MAV'RIC: /home/travis/build/lis-epfl/MAVRIC_Library/hal/stm32/pwm

00001 /*******************************************************************************
00002  * Copyright (c) 2009-2016, MAV'RIC Development Team
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  * 1. Redistributions of source code must retain the above copyright notice,
00009  * this list of conditions and the following disclaimer.
00010  *
00011  * 2. Redistributions in binary form must reproduce the above copyright notice,
00012  * this list of conditions and the following disclaimer in the documentation
00013  * and/or other materials provided with the distribution.
00014  *
00015  * 3. Neither the name of the copyright holder nor the names of its contributors
00016  * may be used to endorse or promote products derived from this software without
00017  * specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 /*******************************************************************************
00033  * \file pwm_stm32.hpp
00034  *
00035  * \author MAV'RIC Team
00036  * \author Heitz Gregoire
00037  *
00038  * \brief   This file is the driver for pwm servos
00039  *
00040  ******************************************************************************/
00041 
00042 
00043 #ifndef PWM_SERVOS_STM32_HPP_
00044 #define PWM_SERVOS_STM32_HPP_
00045 
00046 #include <cstdbool>
00047 #include <cstdint>
00048 
00049 #include "hal/common/pwm.hpp"
00050 #include "hal/stm32/gpio_stm32.hpp"
00051 
00052 extern "C"
00053 {
00054 #include <libopencm3/stm32/timer.h>
00055 #include <libopencm3/stm32/rcc.h>
00056 }
00057 
00058 
00059 class Pwm_stm32: public Pwm
00060 {
00061 public:
00062 
00066     typedef enum
00067     {
00068         PWM_STM32_CHANNEL_1,
00069         PWM_STM32_CHANNEL_2,
00070         PWM_STM32_CHANNEL_3,
00071         PWM_STM32_CHANNEL_4
00072     } pwm_stm32_channel_t;
00073 
00077     typedef struct
00078     {
00079         gpio_stm32_conf_t       gpio_config;     
00080         uint32_t                timer;           
00081         rcc_periph_clken        rcc_timer;       
00082         pwm_stm32_channel_t     channel;         
00083         uint32_t                prescaler;       
00084         uint32_t                period;          
00085         uint32_t                pulse_us;        
00086     } config_t;
00087 
00088 
00094     Pwm_stm32(config_t config);
00095 
00096 
00102     bool init(void);
00103 
00104 
00112     bool set_pulse_width_us(uint16_t pulse_us);
00113 
00114 
00122     bool set_period_us(uint16_t period_us);
00123 
00124 
00125 private:
00129     void write_channel(void);
00130 
00131     config_t config_;       
00132 
00133     uint8_t channel_id_;    
00134     uint32_t timer_;        
00135     uint32_t prescaler_;    
00136     uint32_t period_;       
00137     uint32_t pulse_us_;     
00138 };
00139 
00140 #endif /* PWM_STM32_HPP_ */