current WIP code for PIO based PWM
This commit is contained in:
ZodiusInfuser
parent
7c523f82df
commit
aca98ca747
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@ -26,3 +26,4 @@ add_subdirectory(icp10125)
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add_subdirectory(scd4x)
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add_subdirectory(hub75)
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add_subdirectory(uc8151)
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add_subdirectory(servo)
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@ -0,0 +1 @@
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include(servo.cmake)
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@ -0,0 +1,274 @@
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#include "multi_pwm.hpp"
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#include "common/pimoroni_common.hpp"
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#include <cstdio>
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#include "hardware/gpio.h"
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namespace servo {
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int data_dma_channel;
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int ctrl_dma_channel;
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static const uint BUFFER_SIZE = 64; // Set to 64, the maximum number of single rises and falls for 32 channels within a looping time period
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struct alignas(8) Transition {
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uint32_t mask;
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uint32_t delay;
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Transition() : mask(0), delay(0) {};
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};
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static const uint NUM_BUFFERS = 3;
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struct Sequence {
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uint32_t size;
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Transition data[BUFFER_SIZE];
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};
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Sequence sequences[NUM_BUFFERS];
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uint sequence_index = 0;
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//Sequence loading_zone = {3, {Transition(), Transition(), Transition()}}; //Need 6 words to create loading zone behaviour with normal FIFO
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Sequence loading_zone = {5, {Transition(), Transition(), Transition(), Transition(), Transition()}}; //Need 6 words to create loading zone behaviour with normal FIFO
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bool enter_loading_zone = false;
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const bool use_loading_zone = true;
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uint loading_zone_size = 3;
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uint gpio = 15;
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void __isr pwm_dma_handler() {
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// Clear the interrupt request.
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dma_hw->ints0 = 1u << data_dma_channel;
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// if(enter_loading_zone) {
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// gpio_put(gpio+1, 1);
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// uint32_t transitions = loading_zone.size * 2;
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// uint32_t* buffer = (uint32_t *)loading_zone.data;
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// dma_channel_set_trans_count(data_dma_channel, transitions, false);
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// dma_channel_set_read_addr(data_dma_channel, buffer, true);
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// enter_loading_zone = false;
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// gpio_put(gpio+1, 0);
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// }
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// else {
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gpio_put(gpio, 1);
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uint32_t transitions = sequences[sequence_index].size * 2;
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uint32_t* buffer = (uint32_t *)sequences[sequence_index].data;
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dma_channel_set_trans_count(data_dma_channel, transitions, false);
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dma_channel_set_read_addr(data_dma_channel, buffer, true);
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// For some reason sequence 0 is output to the PIO twice, rather than once, despite the below line shifting the index along...
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// ^ Seemed related to filling an 8 long fifo buffer. Reducing to 4 removed it.
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sequence_index = (sequence_index + 1) % NUM_BUFFERS;
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gpio_put(gpio, 0);
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//}
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}
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/***
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* From RP2040 datasheet
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* *
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* One disadvantage of this technique is that we don’t start to reconfigure the channel until some time after the channel
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makes its last transfer. If there is heavy interrupt activity on the processor, this may be quite a long time, and therefore
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quite a large gap in transfers, which is problematic if we need to sustain a high data throughput.
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This is solved by using two channels, with their CHAIN_TO fields crossed over, so that channel A triggers channel B when it
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completes, and vice versa. At any point in time, one of the channels is transferring data, and the other is either already
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configured to start the next transfer immediately when the current one finishes, or it is in the process of being
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reconfigured. When channel A completes, it immediately starts the cued-up transfer on channel B. At the same time, the
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interrupt is fired, and the handler reconfigures channel A so that it is ready for when channel B completes.
