void Timer_t::Init() {
#if defined STM32L1XX
if(ANY_OF_3(ITmr, TIM9, TIM10, TIM11)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
if (ITmr == TIM2) { rccEnableTIM2(FALSE); }
else if(ITmr == TIM3) { rccEnableTIM3(FALSE); }
else if(ITmr == TIM4) { rccEnableTIM4(FALSE); }
else if(ITmr == TIM6) { rccEnableAPB1(RCC_APB1ENR_TIM6EN, FALSE); }
else if(ITmr == TIM7) { rccEnableAPB1(RCC_APB1ENR_TIM7EN, FALSE); }
else if(ITmr == TIM9) { rccEnableAPB2(RCC_APB2ENR_TIM9EN, FALSE); }
else if(ITmr == TIM10) { rccEnableAPB2(RCC_APB2ENR_TIM10EN, FALSE); }
else if(ITmr == TIM11) { rccEnableAPB2(RCC_APB2ENR_TIM11EN, FALSE); }
#elif defined STM32F0XX
if (ITmr == TIM1) { rccEnableTIM1(FALSE); }
else if(ITmr == TIM2) { rccEnableTIM2(FALSE); }
else if(ITmr == TIM3) { rccEnableTIM3(FALSE); }
#ifdef TIM6
else if(ITmr == TIM6) { rccEnableAPB1(RCC_APB1ENR_TIM6EN, FALSE); }
#endif
else if(ITmr == TIM14) { RCC->APB1ENR |= RCC_APB1ENR_TIM14EN; }
#ifdef TIM15
else if(ITmr == TIM15) { RCC->APB2ENR |= RCC_APB2ENR_TIM15EN; }
#endif
else if(ITmr == TIM16) { RCC->APB2ENR |= RCC_APB2ENR_TIM16EN; }
else if(ITmr == TIM17) { RCC->APB2ENR |= RCC_APB2ENR_TIM17EN; }
// Clock src
PClk = &Clk.APBFreqHz;
#elif defined STM32F2XX || defined STM32F4XX
if(ANY_OF_5(ITmr, TIM1, TIM8, TIM9, TIM10, TIM11)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
if (ITmr == TIM1) { rccEnableTIM1(FALSE); }
else if(ITmr == TIM2) { rccEnableTIM2(FALSE); }
else if(ITmr == TIM3) { rccEnableTIM3(FALSE); }
else if(ITmr == TIM4) { rccEnableTIM4(FALSE); }
else if(ITmr == TIM5) { rccEnableTIM5(FALSE); }
else if(ITmr == TIM6) { rccEnableTIM6(FALSE); }
else if(ITmr == TIM7) { rccEnableTIM7(FALSE); }
else if(ITmr == TIM8) { rccEnableTIM8(FALSE); }
else if(ITmr == TIM9) { rccEnableTIM9(FALSE); }
else if(ITmr == TIM10) { RCC->APB2ENR |= RCC_APB2ENR_TIM10EN; }
else if(ITmr == TIM11) { rccEnableTIM11(FALSE); }
else if(ITmr == TIM12) { rccEnableTIM12(FALSE); }
else if(ITmr == TIM13) { RCC->APB1ENR |= RCC_APB1ENR_TIM13EN; }
else if(ITmr == TIM14) { rccEnableTIM14(FALSE); }
#elif defined STM32F10X_LD_VL
if(ANY_OF_4(ITmr, TIM1, TIM15, TIM16, TIM17)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
if (ITmr == TIM1) { rccEnableTIM1(FALSE); }
else if(ITmr == TIM2) { rccEnableTIM2(FALSE); }
else if(ITmr == TIM3) { rccEnableTIM3(FALSE); }
else if(ITmr == TIM15) { RCC->APB2ENR |= RCC_APB2ENR_TIM15EN; }
else if(ITmr == TIM16) { RCC->APB2ENR |= RCC_APB2ENR_TIM16EN; }
else if(ITmr == TIM17) { RCC->APB2ENR |= RCC_APB2ENR_TIM17EN; }
#endif
}
void Timer_t::Init() {
if(ANY_OF_3(ITmr, TIM9, TIM10, TIM11)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
if (ITmr == TIM2) { rccEnableTIM2(FALSE); }
else if(ITmr == TIM3) { rccEnableTIM3(FALSE); }
else if(ITmr == TIM4) { rccEnableTIM4(FALSE); }
else if(ITmr == TIM6) { rccEnableAPB1(RCC_APB1ENR_TIM6EN, FALSE); }
else if(ITmr == TIM7) { rccEnableAPB1(RCC_APB1ENR_TIM7EN, FALSE); }
else if(ITmr == TIM9) { rccEnableAPB2(RCC_APB2ENR_TIM9EN, FALSE); }
else if(ITmr == TIM10) { rccEnableAPB2(RCC_APB2ENR_TIM10EN, FALSE); }
else if(ITmr == TIM11) { rccEnableAPB2(RCC_APB2ENR_TIM11EN, FALSE); }
}
void Timer_t::Init(TIM_TypeDef* Tmr) {
ITmr = Tmr;
if (ITmr == TIM2) { rccEnableTIM2(FALSE); }
else if(ITmr == TIM3) { rccEnableTIM3(FALSE); }
else if(ITmr == TIM4) { rccEnableTIM4(FALSE); }
else if(ITmr == TIM6) { rccEnableAPB1(RCC_APB1ENR_TIM6EN, FALSE); }
else if(ITmr == TIM7) { rccEnableAPB1(RCC_APB1ENR_TIM7EN, FALSE); }
else if(ITmr == TIM9) { rccEnableAPB2(RCC_APB2ENR_TIM9EN, FALSE); }
else if(ITmr == TIM10) { rccEnableAPB2(RCC_APB2ENR_TIM10EN, FALSE); }
else if(ITmr == TIM11) { rccEnableAPB2(RCC_APB2ENR_TIM11EN, FALSE); }
// Clock src
if(ANY_OF_3(ITmr, TIM9, TIM10, TIM11)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
}
// ================================ Timer ======================================
void Timer_t::Init() {
if (ITmr == TIM1) { rccEnableTIM1(FALSE); }
else if(ITmr == TIM2) { rccEnableTIM2(FALSE); }
else if(ITmr == TIM3) { rccEnableTIM3(FALSE); }
else if(ITmr == TIM4) { rccEnableTIM4(FALSE); }
else if(ITmr == TIM5) { rccEnableTIM5(FALSE); }
else if(ITmr == TIM8) { rccEnableTIM8(FALSE); }
else if(ITmr == TIM9) { rccEnableAPB2(RCC_APB2ENR_TIM9EN, FALSE); }
else if(ITmr == TIM10) { rccEnableAPB2(RCC_APB2ENR_TIM10EN, FALSE); }
else if(ITmr == TIM11) { rccEnableAPB2(RCC_APB2ENR_TIM11EN, FALSE); }
else if(ITmr == TIM12) { rccEnableAPB1(RCC_APB1ENR_TIM12EN, FALSE); }
else if(ITmr == TIM13) { rccEnableAPB1(RCC_APB1ENR_TIM13EN, FALSE); }
else if(ITmr == TIM14) { rccEnableAPB1(RCC_APB1ENR_TIM14EN, FALSE); }
// Clock src
if(ANY_OF_5(ITmr, TIM1, TIM8, TIM9, TIM10, TIM11)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
}
void LedChnl_t::Init() const {
// ==== GPIO setup ====
if(PTimer == TIM2) PinSetupAlterFunc(PGpio, Pin, omPushPull, pudNone, AF1);
else if(PTimer == TIM3 or PTimer == TIM4) PinSetupAlterFunc(PGpio, Pin, omPushPull, pudNone, AF2);
else PinSetupAlterFunc(PGpio, Pin, omPushPull, pudNone, AF3);
// ==== Timer setup ====
if (PTimer == TIM2) { rccEnableTIM2(FALSE); }
else if(PTimer == TIM3) { rccEnableTIM3(FALSE); }
else if(PTimer == TIM4) { rccEnableTIM4(FALSE); }
else if(PTimer == TIM9) { rccEnableTIM9(FALSE); }
else if(PTimer == TIM10) { rccEnableAPB2(RCC_APB2ENR_TIM10EN, FALSE); }
else if(PTimer == TIM11) { rccEnableAPB2(RCC_APB2ENR_TIM11EN, FALSE); }
PTimer->CR1 = TIM_CR1_CEN; // Enable timer, set clk division to 0, AutoReload not buffered
PTimer->CR2 = 0;
PTimer->ARR = LED_TOP_VALUE;
// ==== Timer's channel ====
#if LED_INVERTED_PWM
#define PwmMode 0b111
#else
#define PwmMode 0b110
#endif
switch(TmrChnl) {
case 1:
PTimer->CCMR1 |= (PwmMode << 4);
PTimer->CCER |= TIM_CCER_CC1E;
break;
case 2:
PTimer->CCMR1 |= (PwmMode << 12);
PTimer->CCER |= TIM_CCER_CC2E;
break;
case 3:
PTimer->CCMR2 |= (PwmMode << 4);
PTimer->CCER |= TIM_CCER_CC3E;
break;
case 4:
PTimer->CCMR2 |= (PwmMode << 12);
PTimer->CCER |= TIM_CCER_CC4E;
break;
default: break;
}
}
/**
* @brief Configures and activates the PWM peripheral.
