kosmos/source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c

/*
  * stm32f4_pwm.c
 *
 *  Created on: Aug 9, 2016
 *      Author: tkl
 */
#include <stdint.h>
#include <stddef.h>

#include "stm32f4xx.h"

#include "isr.h"

#include "gpio.h"
#include "stm32f4_gpio.h"

#include "pwm.h"
#include "stm32f4_pwm.h"

struct stm32f4_pwm_channel_object {
	struct stm32f4_pwm *pwm;
	uint32_t period;
	uint32_t period_start;
	uint32_t pulse;
	uint32_t pulse_start;
};

struct stm32f4_pwm_timer_object {
	struct stm32f4_pwm_channel_object channel_1;
	struct stm32f4_pwm_channel_object channel_2;
	struct stm32f4_pwm_channel_object channel_3;
	struct stm32f4_pwm_channel_object channel_4;
};

struct stm32f4_pwm_object {
	struct stm32f4_pwm_timer_object timer_2;
	struct stm32f4_pwm_timer_object timer_4;
	struct stm32f4_pwm_timer_object timer_5;
};

static volatile struct stm32f4_pwm_object pwm_object = {
		.timer_2.channel_1.pwm = NULL,
		.timer_2.channel_1.period = 0,
		.timer_2.channel_1.period_start = 0,
		.timer_2.channel_1.pulse = 0,
		.timer_2.channel_1.pulse_start = 0,
		.timer_2.channel_2.pwm = NULL,
		.timer_2.channel_2.period = 0,
		.timer_2.channel_2.period_start = 0,
		.timer_2.channel_2.pulse = 0,
		.timer_2.channel_2.pulse_start = 0,
		.timer_2.channel_3.pwm = NULL,
		.timer_2.channel_3.period = 0,
		.timer_2.channel_3.period_start = 0,
		.timer_2.channel_3.pulse = 0,
		.timer_2.channel_3.pulse_start = 0,
		.timer_2.channel_4.pwm = NULL,
		.timer_2.channel_4.period = 0,
		.timer_2.channel_4.period_start = 0,
		.timer_2.channel_4.pulse = 0,
		.timer_2.channel_4.pulse_start = 0,
		.timer_4.channel_1.pwm = NULL,
		.timer_4.channel_1.period = 0,
		.timer_4.channel_1.period_start = 0,
		.timer_4.channel_1.pulse = 0,
		.timer_4.channel_1.pulse_start = 0,
		.timer_4.channel_2.pwm = NULL,
		.timer_4.channel_2.period = 0,
		.timer_4.channel_2.period_start = 0,
		.timer_4.channel_2.pulse = 0,
		.timer_4.channel_2.pulse_start = 0,
		.timer_4.channel_3.pwm = NULL,
		.timer_4.channel_3.period = 0,
		.timer_4.channel_3.period_start = 0,
		.timer_4.channel_3.pulse = 0,
		.timer_4.channel_3.pulse_start = 0,
		.timer_4.channel_4.pwm = NULL,
		.timer_4.channel_4.period = 0,
		.timer_4.channel_4.period_start = 0,
		.timer_4.channel_4.pulse = 0,
		.timer_4.channel_4.pulse_start = 0,
		.timer_5.channel_1.pwm = NULL,
		.timer_5.channel_1.period = 0,
		.timer_5.channel_1.period_start = 0,
		.timer_5.channel_1.pulse = 0,
		.timer_5.channel_1.pulse_start = 0,
		.timer_5.channel_2.pwm = NULL,
		.timer_5.channel_2.period = 0,
		.timer_5.channel_2.period_start = 0,
		.timer_5.channel_2.pulse = 0,
		.timer_5.channel_2.pulse_start = 0,
		.timer_5.channel_3.pwm = NULL,
		.timer_5.channel_3.period = 0,
		.timer_5.channel_3.period_start = 0,
		.timer_5.channel_3.pulse = 0,
		.timer_5.channel_3.pulse_start = 0,
		.timer_5.channel_4.pwm = NULL,
		.timer_5.channel_4.period = 0,
		.timer_5.channel_4.period_start = 0,
		.timer_5.channel_4.pulse = 0,
		.timer_5.channel_4.pulse_start = 0,
};

