nrf/modules/machine/pwm: Support using all 4 channels of a PWM module.
These have the same frequency, but can have different duty cycle and polarity. pwm.deinit() stops all channels of a module, but does not release the module. pwm.init() without arguments restarts all outputs.
This commit is contained in:
robert-hh
Damien George
parent
e3b877826c
commit
ed1f42cb49
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@ -4,6 +4,7 @@
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* The MIT License (MIT)
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*
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* Copyright (c) 2016-2018 Glenn Ruben Bakke
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* Copyright (c) 2023 Robert Hammelrath
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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@ -47,31 +48,40 @@
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#define PWM_MAX_PERIOD (32768)
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typedef enum {
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MODE_HIGH_LOW,
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MODE_HIGH_LOW = 0,
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MODE_LOW_HIGH
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} pwm_mode_t;
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typedef enum {
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DUTY_NOT_SET,
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DUTY_NOT_SET = 0,
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DUTY_PERCENT,
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DUTY_U16,
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DUTY_NS
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} pwm_duty_t;
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typedef enum {
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FREE = 0,
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STOPPED,
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RUNNING
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} pwm_run_t;
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typedef struct {
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uint8_t pwm_pin;
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uint8_t duty_mode;
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int8_t freq_div;
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uint8_t pwm_pin[NRF_PWM_CHANNEL_COUNT];
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pwm_mode_t mode[NRF_PWM_CHANNEL_COUNT];
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pwm_duty_t duty_mode[NRF_PWM_CHANNEL_COUNT];
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uint32_t duty[NRF_PWM_CHANNEL_COUNT];
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pwm_run_t active;
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bool defer_start;
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uint32_t duty;
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int8_t freq_div;
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uint32_t freq;
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bool mode;
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} machine_pwm_config_t;
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typedef struct _machine_pwm_obj_t {
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mp_obj_base_t base;
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const nrfx_pwm_t *p_pwm;
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machine_pwm_config_t *p_config;
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uint8_t id;
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uint8_t channel;
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} machine_pwm_obj_t;
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STATIC const nrfx_pwm_t machine_hard_pwm_instances[] = {
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@ -86,46 +96,57 @@ STATIC const nrfx_pwm_t machine_hard_pwm_instances[] = {
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};
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STATIC machine_pwm_config_t hard_configs[MP_ARRAY_SIZE(machine_hard_pwm_instances)];
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STATIC uint8_t pwm_used[MP_ARRAY_SIZE(machine_hard_pwm_instances)];
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STATIC const machine_pwm_obj_t machine_hard_pwm_obj[] = {
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#if defined(NRF52_SERIES)
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[0], .p_config = &hard_configs[0]},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[1], .p_config = &hard_configs[1]},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[2], .p_config = &hard_configs[2]},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[0], .p_config = &hard_configs[0], 0, 0},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[0], .p_config = &hard_configs[0], 0, 1},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[0], .p_config = &hard_configs[0], 0, 2},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[0], .p_config = &hard_configs[0], 0, 3},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[1], .p_config = &hard_configs[1], 1, 0},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[1], .p_config = &hard_configs[1], 1, 1},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[1], .p_config = &hard_configs[1], 1, 2},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[1], .p_config = &hard_configs[1], 1, 3},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[2], .p_config = &hard_configs[2], 2, 0},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[2], .p_config = &hard_configs[2], 2, 1},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[2], .p_config = &hard_configs[2], 2, 2},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[2], .p_config = &hard_configs[2], 2, 3},
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#if NRF52840
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[3], .p_config = &hard_configs[3]},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[3], .p_config = &hard_configs[3], 3, 0},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[3], .p_config = &hard_configs[3], 3, 1},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[3], .p_config = &hard_configs[3], 3, 2},
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{{&machine_pwm_type}, .p_pwm = &machine_hard_pwm_instances[3], .p_config = &hard_configs[3], 3, 3},
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#endif
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#endif
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};
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void pwm_init0(void) {
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for (int i = 0; i < MP_ARRAY_SIZE(hard_configs); i++) {
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hard_configs[i].active = FREE;
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hard_configs[i].freq_div = -1;
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hard_configs[i].freq = 0;
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memset(hard_configs[i].duty_mode, DUTY_NOT_SET, NRF_PWM_CHANNEL_COUNT);
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}
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}
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// Find a free PWM
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STATIC int hard_pwm_find(int pin) {
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// check, if a PWM object can be reused.
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for (int i = 0; i < MP_ARRAY_SIZE(machine_hard_pwm_obj); i++) {
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if (machine_hard_pwm_obj[i].p_config->pwm_pin == pin) {
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return i;
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// Find a free PWM object
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STATIC int hard_pwm_find() {
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// look for a free module.
