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Description
Ultibo PWM Interface unit
Pulse Width Modulation (PWM) is a technique of encoding a pulsed signal so as to control the ratio of on to off by switching the signal between on and off at a very high rate.
This on and off switching allows control of the average power supplied to the load and therefore gives fine grained control of things such as motor speeds, lamp dimming and heating elements.
PWM is also used in many low power applications as well such as controlling servo motors and can even by used for audio applications such as class D amplifiers.
This unit deals with the usage of PWM for control applications (for audio applications see the Audio unit) and provides methods to control the state, frequency, duty cycle, range and mode of PWM host controllers. Not all devices support all of these concepts so this API includes a properties function to allow obtaining information about a PWM device and its capabilities.
Constants
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PWM specific constants PWM_*
PWM_NAME_PREFIX = 'PWM';
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Name prefix for PWM Devices
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PWM device type PWM_TYPE_*
PWM_TYPE_NONE = 0;
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PWM_TYPE_MAX = 0;
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PWM device state PWM_STATE_*
PWM_STATE_DISABLED = 0;
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PWM_STATE_ENABLED = 1;
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PWM device flag PWM_FLAG_*
PWM_FLAG_NONE = $00000000;
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PWM_FLAG_GPIO = $00000001;
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Device supports Get/Set GPIO
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PWM_FLAG_MODE = $00000002;
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Device supports Get/Set Mode
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PWM_FLAG_RANGE = $00000004;
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Device supports Get/Set Range
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PWM_FLAG_FREQUENCY = $00000008;
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Device supports Get/Set Frequency
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PWM_FLAG_POLARITY = $00000010;
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Device supports Get/Set Polarity
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[Expand]
PWM mode value PWM_MODE_*
PWM_MODE_MARKSPACE = 0;
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Standard PWM Mark/Space mode
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PWM_MODE_BALANCED = 1;
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Balanced mode (Device specific)
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PWM_MODE_SERIALIZED = 2;
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Serialized mode (Device specific)
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PWM_MODE_MAX = 2;
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[Expand]
PWM polarity value PWM_POLARITY_*
PWM_POLARITY_NORMAL = 0;
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PWM_POLARITY_INVERSE = 1;
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PWM_POLARITY_MAX = 1;
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[Expand]
PWM logging PWM_LOG_*
PWM_LOG_LEVEL_DEBUG = LOG_LEVEL_DEBUG;
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PWM debugging messages
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PWM_LOG_LEVEL_INFO = LOG_LEVEL_INFO;
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PWM informational messages, such as a device being attached or detached
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PWM_LOG_LEVEL_WARN = LOG_LEVEL_WARN;
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PWM warning messages
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PWM_LOG_LEVEL_ERROR = LOG_LEVEL_ERROR;
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PWM error messages
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PWM_LOG_LEVEL_NONE = LOG_LEVEL_NONE;
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No PWM messages
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Type definitions
PWM properties
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PPWMProperties = ^TPWMProperties;
TPWMProperties = record
Flags:LongWord;
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Device flags (eg PWM_FLAG_MODE)
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GPIO:LongWord;
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Mode:LongWord;
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Range:LongWord;
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Frequency:LongWord;
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Polarity:LongWord;
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DutyNS:LongWord;
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PeriodNS:LongWord;
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MinPeriod:LongWord;
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PWM enumeration callback
TPWMEnumerate = function(PWM:PPWMDevice; Data:Pointer):LongWord;
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PWM notification callback
TPWMNotification = function(Device:PDevice; Data:Pointer; Notification:LongWord):LongWord;
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PWM device start
TPWMDeviceStart = function(PWM:PPWMDevice):LongWord;
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PWM device stop
TPWMDeviceStop = function(PWM:PPWMDevice):LongWord;
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PWM device write
TPWMDeviceWrite = function(PWM:PPWMDevice; Value:LongWord):LongWord;
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PWM device get GPIO
TPWMDeviceGetGPIO = function(PWM:PPWMDevice):LongWord;
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PWM device set GPIO
TPWMDeviceSetGPIO = function(PWM:PPWMDevice; GPIO:LongWord):LongWord;
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PWM device get mode
TPWMDeviceGetMode = function(PWM:PPWMDevice):LongWord;
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PWM device set mode
TPWMDeviceSetMode = function(PWM:PPWMDevice; Mode:LongWord):LongWord;
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PWM device get range
TPWMDeviceGetRange = function(PWM:PPWMDevice):LongWord;
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PWM device set range
TPWMDeviceSetRange = function(PWM:PPWMDevice; Range:LongWord):LongWord;
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PWM device get frequency
TPWMDeviceGetFrequency = function(PWM:PPWMDevice):LongWord;
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PWM device set frequency
