kopia lustrzana https://github.com/micropython/micropython
352 wiersze
12 KiB
C
352 wiersze
12 KiB
C
/*
|
|
* This file is part of the MicroPython project, http://micropython.org/
|
|
*
|
|
* The MIT License (MIT)
|
|
*
|
|
* Copyright (c) 2016-2018 Glenn Ruben Bakke
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
* of this software and associated documentation files (the "Software"), to deal
|
|
* in the Software without restriction, including without limitation the rights
|
|
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the Software is
|
|
* furnished to do so, subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in
|
|
* all copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
* THE SOFTWARE.
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
|
|
#include "py/nlr.h"
|
|
#include "py/runtime.h"
|
|
#include "py/mphal.h"
|
|
|
|
#if MICROPY_PY_MACHINE_HW_PWM
|
|
|
|
#include "pin.h"
|
|
#include "genhdr/pins.h"
|
|
#include "pwm.h"
|
|
|
|
#if defined(NRF52_SERIES)
|
|
// Use PWM hardware.
|
|
#include "nrfx_pwm.h"
|
|
#endif
|
|
|
|
typedef enum {
|
|
MODE_LOW_HIGH,
|
|
MODE_HIGH_LOW
|
|
} pwm_mode_t;
|
|
|
|
typedef struct {
|
|
uint8_t pwm_pin;
|
|
uint8_t duty;
|
|
uint16_t pulse_width;
|
|
uint16_t period;
|
|
nrf_pwm_clk_t freq;
|
|
pwm_mode_t mode;
|
|
} machine_pwm_config_t;
|
|
|
|
typedef struct _machine_hard_pwm_obj_t {
|
|
mp_obj_base_t base;
|
|
const nrfx_pwm_t * p_pwm;
|
|
machine_pwm_config_t * p_config;
|
|
} machine_hard_pwm_obj_t;
|
|
|
|
STATIC const nrfx_pwm_t machine_hard_pwm_instances[] = {
|
|
#if defined(NRF52_SERIES)
|
|
NRFX_PWM_INSTANCE(0),
|
|
NRFX_PWM_INSTANCE(1),
|
|
NRFX_PWM_INSTANCE(2),
|
|
#if NRF52840
|
|
NRFX_PWM_INSTANCE(3),
|
|
#endif
|
|
#endif
|
|
};
|
|
|
|
STATIC machine_pwm_config_t hard_configs[MP_ARRAY_SIZE(machine_hard_pwm_instances)];
|
|
|
|
STATIC const machine_hard_pwm_obj_t machine_hard_pwm_obj[] = {
|
|
#if defined(NRF52_SERIES)
|
|
{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[0], .p_config = &hard_configs[0]},
|
|
{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[1], .p_config = &hard_configs[1]},
|
|
{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[2], .p_config = &hard_configs[2]},
|
|
#if NRF52840
|
|
{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[3], .p_config = &hard_configs[3]},
|
|
#endif
|
|
#endif
|
|
};
|
|
|
|
void pwm_init0(void) {
|
|
}
|
|
|
|
|
|
STATIC int hard_pwm_find(mp_obj_t id) {
|
|
if (mp_obj_is_int(id)) {
|
|
// given an integer id
|
|
int pwm_id = mp_obj_get_int(id);
|
|
if (pwm_id >= 0 && pwm_id < MP_ARRAY_SIZE(machine_hard_pwm_obj)) {
|
|
return pwm_id;
|
|
}
|
|
mp_raise_ValueError(MP_ERROR_TEXT("PWM doesn't exist"));
|
|
}
|
|
return -1;
|
|
}
|
|
|
|
STATIC void machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
|
|
machine_hard_pwm_obj_t *self = self_in;
|
|
mp_printf(print, "PWM(%u)", self->p_pwm->drv_inst_idx);
|
|
}
|
|
|
|
/******************************************************************************/
|
|
/* MicroPython bindings for machine API */
|
|
|
|
STATIC mp_obj_t machine_hard_pwm_make_new(mp_arg_val_t *args);
|
|
STATIC void machine_hard_pwm_init(mp_obj_t self, mp_arg_val_t *args);
|
|
STATIC void machine_hard_pwm_deinit(mp_obj_t self);
|
|
STATIC mp_obj_t machine_hard_pwm_freq(mp_obj_t self, mp_arg_val_t *args);
|
|
|
|
/* common code for both soft and hard implementations *************************/
|
|
|
|
STATIC mp_obj_t machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
|
|
enum { ARG_id, ARG_pin, ARG_freq, ARG_period, ARG_duty, ARG_pulse_width, ARG_mode };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_id, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)} },
|
|
{ MP_QSTR_pin, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
|
|
{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
|
|
{ MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
|
|
{ MP_QSTR_duty, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
|
|
{ MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
|
|
{ MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
|
|
};
|
|
|
|
// parse args
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
