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Add basic support for pulse count in the PWM interface 

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4285 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo 2012-01-09 18:23:30 +00:00
parent d012f2fd06
commit 94e1048f0b
7 changed files with 756 additions and 133 deletions
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2
nuttx/ChangeLog
View File

@ -2353,4 +2353,6 @@
* arch/arm/src/stm32/stm32_serial.c and stm32_lowputc.c: Support for
UART4-5 and USART6 added by Mike Smith. Also includes a more flexible
way of managing UART pin configurations.
* include/nuttx/pwm.h, drivers/pwm.c, arch/arm/src/stm32/stm32_pwm.c: Add
support for pulse count in order to better support stepper motors.

3
nuttx/arch/arm/src/lpc17xx/lpc17_can.c
View File

@ -473,9 +473,8 @@ static void can_putcommon(uint32_t addr, uint32_t value)
static void can_reset(FAR struct can_dev_s *dev)
{
FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
uint32_t baud;
int ret;
irqstate_t flags;
int ret;
canvdbg("CAN%d\n", priv->port);

535
nuttx/arch/arm/src/stm32/stm32_pwm.c
View File

@ -45,6 +45,7 @@
#include <errno.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/pwm.h>
#include <arch/board/board.h>
@ -69,6 +70,41 @@
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* PWM/Timer Definitions ****************************************************/
/* The following definitions are used to identify the various time types */
#define TIMTYPE_BASIC 0 /* Basic timers: TIM6-7 */
#define TIMTYPE_GENERAL16 1 /* General 16-bit timers: TIM2-5 on F1 */
#define TIMTYPE_COUNTUP16 2 /* General 16-bit count-up timers: TIM9-14 on F4 */
#define TIMTYPE_GENERAL32 3 /* General 32-bit timers: TIM2-5 on F4 */
#define TIMTYPE_ADVANCED 4 /* Advanced timers: TIM1-8 */
#define TIMTYPE_TIM1 TIMTYPE_ADVANCED
#ifdef CONFIG_STM32_STM32F10XX
# define TIMTYPE_TIM2 TIMTYPE_GENERAL16
# define TIMTYPE_TIM3 TIMTYPE_GENERAL16
# define TIMTYPE_TIM4 TIMTYPE_GENERAL16
# define TIMTYPE_TIM5 TIMTYPE_GENERAL16
#else
# define TIMTYPE_TIM2 TIMTYPE_GENERAL32
# define TIMTYPE_TIM3 TIMTYPE_GENERAL32
# define TIMTYPE_TIM4 TIMTYPE_GENERAL32
# define TIMTYPE_TIM5 TIMTYPE_GENERAL32
#endif
#define TIMTYPE_TIM6 TIMTYPE_BASIC
#define TIMTYPE_TIM7 TIMTYPE_BASIC
#define TIMTYPE_TIM8 TIMTYPE_ADVANCED
#define TIMTYPE_TIM9 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM10 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM11 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM12 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM13 TIMTYPE_COUNTUP16
#define TIMTYPE_TIM14 TIMTYPE_COUNTUP16
/* The maximum repetition count is 128 */
#define PWM_MAX_COUNT 128
/* Debug ********************************************************************/
/* Non-standard debug that may be enabled just for testing PWM */
@ -94,12 +130,19 @@ struct stm32_pwmtimer_s
FAR const struct pwm_ops_s *ops; /* PWM operations */
uint8_t timid; /* Timer ID {1,...,14} */
uint8_t channel; /* Timer output channel: {1,..4} */
uint8_t unused2;
uint8_t unused3;
uint8_t timtype; /* See the TIMTYPE_* definitions */
#ifdef CONFIG_PWM_PULSECOUNT
uint8_t irq; /* Timer update IRQ */
#else
uint8_t unused;
#endif
uint32_t base; /* The base address of the timer */
uint32_t pincfg; /* Output pin configuration */
uint32_t pclk; /* The frequency of the peripheral clock
* that drives the timer module. */
#ifdef CONFIG_PWM_PULSECOUNT
FAR void * handle; /* Handle used for upper-half callback */
#endif
};
/****************************************************************************
@ -116,13 +159,38 @@ static void pwm_dumpregs(struct stm32_pwmtimer_s *priv, FAR const char *msg);
# define pwm_dumpregs(priv,msg)
#endif
/* Timer management */
static int pwm_timer(FAR struct stm32_pwmtimer_s *priv,
FAR const struct pwm_info_s *info);
#if defined(CONFIG_PWM_PULSECOUNT) && (defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM))
static int pwm_interrupt(struct stm32_pwmtimer_s *priv);
#if defined(CONFIG_STM32_TIM1_PWM)
static int pwm_tim1interrupt(int irq, void *context);
#endif
#if defined(CONFIG_STM32_TIM1_PWM)
static int pwm_tim8interrupt(int irq, void *context);
#endif
#endif
/* PWM driver methods */
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev);
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev);
static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_s *info);
#ifdef CONFIG_PWM_PULSECOUNT
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info,
FAR void *handle);
#else
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info);
#endif
static int pwm_stop(FAR struct pwm_lowerhalf_s *dev);