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for (int j = 0; j < MP_ARRAY_SIZE(hard_configs); j++) {
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if (hard_configs[j].active == FREE) {
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return j * NRF_PWM_CHANNEL_COUNT;
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}
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}
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// if not, look for a free object.
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for (int i = 0; i < MP_ARRAY_SIZE(machine_hard_pwm_obj); i++) {
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if (pwm_used[i] == 0) {
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return i;
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}
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}
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mp_raise_ValueError(MP_ERROR_TEXT("no free PWM id"));
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mp_raise_ValueError(MP_ERROR_TEXT("no free PWM object"));
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}
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STATIC void mp_machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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machine_pwm_obj_t *self = self_in;
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static char *duty_suffix[] = { "", "", "_u16", "_ns" };
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mp_printf(print, "<PWM: Pin=%u freq=%dHz duty%s=%d invert=%d id=%u>",
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self->p_config->pwm_pin, self->p_config->freq,
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duty_suffix[self->p_config->duty_mode], self->p_config->duty,
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self->p_config->mode, self->p_pwm->drv_inst_idx);
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mp_printf(print, "<PWM: Pin=%u freq=%dHz duty%s=%d invert=%d id=%u channel=%u>",
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self->p_config->pwm_pin[self->channel], self->p_config->freq,
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duty_suffix[self->p_config->duty_mode[self->channel]], self->p_config->duty[self->channel],
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self->p_config->mode[self->channel], self->id, self->channel);
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}
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/******************************************************************************/
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@ -146,10 +167,11 @@ static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_duty_ns, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_invert, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_id, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_channel, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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};
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STATIC void mp_machine_pwm_init_helper(const machine_pwm_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_pin, ARG_freq, ARG_duty, ARG_duty_u16, ARG_duty_ns, ARG_invert, ARG_id };
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enum { ARG_pin, ARG_freq, ARG_duty, ARG_duty_u16, ARG_duty_ns, ARG_invert, ARG_id, ARG_channel };
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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@ -168,7 +190,7 @@ STATIC void mp_machine_pwm_init_helper(const machine_pwm_obj_t *self, size_t n_a
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mp_machine_pwm_duty_set_ns(self, args[ARG_duty_ns].u_int);
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}
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if (args[ARG_invert].u_int != -1) {
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self->p_config->mode = args[ARG_invert].u_int ? MODE_LOW_HIGH : MODE_HIGH_LOW;
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self->p_config->mode[self->channel] = args[ARG_invert].u_int ? MODE_LOW_HIGH : MODE_HIGH_LOW;
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}
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self->p_config->defer_start = false;
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@ -177,7 +199,7 @@ STATIC void mp_machine_pwm_init_helper(const machine_pwm_obj_t *self, size_t n_a
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STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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enum { ARG_pin, ARG_freq, ARG_duty, ARG_duty_u16, ARG_duty_ns, ARG_invert, ARG_id };
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enum { ARG_pin, ARG_freq, ARG_duty, ARG_duty_u16, ARG_duty_ns, ARG_invert, ARG_id, ARG_channel };
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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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@ -191,26 +213,33 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args
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mp_raise_ValueError(MP_ERROR_TEXT("Pin missing"));
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}
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// Get the PWM object number
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// If just the ID is given, use channel 0
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// If none is given, attempt to find an unused object.
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int pwm_id = -1;
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if (args[ARG_id].u_int != -1) {
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// get static peripheral object
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if (args[ARG_id].u_int >= 0 && args[ARG_id].u_int < MP_ARRAY_SIZE(machine_hard_pwm_obj)) {
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pwm_id = args[ARG_id].u_int;
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if (args[ARG_id].u_int >= 0 && args[ARG_id].u_int < MP_ARRAY_SIZE(machine_hard_pwm_instances)) {
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pwm_id = args[ARG_id].u_int * NRF_PWM_CHANNEL_COUNT;
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if (args[ARG_channel].u_int != -1) {
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if (args[ARG_channel].u_int >= 0 && args[ARG_channel].u_int < NRF_PWM_CHANNEL_COUNT) {
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pwm_id += args[ARG_channel].u_int;
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}
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}
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}
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} else {
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pwm_id = hard_pwm_find(pwm_pin);
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// no ID given, search for a free ID.
