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Use active wait and perform extra toggle if needed. (same as the nrf_pwm)

This commit is contained in:
Stephane D'Alu 2016-11-20 13:25:25 +01:00
parent 319c9f9ee2
commit 7ea44ed39c
2 changed files with 97 additions and 44 deletions
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130
os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c
View File

@ -30,6 +30,7 @@
/* Driver local definitions. */ /* Driver local definitions. */
/*===========================================================================*/ /*===========================================================================*/
#define PWM_GPIOTE_PPI_CC 3
/*===========================================================================*/ /*===========================================================================*/
/* Driver exported variables. */ /* Driver exported variables. */
@ -63,19 +64,23 @@ PWMDriver PWMD3;
/* Driver local variables and types. */ /* Driver local variables and types. */
/*===========================================================================*/ /*===========================================================================*/
static const uint8_t pwm_margin_by_prescaler[] = {
80, 40, 20, 15, 10, 5, 2, 1, 1, 1
};
/*===========================================================================*/ /*===========================================================================*/
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) { static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
// Deal with PWM channels uint8_t channel;
uint8_t n; // Deal with PWM channels
for (n = 0 ; n < pwmp->channels ; n++) { for (channel = 0 ; channel < pwmp->channels ; channel++) {
if (pwmp->timer->EVENTS_COMPARE[n]) { if (pwmp->timer->EVENTS_COMPARE[channel]) {
pwmp->timer->EVENTS_COMPARE[n] = 0; pwmp->timer->EVENTS_COMPARE[channel] = 0;
if (pwmp->config->channels[n].callback != NULL) { if (pwmp->config->channels[channel].callback != NULL) {
pwmp->config->channels[n].callback(pwmp); pwmp->config->channels[channel].callback(pwmp);
} }
} }
} }
@ -88,7 +93,14 @@ static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
pwmp->config->callback(pwmp); pwmp->config->callback(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)));
} }
/*===========================================================================*/ /*===========================================================================*/
@ -245,7 +257,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
* @notapi * @notapi
*/ */
void pwm_lld_stop(PWMDriver *pwmp) { void pwm_lld_stop(PWMDriver *pwmp) {
pwmp->timer->TASKS_STOP = 1; pwmp->timer->TASKS_SHUTDOWN = 1;
#if NRF5_PWM_USE_TIMER0 #if NRF5_PWM_USE_TIMER0
if (&PWMD1 == pwmp) { if (&PWMD1 == pwmp) {
@ -284,41 +296,81 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmcnt_t width) { pwmcnt_t width) {
#if NRF5_PWM_USE_GPIOTE_PPI #if NRF5_PWM_USE_GPIOTE_PPI
const PWMChannelConfig *cfg_channel = &pwmp->config->channels[channel]; const PWMChannelConfig *cfg_channel = &pwmp->config->channels[channel];
uint32_t outinit;
switch(cfg_channel->mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW:
outinit = GPIOTE_CONFIG_OUTINIT_Low;
break;
case PWM_OUTPUT_ACTIVE_HIGH:
outinit = GPIOTE_CONFIG_OUTINIT_High;
break;
case PWM_OUTPUT_DISABLED:
default:
goto no_output_config;
}
const uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline);
const uint8_t gpiote_channel = cfg_channel->gpiote_channel; const uint8_t gpiote_channel = cfg_channel->gpiote_channel;
const uint8_t *ppi_channel = cfg_channel->ppi_channel; const uint8_t *ppi_channel = cfg_channel->ppi_channel;
const uint32_t polarity = GPIOTE_CONFIG_POLARITY_Toggle;
uint32_t outinit;
switch(cfg_channel->mode & PWM_OUTPUT_MASK) {
case PWM_OUTPUT_ACTIVE_LOW : outinit = GPIOTE_CONFIG_OUTINIT_Low; break;
case PWM_OUTPUT_ACTIVE_HIGH: outinit = GPIOTE_CONFIG_OUTINIT_High; break;
case PWM_OUTPUT_DISABLED : /* fall-through */
default : goto no_output_config;
}
// Create GPIO Task // Deal with corner case: 0% and 100%
NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Task | if ((width <= 0) || (width >= pwmp->period)) {
((gpio_pin << GPIOTE_CONFIG_PSEL_Pos ) & GPIOTE_CONFIG_PSEL_Msk) | // Disable GPIOTE/PPI task
((polarity << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk) | NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Disabled;
((outinit << GPIOTE_CONFIG_OUTINIT_Pos ) & GPIOTE_CONFIG_OUTINIT_Msk); NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
// Set Line
palWriteLine(cfg_channel->ioline,
((width <= 0) ^
((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH)));
// Program tasks (one for duty cycle, one for periode) // Really doing PWM
NRF_PPI->CH[ppi_channel[0]].EEP = } else {
(uint32_t)&pwmp->timer->EVENTS_COMPARE[channel]; const uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline);
NRF_PPI->CH[ppi_channel[0]].TEP = const uint32_t polarity = GPIOTE_CONFIG_POLARITY_Toggle;
(uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
NRF_PPI->CH[ppi_channel[1]].EEP = // Program tasks (one for duty cycle, one for periode)
(uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels]; NRF_PPI->CH[ppi_channel[0]].EEP =
NRF_PPI->CH[ppi_channel[1]].TEP = (uint32_t)&pwmp->timer->EVENTS_COMPARE[channel];
(uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; NRF_PPI->CH[ppi_channel[0]].TEP =
NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1])); (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
NRF_PPI->CH[ppi_channel[1]].EEP =
(uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels];
NRF_PPI->CH[ppi_channel[1]].TEP =
(uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
// Something Old, something New
const uint32_t old_width = pwmp->timer->CC[channel];
const uint32_t new_width = width;
// Check GPIOTE state
const bool gpiote = (NRF_GPIOTE->CONFIG[gpiote_channel] &
GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled;
// 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];
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;
}
// GPIOTE need to be restarted
} else {
// 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 );
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;
}
}
no_output_config: no_output_config:
#endif #endif

