drv_pwm.c File Reference

#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include "stm32f10x_conf.h"
#include "drv_gpio.h"
#include "drv_timer.h"
#include "drv_pwm.h"
#include "drv_system.h"

Include dependency graph for drv_pwm.c:

Go to the source code of this file.

Classes
struct	pwmPortData_t

Macros
#define	PWM_TIMER_8_MHZ   8
#define	PWM_TIMER_MHZ   1

Typedefs
typedef void(*	pwmWriteFuncPtr) (uint8_t index, uint16_t value)

Enumerations
enum	{ TYPE_IP = 0x10, TYPE_IW = 0x20, TYPE_M = 0x40, TYPE_S = 0x80 }
enum	{ TYPE_PWM_IN_OUT = 0x000, TYPE_GPIO_OUTPUT = 0x100 }

Functions
static void	configureSonar (uint8_t port)
static void	ppmCallback (uint8_t port, uint16_t capture)
static void	pwmCallback (uint8_t port, uint16_t capture)
static void	pwmGPIOConfig (GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
static void	pwmICConfig (TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
static pwmPortData_t *	pwmInConfig (uint8_t port, timerCCCallbackPtr callback, uint8_t channel)
void	pwmInit (bool useCPPM, bool usePwmFilter, bool fastPWM, uint32_t motorPwmRate, uint16_t idlePulseUsec)
uint32_t	pwmLastUpdate ()
bool	pwmNewData ()
static void	pwmOCConfig (TIM_TypeDef *tim, uint8_t channel, uint16_t value)
static pwmPortData_t *	pwmOutConfig (uint8_t port, uint8_t mhz, uint16_t period, uint16_t value)
uint16_t	pwmRead (uint8_t channel)
static void	pwmWriteBrushed (uint8_t index, uint16_t value)
void	pwmWriteMotor (uint8_t index, uint16_t value)
static void	pwmWriteStandard (uint8_t index, uint16_t value)
static void	sonarCallback (uint8_t port, uint16_t capture)
bool	sonarPresent ()
float	sonarRead (uint8_t channel)

Variables
static uint16_t	captures [MAX_INPUTS]
static pwmPortData_t *	motors [MAX_PORTS]
static const uint16_t	multiPPM []
static const uint16_t	multiPPMSONAR []
static const uint16_t	multiPWM []
static bool	new_data = false
static uint8_t	numInputs = 0
static uint8_t	numMotors = 0
static uint8_t	pwmFilter = 0
static uint32_t	pwmLastUpdateTime_ms = 0
static pwmPortData_t	pwmPorts [MAX_PORTS]
static pwmWriteFuncPtr	pwmWritePtr = NULL
static bool	sonar_present = false
static uint16_t	sonar_reads [MAX_INPUTS]
static uint8_t	sonar_trigger_port

Macro Definition Documentation

#define PWM_TIMER_8_MHZ   8

Definition at line 77 of file drv_pwm.c.

#define PWM_TIMER_MHZ   1

Definition at line 76 of file drv_pwm.c.

Typedef Documentation

typedef void(* pwmWriteFuncPtr) (uint8_t index, uint16_t value)

Definition at line 65 of file drv_pwm.c.

Enumeration Type Documentation

anonymous enum

Enumerator
TYPE_IP
TYPE_IW
TYPE_M
TYPE_S

Definition at line 274 of file drv_pwm.c.

anonymous enum

Enumerator
TYPE_PWM_IN_OUT
TYPE_GPIO_OUTPUT

Definition at line 281 of file drv_pwm.c.

Function Documentation

static void configureSonar ( uint8_t  port )

static

Definition at line 259 of file drv_pwm.c.

static void ppmCallback ( uint8_t  port, uint16_t  capture  )

static

Definition at line 191 of file drv_pwm.c.

static void pwmCallback ( uint8_t  port, uint16_t  capture  )

static

Definition at line 216 of file drv_pwm.c.

static void pwmGPIOConfig ( GPIO_TypeDef *  gpio, uint32_t  pin, GPIO_Mode  mode  )

static

Definition at line 128 of file drv_pwm.c.

static void pwmICConfig ( TIM_TypeDef *  tim, uint8_t  channel, uint16_t  polarity  )

static

Definition at line 114 of file drv_pwm.c.

static pwmPortData_t* pwmInConfig ( uint8_t  port, timerCCCallbackPtr  callback, uint8_t  channel  )

static

Definition at line 170 of file drv_pwm.c.

void pwmInit	(	bool	useCPPM,
		bool	usePwmFilter,
		bool	fastPWM,
		uint32_t	motorPwmRate,
		uint16_t	idlePulseUsec
	)

