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Merge pull request #104 from sdalu/pwmfix 

Use active wait and perform extra toggle if needed.
This commit is contained in:
Fabio Utzig 2016-11-24 20:23:05 -02:00 committed by GitHub
parent 32f8544bc8 d2b5649b0f
commit bc6033e829
2 changed files with 136 additions and 68 deletions
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193
os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c
View File

@ -18,6 +18,11 @@
* @file hal_pwm_lld.c
* @brief NRF51 PWM subsystem low level driver source.
*
* @note Using the method described in nrf51-pwm-library to correctly
* handle toggling of the pin with GPIOTE when changing period.
* It means it is generally unsafe to use GPIOTE with a period
* less than (2 * PWM_GPIOTE_DECISION_TIME / 16MHz)
*
* @addtogroup PWM
* @{
*/
@ -30,6 +35,8 @@
/* Driver local definitions. */
/*===========================================================================*/
#define PWM_GPIOTE_PPI_CC 3
#define PWM_GPIOTE_DECISION_TIME 160
/*===========================================================================*/
/* Driver exported variables. */
@ -63,24 +70,39 @@ PWMDriver PWMD3;
/* Driver local variables and types. */
/*===========================================================================*/
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 + 127) >> 7,
(PWM_GPIOTE_DECISION_TIME + 255) >> 8,
(PWM_GPIOTE_DECISION_TIME + 511) >> 9
};
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
// Deal with PWM channels
uint8_t n;
for (n = 0 ; n < pwmp->channels ; n++) {
if (pwmp->timer->EVENTS_COMPARE[n]) {
pwmp->timer->EVENTS_COMPARE[n] = 0;
uint8_t channel;
/* 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[n].callback != NULL) {
pwmp->config->channels[n].callback(pwmp);
if (pwmp->config->channels[channel].callback != NULL) {
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;
@ -88,7 +110,14 @@ static void pwm_lld_serve_interrupt(PWMDriver *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)));
}
/*===========================================================================*/
@ -174,47 +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);
@ -233,7 +260,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
}
#endif
// Start timer
/* Start timer */
pwmp->timer->TASKS_START = 1;
}
@ -245,7 +272,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
* @notapi
*/
void pwm_lld_stop(PWMDriver *pwmp) {
pwmp->timer->TASKS_STOP = 1;
pwmp->timer->TASKS_SHUTDOWN = 1;
#if NRF5_PWM_USE_TIMER0
if (&PWMD1 == pwmp) {
@ -284,41 +311,81 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmcnt_t width) {
#if NRF5_PWM_USE_GPIOTE_PPI
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 *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
NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Task |
((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);
/* Deal with corner case: 0% and 100% */
if ((width <= 0) || (width >= pwmp->period)) {
/* 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 */
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)
NRF_PPI->CH[ppi_channel[0]].EEP =
/* 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) */
NRF_PPI->CH[ppi_channel[0]].EEP =
(uint32_t)&pwmp->timer->EVENTS_COMPARE[channel];
NRF_PPI->CH[ppi_channel[0]].TEP =
NRF_PPI->CH[ppi_channel[0]].TEP =
(uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
NRF_PPI->CH[ppi_channel[1]].EEP =
NRF_PPI->CH[ppi_channel[1]].EEP =
(uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels];
NRF_PPI->CH[ppi_channel[1]].TEP =
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]));
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:
#endif
@ -369,7 +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);
}
/**
@ -383,7 +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);
}
/**
@ -400,7 +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);
}
/**
@ -409,15 +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 */

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

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