FW-319: PWM x86 implementation

libraries/ms-common/inc/pwm.h

@@ -0,0 +1,92 @@
+#pragma once
+
+/************************************************************************************************
+ * @file   pwm.h
+ *
+ * @brief  PWM Library Header file
+ *
+ * @date   2025-01-15
+ * @author Midnight Sun Team #24 - MSXVI
+ ************************************************************************************************/
+
+/* Standard library Headers */
+#include <stdbool.h>
+#include <stdint.h>
+
+/* Inter-component Headers */
+
+/* Intra-component Headers */
+#include "status.h"
+
+typedef enum {
+  PWM_TIMER_1 = 0,  // advanced control
+  PWM_TIMER_2,      // general purpose
+  PWM_TIMER_3,      // general purpose
+  PWM_TIMER_6,      // basic
+  PWM_TIMER_7,      // basic
+  PWM_TIMER_15,     // general purpose
+  PWM_TIMER_16,     // general purpose
+  NUM_PWM_TIMERS,
+} PwmTimer;
+
+typedef enum {
+  PWM_CHANNEL_1 = 0,
+  PWM_CHANNEL_2,
+  PWM_CHANNEL_3,
+  PWM_CHANNEL_4,
+  PWM_CHANNEL_5,
+  PWM_CHANNEL_6,
+  NUM_PWM_CHANNELS  // max # of pwm channels
+} PwmChannel;
+
+// Initializes the PWM for a set timer with a specific frequency (Hz)
+#define pwm_init_hz(timer, frequency) pwm_init((timer), 1000000 / (frequency))
+
+/**
+ * @brief   Initializes a specified PWM timer with a period
+ * @param   timer PWM timer to configure
+ * @param   period_ms Duration of one cycle in microseconds
+ * @return  STATUS_CODE_OK if PWM timer initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ */
+StatusCode pwm_init(PwmTimer timer, uint16_t period_us);
+
+/**
+ * @brief   Gets the current period of a specified PWM timer in microseconds
+ * @param   timer PWM timer to check
+ * @return  STATUS_CODE_OK if period retrieval succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ */
+uint16_t pwm_get_period(PwmTimer timer);
+
+/**
+ * @brief   Sets the pulse width of a specified channel of a PWM timer; High-res control
+ * @param   timer PWM timer to configure
+ * @param   pulse_width_us Pulse width in microseconds
+ * @param   channel Channel of the PWM timer to configure
+ * @param   n_channel_en Whether n channel is enabled or not
+ * @return  STATUS_CODE_OK if PWM duty cycle configuration succeeded
+ *          STATUS_CODE_UNINITIALIZED if PWM timer was not initialized
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ */
+StatusCode pwm_set_pulse(PwmTimer timer, uint16_t pulse_width_us, PwmChannel channel, bool n_channel_en);
+
+/**
+ * @brief   Sets the duty cycle of a specificed channel for a PWM timer
+ * @param   timer PWM timer to configure
+ * @param   dc Duty cycle in units of 1%
+ * @param   channel Channel of the PWM timer to configure
+ * @param   n_channel_en Whether n channel is enabled or not
+ * @return  STATUS_CODE_OK if PWM duty cycle configuration succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ */
+StatusCode pwm_set_dc(PwmTimer timer, uint16_t dc, PwmChannel channel, bool n_channel_en);
+
+/**
+ * @brief   Gets the duty cycle of a specified channel for a PWM timer
+ * @param   timer PWM timer to configure
+ * @param   channel Channel of the PWM timer to configure
+ * @return  STATUS_CODE_OK if duty cycle retrieval succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ */
+uint16_t pwm_get_dc(PwmTimer timer, PwmChannel channel);

