static void setup_pwms(void)
{
/* for pin alternate functions, refer to CD00277537.pdf, table 4 */
TIM_TimeBaseInitTypeDef TIM_TimeBase;
GPIO_InitTypeDef GPIO_InitStruct;
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* configure gpio */
GPIO_StructInit(&GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_40MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3);
/* init timebase. PWM freq equals 10 khz */
TIM_TimeBaseStructInit(&TIM_TimeBase);
TIM_TimeBase.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBase.TIM_Prescaler = 8 - 1; /* for 1 Mhz clock */
TIM_TimeBase.TIM_Period = 0x100 - 1; /* 10 khz */
TIM_TimeBase.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3, &TIM_TimeBase);
set_lpwm(100);
set_rpwm(100);
TIM_Cmd(TIM3, ENABLE);
}
void TIM2_IRQHandler(void)
{
/* 10hz frequency */
/* todo: reduce the scope by capturing variables */
disableInterrupts();
/* forward */
if ((dir != 1) || (speed <= 0)) goto on_done;
if (lenc < speed) lpwm += 2; /* I_up */
else if (lenc > speed) lpwm -= 2;
if (renc < speed) rpwm += 2;
else if (renc > speed) rpwm -= 2;
err = clamp(err + lenc - renc, -128, 128);
/* reset encoder counters */
lenc = 0;
renc = 0;
lpwm = clamp(CONFIG_START_POWER_FWD + lpwm - err, 0, 255);
rpwm = clamp(CONFIG_START_POWER_FWD + rpwm - err, 0, 255);
set_lpwm(lpwm);
set_rpwm(rpwm);
on_done:
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
enableInterrupts();
}
void mcs_stop(void)
{
disableInterrupts();
set_lpwm(128);
set_rpwm(128);
enableInterrupts();
}
void pnp_sleep_wk(void *context)
{
_irqL irqL;
_adapter *padapter = (_adapter *)context;
struct mlme_priv *pmlmepriv = &padapter->mlmepriv;
struct pwrctrl_priv *pwrctrl = &padapter->pwrctrlpriv;
RT_TRACE(_module_rtl871x_ioctl_set_c_,_drv_info_,("pnp_sleep_wk ===>\n"));
_enter_critical(&pmlmepriv->lock, &irqL );
if(check_fwstate(pmlmepriv, _FW_LINKED)== _TRUE)
{
indicate_disconnect(padapter); //will clr Linked_state; before this function, we must have chked whether issue dis-assoc_cmd or not
free_assoc_resources(padapter);
#ifndef CONFIG_POWER_DOWN_MODE
disassoc_cmd(padapter);
#endif
}
_exit_critical(&pmlmepriv->lock, &irqL );
RT_TRACE(_module_rtl871x_ioctl_set_c_,_drv_info_,("pnp_sleep_wk:fwstate:%d\n", pmlmepriv->fw_state));
#ifdef CONFIG_POWER_DOWN_MODE
//before enter powerdown mode, we must ensure FW in S4 state.
if (padapter->pwrctrlpriv.pwr_mode > PS_MODE_ACTIVE) {
padapter->pwrctrlpriv.pwr_mode = PS_MODE_ACTIVE;
_enter_pwrlock(&(padapter->pwrctrlpriv.lock));
set_rpwm(padapter, PS_STATE_S4);
_exit_pwrlock(&(padapter->pwrctrlpriv.lock));
}
while (pwrctrl->cpwm != PS_STATE_S4) {
//waiting FW to become ACTIVE.
msleep_os(10);
}
#endif
write16(padapter, SDIO_HIMR, 0);
pwrctrl->pnp_bstop_trx = _TRUE;
padapter->hw_init_completed = _FALSE;
NdisMSetInformationComplete(padapter->hndis_adapter, NDIS_STATUS_SUCCESS);
RT_TRACE(_module_rtl871x_ioctl_set_c_,_drv_info_,("pnp_sleep_wk <===\n"));
}
