void goToPos(int32_t new_pos){
if(new_pos == position)
return;
config.frequency = clk_freq;
config.period = clk_freq / initial_freq;
config.callback = cb;
current_freq = initial_freq;
config.channels[0] = {PWM_OUTPUT_DISABLED, NULL};
config.channels[1] = {PWM_OUTPUT_DISABLED, NULL};
config.channels[2] = {PWM_OUTPUT_DISABLED, NULL};
config.channels[3] = {PWM_OUTPUT_DISABLED, NULL};
config.channels[channel] = {PWM_OUTPUT_ACTIVE_HIGH, NULL};
config.cr2 = 0;
config.dier = 0;
dir_positive = new_pos > position;
target_position = new_pos;
dir_pin.assign(dir_positive);
ramp_length = (new_pos > position) ?
((max_pos_freq - initial_freq) / ramp) :
((max_neg_freq - initial_freq) / ramp);
pwmStart(driver, &config);
pwmEnableChannel(driver, channel, 10);
pwmEnablePeriodicNotificationI(driver);
}
/**
* @brief Read some bites from slave device.
*
* @param[in] owp pointer to the @p onewireDriver object
* @param[in] txbuf pointer to the buffer with data to be written
* @param[in] txbytes amount of data to be written
* @param[in] pullup_time how long strong pull up must be activated. Set
* it to 0 if not needed.
*/
void onewireWrite(onewireDriver *owp, uint8_t *txbuf,
size_t txbytes, systime_t pullup_time) {
PWMDriver *pwmd;
PWMConfig *pwmcfg;
size_t mch, sch;
osalDbgCheck((NULL != owp) && (NULL != txbuf));
osalDbgCheck((txbytes > 0) && (txbytes <= ONEWIRE_MAX_TRANSACTION_LEN));
osalDbgAssert(owp->reg.state == ONEWIRE_READY, "Invalid state");
#if !ONEWIRE_USE_STRONG_PULLUP
osalDbgAssert(0 == pullup_time,
"Non zero time is valid only when strong pull enabled");
#endif
pwmd = owp->config->pwmd;
pwmcfg = owp->config->pwmcfg;
mch = owp->config->master_channel;
sch = owp->config->sample_channel;
owp->buf = txbuf;
owp->reg.bit = 0;
owp->reg.final_timeslot = false;
owp->reg.bytes = txbytes;
pwmcfg->period = ONEWIRE_ZERO_WIDTH + ONEWIRE_RECOVERY_WIDTH;
pwmcfg->callback = pwm_write_bit_cb;
pwmcfg->channels[mch].callback = NULL;
pwmcfg->channels[mch].mode = owp->config->pwmmode;
pwmcfg->channels[sch].callback = NULL;
pwmcfg->channels[sch].mode = PWM_OUTPUT_DISABLED;
#if ONEWIRE_USE_STRONG_PULLUP
if (pullup_time > 0) {
owp->reg.state = ONEWIRE_PULL_UP;
owp->reg.need_pullup = true;
}
#endif
ow_bus_active(owp);
osalSysLock();
pwmEnablePeriodicNotificationI(pwmd);
osalThreadSuspendS(&owp->thread);
osalSysUnlock();
pwmDisablePeriodicNotification(pwmd);
ow_bus_idle(owp);
#if ONEWIRE_USE_STRONG_PULLUP
if (pullup_time > 0) {
osalThreadSleep(pullup_time);
owp->config->pullup_release();
owp->reg.state = ONEWIRE_READY;
}
#endif
}
/**
* @brief Enables the periodic activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @note If the notification is already enabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @api
*/
void pwmEnablePeriodicNotification(PWMDriver *pwmp) {
osalDbgCheck(pwmp != NULL);
osalSysLock();
osalDbgAssert(pwmp->state == PWM_READY, "not ready");
osalDbgAssert(pwmp->config->callback != NULL, "undefined periodic callback");
pwmEnablePeriodicNotificationI(pwmp);
osalSysUnlock();
}
