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led.c
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Wed, Aug 21, 11:02
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text/x-c
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Fri, Aug 23, 11:02 (2 d)
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20060439
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R2671 HHRI-software
led.c
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/*
* 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
);
}
}
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