b74591d5ab33 170 }
be_bryan 0:b74591d5ab33 171
be_bryan 0:b74591d5ab33 172 void pwmout_write(pwmout_t* obj, float value)
be_bryan 0:b74591d5ab33 173 {
be_bryan 0:b74591d5ab33 174 TIM_OC_InitTypeDef sConfig;
be_bryan 0:b74591d5ab33 175 int channel = 0;
be_bryan 0:b74591d5ab33 176
be_bryan 0:b74591d5ab33 177 TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
be_bryan 0:b74591d5ab33 178
be_bryan 0:b74591d5ab33 179 if (value < (float)0.0) {
be_bryan 0:b74591d5ab33 180 value = 0.0;
be_bryan 0:b74591d5ab33 181 } else if (value > (float)1.0) {
be_bryan 0:b74591d5ab33 182 value = 1.0;
be_bryan 0:b74591d5ab33 183 }
be_bryan 0:b74591d5ab33 184
be_bryan 0:b74591d5ab33 185 obj->pulse = (uint32_t)((float)obj->period * value);
be_bryan 0:b74591d5ab33 186
be_bryan 0:b74591d5ab33 187 // Configure channels
be_bryan 0:b74591d5ab33 188 sConfig.OCMode = TIM_OCMODE_PWM1;
be_bryan 0:b74591d5ab33 189 sConfig.Pulse = obj->pulse / obj->prescaler;
be_bryan 0:b74591d5ab33 190 sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
be_bryan 0:b74591d5ab33 191 sConfig.OCFastMode = TIM_OCFAST_DISABLE;
be_bryan 0:b74591d5ab33 192 #if defined(TIM_OCIDLESTATE_RESET)
be_bryan 0:b74591d5ab33 193 sConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
be_bryan 0:b74591d5ab33 194 #endif
be_bryan 0:b74591d5ab33 195 #if defined(TIM_OCNIDLESTATE_RESET)
be_bryan 0:b74591d5ab33 196 sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
be_bryan 0:b74591d5ab33 197 sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
be_bryan 0:b74591d5ab33 198 #endif
be_bryan 0:b74591d5ab33 199
be_bryan 0:b74591d5ab33 200 switch (obj->channel) {
be_bryan 0:b74591d5ab33 201 case 1:
be_bryan 0:b74591d5ab33 202 channel = TIM_CHANNEL_1;
be_bryan 0:b74591d5ab33 203 break;
be_bryan 0:b74591d5ab33 204 case 2:
be_bryan 0:b74591d5ab33 205 channel = TIM_CHANNEL_2;
be_bryan 0:b74591d5ab33 206 break;
be_bryan 0:b74591d5ab33 207 case 3:
be_bryan 0:b74591d5ab33 208 channel = TIM_CHANNEL_3;
be_bryan 0:b74591d5ab33 209 break;
be_bryan 0:b74591d5ab33 210 case 4:
be_bryan 0:b74591d5ab33 211 channel = TIM_CHANNEL_4;
be_bryan 0:b74591d5ab33 212 break;
be_bryan 0:b74591d5ab33 213 default:
be_bryan 0:b74591d5ab33 214 return;
be_bryan 0:b74591d5ab33 215 }
be_bryan 0:b74591d5ab33 216
be_bryan 0:b74591d5ab33 217 if (HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, channel) != HAL_OK) {
be_bryan 0:b74591d5ab33 218 error("Cannot initialize PWM\n");
be_bryan 0:b74591d5ab33 219 }
be_bryan 0:b74591d5ab33 220
be_bryan 0:b74591d5ab33 221 #if !defined(PWMOUT_INVERTED_NOT_SUPPORTED)
be_bryan 0:b74591d5ab33 222 if (obj->inverted) {
be_bryan 0:b74591d5ab33 223 HAL_TIMEx_PWMN_Start(&TimHandle, channel);
be_bryan 0:b74591d5ab33 224 } else
be_bryan 0:b74591d5ab33 225 #endif
be_bryan 0:b74591d5ab33 226 {
be_bryan 0:b74591d5ab33 227 HAL_TIM_PWM_Start(&TimHandle, channel);
be_bryan 0:b74591d5ab33 228 }
be_bryan 0:b74591d5ab33 229 }
be_bryan 0:b74591d5ab33 230
be_bryan 0:b74591d5ab33 231 float pwmout_read(pwmout_t* obj)
be_bryan 0:b74591d5ab33 232 {