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* */
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MultiPWM::MultiPWM(PIO pio, uint sm, uint pin) : pio(pio), sm(sm) {
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pio_program_offset = pio_add_program(pio, &multi_pwm_program);
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gpio_init(gpio);
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gpio_set_dir(gpio, GPIO_OUT);
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gpio_init(gpio+1);
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gpio_set_dir(gpio+1, GPIO_OUT);
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for(uint i = pin; i < pin + 15; i++)
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pio_gpio_init(pio, i);
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pio_gpio_init(pio, 17);
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pio_sm_set_consecutive_pindirs(pio, sm, pin, 17, true);
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pio_sm_set_consecutive_pindirs(pio, sm, 17, 1, true);
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pio_sm_config c = multi_pwm_program_get_default_config(pio_program_offset);
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sm_config_set_out_pins(&c, pin, 17);
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sm_config_set_sideset_pins(&c, 17);
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sm_config_set_out_shift(&c, false, true, 32);
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//sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX); // Joining the FIFOs makes the DMA interrupts occur earlier than we would like
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sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_NONE);
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float div = clock_get_hz(clk_sys) / 5000000;
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sm_config_set_clkdiv(&c, div);
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pio_sm_init(pio, sm, pio_program_offset, &c);
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pio_sm_set_enabled(pio, sm, true);
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data_dma_channel = dma_claim_unused_channel(true);
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/*ctrl_dma_channel = dma_claim_unused_channel(true);
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dma_channel_config ctrl_config = dma_channel_get_default_config(ctrl_dma_channel);
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channel_config_set_transfer_data_size(&ctrl_config, DMA_SIZE_32);
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//channel_config_set_read_increment(&ctrl_config, false);
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//channel_config_set_write_increment(&ctrl_config, false);
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channel_config_set_read_increment(&ctrl_config, true);
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channel_config_set_write_increment(&ctrl_config, true);
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channel_config_set_ring(&ctrl_config, true, 3); // 1 << 3 byte boundary on write ptr
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channel_config_set_ring(&ctrl_config, false, 3); // 1 << 3 byte boundary on read ptr
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dma_channel_configure(
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ctrl_dma_channel,
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&ctrl_config,
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//The below two work
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//&dma_hw->ch[data_dma_channel].al1_transfer_count_trig,
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//&transfer_count,
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//1,
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//These two do not
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//&dma_hw->ch[data_dma_channel].al3_read_addr_trig,
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//&((uint32_t *)buffer),
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&dma_hw->ch[data_dma_channel].al3_transfer_count, // Initial write address
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&control_blocks[0],
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2,
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false
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);*/
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dma_channel_config data_config = dma_channel_get_default_config(data_dma_channel);
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channel_config_set_bswap(&data_config, false);
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channel_config_set_dreq(&data_config, pio_get_dreq(pio, sm, true));
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channel_config_set_transfer_data_size(&data_config, DMA_SIZE_32);
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channel_config_set_read_increment(&data_config, true);
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//channel_config_set_chain_to(&data_config, ctrl_dma_channel);
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//channel_config_set_ring(&data_config, false, 7);
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dma_channel_configure(
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data_dma_channel,
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&data_config,
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&pio->txf[sm],
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NULL,
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0,
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false);
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dma_channel_set_irq0_enabled(data_dma_channel, true);
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// Configure the processor to run dma_handler() when DMA IRQ 0 is asserted
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irq_set_exclusive_handler(DMA_IRQ_0, pwm_dma_handler);
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irq_set_enabled(DMA_IRQ_0, true);
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{
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Sequence& seq = sequences[0];
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Transition* trans = seq.data;
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trans[0].mask = (1u << 0);
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trans[0].delay = 1000 - 1;
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trans[1].mask = (1u << 1);
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trans[1].delay = 1000 - 1;
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trans[2].mask = (1u << 1);
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trans[2].delay = 1000 - 1;
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trans[3].mask = 0;
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trans[3].delay = (20000 - 3000) - 1;
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//if(use_loading_zone)
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//trans[4].delay -= loading_zone.size;
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seq.size = 4;
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if(use_loading_zone){
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trans[seq.size - 1].delay -= loading_zone_size;
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for(uint i = 0; i < loading_zone_size; i++) {
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trans[seq.size].mask = 0;
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trans[seq.size].delay = 0;
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seq.size += 1;
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}
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}
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}
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{
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Sequence& seq = sequences[1];
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Transition* trans = seq.data;
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trans[0].mask = (1u << 5);
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trans[0].delay = 10000 - 1;
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trans[1].mask = 0;
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trans[1].delay = (20000 - 10000) - 1;
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//if(use_loading_zone)
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//trans[1].delay -= loading_zone.size;
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seq.size = 2;
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if(use_loading_zone){
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trans[seq.size - 1].delay -= loading_zone_size;
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for(uint i = 0; i < loading_zone_size; i++) {
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trans[seq.size].mask = 0;
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trans[seq.size].delay = 0;
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seq.size += 1;
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}
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}
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}
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{
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Sequence& seq = sequences[2];
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Transition* trans = seq.data;
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uint count = 0;
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uint last = 14;
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for(uint i = 0; i < last; i++) {
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trans[i].mask = (1u << i);
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trans[i].delay = 1000 - 1;
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count += 1000;
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}
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trans[last].mask = 0;
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trans[last].delay = (20000 - count) - 1;
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//if(use_loading_zone)
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// trans[last].delay -= loading_zone.size;
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seq.size = last + 1;
