/**
* @brief Changes the period the PWM peripheral.
* @details This function changes the period of a PWM unit that has already
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the new value.
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period new cycle time in ticks
*
* @api
*/
void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period) {
osalDbgCheck(pwmp != NULL);
osalSysLock();
osalDbgAssert(pwmp->state == PWM_READY, "invalid state");
pwmChangePeriodI(pwmp, period);
osalSysUnlock();
}
/**
* @brief Changes the period the PWM peripheral.
* @details This function changes the period of a PWM unit that has already
* been activated using @p pwmStart().
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The PWM unit period is changed to the 0; // new value.
* @note If a period is specified that is shorter than the pulse width
* programmed in one of the channels then the behavior is not
* guaranteed.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] period 0; // new cycle time in ticks
*
* @api
*/
void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period) {
chDbgCheck(pwmp != NULL, "pwmChangePeriod");
chSysLock();
chDbgAssert(pwmp->state == PWM_READY,
"pwmChangePeriod(), #1", "invalid state");
pwmChangePeriodI(pwmp, period);
chSysUnlock();
}
/*
* Disable PLLB interrupt, enable PLLG, PLLR interrupts, switch to Blue LED
*/
void Blue_Team(void) {
//Disable further PLLB interrupts
extChannelDisableI(&EXTD1, PLLB_EXTCHAN);
//Enable PLLG, PLLR interrupts
extChannelEnableI(&EXTD1, PLLG_EXTCHAN);
extChannelEnableI(&EXTD1, PLLR_EXTCHAN);
//Change PWM frequency to PLLB Frequency
pwmChangePeriodI(&PWMD2, BLUE_PERIOD);
//Turn on Blue LED, turn off Red, Green LED's
Blue_LED();
}
/*
* Disable PLLG interrupt, enable PLLR, PLLB interrupts, switch to Green LED
*/
void Green_Team(void) {
//Disable further PLLG interrupts
extChannelDisableI(&EXTD1, PLLG_EXTCHAN);
//Enable PLLR, PLLB interrupts
extChannelEnableI(&EXTD1, PLLR_EXTCHAN);
extChannelEnableI(&EXTD1, PLLB_EXTCHAN);
//Change PWM frequency to PLLG Frequency
pwmChangePeriodI(&PWMD2, GREEN_PERIOD);
//Turn on Green LED, turn off Red, Blue LED's
Green_LED();
}
/*
* Disable PLLR interrupt, enable PLLG, PLLB interrupts, switch to Red LED
*/
void Red_Team(void) {
//Disable further PLLR interrupts
extChannelDisableI(&EXTD1, PLLR_EXTCHAN);
//Enable PLLG, PLLB interrupts
extChannelEnableI(&EXTD1, PLLG_EXTCHAN);
extChannelEnableI(&EXTD1, PLLB_EXTCHAN);
//Change PWM frequency to PLLR Frequency
pwmChangePeriodI(&PWMD2, RED_PERIOD);
//Turn on Red LED, turn off Green, Blue LED's
Red_LED();
}
bool Pwm_chibios::set_period_us(uint16_t period_us)
{
pwmChangePeriodI(driver_, period_us);
return true;
}
