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pimoroni-pico/drivers/pwm/pwm_cluster.cpp

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#include "pwm_cluster.hpp"
#include "hardware/gpio.h"
#include "hardware/clocks.h"
#include "pwm_cluster.pio.h"
// Uncomment the below line to enable debugging
//#define DEBUG_MULTI_PWM
namespace pimoroni {
#ifdef DEBUG_MULTI_PWM
static const uint IRQ_GPIO = 15;
static const uint WRITE_GPIO = 16;
static const uint DEBUG_SIDESET = 17;
#endif
////////////////////////////////////////////////////////////////////////////////////////////////////
// STATICS
////////////////////////////////////////////////////////////////////////////////////////////////////
PWMCluster* PWMCluster::clusters[] = { nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr };
uint8_t PWMCluster::claimed_sms[] = { 0x0, 0x0 };
uint PWMCluster::pio_program_offset = 0;
PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_mask, Sequence *seq_buffer, TransitionData *dat_buffer)
: pio(pio)
, sm(sm)
, pin_mask(pin_mask & ((1u << NUM_BANK0_GPIOS) - 1))
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
// Create the channel mapping
for(uint pin = 0; pin < NUM_BANK0_GPIOS; pin++) {
if(bit_in_mask(pin, pin_mask)) {
channel_to_pin_map[channel_count] = pin;
channel_count++;
}
}
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_base, uint pin_count, Sequence *seq_buffer, TransitionData *dat_buffer)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
// Create the pin mask and channel mapping
uint pin_end = MIN(pin_count + pin_base, NUM_BANK0_GPIOS);
for(uint pin = pin_base; pin < pin_end; pin++) {
pin_mask |= (1u << pin);
channel_to_pin_map[channel_count] = pin;
channel_count++;
}
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, Sequence *seq_buffer, TransitionData *dat_buffer)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
// Create the pin mask and channel mapping
for(uint i = 0; i < length; i++) {
uint8_t pin = pins[i];
if(pin < NUM_BANK0_GPIOS) {
pin_mask |= (1u << pin);
channel_to_pin_map[channel_count] = pin;
channel_count++;
}
}
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, Sequence *seq_buffer, TransitionData *dat_buffer)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
// Create the pin mask and channel mapping
for(auto pin : pins) {
if(pin < NUM_BANK0_GPIOS) {
pin_mask |= (1u << pin);
channel_to_pin_map[channel_count] = pin;
channel_count++;
}
}
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, Sequence *seq_buffer, TransitionData *dat_buffer)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
// Create the pin mask and channel mapping
for(uint i = 0; i < length; i++) {
pin_pair pair = pin_pairs[i];
if((pair.first < NUM_BANK0_GPIOS) && (pair.second < NUM_BANK0_GPIOS)) {
pin_mask |= (1u << pair.first);
channel_to_pin_map[channel_count] = pair.first;
channel_count++;
pin_mask |= (1u << pair.second);
channel_to_pin_map[channel_count] = pair.second;
channel_count++;
}
}
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, Sequence *seq_buffer, TransitionData *dat_buffer)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
// Create the pin mask and channel mapping
for(auto pair : pin_pairs) {
if((pair.first < NUM_BANK0_GPIOS) && (pair.second < NUM_BANK0_GPIOS)) {
pin_mask |= (1u << pair.first);
channel_to_pin_map[channel_count] = pair.first;
channel_count++;
pin_mask |= (1u << pair.second);
channel_to_pin_map[channel_count] = pair.second;
channel_count++;
}
}
constructor_common(seq_buffer, dat_buffer);
}
void PWMCluster::constructor_common(Sequence *seq_buffer, TransitionData *dat_buffer) {
// Initialise all the channels this PWM will control
if(channel_count > 0) {
channels = new ChannelState[channel_count];
}
if(seq_buffer == nullptr) {
sequences = new Sequence[NUM_BUFFERS];
loop_sequences = new Sequence[NUM_BUFFERS];
managed_seq_buffer = true;
}
else {
sequences = seq_buffer;
loop_sequences = seq_buffer + NUM_BUFFERS;
managed_seq_buffer = false;
}
if(dat_buffer == nullptr) {
transitions = new TransitionData[BUFFER_SIZE];
looping_transitions = new TransitionData[BUFFER_SIZE];
managed_dat_buffer = true;
}
else {
transitions = dat_buffer;
looping_transitions = dat_buffer + BUFFER_SIZE;
managed_dat_buffer = false;
}
// Set up the transition buffers
for(uint i = 0; i < NUM_BUFFERS; i++) {
Sequence& seq = sequences[i];
Sequence& looping_seq = loop_sequences[i];
seq = Sequence();
looping_seq = Sequence();
// Need to set a delay otherwise a lockup occurs when first changing frequency
seq.data[0].delay = 10;
looping_seq.data[0].delay = 10;
}
}
PWMCluster::~PWMCluster() {
if(initialised) {
pio_sm_set_enabled(pio, sm, false);
// Tear down the DMA channel.