be_bryan 0:b74591d5ab33 233 float value = 0;
be_bryan 0:b74591d5ab33 234 if (obj->period > 0) {
be_bryan 0:b74591d5ab33 235 value = (float)(obj->pulse) / (float)(obj->period);
be_bryan 0:b74591d5ab33 236 }
be_bryan 0:b74591d5ab33 237 return ((value > (float)1.0) ? (float)(1.0) : (value));
be_bryan 0:b74591d5ab33 238 }
be_bryan 0:b74591d5ab33 239
be_bryan 0:b74591d5ab33 240 void pwmout_period(pwmout_t* obj, float seconds)
be_bryan 0:b74591d5ab33 241 {
be_bryan 0:b74591d5ab33 242 pwmout_period_us(obj, seconds * 1000000.0f);
be_bryan 0:b74591d5ab33 243 }
be_bryan 0:b74591d5ab33 244
be_bryan 0:b74591d5ab33 245 void pwmout_period_ms(pwmout_t* obj, int ms)
be_bryan 0:b74591d5ab33 246 {
be_bryan 0:b74591d5ab33 247 pwmout_period_us(obj, ms * 1000);
be_bryan 0:b74591d5ab33 248 }
be_bryan 0:b74591d5ab33 249
be_bryan 0:b74591d5ab33 250 void pwmout_period_us(pwmout_t* obj, int us)
be_bryan 0:b74591d5ab33 251 {
be_bryan 0:b74591d5ab33 252 TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
be_bryan 0:b74591d5ab33 253 RCC_ClkInitTypeDef RCC_ClkInitStruct;
be_bryan 0:b74591d5ab33 254 uint32_t PclkFreq = 0;
be_bryan 0:b74591d5ab33 255 uint32_t APBxCLKDivider = RCC_HCLK_DIV1;
be_bryan 0:b74591d5ab33 256 float dc = pwmout_read(obj);
be_bryan 0:b74591d5ab33 257 uint8_t i = 0;
be_bryan 0:b74591d5ab33 258
be_bryan 0:b74591d5ab33 259 __HAL_TIM_DISABLE(&TimHandle);
be_bryan 0:b74591d5ab33 260
be_bryan 0:b74591d5ab33 261 // Get clock configuration
be_bryan 0:b74591d5ab33 262 // Note: PclkFreq contains here the Latency (not used after)
be_bryan 0:b74591d5ab33 263 HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &PclkFreq);
be_bryan 0:b74591d5ab33 264
be_bryan 0:b74591d5ab33 265 /* Parse the pwm / apb mapping table to find the right entry */
be_bryan 0:b74591d5ab33 266 while(pwm_apb_map_table[i].pwm != obj->pwm) {
be_bryan 0:b74591d5ab33 267 i++;
be_bryan 0:b74591d5ab33 268 }
be_bryan 0:b74591d5ab33 269
be_bryan 0:b74591d5ab33 270 if(pwm_apb_map_table[i].pwm == 0)
be_bryan 0:b74591d5ab33 271 error("Unknown PWM instance");
be_bryan 0:b74591d5ab33 272
be_bryan 0:b74591d5ab33 273 if(pwm_apb_map_table[i].pwmoutApb == PWMOUT_ON_APB1) {
be_bryan 0:b74591d5ab33 274 PclkFreq = HAL_RCC_GetPCLK1Freq();
be_bryan 0:b74591d5ab33 275 APBxCLKDivider = RCC_ClkInitStruct.APB1CLKDivider;
be_bryan 0:b74591d5ab33 276 } else {
be_bryan 0:b74591d5ab33 277 #if !defined(PWMOUT_APB2_NOT_SUPPORTED)
be_bryan 0:b74591d5ab33 278 PclkFreq = HAL_RCC_GetPCLK2Freq();
be_bryan 0:b74591d5ab33 279 APBxCLKDivider = RCC_ClkInitStruct.APB2CLKDivider;
be_bryan 0:b74591d5ab33 280 #endif
be_bryan 0:b74591d5ab33 281 }
be_bryan 0:b74591d5ab33 282
be_bryan 0:b74591d5ab33 283
be_bryan 0:b74591d5ab33 284 /* By default use, 1us as SW pre-scaler */
be_bryan 0:b74591d5ab33 285 obj->prescaler = 1;
be_bryan 0:b74591d5ab33 286 // TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx
be_bryan 0:b74591d5ab33 287 if (APBxCLKDivider == RCC_HCLK_DIV1) {
be_bryan 0:b74591d5ab33 288 TimHandle.Init.Prescaler = (((PclkFreq) / 1000000)) - 1; // 1 us tick