static int pwm_ioctl(FAR struct pwm_lowerhalf_s *dev, int cmd, unsigned long arg);
static int pwm_ioctl(FAR struct pwm_lowerhalf_s *dev,
int cmd, unsigned long arg);
/****************************************************************************
* Private Data
@ -144,6 +212,10 @@ static struct stm32_pwmtimer_s g_pwm1dev =
.ops = &g_pwmops,
.timid = 1,
.channel = CONFIG_STM32_TIM1_CHANNEL,
.timtype = TIMTYPE_TIM1,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM1UP,
#endif
.base = STM32_TIM1_BASE,
.pincfg = PWM_TIM1_PINCFG,
.pclk = STM32_APB2_TIM1_CLKIN,
@ -156,6 +228,10 @@ static struct stm32_pwmtimer_s g_pwm2dev =
.ops = &g_pwmops,
.timid = 2,
.channel = CONFIG_STM32_TIM2_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM2,
#endif
.timtype = TIMTYPE_TIM2,
.base = STM32_TIM2_BASE,
.pincfg = PWM_TIM2_PINCFG,
.pclk = STM32_APB1_TIM2_CLKIN,
@ -168,6 +244,10 @@ static struct stm32_pwmtimer_s g_pwm3dev =
.ops = &g_pwmops,
.timid = 3,
.channel = CONFIG_STM32_TIM3_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM3,
#endif
.timtype = TIMTYPE_TIM3,
.base = STM32_TIM3_BASE,
.pincfg = PWM_TIM3_PINCFG,
.pclk = STM32_APB1_TIM3_CLKIN,
@ -180,6 +260,10 @@ static struct stm32_pwmtimer_s g_pwm4dev =
.ops = &g_pwmops,
.timid = 4,
.channel = CONFIG_STM32_TIM4_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM4,
#endif
.timtype = TIMTYPE_TIM4,
.base = STM32_TIM4_BASE,
.pincfg = PWM_TIM4_PINCFG,
.pclk = STM32_APB1_TIM4_CLKIN,
@ -192,6 +276,10 @@ static struct stm32_pwmtimer_s g_pwm5dev =
.ops = &g_pwmops,
.timid = 5,
.channel = CONFIG_STM32_TIM5_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM5,
#endif
.timtype = TIMTYPE_TIM5,
.base = STM32_TIM5_BASE,
.pincfg = PWM_TIM5_PINCFG,
.pclk = STM32_APB1_TIM5_CLKIN,
@ -204,6 +292,10 @@ static struct stm32_pwmtimer_s g_pwm8dev =
.ops = &g_pwmops,
.timid = 8,
.channel = CONFIG_STM32_TIM8_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM8UP,
#endif
.timtype = TIMTYPE_TIM8,
.base = STM32_TIM8_BASE,
.pincfg = PWM_TIM8_PINCFG,
.pclk = STM32_APB2_TIM8_CLKIN,
@ -216,6 +308,10 @@ static struct stm32_pwmtimer_s g_pwm9dev =
.ops = &g_pwmops,
.timid = 9,
.channel = CONFIG_STM32_TIM9_CHANNEL,
.timtype = TIMTYPE_TIM9,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM9,
#endif
.base = STM32_TIM9_BASE,
.pincfg = PWM_TIM9_PINCFG,
.pclk = STM32_APB2_TIM9_CLKIN,
@ -228,6 +324,10 @@ static struct stm32_pwmtimer_s g_pwm10dev =
.ops = &g_pwmops,
.timid = 10,
.channel = CONFIG_STM32_TIM10_CHANNEL,
.timtype = TIMTYPE_TIM10,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM10,
#endif
.base = STM32_TIM10_BASE,
.pincfg = PWM_TIM10_PINCFG,
.pclk = STM32_APB2_TIM10_CLKIN,
@ -240,6 +340,10 @@ static struct stm32_pwmtimer_s g_pwm11dev =
.ops = &g_pwmops,
.timid = 11,
.channel = CONFIG_STM32_TIM11_CHANNEL,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM11,
#endif
.timtype = TIMTYPE_TIM11,
.base = STM32_TIM11_BASE,
.pincfg = PWM_TIM11_PINCFG,
.pclk = STM32_APB2_TIM11_CLKIN,
@ -252,6 +356,10 @@ static struct stm32_pwmtimer_s g_pwm12dev =
.ops = &g_pwmops,
.timid = 12,
.channel = CONFIG_STM32_TIM12_CHANNEL,
.timtype = TIMTYPE_TIM12,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM12,
#endif
.base = STM32_TIM12_BASE,
.pincfg = PWM_TIM12_PINCFG,
.pclk = STM32_APB1_TIM12_CLKIN,
@ -264,6 +372,10 @@ static struct stm32_pwmtimer_s g_pwm13dev =
.ops = &g_pwmops,
.timid = 13,
.channel = CONFIG_STM32_TIM13_CHANNEL,
.timtype = TIMTYPE_TIM13,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM13,
#endif
.base = STM32_TIM13_BASE,
.pincfg = PWM_TIM13_PINCFG,
.pclk = STM32_APB1_TIM13_CLKIN,
@ -276,6 +388,10 @@ static struct stm32_pwmtimer_s g_pwm14dev =
.ops = &g_pwmops,
.timid = 14,
.channel = CONFIG_STM32_TIM14_CHANNEL,
.timtype = TIMTYPE_TIM14,
#ifdef CONFIG_PWM_PULSECOUNT
.irq = STM32_IRQ_TIM14,
#endif
.base = STM32_TIM14_BASE,
.pincfg = PWM_TIM14_PINCFG,
.pclk = STM32_APB1_TIM14_CLKIN,
@ -365,7 +481,7 @@ static void pwm_dumpregs(struct stm32_pwmtimer_s *priv, FAR const char *msg)
pwm_getreg(priv, STM32_GTIM_CCR3_OFFSET),
pwm_getreg(priv, STM32_GTIM_CCR4_OFFSET));
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if (priv->timid == 1 || priv->timid == 8)
if (priv->timtype == TIMTYPE_ADVANCED)
{
pwmvdbg(" RCR: %04x BDTR: %04x DCR: %04x DMAR: %04x\n",
pwm_getreg(priv, STM32_ATIM_RCR_OFFSET),
@ -384,89 +500,13 @@ static void pwm_dumpregs(struct stm32_pwmtimer_s *priv, FAR const char *msg)
#endif
/****************************************************************************
* Name: pwm_setup
*
* Description:
* This method is called when the driver is opened. The lower half driver
* should configure and initialize the device so that it is ready for use.