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if(use_loading_zone){
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trans[seq.size - 1].delay -= loading_zone_size;
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for(uint i = 0; i < loading_zone_size; i++) {
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trans[seq.size].mask = 0;
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trans[seq.size].delay = 0;
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seq.size += 1;
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}
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}
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}
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// Manually call the handler once, to trigger the first transfer
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pwm_dma_handler();
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//dma_start_channel_mask(1u << ctrl_dma_channel);
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}
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MultiPWM::~MultiPWM() {
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stop();
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clear();
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dma_channel_unclaim(data_dma_channel);
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dma_channel_unclaim(ctrl_dma_channel);
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pio_sm_set_enabled(pio, sm, false);
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pio_remove_program(pio, &multi_pwm_program, pio_program_offset);
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#ifndef MICROPY_BUILD_TYPE
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// pio_sm_unclaim seems to hardfault in MicroPython
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pio_sm_unclaim(pio, sm);
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#endif
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}
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bool MultiPWM::start(uint fps) {
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//add_repeating_timer_ms(-(1000 / fps), dma_timer_callback, (void*)this, &timer);
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return true;
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}
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bool MultiPWM::stop() {
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return true;//cancel_repeating_timer(&timer);
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}
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void MultiPWM::clear() {
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//for (auto i = 0u; i < num_leds; ++i) {
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// set_rgb(i, 0, 0, 0);
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//}
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}
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}
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@ -0,0 +1,40 @@
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/**
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* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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/*
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This code is significantly modified from the PIO apa102 example
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found here: https://github.com/raspberrypi/pico-examples/tree/master/pio/ws2812
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*/
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#pragma once
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#include <math.h>
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#include <cstdint>
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#include "multi_pwm.pio.h"
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#include "pico/stdlib.h"
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#include "hardware/pio.h"
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#include "hardware/dma.h"
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#include "hardware/irq.h"
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#include "hardware/clocks.h"
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#include "hardware/timer.h"
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namespace servo {
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class MultiPWM {
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public:
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MultiPWM(PIO pio, uint sm, uint pin);
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~MultiPWM();
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bool start(uint fps=60);
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bool stop();
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void clear();
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private:
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PIO pio;
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uint sm;
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uint pio_program_offset;
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};
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}
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@ -0,0 +1,24 @@
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;
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; Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
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;
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; SPDX-License-Identifier: BSD-3-Clause
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;
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.program multi_pwm
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.side_set 1
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.wrap_target
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;pull side 0 ; Pull in the next DWord containing the pin states, and time counter
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;out pins, 16 side 1 ; Immediately set the pins to their new state
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;out y, 16 [1] side 0 ; Set the counter
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pull side 0 ; Pull in the next DWord containing the pin states, and time counter
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out pins, 32 side 1 ; Immediately set the pins to their new state
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pull side 0
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out y, 32 side 0 ; Set the counter
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count_check:
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jmp y-- delay side 0 ; Check if the counter is 0, and if so wrap around. If not decrement the counter and jump to the delay
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.wrap
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delay:
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jmp count_check [3] side 1 ; Wait a few cycles then jump back to the loop
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@ -0,0 +1,16 @@
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set(DRIVER_NAME servo)
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add_library(${DRIVER_NAME} INTERFACE)
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target_sources(${DRIVER_NAME} INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/multi_pwm.cpp
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)
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target_include_directories(${DRIVER_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
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target_link_libraries(${DRIVER_NAME} INTERFACE
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pico_stdlib
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hardware_pio
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hardware_dma
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)
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pico_generate_pio_header(${DRIVER_NAME} ${CMAKE_CURRENT_LIST_DIR}/multi_pwm.pio)
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@ -40,3 +40,4 @@ add_subdirectory(pico_wireless)
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add_subdirectory(plasma2040)
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add_subdirectory(badger2040)
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add_subdirectory(interstate75)
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add_subdirectory(servo2040)
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@ -0,0 +1,2 @@
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include(servo2040_functions.cmake)
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include(servo2040_rainbow.cmake)
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set(OUTPUT_NAME servo2040_functions)
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add_executable(${OUTPUT_NAME} servo2040_functions.cpp)
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target_link_libraries(${OUTPUT_NAME}
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pico_stdlib
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servo2040
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button
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)
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# enable usb output
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pico_enable_stdio_usb(${OUTPUT_NAME} 1)
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pico_add_extra_outputs(${OUTPUT_NAME})
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@ -0,0 +1,76 @@
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#include <stdio.h>
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#include <math.h>
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#include <cstdint>
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#include "pico/stdlib.h"
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#include "servo2040.hpp"
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#include "common/pimoroni_common.hpp"
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#include "button.hpp"
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/*
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A simple balancing game, where you use the MSA301 accelerometer to line up a band with a goal on the strip.
