mirror of https://github.com/ARMmbed/mbed-os.git
SPISlave works. pwm_out works but needs more work to properly implement 0 pulse and 100% pulse.
tkuyucu
parent
c845f39c50
commit
4ba79b77b4
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@ -0,0 +1,351 @@
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/* mbed Microcontroller Library
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* Copyright (c) 2006-2013 ARM Limited
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "pwmout_api.h"
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#include "cmsis.h"
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#include "pinmap.h"
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#include "error.h"
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static const PinMap PinMap_PWM[] = {
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{p0, PWM_1, 1},
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{p1, PWM_1, 1},
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{p2, PWM_1, 1},
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{p3, PWM_1, 1},
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{p4, PWM_1, 1},
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{p5, PWM_1, 1},
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{p6, PWM_1, 1},
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{p7, PWM_1, 1},
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{p8, PWM_1, 1},
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{p9, PWM_1, 1},
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{p10, PWM_1, 1},
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{p11, PWM_1, 1},
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{p12, PWM_1, 1},
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{p13, PWM_1, 1},
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{p14, PWM_1, 1},
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{p15, PWM_1, 1},
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{p16, PWM_1, 1},
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{p17, PWM_1, 1},
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{p18, PWM_1, 1},
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{p19, PWM_1, 1},
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{p20, PWM_1, 1},
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{p21, PWM_1, 1},
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{p22, PWM_1, 1},
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{p23, PWM_1, 1},
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{p24, PWM_1, 1},
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{p25, PWM_1, 1},
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{p26, PWM_1, 1},
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{p27, PWM_1, 1},
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{p28, PWM_1, 1},
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{p29, PWM_1, 1},
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{p30, PWM_1, 1},
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{NC, NC, 0}
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};
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static NRF_TIMER_Type *Timers[2] = {
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NRF_TIMER2, NRF_TIMER1
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};
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uint8_t PWM_taken[4] = {0,0,0,0};
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uint16_t PERIOD[4] = {2500,2500,2500,2500};//20ms
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uint16_t PULSE_WIDTH[4] ={1,1,1,1};//set to 1 instead of 0
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uint16_t ACTUAL_PULSE[4] = {0,0,0,0};
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/** @brief Function for handling timer 1 peripheral interrupts.
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*/
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void TIMER1_IRQHandler(void)
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{
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static uint16_t CCVal1=2501;//PERIOD[2] + 1;
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static uint16_t CCVal2=2501;//PERIOD[3] + 1;
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if ((NRF_TIMER1->EVENTS_COMPARE[1] != 0) &&
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((NRF_TIMER1->INTENSET & TIMER_INTENSET_COMPARE1_Msk) != 0))
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{
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NRF_TIMER1->CC[0] = CCVal1;
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NRF_TIMER1->EVENTS_COMPARE[1] = 0;
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NRF_TIMER1->CC[1] = (NRF_TIMER1->CC[1] + PERIOD[2]);
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CCVal1 = NRF_TIMER1->CC[1] + PULSE_WIDTH[2];
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}
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if ((NRF_TIMER1->EVENTS_COMPARE[3] != 0) &&
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((NRF_TIMER1->INTENSET & TIMER_INTENSET_COMPARE3_Msk) != 0))
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{
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NRF_TIMER1->CC[2] = CCVal2;
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NRF_TIMER1->EVENTS_COMPARE[3] = 0;
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NRF_TIMER1->CC[3] = (NRF_TIMER1->CC[3] + PERIOD[3]);
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CCVal2 = NRF_TIMER1->CC[3] + PULSE_WIDTH[3];
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}
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}
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/** @brief Function for handling timer 2 peripheral interrupts.
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*/
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void TIMER2_IRQHandler(void)
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{
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static uint16_t CCVal1=2501;
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static uint16_t CCVal2=2501;
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if ((NRF_TIMER2->EVENTS_COMPARE[1] != 0) &&
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((NRF_TIMER2->INTENSET & TIMER_INTENSET_COMPARE1_Msk) != 0))
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{
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NRF_TIMER2->CC[0] = CCVal1;
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NRF_TIMER2->EVENTS_COMPARE[1] = 0;
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NRF_TIMER2->CC[1] = (NRF_TIMER2->CC[1] + PERIOD[0]);
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CCVal1 = NRF_TIMER2->CC[1] + PULSE_WIDTH[0];
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}
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if ((NRF_TIMER2->EVENTS_COMPARE[3] != 0) &&
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((NRF_TIMER2->INTENSET & TIMER_INTENSET_COMPARE3_Msk) != 0))
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{
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NRF_TIMER2->CC[2] = CCVal2;
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NRF_TIMER2->EVENTS_COMPARE[3] = 0;
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NRF_TIMER2->CC[3] = (NRF_TIMER2->CC[3] + PERIOD[1]);
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CCVal2 = NRF_TIMER2->CC[3] + PULSE_WIDTH[1];
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}
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}
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/** @brief Function for initializing the Timer peripherals.