* It should not, however, output pulses until the start method is called.
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
* Assumptions:
* AHB1 or 2 clocking for the GPIOs and timer has already been configured
* by the RCC logic at power up.
*
****************************************************************************/
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
pwm_dumpregs(priv, "Initially");
/* Configure the PWM output pin, but do not start the timer yet */
stm32_configgpio(priv->pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
* stop pulsed output, free any resources, disable the timer hardware, and
* put the system into the lowest possible power usage state
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
uint32_t pincfg;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
/* Make sure that the output has been stopped */
pwm_stop(dev);
/* Then put the GPIO pin back to the default state */
pincfg = priv->pincfg & (GPIO_PORT_MASK|GPIO_PIN_MASK);
#if defined(CONFIG_STM32_STM32F10XX)
pincfg |= (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT);
#elif defined(CONFIG_STM32_STM32F40XX)
pincfg |= (GPIO_INPUT|GPIO_FLOAT);
#else
# error "Unrecognized STM32 chip"
#endif
stm32_configgpio(pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_start
* Name: pwm_timer
*
* Description:
* (Re-)initialize the timer resources and start the pulsed output
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
* priv - A reference to the lower half PWM driver state structure
* info - A reference to the characteristics of the pulsed output
*
* Returned Value:
@ -474,10 +514,9 @@ static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
*
****************************************************************************/
static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_s *info)
static int pwm_timer(FAR struct stm32_pwmtimer_s *priv,
FAR const struct pwm_info_s *info)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
/* Calculated values */
uint32_t prescaler;
@ -505,6 +544,13 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
priv->timid, priv->channel, info->frequency, info->duty);
DEBUGASSERT(info->frequency > 0 && info->duty > 0 && info->duty < uitoub16(100));
/* Disable all interrupts and DMA requests, clear all pending status */
#ifdef CONFIG_PWM_PULSECOUNT
pwm_putreg(priv, STM32_GTIM_DIER_OFFSET, 0);
pwm_putreg(priv, STM32_GTIM_SR_OFFSET, 0);
#endif
/* Calculate optimal values for the timer prescaler and for the timer reload
* register. If' frequency' is the desired frequency, then
*
@ -585,24 +631,25 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
cr1 &= ~GTIM_CR1_CEN;
/* Set the counter mode for the advanced timers (1,8) and most general
* purpose timers (2-5, but not 9-14):
* purpose timers (all 2-5, but not 9-14), i.e., all but TIMTYPE_COUNTUP16
* and TIMTYPE_BASIC
*/
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM2_PWM) || \
defined(CONFIG_STM32_TIM3_PWM) || defined(CONFIG_STM32_TIM4_PWM) || \
defined(CONFIG_STM32_TIM5_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if ((priv->timid >= 1 && priv->timid <= 5) || priv->timid == 8)
if (priv->timtype != TIMTYPE_BASIC && priv->timtype != TIMTYPE_COUNTUP16)
{
/* Select the Counter Mode == count up:
*
* ATIM_CR1_EDGE: The counter counts up or down depending on the
* GTIM_CR1_EDGE: The counter counts up or down depending on the
* direction bit(DIR).
* ATIM_CR1_DIR: 0: count up, 1: count down
* GTIM_CR1_DIR: 0: count up, 1: count down
*/
cr1 &= ~(ATIM_CR1_DIR | ATIM_CR1_CMS_MASK);
cr1 |= ATIM_CR1_EDGE;
cr1 &= ~(GTIM_CR1_DIR | GTIM_CR1_CMS_MASK);
cr1 |= GTIM_CR1_EDGE;
}
#endif
@ -618,12 +665,29 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
pwm_putreg(priv, STM32_GTIM_ARR_OFFSET, (uint16_t)reload);
pwm_putreg(priv, STM32_GTIM_PSC_OFFSET, (uint16_t)(prescaler - 1));
/* Clear the advanced timers repitition counter in all but the advanced timers */
/* Set the advanced timer's repitition counter */
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if (priv->timid == 1 || priv->timid == 8)
if (priv->timtype == TIMTYPE_ADVANCED)
{
pwm_putreg(priv, STM32_ATIM_RCR_OFFSET, 0);
/* If a non-zero repetition count has been selected, then set the
* repitition counter to the count-1 (pwm_start() has already
* assured us that the count value is within range).