TPWMDeviceSetFrequency = function(PWM:PPWMDevice; Frequency:LongWord):LongWord;
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PWM device get polarity
TPWMDeviceGetPolarity = function(PWM:PPWMDevice):LongWord;
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PWM device set polarity
TPWMDeviceSetPolarity = function(PWM:PPWMDevice; Polarity:LongWord):LongWord;
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PWM device configure
TPWMDeviceConfigure = function(PWM:PPWMDevice; DutyNS,PeriodNS:LongWord):LongWord;
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PWM device get properties
TPWMDeviceGetProperties = function(PWM:PPWMDevice; Properties:PPWMProperties):LongWord;
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PWM device
[Expand]
PPWMDevice = ^TPWMDevice;
TPWMDevice = record
| Device Properties
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Device:TDevice;
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The Device entry for this PWM
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| PWM Properties
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PWMId:LongWord;
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Unique Id of this PWM in the PWM table
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PWMState:LongWord;
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PWM state (eg PWM_STATE_ENABLED)
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DeviceStart:TPWMDeviceStart;
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A Device specific DeviceStart method implementing the standard PWM device interface (Mandatory)
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DeviceStop:TPWMDeviceStop;
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A Device specific DeviceStop method implementing the standard PWM device interface (Mandatory)
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DeviceWrite:TPWMDeviceWrite;
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A Device specific DeviceWrite method implementing the standard PWM device interface (Mandatory)
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DeviceGetGPIO:TPWMDeviceGetGPIO;
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A Device specific DeviceGetGPIO method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceSetGPIO:TPWMDeviceSetGPIO;
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A Device specific DeviceSetGPIO method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceGetMode:TPWMDeviceGetMode;
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A Device specific DeviceGetMode method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceSetMode:TPWMDeviceSetMode;
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A Device specific DeviceSetMode method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceGetRange:TPWMDeviceGetRange;
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A Device specific DeviceGetRange method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceSetRange:TPWMDeviceSetRange;
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A Device specific DeviceSetRange method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceGetFrequency:TPWMDeviceGetFrequency;
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A Device specific DeviceGetFrequency method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceSetFrequency:TPWMDeviceSetFrequency;
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A Device specific DeviceSetFrequency method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceGetPolarity:TPWMDeviceGetPolarity;
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A Device specific DeviceGetPolarity method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceSetPolarity:TPWMDeviceSetPolarity;
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A Device specific DeviceSetPolarity method implementing the standard PWM device interface (Or nil if the operation is not supported)
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DeviceConfigure:TPWMDeviceConfigure;
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A Device specific DeviceConfigure method implementing the standard PWM device interface (Mandatory)
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DeviceGetProperties:TPWMDeviceGetProperties;
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A Device specific DeviceGetProperties method implementing the standard PWM device interface (Or nil if the default method is suitable)
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| Statistics Properties
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GetCount:LongWord;
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SetCount:LongWord;
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WriteCount:LongWord;
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ConfigCount:LongWord;
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| Driver Properties
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Lock:TMutexHandle;
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Device lock
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GPIO:LongWord;
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GPIO Pin
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Mode:LongWord;
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Device Mode
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Range:LongWord;
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Device Range
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Frequency:LongWord;
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Clock Frequency
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Polarity:LongWord;
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Output Polarity
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DutyNS:LongWord;
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Duty Nanoseconds
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PeriodNS:LongWord;
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Period Nanonseconds
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Properties:TPWMProperties;
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Device properties
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| Internal Properties
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Prev:PPWMDevice;
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Previous entry in PWM table
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Next:PPWMDevice;
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Next entry in PWM table
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Public variables
PWM logging
PWM_DEFAULT_LOG_LEVEL:LongWord = PWM_LOG_LEVEL_DEBUG;
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Minimum level for PWM messages. Only messages with level greater than or equal to this will be printed.