* @note Starting a driver that is already in the @p PWM_READY state
* disables all the active channels.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_start(PWMDriver *pwmp) {
uint32_t psc;
uint32_t ccer;
uint32_t dier;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if STM32_PWM_USE_TIM1
if (&PWMD1 == pwmp) {
rccEnableTIM1(FALSE);
rccResetTIM1();
nvicEnableVector(STM32_TIM1_UP_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM1_IRQ_PRIORITY));
nvicEnableVector(STM32_TIM1_CC_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM1_IRQ_PRIORITY));
#if defined(STM32_TIM1CLK)
pwmp->clock = STM32_TIM1CLK;
#else
pwmp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_PWM_USE_TIM2
if (&PWMD2 == pwmp) {
rccEnableTIM2(FALSE);
rccResetTIM2();
nvicEnableVector(STM32_TIM2_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM2_IRQ_PRIORITY));
pwmp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_PWM_USE_TIM3
if (&PWMD3 == pwmp) {
rccEnableTIM3(FALSE);
rccResetTIM3();
nvicEnableVector(STM32_TIM3_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM3_IRQ_PRIORITY));
pwmp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_PWM_USE_TIM4
if (&PWMD4 == pwmp) {
rccEnableTIM4(FALSE);
rccResetTIM4();
nvicEnableVector(STM32_TIM4_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM4_IRQ_PRIORITY));
pwmp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_PWM_USE_TIM5
if (&PWMD5 == pwmp) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(STM32_TIM5_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM5_IRQ_PRIORITY));
pwmp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_PWM_USE_TIM8
if (&PWMD8 == pwmp) {
rccEnableTIM8(FALSE);
rccResetTIM8();
nvicEnableVector(STM32_TIM8_UP_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM8_IRQ_PRIORITY));
nvicEnableVector(STM32_TIM8_CC_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM8_IRQ_PRIORITY));
#if defined(STM32_TIM8CLK)
pwmp->clock = STM32_TIM8CLK;
#else
pwmp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_PWM_USE_TIM9
if (&PWMD9 == pwmp) {
rccEnableTIM9(FALSE);
rccResetTIM9();
nvicEnableVector(STM32_TIM9_NUMBER,
CORTEX_PRIORITY_MASK(STM32_PWM_TIM9_IRQ_PRIORITY));
pwmp->clock = STM32_TIMCLK2;
}
#endif
/* All channels configured in PWM1 mode with preload enabled and will
stay that way until the driver is stopped.*/
pwmp->tim->CCMR1 = STM32_TIM_CCMR1_OC1M(6) | STM32_TIM_CCMR1_OC1PE |
STM32_TIM_CCMR1_OC2M(6) | STM32_TIM_CCMR1_OC2PE;
pwmp->tim->CCMR2 = STM32_TIM_CCMR2_OC3M(6) | STM32_TIM_CCMR2_OC3PE |
STM32_TIM_CCMR2_OC4M(6) | STM32_TIM_CCMR2_OC4PE;
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->CCR[0] = 0; /* Comparator 1 disabled. */
pwmp->tim->CCR[1] = 0; /* Comparator 2 disabled. */
pwmp->tim->CCR[2] = 0; /* Comparator 3 disabled. */
pwmp->tim->CCR[3] = 0; /* Comparator 4 disabled. */
pwmp->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
psc = (pwmp->clock / pwmp->config->frequency) - 1;
chDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * pwmp->config->frequency) == pwmp->clock,
"pwm_lld_start(), #1", "invalid frequency");
pwmp->tim->PSC = (uint16_t)psc;
pwmp->tim->ARR = (uint16_t)(pwmp->period - 1);
pwmp->tim->CR2 = pwmp->config->cr2;
/* Output enables and polarities setup.*/
ccer = 0;
switch (pwmp->config->channels[0].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC1P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC1E;
default:
;
}
switch (pwmp->config->channels[1].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC2P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC2E;
default:
;
}
switch (pwmp->config->channels[2].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC3P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC3E;
default:
;
}
switch (pwmp->config->channels[3].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC4P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC4E;
default:
;
}
#if STM32_PWM_USE_ADVANCED
#if STM32_PWM_USE_TIM1 && !STM32_PWM_USE_TIM8
if (&PWMD1 == pwmp) {
#endif
#if !STM32_PWM_USE_TIM1 && STM32_PWM_USE_TIM8
if (&PWMD8 == pwmp) {
#endif
#if STM32_PWM_USE_TIM1 && STM32_PWM_USE_TIM8
if ((&PWMD1 == pwmp) || (&PWMD8 == pwmp)) {
#endif
switch (pwmp->config->channels[0].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC1NP;
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC1NE;
default:
;
}
switch (pwmp->config->channels[1].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC2NP;
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC2NE;
default:
;
}
switch (pwmp->config->channels[2].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC3NP;
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC3NE;
default:
;
}
}
#endif /* STM32_PWM_USE_ADVANCED*/
pwmp->tim->CCER = ccer;
pwmp->tim->EGR = STM32_TIM_EGR_UG; /* Update event. */
pwmp->tim->SR = 0; /* Clear pending IRQs. */
pwmp->tim->DIER = (pwmp->config->callback == NULL ? 0 : STM32_TIM_DIER_UIE) |
(pwmp->config->dier & ~STM32_TIM_DIER_IRQ_MASK);
#if STM32_PWM_USE_TIM1 || STM32_PWM_USE_TIM8
#if STM32_PWM_USE_ADVANCED
pwmp->tim->BDTR = pwmp->config->bdtr | STM32_TIM_BDTR_MOE;
#else
pwmp->tim->BDTR = STM32_TIM_BDTR_MOE;
#endif
#endif
/* Timer configured and started.*/
pwmp->tim->CR1 = STM32_TIM_CR1_ARPE | STM32_TIM_CR1_URS |
STM32_TIM_CR1_CEN;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/
if (pwmp->state == PWM_READY) {
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->DIER = 0; /* All IRQs disabled. */
pwmp->tim->SR = 0; /* Clear eventual pending IRQs. */
#if STM32_PWM_USE_TIM1 || STM32_PWM_USE_TIM8
pwmp->tim->BDTR = 0;
#endif
#if STM32_PWM_USE_TIM1
if (&PWMD1 == pwmp) {
nvicDisableVector(STM32_TIM1_UP_NUMBER);
nvicDisableVector(STM32_TIM1_CC_NUMBER);
rccDisableTIM1(FALSE);
}
#endif
#if STM32_PWM_USE_TIM2
if (&PWMD2 == pwmp) {
nvicDisableVector(STM32_TIM2_NUMBER);
rccDisableTIM2(FALSE);
}
#endif
#if STM32_PWM_USE_TIM3
if (&PWMD3 == pwmp) {
nvicDisableVector(STM32_TIM3_NUMBER);
rccDisableTIM3(FALSE);
}
#endif
#if STM32_PWM_USE_TIM4
if (&PWMD4 == pwmp) {
nvicDisableVector(STM32_TIM4_NUMBER);
rccDisableTIM4(FALSE);
}
#endif
#if STM32_PWM_USE_TIM5
if (&PWMD5 == pwmp) {
nvicDisableVector(STM32_TIM5_NUMBER);
rccDisableTIM5(FALSE);
}
#endif
#if STM32_PWM_USE_TIM8
if (&PWMD8 == pwmp) {
nvicDisableVector(STM32_TIM8_UP_NUMBER);
nvicDisableVector(STM32_TIM8_CC_NUMBER);
rccDisableTIM8(FALSE);
}
#endif
#if STM32_PWM_USE_TIM9
if (&PWMD9 == pwmp) {
nvicDisableVector(STM32_TIM9_NUMBER);
rccDisableTIM9(FALSE);
}
#endif
}
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
* @param[in] width PWM pulse width as clock pulses number
*
* @notapi
*/
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width) {
pwmp->tim->CCR[channel] = width; /* New duty cycle. */
/* If there is a callback defined for the channel then the associated
interrupt must be enabled.*/
if (pwmp->config->channels[channel].callback != NULL) {
uint32_t dier = pwmp->tim->DIER;
/* If the IRQ is not already enabled care must be taken to clear it,
it is probably already pending because the timer is running.*/