*/
#ifdef CONFIG_PWM_PULSECOUNT
if (info->count > 0)
{
pwm_putreg(priv, STM32_ATIM_RCR_OFFSET, info->count - 1);
}
/* Otherwise, just clear the repitition counter */
else
#endif
{
pwm_putreg(priv, STM32_ATIM_RCR_OFFSET, 0);
}
}
#endif
@ -747,7 +811,7 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
/* Some special setup for advanced timers */
#if defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM)
if (priv->timid == 1 || priv->timid == 8)
if (priv->timtype == TIMTYPE_ADVANCED)
{
/* Reset output N polarity level, output N state, output compre state,
* output compare N idle state.
@ -789,15 +853,238 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
cr1 |= GTIM_CR1_ARPE;
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1);
/* And, finally, enable the timer */
/* Setup update interrupt. If info->count is > 0, then we can be
* assured that pwm_start() has already verified: (1) that this is an
* advanced timer, and that (2) the repetitioncount is within range.
*/
cr1 |= GTIM_CR1_CEN;
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1);
#ifdef CONFIG_PWM_PULSECOUNT
if (info->count > 0)
{
/* Enable the update interrupt. */
pwm_putreg(priv, STM32_GTIM_DIER_OFFSET, ATIM_DIER_UIE);
/* Enable the timer */
cr1 |= GTIM_CR1_CEN;
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1);
/* And enable timer interrupts at the NVIC */
up_enable_irq(priv->irq);
}
else
#endif
{
/* Just enable the timer, leaving all interrupts disabled */
cr1 |= GTIM_CR1_CEN;
pwm_putreg(priv, STM32_GTIM_CR1_OFFSET, cr1);
}
pwm_dumpregs(priv, "After starting");
return OK;
}
/****************************************************************************
* Name: pwm_interrupt
*
* Description:
* Handle timer interrupts.
*
* Input parameters:
* priv - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
#if defined(CONFIG_PWM_PULSECOUNT) && (defined(CONFIG_STM32_TIM1_PWM) || defined(CONFIG_STM32_TIM8_PWM))
static int pwm_interrupt(struct stm32_pwmtimer_s *priv)
{
/* Verify that this is an update interrupt. Nothing else is expected. */
pwmllvdbg("Update interrupt: %04x\n", pwm_getreg(STM32_GTIM_SR_OFFSET));
DEBUGASSERT((pwm_getreg(STM32_GTIM_SR_OFFSET) & ATIM_SR_UIF) != 0);
/* Disable further interrupts and stop the timer */
(void)pwm_stop((FAR struct pwm_lowerhalf_s *)priv)
/* Then perform the callback into the upper half driver */
pwm_expired(priv->handle);
priv->handle = NULL;
return OK;
}
#endif
/****************************************************************************
* Name: pwm_tim1/8interrupt
*
* Description:
* Handle timer 1 and 8 interrupts.
*
* Input parameters:
* Standard NuttX interrupt inputs
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_STM32_TIM1_PWM)
static int pwm_tim1interrupt(int irq, void *context)
{
return pwm_interrupt(&g_pwm1dev);
}
#endif
#if defined(CONFIG_PWM_PULSECOUNT) && defined(CONFIG_STM32_TIM8_PWM)
static int pwm_tim8interrupt(int irq, void *context)
{
return pwm_interrupt(&g_pwm8dev);
}
#endif
/****************************************************************************
* Name: pwm_setup
*
* Description:
* This method is called when the driver is opened. The lower half driver
* should configure and initialize the device so that it is ready for use.
* It should not, however, output pulses until the start method is called.
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
* Assumptions:
* AHB1 or 2 clocking for the GPIOs and timer has already been configured
* by the RCC logic at power up.
*
****************************************************************************/
static int pwm_setup(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
pwm_dumpregs(priv, "Initially");
/* Configure the PWM output pin, but do not start the timer yet */
stm32_configgpio(priv->pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
* stop pulsed output, free any resources, disable the timer hardware, and
* put the system into the lowest possible power usage state
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int pwm_shutdown(FAR struct pwm_lowerhalf_s *dev)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
uint32_t pincfg;
pwmvdbg("TIM%d pincfg: %08x\n", priv->timid, priv->pincfg);
/* Make sure that the output has been stopped */
pwm_stop(dev);
/* Then put the GPIO pin back to the default state */
pincfg = priv->pincfg & (GPIO_PORT_MASK|GPIO_PIN_MASK);
#if defined(CONFIG_STM32_STM32F10XX)
pincfg |= (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT);
#elif defined(CONFIG_STM32_STM32F40XX)
pincfg |= (GPIO_INPUT|GPIO_FLOAT);
#else
# error "Unrecognized STM32 chip"
#endif
stm32_configgpio(pincfg);
return OK;
}
/****************************************************************************
* Name: pwm_start
*
* Description:
* (Re-)initialize the timer resources and start the pulsed output
*
* Input parameters:
* dev - A reference to the lower half PWM driver state structure
* info - A reference to the characteristics of the pulsed output
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
#ifdef CONFIG_PWM_PULSECOUNT
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info,
FAR void *handle)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
/* Check if a pulsecount has been selected */
if (info->count > 0)
{
/* Only the advanced timers (TIM1,8 can support the pulse counting) */
if (priv->timtype != TIMTYPE_ADVANCED)
{
pwmdbg("ERROR: TIM%d cannot support pulse count: %d\n",
priv->timid, info->count);
return -EPERM;
}
/* The maximum repetition count supported by the advanced timers
* is PWM_MAX_COUNT.