// This is copied from: https://github.com/raspberrypi/pico-sdk/pull/744/commits/5e0e8004dd790f0155426e6689a66e08a83cd9fc
uint32_t irq0_save = dma_hw->inte0 & (1u << dma_channel);
hw_clear_bits(&dma_hw->inte0, irq0_save);
dma_hw->abort = 1u << dma_channel;
// To fence off on in-flight transfers, the BUSY bit should be polled
// rather than the ABORT bit, because the ABORT bit can clear prematurely.
while (dma_hw->ch[dma_channel].ctrl_trig & DMA_CH0_CTRL_TRIG_BUSY_BITS) tight_loop_contents();
// Clear the interrupt (if any) and restore the interrupt masks.
dma_hw->ints0 = 1u << dma_channel;
hw_set_bits(&dma_hw->inte0, irq0_save);
dma_channel_unclaim(dma_channel); // This works now the teardown behaves correctly
clusters[dma_channel] = nullptr;
pio_sm_unclaim(pio, sm);
uint pio_idx = pio_get_index(pio);
claimed_sms[pio_idx] &= ~(1u << sm);
//If there are no more SMs using the encoder program, then we can remove it from the PIO
if(claimed_sms[pio_idx] == 0) {
#ifdef DEBUG_MULTI_PWM
pio_remove_program(pio, &debug_pwm_cluster_program, pio_program_offset);
#else
pio_remove_program(pio, &pwm_cluster_program, pio_program_offset);
#endif
}
if(claimed_sms[0] == 0 && claimed_sms[1] == 0) {
irq_remove_handler(DMA_IRQ_0, dma_interrupt_handler);
}
// Reset all the pins this PWM will control back to an unused state
for(uint channel = 0; channel < channel_count; channel++) {
gpio_set_function(channel_to_pin_map[channel], GPIO_FUNC_NULL);
}
}
if(managed_seq_buffer) {
delete[] sequences;
delete[] loop_sequences;
}
if(managed_dat_buffer) {
delete[] transitions;
delete[] looping_transitions;
}
delete[] channels;
}
void PWMCluster::dma_interrupt_handler() {
// Go through each dma channel to see which triggered this interrupt,
// and if there's an associated cluster, have it advance to the next sequence
for(uint8_t channel = 0; channel < NUM_DMA_CHANNELS; channel++) {
if(dma_channel_get_irq0_status(channel) && clusters[channel] != nullptr) {
clusters[channel]->next_dma_sequence();
}
}
}
void PWMCluster::next_dma_sequence() {
#ifdef DEBUG_MULTI_PWM
gpio_put(IRQ_GPIO, true);
#endif
// Clear any interrupt request caused by our channel
dma_channel_acknowledge_irq0(dma_channel);
// If new data been written since the last time, switch to reading
// that sequence, otherwise continue with the looping sequence
Sequence* seq;
if(last_written_index != read_index) {
read_index = last_written_index;
seq = &sequences[read_index];
}
else {
seq = &loop_sequences[read_index];
}
// Let the dma channel know the sequence size and data location
dma_channel_set_trans_count(dma_channel, seq->size << 1, false);
dma_channel_set_read_addr(dma_channel, seq->data, true);
#ifdef DEBUG_MULTI_PWM
gpio_put(IRQ_GPIO, false);
#endif
}
bool PWMCluster::init() {
if(!initialised && !pio_sm_is_claimed(pio, sm)) {
dma_channel = dma_claim_unused_channel(false);
if(dma_channel >= 0) {
pio_sm_claim(pio, sm);
uint pio_idx = pio_get_index(pio);
// If this is the first time using a cluster on this PIO, add the program to the PIO memory
if(claimed_sms[pio_idx] == 0) {
#ifdef DEBUG_MULTI_PWM
pio_program_offset = pio_add_program(pio, &debug_pwm_cluster_program);
#else
pio_program_offset = pio_add_program(pio, &pwm_cluster_program);
#endif
}
#ifdef DEBUG_MULTI_PWM
gpio_init(IRQ_GPIO);
gpio_init(WRITE_GPIO);
gpio_set_dir(IRQ_GPIO, GPIO_OUT);
gpio_set_dir(WRITE_GPIO, GPIO_OUT);
#endif
// Initialise all the pins this PWM will control
for(uint channel = 0; channel < channel_count; channel++) {
pio_gpio_init(pio, channel_to_pin_map[channel]);
}
// Set their default state and direction