if ((dier & (2 << channel)) == 0) {
pwmp->tim->DIER = dier | (2 << channel);
pwmp->tim->SR = ~(2 << channel);
}
}
}
/**
* @brief Disables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
*
* @notapi
*/
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
pwmp->tim->CCR[channel] = 0;
pwmp->tim->DIER &= ~(2 << channel);
}
/**
* @brief Configures and activates the ICU peripheral.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_start(ICUDriver *icup) {
uint32_t psc;
chDbgAssert((icup->config->channel == ICU_CHANNEL_1) ||
(icup->config->channel == ICU_CHANNEL_2),
"icu_lld_start(), #1", "invalid input");
if (icup->state == ICU_STOP) {
/* Clock activation and timer reset.*/
#if STM32_ICU_USE_TIM1
if (&ICUD1 == icup) {
rccEnableTIM1(FALSE);
rccResetTIM1();
nvicEnableVector(STM32_TIM1_UP_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));
nvicEnableVector(STM32_TIM1_CC_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));
#if defined(STM32_TIM1CLK)
icup->clock = STM32_TIM1CLK;
#else
icup->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_ICU_USE_TIM2
if (&ICUD2 == icup) {
rccEnableTIM2(FALSE);
rccResetTIM2();
nvicEnableVector(STM32_TIM2_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM2_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM3
if (&ICUD3 == icup) {
rccEnableTIM3(FALSE);
rccResetTIM3();
nvicEnableVector(STM32_TIM3_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM3_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM4
if (&ICUD4 == icup) {
rccEnableTIM4(FALSE);
rccResetTIM4();
nvicEnableVector(STM32_TIM4_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM4_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM5
if (&ICUD5 == icup) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(STM32_TIM5_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM5_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM8
if (&ICUD8 == icup) {
rccEnableTIM8(FALSE);
rccResetTIM8();
nvicEnableVector(STM32_TIM8_UP_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM8_IRQ_PRIORITY));
nvicEnableVector(STM32_TIM8_CC_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM8_IRQ_PRIORITY));
#if defined(STM32_TIM8CLK)
icup->clock = STM32_TIM8CLK;
#else
icup->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_ICU_USE_TIM9
if (&ICUD9 == icup) {
rccEnableTIM9(FALSE);
rccResetTIM9();
nvicEnableVector(STM32_TIM9_NUMBER,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM9_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK2;
}
#endif
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
icup->tim->CR1 = 0; /* Timer disabled. */
icup->tim->CCR[0] = 0; /* Comparator 1 disabled. */
icup->tim->CCR[1] = 0; /* Comparator 2 disabled. */
icup->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
icup->tim->SR = 0; /* Clear eventual pending IRQs. */
icup->tim->DIER = icup->config->dier & /* DMA-related DIER settings. */
~STM32_TIM_DIER_IRQ_MASK;
psc = (icup->clock / icup->config->frequency) - 1;
chDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * icup->config->frequency) == icup->clock,
"icu_lld_start(), #1", "invalid frequency");
icup->tim->PSC = (uint16_t)psc;
icup->tim->ARR = 0xFFFF;
if (icup->config->channel == ICU_CHANNEL_1) {
/* Selected input 1.
CCMR1_CC1S = 01 = CH1 Input on TI1.
CCMR1_CC2S = 10 = CH2 Input on TI1.*/
icup->tim->CCMR1 = STM32_TIM_CCMR1_CC1S(1) | STM32_TIM_CCMR1_CC2S(2);
/* SMCR_TS = 101, input is TI1FP1.
SMCR_SMS = 100, reset on rising edge.*/
icup->tim->SMCR = STM32_TIM_SMCR_TS(5) | STM32_TIM_SMCR_SMS(4);
/* The CCER settings depend on the selected trigger mode.
ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
ICU_INPUT_ACTIVE_LOW: Active on falling edge, idle on rising edge.*/
if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
icup->tim->CCER = STM32_TIM_CCER_CC1E |
STM32_TIM_CCER_CC2E | STM32_TIM_CCER_CC2P;
else
icup->tim->CCER = STM32_TIM_CCER_CC1E | STM32_TIM_CCER_CC1P |
STM32_TIM_CCER_CC2E;
/* Direct pointers to the capture registers in order to make reading
data faster from within callbacks.*/
icup->wccrp = &icup->tim->CCR[1];
icup->pccrp = &icup->tim->CCR[0];
} else {
/* Selected input 2.
CCMR1_CC1S = 10 = CH1 Input on TI2.
CCMR1_CC2S = 01 = CH2 Input on TI2.*/
icup->tim->CCMR1 = STM32_TIM_CCMR1_CC1S(2) | STM32_TIM_CCMR1_CC2S(1);
/* SMCR_TS = 110, input is TI2FP2.
SMCR_SMS = 100, reset on rising edge.*/
icup->tim->SMCR = STM32_TIM_SMCR_TS(6) | STM32_TIM_SMCR_SMS(4);
/* The CCER settings depend on the selected trigger mode.
ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
ICU_INPUT_ACTIVE_LOW: Active on falling edge, idle on rising edge.*/
if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
icup->tim->CCER = STM32_TIM_CCER_CC1E | STM32_TIM_CCER_CC1P |
STM32_TIM_CCER_CC2E;
else
icup->tim->CCER = STM32_TIM_CCER_CC1E |
STM32_TIM_CCER_CC2E | STM32_TIM_CCER_CC2P;
/* Direct pointers to the capture registers in order to make reading
data faster from within callbacks.*/
icup->wccrp = &icup->tim->CCR[0];
icup->pccrp = &icup->tim->CCR[1];
}
}
/**
* @brief Configures and activates the PWM peripheral.
* @note Starting a driver that is already in the @p PWM_READY state
* disables all the active channels.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_start(PWMDriver *pwmp) {
uint32_t psc;
uint32_t ccer;
if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/
#if STM32_PWM_USE_TIM1
if (&PWMD1 == pwmp) {
rccEnableTIM1(FALSE);
rccResetTIM1();
#if !defined(STM32_TIM1_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM1_UP_NUMBER, STM32_PWM_TIM1_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM1_CC_NUMBER, STM32_PWM_TIM1_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM1CLK)
pwmp->clock = STM32_TIM1CLK;
#else
pwmp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_PWM_USE_TIM2
if (&PWMD2 == pwmp) {
rccEnableTIM2(FALSE);
rccResetTIM2();
#if !defined(STM32_TIM2_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM2_NUMBER, STM32_PWM_TIM2_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM2CLK)
pwmp->clock = STM32_TIM2CLK;
#else
pwmp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_PWM_USE_TIM3
if (&PWMD3 == pwmp) {
rccEnableTIM3(FALSE);
rccResetTIM3();
#if !defined(STM32_TIM3_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM3_NUMBER, STM32_PWM_TIM3_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM3CLK)
pwmp->clock = STM32_TIM3CLK;
#else
pwmp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_PWM_USE_TIM4
if (&PWMD4 == pwmp) {
rccEnableTIM4(FALSE);
rccResetTIM4();
#if !defined(STM32_TIM4_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM4_NUMBER, STM32_PWM_TIM4_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM4CLK)
pwmp->clock = STM32_TIM4CLK;
#else
pwmp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_PWM_USE_TIM5
if (&PWMD5 == pwmp) {
rccEnableTIM5(FALSE);
rccResetTIM5();
#if !defined(STM32_TIM5_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM5_NUMBER, STM32_PWM_TIM5_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM5CLK)
pwmp->clock = STM32_TIM5CLK;
