Page MenuHomec4science
Files F78530782

led.c
No OneTemporary
Actions

File Metadata

Created
Wed, Aug 21, 11:02

led.c
View Options

/*
* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "led.h"
#include "../communication.h"
#define N_LEDS 4
#define LED_TIMER TIM1
#define LED_PORT GPIOA
#define LED_MAX_DUTY 255
#define LED_PWM_FREQ 32000 // [Hz].
typedef struct
{
uint16_t const pin, pinSource;
volatile uint32_t *const duty;
} led_Led;
led_Led led_leds[N_LEDS] =
{
{ GPIO_Pin_8, GPIO_PinSource8, &LED_TIMER->CCR1 },
{ GPIO_Pin_9, GPIO_PinSource9, &LED_TIMER->CCR2 },
{ GPIO_Pin_10, GPIO_PinSource10, &LED_TIMER->CCR3 },
{ GPIO_Pin_11, GPIO_PinSource11, &LED_TIMER->CCR4 },
};
void setLed0(float32_t brightness) { led_Set(0, brightness); };
void setLed1(float32_t brightness) { led_Set(1, brightness); };
void setLed2(float32_t brightness) { led_Set(2, brightness); };
void setLed3(float32_t brightness) { led_Set(3, brightness); };
float32_t getLed0(void) { return led_Get(0); };
float32_t getLed1(void) { return led_Get(1); };
float32_t getLed2(void) { return led_Get(2); };
float32_t getLed3(void) { return led_Get(3); };
/**
* @brief Initializes the LEDs module.
*/
void led_Init(void)
{
int i;
GPIO_InitTypeDef GPIO_InitStruct;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
// Initialize each pin.
for(i=0; i<N_LEDS; i++)
{
GPIO_InitStruct.GPIO_Pin = led_leds[i].pin;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(LED_PORT, &GPIO_InitStruct);
GPIO_PinAFConfig(LED_PORT, led_leds[i].pinSource, GPIO_AF_TIM1);
}
// Initialize the timer peripheral, as PWM generator.
TIM_TimeBaseStruct.TIM_Period = LED_MAX_DUTY;
TIM_TimeBaseStruct.TIM_Prescaler = (STM_SYSCLOCK_FREQ / APB2_PRESCALER * 2)
/ LED_PWM_FREQ / LED_MAX_DUTY;
TIM_TimeBaseStruct.TIM_ClockDivision = 0;
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(LED_TIMER, &TIM_TimeBaseStruct);
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_Pulse = 0;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(LED_TIMER, &TIM_OCInitStruct);
TIM_OC2Init(LED_TIMER, &TIM_OCInitStruct);
TIM_OC3Init(LED_TIMER, &TIM_OCInitStruct);
TIM_OC4Init(LED_TIMER, &TIM_OCInitStruct);
TIM_OC1PreloadConfig(LED_TIMER, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(LED_TIMER, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(LED_TIMER, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(LED_TIMER, TIM_OCPreload_Enable);
TIM_SelectOutputTrigger(LED_TIMER, TIM_TRGOSource_Update);
TIM_Cmd(LED_TIMER, ENABLE);
TIM_CtrlPWMOutputs(LED_TIMER, ENABLE);
// Create the SyncVars.
comm_monitorFloatFunc("led_0 [0.0-1.0]", getLed0, setLed0);
comm_monitorFloatFunc("led_1 [0.0-1.0]", getLed1, setLed1);
comm_monitorFloatFunc("led_2 [0.0-1.0]", getLed2, setLed2);
comm_monitorFloatFunc("led_3 [0.0-1.0]", getLed3, setLed3);
}
/**
* @brief Gets the intensity of a single LED.
* @param ledIndex: LED index (0, 1, 2 or 3).
* @return the current LED intensity [0.0-1.0].
*/
float32_t led_Get(int ledIndex)
{
if(ledIndex >= 0 && ledIndex < N_LEDS)
return ((float32_t)(*led_leds[ledIndex].duty)) / (float32_t)LED_MAX_DUTY;
else
return 0.0f;
}
/**
* @brief Sets the intensity of a single LED.
* @param ledIndex: LED index (0, 1, 2 or 3).
* @param brightness: the LED intensity [0.0-1.0].
*/
void led_Set(int ledIndex, float32_t brightness)
{
if(ledIndex >= 0 && ledIndex < N_LEDS &&
brightness >= 0.0f && brightness <= 1.0f)
{
*led_leds[ledIndex].duty = (uint32_t)(brightness * (float32_t)LED_MAX_DUTY);
}
}

Event Timeline

c4science · Help