int stm32f4_pwm_open(const void *pwm)
{
	if(NULL == pwm)
		return -1;
	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
	IRQn_Type irq_type = TIM2_IRQn;
	stm32f4_gpio_open(this->pwm_gpio);
	if(this->timer_handle->Instance == TIM2) {
		__HAL_RCC_TIM2_CLK_ENABLE();
		irq_type = TIM2_IRQn;
		if(this->channel == TIM_CHANNEL_1)
			pwm_object.timer_2.channel_1.pwm = this;
		else if(this->channel == TIM_CHANNEL_2)
			pwm_object.timer_2.channel_2.pwm = this;
		else if(this->channel == TIM_CHANNEL_3)
			pwm_object.timer_2.channel_3.pwm = this;
		else if(this->channel == TIM_CHANNEL_4)
			pwm_object.timer_2.channel_4.pwm = this;
	}
	if(this->timer_handle->Instance == TIM4) {
		__HAL_RCC_TIM4_CLK_ENABLE();
		irq_type = TIM4_IRQn;
		if(this->channel == TIM_CHANNEL_1)
			pwm_object.timer_4.channel_1.pwm = this;
		else if(this->channel == TIM_CHANNEL_2)
			pwm_object.timer_4.channel_2.pwm = this;
		else if(this->channel == TIM_CHANNEL_3)
			pwm_object.timer_4.channel_3.pwm = this;
		else if(this->channel == TIM_CHANNEL_4)
			pwm_object.timer_4.channel_4.pwm = this;
	}
	if(this->timer_handle->Instance == TIM5) {
		__HAL_RCC_TIM5_CLK_ENABLE();
		irq_type = TIM5_IRQn;
		if(this->channel == TIM_CHANNEL_1)
			pwm_object.timer_5.channel_1.pwm = this;
		else if(this->channel == TIM_CHANNEL_2)
			pwm_object.timer_5.channel_2.pwm = this;
		else if(this->channel == TIM_CHANNEL_3)
			pwm_object.timer_5.channel_3.pwm = this;
		else if(this->channel == TIM_CHANNEL_4)
			pwm_object.timer_5.channel_4.pwm = this;
	}
	HAL_TIM_Base_Start(this->timer_handle);
	if((NULL != this->output_compare_cfg) && (NULL != this->master_cfg)) {
		/* pwm output */
		HAL_TIM_PWM_Init(this->timer_handle);
		HAL_TIM_PWM_ConfigChannel(this->timer_handle, this->output_compare_cfg, this->channel);
		HAL_TIMEx_MasterConfigSynchronization(this->timer_handle, this->master_cfg);
		HAL_TIM_PWM_Start(this->timer_handle, this->channel);
	}
	else if((NULL != this->input_capture_init) && (NULL != this->slave_config)) {
		/* pwm input */
		HAL_NVIC_SetPriority(irq_type, 5, 1);
		HAL_TIM_IC_Init(this->timer_handle);
		HAL_TIM_IC_ConfigChannel(this->timer_handle, this->input_capture_init, this->channel);
		HAL_TIM_SlaveConfigSynchronization(this->timer_handle, this->slave_config);
		HAL_TIM_IC_Start_IT(this->timer_handle, this->channel);
		HAL_NVIC_EnableIRQ(irq_type);
	}
	return 0;
}

int stm32f4_pwm_close(const void *pwm)
{
	if(NULL == pwm)
		return -1;
	stm32f4_pwm_set_duty_cycle(pwm, 0);
	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
	HAL_TIM_Base_Stop(this->timer_handle);
	if((NULL != this->output_compare_cfg) && (NULL != this->master_cfg)) {
		HAL_TIM_PWM_Stop(this->timer_handle, this->channel);
	}
	else if((NULL != this->input_capture_init) && (NULL != this->slave_config)) {
		HAL_TIM_IC_Stop_IT(this->timer_handle, this->channel);
	}

	return 0;
}

int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent)
{
	if(NULL == pwm)
		return -1;