*/
if (info->count > PWM_MAX_COUNT)
{
pwmdbg("ERROR: TIM%d count=%d exceeds maximum repeition count: %d\n",
priv->timid, info->count, PWM_MAX_COUNT);
return -EDOM;
}
}
/* Start the time */
return pwm_timer(priv, info);
}
#else
static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info)
{
FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
return pwm_timer(priv, info);
}
#endif
/****************************************************************************
* Name: pwm_stop
*
@ -810,6 +1097,11 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_
* Returned Value:
* Zero on success; a negated errno value on failure
*
* Assumptions:
* This function is called to stop the pulsed output at anytime. This
* method is also called from the timer interrupt handler when a repetition
* count expires... automatically stopping the timer.
*
****************************************************************************/
static int pwm_stop(FAR struct pwm_lowerhalf_s *dev)
@ -822,6 +1114,19 @@ static int pwm_stop(FAR struct pwm_lowerhalf_s *dev)
pwmvdbg("TIM%d\n", priv->timid);
/* Disable interrupts momentary to stop any ongoing timer processing and
* to prevent any concurrent access to the reset register.
*/
flags = irqsave();
/* Disable further interrupts and stop the timer */
pwm_putreg(priv, STM32_GTIM_DIER_OFFSET, 0);
pwm_putreg(priv, STM32_GTIM_SR_OFFSET, 0);
/* Determine which timer to reset */
switch (priv->timid)
{
#ifdef CONFIG_STM32_TIM1_PWM
@ -898,12 +1203,6 @@ static int pwm_stop(FAR struct pwm_lowerhalf_s *dev)
#endif
}
/* Disable interrupts momentary to stop any ongoing timer processing and
* to prevent any concurrent access to the reset register.
*/
flags = irqsave();
/* Reset the timer - stopping the output and putting the timer back
* into a state where pwm_start() can be called.
*/
@ -981,63 +1280,89 @@ FAR struct pwm_lowerhalf_s *stm32_pwminitialize(int timer)
#ifdef CONFIG_STM32_TIM1_PWM
case 1:
lower = &g_pwm1dev;
/* Attach but disable the TIM1 update interrupt */
#ifdef CONFIG_PWM_PULSECOUNT
irq_attach(lower->irq, pwm_tim1interrupt);
up_disable_irq(lower->irq);
#endif
break;
#endif
#ifdef CONFIG_STM32_TIM2_PWM
case 2:
lower = &g_pwm2dev;
break;
#endif
#ifdef CONFIG_STM32_TIM3_PWM
case 3:
lower = &g_pwm3dev;
break;
#endif
#ifdef CONFIG_STM32_TIM4_PWM
case 4:
lower = &g_pwm4dev;
break;
#endif
#ifdef CONFIG_STM32_TIM5_PWM
case 5:
lower = &g_pwm5dev;
break;
#endif
#ifdef CONFIG_STM32_TIM8_PWM
case 8:
lower = &g_pwm8dev;
/* Attach but disable the TIM8 update interrupt */
#ifdef CONFIG_PWM_PULSECOUNT
irq_attach(lower->irq, pwm_tim8interrupt);
up_disable_irq(lower->irq);
#endif
break;
#endif
#ifdef CONFIG_STM32_TIM9_PWM
case 9:
lower = &g_pwm9dev;
break;
#endif
#ifdef CONFIG_STM32_TIM10_PWM
case 10:
lower = &g_pwm10dev;
break;
#endif
#ifdef CONFIG_STM32_TIM11_PWM
case 11:
lower = &g_pwm11dev;
break;
#endif
#ifdef CONFIG_STM32_TIM12_PWM
case 12:
lower = &g_pwm12dev;
break;
#endif
#ifdef CONFIG_STM32_TIM13_PWM
case 13:
lower = &g_pwm13dev;
break;
#endif
#ifdef CONFIG_STM32_TIM14_PWM
case 14:
lower = &g_pwm14dev;
break;
#endif
default:
pwmdbg("No such timer configured\n");
return NULL;

2
nuttx/configs/stm3240g-eval/README.txt
View File

@ -595,7 +595,9 @@ Where <subdir> is one of the following:
be manually enabled by selecting:
CONFIG_PWM=y : Enable the generic PWM infrastructure
CONFIG_PWM_PULSECOUNT=n : Disable to support TIM1/8 pulse counts
CONFIG_STM32_TIM4_PWM=y : Use TIM4 to generate PWM output
CONFIG_STM32_TIM4_CHANNEL=2
See also apps/examples/README.txt

1
nuttx/configs/stm3240g-eval/nsh/defconfig
View File