11
os/hal/ports/NRF5/NRF51822/hal_pwm_lld.h
View File

@ -34,8 +34,11 @@
/** /**
* @brief Number of PWM channels per PWM driver. * @brief Number of PWM channels per PWM driver.
*/ */
#if NRF5_PWM_USE_GPIOTE_PPI
#define PWM_CHANNELS 2
#else
#define PWM_CHANNELS 3 #define PWM_CHANNELS 3
#endif
#define PWM_FREQUENCY_16MHZ 16000000 /** @brief 16MHz */ #define PWM_FREQUENCY_16MHZ 16000000 /** @brief 16MHz */
#define PWM_FREQUENCY_8MHZ 8000000 /** @brief 8MHz */ #define PWM_FREQUENCY_8MHZ 8000000 /** @brief 8MHz */
@ -103,7 +106,7 @@
* @brief Allow driver to use GPIOTE/PPI to control PAL line * @brief Allow driver to use GPIOTE/PPI to control PAL line
*/ */
#if !defined(NRF5_PWM_USE_GPIOTE_PPI) #if !defined(NRF5_PWM_USE_GPIOTE_PPI)
#define NRF5_PWM_USE_GPIOTE_PPI FALSE #define NRF5_PWM_USE_GPIOTE_PPI TRUE
#endif #endif
/** @} */ /** @} */
@ -177,6 +180,7 @@ typedef struct {
pwmcallback_t callback; pwmcallback_t callback;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
#if NRF5_PWM_USE_GPIOTE_PPI || defined(__DOXYGEN__)
/** /**
* @brief PAL line to toggle. * @brief PAL line to toggle.
* @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW. * @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW.
@ -186,17 +190,14 @@ typedef struct {
*/ */
ioline_t ioline; ioline_t ioline;
#if NRF5_PWM_USE_GPIOTE_PPI || defined(__DOXYGEN__)
/** /**
* @brief Unique GPIOTE channel to use. (1 channel) * @brief Unique GPIOTE channel to use. (1 channel)
* @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW.
* @note Only 4 GPIOTE channels are available on nRF51. * @note Only 4 GPIOTE channels are available on nRF51.
*/ */
uint8_t gpiote_channel; uint8_t gpiote_channel;
/** /**
* @brief Unique PPI channels to use. (2 channels) * @brief Unique PPI channels to use. (2 channels)
* @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW.
* @note Only 16 PPI channels are available on nRF51 * @note Only 16 PPI channels are available on nRF51
* (When Softdevice is enabled, only channels 0-7 are available) * (When Softdevice is enabled, only channels 0-7 are available)
*/ */