From 99b632915fc84d1148939f712e65a078929556b2 Mon Sep 17 00:00:00 2001 From: guozhanxin Date: Wed, 26 Sep 2018 17:34:19 +0800 Subject: [PATCH] [bsp][stm32f4xx-HAL] update PWM driver 1. Fixed the overflow error of intermediate value 2. Fixed the error that counter register is not cleared 3. Add macro control for each channel --- bsp/stm32f4xx-HAL/drivers/drv_pwm.c | 232 +++++++++++++++++++--------- 1 file changed, 156 insertions(+), 76 deletions(-) diff --git a/bsp/stm32f4xx-HAL/drivers/drv_pwm.c b/bsp/stm32f4xx-HAL/drivers/drv_pwm.c index f046090c96..d66d8feecb 100644 --- a/bsp/stm32f4xx-HAL/drivers/drv_pwm.c +++ b/bsp/stm32f4xx-HAL/drivers/drv_pwm.c @@ -26,20 +26,20 @@ #include #include -#define MAX_PERIOD 65535 +#define MAX_PERIOD 65535 #define MIN_PERIOD 3 #define MIN_PULSE 2 static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg); -static struct rt_pwm_ops drv_ops = +static struct rt_pwm_ops drv_ops = { drv_pwm_control }; -static rt_err_t drv_pwm_enable(TIM_HandleTypeDef * htim, struct rt_pwm_configuration *configuration, rt_bool_t enable) +static rt_err_t drv_pwm_enable(TIM_HandleTypeDef *htim, struct rt_pwm_configuration *configuration, rt_bool_t enable) { rt_uint32_t channel = 0x04 * (configuration->channel - 1); - if(!enable) + if (!enable) { HAL_TIM_PWM_Stop(htim, channel); } @@ -50,27 +50,27 @@ static rt_err_t drv_pwm_enable(TIM_HandleTypeDef * htim, struct rt_pwm_configura return RT_EOK; } -static rt_err_t drv_pwm_get(TIM_HandleTypeDef * htim, struct rt_pwm_configuration *configuration) +static rt_err_t drv_pwm_get(TIM_HandleTypeDef *htim, struct rt_pwm_configuration *configuration) { rt_uint32_t channel = 0x04 * (configuration->channel - 1); rt_uint32_t tim_clock; #if (RT_HSE_HCLK > 100000000UL)//100M - if(htim->Instance == TIM1 && htim->Instance == TIM8) + if (htim->Instance == TIM1 && htim->Instance == TIM8) { tim_clock = SystemCoreClock; } else { - tim_clock = SystemCoreClock/2; + tim_clock = SystemCoreClock / 2; } #else tim_clock = SystemCoreClock; #endif - if(__HAL_TIM_GET_CLOCKDIVISION(htim) == TIM_CLOCKDIVISION_DIV2) + if (__HAL_TIM_GET_CLOCKDIVISION(htim) == TIM_CLOCKDIVISION_DIV2) { tim_clock = tim_clock / 2; } - else if(__HAL_TIM_GET_CLOCKDIVISION(htim) == TIM_CLOCKDIVISION_DIV4) + else if (__HAL_TIM_GET_CLOCKDIVISION(htim) == TIM_CLOCKDIVISION_DIV4) { tim_clock = tim_clock / 4; } @@ -80,19 +80,19 @@ static rt_err_t drv_pwm_get(TIM_HandleTypeDef * htim, struct rt_pwm_configuratio return RT_EOK; } -static rt_err_t drv_pwm_set(TIM_HandleTypeDef * htim, struct rt_pwm_configuration *configuration) +static rt_err_t drv_pwm_set(TIM_HandleTypeDef *htim, struct rt_pwm_configuration *configuration) { rt_uint32_t period, pulse; rt_uint32_t tim_clock, psc; rt_uint32_t channel = 0x04 * (configuration->channel - 1); #if (RT_HSE_HCLK > 100000000UL)//100M - if(htim->Instance == TIM1 && htim->Instance == TIM8) + if (htim->Instance == TIM1 && htim->Instance == TIM8) { tim_clock = SystemCoreClock; } else { - tim_clock = SystemCoreClock/2; + tim_clock = SystemCoreClock / 2; } #else tim_clock = SystemCoreClock; @@ -102,30 +102,31 @@ static rt_err_t drv_pwm_set(TIM_HandleTypeDef * htim, struct rt_pwm_configuratio psc = period / MAX_PERIOD + 1; period = period / psc; __HAL_TIM_SET_PRESCALER(htim, psc - 1); - if(period < MIN_PERIOD) + if (period < MIN_PERIOD) { period = MIN_PERIOD; } __HAL_TIM_SET_AUTORELOAD(htim, period - 1); - pulse = configuration->pulse * tim_clock / psc / 1000UL; - if(pulse < MIN_PULSE) + pulse = (unsigned long long)configuration->pulse * tim_clock / psc / 1000ULL; + if (pulse < MIN_PULSE) { pulse = MIN_PULSE; } - else if(pulse > period) + else if (pulse > period) { pulse = period; } - __HAL_TIM_SET_COMPARE(htim, channel, pulse - 1 ); + __HAL_TIM_SET_COMPARE(htim, channel, pulse - 1); + __HAL_TIM_SET_COUNTER(htim, 0); return RT_EOK; } static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg) { - struct rt_pwm_configuration * configuration = (struct rt_pwm_configuration *)arg; - TIM_HandleTypeDef * htim = (TIM_HandleTypeDef *)device->parent.user_data; - - switch(cmd) + struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg; + TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)device->parent.user_data; + + switch (cmd) { case PWM_CMD_ENABLE: return drv_pwm_enable(htim, configuration, RT_TRUE); @@ -140,22 +141,22 @@ static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg } } -static void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle); +static void HAL_TIM_MspPostInit(TIM_HandleTypeDef *timHandle); #ifdef BSP_USING_PWM1 -TIM_HandleTypeDef htim1; + TIM_HandleTypeDef htim1; #endif #ifdef BSP_USING_PWM2 -TIM_HandleTypeDef htim2; + TIM_HandleTypeDef htim2; #endif #ifdef BSP_USING_PWM3 -TIM_HandleTypeDef htim3; + TIM_HandleTypeDef htim3; #endif #ifdef BSP_USING_PWM4 -TIM_HandleTypeDef htim4; + TIM_HandleTypeDef htim4; #endif #ifdef BSP_USING_PWM5 -TIM_HandleTypeDef htim5; + TIM_HandleTypeDef htim5; #endif #ifdef BSP_USING_PWM1 @@ -465,179 +466,258 @@ void MX_TIM5_Init(void) } #endif /* BSP_USING_PWM5 */ -void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) +void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *tim_pwmHandle) { - if(tim_pwmHandle->Instance==TIM1) + if (tim_pwmHandle->Instance == TIM1) { __HAL_RCC_TIM1_CLK_ENABLE(); } - else if(tim_pwmHandle->Instance==TIM2) + else if (tim_pwmHandle->Instance == TIM2) { __HAL_RCC_TIM2_CLK_ENABLE(); } - else if(tim_pwmHandle->Instance==TIM3) + else if (tim_pwmHandle->Instance == TIM3) { __HAL_RCC_TIM3_CLK_ENABLE(); } - else if(tim_pwmHandle->Instance==TIM4) + else if (tim_pwmHandle->Instance == TIM4) { __HAL_RCC_TIM4_CLK_ENABLE(); } - else if(tim_pwmHandle->Instance==TIM5) + else if (tim_pwmHandle->Instance == TIM5) { __HAL_RCC_TIM5_CLK_ENABLE(); } } -static void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) +static void HAL_TIM_MspPostInit(TIM_HandleTypeDef *timHandle) { GPIO_InitTypeDef GPIO_InitStruct; - if(timHandle->Instance==TIM1) + if (timHandle->Instance == TIM1) { - __HAL_RCC_GPIOA_CLK_ENABLE(); - /**TIM1 GPIO Configuration + /**TIM1 GPIO Configuration PA8 ------> TIM1_CH1 PA9 ------> TIM1_CH2 PA10 ------> TIM1_CH3 - PA11 ------> TIM1_CH4 + PA11 ------> TIM1_CH4 */ - GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11; +#if defined(BSP_USING_PWM1_CH1) || defined(BSP_USING_PWM1_CH2) || defined(BSP_USING_PWM1_CH3) || defined(BSP_USING_PWM1_CH4) + __HAL_RCC_GPIOA_CLK_ENABLE(); + + GPIO_InitStruct.Pin = 0x00; +#ifdef BSP_USING_PWM1_CH1 + GPIO_InitStruct.Pin |= GPIO_PIN_8; +#endif +#ifdef BSP_USING_PWM1_CH2 + GPIO_InitStruct.Pin |= GPIO_PIN_9; +#endif +#ifdef BSP_USING_PWM1_CH3 + GPIO_InitStruct.Pin |= GPIO_PIN_10; +#endif +#ifdef BSP_USING_PWM1_CH4 + GPIO_InitStruct.Pin |= GPIO_PIN_11; +#endif GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); +#endif } - else if(timHandle->Instance==TIM2) + else if (timHandle->Instance == TIM2) { - __HAL_RCC_GPIOA_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**TIM2 GPIO Configuration + /**TIM2 GPIO Configuration PA3 ------> TIM2_CH4 PA5 ------> TIM2_CH1 PB10 ------> TIM2_CH3 - PB3 ------> TIM2_CH2 + PB3 ------> TIM2_CH2 */ - GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_5; +#if defined(BSP_USING_PWM2_CH1) || defined(BSP_USING_PWM2_CH4) + __HAL_RCC_GPIOA_CLK_ENABLE(); + + GPIO_InitStruct.Pin = 0x00; +#ifdef BSP_USING_PWM2_CH4 + GPIO_InitStruct.Pin |= GPIO_PIN_3; +#endif +#ifdef BSP_USING_PWM2_CH1 + GPIO_InitStruct.Pin |= GPIO_PIN_5; +#endif GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); +#endif - GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_3; +#if defined(BSP_USING_PWM2_CH2) || defined(BSP_USING_PWM2_CH3) + __HAL_RCC_GPIOB_CLK_ENABLE(); + + GPIO_InitStruct.Pin = 0x00; +#ifdef BSP_USING_PWM2_CH2 + GPIO_InitStruct.Pin |= GPIO_PIN_3; +#endif +#ifdef BSP_USING_PWM2_CH3 + GPIO_InitStruct.Pin |= GPIO_PIN_10; +#endif GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); +#endif } - else if(timHandle->Instance==TIM3) + else if (timHandle->Instance == TIM3) { - __HAL_RCC_GPIOA_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**TIM3 GPIO Configuration + /**TIM3 GPIO Configuration PA6 ------> TIM3_CH1 PA7 ------> TIM3_CH2 PB0 ------> TIM3_CH3 - PB1 ------> TIM3_CH4 + PB1 ------> TIM3_CH4 */ - GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7; +#if defined(BSP_USING_PWM3_CH1) || defined(BSP_USING_PWM3_CH2) + __HAL_RCC_GPIOA_CLK_ENABLE(); + + GPIO_InitStruct.Pin = 0x00; +#ifdef BSP_USING_PWM3_CH1 + GPIO_InitStruct.Pin |= GPIO_PIN_6; +#endif +#ifdef BSP_USING_PWM3_CH2 + GPIO_InitStruct.Pin |= GPIO_PIN_7; +#endif GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + GPIO_InitStruct.Pin = 0x00; +#endif - GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; +#if defined(BSP_USING_PWM3_CH3) || defined(BSP_USING_PWM3_CH4) + __HAL_RCC_GPIOB_CLK_ENABLE(); + + GPIO_InitStruct.Pin = 0x00; +#ifdef BSP_USING_PWM3_CH3 + GPIO_InitStruct.Pin |= GPIO_PIN_0; +#endif +#ifdef BSP_USING_PWM3_CH4 + GPIO_InitStruct.Pin |= GPIO_PIN_1; +#endif GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); +#endif } - else if(timHandle->Instance==TIM4) + else if (timHandle->Instance == TIM4) { - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**TIM4 GPIO Configuration + /**TIM4 GPIO Configuration PB6 ------> TIM4_CH1 PB7 ------> TIM4_CH2 PB8 ------> TIM4_CH3 - PB9 ------> TIM4_CH4 + PB9 ------> TIM4_CH4 */ - GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9; +#if defined(BSP_USING_PWM4_CH1) || defined(BSP_USING_PWM4_CH2) || defined(BSP_USING_PWM4_CH3) || defined(BSP_USING_PWM4_CH4) + __HAL_RCC_GPIOB_CLK_ENABLE(); + + GPIO_InitStruct.Pin = 0x00; +#ifdef BSP_USING_PWM4_CH1 + GPIO_InitStruct.Pin |= GPIO_PIN_6; +#endif +#ifdef BSP_USING_PWM4_CH2 + GPIO_InitStruct.Pin |= GPIO_PIN_7; +#endif +#ifdef BSP_USING_PWM4_CH3 + GPIO_InitStruct.Pin |= GPIO_PIN_8; +#endif +#ifdef BSP_USING_PWM4_CH4 + GPIO_InitStruct.Pin |= GPIO_PIN_9; +#endif GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); +#endif } - else if(timHandle->Instance==TIM5) + else if (timHandle->Instance == TIM5) { - __HAL_RCC_GPIOA_CLK_ENABLE(); - /**TIM5 GPIO Configuration + /**TIM5 GPIO Configuration PA0-WKUP ------> TIM5_CH1 PA1 ------> TIM5_CH2 - PA2 ------> TIM5_CH3 + PA2 ------> TIM5_CH3 */ - GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2; +#if defined(BSP_USING_PWM5_CH1) || defined(BSP_USING_PWM5_CH2) || defined(BSP_USING_PWM5_CH3) + __HAL_RCC_GPIOA_CLK_ENABLE(); + + GPIO_InitStruct.Pin = 0x00; +#ifdef BSP_USING_PWM5_CH1 + GPIO_InitStruct.Pin |= GPIO_PIN_0; +#endif +#ifdef BSP_USING_PWM5_CH2 + GPIO_InitStruct.Pin |= GPIO_PIN_1; +#endif +#ifdef BSP_USING_PWM5_CH3 + GPIO_InitStruct.Pin |= GPIO_PIN_2; +#endif + GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF2_TIM5; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); +#endif } - } -void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) +void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef *tim_pwmHandle) { - if(tim_pwmHandle->Instance==TIM1) + if (tim_pwmHandle->Instance == TIM1) { __HAL_RCC_TIM1_CLK_DISABLE(); } - else if(tim_pwmHandle->Instance==TIM2) + else if (tim_pwmHandle->Instance == TIM2) { __HAL_RCC_TIM2_CLK_DISABLE(); } - else if(tim_pwmHandle->Instance==TIM3) + else if (tim_pwmHandle->Instance == TIM3) { __HAL_RCC_TIM3_CLK_DISABLE(); } - else if(tim_pwmHandle->Instance==TIM4) + else if (tim_pwmHandle->Instance == TIM4) { __HAL_RCC_TIM4_CLK_DISABLE(); } - else if(tim_pwmHandle->Instance==TIM5) + else if (tim_pwmHandle->Instance == TIM5) { __HAL_RCC_TIM5_CLK_DISABLE(); } -} +} int drv_pwm_init(void) { #ifdef BSP_USING_PWM1 MX_TIM1_Init(); - rt_device_pwm_register(rt_calloc(1,sizeof(struct rt_device_pwm)), "pwm1", &drv_ops, &htim1); + rt_device_pwm_register(rt_calloc(1, sizeof(struct rt_device_pwm)), "pwm1", &drv_ops, &htim1); #endif #ifdef BSP_USING_PWM2 MX_TIM2_Init(); - rt_device_pwm_register(rt_calloc(1,sizeof(struct rt_device_pwm)), "pwm2", &drv_ops, &htim2); + rt_device_pwm_register(rt_calloc(1, sizeof(struct rt_device_pwm)), "pwm2", &drv_ops, &htim2); #endif #ifdef BSP_USING_PWM3 MX_TIM3_Init(); - rt_device_pwm_register(rt_calloc(1,sizeof(struct rt_device_pwm)), "pwm3", &drv_ops, &htim3); + rt_device_pwm_register(rt_calloc(1, sizeof(struct rt_device_pwm)), "pwm3", &drv_ops, &htim3); #endif #ifdef BSP_USING_PWM4 MX_TIM4_Init(); - rt_device_pwm_register(rt_calloc(1,sizeof(struct rt_device_pwm)), "pwm4", &drv_ops, &htim4); + rt_device_pwm_register(rt_calloc(1, sizeof(struct rt_device_pwm)), "pwm4", &drv_ops, &htim4); #endif #ifdef BSP_USING_PWM5 MX_TIM5_Init(); - rt_device_pwm_register(rt_calloc(1,sizeof(struct rt_device_pwm)), "pwm5", &drv_ops, &htim5); + rt_device_pwm_register(rt_calloc(1, sizeof(struct rt_device_pwm)), "pwm5", &drv_ops, &htim5); #endif return 0; }