#else
pwmp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_PWM_USE_TIM8
if (&PWMD8 == pwmp) {
rccEnableTIM8(FALSE);
rccResetTIM8();
#if !defined(STM32_TIM8_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM8_UP_NUMBER, STM32_PWM_TIM8_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM8_CC_NUMBER, STM32_PWM_TIM8_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM8CLK)
pwmp->clock = STM32_TIM8CLK;
#else
pwmp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_PWM_USE_TIM9
if (&PWMD9 == pwmp) {
rccEnableTIM9(FALSE);
rccResetTIM9();
#if !defined(STM32_TIM9_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM9_NUMBER, STM32_PWM_TIM9_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM9CLK)
pwmp->clock = STM32_TIM9CLK;
#else
pwmp->clock = STM32_TIMCLK2;
#endif
}
#endif
/* All channels configured in PWM1 mode with preload enabled and will
stay that way until the driver is stopped.*/
pwmp->tim->CCMR1 = STM32_TIM_CCMR1_OC1M(6) | STM32_TIM_CCMR1_OC1PE |
STM32_TIM_CCMR1_OC2M(6) | STM32_TIM_CCMR1_OC2PE;
pwmp->tim->CCMR2 = STM32_TIM_CCMR2_OC3M(6) | STM32_TIM_CCMR2_OC3PE |
STM32_TIM_CCMR2_OC4M(6) | STM32_TIM_CCMR2_OC4PE;
#if STM32_TIM_MAX_CHANNELS > 4
pwmp->tim->CCMR3 = STM32_TIM_CCMR3_OC5M(6) | STM32_TIM_CCMR3_OC5PE |
STM32_TIM_CCMR3_OC6M(6) | STM32_TIM_CCMR3_OC6PE;
#endif
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->CCR[0] = 0; /* Comparator 1 disabled. */
pwmp->tim->CCR[1] = 0; /* Comparator 2 disabled. */
pwmp->tim->CCR[2] = 0; /* Comparator 3 disabled. */
pwmp->tim->CCR[3] = 0; /* Comparator 4 disabled. */
#if STM32_TIM_MAX_CHANNELS > 4
if (pwmp->channels > 4) {
pwmp->tim->CCXR[0] = 0; /* Comparator 5 disabled. */
pwmp->tim->CCXR[1] = 0; /* Comparator 6 disabled. */
}
#endif
pwmp->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
psc = (pwmp->clock / pwmp->config->frequency) - 1;
osalDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * pwmp->config->frequency) == pwmp->clock,
"invalid frequency");
pwmp->tim->PSC = psc;
pwmp->tim->ARR = pwmp->period - 1;
pwmp->tim->CR2 = pwmp->config->cr2;
/* Output enables and polarities setup.*/
ccer = 0;
switch (pwmp->config->channels[0].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC1P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC1E;
default:
;
}
switch (pwmp->config->channels[1].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC2P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC2E;
default:
;
}
switch (pwmp->config->channels[2].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC3P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC3E;
default:
;
}
switch (pwmp->config->channels[3].mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC4P;
case PWM_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC4E;
default:
;
}
#if STM32_PWM_USE_ADVANCED
#if STM32_PWM_USE_TIM1 && !STM32_PWM_USE_TIM8
if (&PWMD1 == pwmp) {
#endif
#if !STM32_PWM_USE_TIM1 && STM32_PWM_USE_TIM8
if (&PWMD8 == pwmp) {
#endif
#if STM32_PWM_USE_TIM1 && STM32_PWM_USE_TIM8
if ((&PWMD1 == pwmp) || (&PWMD8 == pwmp)) {
#endif
switch (pwmp->config->channels[0].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC1NP;
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC1NE;
default:
;
}
switch (pwmp->config->channels[1].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC2NP;
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC2NE;
default:
;
}
switch (pwmp->config->channels[2].mode & PWM_COMPLEMENTARY_OUTPUT_MASK) {
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW:
ccer |= STM32_TIM_CCER_CC3NP;
case PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH:
ccer |= STM32_TIM_CCER_CC3NE;
default:
;
}
}
#endif /* STM32_PWM_USE_ADVANCED*/
pwmp->tim->CCER = ccer;
pwmp->tim->EGR = STM32_TIM_EGR_UG; /* Update event. */
pwmp->tim->SR = 0; /* Clear pending IRQs. */
pwmp->tim->DIER = pwmp->config->dier & /* DMA-related DIER settings. */
~STM32_TIM_DIER_IRQ_MASK;
#if STM32_PWM_USE_TIM1 || STM32_PWM_USE_TIM8
#if STM32_PWM_USE_ADVANCED
pwmp->tim->BDTR = pwmp->config->bdtr | STM32_TIM_BDTR_MOE;
#else
pwmp->tim->BDTR = STM32_TIM_BDTR_MOE;
#endif
#endif
/* Timer configured and started.*/
pwmp->tim->CR1 = STM32_TIM_CR1_ARPE | STM32_TIM_CR1_URS |
STM32_TIM_CR1_CEN;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/
if (pwmp->state == PWM_READY) {
pwmp->tim->CR1 = 0; /* Timer disabled. */
pwmp->tim->DIER = 0; /* All IRQs disabled. */
pwmp->tim->SR = 0; /* Clear eventual pending IRQs. */
#if STM32_PWM_USE_TIM1 || STM32_PWM_USE_TIM8
pwmp->tim->BDTR = 0;
#endif
#if STM32_PWM_USE_TIM1
if (&PWMD1 == pwmp) {
#if !defined(STM32_TIM1_SUPPRESS_ISR)
nvicDisableVector(STM32_TIM1_UP_NUMBER);
nvicDisableVector(STM32_TIM1_CC_NUMBER);
#endif
rccDisableTIM1(FALSE);
}
#endif
#if STM32_PWM_USE_TIM2
if (&PWMD2 == pwmp) {
#if !defined(STM32_TIM2_SUPPRESS_ISR)
nvicDisableVector(STM32_TIM2_NUMBER);
#endif
rccDisableTIM2(FALSE);
}
#endif
#if STM32_PWM_USE_TIM3
if (&PWMD3 == pwmp) {
#if !defined(STM32_TIM3_SUPPRESS_ISR)
nvicDisableVector(STM32_TIM3_NUMBER);
#endif
rccDisableTIM3(FALSE);
}
#endif
#if STM32_PWM_USE_TIM4
if (&PWMD4 == pwmp) {
#if !defined(STM32_TIM4_SUPPRESS_ISR)
nvicDisableVector(STM32_TIM4_NUMBER);
#endif
rccDisableTIM4(FALSE);
}
#endif
#if STM32_PWM_USE_TIM5
if (&PWMD5 == pwmp) {
#if !defined(STM32_TIM5_SUPPRESS_ISR)
nvicDisableVector(STM32_TIM5_NUMBER);
#endif
rccDisableTIM5(FALSE);
}
#endif
#if STM32_PWM_USE_TIM8
if (&PWMD8 == pwmp) {
#if !defined(STM32_TIM8_SUPPRESS_ISR)
nvicDisableVector(STM32_TIM8_UP_NUMBER);
nvicDisableVector(STM32_TIM8_CC_NUMBER);
#endif
rccDisableTIM8(FALSE);
}
#endif
#if STM32_PWM_USE_TIM9
if (&PWMD9 == pwmp) {
#if !defined(STM32_TIM9_SUPPRESS_ISR)
nvicDisableVector(STM32_TIM9_NUMBER);
#endif
rccDisableTIM9(FALSE);
}
#endif
}
}
/**
* @brief Enables a PWM channel.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is active using the specified configuration.
* @note The function has effect at the next cycle start.
* @note Channel notification is not enabled.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
* @param[in] width PWM pulse width as clock pulses number
*
* @notapi
*/
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width) {
/* Changing channel duty cycle on the fly.*/
#if STM32_TIM_MAX_CHANNELS <= 4
pwmp->tim->CCR[channel] = width;
#else
if (channel < 4)
pwmp->tim->CCR[channel] = width;
else
pwmp->tim->CCXR[channel - 4] = width;
#endif
}
/**
* @brief Disables a PWM channel and its notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @post The channel is disabled and its output line returned to the
* idle state.
* @note The function has effect at the next cycle start.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @notapi
*/
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
#if STM32_TIM_MAX_CHANNELS <= 4
pwmp->tim->CCR[channel] = 0;
pwmp->tim->DIER &= ~(2 << channel);
#else
if (channel < 4) {
pwmp->tim->CCR[channel] = 0;
pwmp->tim->DIER &= ~(2 << channel);
}
else
pwmp->tim->CCXR[channel - 4] = 0;
#endif
}
/**
* @brief Configures and activates the GPT peripheral.
