166 lines
4.4 KiB
C
166 lines
4.4 KiB
C
/*
|
|
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
*/
|
|
|
|
#include "ch.h"
|
|
#include "hal.h"
|
|
|
|
/*===========================================================================*/
|
|
/* PWM driver related. */
|
|
/*===========================================================================*/
|
|
|
|
static void pwmpcb(PWMDriver *pwmp) {
|
|
|
|
(void)pwmp;
|
|
}
|
|
|
|
static void pwmc1cb(PWMDriver *pwmp) {
|
|
|
|
(void)pwmp;
|
|
}
|
|
|
|
static PWMConfig pwmcfg = {
|
|
10000, /* 10kHz PWM clock frequency. */
|
|
10000, /* Initial PWM period 1S. */
|
|
pwmpcb,
|
|
{
|
|
{PWM_OUTPUT_ACTIVE_HIGH, pwmc1cb},
|
|
{PWM_OUTPUT_DISABLED, NULL},
|
|
{PWM_OUTPUT_DISABLED, NULL},
|
|
{PWM_OUTPUT_DISABLED, NULL}
|
|
},
|
|
0,
|
|
0
|
|
};
|
|
|
|
/*===========================================================================*/
|
|
/* ICU driver related. */
|
|
/*===========================================================================*/
|
|
|
|
icucnt_t last_width, last_period;
|
|
|
|
static void icuwidthcb(ICUDriver *icup) {
|
|
|
|
palSetLine(LINE_ARD_D13);
|
|
last_width = icuGetWidthX(icup);
|
|
}
|
|
|
|
static void icuperiodcb(ICUDriver *icup) {
|
|
|
|
palClearLine(LINE_ARD_D13);
|
|
last_period = icuGetPeriodX(icup);
|
|
}
|
|
|
|
static void icuovfcb(ICUDriver *icup) {
|
|
|
|
(void)icup;
|
|
}
|
|
|
|
static ICUConfig icucfg = {
|
|
ICU_INPUT_ACTIVE_HIGH,
|
|
10000, /* 10kHz ICU clock frequency. */
|
|
icuwidthcb,
|
|
icuperiodcb,
|
|
icuovfcb,
|
|
ICU_CHANNEL_1,
|
|
0
|
|
};
|
|
|
|
/*===========================================================================*/
|
|
/* Application code. */
|
|
/*===========================================================================*/
|
|
|
|
/*
|
|
* 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();
|
|
|
|
/*
|
|
* Starting PWM driver 1 and enabling the notifications.
|
|
* GPIOA8 is programmed as PWM output (channel 1 of TIM1).
|
|
*/
|
|
pwmStart(&PWMD1, &pwmcfg);
|
|
pwmEnablePeriodicNotification(&PWMD1);
|
|
palSetLineMode(LINE_ARD_D5, PAL_MODE_ALTERNATE(1));
|
|
|
|
/*
|
|
* Starting ICU driver 2.
|
|
* GPIOA15 is programmed as ICU input (channel 1 of TIM2).
|
|
*/
|
|
icuStart(&ICUD2, &icucfg);
|
|
palSetLineMode(LINE_ARD_D9, PAL_MODE_ALTERNATE(1));
|
|
|
|
/*
|
|
* GPIOI1 is programmed as output (board LED).
|
|
*/
|
|
palClearLine(LINE_ARD_D13);
|
|
palSetLineMode(LINE_ARD_D13, PAL_MODE_OUTPUT_PUSHPULL);
|
|
chThdSleepMilliseconds(1000);
|
|
|
|
/*
|
|
* Starting ICU capture and enabling the notifications.
|
|
*/
|
|
icuStartCapture(&ICUD2);
|
|
icuEnableNotifications(&ICUD2);
|
|
|
|
/*
|
|
* Normal main() thread activity, various PWM patterns are generated
|
|
* cyclically, if the ICU input is connected to the PWM output the
|
|
* board LED mirrors the PWM output.
|
|
*/
|
|
while (true) {
|
|
/*
|
|
* 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.
|
|
*/
|
|
pwmDisableChannel(&PWMD1, 0);
|
|
}
|
|
}
|