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*/
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void timer_init(uint8_t pwmChoice)
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{
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NRF_TIMER_Type *timer = Timers[pwmChoice/2];
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if(!(pwmChoice%2)){
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timer->POWER = 0;
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timer->POWER = 1;
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timer->MODE = TIMER_MODE_MODE_Timer;
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timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit << TIMER_BITMODE_BITMODE_Pos;
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timer->PRESCALER = 7;//8us ticks
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}
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if(pwmChoice%2){
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timer->CC[2] = PERIOD[pwmChoice] + PULSE_WIDTH[pwmChoice];
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timer->CC[3] = PERIOD[pwmChoice];
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// Interrupt setup.
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timer->INTENSET = (TIMER_INTENSET_COMPARE3_Enabled << TIMER_INTENSET_COMPARE3_Pos);
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}
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else{
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timer->CC[0] = PERIOD[pwmChoice] + PULSE_WIDTH[pwmChoice];
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timer->CC[1] = PERIOD[pwmChoice];
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// Interrupt setup.
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timer->INTENSET |= (TIMER_INTENSET_COMPARE1_Enabled << TIMER_INTENSET_COMPARE1_Pos);
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}
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if(pwmChoice<2){
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NVIC_EnableIRQ(TIMER2_IRQn);
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}
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else{
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NVIC_EnableIRQ(TIMER1_IRQn);
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}
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//__enable_irq();
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timer->TASKS_START = 0x01;
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}
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/** @brief Function for initializing the GPIO Tasks/Events peripheral.
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*/
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void gpiote_init(PinName pin,uint8_t channel_number)
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{
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// Connect GPIO input buffers and configure PWM_OUTPUT_PIN_NUMBER as an output.
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NRF_GPIO->PIN_CNF[pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
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| (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
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| (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
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| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
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| (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
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NRF_GPIO->OUTCLR = (1UL << pin);
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// Configure GPIOTE channel 0 to toggle the PWM pin state
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// @note Only one GPIOTE task can be connected to an output pin.
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/* Configure channel to Pin31, not connected to the pin, and configure as a tasks that will set it to proper level */
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NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
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(31UL << GPIOTE_CONFIG_PSEL_Pos) |
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(GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos);
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/* Three NOPs are required to make sure configuration is written before setting tasks or getting events */
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__NOP();
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__NOP();
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__NOP();
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/* Launch the task to take the GPIOTE channel output to the desired level */
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NRF_GPIOTE->TASKS_OUT[channel_number] = 1;
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/* Finally configure the channel as the caller expects. If OUTINIT works, the channel is configured properly.
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If it does not, the channel output inheritance sets the proper level. */
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NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
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((uint32_t)pin << GPIOTE_CONFIG_PSEL_Pos) |
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((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos) |
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((uint32_t)GPIOTE_CONFIG_OUTINIT_Low << GPIOTE_CONFIG_OUTINIT_Pos);
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/* Three NOPs are required to make sure configuration is written before setting tasks or getting events */
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__NOP();
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__NOP();
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__NOP();
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}
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/** @brief Function for initializing the Programmable Peripheral Interconnect peripheral.
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*/
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static void ppi_init(uint8_t pwm)
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{
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uint8_t channel_number = 2*pwm;
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NRF_TIMER_Type *timer = Timers[pwm/2];
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NRF_PPI->CH[channel_number].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm];
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NRF_PPI->CH[channel_number+1].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm];
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NRF_PPI->CH[channel_number].EEP = (uint32_t)&timer->EVENTS_COMPARE[channel_number-(4*(channel_number/4))];
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NRF_PPI->CH[channel_number+1].EEP = (uint32_t)&timer->EVENTS_COMPARE[channel_number+1-(4*(channel_number/4))];
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// Enable PPI channels.
