diff options
Diffstat (limited to 'apps/drivers/stm32/drv_pwm_servo.c')
| -rw-r--r-- | apps/drivers/stm32/drv_pwm_servo.c | 49 |
1 files changed, 34 insertions, 15 deletions
diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/apps/drivers/stm32/drv_pwm_servo.c index 2b8641f00..d7316e1f7 100644 --- a/apps/drivers/stm32/drv_pwm_servo.c +++ b/apps/drivers/stm32/drv_pwm_servo.c @@ -68,10 +68,6 @@ #include <stm32_gpio.h> #include <stm32_tim.h> - -/* default rate (in Hz) of PWM updates */ -static uint32_t pwm_update_rate = 50; - #define REG(_tmr, _reg) (*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg)) #define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET) @@ -93,6 +89,10 @@ static uint32_t pwm_update_rate = 50; #define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET) #define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET) +static void pwm_timer_init(unsigned timer); +static void pwm_timer_set_rate(unsigned timer, unsigned rate); +static void pwm_channel_init(unsigned channel); + static void pwm_timer_init(unsigned timer) { @@ -113,11 +113,8 @@ pwm_timer_init(unsigned timer) /* configure the timer to free-run at 1MHz */ rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1; - /* and update at the desired rate */ - rARR(timer) = (1000000 / pwm_update_rate) - 1; - - /* generate an update event; reloads the counter and all registers */ - rEGR(timer) = GTIM_EGR_UG; + /* default to updating at 50Hz */ + pwm_timer_set_rate(timer, 50); /* note that the timer is left disabled - arming is performed separately */ } @@ -272,19 +269,41 @@ up_pwm_servo_deinit(void) } int -up_pwm_servo_set_rate(unsigned rate) +up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate) { - if ((rate < 50) || (rate > 400)) + /* limit update rate to 1..10000Hz; somewhat arbitrary but safe */ + if (rate < 1) + return -ERANGE; + if (rate > 10000) return -ERANGE; - for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) { - if (pwm_timers[i].base != 0) - pwm_timer_set_rate(i, rate); - } + if ((group >= PWM_SERVO_MAX_TIMERS) || (pwm_timers[group].base == 0)) + return ERROR; + + pwm_timer_set_rate(group, rate); return OK; } +int +up_pwm_servo_set_rate(unsigned rate) +{ + for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) + up_pwm_servo_set_rate_group_update(i, rate); +} + +uint32_t +up_pwm_servo_get_rate_group(unsigned group) +{ + unsigned channels = 0; + + for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { + if ((pwm_channels[i].gpio != 0) && (pwm_channels[i].timer_index == group)) + channels |= (1 << i); + } + return channels; +} + void up_pwm_servo_arm(bool armed) { |