@ -353,6 +353,7 @@ CONFIG_STM32_ADC3_SAMPLE_FREQUENCY=100
# purpose.
#
CONFIG_PWM=n
CONFIG_PWM_PULSECOUNT=n
CONFIG_STM32_TIM4=y
CONFIG_STM32_TIM4_PWM=y
CONFIG_STM32_TIM4_CHANNEL=2

254
nuttx/drivers/pwm.c
View File

@ -89,10 +89,16 @@
struct pwm_upperhalf_s
{
uint8_t crefs; /* The number of times the device has been opened */
bool started; /* True: pulsed output is being generated */
sem_t sem; /* Supports mutual exclusion */
struct pwm_info_s info; /* Pulsed output characteristics */
uint8_t crefs; /* The number of times the device has been opened */
volatile bool started; /* True: pulsed output is being generated */
#ifdef CONFIG_PWM_PULSECOUNT
volatile bool waiting; /* True: Caller is waiting for the pulse count to expire */
#endif
sem_t exclsem; /* Supports mutual exclusion */
#ifdef CONFIG_PWM_PULSECOUNT
sem_t waitsem; /* Used to wait for the pulse count to expire */
#endif
struct pwm_info_s info; /* Pulsed output characteristics */
FAR struct pwm_lowerhalf_s *dev; /* lower-half state */
};
@ -104,6 +110,7 @@ static int pwm_open(FAR struct file *filep);
static int pwm_close(FAR struct file *filep);
static ssize_t pwm_read(FAR struct file *filep, FAR char *buffer, size_t buflen);
static ssize_t pwm_write(FAR struct file *filep, FAR const char *buffer, size_t buflen);
static int pwm_start(FAR struct pwm_upperhalf_s *upper, unsigned int oflags);
static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
/****************************************************************************
@ -146,7 +153,7 @@ static int pwm_open(FAR struct file *filep)
/* Get exclusive access to the device structures */
ret = sem_wait(&upper->sem);
ret = sem_wait(&upper->exclsem);
if (ret < 0)
{
ret = -errno;
@ -191,7 +198,7 @@ static int pwm_open(FAR struct file *filep)
ret = OK;
errout_with_sem:
sem_post(&upper->sem);
sem_post(&upper->exclsem);
errout:
return ret;
@ -215,7 +222,7 @@ static int pwm_close(FAR struct file *filep)
/* Get exclusive access to the device structures */
ret = sem_wait(&upper->sem);
ret = sem_wait(&upper->exclsem);
if (ret < 0)
{
ret = -errno;
@ -248,7 +255,7 @@ static int pwm_close(FAR struct file *filep)
ret = OK;
//errout_with_sem:
sem_post(&upper->sem);
sem_post(&upper->exclsem);
errout:
return ret;
@ -282,6 +289,112 @@ static ssize_t pwm_write(FAR struct file *filep, FAR const char *buffer, size_t
return 0;
}
/************************************************************************************
* Name: pwm_start
*
* Description:
* Handle the PWMIOC_START ioctl command
*
************************************************************************************/
#ifdef CONFIG_PWM_PULSECOUNT
static int pwm_start(FAR struct pwm_upperhalf_s *upper, unsigned int oflags)
{
FAR struct pwm_lowerhalf_s *lower = upper->dev;
irqstate_t flags;
int ret = OK;
DEBUGASSERT(upper != NULL && lower->ops->start != NULL);
/* Verify that the PWM is not already running */
if (!upper->started)
{
/* Disable interrupts to avoid race conditions */
flags = irqsave();
/* Indicate that if will be waiting for the pulse count to complete.
* Note that we will only wait if a non-zero pulse count is specified
* and if the PWM driver was opened in normal, blocking mode. Also
* assume for now that the pulse train will be successfully started.
*
* We do these things before starting the PWM to avoid race conditions.
*/
upper->waiting = (upper->info.count > 0) && ((oflags & O_NONBLOCK) != 0);
upper->started = true;
/* Invoke the bottom half method to start the pulse train */
ret = lower->ops->start(lower, &upper->info, upper);
/* A return value of zero means that the pulse train was started
* successfully.
*/
if (ret == OK)
{
/* Should we wait for the pulse output to complete? Loop in
* in case the wakeup form sem_wait() is a false alarm.
*/
while (upper->waiting)
{
/* Wait until we are awakened by pwm_expired(). When
* pwm_expired is called, it will post the waitsem and
* clear the waiting flag.
*/
int tmp = sem_wait(&upper->waitsem);
DEBUGASSERT(tmp == OK || errno == EINTR);
}
}
else
{
/* Looks like we won't be waiting after all */
upper->started = false;
upper->waiting = false;
}
irqrestore(flags);
}
return ret;
}
#else
static int pwm_start(FAR struct pwm_upperhalf_s *upper, unsigned int oflags)
{
FAR struct pwm_lowerhalf_s *lower = upper->dev;
int ret = OK;
DEBUGASSERT(upper != NULL && lower->ops->start != NULL);
/* Verify that the PWM is not already running */
if (!upper->started)
{
/* Invoke the bottom half method to start the pulse train */
ret = lower->ops->start(lower, &upper->info);
/* A return value of zero means that the pulse train was started
* successfully.