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NRF_PPI->CHEN |= (1 << channel_number)
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| (1 << (channel_number+1));
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}
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void changeTimerIRQ(pwmout_t* obj,uint8_t enable)
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{
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NRF_TIMER_Type *timer = Timers[obj->pwm/2];
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if(obj->pwm%2){
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if(enable){
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timer->INTENSET |= (TIMER_INTENSET_COMPARE3_Enabled << TIMER_INTENSET_COMPARE3_Pos);
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}
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else{
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timer->INTENSET &= ~(TIMER_INTENSET_COMPARE3_Enabled << TIMER_INTENSET_COMPARE3_Pos);
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}
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}
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else{
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if(enable){
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timer->INTENSET |= (TIMER_INTENSET_COMPARE1_Enabled << TIMER_INTENSET_COMPARE1_Pos);
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}
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else{
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timer->INTENSET &= ~(TIMER_INTENSET_COMPARE1_Enabled << TIMER_INTENSET_COMPARE1_Pos);
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}
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}
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}
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void pwmout_init(pwmout_t* obj, PinName pin) {
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// determine the channel
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uint8_t pwmOutSuccess=0;
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PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
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if (pwm == (PWMName)NC)
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error("PwmOut pin mapping failed");
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if(PWM_taken[(uint8_t)pwm]){
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for(uint8_t i=1;!pwmOutSuccess && i<4;i++){
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if(!PWM_taken[i]){
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pwm = (PWMName)i;
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PWM_taken[i]=1;
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pwmOutSuccess=1;
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}
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}
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}
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else
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{
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pwmOutSuccess=1;
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PWM_taken[(uint8_t)pwm] =1;
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}
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if(!pwmOutSuccess){
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error("PwmOut pin mapping failed. All available PWM channels are in use.");
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}
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obj->pwm = pwm;
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obj->pin = pin;
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gpiote_init(pin,(uint8_t)pwm);
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ppi_init((uint8_t)pwm);
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if(pwm==0)
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NRF_POWER->TASKS_CONSTLAT = 1;
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timer_init((uint8_t)pwm);
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// default to 20ms: standard for servos, and fine for e.g. brightness control
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pwmout_period_ms(obj, 20);
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pwmout_write (obj, 0);
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}
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void pwmout_free(pwmout_t* obj) {
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// [TODO]
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}
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void pwmout_write(pwmout_t* obj, float value) {
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if (value < 0.0f) {
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value = 0.0;
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} else if (value > 1.0f) {
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value = 1.0;
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}
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uint16_t oldPulseWidth = ACTUAL_PULSE[obj->pwm];
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ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = value* PERIOD[obj->pwm];
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if(PULSE_WIDTH[obj->pwm]==0){
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PULSE_WIDTH[obj->pwm]=1;
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// NRF_GPIOTE->CONFIG[obj->pwm] &= ~(((uint32_t)GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos) |
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// ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos));
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// NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos);
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}
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else if(PULSE_WIDTH[obj->pwm]==PERIOD[obj->pwm]){
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PULSE_WIDTH[obj->pwm]=PERIOD[obj->pwm]-1;
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//NRF_GPIOTE->CONFIG[obj->pwm] &= ~(((uint32_t)GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos) |
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// ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos));
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// NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos);
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}
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else if(oldPulseWidth==0 || oldPulseWidth== PERIOD[obj->pwm])
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{
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//changeTimerIRQ(obj,1);
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//NRF_GPIO->OUTSET = (1UL << obj->pin);
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// NRF_GPIOTE->CONFIG[obj->pwm] &= ~(((uint32_t)GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos) |
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// ((uint32_t)GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos));
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//NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos);
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}
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}
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float pwmout_read(pwmout_t* obj) {
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return ((float)PULSE_WIDTH[obj->pwm]/(float)PERIOD[obj->pwm]);
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}
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void pwmout_period(pwmout_t* obj, float seconds) {
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pwmout_period_us(obj, seconds * 1000000.0f);
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}
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void pwmout_period_ms(pwmout_t* obj, int ms) {
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pwmout_period_us(obj, ms * 1000);
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}
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// Set the PWM period, keeping the duty cycle the same.
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void pwmout_period_us(pwmout_t* obj, int us) {
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uint32_t periodInTicks = us/8;
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if(periodInTicks>(1<<16 -1))
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{
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PERIOD[obj->pwm] = 1<<16 -1;//262ms
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}
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else if(periodInTicks<5){
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PERIOD[obj->pwm] = 5;
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}
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else{
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PERIOD[obj->pwm] =periodInTicks;
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}
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}
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void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
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pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
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}
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void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
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pwmout_pulsewidth_us(obj, ms * 1000);
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}
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void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
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uint32_t pulseInTicks = us/8;
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if(pulseInTicks>0){
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PULSE_WIDTH[obj->pwm] = 1;
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}
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else if(pulseInTicks>=PERIOD[obj->pwm]){
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PULSE_WIDTH[obj->pwm] = PERIOD[obj->pwm]-1;
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}
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else{
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PULSE_WIDTH[obj->pwm] =pulseInTicks;
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}
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}
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