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pwm_id = hard_pwm_find();
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}
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if (pwm_id < 0) {
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mp_raise_ValueError(MP_ERROR_TEXT("invalid PWM id"));
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}
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const machine_pwm_obj_t *self = &machine_hard_pwm_obj[pwm_id];
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self->p_config->pwm_pin = pwm_pin;
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int pwm_channel = pwm_id % NRF_PWM_CHANNEL_COUNT;
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self->p_config->pwm_pin[pwm_channel] = pwm_pin;
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self->p_config->duty_mode[pwm_channel] = DUTY_NOT_SET;
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self->p_config->duty[pwm_channel] = 0;
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self->p_config->mode[pwm_channel] = MODE_HIGH_LOW;
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self->p_config->defer_start = false;
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self->p_config->duty_mode = DUTY_NOT_SET;
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self->p_config->duty = 0;
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self->p_config->freq = 0;
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self->p_config->freq_div = -1;
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self->p_config->mode = MODE_HIGH_LOW;
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// start the PWM running for this channel
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mp_map_t kw_args;
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@ -220,14 +249,17 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args
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return MP_OBJ_FROM_PTR(self);
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}
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// Stop all PWM modules and release them
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void pwm_deinit_all(void) {
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for (int i = 0; i < MP_ARRAY_SIZE(machine_hard_pwm_obj); i++) {
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mp_machine_pwm_deinit(&machine_hard_pwm_obj[i]);
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for (int i = 0; i < MP_ARRAY_SIZE(machine_hard_pwm_instances); i++) {
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mp_machine_pwm_deinit(&machine_hard_pwm_obj[i * NRF_PWM_CHANNEL_COUNT]);
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}
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pwm_init0();
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}
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// Stop the PWM module, but do not release it.
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STATIC void mp_machine_pwm_deinit(const machine_pwm_obj_t *self) {
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pwm_used[self->p_pwm->drv_inst_idx] = 0;
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self->p_config->active = STOPPED;
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nrfx_pwm_stop(self->p_pwm, true);
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nrfx_pwm_uninit(self->p_pwm);
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}
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@ -253,48 +285,48 @@ STATIC void mp_machine_pwm_freq_set(const machine_pwm_obj_t *self, mp_int_t freq
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}
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STATIC mp_obj_t mp_machine_pwm_duty_get(const machine_pwm_obj_t *self) {
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if (self->p_config->duty_mode == DUTY_PERCENT) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty);
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} else if (self->p_config->duty_mode == DUTY_U16) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty * 100 / 65536);
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if (self->p_config->duty_mode[self->channel] == DUTY_PERCENT) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty[self->channel]);
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} else if (self->p_config->duty_mode[self->channel] == DUTY_U16) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty[self->channel] * 100 / 65536);
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} else {
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return MP_OBJ_NEW_SMALL_INT(-1);
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}
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}
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STATIC void mp_machine_pwm_duty_set(const machine_pwm_obj_t *self, mp_int_t duty) {
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self->p_config->duty = duty;
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self->p_config->duty_mode = DUTY_PERCENT;
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self->p_config->duty[self->channel] = duty;
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self->p_config->duty_mode[self->channel] = DUTY_PERCENT;
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machine_hard_pwm_start(self);
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}
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STATIC mp_obj_t mp_machine_pwm_duty_get_u16(const machine_pwm_obj_t *self) {
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if (self->p_config->duty_mode == DUTY_U16) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty);
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} else if (self->p_config->duty_mode == DUTY_PERCENT) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty * 65536 / 100);
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if (self->p_config->duty_mode[self->channel] == DUTY_U16) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty[self->channel]);
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} else if (self->p_config->duty_mode[self->channel] == DUTY_PERCENT) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty[self->channel] * 65536 / 100);
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} else {
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return MP_OBJ_NEW_SMALL_INT(-1);
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}
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}
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STATIC void mp_machine_pwm_duty_set_u16(const machine_pwm_obj_t *self, mp_int_t duty) {
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self->p_config->duty = duty;
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self->p_config->duty_mode = DUTY_U16;
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self->p_config->duty[self->channel] = duty;
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self->p_config->duty_mode[self->channel] = DUTY_U16;
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machine_hard_pwm_start(self);
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}
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STATIC mp_obj_t mp_machine_pwm_duty_get_ns(const machine_pwm_obj_t *self) {
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if (self->p_config->duty_mode == DUTY_NS) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty);
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if (self->p_config->duty_mode[self->channel] == DUTY_NS) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->duty[self->channel]);
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} else {
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return MP_OBJ_NEW_SMALL_INT(-1);
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}
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}
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STATIC void mp_machine_pwm_duty_set_ns(const machine_pwm_obj_t *self, mp_int_t duty) {
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self->p_config->duty = duty;
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self->p_config->duty_mode = DUTY_NS;
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self->p_config->duty[self->channel] = duty;
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self->p_config->duty_mode[self->channel] = DUTY_NS;
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machine_hard_pwm_start(self);
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}
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@ -305,15 +337,16 @@ STATIC void machine_hard_pwm_start(const machine_pwm_obj_t *self) {
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nrfx_pwm_config_t config;
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// check if ready to go
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if (self->p_config->defer_start == true || self->p_config->freq_div < 0 || self->p_config->duty_mode == DUTY_NOT_SET) {
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if (self->p_config->defer_start == true || self->p_config->freq_div < 0 || self->p_config->duty_mode[self->channel] == DUTY_NOT_SET) {
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return; // Not ready yet.
