/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/
if (pwmp->pd_state == PWM_READY) {
stop_channels(pwmp);
pwmp->pd_tim->CR1 = 0;
pwmp->pd_tim->BDTR = 0;
pwmp->pd_tim->DIER = 0;
#if USE_STM32_PWM1
if (&PWMD1 == pwmp) {
NVICDisableVector(TIM1_UP_IRQn);
NVICDisableVector(TIM1_CC_IRQn);
RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN;
}
#endif
#if USE_STM32_PWM2
if (&PWMD2 == pwmp) {
NVICDisableVector(TIM2_IRQn);
RCC->APB1ENR &= ~RCC_APB1ENR_TIM2EN;
}
#endif
#if USE_STM32_PWM3
if (&PWMD3 == pwmp) {
NVICDisableVector(TIM3_IRQn);
RCC->APB1ENR &= ~RCC_APB1ENR_TIM3EN;
}
#endif
#if USE_STM32_PWM2
if (&PWMD4 == pwmp) {
NVICDisableVector(TIM4_IRQn);
RCC->APB1ENR &= ~RCC_APB1ENR_TIM4EN;
}
#endif
}
}
/*!
* \brief
* Callback for when new data is available in a pipe
*
* \param[in] source the event source
* \param[in] condition the condition which has been satisfied
* \param[in] data an unsigned integer as specified by #CHANNEL_ID,
* converted to a \c gpointer using
* \c GUINT_TO_POINTER()
*
* \return
* \c FALSE when the event source should be removed, otherwise \c TRUE
*/
static gboolean
io_watch_callback(GIOChannel *source, GIOCondition condition, gpointer data)
{
const guint8 input_type = GPOINTER_TO_UINT(data);
gchar buffer[BUFFER_SIZE];
gsize bytes_read;
GError *error = NULL;
GIOStatus status;
GIOChannel *write_to = NULL;
if (IS_STDOUT(input_type)) {
write_to = channel_stdin[1 ^ CLIENT_ID(input_type)];
}
do {
status = g_io_channel_read_chars(source, buffer, BUFFER_SIZE,
&bytes_read, &error);
if (error != NULL) {
stop_channels(source, write_to);
print_error(error->message);
return FALSE;
}
if (bytes_read == 0) continue;
if (write_to != NULL) {
g_io_channel_write_chars(write_to, buffer, bytes_read, NULL, NULL);
g_io_channel_flush(write_to, NULL);
}
append_text(buffer, bytes_read, input_type);
} while (status == G_IO_STATUS_NORMAL);
if ((condition & ~G_IO_IN) != 0) {
stop_channels(source, write_to);
return FALSE;
}
/* for some reason I can't figure out, this function is called repeatedly
with condition==G_IO_IN when the client process ends - this check should
prevent the program from becoming unresponsive and consuming 100% CPU */
return clients[CLIENT_ID(input_type)].is_running;
}
/**
* @brief Configures and activates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwm_lld_start(PWMDriver *pwmp) {
uint16_t ccer;
if (pwmp->pd_state == PWM_STOP) {
/* Clock activation.*/
#if USE_STM32_PWM1
if (&PWMD1 == pwmp) {
NVICEnableVector(TIM1_UP_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM1_IRQ_PRIORITY));
NVICEnableVector(TIM1_CC_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM1_IRQ_PRIORITY));
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
}
#endif
#if USE_STM32_PWM2
if (&PWMD2 == pwmp) {
NVICEnableVector(TIM2_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM2_IRQ_PRIORITY));
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
}
#endif
#if USE_STM32_PWM3
if (&PWMD3 == pwmp) {
NVICEnableVector(TIM3_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM3_IRQ_PRIORITY));
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
}
#endif
#if USE_STM32_PWM4
if (&PWMD4 == pwmp) {
NVICEnableVector(TIM4_IRQn,
CORTEX_PRIORITY_MASK(STM32_PWM4_IRQ_PRIORITY));
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
}
#endif
}
/* Reset channels.*/
stop_channels(pwmp);
/* Configuration or reconfiguration.*/
pwmp->pd_tim->CR1 = 0; /* Timer stopped. */
pwmp->pd_tim->SMCR = 0; /* Slave mode disabled. */
pwmp->pd_tim->CR2 = pwmp->pd_config->pc_cr2;
pwmp->pd_tim->PSC = pwmp->pd_config->pc_psc;
pwmp->pd_tim->CNT = 0;
pwmp->pd_tim->ARR = pwmp->pd_config->pc_arr;
/* Output enables and polarities setup.*/
ccer = 0;
switch (pwmp->pd_config->pc_channels[0].pcc_mode) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC1P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= TIM_CCER_CC1E;
default:
;
}
switch (pwmp->pd_config->pc_channels[1].pcc_mode) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC2P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= TIM_CCER_CC2E;
default:
;
}
switch (pwmp->pd_config->pc_channels[2].pcc_mode) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC3P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= TIM_CCER_CC3E;
default:
;
}
switch (pwmp->pd_config->pc_channels[3].pcc_mode) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC4P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= TIM_CCER_CC4E;
default:
;
}
pwmp->pd_tim->CCER = ccer;
pwmp->pd_tim->EGR = TIM_EGR_UG; /* Update event. */
pwmp->pd_tim->SR = 0; /* Clear pending IRQs. */
pwmp->pd_tim->DIER = pwmp->pd_config->pc_callback == NULL ? 0 : TIM_DIER_UIE;
pwmp->pd_tim->BDTR = TIM_BDTR_MOE;
pwmp->pd_tim->CR1 = TIM_CR1_ARPE | TIM_CR1_URS |
TIM_CR1_CEN; /* Timer configured and started.*/
}