libraries/ms-common/src/x86/pwm.c

@@ -0,0 +1,114 @@
+/************************************************************************************************
+ * @file   pwm.c
+ *
+ * @brief  PWM Library Source code
+ *
+ * @date   2025-01-13
+ * @author Midnight Sun Team #24 - MSXVI
+ ************************************************************************************************/
+
+/* Standard library Headers */
+#include <stdint.h>
+
+/* Inter-component Headers */
+
+/* Intra-component Headers */
+#include "pwm.h"
+#include "status.h"
+
+/**
+ * @brief   PWM Timer details
+ * @details Stores period and dc while tracking enabled (n) channels
+ */
+typedef struct PwmInfo {
+  uint16_t period;
+  bool initialized;
+  uint16_t duty_cycles[NUM_PWM_CHANNELS];
+  bool channel_en[NUM_PWM_CHANNELS];
+  bool n_channel_en[NUM_PWM_CHANNELS];
+} PwmInfo;
+
+/** @brief  Number of channels associated to each PWM timer*/
+static const uint8_t num_channels[NUM_PWM_TIMERS] = {
+  6,  // TIM1 - 6 channels
+  4,  // TIM2 - 4 channels
+  4,  // TIM3 - 4 channels
+  0,  // TIM6 - 0 channels
+  0,  // TIM7 - 0 channels
+  2,  // TIM15 - 2 channels
+  1   // TIM16 - 1 channel
+};
+
+PwmInfo pwm[NUM_PWM_TIMERS];
+
+StatusCode pwm_init(PwmTimer timer, uint16_t period_us) {
+  if (timer >= NUM_PWM_TIMERS) {
+    LOG_DEBUG("Invalid timer id");
+    return STATUS_CODE_INVALID_ARGS;
+  } else if (period_us == 0) {
+    LOG_DEBUG("Period must be greater than 0");
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  pwm[timer].period = period_us;
+  pwm[timer].initialized = true;
+
+  return STATUS_CODE_OK;
+}
+
+uint16_t pwm_get_period(PwmTimer timer) {
+  if (timer >= NUM_PWM_TIMERS) {
+    LOG_DEBUG("Invalid timer id");
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  return pwm[timer].period;
+}
+
+StatusCode pwm_set_pulse(PwmTimer timer, uint16_t pulse_width_us, PwmChannel channel, bool n_channel_en) {
+  if (timer >= NUM_PWM_TIMERS) {
+    LOG_DEBUG("Invalid timer id");
+    return STATUS_CODE_INVALID_ARGS;
+  } else if (pwm[timer].period == 0) {
+    LOG_DEBUG("Pwm must be initialized");
+    return STATUS_CODE_UNINITIALIZED;
+  } else if (pulse_width_us > pwm[timer].period) {
+    LOG_DEBUG("Pulse width must be leq period");
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  (pwm[timer]).duty_cycles[channel] = (pulse_width_us * 100) / pwm[timer].period;
+
+  return STATUS_CODE_OK;
+}
+
+StatusCode pwm_set_dc(PwmTimer timer, uint16_t dc, PwmChannel channel, bool n_channel_en) {
+  if (timer >= NUM_PWM_TIMERS) {
+    LOG_DEBUG("Invalid timer id");
+    return STATUS_CODE_INVALID_ARGS;
+  } else if (channel > num_channels[timer]) {
+    LOG_DEBUG("Invalid channel number");
+    return STATUS_CODE_INVALID_ARGS;
+  } else if (dc > 100) {
+    LOG_DEBUG("Duty Cycle must be leq 100 percent");
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  (pwm[timer]).duty_cycles[channel] = dc;
+  (pwm[timer]).channel_en[channel] = true;
+  (pwm[timer]).n_channel_en[channel] = true;
+
+  return STATUS_CODE_OK;
+}
+
+uint16_t pwm_get_dc(PwmTimer timer, PwmChannel channel) {
+  if (timer >= NUM_PWM_TIMERS) {
+    LOG_DEBUG("Invalid timer id");
+    return STATUS_CODE_INVALID_ARGS;
+  } else if (channel > num_channels[timer]) {
+    LOG_DEBUG("Invalid channel number");
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  return (pwm[timer]).duty_cycles[channel];
+}