*
* @param[in] gptp pointer to the @p GPTDriver object
*
* @notapi
*/
void gpt_lld_start(GPTDriver *gptp) {
uint16_t psc;
if (gptp->state == GPT_STOP) {
/* Clock activation.*/
#if STM32_GPT_USE_TIM1
if (&GPTD1 == gptp) {
rccEnableTIM1(FALSE);
rccResetTIM1();
#if !defined(STM32_TIM1_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM1_UP_NUMBER, STM32_GPT_TIM1_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM1CLK)
gptp->clock = STM32_TIM1CLK;
#else
gptp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_GPT_USE_TIM2
if (&GPTD2 == gptp) {
rccEnableTIM2(FALSE);
rccResetTIM2();
#if !defined(STM32_TIM2_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM2_NUMBER, STM32_GPT_TIM2_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM2CLK)
gptp->clock = STM32_TIM2CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_GPT_USE_TIM3
if (&GPTD3 == gptp) {
rccEnableTIM3(FALSE);
rccResetTIM3();
#if !defined(STM32_TIM3_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM3_NUMBER, STM32_GPT_TIM3_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM3CLK)
gptp->clock = STM32_TIM3CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_GPT_USE_TIM4
if (&GPTD4 == gptp) {
rccEnableTIM4(FALSE);
rccResetTIM4();
#if !defined(STM32_TIM4_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM4_NUMBER, STM32_GPT_TIM4_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM4CLK)
gptp->clock = STM32_TIM4CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_GPT_USE_TIM5
if (&GPTD5 == gptp) {
rccEnableTIM5(FALSE);
rccResetTIM5();
#if !defined(STM32_TIM5_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM5_NUMBER, STM32_GPT_TIM5_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM5CLK)
gptp->clock = STM32_TIM5CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_GPT_USE_TIM6
if (&GPTD6 == gptp) {
rccEnableTIM6(FALSE);
rccResetTIM6();
#if !defined(STM32_TIM6_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM6_NUMBER, STM32_GPT_TIM6_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM6CLK)
gptp->clock = STM32_TIM6CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_GPT_USE_TIM7
if (&GPTD7 == gptp) {
rccEnableTIM7(FALSE);
rccResetTIM7();
#if !defined(STM32_TIM7_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM7_NUMBER, STM32_GPT_TIM7_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM7CLK)
gptp->clock = STM32_TIM7CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_GPT_USE_TIM8
if (&GPTD8 == gptp) {
rccEnableTIM8(FALSE);
rccResetTIM8();
#if !defined(STM32_TIM8_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM8_UP_NUMBER, STM32_GPT_TIM8_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM8CLK)
gptp->clock = STM32_TIM8CLK;
#else
gptp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_GPT_USE_TIM9
if (&GPTD9 == gptp) {
rccEnableTIM9(FALSE);
rccResetTIM9();
#if !defined(STM32_TIM9_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM9_NUMBER, STM32_GPT_TIM9_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM9CLK)
gptp->clock = STM32_TIM9CLK;
#else
gptp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_GPT_USE_TIM11
if (&GPTD11 == gptp) {
rccEnableTIM11(FALSE);
rccResetTIM11();
#if !defined(STM32_TIM11_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM11_NUMBER, STM32_GPT_TIM11_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM11CLK)
gptp->clock = STM32_TIM11CLK;
#else
gptp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_GPT_USE_TIM12
if (&GPTD12 == gptp) {
rccEnableTIM12(FALSE);
rccResetTIM12();
#if !defined(STM32_TIM12_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM12_NUMBER, STM32_GPT_TIM12_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM12CLK)
gptp->clock = STM32_TIM12CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
#if STM32_GPT_USE_TIM14
if (&GPTD14 == gptp) {
rccEnableTIM14(FALSE);
rccResetTIM14();
#if !defined(STM32_TIM14_SUPPRESS_ISR)
nvicEnableVector(STM32_TIM14_NUMBER, STM32_GPT_TIM14_IRQ_PRIORITY);
#endif
#if defined(STM32_TIM14CLK)
gptp->clock = STM32_TIM14CLK;
#else
gptp->clock = STM32_TIMCLK1;
#endif
}
#endif
}
/* Prescaler value calculation.*/
psc = (uint16_t)((gptp->clock / gptp->config->frequency) - 1);
osalDbgAssert(((uint32_t)(psc + 1) * gptp->config->frequency) == gptp->clock,
"invalid frequency");
/* Timer configuration.*/
gptp->tim->CR1 = 0; /* Initially stopped. */
gptp->tim->CR2 = gptp->config->cr2;
gptp->tim->PSC = psc; /* Prescaler value. */
gptp->tim->SR = 0; /* Clear pending IRQs. */
gptp->tim->DIER = gptp->config->dier & /* DMA-related DIER bits. */
~STM32_TIM_DIER_IRQ_MASK;
}
/**
* @brief Configures and activates the GPT peripheral.
*
* @param[in] gptp pointer to the @p GPTDriver object
*
* @notapi
*/
void gpt_lld_start(GPTDriver *gptp) {
uint16_t psc;
if (gptp->state == GPT_STOP) {
/* Clock activation.*/
#if STM32_GPT_USE_TIM1
if (&GPTD1 == gptp) {
rccEnableTIM1(FALSE);
rccResetTIM1();
nvicEnableVector(STM32_TIM1_UP_NUMBER,
CORTEX_PRIORITY_MASK(STM32_GPT_TIM1_IRQ_PRIORITY));
gptp->clock = STM32_TIMCLK2;
}
#endif
#if STM32_GPT_USE_TIM2
if (&GPTD2 == gptp) {
rccEnableTIM2(FALSE);
rccResetTIM2();
nvicEnableVector(STM32_TIM2_NUMBER,
CORTEX_PRIORITY_MASK(STM32_GPT_TIM2_IRQ_PRIORITY));
gptp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_GPT_USE_TIM3
if (&GPTD3 == gptp) {
rccEnableTIM3(FALSE);
rccResetTIM3();
nvicEnableVector(STM32_TIM3_NUMBER,
CORTEX_PRIORITY_MASK(STM32_GPT_TIM3_IRQ_PRIORITY));
gptp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_GPT_USE_TIM4
if (&GPTD4 == gptp) {
rccEnableTIM4(FALSE);
rccResetTIM4();
nvicEnableVector(STM32_TIM4_NUMBER,
CORTEX_PRIORITY_MASK(STM32_GPT_TIM4_IRQ_PRIORITY));
gptp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_GPT_USE_TIM5
if (&GPTD5 == gptp) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(STM32_TIM5_NUMBER,
CORTEX_PRIORITY_MASK(STM32_GPT_TIM5_IRQ_PRIORITY));
gptp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_GPT_USE_TIM8
if (&GPTD8 == gptp) {
rccEnableTIM8(FALSE);
rccResetTIM8();
nvicEnableVector(STM32_TIM8_UP_NUMBER,
CORTEX_PRIORITY_MASK(STM32_GPT_TIM8_IRQ_PRIORITY));
gptp->clock = STM32_TIMCLK2;
}
#endif
}
/* Prescaler value calculation.*/
psc = (uint16_t)((gptp->clock / gptp->config->frequency) - 1);
chDbgAssert(((uint32_t)(psc + 1) * gptp->config->frequency) == gptp->clock,
"gpt_lld_start(), #1", "invalid frequency");
/* Timer configuration.*/
gptp->tim->CR1 = 0; /* Initially stopped. */
gptp->tim->CR2 = TIM_CR2_CCDS; /* DMA on UE (if any). */
gptp->tim->PSC = psc; /* Prescaler value. */
gptp->tim->DIER = 0;
}
/**
* @brief Configures and activates the TIMCAP peripheral.