	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
	__HAL_TIM_SET_COMPARE(this->timer_handle, this->channel, this->timer_handle->Init.Period * duty_cycle_percent / 100);

	return 0;
}

int stm32f4_pwm_get_period_ns(const void *pwm)
{
	if(NULL == pwm)
		return -1;

	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
	int ret = 0;

	if(this->timer_handle->Instance == TIM2) {
		if(this->channel == TIM_CHANNEL_1) {
			ret = (int)pwm_object.timer_2.channel_1.period;
			return ret * pwm_object.timer_2.channel_1.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_1.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_2) {
			ret = (int)pwm_object.timer_2.channel_2.period;
			return ret * pwm_object.timer_2.channel_2.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_2.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_3) {
			ret = (int)pwm_object.timer_2.channel_3.period;
			return ret * pwm_object.timer_2.channel_3.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_3.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_4) {
			ret = (int)pwm_object.timer_2.channel_4.period;
			return ret * pwm_object.timer_2.channel_4.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_4.pwm->timer_src_frequency_MHz;
		}
	}
	else if(this->timer_handle->Instance == TIM4) {
		if(this->channel == TIM_CHANNEL_1) {
			ret = (int)pwm_object.timer_4.channel_1.period;
			return ret * pwm_object.timer_4.channel_1.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_1.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_2) {
			ret = (int)pwm_object.timer_4.channel_2.period;
			return ret * pwm_object.timer_4.channel_2.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_2.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_3) {
			ret = (int)pwm_object.timer_4.channel_3.period;
			return ret * pwm_object.timer_4.channel_3.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_3.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_4) {
			ret = (int)pwm_object.timer_4.channel_4.period;
			return ret * pwm_object.timer_4.channel_4.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_4.pwm->timer_src_frequency_MHz;
		}
	}
	else if(this->timer_handle->Instance == TIM5) {
		if(this->channel == TIM_CHANNEL_1) {
			ret = (int)pwm_object.timer_5.channel_1.period;
			return ret * pwm_object.timer_5.channel_1.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_1.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_2) {
			ret = (int)pwm_object.timer_5.channel_2.period;
			return ret * pwm_object.timer_5.channel_2.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_2.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_3) {
			ret = (int)pwm_object.timer_5.channel_3.period;
			return ret * pwm_object.timer_5.channel_3.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_3.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_4) {
			ret = (int)pwm_object.timer_5.channel_4.period;
			return ret * pwm_object.timer_5.channel_4.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_4.pwm->timer_src_frequency_MHz;
		}
	}

	return 0;
}

int stm32f4_pwm_get_pulse_width_ns(const void *pwm)
{
	if(NULL == pwm)
		return -1;

	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
	int ret = 0;

	if(this->timer_handle->Instance == TIM2) {
		if(this->channel == TIM_CHANNEL_1) {
			ret = (int)pwm_object.timer_2.channel_1.pulse;
			return ret * pwm_object.timer_2.channel_1.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_1.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_2) {
			ret = (int)pwm_object.timer_2.channel_2.pulse;
			return ret * pwm_object.timer_2.channel_2.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_2.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_3) {
			ret = (int)pwm_object.timer_2.channel_3.pulse;
			return ret * pwm_object.timer_2.channel_3.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_3.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_4) {
			ret = (int)pwm_object.timer_2.channel_4.pulse;
			return ret * pwm_object.timer_2.channel_4.pwm->timer_handle->Init.Prescaler / pwm_object.timer_2.channel_4.pwm->timer_src_frequency_MHz;
		}
	}
	else if(this->timer_handle->Instance == TIM4) {
		if(this->channel == TIM_CHANNEL_1) {
			ret = (int)pwm_object.timer_4.channel_1.pulse;
			return ret * pwm_object.timer_4.channel_1.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_1.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_2) {
			ret = (int)pwm_object.timer_4.channel_2.pulse;
			return ret * pwm_object.timer_4.channel_2.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_2.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_3) {
			ret = (int)pwm_object.timer_4.channel_3.pulse;
			return ret * pwm_object.timer_4.channel_3.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_3.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_4) {
			ret = (int)pwm_object.timer_4.channel_4.pulse;
			return ret * pwm_object.timer_4.channel_4.pwm->timer_handle->Init.Prescaler / pwm_object.timer_4.channel_4.pwm->timer_src_frequency_MHz;
		}
	}
	else if(this->timer_handle->Instance == TIM5) {
		if(this->channel == TIM_CHANNEL_1) {
			ret = (int)pwm_object.timer_5.channel_1.pulse;
			return ret * pwm_object.timer_5.channel_1.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_1.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_2) {
			ret = (int)pwm_object.timer_5.channel_2.pulse;
			return ret * pwm_object.timer_5.channel_2.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_2.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_3) {
			ret = (int)pwm_object.timer_5.channel_3.pulse;
			return ret * pwm_object.timer_5.channel_3.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_3.pwm->timer_src_frequency_MHz;
		}
		else if(this->channel == TIM_CHANNEL_4) {
			ret = (int)pwm_object.timer_5.channel_4.pulse;
			return ret * pwm_object.timer_5.channel_4.pwm->timer_handle->Init.Prescaler / pwm_object.timer_5.channel_4.pwm->timer_src_frequency_MHz;
		}
	}