pio_sm_set_pins_with_mask(pio, sm, 0x00, pin_mask);
pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
#ifdef DEBUG_MULTI_PWM
pio_gpio_init(pio, DEBUG_SIDESET);
pio_sm_set_consecutive_pindirs(pio, sm, DEBUG_SIDESET, 1, true);
pio_sm_config c = debug_pwm_cluster_program_get_default_config(pio_program_offset);
sm_config_set_out_pins(&c, 0, IRQ_GPIO);
sm_config_set_sideset_pins(&c, DEBUG_SIDESET);
#else
pio_sm_config c = pwm_cluster_program_get_default_config(pio_program_offset);
sm_config_set_out_pins(&c, 0, 32);
#endif
sm_config_set_out_shift(&c, false, true, 32);
sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_NONE); // We actively do not want a joined FIFO even though we are not needing the RX
float div = clock_get_hz(clk_sys) / 500000;
sm_config_set_clkdiv(&c, div);
dma_channel_config data_config = dma_channel_get_default_config(dma_channel);
channel_config_set_bswap(&data_config, false);
channel_config_set_dreq(&data_config, pio_get_dreq(pio, sm, true));
channel_config_set_transfer_data_size(&data_config, DMA_SIZE_32);
channel_config_set_read_increment(&data_config, true);
dma_channel_configure(
dma_channel,
&data_config,
&pio->txf[sm],
NULL,
0,
false);
dma_channel_set_irq0_enabled(dma_channel, true);
pio_sm_init(pio, sm, pio_program_offset, &c);
pio_sm_set_enabled(pio, sm, true);
if(claimed_sms[0] == 0 && claimed_sms[1] == 0) {
// Configure the processor to run dma_handler() when DMA IRQ 0 is asserted
irq_add_shared_handler(DMA_IRQ_0, dma_interrupt_handler, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
irq_set_enabled(DMA_IRQ_0, true);
}
//Keep a record of this cluster for the interrupt callback
clusters[dma_channel] = this;
claimed_sms[pio_idx] |= 1u << sm;
// Manually set the next dma sequence to trigger the first transfer
next_dma_sequence();
initialised = true;
}
}
return initialised;
}
uint8_t PWMCluster::get_chan_count() const {
return channel_count;
}
uint8_t PWMCluster::get_chan_pair_count() const {
return (channel_count / 2);
}
uint8_t PWMCluster::get_chan_pin(uint8_t channel) const {
assert(channel < channel_count);
return channel_to_pin_map[channel];
}
pin_pair PWMCluster::get_chan_pin_pair(uint8_t channel_pair) const {
assert(channel_pair < get_chan_pair_count());
uint8_t channel_base = channel_from_pair(channel_pair);
return pin_pair(channel_to_pin_map[channel_base], channel_to_pin_map[channel_base + 1]);
}
uint8_t PWMCluster::channel_from_pair(uint8_t channel_pair) {
return (channel_pair * 2);
}
uint32_t PWMCluster::get_chan_level(uint8_t channel) const {
assert(channel < channel_count);
return channels[channel].level;
}
void PWMCluster::set_chan_level(uint8_t channel, uint32_t level, bool load) {
assert(channel < channel_count);
channels[channel].level = level;
if(load)
load_pwm();
}
uint32_t PWMCluster::get_chan_offset(uint8_t channel) const {
assert(channel < channel_count);
return channels[channel].offset;
}
void PWMCluster::set_chan_offset(uint8_t channel, uint32_t offset, bool load) {
assert(channel < channel_count);
channels[channel].offset = offset;
if(load)
load_pwm();
}
bool PWMCluster::get_chan_polarity(uint8_t channel) const {
assert(channel < channel_count);
return channels[channel].polarity;
}
void PWMCluster::set_chan_polarity(uint8_t channel, bool polarity, bool load) {
assert(channel < channel_count);
channels[channel].polarity = polarity;
if(load)
load_pwm();
}
uint32_t PWMCluster::get_wrap() const {
return wrap_level;
}
void PWMCluster::set_wrap(uint32_t wrap, bool load) {
wrap_level = MAX(wrap, 1); // Cannot have a wrap of zero!