*
* @param[in] timcapp pointer to the @p TIMCAPDriver object
*
* @notapi
*/
void timcap_lld_start(TIMCAPDriver *timcapp) {
uint32_t psc;
const timcapchannel_t tim_max_channel = timcap_get_max_timer_channel(timcapp);
if (timcapp->state == TIMCAP_STOP) {
/* Clock activation and timer reset.*/
#if STM32_TIMCAP_USE_TIM1
if (&TIMCAPD1 == timcapp) {
rccEnableTIM1(FALSE);
rccResetTIM1();
nvicEnableVector(STM32_TIM1_UP_NUMBER, STM32_TIMCAP_TIM1_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM1_CC_NUMBER, STM32_TIMCAP_TIM1_IRQ_PRIORITY);
#if defined(STM32_TIM1CLK)
timcapp->clock = STM32_TIM1CLK;
#else
timcapp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_TIMCAP_USE_TIM2
if (&TIMCAPD2 == timcapp) {
rccEnableTIM2(FALSE);
rccResetTIM2();
nvicEnableVector(STM32_TIM2_NUMBER, STM32_TIMCAP_TIM2_IRQ_PRIORITY);
timcapp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_TIMCAP_USE_TIM3
if (&TIMCAPD3 == timcapp) {
rccEnableTIM3(FALSE);
rccResetTIM3();
nvicEnableVector(STM32_TIM3_NUMBER, STM32_TIMCAP_TIM3_IRQ_PRIORITY);
timcapp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_TIMCAP_USE_TIM4
if (&TIMCAPD4 == timcapp) {
rccEnableTIM4(FALSE);
rccResetTIM4();
nvicEnableVector(STM32_TIM4_NUMBER, STM32_TIMCAP_TIM4_IRQ_PRIORITY);
timcapp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_TIMCAP_USE_TIM5
if (&TIMCAPD5 == timcapp) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(STM32_TIM5_NUMBER, STM32_TIMCAP_TIM5_IRQ_PRIORITY);
timcapp->clock = STM32_TIMCLK1;
}
#endif
#if STM32_TIMCAP_USE_TIM8
if (&TIMCAPD8 == timcapp) {
rccEnableTIM8(FALSE);
rccResetTIM8();
nvicEnableVector(STM32_TIM8_UP_NUMBER, STM32_TIMCAP_TIM8_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM8_CC_NUMBER, STM32_TIMCAP_TIM8_IRQ_PRIORITY);
#if defined(STM32_TIM8CLK)
timcapp->clock = STM32_TIM8CLK;
#else
timcapp->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_TIMCAP_USE_TIM9
if (&TIMCAPD9 == timcapp) {
rccEnableTIM9(FALSE);
rccResetTIM9();
nvicEnableVector(STM32_TIM9_NUMBER, STM32_TIMCAP_TIM9_IRQ_PRIORITY);
timcapp->clock = STM32_TIMCLK1;
}
#endif
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
timcapp->tim->CR1 = 0; /* Timer disabled. */
timcapp->tim->DIER = timcapp->config->dier &/* DMA-related DIER settings. */
~STM32_TIM_DIER_IRQ_MASK;
timcapp->tim->SR = 0; /* Clear eventual pending IRQs. */
timcapp->tim->CCR[0] = 0; /* Comparator 1 disabled. */
timcapp->tim->CCR[1] = 0; /* Comparator 2 disabled. */
if( tim_max_channel >= TIMCAP_CHANNEL_3 )
timcapp->tim->CCR[2] = 0; /* Comparator 3 disabled. */
if( tim_max_channel >= TIMCAP_CHANNEL_4 )
timcapp->tim->CCR[3] = 0; /* Comparator 4 disabled. */
timcapp->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
psc = (timcapp->clock / timcapp->config->frequency) - 1;
osalDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * timcapp->config->frequency) == timcapp->clock,
"invalid frequency");
timcapp->tim->PSC = (uint16_t)psc;
timcapp->tim->ARR = timcap_get_max_arr(timcapp);
timcapp->tim->CCMR1 = 0;
timcapp->tim->CCMR2 = 0;
timcapp->tim->CCER = 0;
timcapchannel_t chan = TIMCAP_CHANNEL_1;
/*go through each non-NULL callback channel and enable the capture register on rising/falling edge*/
for( chan = TIMCAP_CHANNEL_1; chan <= tim_max_channel; chan++ ) {
if( timcapp->config->capture_cb_array[chan] == NULL ) {
continue;
}
switch (chan) {
case TIMCAP_CHANNEL_1:
/*CCMR1_CC1S = 01 = CH1 Input on TI1.*/
timcapp->tim->CCMR1 |= STM32_TIM_CCMR1_CC1S(1);
break;
case TIMCAP_CHANNEL_2:
/*CCMR1_CC2S = 10 = CH2 Input on TI1.*/
timcapp->tim->CCMR1 |= STM32_TIM_CCMR1_CC2S(1);
break;
case TIMCAP_CHANNEL_3:
timcapp->tim->CCMR2 |= STM32_TIM_CCMR2_CC3S(1);
break;
case TIMCAP_CHANNEL_4:
timcapp->tim->CCMR2 |= STM32_TIM_CCMR2_CC4S(1);
break;
}
/* The CCER settings depend on the selected trigger mode.
TIMCAP_INPUT_DISABLED: Input not used.
TIMCAP_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
TIMCAP_INPUT_ACTIVE_LOW: Active on falling edge, idle on rising edge.*/
if (timcapp->config->modes[chan] == TIMCAP_INPUT_ACTIVE_HIGH) {
switch (chan) {
case TIMCAP_CHANNEL_1:
timcapp->tim->CCER |= STM32_TIM_CCER_CC1E;
break;
case TIMCAP_CHANNEL_2:
timcapp->tim->CCER |= STM32_TIM_CCER_CC2E;
break;
case TIMCAP_CHANNEL_3:
timcapp->tim->CCER |= STM32_TIM_CCER_CC3E;
break;
case TIMCAP_CHANNEL_4:
timcapp->tim->CCER |= STM32_TIM_CCER_CC4E;
break;
}
}
else if (timcapp->config->modes[chan] == TIMCAP_INPUT_ACTIVE_LOW) {
switch (chan) {
case TIMCAP_CHANNEL_1:
timcapp->tim->CCER |= STM32_TIM_CCER_CC1E | STM32_TIM_CCER_CC1P;
break;
case TIMCAP_CHANNEL_2:
timcapp->tim->CCER |= STM32_TIM_CCER_CC2E | STM32_TIM_CCER_CC2P;
break;
case TIMCAP_CHANNEL_3:
timcapp->tim->CCER |= STM32_TIM_CCER_CC3E | STM32_TIM_CCER_CC3P;
break;
case TIMCAP_CHANNEL_4:
timcapp->tim->CCER |= STM32_TIM_CCER_CC4E | STM32_TIM_CCER_CC4P;
break;
}
}
else {
switch (chan) {
case TIMCAP_CHANNEL_1:
timcapp->tim->CCER &= ~STM32_TIM_CCER_CC1E;
break;
case TIMCAP_CHANNEL_2:
timcapp->tim->CCER &= ~STM32_TIM_CCER_CC2E;
break;
case TIMCAP_CHANNEL_3:
timcapp->tim->CCER &= ~STM32_TIM_CCER_CC3E;
break;
case TIMCAP_CHANNEL_4:
timcapp->tim->CCER &= ~STM32_TIM_CCER_CC4E;
break;
}
}
/* Direct pointers to the capture registers in order to make reading
data faster from within callbacks.*/
timcapp->ccr_p[chan] = &timcapp->tim->CCR[chan];
}
/* SMCR_TS = 101, input is TI1FP1.*/
timcapp->tim->SMCR = STM32_TIM_SMCR_TS(5);
}
/**
* @brief Configures and activates the EICU peripheral.
