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Copy path0090-STM32-PWM-implement-HRTIM-based-PWM-APIs.patch
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0090-STM32-PWM-implement-HRTIM-based-PWM-APIs.patch
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From 1bd7d402a57f66407e3f4fadf2a777e23862e29a Mon Sep 17 00:00:00 2001
From: Riccardo Rizzo <r.rizzo@arduino.cc>
Date: Mon, 28 Jun 2021 15:25:11 +0200
Subject: [PATCH 90/91] STM32: PWM: implement HRTIM based PWM APIs
Signed-off-by: Martino Facchin <m.facchin@arduino.cc>
---
targets/TARGET_STM/pwmout_api.c | 196 +++++++++++++++++++++++++++++++-
1 file changed, 194 insertions(+), 2 deletions(-)
diff --git a/targets/TARGET_STM/pwmout_api.c b/targets/TARGET_STM/pwmout_api.c
index 8026921c67..1564a1c4d3 100644
--- a/targets/TARGET_STM/pwmout_api.c
+++ b/targets/TARGET_STM/pwmout_api.c
@@ -39,6 +39,22 @@
static TIM_HandleTypeDef TimHandle;
+#if defined(HRTIM1)
+#define HRTIM_CHANNEL(Y,X) (uint32_t)(0x00000001 << ((((Y*2)+(X)) & 0xF)))
+#define HRTIM_TIMERID(X) (uint32_t)(0x00000001 << (17U + X))// << (X)))
+
+typedef struct{
+ uint8_t timer;
+ uint32_t channel;
+ uint32_t timerid;
+} hrtim_t;
+
+static hrtim_t hrtim_timer;
+static HRTIM_HandleTypeDef HrtimHandle;
+static HRTIM_CompareCfgTypeDef sConfig_compare;
+static HRTIM_TimeBaseCfgTypeDef sConfig_time_base;
+#endif
+
/* Convert STM32 Cube HAL channel to LL channel */
uint32_t TIM_ChannelConvert_HAL2LL(uint32_t channel, pwmout_t *obj)
{
@@ -86,7 +102,6 @@ static void _pwmout_init_direct(pwmout_t *obj, const PinMap *pinmap)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap->peripheral;
- MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
uint32_t function = (uint32_t)pinmap->function;
@@ -94,6 +109,116 @@ static void _pwmout_init_direct(pwmout_t *obj, const PinMap *pinmap)
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
+#if defined(HRTIM1)
+ if (obj->pwm == PWM_I) {
+
+ HRTIM_TimerCfgTypeDef sConfig_timer;
+ HRTIM_OutputCfgTypeDef sConfig_output_config;
+
+ __HAL_RCC_HRTIM1_CLK_ENABLE();
+
+ if(STM_PORT(pinmap->pin) == 0) {
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ } else if(STM_PORT(pinmap->pin) == 1) {
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+ } else if(STM_PORT(pinmap->pin) == 2) {
+ __HAL_RCC_GPIOC_CLK_ENABLE();
+ } else if(STM_PORT(pinmap->pin) == 3) {
+ __HAL_RCC_GPIOD_CLK_ENABLE();
+ } else if(STM_PORT(pinmap->pin) == 4) {
+ __HAL_RCC_GPIOE_CLK_ENABLE();
+ } else if(STM_PORT(pinmap->pin) == 5) {
+ __HAL_RCC_GPIOF_CLK_ENABLE();
+ } else if(STM_PORT(pinmap->pin) == 6) {
+ __HAL_RCC_GPIOG_CLK_ENABLE();
+ } else {
+ __HAL_RCC_GPIOH_CLK_ENABLE();
+ }
+
+ hrtim_timer.timer = obj->channel;
+ hrtim_timer.channel = HRTIM_CHANNEL(hrtim_timer.timer,obj->inverted);
+ hrtim_timer.timerid = HRTIM_TIMERID(hrtim_timer.timer);
+
+ pin_function(pinmap->pin, pinmap->function);
+ pin_mode(pinmap->pin, PullNone);
+
+ obj->period = 1000;
+ obj->pulse = 500;
+ obj->prescaler = 0x00000004U;