	return 0;
}

static void handle_irq_tim2_cc1(TIM_HandleTypeDef *timer_handle)
{
	/* Capture compare 1 event */
	if(__HAL_TIM_GET_FLAG(timer_handle, TIM_FLAG_CC1) != RESET) {
		if(__HAL_TIM_GET_IT_SOURCE(timer_handle, TIM_IT_CC1) != RESET) {
			__HAL_TIM_CLEAR_IT(timer_handle, TIM_IT_CC1);
			/* Input capture event */
			if((timer_handle->Instance->CCMR2 & TIM_CCMR1_CC1S) != 0x00U) {
				uint32_t read = timer_handle->Instance->CCR1;
				if(pwm_object.timer_2.channel_1.pwm->input_capture_init->ICPolarity == TIM_ICPOLARITY_BOTHEDGE) {
					GPIO_TypeDef* port = pwm_object.timer_2.channel_1.pwm->pwm_gpio->port;
					uint16_t pin = pwm_object.timer_2.channel_1.pwm->pwm_gpio->pin->Pin;
					if(GPIO_PIN_SET == HAL_GPIO_ReadPin(port, pin)) {
						if(read > pwm_object.timer_2.channel_1.period_start)
							pwm_object.timer_2.channel_1.period = read - pwm_object.timer_2.channel_1.period_start;
						pwm_object.timer_2.channel_1.period_start = read;
						pwm_object.timer_2.channel_1.pulse_start = read;
					}
					else {
						if(read > pwm_object.timer_2.channel_1.pulse_start)
							pwm_object.timer_2.channel_1.pulse = read - pwm_object.timer_2.channel_1.pulse_start;
					}
				}
			}
		}
	}
}

static void handle_irq_tim2_cc2(TIM_HandleTypeDef *timer_handle)
{
	/* Capture compare 2 event */
	if(__HAL_TIM_GET_FLAG(timer_handle, TIM_FLAG_CC2) != RESET) {
		if(__HAL_TIM_GET_IT_SOURCE(timer_handle, TIM_IT_CC2) != RESET) {
			__HAL_TIM_CLEAR_IT(timer_handle, TIM_IT_CC2);
			/* Input capture event */
			if((timer_handle->Instance->CCMR2 & TIM_CCMR1_CC2S) != 0x00U) {
				uint32_t read = timer_handle->Instance->CCR2;
				if(pwm_object.timer_2.channel_2.pwm->input_capture_init->ICPolarity == TIM_ICPOLARITY_BOTHEDGE) {
					GPIO_TypeDef* port = pwm_object.timer_2.channel_2.pwm->pwm_gpio->port;
					uint16_t pin = pwm_object.timer_2.channel_2.pwm->pwm_gpio->pin->Pin;
					if(GPIO_PIN_SET == HAL_GPIO_ReadPin(port, pin)) {
						if(read > pwm_object.timer_2.channel_2.period_start)
							pwm_object.timer_2.channel_2.period = read - pwm_object.timer_2.channel_2.period_start;
						pwm_object.timer_2.channel_2.period_start = read;
						pwm_object.timer_2.channel_2.pulse_start = read;
					}
					else {
						if(read > pwm_object.timer_2.channel_2.pulse_start)
							pwm_object.timer_2.channel_2.pulse = read - pwm_object.timer_2.channel_2.pulse_start;
					}
				}
			}
		}
	}
}