if(load)
load_pwm();
}
// These apply immediately, so do not obey the PWM update trigger
void PWMCluster::set_clkdiv(float divider) {
pio_sm_set_clkdiv(pio, sm, divider);
}
// These apply immediately, so do not obey the PWM update trigger
void PWMCluster::set_clkdiv_int_frac(uint16_t integer, uint8_t fract) {
pio_sm_set_clkdiv_int_frac(pio, sm, integer, fract);
}
void PWMCluster::load_pwm() {
#ifdef DEBUG_MULTI_PWM
gpio_put(WRITE_GPIO, true);
#endif
uint data_size = 0;
uint looping_data_size = 0;
uint pin_states = 0; // Start with all pins low
// Check if the data we last wrote has been picked up by the DMA yet?
const bool read_since_last_write = (read_index == last_written_index);
// Go through each channel that we are assigned to
for(uint channel = 0; channel < channel_count; channel++) {
ChannelState &state = channels[channel];
// Invert this channel's initial state if it's polarity invert is set
if(state.polarity) {
pin_states |= (1u << channel_to_pin_map[channel]); // Set the pin
}
const uint channel_start = state.offset;
const uint channel_end = (state.offset + state.level);
const uint channel_wrapped_end = channel_end % wrap_level;
// If the data has been read, copy the channel overruns from that sequence. Otherwise, keep the ones we had previously stored.
if(read_since_last_write) {
// This condition was added to deal with cases of load_pwm() being called multiple
// times between DMA reads, and thus loosing memory of the previous sequence's overruns
state.overrun = state.next_overrun;
}
state.next_overrun = 0u; // Always clear the next channel overruns, as we are loading new data
// Did the previous sequence overrun the wrap level?
if(state.overrun > 0) {
// Flip the initial state so the pin starts "high" (or "low" if polarity inverted)
pin_states ^= (1u << channel_to_pin_map[channel]);
// Is our end level before our start level?
if(channel_wrapped_end < channel_start) {
// Yes, so add a transition to "low" (or "high" if polarity inverted) at the end level, rather than the overrun (so our pulse takes effect earlier)
PWMCluster::sorted_insert(transitions, data_size, TransitionData(channel, channel_wrapped_end, state.polarity));
}
else if(state.overrun < channel_start) {
// No, so add a transition to "low" (or "high" if polarity inverted) at the overrun instead
PWMCluster::sorted_insert(transitions, data_size, TransitionData(channel, state.overrun, state.polarity));
}
}
// Is the state level greater than zero, and the start level within the wrap?
if(state.level > 0 && channel_start < wrap_level) {
// Add a transition to "high" (or "low" if polarity inverted) at the start level
PWMCluster::sorted_insert(transitions, data_size, TransitionData(channel, channel_start, !state.polarity));
PWMCluster::sorted_insert(looping_transitions, looping_data_size, TransitionData(channel, channel_start, !state.polarity));
// If the channel has overrun the wrap level, record by how much
if(channel_wrapped_end < channel_start) {
state.next_overrun = channel_wrapped_end;
}
}
// Is the state level within the wrap?
if(state.level < wrap_level) {
// Is the end level within the wrap too?
if(channel_end < wrap_level) {
// Add a transition to "low" (or "high" if polarity inverted) at the end level
PWMCluster::sorted_insert(transitions, data_size, TransitionData(channel, channel_end, state.polarity));
}
// Add a transition to "low" (or "high" if polarity inverted) at the wrapped end level
PWMCluster::sorted_insert(looping_transitions, looping_data_size, TransitionData(channel, channel_wrapped_end, state.polarity));
}
}
#ifdef DEBUG_MULTI_PWM
gpio_put(WRITE_GPIO, false);
#endif
// Introduce "Loading Zone" transitions to the end of the sequence to
// prevent the DMA interrupt firing many milliseconds before the sequence ends.
