1 /* mbed Microcontroller Library
2 *******************************************************************************
3 * Copyright (c) 2014, STMicroelectronics
6 * Redistribution and use in source and binary forms, with or without
7 * modification, are permitted provided that the following conditions are met:
9 * 1. Redistributions of source code must retain the above copyright notice,
10 * this list of conditions and the following disclaimer.
11 * 2. Redistributions in binary form must reproduce the above copyright notice,
12 * this list of conditions and the following disclaimer in the documentation
13 * and/or other materials provided with the distribution.
14 * 3. Neither the name of STMicroelectronics nor the names of its contributors
15 * may be used to endorse or promote products derived from this software
16 * without specific prior written permission.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 *******************************************************************************
30 #include "mbed_assert.h"
31 #include "pwmout_api.h"
36 // TIM2 cannot be used because already used by the us_ticker
37 static const PinMap PinMap_PWM[] = {
38 // {PA_0, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM2_CH1
39 // {PA_1, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM2_CH2
40 {PA_1, PWM_15, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_9)}, // TIM15_CH1N
41 {PA_2, PWM_15, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_9)}, // TIM15_CH1
42 {PA_3, PWM_15, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_9)}, // TIM15_CH2
43 // {PA_5, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM2_CH1
44 {PA_6, PWM_16, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM16_CH1
45 {PA_7, PWM_17, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM17_CH1
46 // {PA_7, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH1N
47 {PA_8, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH1
48 {PA_9, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH2
49 // {PA_9, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_10)}, // TIM2_CH3
50 {PA_10, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH3
51 // {PA_10, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_10)}, // TIM2_CH4
52 {PA_11, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_11)}, // TIM1_CH4
53 // {PA_11, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH1N
54 {PA_12, PWM_16, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM16_CH1
55 // {PA_12, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH2N
56 {PA_13, PWM_16, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM16_CH1N
57 // {PA_15, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM2_CH1
59 {PB_0, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH2N
60 {PB_1, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH3N
61 // {PB_3, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM2_CH2
62 {PB_4, PWM_16, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM16_CH1
63 {PB_5, PWM_17, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_10)}, // TIM17_CH1
64 {PB_6, PWM_16, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM16_CH1N
65 {PB_7, PWM_17, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM17_CH1N
66 {PB_8, PWM_16, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM16_CH1
67 {PB_9, PWM_17, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM17_CH1
68 // {PB_10, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM2_CH3
69 // {PB_11, PWM_2, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM2_CH4
70 {PB_13, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH1N
71 {PB_14, PWM_15, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM15_CH1
72 // {PB_14, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH2N
73 {PB_15, PWM_15, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_1)}, // TIM15_CH2
74 // {PB_15, PWM_15, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_2)}, // TIM15_CH1N
75 // {PB_15, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_4)}, // TIM1_CH3N
77 {PC_0, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_2)}, // TIM1_CH1
78 {PC_1, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_2)}, // TIM1_CH2
79 {PC_2, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_2)}, // TIM1_CH3
80 {PC_3, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_2)}, // TIM1_CH4
81 {PC_13, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_4)}, // TIM1_CH1N
83 {PF_0, PWM_1, STM_PIN_DATA(GPIO_Mode_AF, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_AF_6)}, // TIM1_CH3N
88 void pwmout_init(pwmout_t* obj, PinName pin) {
89 // Get the peripheral name from the pin and assign it to the object
90 obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
91 MBED_ASSERT(obj->pwm == (PWMName)NC);
94 if (obj->pwm == PWM_1) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
95 if (obj->pwm == PWM_15) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE);
96 if (obj->pwm == PWM_16) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE);
97 if (obj->pwm == PWM_17) RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE);
100 pinmap_pinout(pin, PinMap_PWM);
106 pwmout_period_us(obj, 20000); // 20 ms per default
109 void pwmout_free(pwmout_t* obj) {
110 TIM_TypeDef *tim = (TIM_TypeDef *)(obj->pwm);
114 void pwmout_write(pwmout_t* obj, float value) {
115 TIM_TypeDef *tim = (TIM_TypeDef *)(obj->pwm);
116 TIM_OCInitTypeDef TIM_OCInitStructure;
118 if (value < (float)0.0) {
120 } else if (value > (float)1.0) {
124 obj->pulse = (uint32_t)((float)obj->period * value);
126 // Configure channels
127 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
128 TIM_OCInitStructure.TIM_Pulse = obj->pulse;
129 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
130 TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
131 TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
132 TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
150 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
151 TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
152 TIM_OC1Init(tim, &TIM_OCInitStructure);
164 TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
165 TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
166 TIM_OC1Init(tim, &TIM_OCInitStructure);
175 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
176 TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
177 TIM_OC2Init(tim, &TIM_OCInitStructure);
183 TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
184 TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
185 TIM_OC2Init(tim, &TIM_OCInitStructure);
192 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
193 TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
194 TIM_OC3Init(tim, &TIM_OCInitStructure);
200 TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
201 TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
202 TIM_OC3Init(tim, &TIM_OCInitStructure);
209 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
210 TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
211 TIM_OC4Init(tim, &TIM_OCInitStructure);
218 float pwmout_read(pwmout_t* obj) {
220 if (obj->period > 0) {
221 value = (float)(obj->pulse) / (float)(obj->period);
223 return ((value > (float)1.0) ? ((float)1.0) : (value));
226 void pwmout_period(pwmout_t* obj, float seconds) {
227 pwmout_period_us(obj, seconds * 1000000.0f);
230 void pwmout_period_ms(pwmout_t* obj, int ms) {
231 pwmout_period_us(obj, ms * 1000);
234 void pwmout_period_us(pwmout_t* obj, int us) {
235 TIM_TypeDef *tim = (TIM_TypeDef *)(obj->pwm);
236 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
237 float dc = pwmout_read(obj);
239 TIM_Cmd(tim, DISABLE);
243 TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
244 TIM_TimeBaseStructure.TIM_Period = obj->period - 1;
245 TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 µs tick
246 TIM_TimeBaseStructure.TIM_ClockDivision = 0;
247 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
248 TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
250 // Set duty cycle again
251 pwmout_write(obj, dc);
253 TIM_ARRPreloadConfig(tim, ENABLE);
255 // Warning: Main Output must be enabled on TIM1, TIM8, TIM5, TIM6 and TIM17
256 if ((obj->pwm == PWM_1) || (obj->pwm == PWM_15) || (obj->pwm == PWM_16) || (obj->pwm == PWM_17)) {
257 TIM_CtrlPWMOutputs(tim, ENABLE);
260 TIM_Cmd(tim, ENABLE);
263 void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
264 pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
267 void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
268 pwmout_pulsewidth_us(obj, ms * 1000);
271 void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
272 float value = (float)us / (float)obj->period;
273 pwmout_write(obj, value);