/**
* @brief Stops the PWM output.
* @return none.
*/
void pwmOutputStop(void) {
pwmOutputDisableAll();
pwmStop(&PWMD1);
pwmStop(&PWMD8);
pwmStop(&PWMD4);
pwmStop(&PWMD5);
}
/**
* @brief Put bus in idle mode.
*/
static void ow_bus_idle(onewireDriver *owp) {
#if defined(STM32F1XX)
palSetPadMode(owp->config->port, owp->config->pad,
owp->config->pad_mode_idle);
#endif
pwmStop(owp->config->pwmd);
}
Motor(PWMDriver * driver, uint32_t pwm_index,
uint32_t max_neg_freq, uint32_t max_pos_freq, uint32_t channel,
gpio_pin_t enable_pin, gpio_pin_t dir_pin) :
driver(driver), pwm_index(pwm_index), channel(channel),
max_neg_freq(max_neg_freq), max_pos_freq(max_pos_freq),
position(0), target_position(0), current_freq(0),
enable_pin(enable_pin), dir_pin(dir_pin)
{
dir_pin.clear();
enable_pin.clear();
dir_pin.set_mode(gpio_pin_t::MODE_OUTPUT);
enable_pin.set_mode(gpio_pin_t::MODE_OUTPUT);
pwmObjectInit(driver);
pwmStop(driver);
motors[pwm_index] = this;
switch(pwm_index){
case 0:
cb = tickM1;
break;
case 1:
cb = tickM2;
break;
case 2:
cb = tickM3;
break;
case 3:
cb = tickM4;
break;
case 4:
cb = tickM5;
break;
case 5:
cb = tickM6;
break;
case 6:
cb = tickM7;
break;
case 7:
cb = tickM8;
break;
case 8:
cb = tickM9;
break;
default:
while(1);
}
config.frequency = clk_freq;
config.period = clk_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.cr2 = 0;
config.dier = 0;
}
bool Pwm_chibios::init(void)
{
pwmStop(driver_);
pwmStart(driver_, &config_);
pwmEnablePeriodicNotification(driver_);
pwmEnableChannelNotification(driver_, channel_);
return true;
}
/**
* @brief Deactivates the UART peripheral.
*
* @param[in] owp pointer to the @p onewireDriver object
*
* @api
*/
void onewireStop(onewireDriver *owp) {
osalDbgCheck(NULL != owp);
#if ONEWIRE_USE_STRONG_PULLUP
owp->config->pullup_release();
#endif
ow_bus_idle(owp);
pwmStop(owp->config->pwmd);
owp->config = NULL;
owp->reg.state = ONEWIRE_STOP;
}
/*
* 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 1 and ICU driver 1.
* GPIOD10 is the PWM output.
* GPIOA0 is the ICU input.
* The two pins have to be externally connected together.
*/
icuStart(&ICUD1, &icucfg);
icuEnable(&ICUD1);
/* Sets A0 alternative function.*/
SIU.PCR[0].R = 0b0100010100000100;
pwmStart(&PWMD1, &pwmcfg);
/* Sets D10 alternative function.*/
SIU.PCR[58].R = 0b0100010100000100;
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period and the PWM channel 0 to 50% duty cycle.
*/
pwmChangePeriod(&PWMD1, 25000);
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD1, 0);
pwmStop(&PWMD1);
icuDisable(&ICUD1);
icuStop(&ICUD1);
palClearPad(PORT_D, PD_LED3);
palClearPad(PORT_D, PD_LED4);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
/*
* 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();
/*
* LED initially off.
*/
palSetPad(IOPORT3, GPIOC_LED);
/*
* Initializes the PWM driver 1 and ICU driver 4.
*/
pwmStart(&PWMD1, &pwmcfg);
palSetPadMode(IOPORT1, 8, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
icuStart(&ICUD4, &icucfg);
icuEnable(&ICUD4);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD1, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD1, 0);
pwmStop(&PWMD1);
icuDisable(&ICUD4);
icuStop(&ICUD4);
palSetPad(IOPORT3, GPIOC_LED);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
/*
* 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 2 and ICU driver 3.
* GPIOA15 is the PWM output.
* GPIOC6 is the ICU input.
* The two pins have to be externally connected together.
*/
pwmStart(&PWMD2, &pwmcfg);
palSetPadMode(GPIOA, 15, PAL_MODE_ALTERNATE(1));
icuStart(&ICUD3, &icucfg);
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));
icuEnable(&ICUD3);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD2, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD2, 0);
pwmStop(&PWMD2);
icuDisable(&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;
}
void convStop( void )
{
adcStopConversion( &ADCD1 );
adcStop( &ADCD1 );
pwmStop( &CONV_PWM );
}
/*
* 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 1 and ICU driver 2.
* GPIOE9 is the PWM output.
* GPIOA0 is the ICU input.
* The two pins have to be externally connected together.
*/
pwmStart(&PWMD1, &pwmcfg);
pwmEnablePeriodicNotification(&PWMD1);
icuStart(&ICUD2, &icucfg);
icuStartCapture(&ICUD2);
icuEnableNotifications(&ICUD2);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
pwmEnableChannelNotification(&PWMD1, 0);
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD1, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD1, 0);
pwmStop(&PWMD1);
icuStopCapture(&ICUD2);
icuStop(&ICUD2);
palClearPad(GPIOB, GPIOB_LED1);
palClearPad(GPIOB, GPIOB_LED2);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (true) {
chThdSleepMilliseconds(500);
}
return 0;
}
/*
* Application entry point.
*/
int main(void) {
/* Initialization of all the imported components in the order specified in
the application wizard. The function is generated automatically.*/
componentsInit();
palClearPad(PORT11, P11_LED4);
/*
* Initializes the PWM driver 8 and ICU driver 1.
* PIN80 is the PWM output.
* PIN63 is the ICU input.
* The two pins have to be externally connected together.
*/
/* Sets PIN63 alternative function.*/
SIU.PCR[179].R = 0b0000011000001100;
/* Sets PIN65 alternative function.*/
SIU.PCR[181].R = 0b0000010100001100;
icuStart(&ICUD2, &icucfg);
icuEnable(&ICUD2);
pwmStart(&PWMD1, &pwmcfg);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period and the PWM channel 0 to 50% duty cycle.
*/
pwmChangePeriod(&PWMD1, 25000);
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Disables PWM channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD1, 0);
pwmStop(&PWMD1);
/*
* Disables and stops the ICU drivers.
*/
icuDisable(&ICUD2);
icuStop(&ICUD2);
palClearPad(PORT11, P11_LED3);
palClearPad(PORT11, P11_LED4);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
extern void bldcKill(void) {
palWriteGroup (PWM_OUT_PORT, PWM_OUT_PORT_MASK, PWM_OUT_OFFSET, PWM_OFF);
pwmStop(&PWMD1);
}
