diff --git a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c index 8f3ae256..e2b4b6bf 100644 --- a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c +++ b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c @@ -71,16 +71,16 @@ PWMDriver PWMD3; /*===========================================================================*/ static const uint8_t pwm_margin_by_prescaler[] = { - (PWM_GPIOTE_DECISION_TIME + 0) >> 0, - (PWM_GPIOTE_DECISION_TIME + 1) >> 1, - (PWM_GPIOTE_DECISION_TIME + 3) >> 2, - (PWM_GPIOTE_DECISION_TIME + 7) >> 3, - (PWM_GPIOTE_DECISION_TIME + 15) >> 4, - (PWM_GPIOTE_DECISION_TIME + 31) >> 5, - (PWM_GPIOTE_DECISION_TIME + 63) >> 6, - (PWM_GPIOTE_DECISION_TIME + 128) >> 7, - (PWM_GPIOTE_DECISION_TIME + 255) >> 8, - (PWM_GPIOTE_DECISION_TIME + 511) >> 9 + (PWM_GPIOTE_DECISION_TIME + 0) >> 0, + (PWM_GPIOTE_DECISION_TIME + 1) >> 1, + (PWM_GPIOTE_DECISION_TIME + 3) >> 2, + (PWM_GPIOTE_DECISION_TIME + 7) >> 3, + (PWM_GPIOTE_DECISION_TIME + 15) >> 4, + (PWM_GPIOTE_DECISION_TIME + 31) >> 5, + (PWM_GPIOTE_DECISION_TIME + 63) >> 6, + (PWM_GPIOTE_DECISION_TIME + 127) >> 7, + (PWM_GPIOTE_DECISION_TIME + 255) >> 8, + (PWM_GPIOTE_DECISION_TIME + 511) >> 9 }; /*===========================================================================*/ @@ -89,18 +89,20 @@ static const uint8_t pwm_margin_by_prescaler[] = { static void pwm_lld_serve_interrupt(PWMDriver *pwmp) { uint8_t channel; - // Deal with PWM channels + /* Deal with PWM channels + */ for (channel = 0 ; channel < pwmp->channels ; channel++) { if (pwmp->timer->EVENTS_COMPARE[channel]) { pwmp->timer->EVENTS_COMPARE[channel] = 0; if (pwmp->config->channels[channel].callback != NULL) { - pwmp->config->channels[channel].callback(pwmp); + pwmp->config->channels[channel].callback(pwmp); } } } - // Deal with PWM period + /* Deal with PWM period + */ if (pwmp->timer->EVENTS_COMPARE[pwmp->channels]) { pwmp->timer->EVENTS_COMPARE[pwmp->channels] = 0; @@ -112,10 +114,10 @@ static void pwm_lld_serve_interrupt(PWMDriver *pwmp) { static inline bool pwm_within_safe_margins(PWMDriver *pwmp, uint32_t timer, uint32_t width) { - const uint32_t margin = pwm_margin_by_prescaler[pwmp->timer->PRESCALER]; - return (width <= margin) - ? ((width <= timer) && (timer < (pwmp->period + width - margin))) - : ((width <= timer) || (timer < (width - margin))); + const uint32_t margin = pwm_margin_by_prescaler[pwmp->timer->PRESCALER]; + return (width <= margin) + ? ((width <= timer) && (timer < (pwmp->period + width - margin))) + : ((width <= timer) || (timer < (width - margin))); } /*===========================================================================*/ @@ -201,47 +203,45 @@ void pwm_lld_init(void) { * @notapi */ void pwm_lld_start(PWMDriver *pwmp) { - // Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER + /* Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER */ uint16_t psc_ratio = NRF5_HFCLK_FREQUENCY / pwmp->config->frequency; - // Prescaler ratio must be between 1 and 512, and a power of two. + /* Prescaler ratio must be between 1 and 512, and a power of two. */ osalDbgAssert(psc_ratio <= 512 && !(psc_ratio & (psc_ratio - 1)), - "invalid frequency"); - // Prescaler value as a power of 2, must be 0..9 + "invalid frequency"); + /* Prescaler value as a power of 2, must be 0..9 */ uint32_t psc_value; for (psc_value = 0; psc_value < 10; psc_value++) - if (psc_ratio == (unsigned)(1 << psc_value)) - break; + if (psc_ratio == (unsigned)(1 << psc_value)) + break; - - // Configure as 16bits timer (only TIMER0 support 32bits) + /* Configure as 16bits timer (only TIMER0 support 32bits) */ pwmp->timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit; pwmp->timer->MODE = TIMER_MODE_MODE_Timer; - // With clear shortcuts for period + /* With clear shortcuts for period */ pwmp->timer->SHORTS = - 0x1UL << (TIMER_SHORTS_COMPARE0_CLEAR_Pos + pwmp->channels); + 0x1UL << (TIMER_SHORTS_COMPARE0_CLEAR_Pos + pwmp->channels); - // Disable and reset interrupts for compare events + /* Disable and reset interrupts for compare events */ pwmp->timer->INTENCLR = (TIMER_INTENCLR_COMPARE0_Msk | - TIMER_INTENCLR_COMPARE1_Msk | - TIMER_INTENCLR_COMPARE2_Msk | - TIMER_INTENCLR_COMPARE3_Msk ); + TIMER_INTENCLR_COMPARE1_Msk | + TIMER_INTENCLR_COMPARE2_Msk | + TIMER_INTENCLR_COMPARE3_Msk ); pwmp->timer->EVENTS_COMPARE[0] = 0; pwmp->timer->EVENTS_COMPARE[1] = 0; pwmp->timer->EVENTS_COMPARE[2] = 0; pwmp->timer->EVENTS_COMPARE[3] = 0; - // Set prescaler + /* Set prescaler */ pwmp->timer->PRESCALER = psc_value; - // Set period + /* Set period */ pwmp->timer->CC[pwmp->channels] = pwmp->period; - // Clear everything + /* Clear everything */ pwmp->timer->TASKS_CLEAR = 1; - - // Enable interrupt + /* Enable interrupt */ #if NRF5_PWM_USE_TIMER0 if (&PWMD1 == pwmp) { nvicEnableVector(TIMER0_IRQn, NRF5_PWM_TIMER0_PRIORITY); @@ -260,7 +260,7 @@ void pwm_lld_start(PWMDriver *pwmp) { } #endif - // Start timer + /* Start timer */ pwmp->timer->TASKS_START = 1; } @@ -322,68 +322,68 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, default : goto no_output_config; } - // Deal with corner case: 0% and 100% + /* Deal with corner case: 0% and 100% */ if ((width <= 0) || (width >= pwmp->period)) { - // Disable GPIOTE/PPI task + /* Disable GPIOTE/PPI task */ NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Disabled; NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1])); - // Set Line + /* Set Line */ palWriteLine(cfg_channel->ioline, - ((width <= 0) ^ - ((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH))); + ((width <= 0) ^ + ((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH))); - // Really doing PWM + /* Really doing PWM */ } else { const uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline); const uint32_t polarity = GPIOTE_CONFIG_POLARITY_Toggle; - // Program tasks (one for duty cycle, one for periode) + /* Program tasks (one for duty cycle, one for periode) */ NRF_PPI->CH[ppi_channel[0]].EEP = - (uint32_t)&pwmp->timer->EVENTS_COMPARE[channel]; + (uint32_t)&pwmp->timer->EVENTS_COMPARE[channel]; NRF_PPI->CH[ppi_channel[0]].TEP = - (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; + (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; NRF_PPI->CH[ppi_channel[1]].EEP = - (uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels]; + (uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels]; NRF_PPI->CH[ppi_channel[1]].TEP = - (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; + (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1])); - // Something Old, something New + /* Something Old, something New */ const uint32_t old_width = pwmp->timer->CC[channel]; const uint32_t new_width = width; - // Check GPIOTE state + /* Check GPIOTE state */ const bool gpiote = (NRF_GPIOTE->CONFIG[gpiote_channel] & - GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled; + GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled; - // GPIOTE is currently running + /* GPIOTE is currently running */ if (gpiote) { uint32_t current; while (true) { - pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1; - current = pwmp->timer->CC[PWM_GPIOTE_PPI_CC]; + pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1; + current = pwmp->timer->CC[PWM_GPIOTE_PPI_CC]; - if (pwm_within_safe_margins(pwmp, current, old_width) && - pwm_within_safe_margins(pwmp, current, new_width)) - break; + if (pwm_within_safe_margins(pwmp, current, old_width) && + pwm_within_safe_margins(pwmp, current, new_width)) + break; } if (((old_width <= current) && (current < new_width)) || - ((new_width <= current) && (current < old_width))) { - NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; + ((new_width <= current) && (current < old_width))) { + NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; } - // GPIOTE need to be restarted + /* GPIOTE need to be restarted */ } else { - // Create GPIO Task + /* Create GPIO Task */ NRF_GPIOTE->CONFIG[gpiote_channel] = - (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | - ((gpio_pin << GPIOTE_CONFIG_PSEL_Pos ) & GPIOTE_CONFIG_PSEL_Msk )| - ((polarity << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk)| - ((outinit << GPIOTE_CONFIG_OUTINIT_Pos ) & GPIOTE_CONFIG_OUTINIT_Msk ); + (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | + ((gpio_pin << GPIOTE_CONFIG_PSEL_Pos ) & GPIOTE_CONFIG_PSEL_Msk )| + ((polarity << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk)| + ((outinit << GPIOTE_CONFIG_OUTINIT_Pos ) & GPIOTE_CONFIG_OUTINIT_Msk ); pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1; if (pwmp->timer->CC[PWM_GPIOTE_PPI_CC] > width) - NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; + NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; } } @@ -436,7 +436,7 @@ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) { */ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { pwmp->timer->INTENSET = - 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + pwmp->channels); + 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + pwmp->channels); } /** @@ -450,7 +450,7 @@ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { */ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { pwmp->timer->INTENCLR = - 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + pwmp->channels); + 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + pwmp->channels); } /** @@ -467,7 +467,7 @@ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { void pwm_lld_enable_channel_notification(PWMDriver *pwmp, pwmchannel_t channel) { pwmp->timer->INTENSET = - 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + channel); + 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + channel); } /** @@ -476,15 +476,15 @@ void pwm_lld_enable_channel_notification(PWMDriver *pwmp, * @pre The channel must have been activated using @p pwmEnableChannel(). * @note If the notification is already disabled then the call has no effect. * - * @param[in] pwmp pointer to a @p PWMDriver object - * @param[in] channel PWM channel identifier (0...channels-1) + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...channels-1) * * @notapi */ void pwm_lld_disable_channel_notification(PWMDriver *pwmp, - pwmchannel_t channel) { + pwmchannel_t channel) { pwmp->timer->INTENCLR = - 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + channel); + 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + channel); } #endif /* HAL_USE_PWM */