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https://github.com/licsber/micropython.git
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a1f838cdf1
This is a breaking change, making the hardware PWM on the nrf port compatible with the other ports providing machine.PWM. Frequency range 4Hz - ~5.4 MHz. The base clock range is 125kHz to 16 MHz, and the divider range is 3 - 32767. The hardware supports up to four outputs per PWM device with different duty cycles, but only one output is (and was) supported.
371 lines
12 KiB
C
371 lines
12 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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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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*
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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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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdio.h>
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#include <string.h>
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#include "py/nlr.h"
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#include "py/runtime.h"
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#include "py/mphal.h"
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#if MICROPY_PY_MACHINE_HW_PWM
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#include "pin.h"
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#include "genhdr/pins.h"
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#include "pwm.h"
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#if defined(NRF52_SERIES)
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// Use PWM hardware.
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#include "nrfx_pwm.h"
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#endif
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#define PWM_MAX_BASE_FREQ (16000000)
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#define PWM_MIN_BASE_FREQ (125000)
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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_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_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 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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bool defer_start;
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uint32_t duty;
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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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} machine_pwm_obj_t;
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STATIC const nrfx_pwm_t machine_hard_pwm_instances[] = {
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#if defined(NRF52_SERIES)
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NRFX_PWM_INSTANCE(0),
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NRFX_PWM_INSTANCE(1),
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NRFX_PWM_INSTANCE(2),
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#if NRF52840
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NRFX_PWM_INSTANCE(3),
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#endif
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#endif
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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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#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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#endif
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#endif
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};
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void pwm_init0(void) {
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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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}
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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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}
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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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}
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/******************************************************************************/
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/* MicroPython bindings for machine API */
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STATIC void machine_hard_pwm_start(const machine_pwm_obj_t *self);
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STATIC void mp_machine_pwm_deinit(const machine_pwm_obj_t *self);
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STATIC void mp_machine_pwm_freq_set(const machine_pwm_obj_t *self, mp_int_t freq);
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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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STATIC void mp_machine_pwm_duty_set_u16(const machine_pwm_obj_t *self, mp_int_t duty_u16);
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STATIC void mp_machine_pwm_duty_set_ns(const machine_pwm_obj_t *self, mp_int_t duty_ns);
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_pin, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_duty, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_duty_u16, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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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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};
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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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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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self->p_config->defer_start = true;
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if (args[ARG_freq].u_int != -1) {
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mp_machine_pwm_freq_set(self, args[ARG_freq].u_int);
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}
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if (args[ARG_duty].u_int != -1) {
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mp_machine_pwm_duty_set(self, args[ARG_duty].u_int);
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}
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if (args[ARG_duty_u16].u_int != -1) {
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mp_machine_pwm_duty_set_u16(self, args[ARG_duty_u16].u_int);
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}
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if (args[ARG_duty_ns].u_int != -1) {
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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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}
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self->p_config->defer_start = false;
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machine_hard_pwm_start(self);
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}
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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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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// check if the PWM pin is given.
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int pwm_pin;
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if (args[ARG_pin].u_obj != MP_OBJ_NULL) {
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pwm_pin = mp_hal_get_pin_obj(args[ARG_pin].u_obj)->pin;
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} else {
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mp_raise_ValueError(MP_ERROR_TEXT("Pin missing"));
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}
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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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}
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} else {
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pwm_id = hard_pwm_find(pwm_pin);
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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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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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mp_map_init_fixed_table(&kw_args, n_kw, all_args + n_args);
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mp_machine_pwm_init_helper(self, n_args, all_args, &kw_args);
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return MP_OBJ_FROM_PTR(self);
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}
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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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}
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}
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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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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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STATIC mp_obj_t mp_machine_pwm_freq_get(const machine_pwm_obj_t *self) {
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return MP_OBJ_NEW_SMALL_INT(self->p_config->freq);
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}
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STATIC void mp_machine_pwm_freq_set(const machine_pwm_obj_t *self, mp_int_t freq) {
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uint8_t div = 0;
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if (freq > (PWM_MAX_BASE_FREQ / 3) || freq <= (PWM_MIN_BASE_FREQ / PWM_MAX_PERIOD)) {
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mp_raise_ValueError(MP_ERROR_TEXT("frequency out of range"));
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}
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for (div = 0; div < 8; div++) {
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if (PWM_MAX_BASE_FREQ / (1 << div) / freq < PWM_MAX_PERIOD) {
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break;
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}
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}
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self->p_config->freq_div = div;
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self->p_config->freq = freq;
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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(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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} 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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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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} 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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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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} 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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machine_hard_pwm_start(self);
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}
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/* code for hard implementation ***********************************************/
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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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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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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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config.irq_priority = 6;
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config.base_clock = self->p_config->freq_div;
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config.count_mode = NRF_PWM_MODE_UP;
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config.top_value = period;
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config.load_mode = NRF_PWM_LOAD_INDIVIDUAL;
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config.step_mode = NRF_PWM_STEP_AUTO;
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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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nrfx_pwm_init(self->p_pwm, &config, NULL, NULL);
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uint16_t pulse_width;
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if (self->p_config->duty_mode == DUTY_PERCENT) {
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pulse_width = ((period * self->p_config->duty) / 100);
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} else if (self->p_config->duty_mode == DUTY_U16) {
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pulse_width = ((period * self->p_config->duty) / 65536);
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}
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if (self->p_config->duty_mode == DUTY_NS) {
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pulse_width = (uint64_t)self->p_config->duty * tick_freq / 1000000000ULL;
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}
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// TODO: Move DMA buffer to global memory.
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volatile static uint16_t pwm_seq[4];
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if (self->p_config->mode == MODE_HIGH_LOW) {
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pwm_seq[0] = 0x8000 | pulse_width;
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} else {
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pwm_seq[0] = pulse_width;
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}
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// Outputs 1..3 are not used for now
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// pwm_seq[1] = 0x8000 | pulse_width;
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// pwm_seq[2] = 0x8000 | pulse_width;
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// pwm_seq[3] = 0x8000 | pulse_width;
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const nrf_pwm_sequence_t pwm_sequence = {
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.values.p_raw = (const uint16_t *)&pwm_seq,
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.length = 4,
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.repeats = 0,
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.end_delay = 0
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};
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nrfx_pwm_simple_playback(self->p_pwm,
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&pwm_sequence,
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0, // Loop disabled.
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0);
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}
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#endif // MICROPY_PY_MACHINE_HW_PWM
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