git.gag.com Git - fw/altos/blob - src/stm/ao_pwm_stm.c

   1 /*
   2  * Copyright © 2015 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19 #include "ao_pwm.h"
  20
  21 static uint8_t  pwm_running;
  22
  23 static uint16_t pwm_value[NUM_PWM];
  24
  25 static void
  26 ao_pwm_up(void)
  27 {
  28         if (pwm_running++ == 0) {
  29                 struct stm_tim234       *tim = &AO_PWM_TIMER;
  30                 tim->ccr1 = 0;
  31                 tim->ccr2 = 0;
  32                 tim->ccr3 = 0;
  33                 tim->ccr4 = 0;
  34                 tim->arr = PWM_MAX;     /* turn on the timer */
  35         }
  36 }
  37
  38 static void
  39 ao_pwm_down(void)
  40 {
  41         if (--pwm_running == 0) {
  42                 struct stm_tim234       *tim = &AO_PWM_TIMER;
  43                 tim->arr = 0;   /* turn off the timer */
  44         }
  45 }
  46
  47 void
  48 ao_pwm_set(uint8_t pwm, uint16_t value)
  49 {
  50         struct stm_tim234       *tim = &AO_PWM_TIMER;
  51
  52         if (value != 0) {
  53                 if (pwm_value[pwm] == 0)
  54                         ao_pwm_up();
  55         } else {
  56                 if (pwm_value[pwm] != 0)
  57                         ao_pwm_down();
  58         }
  59         pwm_value[pwm] = value;
  60         switch (pwm) {
  61         case 0:
  62                 tim->ccr1 = value;
  63                 break;
  64         case 1:
  65                 tim->ccr2 = value;
  66                 break;
  67         case 2:
  68                 tim->ccr3 = value;
  69                 break;
  70         case 3:
  71                 tim->ccr4 = value;
  72                 break;
  73         }
  74 }
  75
  76 static void
  77 ao_pwm_cmd(void)
  78 {
  79         uint8_t ch;
  80         uint16_t val;
  81
  82         ao_cmd_decimal();
  83         ch = ao_cmd_lex_u32;
  84         ao_cmd_decimal();
  85         val = ao_cmd_lex_u32;
  86         if (ao_cmd_status != ao_cmd_success)
  87                 return;
  88
  89         printf("Set channel %d to %d\n", ch, val);
  90         ao_pwm_set(ch, val);
  91 }
  92
  93 static const struct ao_cmds ao_pwm_cmds[] = {
  94         { ao_pwm_cmd,   "P <ch> <val>\0Set PWM ch to val" },
  95         { 0, NULL },
  96 };
  97
  98 void
  99 ao_pwm_init(void)
 100 {
 101         struct stm_tim234       *tim = &AO_PWM_TIMER;
 102
 103         stm_rcc.apb1enr |= AO_PWM_TIMER_ENABLE;
 104         tim->ccr1 = 0;
 105         tim->ccr2 = 0;
 106         tim->ccr3 = 0;
 107         tim->ccr4 = 0;
 108         tim->arr = 0;   /* turn off the timer */
 109         tim->psc = 0;
 110         tim->cnt = 0;
 111         tim->ccer = ((1 << STM_TIM234_CCER_CC1E) |
 112                      (0 << STM_TIM234_CCER_CC1P) |
 113                      (1 << STM_TIM234_CCER_CC2E) |
 114                      (0 << STM_TIM234_CCER_CC2P) |
 115                      (1 << STM_TIM234_CCER_CC3E) |
 116                      (0 << STM_TIM234_CCER_CC3P) |
 117                      (1 << STM_TIM234_CCER_CC4E) |
 118                      (0 << STM_TIM234_CCER_CC4P));
 119
 120         tim->ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) |
 121                       (STM_TIM234_CCMR1_OC2M_PWM_MODE_1 << STM_TIM234_CCMR1_OC2M) |
 122                       (1 << STM_TIM234_CCMR1_OC2PE) |
 123                       (0 << STM_TIM234_CCMR1_OC2FE) |
 124                       (STM_TIM234_CCMR1_CC2S_OUTPUT << STM_TIM234_CCMR1_CC2S) |
 125
 126                       (0 << STM_TIM234_CCMR1_OC1CE) |
 127                       (STM_TIM234_CCMR1_OC1M_PWM_MODE_1 << STM_TIM234_CCMR1_OC1M) |
 128                       (1 << STM_TIM234_CCMR1_OC1PE) |
 129                       (0 << STM_TIM234_CCMR1_OC1FE) |
 130                       (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S));
 131
 132
 133         tim->ccmr2 = ((0 << STM_TIM234_CCMR2_OC4CE) |
 134                       (STM_TIM234_CCMR2_OC4M_PWM_MODE_1 << STM_TIM234_CCMR2_OC4M) |
 135                       (1 << STM_TIM234_CCMR2_OC4PE) |
 136                       (0 << STM_TIM234_CCMR2_OC4FE) |
 137                       (STM_TIM234_CCMR2_CC4S_OUTPUT << STM_TIM234_CCMR2_CC4S) |
 138
 139                       (0 << STM_TIM234_CCMR2_OC3CE) |
 140                       (STM_TIM234_CCMR2_OC3M_PWM_MODE_1 << STM_TIM234_CCMR2_OC3M) |
 141                       (1 << STM_TIM234_CCMR2_OC3PE) |
 142                       (0 << STM_TIM234_CCMR2_OC3FE) |
 143                       (STM_TIM234_CCMR2_CC3S_OUTPUT << STM_TIM234_CCMR2_CC3S));
 144         tim->egr = 0;
 145
 146         tim->sr = 0;
 147         tim->dier = 0;
 148         tim->smcr = 0;
 149         tim->cr2 = ((0 << STM_TIM234_CR2_TI1S) |
 150                     (STM_TIM234_CR2_MMS_RESET<< STM_TIM234_CR2_MMS) |
 151                     (0 << STM_TIM234_CR2_CCDS));
 152
 153         tim->cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
 154                     (1 << STM_TIM234_CR1_ARPE) |
 155                     (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) |
 156                     (STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
 157                     (0 << STM_TIM234_CR1_OPM) |
 158                     (0 << STM_TIM234_CR1_URS) |
 159                     (0 << STM_TIM234_CR1_UDIS) |
 160                     (1 << STM_TIM234_CR1_CEN));
 161
 162         stm_afr_set(&stm_gpiod, 12, STM_AFR_AF2);
 163 #if NUM_PWM > 1
 164         stm_afr_set(&stm_gpiod, 13, STM_AFR_AF2);
 165 #endif
 166 #if NUM_PWM > 2
 167         stm_afr_set(&stm_gpiod, 14, STM_AFR_AF2);
 168 #endif
 169 #if NUM_PWM > 3
 170         stm_afr_set(&stm_gpiod, 15, STM_AFR_AF2);
 171 #endif
 172
 173         ao_cmd_register(&ao_pwm_cmds[0]);
 174 }