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Function declarations
Initialization functions
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procedure PWMInit;
Description: Initialize the PWM unit and PWM device table
| Note
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Called only during system startup
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PWM functions
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function PWMDeviceStart(PWM:PPWMDevice):LongWord;
Description: Start the specified PWM device
| PWM
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The PWM device to start
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceStop(PWM:PPWMDevice):LongWord;
Description: Stop the specified PWM device
| PWM
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The PWM device to stop
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceWrite(PWM:PPWMDevice; Value:LongWord):LongWord;
Description: Write a value to the specified PWM device
| PWM
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The PWM device to write to
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| Value
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The value to write
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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| Note
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The exact meaning of value may depend on the device and other configured options, in many cases the value will represent the "on" time of each pulse with regard to the duty cycle of the waveform output by the device.
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[Expand]
function PWMDeviceGetGPIO(PWM:PPWMDevice):LongWord;
Description: Get the GPIO pin used by the specified PWM device
| PWM
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The PWM device to get the GPIO pin from
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| Return
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The current GPIO pin or GPIO_PIN_UNKNOWN on failure
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[Expand]
function PWMDeviceSetGPIO(PWM:PPWMDevice; GPIO:LongWord):LongWord;
Description: Set the GPIO pin used by the specified PWM device
| PWM
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The PWM device to set the GPIO pin for
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| GPIO
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The GPIO pin to set (eg GPIO_PIN_12)
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceGetMode(PWM:PPWMDevice):LongWord;
Description: Get the current mode of the specified PWM device
| PWM
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The PWM device to get the mode from
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| Return
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The current mode or a default value of PWM_MODE_MARKSPACE
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[Expand]
function PWMDeviceSetMode(PWM:PPWMDevice; Mode:LongWord):LongWord;
Description: Set the current mode for the specified PWM device
| PWM
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The PWM device to set the mode for
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| Mode
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The mode value to set (eg PWM_MODE_MARKSPACE)
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceGetRange(PWM:PPWMDevice):LongWord;
Description: Get the current range of the specified PWM device
| PWM
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The PWM device to get the range from
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| Return
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The current range or 0 on failure
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[Expand]
function PWMDeviceSetRange(PWM:PPWMDevice; Range:LongWord):LongWord;
Description: Set the current range for the specified PWM device
| PWM
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The PWM device to set the clock rate for
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| Range
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The range value to set
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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| Note
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The exact meaning of range may depend on the device and other configured options, in many cases the range will represent the period of one full cycle of the waveform output by the device.
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[Expand]
function PWMDeviceGetFrequency(PWM:PPWMDevice):LongWord;
Description: Get the clock frequency of the specified PWM device
| PWM
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The PWM device to get the clock frequency from
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| Return
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The clock frequency in Hz or 0 on failure
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[Expand]
function PWMDeviceSetFrequency(PWM:PPWMDevice; Frequency:LongWord):LongWord;
Description: Set the clock frequency for the specified PWM device
| PWM
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The PWM device to set the clock frequency for
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| Frequency
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The clock frequency to set in Hz
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceGetPolarity(PWM:PPWMDevice):LongWord;
Description: Get the current polarity of the specified PWM device
| PWM
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The PWM device to get the polarity from
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| Return
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The current polarity or a default value of PWM_POLARITY_NORMAL
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[Expand]
function PWMDeviceSetPolarity(PWM:PPWMDevice; Polarity:LongWord):LongWord;
Description: Set the current polarity for the specified PWM device
| PWM
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The PWM device to set the polarity for
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| Polarity
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The polarity value to set (eg PWM_POLARITY_NORMAL)
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceConfigure(PWM:PPWMDevice; DutyNS,PeriodNS:LongWord):LongWord;
Description: Set the configuration of the specified PWM device
| PWM
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The PWM device to set the configuration for
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| DutyNS
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The "on" time part of the cycle (Nanoseconds)
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| PeriodNS
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The duration of one full cycle (Nanoseconds)
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceProperties(PWM:PPWMDevice; Properties:PPWMProperties):LongWord; inline;