+
+ // Initialize the HRTIM structure
+ HrtimHandle.Instance = HRTIM1;
+ HrtimHandle.Init.HRTIMInterruptResquests = HRTIM_IT_NONE;
+ HrtimHandle.Init.SyncOptions = HRTIM_SYNCOPTION_NONE;
+
+ HAL_HRTIM_Init(&HrtimHandle);
+
+ // Configure the HRTIM TIME PWM channels 2
+ sConfig_time_base.Mode = HRTIM_MODE_CONTINUOUS;
+ sConfig_time_base.Period = 10000;
+ sConfig_time_base.PrescalerRatio = HRTIM_PRESCALERRATIO_DIV4;
+ sConfig_time_base.RepetitionCounter = 0;
+
+ HAL_HRTIM_TimeBaseConfig(&HrtimHandle, hrtim_timer.timer, &sConfig_time_base);
+
+ sConfig_timer.DMARequests = HRTIM_TIM_DMA_NONE;
+ sConfig_timer.HalfModeEnable = HRTIM_HALFMODE_DISABLED;
+ sConfig_timer.StartOnSync = HRTIM_SYNCSTART_DISABLED;
+ sConfig_timer.ResetOnSync = HRTIM_SYNCRESET_DISABLED;
+ sConfig_timer.DACSynchro = HRTIM_DACSYNC_NONE;
+ sConfig_timer.PreloadEnable = HRTIM_PRELOAD_ENABLED;
+ sConfig_timer.UpdateGating = HRTIM_UPDATEGATING_INDEPENDENT;
+ sConfig_timer.BurstMode = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;
+ sConfig_timer.RepetitionUpdate = HRTIM_UPDATEONREPETITION_ENABLED;
+ sConfig_timer.ResetUpdate = HRTIM_TIMUPDATEONRESET_DISABLED;
+ sConfig_timer.InterruptRequests = HRTIM_TIM_IT_NONE;
+ sConfig_timer.PushPull = HRTIM_TIMPUSHPULLMODE_DISABLED;
+ sConfig_timer.FaultEnable = HRTIM_TIMFAULTENABLE_NONE;
+ sConfig_timer.FaultLock = HRTIM_TIMFAULTLOCK_READWRITE;
+ sConfig_timer.DeadTimeInsertion = HRTIM_TIMDEADTIMEINSERTION_DISABLED;
+ sConfig_timer.UpdateTrigger = HRTIM_TIMUPDATETRIGGER_NONE;
+ sConfig_timer.ResetTrigger = HRTIM_TIMRESETTRIGGER_NONE;
+
+ HAL_HRTIM_WaveformTimerConfig(&HrtimHandle, hrtim_timer.timer, &sConfig_timer);
+
+ sConfig_compare.AutoDelayedMode = HRTIM_AUTODELAYEDMODE_REGULAR;
+ sConfig_compare.AutoDelayedTimeout = 0;
+ sConfig_compare.CompareValue = 5000;
+
+ HAL_HRTIM_WaveformCompareConfig(&HrtimHandle, hrtim_timer.timer, HRTIM_COMPAREUNIT_2, &sConfig_compare);
+
+ sConfig_output_config.Polarity = HRTIM_OUTPUTPOLARITY_LOW;
+ sConfig_output_config.SetSource = HRTIM_OUTPUTRESET_TIMCMP2;
+ sConfig_output_config.ResetSource = HRTIM_OUTPUTSET_TIMPER;
+ sConfig_output_config.IdleMode = HRTIM_OUTPUTIDLEMODE_NONE;
+ sConfig_output_config.IdleLevel = HRTIM_OUTPUTIDLELEVEL_INACTIVE;
+ sConfig_output_config.FaultLevel = HRTIM_OUTPUTFAULTLEVEL_NONE;
+ sConfig_output_config.ChopperModeEnable = HRTIM_OUTPUTCHOPPERMODE_DISABLED;
+ sConfig_output_config.BurstModeEntryDelayed = HRTIM_OUTPUTBURSTMODEENTRY_REGULAR;
+ sConfig_output_config.ResetSource = HRTIM_OUTPUTRESET_TIMPER;
+ sConfig_output_config.SetSource = HRTIM_OUTPUTSET_TIMCMP2;
+
+ HAL_HRTIM_WaveformOutputConfig(&HrtimHandle, hrtim_timer.timer, hrtim_timer.channel, &sConfig_output_config);
+
+ // Start PWM signals generation
+ if (HAL_HRTIM_WaveformOutputStart(&HrtimHandle, hrtim_timer.channel) != HAL_OK)
+ {
+ // PWM Generation Error
+ return;
+ }
+
+ // Start HRTIM counter
+ if (HAL_HRTIM_WaveformCounterStart(&HrtimHandle, hrtim_timer.timerid) != HAL_OK)