uint32_t zone_inserts = MIN(LOADING_ZONE_SIZE, wrap_level - LOADING_ZONE_POSITION);
for(uint32_t i = zone_inserts + LOADING_ZONE_POSITION; i > LOADING_ZONE_POSITION; i--) {
PWMCluster::sorted_insert(transitions, data_size, TransitionData(wrap_level - i));
PWMCluster::sorted_insert(looping_transitions, looping_data_size, TransitionData(wrap_level - i));
}
#ifdef DEBUG_MULTI_PWM
gpio_put(WRITE_GPIO, true);
#endif
// Read | Last W = Write
// 0 | 0 = 1 (or 2)
// 0 | 1 = 2
// 0 | 2 = 1
// 1 | 0 = 2
// 1 | 1 = 2 (or 0)
// 1 | 2 = 0
// 2 | 0 = 1
// 2 | 1 = 0
// 2 | 2 = 0 (or 1)
// Choose the write index based on the read and last written indices (using the above table)
uint write_index = (read_index + 1) % NUM_BUFFERS;
if(write_index == last_written_index) {
write_index = (write_index + 1) % NUM_BUFFERS;
}
populate_sequence(transitions, data_size, sequences[write_index], pin_states);
populate_sequence(looping_transitions, looping_data_size, loop_sequences[write_index], pin_states);
// Update the last written index so that the next DMA interrupt picks up the new sequence
last_written_index = write_index;
#ifdef DEBUG_MULTI_PWM
gpio_put(WRITE_GPIO, false);
#endif
}
// Derived from the rp2 Micropython implementation: https://github.com/micropython/micropython/blob/master/ports/rp2/machine_pwm.c
bool PWMCluster::calculate_pwm_factors(float freq, uint32_t& top_out, uint32_t& div256_out) {
bool success = false;
uint32_t source_hz = clock_get_hz(clk_sys) / PWM_CLUSTER_CYCLES;
// Check the provided frequency is valid
if((freq >= 0.01f) && (freq <= (float)(source_hz >> 1))) {
uint64_t div256_top = (uint64_t)((float)((uint64_t)source_hz << 8) / freq);
uint64_t top = 1;
while(true) {
// Try a few small prime factors to get close to the desired frequency.
if((div256_top >= (11 << 8)) && (div256_top % 11 == 0) && (top * 11 <= MAX_PWM_CLUSTER_WRAP)) {
div256_top /= 11;
top *= 11;
}
else if((div256_top >= (7 << 8)) && (div256_top % 7 == 0) && (top * 7 <= MAX_PWM_CLUSTER_WRAP)) {
div256_top /= 7;
top *= 7;
}
else if((div256_top >= (5 << 8)) && (div256_top % 5 == 0) && (top * 5 <= MAX_PWM_CLUSTER_WRAP)) {
div256_top /= 5;
top *= 5;
}
else if((div256_top >= (3 << 8)) && (div256_top % 3 == 0) && (top * 3 <= MAX_PWM_CLUSTER_WRAP)) {
div256_top /= 3;
top *= 3;
}
else if((div256_top >= (2 << 8)) && (top * 2 <= MAX_PWM_CLUSTER_WRAP)) {
div256_top /= 2;
top *= 2;
}
else {
break;
}
}
// Only return valid factors if the divisor is actually achievable
if(div256_top >= 256 && div256_top <= (UINT8_MAX << 8)) {
top_out = top;
div256_out = div256_top;
success = true;
}
}
return success;
}
bool PWMCluster::bit_in_mask(uint bit, uint mask) {
return ((1u << bit) & mask) != 0;
}
void PWMCluster::sorted_insert(TransitionData array[], uint &size, const TransitionData &data) {
uint i = size;
for(; (i > 0 && array[i - 1].level > data.level); i--) {
array[i] = array[i - 1];
}
array[i] = data;
size++;
}
void PWMCluster::populate_sequence(const TransitionData transitions[], const uint &data_size, Sequence &seq_out, uint &pin_states_in_out) const {
seq_out.size = 0; // Reset the sequence, otherwise we end up appending and weird things happen
if(data_size > 0) {
uint data_index = 0;
uint current_level = 0;
// Populate the selected write sequence with pin states and delays
while(data_index < data_size) {
uint next_level = wrap_level; // Set the next level to be the wrap, initially
do {
const TransitionData &transition = transitions[data_index];
// Is the level of this transition at the current level being checked?
if(transition.level <= current_level) {
// Yes, so add the transition state to the pin states mask, if it's not a dummy transition
if(!transition.dummy) {
if(transition.state)
pin_states_in_out |= (1u << channel_to_pin_map[transition.channel]);
else
pin_states_in_out &= ~(1u << channel_to_pin_map[transition.channel]);
}
data_index++; // Move on to the next transition
}
else {
// No, it is higher, so set it as our next level and break out of the loop
next_level = transition.level;
break;
}
} while(data_index < data_size);
// Add the transition to the sequence
seq_out.data[seq_out.size].mask = pin_states_in_out;
seq_out.data[seq_out.size].delay = (next_level - current_level) - 1;
seq_out.size++;
current_level = next_level;
}
}
else {
// There were no transitions (either because there was a zero wrap, or no channels because there was a zero wrap?),
// so initialise the sequence with something, so the PIO functions correctly
seq_out.data[seq_out.size].mask = 0u;
seq_out.data[seq_out.size].delay = wrap_level - 1;
seq_out.size++;
}
}
}
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