Definition at line 353 of file drv_pwm.c.

uint32_t pwmLastUpdate

(

)

Definition at line 186 of file drv_pwm.c.

bool pwmNewData

(

)

Definition at line 422 of file drv_pwm.c.

static void pwmOCConfig ( TIM_TypeDef *  tim, uint8_t  channel, uint16_t  value  )

static

Definition at line 79 of file drv_pwm.c.

static pwmPortData_t* pwmOutConfig ( uint8_t  port, uint8_t  mhz, uint16_t  period, uint16_t  value  )

static

Definition at line 138 of file drv_pwm.c.

uint16_t pwmRead

(

uint8_t

channel

)

Definition at line 409 of file drv_pwm.c.

static void pwmWriteBrushed ( uint8_t  index, uint16_t  value  )

static

Definition at line 343 of file drv_pwm.c.

void pwmWriteMotor	(	uint8_t	index,
		uint16_t	value
	)

Definition at line 403 of file drv_pwm.c.

static void pwmWriteStandard ( uint8_t  index, uint16_t  value  )

static

Definition at line 348 of file drv_pwm.c.

static void sonarCallback ( uint8_t  port, uint16_t  capture  )

static

Definition at line 238 of file drv_pwm.c.

bool sonarPresent

(

)

Definition at line 432 of file drv_pwm.c.

float sonarRead

(

uint8_t

channel

)

Definition at line 427 of file drv_pwm.c.

Variable Documentation

uint16_t captures[MAX_INPUTS]

static

Definition at line 68 of file drv_pwm.c.

pwmPortData_t* motors[MAX_PORTS]

static

Definition at line 339 of file drv_pwm.c.

const uint16_t multiPPM[]

static

Initial value:

= {
    PWM1 | TYPE_IP,     
    PWM9 | TYPE_M,      
    PWM10 | TYPE_M,     
    PWM11 | TYPE_M,
    PWM12 | TYPE_M,
    PWM13 | TYPE_M,
    PWM14 | TYPE_M,
    PWM5 | TYPE_M,      
    PWM6 | TYPE_M,      
    PWM7 | TYPE_M,      
    PWM8 | TYPE_M,      
    0xFFF
}

Definition at line 286 of file drv_pwm.c.

const uint16_t multiPPMSONAR[]

static

Initial value:

= {
    PWM1 | TYPE_IP,     
    PWM2 | TYPE_S,      
    PWM3 | TYPE_S,
    PWM4 | TYPE_S,
    PWM5 | TYPE_S,
    PWM6 | TYPE_S,
    PWM7 | TYPE_S,
    PWM8 | TYPE_S,

    PWM9 | TYPE_M,
    PWM10 | TYPE_M,
    PWM11 | TYPE_M,
    PWM12 | TYPE_M,
    PWM13 | TYPE_M,
    PWM14 | TYPE_M,
    0xFFF
}

Definition at line 301 of file drv_pwm.c.

const uint16_t multiPWM[]

static

Initial value:

= {
    PWM1 | TYPE_IW,     
    PWM2 | TYPE_IW,
    PWM3 | TYPE_IW,
    PWM4 | TYPE_IW,
    PWM5 | TYPE_IW,
    PWM6 | TYPE_IW,
    PWM7 | TYPE_IW,
    PWM8 | TYPE_IW,     
    PWM9 | TYPE_M,      
    PWM10 | TYPE_M,     
    PWM11 | TYPE_M,     
    PWM12 | TYPE_M,
    PWM13 | TYPE_M,
    PWM14 | TYPE_M,     
    0xFFF
}

Definition at line 320 of file drv_pwm.c.

bool new_data = false

static

Definition at line 73 of file drv_pwm.c.

uint8_t numInputs = 0

static

Definition at line 341 of file drv_pwm.c.

uint8_t numMotors = 0

static

Definition at line 340 of file drv_pwm.c.

uint8_t pwmFilter = 0

static

Definition at line 71 of file drv_pwm.c.

uint32_t pwmLastUpdateTime_ms = 0

static

Definition at line 72 of file drv_pwm.c.

pwmPortData_t pwmPorts[MAX_PORTS]

static

Definition at line 67 of file drv_pwm.c.

pwmWriteFuncPtr pwmWritePtr = NULL

static

Definition at line 70 of file drv_pwm.c.

bool sonar_present = false

static

Definition at line 74 of file drv_pwm.c.

uint16_t sonar_reads[MAX_INPUTS]

static

Definition at line 69 of file drv_pwm.c.

uint8_t sonar_trigger_port

static

Definition at line 63 of file drv_pwm.c.