if (args[ARG_id].u_obj == MP_OBJ_NEW_SMALL_INT(-1)) {
|
|
// TODO: implement soft PWM
|
|
// return machine_soft_pwm_make_new(args);
|
|
return mp_const_none;
|
|
} else {
|
|
// hardware peripheral id given
|
|
return machine_hard_pwm_make_new(args);
|
|
}
|
|
}
|
|
|
|
STATIC mp_obj_t machine_pwm_init(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_INIT_pin };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }
|
|
};
|
|
|
|
// parse args
|
|
mp_obj_t self = pos_args[0];
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
// dispatch to specific implementation
|
|
if (mp_obj_get_type(self) == &machine_hard_pwm_type) {
|
|
machine_hard_pwm_init(self, args);
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pwm_init_obj, 1, machine_pwm_init);
|
|
|
|
STATIC mp_obj_t machine_pwm_deinit(mp_obj_t self) {
|
|
// dispatch to specific implementation
|
|
if (mp_obj_get_type(self) == &machine_hard_pwm_type) {
|
|
machine_hard_pwm_deinit(self);
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pwm_deinit_obj, machine_pwm_deinit);
|
|
|
|
STATIC mp_obj_t machine_pwm_freq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_FREQ_freq };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_freq, MP_ARG_INT, {.u_int = -1} },
|
|
};
|
|
|
|
mp_obj_t self = pos_args[0];
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
if (mp_obj_get_type(self) == &machine_hard_pwm_type) {
|
|
machine_hard_pwm_freq(self, args);
|
|
} else {
|
|
// soft pwm
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(mp_machine_pwm_freq_obj, 1, machine_pwm_freq);
|
|
|
|
STATIC mp_obj_t machine_pwm_period(size_t n_args, const mp_obj_t *args) {
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_pwm_period_obj, 1, 2, machine_pwm_period);
|
|
|
|
STATIC mp_obj_t machine_pwm_duty(size_t n_args, const mp_obj_t *args) {
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_pwm_duty_obj, 1, 2, machine_pwm_duty);
|
|
|
|
STATIC const mp_rom_map_elem_t machine_pwm_locals_dict_table[] = {
|
|
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_pwm_init_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&machine_pwm_deinit_obj) },
|
|
|
|
{ MP_ROM_QSTR(MP_QSTR_freq), MP_ROM_PTR(&mp_machine_pwm_freq_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_period), MP_ROM_PTR(&mp_machine_pwm_period_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_duty), MP_ROM_PTR(&mp_machine_pwm_duty_obj) },
|
|
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_16MHZ), MP_ROM_INT(NRF_PWM_CLK_16MHz) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_8MHZ), MP_ROM_INT(NRF_PWM_CLK_8MHz) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_4MHZ), MP_ROM_INT(NRF_PWM_CLK_4MHz) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_2MHZ), MP_ROM_INT(NRF_PWM_CLK_2MHz) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_1MHZ), MP_ROM_INT(NRF_PWM_CLK_1MHz) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_500KHZ), MP_ROM_INT(NRF_PWM_CLK_500kHz) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_250KHZ), MP_ROM_INT(NRF_PWM_CLK_250kHz) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FREQ_125KHZ), MP_ROM_INT(NRF_PWM_CLK_125kHz) },
|
|
|
|
{ MP_ROM_QSTR(MP_QSTR_MODE_LOW_HIGH), MP_ROM_INT(MODE_LOW_HIGH) },
|
|
{ MP_ROM_QSTR(MP_QSTR_MODE_HIGH_LOW), MP_ROM_INT(MODE_HIGH_LOW) },
|
|
};
|
|
|
|
STATIC MP_DEFINE_CONST_DICT(machine_pwm_locals_dict, machine_pwm_locals_dict_table);
|
|
|
|
/* code for hard implementation ***********************************************/
|
|
|
|
STATIC mp_obj_t machine_hard_pwm_make_new(mp_arg_val_t *args) {
|
|
enum { ARG_id, ARG_pin, ARG_freq, ARG_period, ARG_duty, ARG_pulse_width, ARG_mode };
|
|
// get static peripheral object
|
|
int pwm_id = hard_pwm_find(args[ARG_id].u_obj);
|
|
const machine_hard_pwm_obj_t *self = &machine_hard_pwm_obj[pwm_id];
|
|
|
|
// check if PWM pin is set
|
|
if (args[ARG_pin].u_obj != MP_OBJ_NULL) {
|
|
self->p_config->pwm_pin = mp_hal_get_pin_obj(args[ARG_pin].u_obj)->pin;
|
|
} else {
|
|
// TODO: raise exception.
|
|
}
|
|
|
|
if (args[ARG_freq].u_obj != MP_OBJ_NULL) {
|
|
self->p_config->freq = mp_obj_get_int(args[ARG_freq].u_obj);
|
|
} else {
|
|
self->p_config->freq = 50; // 50 Hz by default.