+ {
+ // PWM Generation Error
+ return;
+ }
+ pwmout_period_us(obj, 1000); // 20 ms per default
+
+ return;
+ }
+#endif
+
// Enable TIM clock
#if defined(TIM1_BASE)
if (obj->pwm == PWM_1) {
@@ -208,9 +333,17 @@ static void _pwmout_init_direct(pwmout_t *obj, const PinMap *pinmap)
void pwmout_init(pwmout_t *obj, PinName pin)
{
- int peripheral = (int)pinmap_peripheral(pin, PinMap_PWM);
+ int peripheral = 0;
int function = (int)pinmap_find_function(pin, PinMap_PWM);
+ // check Function before peripheral because pinmap_peripheral
+ // assert a error and stop the exectution
+ if (function == -1) {
+ peripheral = (int)pinmap_peripheral(pin, PinMap_PWM_HRTIM);
+ function = (int)pinmap_find_function(pin, PinMap_PWM_HRTIM);
+ } else {
+ peripheral = (int)pinmap_peripheral(pin, PinMap_PWM);
+ }
const PinMap static_pinmap = {pin, peripheral, function};
PWM_INIT_DIRECT(obj, &static_pinmap);
@@ -224,6 +357,24 @@ void pwmout_free(pwmout_t *obj)
void pwmout_write(pwmout_t *obj, float value)
{
+
+#if defined(HRTIM1)
+ if (obj->pwm == PWM_I) {
+ if (value < (float)0.0) {
+ value = 0.0;
+ } else if (value > (float)1.0) {
+ value = 1.0;
+ }
+ obj->pulse = value;
+ sConfig_compare.CompareValue = (uint32_t)((float)obj->period * value + 0.5);
+ if (HAL_HRTIM_WaveformCompareConfig(&HrtimHandle, hrtim_timer.timer, HRTIM_COMPAREUNIT_2, &sConfig_compare) != HAL_OK)
+ {
+ return;
+ }
+ return;
+ }
+#endif
+
TIM_OC_InitTypeDef sConfig;
int channel = 0;
@@ -291,6 +442,13 @@ void pwmout_write(pwmout_t *obj, float value)
float pwmout_read(pwmout_t *obj)
{
float value = 0;
+
+#if defined(HRTIM1)
+ if(obj->pwm == PWM_I) {
+ return obj->pulse;
+ }
+#endif
+
if (obj->period > 0) {
value = (float)(obj->pulse) / (float)(obj->period);
}
@@ -309,6 +467,40 @@ void pwmout_period_ms(pwmout_t *obj, int ms)
void pwmout_period_us(pwmout_t *obj, int us)
{
+
+#if defined(HRTIM1)
+ if (obj->pwm == PWM_I) {
+ float dc = pwmout_read(obj);
+
+ /* Parse the pwm / apb mapping table to find the right entry */
+ unsigned long frequency = 400;
+
+ /* conversion from us to clock tick*/
+ obj->period = frequency * us;
+
+ obj->prescaler = 0x00000004U;
+ /* In case period or pre-scalers are out of range, loop-in to get valid values */
+ /* this upper limit can be increased but degdating the efficiency of the clock*/
+ while (obj->period > 50000) {
+ obj->prescaler = obj->prescaler + 1;
+ if(obj->prescaler == 8) {
+ obj->prescaler = 0x00000007U;
+ break;
+ }
+ frequency = frequency/2;
+ obj->period = frequency *us;
+ }
+ sConfig_time_base.Mode = HRTIM_MODE_CONTINUOUS;
+ sConfig_time_base.Period = obj->period;
+ sConfig_time_base.PrescalerRatio = obj->prescaler;
+ sConfig_time_base.RepetitionCounter = 0;
+
+ HAL_HRTIM_TimeBaseConfig(&HrtimHandle, hrtim_timer.timer, &sConfig_time_base);
+ pwmout_write(obj, dc);
+ return;
+ }
+#endif
+
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
RCC_ClkInitTypeDef RCC_ClkInitStruct;
uint32_t PclkFreq = 0;
--
2.32.0