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Hardware pwm (#1283) 

* hard pwm

* fix, comments

* PC6-9 and PD12-15

* PB6-9

* dynamic frequency

* f7 mcuconf

* format

* relocate to common, support variable frequency

* error handling

* oops

* fix test build

* noop kinetis

* better guards

* guard for bl

* guards don't work if they have typos

* more mapping

* oops

* don't use for slow pwm

* enable pwm

* guard properly

* save a little memory

* use less mem

* correct timers

* all your ram are belong to us

* update limit & comment

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2020-05-28 13:02:41 -07:00 committed by GitHub
parent bef53d8ba5
commit 3a7c6f242b
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 224 additions and 17 deletions
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2
firmware/config/stm32f4ems/halconf.h
View File

@ -134,7 +134,7 @@
* @brief Enables the PWM subsystem.
*/
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
#define HAL_USE_PWM FALSE
#define HAL_USE_PWM TRUE
#endif
/**

4
firmware/config/stm32f4ems/mcuconf.h
View File

@ -272,9 +272,9 @@
#define STM32_PWM_USE_TIM1 FALSE
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 FALSE
#define STM32_PWM_USE_TIM4 FALSE
#define STM32_PWM_USE_TIM4 TRUE
#define STM32_PWM_USE_TIM5 FALSE
#define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_USE_TIM8 TRUE
#define STM32_PWM_USE_TIM9 FALSE
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
#define STM32_PWM_TIM2_IRQ_PRIORITY 7

2
firmware/config/stm32f7ems/halconf.h
View File

@ -125,7 +125,7 @@
* @brief Enables the PWM subsystem.
*/
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
#define HAL_USE_PWM FALSE
#define HAL_USE_PWM TRUE
#endif
/**

4
firmware/config/stm32f7ems/mcuconf.h
View File

@ -283,9 +283,9 @@
#define STM32_PWM_USE_TIM1 FALSE
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 FALSE
#define STM32_PWM_USE_TIM4 FALSE
#define STM32_PWM_USE_TIM4 TRUE
#define STM32_PWM_USE_TIM5 FALSE
#define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_USE_TIM8 TRUE
#define STM32_PWM_USE_TIM9 FALSE
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
#define STM32_PWM_TIM2_IRQ_PRIORITY 7

13
firmware/controllers/actuators/dc_motors.cpp
View File

@ -53,31 +53,30 @@ public:
// Configure the disable pin first - ensure things are in a safe state
m_disablePin.initPin("ETB Disable", pinDisable);
m_pinEnable.initPin("ETB Enable", pinEnable);
m_pinDir1.initPin("ETB Dir 1", pinDir1);
m_pinDir2.initPin("ETB Dir 2", pinDir2);
// Clamp to >100hz
int clampedFrequency = maxI(100, frequency);
// no need to complicate event queue with ETB PWM in unit tests
#if ! EFI_UNIT_TEST
startSimplePwm(&m_pwmEnable, "ETB Enable",
startSimplePwmHard(&m_pwmEnable, "ETB Enable",
executor,
pinEnable,
&m_pinEnable,
clampedFrequency,
0
);
startSimplePwm(&m_pwmDir1, "ETB Dir 1",
startSimplePwmHard(&m_pwmDir1, "ETB Dir 1",
executor,
pinDir1,
&m_pinDir1,
clampedFrequency,
0
);
startSimplePwm(&m_pwmDir2, "ETB Dir 2",
startSimplePwmHard(&m_pwmDir2, "ETB Dir 2",
executor,
pinDir2,
&m_pinDir2,
clampedFrequency,
0

2
firmware/controllers/algo/obd_error_codes.h
View File

@ -1743,7 +1743,7 @@ typedef enum {
CUSTOM_INTERPOLATE_NAN = 6055,
ERROR_HISTO_NAME = 6056,
CUSTOM_AUX_OUT_OF_ORDER = 6057,
CUSTOM_OBD_58 = 6058,
CUSTOM_OBD_HIGH_FREQUENCY = 6058,
CUSTOM_OBD_59 = 6059,
CUSTOM_OBD_MMC_START1 = 6060,

2
firmware/controllers/engine_controller.cpp
View File

@ -696,7 +696,7 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX)
* UNUSED_SIZE contants.
*/
#ifndef RAM_UNUSED_SIZE
#define RAM_UNUSED_SIZE 8800
#define RAM_UNUSED_SIZE 8600
#endif
#ifndef CCM_UNUSED_SIZE
#define CCM_UNUSED_SIZE 2900