*/
if (ret == OK)
{
/* Indicate that the pulse train has started */
upper->started = true;
}
}
return ret;
}
#endif
/************************************************************************************
* Name: pwm_ioctl
*
@ -295,12 +408,20 @@ static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
FAR struct inode *inode = filep->f_inode;
FAR struct pwm_upperhalf_s *upper = inode->i_private;
FAR struct pwm_lowerhalf_s *lower = upper->dev;
int ret = OK;
/* Handle built-in ioctl commands */
int ret;
pwmvdbg("cmd: %d arg: %ld\n", cmd, arg);
/* Get exclusive access to the device structures */
ret = sem_wait(&upper->exclsem);
if (ret < 0)
{
return ret;
}
/* Handle built-in ioctl commands */
switch (cmd)
{
/* PWMIOC_SETCHARACTERISTICS - Set the characteristics of the next pulsed
@ -318,13 +439,27 @@ static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
FAR const struct pwm_info_s *info = (FAR const struct pwm_info_s*)((uintptr_t)arg);
DEBUGASSERT(info != NULL && lower->ops->start != NULL);
#ifdef CONFIG_PWM_PULSECOUNT
pwmvdbg("PWMIOC_SETCHARACTERISTICS frequency: %d duty: %08x count: %d started: %d\n",
info->frequency, info->duty, info->count, upper->started);
#else
pwmvdbg("PWMIOC_SETCHARACTERISTICS frequency: %d duty: %08x started: %d\n",
info->frequency, info->duty, upper->started);
#endif
/* Save the pulse train characteristics */
memcpy(&upper->info, info, sizeof(struct pwm_info_s));
/* If PWM is already running, then re-start it with the new characteristics */
if (upper->started)
{
#ifdef CONFIG_PWM_PULSECOUNT
ret = lower->ops->start(lower, &upper->info, upper);
#else
ret = lower->ops->start(lower, &upper->info);
#endif
}
}
break;
@ -342,8 +477,14 @@ static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
DEBUGASSERT(info != NULL);
memcpy(info, &upper->info, sizeof(struct pwm_info_s));
#ifdef CONFIG_PWM_PULSECOUNT
pwmvdbg("PWMIOC_GETCHARACTERISTICS frequency: %d duty: %08x count: %d\n",
info->frequency, info->duty, info->count);
#else
pwmvdbg("PWMIOC_GETCHARACTERISTICS frequency: %d duty: %08x\n",
info->frequency, info->duty);
#endif
}
break;
@ -355,16 +496,19 @@ static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
case PWMIOC_START:
{
#ifdef CONFIG_PWM_PULSECOUNT
pwmvdbg("PWMIOC_START frequency: %d duty: %08x count: %d started: %d\n",
upper->info.frequency, upper->info.duty, upper->info.count,
upper->started);
#else
pwmvdbg("PWMIOC_START frequency: %d duty: %08x started: %d\n",
upper->info.frequency, upper->info.duty, upper->started);
#endif
DEBUGASSERT(lower->ops->start != NULL);
if (!upper->started)
{
ret = lower->ops->start(lower, &upper->info);
upper->started = true;
}
/* Start the pulse train */
ret = pwm_start(upper, filep->f_oflags);
}
break;
@ -382,6 +526,12 @@ static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
ret = lower->ops->stop(lower);
upper->started = false;
#ifdef CONFIG_PWM_PULSECOUNT
if (upper->waiting)
{
upper->waiting = FALSE;
}
#endif
}
}
break;
@ -396,6 +546,8 @@ static int pwm_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
break;
}
sem_post(&upper->exclsem);
return ret;
}
@ -443,7 +595,10 @@ int pwm_register(FAR const char *path, FAR struct pwm_lowerhalf_s *dev)
/* Initialize the PWM device structure (it was already zeroed by zalloc()) */
sem_init(&upper->sem, 0, 1);
sem_init(&upper->exclsem, 0, 1);
#ifdef CONFIG_PWM_PULSECOUNT
sem_init(&upper->waitsem, 0, 0);
#endif
upper->dev = dev;
/* Register the PWM device */
@ -452,4 +607,67 @@ int pwm_register(FAR const char *path, FAR struct pwm_lowerhalf_s *dev)
return register_driver(path, &g_pwmops, 0666, upper);
}
/****************************************************************************
* Name: pwm_expired
*
* Description:
* If CONFIG_PWM_PULSECOUNT is defined and the pulse count was configured
* to a non-zero value, then the "upper half" driver will wait for the
* pulse count to expire. The sequence of expected events is as follows:
*
* 1. The upper half driver calls the start method, providing the lower
* half driver with the pulse train characteristics. If a fixed
* number of pulses is required, the 'count' value will be nonzero.
* 2. The lower half driver's start() methoc must verify that it can
* support the request pulse train (frequency, duty, AND pulse count).
* It it cannot, it should return an error. If the pulse count is
* non-zero, it should set up the hardware for that number of pulses
* and return success. NOTE: That is CONFIG_PWM_PULSECOUNT is
* defined, the start() method receives an additional parameter
* that must be used in this callback.
* 3. When the start() method returns success, the upper half driver
* will "sleep" until the pwm_expired method is called.
* 4. When the lower half detects that the pulse count has expired
* (probably through an interrupt), it must call the pwm_expired
* interface using the handle that was previously passed to the
* start() method
*
* Input parameters:
* handle - This is the handle that was provided to the lower-half
* start() method.
*
* Returned Value:
* None
*
* Assumptions:
* This function may be called from an interrupt handler.
*
****************************************************************************/
#ifdef CONFIG_PWM_PULSECOUNT
void pwm_expired(FAR void *handle)
{
FAR struct pwm_upperhalf_s *upper = (FAR struct pwm_upperhalf_s *)handle;
/* Make sure that the PWM is started */
if (upper->started)
{
/* Is there a thread waiting for the pulse train to complete? */
if (upper->waiting)
{
/* Yes.. clear the waiting flag and awakened the waiting thread */
upper->waiting = false;
sem_post(&upper->waitsem);
}
/* The PWM is now stopped */
upper->started = false;
}
}
#endif
#endif /* CONFIG_PWM */

92
nuttx/include/nuttx/pwm.h
View File

@ -1,7 +1,7 @@
/****************************************************************************
* include/nuttx/pwm.h
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -66,6 +66,18 @@
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* CONFIG_PWM - Enables because PWM driver support
* CONFIG_PWM_PULSECOUNT - Some hardware will support generation of a fixed
* number of pulses. This might be used, for example to support a stepper
* motor. If the hardware will support a fixed pulse count, then this
* configuration should be set to enable the capability.