be_bryan 0:b74591d5ab33 289 } else {
be_bryan 0:b74591d5ab33 290 TimHandle.Init.Prescaler = (((PclkFreq * 2) / 1000000)) - 1; // 1 us tick
be_bryan 0:b74591d5ab33 291 }
be_bryan 0:b74591d5ab33 292 TimHandle.Init.Period = (us - 1);
be_bryan 0:b74591d5ab33 293
be_bryan 0:b74591d5ab33 294 /* In case period or pre-scalers are out of range, loop-in to get valid values */
be_bryan 0:b74591d5ab33 295 while ((TimHandle.Init.Period > 0xFFFF) || (TimHandle.Init.Prescaler > 0xFFFF)) {
be_bryan 0:b74591d5ab33 296 obj->prescaler = obj->prescaler * 2;
be_bryan 0:b74591d5ab33 297 if (APBxCLKDivider == RCC_HCLK_DIV1) {
be_bryan 0:b74591d5ab33 298 TimHandle.Init.Prescaler = (((PclkFreq) / 1000000) * obj->prescaler) - 1;
be_bryan 0:b74591d5ab33 299 } else {
be_bryan 0:b74591d5ab33 300 TimHandle.Init.Prescaler = (((PclkFreq * 2) / 1000000) * obj->prescaler) - 1;
be_bryan 0:b74591d5ab33 301 }
be_bryan 0:b74591d5ab33 302 TimHandle.Init.Period = (us - 1) / obj->prescaler;
be_bryan 0:b74591d5ab33 303 /* Period decreases and prescaler increases over loops, so check for
be_bryan 0:b74591d5ab33 304 * possible out of range cases */
be_bryan 0:b74591d5ab33 305 if ((TimHandle.Init.Period < 0xFFFF) && (TimHandle.Init.Prescaler > 0xFFFF)) {
be_bryan 0:b74591d5ab33 306 error("Cannot initialize PWM\n");
be_bryan 0:b74591d5ab33 307 break;
be_bryan 0:b74591d5ab33 308 }
be_bryan 0:b74591d5ab33 309 }
be_bryan 0:b74591d5ab33 310
be_bryan 0:b74591d5ab33 311 TimHandle.Init.ClockDivision = 0;
be_bryan 0:b74591d5ab33 312 TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
be_bryan 0:b74591d5ab33 313
be_bryan 0:b74591d5ab33 314 if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) {
be_bryan 0:b74591d5ab33 315 error("Cannot initialize PWM\n");
be_bryan 0:b74591d5ab33 316 }
be_bryan 0:b74591d5ab33 317
be_bryan 0:b74591d5ab33 318 // Save for future use
be_bryan 0:b74591d5ab33 319 obj->period = us;
be_bryan 0:b74591d5ab33 320
be_bryan 0:b74591d5ab33 321 // Set duty cycle again
be_bryan 0:b74591d5ab33 322 pwmout_write(obj, dc);
be_bryan 0:b74591d5ab33 323
be_bryan 0:b74591d5ab33 324 __HAL_TIM_ENABLE(&TimHandle);
be_bryan 0:b74591d5ab33 325 }
be_bryan 0:b74591d5ab33 326
be_bryan 0:b74591d5ab33 327 void pwmout_pulsewidth(pwmout_t* obj, float seconds)
be_bryan 0:b74591d5ab33 328 {
be_bryan 0:b74591d5ab33 329 pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
be_bryan 0:b74591d5ab33 330 }
be_bryan 0:b74591d5ab33 331
be_bryan 0:b74591d5ab33 332 void pwmout_pulsewidth_ms(pwmout_t* obj, int ms)
be_bryan 0:b74591d5ab33 333 {
be_bryan 0:b74591d5ab33 334 pwmout_pulsewidth_us(obj, ms * 1000);
be_bryan 0:b74591d5ab33 335 }
be_bryan 0:b74591d5ab33 336
be_bryan 0:b74591d5ab33 337 void pwmout_pulsewidth_us(pwmout_t* obj, int us)
be_bryan 0:b74591d5ab33 338 {
be_bryan 0:b74591d5ab33 339 float value = (float)us / (float)obj->period;
be_bryan 0:b74591d5ab33 340 pwmout_write(obj, value);
be_bryan 0:b74591d5ab33 341 }
be_bryan 0:b74591d5ab33 342
be_bryan 0:b74591d5ab33 343 #endif