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This can either be done using:
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- Angle mode: Where position on the strip directly matches the accelerometer's angle
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- Velocity mode: Where tilting the accelerometer changes the speed the band moves at
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When the goal position is reached, a new position is randomly selected
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Press "A" to change the game mode.
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Press "B" to start or stop the game mode.
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Press "Boot" to invert the direction of the accelerometer tilt
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*/
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using namespace pimoroni;
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using namespace plasma;
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using namespace servo;
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// Set how many LEDs you have
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const uint N_LEDS = 6;
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// The speed that the LEDs will start cycling at
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const uint DEFAULT_SPEED = 10;
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// How many times the LEDs will be updated per second
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const uint UPDATES = 60;
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// WS28X-style LEDs with a single signal line. AKA NeoPixel
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WS2812 led_bar(N_LEDS, pio0, 0, servo2040::LED_DAT);
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Button user_sw(servo2040::USER_SW, Polarity::ACTIVE_LOW, 0);
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int main() {
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stdio_init_all();
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led_bar.start(UPDATES);
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sleep_ms(5000);
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MultiPWM pwms(pio1, 0, 0);
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int speed = DEFAULT_SPEED;
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float offset = 0.0f;
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while(true) {
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bool sw_pressed = user_sw.read();
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if(sw_pressed) {
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speed = DEFAULT_SPEED;
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}
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speed = std::min((int)255, std::max((int)1, speed));
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offset += float(speed) / 2000.0f;
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for(auto i = 0u; i < led_bar.num_leds; ++i) {
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float hue = float(i) / led_bar.num_leds;
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led_bar.set_hsv(i, hue + offset, 1.0f, 0.5f);
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}
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//pwms.update(true);
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// Sleep time controls the rate at which the LED buffer is updated
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// but *not* the actual framerate at which the buffer is sent to the LEDs
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sleep_ms(1000 / UPDATES);
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}
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}
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@ -0,0 +1,13 @@
|
|||
set(OUTPUT_NAME servo2040_rainbow)
|
||||
add_executable(${OUTPUT_NAME} servo2040_rainbow.cpp)
|
||||
|
||||
target_link_libraries(${OUTPUT_NAME}
|
||||
pico_stdlib
|
||||
servo2040
|
||||
button
|
||||
)
|
||||
|
||||
# enable usb output
|
||||
pico_enable_stdio_usb(${OUTPUT_NAME} 1)
|
||||
|
||||
pico_add_extra_outputs(${OUTPUT_NAME})
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <cstdint>
|
||||
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include "servo2040.hpp"
|
||||
|
||||
#include "common/pimoroni_common.hpp"
|
||||
#include "button.hpp"
|
||||
|
||||
/*
|
||||
A simple balancing game, where you use the MSA301 accelerometer to line up a band with a goal on the strip.
|
||||
This can either be done using:
|
||||
- Angle mode: Where position on the strip directly matches the accelerometer's angle
|
||||
- Velocity mode: Where tilting the accelerometer changes the speed the band moves at
|
||||
When the goal position is reached, a new position is randomly selected
|
||||
|
||||
Press "A" to change the game mode.
|
||||
Press "B" to start or stop the game mode.