static void handle_irq_tim2_cc3(TIM_HandleTypeDef *timer_handle)
{
	/* Capture compare 3 event */
	if(__HAL_TIM_GET_FLAG(timer_handle, TIM_FLAG_CC3) != RESET) {
		if(__HAL_TIM_GET_IT_SOURCE(timer_handle, TIM_IT_CC3) != RESET) {
			__HAL_TIM_CLEAR_IT(timer_handle, TIM_IT_CC3);
			/* Input capture event */
			if((timer_handle->Instance->CCMR2 & TIM_CCMR2_CC3S) != 0x00U) {
				uint32_t read = timer_handle->Instance->CCR3;
				if(pwm_object.timer_2.channel_3.pwm->input_capture_init->ICPolarity == TIM_ICPOLARITY_BOTHEDGE) {
					GPIO_TypeDef* port = pwm_object.timer_2.channel_3.pwm->pwm_gpio->port;
					uint16_t pin = pwm_object.timer_2.channel_3.pwm->pwm_gpio->pin->Pin;
					if(GPIO_PIN_SET == HAL_GPIO_ReadPin(port, pin)) {
						if(read > pwm_object.timer_2.channel_3.period_start)
							pwm_object.timer_2.channel_3.period = read - pwm_object.timer_2.channel_3.period_start;
						pwm_object.timer_2.channel_3.period_start = read;
						pwm_object.timer_2.channel_3.pulse_start = read;
					}
					else {
						if(read > pwm_object.timer_2.channel_3.pulse_start)
							pwm_object.timer_2.channel_3.pulse = read - pwm_object.timer_2.channel_3.pulse_start;
					}
				}
			}
		}
	}
}

static void handle_irq_tim2_cc4(TIM_HandleTypeDef *timer_handle)
{
	/* Capture compare 4 event */
	if(__HAL_TIM_GET_FLAG(timer_handle, TIM_FLAG_CC4) != RESET) {
		if(__HAL_TIM_GET_IT_SOURCE(timer_handle, TIM_IT_CC4) != RESET) {
			__HAL_TIM_CLEAR_IT(timer_handle, TIM_IT_CC4);
			/* Input capture event */
			if((timer_handle->Instance->CCMR2 & TIM_CCMR2_CC4S) != 0x00U) {
				uint32_t read = timer_handle->Instance->CCR4;
				if(pwm_object.timer_2.channel_4.pwm->input_capture_init->ICPolarity == TIM_ICPOLARITY_BOTHEDGE) {
					GPIO_TypeDef* port = pwm_object.timer_2.channel_4.pwm->pwm_gpio->port;
					uint16_t pin = pwm_object.timer_2.channel_4.pwm->pwm_gpio->pin->Pin;
					if(GPIO_PIN_SET == HAL_GPIO_ReadPin(port, pin)) {
						if(read > pwm_object.timer_2.channel_4.period_start)
							pwm_object.timer_2.channel_4.period = read - pwm_object.timer_2.channel_4.period_start;
						pwm_object.timer_2.channel_4.period_start = read;
						pwm_object.timer_2.channel_4.pulse_start = read;
					}
					else {
						if(read > pwm_object.timer_2.channel_4.pulse_start)
							pwm_object.timer_2.channel_4.pulse = read - pwm_object.timer_2.channel_4.pulse_start;
					}
				}
			}
		}
	}
}

void TIM2_IRQHandler(void)
{
	enter_isr();

	handle_irq_tim2_cc1(pwm_object.timer_2.channel_1.pwm->timer_handle);
	handle_irq_tim2_cc2(pwm_object.timer_2.channel_2.pwm->timer_handle);
	handle_irq_tim2_cc3(pwm_object.timer_2.channel_3.pwm->timer_handle);
	handle_irq_tim2_cc4(pwm_object.timer_2.channel_4.pwm->timer_handle);

	exit_isr();
}