*
* @param[in] eicup Pointer to the @p EICUDriver object
*
* @notapi
*/
void eicu_lld_start(EICUDriver *eicup) {
uint32_t psc;
size_t ch;
osalDbgAssert((eicup->config->iccfgp[0] != NULL) ||
(eicup->config->iccfgp[1] != NULL) ||
(eicup->config->iccfgp[2] != NULL) ||
(eicup->config->iccfgp[3] != NULL),
"invalid input configuration");
if (eicup->state == EICU_STOP) {
/* Clock activation and timer reset.*/
#if STM32_EICU_USE_TIM1
if (&EICUD1 == eicup) {
rccEnableTIM1(FALSE);
rccResetTIM1();
nvicEnableVector(STM32_TIM1_UP_NUMBER, STM32_EICU_TIM1_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM1_CC_NUMBER, STM32_EICU_TIM1_IRQ_PRIORITY);
eicup->channels = 4;
#if defined(STM32_TIM1CLK)
eicup->clock = STM32_TIM1CLK;
#else
eicup->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_EICU_USE_TIM2
if (&EICUD2 == eicup) {
rccEnableTIM2(FALSE);
rccResetTIM2();
nvicEnableVector(STM32_TIM2_NUMBER, STM32_EICU_TIM2_IRQ_PRIORITY);
eicup->channels = 4;
eicup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_EICU_USE_TIM3
if (&EICUD3 == eicup) {
rccEnableTIM3(FALSE);
rccResetTIM3();
nvicEnableVector(STM32_TIM3_NUMBER, STM32_EICU_TIM3_IRQ_PRIORITY);
eicup->channels = 4;
eicup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_EICU_USE_TIM4
if (&EICUD4 == eicup) {
rccEnableTIM4(FALSE);
rccResetTIM4();
nvicEnableVector(STM32_TIM4_NUMBER, STM32_EICU_TIM4_IRQ_PRIORITY);
eicup->channels = 4;
eicup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_EICU_USE_TIM5
if (&EICUD5 == eicup) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(STM32_TIM5_NUMBER, STM32_EICU_TIM5_IRQ_PRIORITY);
eicup->channels = 4;
eicup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_EICU_USE_TIM8
if (&EICUD8 == eicup) {
rccEnableTIM8(FALSE);
rccResetTIM8();
nvicEnableVector(STM32_TIM8_UP_NUMBER, STM32_EICU_TIM8_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM8_CC_NUMBER, STM32_EICU_TIM8_IRQ_PRIORITY);
eicup->channels = 4;
#if defined(STM32_TIM8CLK)
eicup->clock = STM32_TIM8CLK;
#else
eicup->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_EICU_USE_TIM9
if (&EICUD9 == eicup) {
rccEnableTIM9(FALSE);
rccResetTIM9();
nvicEnableVector(STM32_TIM9_NUMBER, STM32_EICU_TIM9_IRQ_PRIORITY);
eicup->channels = 2;
eicup->clock = STM32_TIMCLK2;
}
#endif
#if STM32_EICU_USE_TIM12
if (&EICUD12 == eicup) {
rccEnableTIM12(FALSE);
rccResetTIM12();
nvicEnableVector(STM32_TIM12_NUMBER, STM32_EICU_TIM12_IRQ_PRIORITY);
eicup->channels = 2;
eicup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_EICU_USE_TIM10
if (&EICUD10 == eicup) {
rccEnableTIM10(FALSE);
rccResetTIM10();
nvicEnableVector(STM32_TIM10_NUMBER, STM32_EICU_TIM10_IRQ_PRIORITY);
eicup->channels = 1;
eicup->clock = STM32_TIMCLK2;
}
#endif
#if STM32_EICU_USE_TIM11
if (&EICUD11 == eicup) {
rccEnableTIM11(FALSE);
rccResetTIM11();
nvicEnableVector(STM32_TIM11_NUMBER, STM32_EICU_TIM11_IRQ_PRIORITY);
eicup->channels = 1;
eicup->clock = STM32_TIMCLK2;
}
#endif
#if STM32_EICU_USE_TIM13
if (&EICUD13 == eicup) {
rccEnableTIM13(FALSE);
rccResetTIM13();
nvicEnableVector(STM32_TIM13_NUMBER, STM32_EICU_TIM13_IRQ_PRIORITY);
eicup->channels = 1;
eicup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_EICU_USE_TIM14
if (&EICUD14 == eicup) {
rccEnableTIM14(FALSE);
rccResetTIM14();
nvicEnableVector(STM32_TIM14_NUMBER, STM32_EICU_TIM14_IRQ_PRIORITY);
eicup->channels = 1;
eicup->clock = STM32_TIMCLK1;
}
#endif
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
eicup->tim->CR1 = 0; /* Timer disabled. */
eicup->tim->DIER = eicup->config->dier &/* DMA-related DIER settings. */
~STM32_TIM_DIER_IRQ_MASK;
eicup->tim->SR = 0; /* Clear eventual pending IRQs. */
eicup->tim->CCR[0] = 0; /* Comparator 1 disabled. */
eicup->tim->CCR[1] = 0; /* Comparator 2 disabled. */
eicup->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
psc = (eicup->clock / eicup->config->frequency) - 1;
chDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * eicup->config->frequency) == eicup->clock,
"invalid frequency");
eicup->tim->PSC = (uint16_t)psc;
eicup->tim->ARR = (eicucnt_t)-1;
/* Detect width.*/
if (0xFFFFFFFF == eicup->tim->ARR)
eicup->width = EICU_WIDTH_32;
else if (0xFFFF == eicup->tim->ARR)
eicup->width = EICU_WIDTH_16;
else
osalSysHalt("Unsupported width");
/* Reset registers */
eicup->tim->SMCR = 0;
eicup->tim->CCMR1 = 0;
if (eicup->channels > 2)
eicup->tim->CCMR2 = 0;
/* clean channel structures and set pointers to channel configs */
for (ch=0; ch<EICU_CHANNEL_ENUM_END; ch++) {
eicup->channel[ch].last_active = 0;
eicup->channel[ch].last_idle = 0;
eicup->channel[ch].config = eicup->config->iccfgp[ch];
eicup->channel[ch].state = EICU_CH_IDLE;
}
/* TIM9 and TIM12 have only 2 channels.*/
if (eicup->channels == 2) {
osalDbgCheck((eicup->config->iccfgp[2] == NULL) &&
(eicup->config->iccfgp[3] == NULL));
}
/* TIM10, TIM11, TIM13 and TIM14 have only 1 channel.*/
if (eicup->channels == 1) {
osalDbgCheck((eicup->config->iccfgp[1] == NULL) &&
(eicup->config->iccfgp[2] == NULL) &&
(eicup->config->iccfgp[3] == NULL));
}
start_channels(eicup);
}
// ================================ PWM pin ====================================
void PwmPin_t::Init(GPIO_TypeDef *GPIO, uint16_t N, uint8_t TimN, uint8_t Chnl, uint16_t TopValue, bool Inverted) {
TIM_TypeDef* Tim;
switch(TimN) {
case 1:
Tim = TIM1;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF1);
rccEnableTIM1(FALSE);
break;
case 2:
Tim = TIM2;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF1);
rccEnableTIM2(FALSE);
break;
case 3:
Tim = TIM3;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF2);
rccEnableTIM3(FALSE);
break;
case 4:
Tim = TIM4;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF2);
rccEnableTIM4(FALSE);
break;
case 5:
Tim = TIM5;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF2);
rccEnableTIM5(FALSE);
break;
case 8:
Tim = TIM8;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableTIM8(FALSE);
break;
case 9:
Tim = TIM9;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableAPB2(RCC_APB2ENR_TIM9EN, FALSE);
break;
case 10:
Tim = TIM10;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableAPB2(RCC_APB2ENR_TIM10EN, FALSE);
break;
case 11:
Tim = TIM11;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableAPB2(RCC_APB2ENR_TIM11EN, FALSE);
break;
case 12:
Tim = TIM12;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF9);
rccEnableAPB1(RCC_APB1ENR_TIM12EN, FALSE);
break;
case 13:
Tim = TIM13;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF9);
rccEnableAPB1(RCC_APB1ENR_TIM13EN, FALSE);
break;
case 14:
Tim = TIM14;
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF9);
rccEnableAPB1(RCC_APB1ENR_TIM14EN, FALSE);
break;
default: return; break;
}
// Common
Tim->CR1 = TIM_CR1_CEN; // Enable timer, set clk division to 0, AutoReload not buffered
Tim->CR2 = 0;
Tim->ARR = TopValue;
Tim->BDTR = TIM_BDTR_MOE | TIM_BDTR_AOE;
// Output
uint16_t tmp = Inverted? 0b111 : 0b110; // PWM mode 1 or 2
switch(Chnl) {
case 1:
PCCR = &Tim->CCR1;
Tim->CCMR1 |= (tmp << 4);
Tim->CCER |= TIM_CCER_CC1E;
break;
case 2:
PCCR = &Tim->CCR2;
Tim->CCMR1 |= (tmp << 12);
Tim->CCER |= TIM_CCER_CC2E;
break;
case 3:
PCCR = &Tim->CCR3;
Tim->CCMR2 |= (tmp << 4);
Tim->CCER |= TIM_CCER_CC3E;
break;
case 4:
PCCR = &Tim->CCR4;
Tim->CCMR2 |= (tmp << 12);
Tim->CCER |= TIM_CCER_CC4E;
break;
default: break;
}
*PCCR = 0;
}
/**
* @brief Configures and activates the QEI peripheral.
*
* @param[in] qeip pointer to the @p QEIDriver object
*
* @notapi
*/
void qei_lld_start(QEIDriver *qeip) {
osalDbgAssert((qeip->config->min == 0) || (qeip->config->max == 0),
"only min/max set to 0 is supported");
if (qeip->state == QEI_STOP) {
/* Clock activation and timer reset.*/
#if STM32_QEI_USE_TIM1
if (&QEID1 == qeip) {
rccEnableTIM1(FALSE);
rccResetTIM1();
}
#endif
#if STM32_QEI_USE_TIM2
if (&QEID2 == qeip) {
rccEnableTIM2(FALSE);
rccResetTIM2();
}
#endif
#if STM32_QEI_USE_TIM3
if (&QEID3 == qeip) {
rccEnableTIM3(FALSE);
rccResetTIM3();
}
#endif
#if STM32_QEI_USE_TIM4
if (&QEID4 == qeip) {
rccEnableTIM4(FALSE);
rccResetTIM4();
}
#endif
#if STM32_QEI_USE_TIM5
if (&QEID5 == qeip) {
rccEnableTIM5(FALSE);
rccResetTIM5();
}
#endif
#if STM32_QEI_USE_TIM8
if (&QEID8 == qeip) {
rccEnableTIM8(FALSE);
rccResetTIM8();
}
#endif
}
/* Timer configuration.*/
qeip->tim->CR1 = 0; /* Initially stopped. */
qeip->tim->CR2 = 0;
qeip->tim->PSC = 0;
qeip->tim->DIER = 0;
qeip->tim->ARR = 0xFFFF;
/* Set Capture Compare 1 and Capture Compare 2 as input. */
qeip->tim->CCMR1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
if (qeip->config->mode == QEI_MODE_QUADRATURE) {
if (qeip->config->resolution == QEI_BOTH_EDGES)
qeip->tim->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0;
else
qeip->tim->SMCR = TIM_SMCR_SMS_0;
} else {
/* Direction/Clock mode.
