void startInputDriver(const char *msg, /*nullable*/digital_input_s *hw, bool isActiveHigh) {
if (hw == NULL) {
// we can get NULL driver if user somehow has invalid pin in his configuration
warning(CUSTOM_ERR_INVALID_INPUT_ICU_PIN, "s_not input pin");
return;
}
hw->isActiveHigh = isActiveHigh;
if (hw->isActiveHigh) {
wave_icucfg.mode = ICU_INPUT_ACTIVE_HIGH;
} else {
wave_icucfg.mode = ICU_INPUT_ACTIVE_LOW;
}
ICUDriver *driver = hw->driver;
if (driver != NULL) {
if (hw->started) {
icuDisableNotificationsI(driver);
icuStopCapture(driver);
icuStop(driver);
}
wave_icucfg.channel = getInputCaptureChannel(hw->brainPin);
efiIcuStart(msg, driver, &wave_icucfg);
efiAssertVoid(CUSTOM_ERR_6672, driver != NULL, "di: driver is NULL");
efiAssertVoid(CUSTOM_ERR_6673, driver->state == ICU_READY, "di: driver not ready");
icuStartCapture(driver); // this would change state from READY to WAITING
icuEnableNotifications(driver);
}
hw->started = true;
}
/**
* turns pin off and returns digital_input_s back into registeredIcus pool
*/
void removeWaveAnalyzerDriver(const char *msg, brain_pin_e brainPin) {
if (brainPin == GPIO_UNASSIGNED) {
return;
}
brain_pin_markUnused(brainPin);
ICUDriver *driver = getInputCaptureDriver(msg, brainPin);
if (driver == NULL) {
return;
}
int regSize = registeredIcus.size;
for (int i = 0; i < regSize; i++) {
if (registeredIcus.elements[i].driver == driver) {
// removing from driver from the list of used drivers
memcpy(®isteredIcus.elements[i], ®isteredIcus.elements[regSize - 1],
sizeof(digital_input_s));
registeredIcus.size--;
icuDisableNotificationsI(driver);
icuStopCapture(driver);
icuStop(driver);
return;
}
}
}
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Initializes the PWM driver 4 and ICU driver 3.
* GPIOD12 is the PWM output channel 0.
* GPIOC6 is the ICU input ICU_CHANNEL_1.
* The two pins have to be externally connected together.
*/
pwmStart(&PWMD4, &pwmcfg);
pwmEnablePeriodicNotification(&PWMD4);
palSetPadMode(GPIOD, 12, PAL_MODE_ALTERNATE(2));
icuStart(&ICUD3, &icucfg);
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));
icuStartCapture(&ICUD3);
icuEnableNotifications(&ICUD3);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD4, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD4, 7500));
pwmEnableChannelNotification(&PWMD4, 0);
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD4, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD4, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD4, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD4, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD4, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD4, 0);
pwmStop(&PWMD4);
icuStopCapture(&ICUD3);
icuStop(&ICUD3);
palClearPad(GPIOE, GPIOE_LED4_BLUE);
palClearPad(GPIOE, GPIOE_LED9_BLUE);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (true) {
chThdSleepMilliseconds(500);
}
return 0;
}