Description: Get the properties for the specified PWM device
| PWM
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The PWM device to get properties from
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| Properties
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Pointer to a TPWMProperties structure to fill in
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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| Note
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Replaced by PWMDeviceGetProperties for consistency
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[Expand]
function PWMDeviceGetProperties(PWM:PPWMDevice; Properties:PPWMProperties):LongWord;
Description: Get the properties for the specified PWM device
| PWM
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The PWM device to get properties from
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| Properties
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Pointer to a TPWMProperties structure to fill in
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function PWMDeviceCreate:PPWMDevice;
Description: Create a new PWM entry
| Return
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Pointer to new PWM entry or nil if PWM could not be created
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[Expand]
function PWMDeviceCreateEx(Size:LongWord):PPWMDevice;
Description: Create a new PWM entry
| Size
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Size in bytes to allocate for new PWM (Including the PWM entry)
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| Return
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Pointer to new PWM entry or nil if PWM could not be created
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[Expand]
function PWMDeviceDestroy(PWM:PPWMDevice):LongWord;
Description: Destroy an existing PWM entry
[Expand]
function PWMDeviceRegister(PWM:PPWMDevice):LongWord;
Description: Register a new PWM in the PWM table
[Expand]
function PWMDeviceDeregister(PWM:PPWMDevice):LongWord;
Description: Deregister a PWM from the PWM table
[Expand]
function PWMDeviceFind(PWMId:LongWord):PPWMDevice;
Description: To be documented
[Expand]
function PWMDeviceFindByName(const Name:String):PPWMDevice; inline;
Description: To be documented
[Expand]
function PWMDeviceFindByDescription(const Description:String):PPWMDevice; inline;
Description: To be documented
[Expand]
function PWMDeviceEnumerate(Callback:TPWMEnumerate; Data:Pointer):LongWord;
Description: To be documented
[Expand]
function PWMDeviceNotification(PWM:PPWMDevice; Callback:TPWMNotification; Data:Pointer; Notification,Flags:LongWord):LongWord;
Description: To be documented
RTL PWM functions
[Expand]
function SysPWMAvailable:Boolean;
Description: Check if a PWM device is available
[Expand]
function SysPWMStart:LongWord;
Description: Start the default PWM device
| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function SysPWMStop:LongWord;
Description: Stop the default PWM device
| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function SysPWMWrite(Value:LongWord):LongWord;
Description: Write a value to the default PWM device
| Value
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The value to write
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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| Note
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The exact meaning of value may depend on the device and other configured options, in many cases the value will represent the "on" time of each pulse with regard to the duty cycle of the waveform output by the device.
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[Expand]
function SysPWMSetMode(Mode:LongWord):LongWord;
Description: Set the mode for the default PWM device
| Mode
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The mode value to set (eg PWM_MODE_MARKSPACE)
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function SysPWMSetRange(Range:LongWord):LongWord;
Description: Set the range for the default PWM device
| Range
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The range value to set
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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| Note
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The exact meaning of range may depend on the device and other configured options, in many cases the range will represent the period of one full cycle of the waveform output by the device.
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[Expand]
function SysPWMSetFrequency(Frequency:LongWord):LongWord;
Description: Set the clock frequency for the default PWM device
| Frequency
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The frequency to set in Hz
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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[Expand]
function SysPWMConfigure(DutyNS,PeriodNS:LongWord):LongWord;
Description: Set the configuration of the default PWM device
| DutyNS
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The "on" time part of the cycle (Nanoseconds)
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| PeriodNS
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The duration of one full cycle (Nanoseconds)
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| Return
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ERROR_SUCCESS if completed or another error code on failure
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PWM helper functions
[Expand]
function PWMGetCount:LongWord;
Description: Get the current PWM count
[Expand]
function PWMDeviceGetDefault:PPWMDevice;
Description: Get the current default PWM device
[Expand]
function PWMDeviceSetDefault(PWM:PPWMDevice):LongWord;
Description: Set the current default PWM device
[Expand]
function PWMDeviceCheck(PWM:PPWMDevice):PPWMDevice;
Description: Check if the supplied PWM is in the PWM table
[Expand]
function PWMTypeToString(PWMType:LongWord):String;
Description: Convert a PWM type value to a string
[Expand]
function PWMStateToString(PWMState:LongWord):String;
Description: Convert a PWM state value to a string
[Expand]
function PWMModeToString(PWMMode:LongWord):String;
Description: Convert a PWM mode value to a string
[Expand]
function PWMPolarityToString(PWMPolarity:LongWord):String;
Description: Convert a PWM polarity value to a string
[Expand]
procedure PWMLog(Level:LongWord; PWM:PPWMDevice; const AText:String);
Description: To be documented
[Expand]
procedure PWMLogInfo(PWM:PPWMDevice; const AText:String); inline;
Description: To be documented
[Expand]
procedure PWMLogWarn(PWM:PPWMDevice; const AText:String); inline;
Description: To be documented
[Expand]
procedure PWMLogError(PWM:PPWMDevice; const AText:String); inline;
Description: To be documented
[Expand]
procedure PWMLogDebug(PWM:PPWMDevice; const AText:String); inline;
Description: To be documented
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