|
||||
Press "Boot" to invert the direction of the accelerometer tilt
|
||||
*/
|
||||
|
||||
using namespace pimoroni;
|
||||
using namespace plasma;
|
||||
|
||||
// Set how many LEDs you have
|
||||
const uint N_LEDS = 6;
|
||||
|
||||
// The speed that the LEDs will start cycling at
|
||||
const uint DEFAULT_SPEED = 10;
|
||||
|
||||
// How many times the LEDs will be updated per second
|
||||
const uint UPDATES = 60;
|
||||
|
||||
// WS28X-style LEDs with a single signal line. AKA NeoPixel
|
||||
WS2812 led_bar(N_LEDS, pio0, 0, servo2040::LED_DAT);
|
||||
|
||||
|
||||
Button user_sw(servo2040::USER_SW, Polarity::ACTIVE_LOW, 0);
|
||||
|
||||
int main() {
|
||||
stdio_init_all();
|
||||
|
||||
led_bar.start(UPDATES);
|
||||
|
||||
int speed = DEFAULT_SPEED;
|
||||
float offset = 0.0f;
|
||||
|
||||
while(true) {
|
||||
bool sw_pressed = user_sw.read();
|
||||
|
||||
if(sw_pressed) {
|
||||
speed = DEFAULT_SPEED;
|
||||
}
|
||||
speed = std::min((int)255, std::max((int)1, speed));
|
||||
|
||||
offset += float(speed) / 2000.0f;
|
||||
|
||||
for(auto i = 0u; i < led_bar.num_leds; ++i) {
|
||||
float hue = float(i) / led_bar.num_leds;
|
||||
led_bar.set_hsv(i, hue + offset, 1.0f, 0.5f);
|
||||
}
|
||||
|
||||
// Sleep time controls the rate at which the LED buffer is updated
|
||||
// but *not* the actual framerate at which the buffer is sent to the LEDs
|
||||
sleep_ms(1000 / UPDATES);
|
||||
}
|
||||
}
|
||||
|
|
@ -27,3 +27,4 @@ add_subdirectory(pico_rgb_keypad)
|
|||
add_subdirectory(pico_wireless)
|
||||
add_subdirectory(plasma2040)
|
||||
add_subdirectory(badger2040)
|
||||
add_subdirectory(servo2040)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
include(servo2040.cmake)
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
add_library(servo2040 INTERFACE)
|
||||
|
||||
target_include_directories(servo2040 INTERFACE ${CMAKE_CURRENT_LIST_DIR})
|
||||
|
||||
# Pull in pico libraries that we need
|
||||
target_link_libraries(servo2040 INTERFACE pico_stdlib plasma servo)
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
#pragma once
|
||||
#include "pico/stdlib.h"
|
||||
|
||||
#include "ws2812.hpp"
|
||||
#include "multi_pwm.hpp"
|
||||
|
||||
namespace servo2040 {
|
||||
const uint SERVO_1 = 0;
|
||||
const uint SERVO_2 = 1;
|
||||
const uint SERVO_3 = 2;
|
||||
const uint SERVO_4 = 3;
|
||||
const uint SERVO_5 = 4;
|
||||
const uint SERVO_6 = 5;
|
||||
const uint SERVO_7 = 6;
|
||||
const uint SERVO_8 = 7;
|
||||
const uint SERVO_9 = 8;
|
||||
const uint SERVO_10 = 9;
|
||||
const uint SERVO_11 = 10;
|
||||
const uint SERVO_12 = 11;
|
||||
const uint SERVO_13 = 12;
|
||||
const uint SERVO_14 = 13;
|
||||
const uint SERVO_15 = 14;
|
||||
const uint SERVO_16 = 15;
|
||||
const uint SERVO_17 = 16;
|
||||
const uint SERVO_18 = 17;
|
||||
|
||||
const uint LED_DAT = 18;
|
||||
|
||||
const uint ADC_ADDR_0 = 22;
|
||||
const uint ADC_ADDR_1 = 24;
|
||||
const uint ADC_ADDR_2 = 25;
|
||||
|
||||
const uint USER_SW = 23;
|
||||
|
||||
const uint SENSE = 29; // The pin used for the board's sensing features
|
||||
|
||||
constexpr float ADC_GAIN = 69;
|
||||
constexpr float ADC_OFFSET = 0.0145f;
|
||||
constexpr float SHUNT_RESISTOR = 0.003f;
|
||||
}
|
||||
Loading…
Reference in New Issue