* CONFIG_DEBUG_PWM - If enabled (with CONFIG_DEBUG and, optionally,
* CONFIG_DEBUG_VERBOSE), this will generate output that can be use dto
* debug the PWM driver.
*/
/* IOCTL Commands ***********************************************************/
/* The PWM module uses a standard character driver framework. However, since
* the PWM driver is a devices control interface and not a data transfer
* interface, the majority of the functionality is implemented in driver
@ -75,7 +87,8 @@
* output. This command will neither start nor stop the pulsed output.
* It will either setup the configuration that will be used when the
* output is started; or it will change the characteristics of the pulsed
* output on the fly if the timer is already started.
* output on the fly if the timer is already started. This command will
* set the PWM characteristics and return immediately.
*
* ioctl argument: A read-only reference to struct pwm_info_s that provides
* the characteristics of the pulsed output.
@ -87,11 +100,16 @@
* characteristics of the pulsed output.
*
* PWMIOC_START - Start the pulsed output. The PWMIOC_SETCHARACTERISTICS
* command must have previously been sent.
* command must have previously been sent. If CONFIG_PWM_PULSECOUNT is
* defined and the pulse count was configured to a non-zero value, then
* this ioctl call will, by default, block until the programmed pulse count
* completes. That default blocking behavior can be overridden by using
* the O_NONBLOCK flag when the PWM driver is opened.
*
* ioctl argument: None
*
* PWMIOC_STOP - Stop the pulsed output.
* PWMIOC_STOP - Stop the pulsed output. This command will stop the PWM
* and return immediately.
*
* ioctl argument: None
*/
@ -109,7 +127,13 @@
struct pwm_info_s
{
uint32_t frequency; /* Frequency of the pulse train */
ub16_t duty; /* Duty of the pulse train, "1" to "0" duration */
ub16_t duty; /* Duty of the pulse train, "1"-to-"0" duration.
* Maximum: 65535/65536 (0x0000ffff)
* Minimum: 1/65536 (0x00000001) */
#ifdef CONFIG_PWM_PULSECOUNT
uint32_t count; /* The number of pulse to generate. 0 means to
* generate an indefinite number of pulses */
#endif
};
/* This structure is a set a callback functions used to call from the upper-
@ -134,9 +158,19 @@ struct pwm_ops_s
CODE int (*shutdown)(FAR struct pwm_lowerhalf_s *dev);
/* (Re-)initialize the timer resources and start the pulsed output */
/* (Re-)initialize the timer resources and start the pulsed output. The
* start method should return an error if it cannot start the timer with
* the given parameter (frequency, duty, or optionally pulse count)
*/
CODE int (*start)(FAR struct pwm_lowerhalf_s *dev, FAR const struct pwm_info_s *info);
#ifdef CONFIG_PWM_PULSECOUNT
CODE int (*start)(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info,
FAR void *handle);
#else
CODE int (*start)(FAR struct pwm_lowerhalf_s *dev,
FAR const struct pwm_info_s *info);
#endif
/* Stop the pulsed output and reset the timer resources*/
@ -144,7 +178,8 @@ struct pwm_ops_s
/* Lower-half logic may support platform-specific ioctl commands */
CODE int (*ioctl)(FAR struct pwm_lowerhalf_s *dev, int cmd, unsigned long arg);
CODE int (*ioctl)(FAR struct pwm_lowerhalf_s *dev,
int cmd, unsigned long arg);
};
/* This structure is the generic form of state structure used by lower half
@ -217,6 +252,47 @@ extern "C" {
int pwm_register(FAR const char *path, FAR struct pwm_lowerhalf_s *dev);
/****************************************************************************
* Name: pwm_expired
*
* Description:
* If CONFIG_PWM_PULSECOUNT is defined and the pulse count was configured
* to a non-zero value, then the "upper half" driver will wait for the
* pulse count to expire. The sequence of expected events is as follows:
*
* 1. The upper half driver calls the start method, providing the lower
* half driver with the pulse train characteristics. If a fixed
* number of pulses is required, the 'count' value will be nonzero.
* 2. The lower half driver's start() methoc must verify that it can
* support the request pulse train (frequency, duty, AND pulse count).
* It it cannot, it should return an error. If the pulse count is
* non-zero, it should set up the hardware for that number of pulses
* and return success. NOTE: That is CONFIG_PWM_PULSECOUNT is
* defined, the start() method receives an additional parameter
* that must be used in this callback.
* 3. When the start() method returns success, the upper half driver
* will "sleep" until the pwm_expired method is called.
* 4. When the lower half detects that the pulse count has expired
* (probably through an interrupt), it must call the pwm_expired
* interface using the handle that was previously passed to the
* start() method
*
* Input parameters:
* handle - This is the handle that was provided to the lower-half
* start() method.
*
* Returned Value:
* None
*
* Assumptions:
* This function may be called from an interrupt handler.
*
****************************************************************************/
#ifdef CONFIG_PWM_PULSECOUNT
EXTERN void pwm_expired(FAR void *handle);
#endif
/****************************************************************************
* Platform-Independent "Lower-Half" PWM Driver Interfaces
****************************************************************************/