|
|
}
|
|
|
|
if (args[ARG_period].u_obj != MP_OBJ_NULL) {
|
|
self->p_config->period = mp_obj_get_int(args[ARG_period].u_obj);
|
|
} else {
|
|
mp_raise_ValueError(MP_ERROR_TEXT("PWM period must be within 16000 cycles"));
|
|
}
|
|
|
|
if (args[ARG_duty].u_obj != MP_OBJ_NULL) {
|
|
self->p_config->duty = mp_obj_get_int(args[ARG_duty].u_obj);
|
|
} else {
|
|
self->p_config->duty = 50; // 50% by default.
|
|
}
|
|
|
|
if (args[ARG_pulse_width].u_obj != MP_OBJ_NULL) {
|
|
self->p_config->pulse_width = mp_obj_get_int(args[ARG_pulse_width].u_obj);
|
|
} else {
|
|
self->p_config->pulse_width = 0;
|
|
}
|
|
|
|
if (args[ARG_mode].u_obj != MP_OBJ_NULL) {
|
|
self->p_config->mode = mp_obj_get_int(args[ARG_mode].u_obj);
|
|
} else {
|
|
self->p_config->mode = MODE_HIGH_LOW;
|
|
}
|
|
|
|
return MP_OBJ_FROM_PTR(self);
|
|
}
|
|
|
|
STATIC void machine_hard_pwm_init(mp_obj_t self_in, mp_arg_val_t *args) {
|
|
machine_hard_pwm_obj_t *self = self_in;
|
|
|
|
nrfx_pwm_config_t config;
|
|
|
|
config.output_pins[0] = self->p_config->pwm_pin;
|
|
config.output_pins[1] = NRFX_PWM_PIN_NOT_USED;
|
|
config.output_pins[2] = NRFX_PWM_PIN_NOT_USED;
|
|
config.output_pins[3] = NRFX_PWM_PIN_NOT_USED;
|
|
|
|
config.irq_priority = 6;
|
|
config.base_clock = self->p_config->freq;
|
|
config.count_mode = NRF_PWM_MODE_UP;
|
|
config.top_value = self->p_config->period;
|
|
config.load_mode = NRF_PWM_LOAD_INDIVIDUAL;
|
|
config.step_mode = NRF_PWM_STEP_AUTO;
|
|
|
|
nrfx_pwm_init(self->p_pwm, &config, NULL, NULL);
|
|
|
|
uint16_t pulse_width = ((self->p_config->period * self->p_config->duty) / 100);
|
|
|
|
// If manual period has been set, override duty-cycle.
|
|
if (self->p_config->pulse_width > 0) {
|
|
pulse_width = self->p_config->pulse_width;
|
|
}
|
|
|
|
// TODO: Move DMA buffer to global memory.
|
|
volatile static uint16_t pwm_seq[4];
|
|
|
|
if (self->p_config->mode == MODE_HIGH_LOW) {
|
|
pwm_seq[0] = self->p_config->period - pulse_width;
|
|
pwm_seq[1] = self->p_config->period - pulse_width;
|
|
} else {
|
|
pwm_seq[0] = self->p_config->period - pulse_width;
|
|
pwm_seq[1] = self->p_config->period - pulse_width;
|
|
}
|
|
|
|
pwm_seq[2] = self->p_config->period - pulse_width;
|
|
pwm_seq[3] = self->p_config->period - pulse_width;
|
|
|
|
const nrf_pwm_sequence_t pwm_sequence = {
|
|
.values.p_raw = (const uint16_t *)&pwm_seq,
|
|
.length = 4,
|
|
.repeats = 0,
|
|
.end_delay = 0
|
|
};
|
|
|
|
nrfx_pwm_simple_playback(self->p_pwm,
|
|
&pwm_sequence,
|
|
0, // Loop disabled.
|
|
0);
|
|
}
|
|
|
|
STATIC void machine_hard_pwm_deinit(mp_obj_t self_in) {
|
|
machine_hard_pwm_obj_t *self = self_in;
|
|
(void)self;
|
|
nrfx_pwm_stop(self->p_pwm, true);
|
|
nrfx_pwm_uninit(self->p_pwm);
|
|
}
|
|
|
|
STATIC mp_obj_t machine_hard_pwm_freq(mp_obj_t self_in, mp_arg_val_t *args) {
|
|
machine_hard_pwm_obj_t *self = self_in;
|
|
(void)self;
|
|
return mp_const_none;
|
|
}
|
|
|
|
MP_DEFINE_CONST_OBJ_TYPE(
|
|
machine_hard_pwm_type,
|
|
MP_QSTR_PWM,
|
|
MP_TYPE_FLAG_NONE,
|
|
machine_pwm_make_new,
|
|
print, machine_pwm_print,
|
|
locals_dict, (mp_obj_dict_t*)&machine_pwm_locals_dict
|
|
);
|
|
|
|
#endif // MICROPY_PY_MACHINE_HW_PWM
|