mirror of https://github.com/ARMmbed/mbed-os.git
Merge pull request #356 from tkuyucu/master
[NRF] PWM issue solved when Softdevice is runningpull/357/head
Martin Kojtal
commit
fb13a684ae
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@ -19,8 +19,9 @@
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#include "pinmap.h"
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#include "error.h"
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#define NO_PWMS 2
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#define NO_PWMS 3
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#define TIMER_PRECISION 4 //4us ticks
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#define TIMER_PRESCALER 6 //4us ticks = 16Mhz/(2**6)
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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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@ -58,71 +59,56 @@ static NRF_TIMER_Type *Timers[1] = {
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NRF_TIMER2
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};
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uint8_t PWM_taken[NO_PWMS] = {0,0};
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uint16_t PERIOD[NO_PWMS] = {2500,2500};//20ms
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uint16_t PULSE_WIDTH[NO_PWMS] = {1,1};//set to 1 instead of 0
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uint16_t ACTUAL_PULSE[NO_PWMS] = {0,0};
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uint16_t PERIOD = 20000/TIMER_PRECISION;//20ms
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uint8_t PWM_taken[NO_PWMS] = {0,0,0};
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uint16_t PULSE_WIDTH[NO_PWMS] = {1,1,1};//set to 1 instead of 0
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uint16_t ACTUAL_PULSE[NO_PWMS] = {0,0,0};
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/** @brief Function for handling timer 2 peripheral interrupts.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#endif
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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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NRF_TIMER2->EVENTS_COMPARE[3] = 0;
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NRF_TIMER2->CC[3] = PERIOD;
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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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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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if(PWM_taken[0]){
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NRF_TIMER2->CC[0] = PULSE_WIDTH[0];
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}
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if(PWM_taken[1]){
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NRF_TIMER2->CC[1] = PULSE_WIDTH[1];
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}
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if(PWM_taken[2]){
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NRF_TIMER2->CC[2] = PULSE_WIDTH[2];
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}
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NRF_TIMER2->TASKS_START = 1;
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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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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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#ifdef __cplusplus
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}
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#endif
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#endif
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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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NRF_TIMER_Type *timer = Timers[0];
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timer->TASKS_STOP = 0;
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if(pwmChoice == 0){
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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->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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timer->PRESCALER = TIMER_PRESCALER;
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timer->CC[3] = PERIOD;
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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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timer->CC[pwmChoice] = PULSE_WIDTH[pwmChoice];
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//high priority application interrupt
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NVIC_SetPriority(TIMER2_IRQn, 1);
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NVIC_EnableIRQ(TIMER2_IRQn);
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@ -149,35 +135,35 @@ void gpiote_init(PinName pin,uint8_t channel_number)
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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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__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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/* 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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((uint32_t)GPIOTE_CONFIG_OUTINIT_Low << GPIOTE_CONFIG_OUTINIT_Pos);// ((uint32_t)GPIOTE_CONFIG_OUTINIT_High << 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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__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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//using ppi channels 0-3 (0-7 are available)
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//using ppi channels 0-7 (only 0-7 are available)
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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_TIMER_Type *timer = Timers[0];
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// Configure PPI channel 0 to toggle ADVERTISING_LED_PIN_NO on every TIMER1 COMPARE[0] match
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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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NRF_PPI->CH[channel_number].EEP = (uint32_t)&timer->EVENTS_COMPARE[pwm];
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NRF_PPI->CH[channel_number+1].EEP = (uint32_t)&timer->EVENTS_COMPARE[3];
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// Enable PPI channels.
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NRF_PPI->CHEN |= (1 << channel_number)
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@ -214,9 +200,8 @@ 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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MBED_ASSERT(pwm != (PWMName)NC);
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if(PWM_taken[(uint8_t)pwm]){
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for(uint8_t i = 1; !pwmOutSuccess && (i<NO_PWMS) ;i++){
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@ -261,30 +246,37 @@ void pwmout_free(pwmout_t* obj) {
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void pwmout_write(pwmout_t* obj, float value) {
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uint16_t oldPulseWidth;
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NRF_TIMER2->EVENTS_COMPARE[3] = 0;
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NRF_TIMER2->TASKS_STOP = 1;
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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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}
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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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ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = value* PERIOD;
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if(PULSE_WIDTH[obj->pwm] == 0){
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PULSE_WIDTH[obj->pwm] = 1;
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setModulation(obj,0,0);
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setModulation(obj,0,0);
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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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else if(PULSE_WIDTH[obj->pwm] == PERIOD){
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PULSE_WIDTH[obj->pwm] = PERIOD-1;
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setModulation(obj,0,1);
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}
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else if( (oldPulseWidth == 0) || (oldPulseWidth == PERIOD[obj->pwm]) ){
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setModulation(obj,1,oldPulseWidth == PERIOD[obj->pwm]);
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}
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else if( (oldPulseWidth == 0) || (oldPulseWidth == PERIOD) ){
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setModulation(obj,1,oldPulseWidth == PERIOD);
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}
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NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk;
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NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk;
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NRF_TIMER2->TASKS_START = 1;
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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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return ((float)PULSE_WIDTH[obj->pwm]/(float)PERIOD);
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}
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void pwmout_period(pwmout_t* obj, float seconds) {
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@ -297,18 +289,24 @@ void pwmout_period_ms(pwmout_t* obj, int ms) {
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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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uint32_t periodInTicks = us/TIMER_PRECISION;
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NRF_TIMER2->EVENTS_COMPARE[3] = 0;
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NRF_TIMER2->TASKS_STOP = 1;
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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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PERIOD = (1<<16 )-1;//131ms
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}
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else if(periodInTicks<5){
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PERIOD[obj->pwm] = 5;
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PERIOD = 5;
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}
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else{
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PERIOD[obj->pwm] =periodInTicks;
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PERIOD =periodInTicks;
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}
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NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk;
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NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk;
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NRF_TIMER2->TASKS_START = 1;
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}
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void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
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@ -320,20 +318,26 @@ void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
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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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uint32_t pulseInTicks = us/TIMER_PRECISION;
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uint16_t oldPulseWidth = ACTUAL_PULSE[obj->pwm];
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NRF_TIMER2->EVENTS_COMPARE[3] = 0;
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NRF_TIMER2->TASKS_STOP = 1;
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ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = pulseInTicks;
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if(PULSE_WIDTH[obj->pwm] == 0){
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PULSE_WIDTH[obj->pwm] = 1;
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setModulation(obj,0,0);
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setModulation(obj,0,0);
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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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else if(PULSE_WIDTH[obj->pwm] == PERIOD){
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PULSE_WIDTH[obj->pwm] = PERIOD-1;
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setModulation(obj,0,1);
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}
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else if( (oldPulseWidth == 0) || (oldPulseWidth == PERIOD[obj->pwm]) ){
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setModulation(obj,1,oldPulseWidth == PERIOD[obj->pwm]);
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}
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else if( (oldPulseWidth == 0) || (oldPulseWidth == PERIOD) ){
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setModulation(obj,1,oldPulseWidth == PERIOD);
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}
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NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk;
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NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk;
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NRF_TIMER2->TASKS_START = 1;
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}
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