* Direction input on TI1, Clock input on TI2. */
qeip->tim->SMCR = TIM_SMCR_SMS_0;
}
if (qeip->config->dirinv == QEI_DIRINV_TRUE)
qeip->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P | TIM_CCER_CC2E;
else
qeip->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E;
}
/**
* @brief Configures and activates the ICU peripheral.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_start(ICUDriver *icup) {
uint32_t psc;
if (icup->state == ICU_STOP) {
/* Clock activation and timer reset.*/
#if STM32_ICU_USE_TIM1
if (&ICUD1 == icup) {
rccEnableTIM1(FALSE);
rccResetTIM1();
nvicEnableVector(TIM1_CC_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK2;
}
#endif
#if STM32_ICU_USE_TIM2
if (&ICUD2 == icup) {
rccEnableTIM2(FALSE);
rccResetTIM2();
nvicEnableVector(TIM2_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM2_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM3
if (&ICUD3 == icup) {
rccEnableTIM3(FALSE);
rccResetTIM3();
nvicEnableVector(TIM3_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM3_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM4
if (&ICUD4 == icup) {
rccEnableTIM4(FALSE);
rccResetTIM4();
nvicEnableVector(TIM4_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM4_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM5
if (&ICUD5 == icup) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(TIM5_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM5_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM8
if (&ICUD8 == icup) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(TIM8_CC_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM8_IRQ_PRIORITY));
icup->clock = STM32_TIMCLK2;
}
#endif
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
icup->tim->CR1 = 0; /* Timer disabled. */
icup->tim->DIER = 0; /* All IRQs disabled. */
icup->tim->SR = 0; /* Clear eventual pending IRQs. */
icup->tim->CCR[0] = 0; /* Comparator 1 disabled. */
icup->tim->CCR[1] = 0; /* Comparator 2 disabled. */
icup->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
psc = (icup->clock / icup->config->frequency) - 1;
chDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * icup->config->frequency) == icup->clock,
"icu_lld_start(), #1", "invalid frequency");
icup->tim->PSC = (uint16_t)psc;
icup->tim->ARR = 0xFFFF;
/* CCMR1_CC1S = 01 = CH1 Input on TI1.
CCMR1_CC2S = 10 = CH2 Input on TI1.*/
icup->tim->CCMR1 = TIM_CCMR1_CC1S_0 |
TIM_CCMR1_CC2S_1;
/* SMCR_TS = 101, input is TI1FP1.
SMCR_SMS = 100, reset on rising edge.*/
icup->tim->SMCR = TIM_SMCR_TS_2 | TIM_SMCR_TS_0 |
TIM_SMCR_SMS_2;
/* The CCER settings depend on the selected trigger mode.
ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
ICU_INPUT_ACTIVE_LOW: Active on falling edge, idle on rising edge.*/
if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
icup->tim->CCER = TIM_CCER_CC1E |
TIM_CCER_CC2E | TIM_CCER_CC2P;
else
icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P |
TIM_CCER_CC2E;
}
// ================================ PWM pin ====================================
void PwmPin_t::Init(GPIO_TypeDef *GPIO, uint16_t N, TIM_TypeDef* PTim, uint8_t Chnl, uint16_t TopValue, bool Inverted) {
Tim = PTim;
if(Tim == TIM1) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF1);
rccEnableTIM1(FALSE);
}
else if(Tim == TIM2) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF1);
rccEnableTIM2(FALSE);
}
else if(Tim == TIM3) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF2);
rccEnableTIM3(FALSE);
}
else if(Tim == TIM4) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF2);
rccEnableTIM4(FALSE);
}
else if(Tim == TIM5) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF2);
rccEnableTIM5(FALSE);
}
else if(Tim == TIM8) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableTIM8(FALSE);
}
else if(Tim == TIM9) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableAPB2(RCC_APB2ENR_TIM9EN, FALSE);
}
else if(Tim == TIM10) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableAPB2(RCC_APB2ENR_TIM10EN, FALSE);
}
else if(Tim == TIM11) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF3);
rccEnableAPB2(RCC_APB2ENR_TIM11EN, FALSE);
}
else if(Tim == TIM12) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF9);
rccEnableAPB1(RCC_APB1ENR_TIM12EN, FALSE);
}
else if(Tim == TIM13) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF9);
rccEnableAPB1(RCC_APB1ENR_TIM13EN, FALSE);
}
else if(Tim == TIM14) {
PinSetupAlterFunc(GPIO, N, omPushPull, pudNone, AF9);
rccEnableAPB1(RCC_APB1ENR_TIM14EN, FALSE);
}
// Clock src
if(ANY_OF_5(Tim, TIM1, TIM8, TIM9, TIM10, TIM11)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
// Common
Tim->CR1 = TIM_CR1_CEN; // Enable timer, set clk division to 0, AutoReload not buffered
Tim->CR2 = 0;
Tim->ARR = TopValue;
Tim->BDTR = TIM_BDTR_MOE | TIM_BDTR_AOE;
// Output
uint16_t tmp = Inverted? 0b111 : 0b110; // PWM mode 1 or 2
switch(Chnl) {
case 1:
PCCR = &Tim->CCR1;
Tim->CCMR1 |= (tmp << 4);
Tim->CCER |= TIM_CCER_CC1E;
break;
case 2:
PCCR = &Tim->CCR2;
Tim->CCMR1 |= (tmp << 12);
Tim->CCER |= TIM_CCER_CC2E;
break;
case 3:
PCCR = &Tim->CCR3;
Tim->CCMR2 |= (tmp << 4);
Tim->CCER |= TIM_CCER_CC3E;
break;
case 4:
PCCR = &Tim->CCR4;
Tim->CCMR2 |= (tmp << 12);
Tim->CCER |= TIM_CCER_CC4E;
break;
default: break;
}
*PCCR = 0;
}
// ================================ PWM pin ====================================
void PwmPin_t::Init(GPIO_TypeDef *GPIO, uint16_t N, uint8_t TimN, uint8_t Chnl, uint16_t TopValue, bool Inverted) {
PinSetupAlterFuncOutput(GPIO, N, omPushPull);
switch(TimN) {
case 1:
Tim = TIM1;
rccEnableTIM1(FALSE);
break;
case 2:
Tim = TIM2;
rccEnableTIM2(FALSE);
break;
case 3:
Tim = TIM3;
rccEnableTIM3(FALSE);
break;
#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL)
case 4:
Tim = TIM4;
rccEnableTIM4(FALSE);
break;
#endif
case 15:
Tim = TIM15;
rccEnableAPB2(RCC_APB2ENR_TIM15EN, FALSE);
break;
case 16:
Tim = TIM16;
rccEnableAPB2(RCC_APB2ENR_TIM16EN, FALSE);
break;
case 17:
Tim = TIM17;
rccEnableAPB2(RCC_APB2ENR_TIM17EN, FALSE);
break;
default: return; break;
}
// Clock src
if(ANY_OF_4(TimN, 1, 15, 16, 17)) PClk = &Clk.APB2FreqHz;
else PClk = &Clk.APB1FreqHz;
// Common
Tim->CR1 = TIM_CR1_CEN; // Enable timer, set clk division to 0, AutoReload not buffered
Tim->CR2 = 0;
Tim->ARR = TopValue;
Tim->BDTR = TIM_BDTR_MOE | TIM_BDTR_AOE;
// Output
uint16_t tmp = Inverted? 0b111 : 0b110; // PWM mode 1 or 2
switch(Chnl) {
case 1:
PCCR = &Tim->CCR1;
Tim->CCMR1 |= (tmp << 4);
Tim->CCER |= TIM_CCER_CC1E;
break;
case 2:
PCCR = &Tim->CCR2;
Tim->CCMR1 |= (tmp << 12);
Tim->CCER |= TIM_CCER_CC2E;
break;
case 3:
PCCR = &Tim->CCR3;
Tim->CCMR2 |= (tmp << 4);
Tim->CCER |= TIM_CCER_CC3E;
break;
case 4:
PCCR = &Tim->CCR4;
Tim->CCMR2 |= (tmp << 12);
Tim->CCER |= TIM_CCER_CC4E;
break;
default: break;
}
*PCCR = 0;
}