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}
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pwm_used[self->p_pwm->drv_inst_idx] = 1;
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config.output_pins[0] = self->p_config->pwm_pin;
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config.output_pins[1] = NRFX_PWM_PIN_NOT_USED;
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config.output_pins[2] = NRFX_PWM_PIN_NOT_USED;
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config.output_pins[3] = NRFX_PWM_PIN_NOT_USED;
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self->p_config->active = RUNNING;
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config.output_pins[0] = self->p_config->duty_mode[0] != DUTY_NOT_SET ? self->p_config->pwm_pin[0] : NRFX_PWM_PIN_NOT_USED;
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config.output_pins[1] = self->p_config->duty_mode[1] != DUTY_NOT_SET ? self->p_config->pwm_pin[1] : NRFX_PWM_PIN_NOT_USED;
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config.output_pins[2] = self->p_config->duty_mode[2] != DUTY_NOT_SET ? self->p_config->pwm_pin[2] : NRFX_PWM_PIN_NOT_USED;
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config.output_pins[3] = self->p_config->duty_mode[3] != DUTY_NOT_SET ? self->p_config->pwm_pin[3] : NRFX_PWM_PIN_NOT_USED;
|
||||
|
||||
uint32_t tick_freq = PWM_MAX_BASE_FREQ / (1 << self->p_config->freq_div);
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||||
uint32_t period = tick_freq / self->p_config->freq;
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||||
|
|
@ -330,29 +363,25 @@ STATIC void machine_hard_pwm_start(const machine_pwm_obj_t *self) {
|
|||
|
||||
nrfx_pwm_init(self->p_pwm, &config, NULL, NULL);
|
||||
|
||||
uint16_t pulse_width;
|
||||
if (self->p_config->duty_mode == DUTY_PERCENT) {
|
||||
pulse_width = ((period * self->p_config->duty) / 100);
|
||||
} else if (self->p_config->duty_mode == DUTY_U16) {
|
||||
pulse_width = ((period * self->p_config->duty) / 65536);
|
||||
}
|
||||
if (self->p_config->duty_mode == DUTY_NS) {
|
||||
pulse_width = (uint64_t)self->p_config->duty * tick_freq / 1000000000ULL;
|
||||
}
|
||||
|
||||
// TODO: Move DMA buffer to global memory.
|
||||
volatile static uint16_t pwm_seq[4];
|
||||
|
||||
if (self->p_config->mode == MODE_HIGH_LOW) {
|
||||
pwm_seq[0] = 0x8000 | pulse_width;
|
||||
} else {
|
||||
pwm_seq[0] = pulse_width;
|
||||
}
|
||||
for (int i = 0; i < NRF_PWM_CHANNEL_COUNT; i++) {
|
||||
uint16_t pulse_width = 0;
|
||||
if (self->p_config->duty_mode[i] == DUTY_PERCENT) {
|
||||
pulse_width = ((period * self->p_config->duty[i]) / 100);
|
||||
} else if (self->p_config->duty_mode[i] == DUTY_U16) {
|
||||
pulse_width = ((period * self->p_config->duty[i]) / 65536);
|
||||
}
|
||||
if (self->p_config->duty_mode[i] == DUTY_NS) {
|
||||
pulse_width = (uint64_t)self->p_config->duty[i] * tick_freq / 1000000000ULL;
|
||||
}
|
||||
|
||||
// Outputs 1..3 are not used for now
|
||||
// pwm_seq[1] = 0x8000 | pulse_width;
|
||||
// pwm_seq[2] = 0x8000 | pulse_width;
|
||||
// pwm_seq[3] = 0x8000 | pulse_width;
|
||||
if (self->p_config->mode[i] == MODE_HIGH_LOW) {
|
||||
pwm_seq[i] = 0x8000 | pulse_width;
|
||||
} else {
|
||||
pwm_seq[i] = pulse_width;
|
||||
}
|
||||
}
|
||||
|
||||
const nrf_pwm_sequence_t pwm_sequence = {
|
||||
.values.p_raw = (const uint16_t *)&pwm_seq,
|
||||
|
|
|
|||
Loading…
Reference in New Issue