28
firmware/controllers/system/timer/pwm_generator_logic.cpp
View File

@ -13,6 +13,10 @@
#include "pwm_generator_logic.h"
#include "perf_trace.h"
#if EFI_PROD_CODE
#include "mpu_util.h"
#endif
/**
* We need to limit the number of iterations in order to avoid precision loss while calculating
* next toggle time
@ -76,6 +80,13 @@ void SimplePwm::setSimplePwmDutyCycle(float dutyCycle) {
dutyCycle = 1;
}
#if EFI_PROD_CODE
if (hardPwm) {
hardPwm->setDuty(dutyCycle);
return;
}
#endif
// Handle zero and full duty cycle. This will cause the PWM output to behave like a plain digital output.
if (dutyCycle == 0.0f && stateChangeCallback) {
// Manually fire falling edge
@ -359,6 +370,23 @@ void startSimplePwmExt(SimplePwm *state, const char *msg,
startSimplePwm(state, msg, executor, output, frequency, dutyCycle, stateChangeCallback);
}
void startSimplePwmHard(SimplePwm *state, const char *msg,
ExecutorInterface *executor,
brain_pin_e brainPin, OutputPin *output, float frequency,
float dutyCycle) {
#if EFI_PROD_CODE && HAL_USE_PWM
auto hardPwm = hardware_pwm::tryInitPin(msg, brainPin, frequency, dutyCycle);
if (hardPwm) {
state->hardPwm = hardPwm;
} else {
#endif
startSimplePwmExt(state, msg, executor, brainPin, output, frequency, dutyCycle);
#if EFI_PROD_CODE && HAL_USE_PWM
}
#endif
}
/**
* This method controls the actual hardware pins
*

8
firmware/controllers/system/timer/pwm_generator_logic.h
View File

@ -112,6 +112,7 @@ private:
float periodNt;
};
struct hardware_pwm;
class SimplePwm : public PwmConfig {
public:
@ -121,6 +122,8 @@ public:
pin_state_t pinStates[2];
SingleChannelStateSequence sr[1];
float _switchTimes[2];
hardware_pwm* hardPwm = nullptr;
private:
SingleChannelStateSequence waveInstance;
};
@ -152,6 +155,11 @@ void startSimplePwmExt(SimplePwm *state,
brain_pin_e brainPin, OutputPin *output,
float frequency, float dutyCycle, pwm_gen_callback *stateChangeCallback = (pwm_gen_callback*)applyPinState);
void startSimplePwmHard(SimplePwm *state, const char *msg,
ExecutorInterface *executor,
brain_pin_e brainPin, OutputPin *output, float frequency,
float dutyCycle);
void copyPwmParameters(PwmConfig *state, int phaseCount, float const *switchTimes,
int waveCount, pin_state_t *const *pinStates);

1
firmware/hw_layer/digital_input_icu.cpp
View File

@ -128,7 +128,6 @@ icuchannel_t getInputCaptureChannel(brain_pin_e hwPin) {
return ICU_CHANNEL_1;
case GPIOA_1: // TIM2
case GPIOA_3: // TIM9
case GPIOA_7: // TIM3
case GPIOA_9: // TIM1
case GPIOB_3: // TIM2

5
firmware/hw_layer/ports/kinetis/mpu_util.cpp
View File

@ -257,5 +257,10 @@ uintptr_t getFlashAddrSecondCopy() {
return 0x10008000;
}
/*static*/ hardware_pwm* hardware_pwm::tryInitPin(const char*, brain_pin_e, float, float) {
// TODO: implement me!
return nullptr;
}
#endif /* EFI_PROD_CODE */

6
firmware/hw_layer/ports/mpu_util.h
View File

@ -30,6 +30,12 @@ void initSpiCs(SPIConfig *spiConfig, brain_pin_e csPin);
void turnOnSpi(spi_device_e device);
#endif // HAL_USE_SPI
// Hardware PWM
struct hardware_pwm {
static hardware_pwm* tryInitPin(const char* msg, brain_pin_e pin, float frequencyHz, float duty);
virtual void setDuty(float duty) = 0;
};
// Brownout Reset
typedef enum {
BOR_Result_Ok = 0x00,

164
firmware/hw_layer/ports/stm32/stm32_common.cpp
View File

@ -8,12 +8,14 @@
#include "global.h"
#include "efi_gpio.h"
#include "expected.h"
#ifndef EFI_PIN_ADC9
#define EFI_PIN_ADC9 GPIOB_1
#endif /* EFI_PIN_ADC9 */
#if EFI_PROD_CODE
#include "mpu_util.h"
#include "backup_ram.h"
extern ioportid_t PORTS[];
#if defined(STM32F4XX) || defined(STM32F7XX)
@ -138,8 +140,168 @@ int getAdcChannelPin(adc_channel_e hwChannel) {
#endif /* HAL_USE_ADC */
#if EFI_PROD_CODE
#if HAL_USE_PWM
namespace {
struct stm32_pwm_config {
PWMDriver* const Driver;
const uint8_t Channel;
const uint8_t AlternateFunc;
};
class stm32_hardware_pwm : public hardware_pwm {
public:
bool hasInit() const {
return m_driver != nullptr;
}
// 2MHz, 16-bit timer gets us a usable frequency range of 31hz to 10khz
static constexpr uint32_t c_timerFrequency = 2000000;
void start(const char* msg, const stm32_pwm_config& config, float frequency, float duty) {
m_driver = config.Driver;
m_channel = config.Channel;
m_period = c_timerFrequency / frequency;
// These timers are only 16 bit - don't risk overflow
if (m_period > 0xFFF0) {
firmwareError(CUSTOM_OBD_LOW_FREQUENCY, "PWM Frequency too low %f hz on pin \"%s\"", frequency, msg);
return;
}
// If we have too few usable bits, we run out of resolution, so don't allow that either.
// 200 counts = 0.5% resolution
if (m_period < 200) {
firmwareError(CUSTOM_OBD_HIGH_FREQUENCY, "PWM Frequency too high % hz on pin \"%s\"", frequency, msg);
return;
}
const PWMConfig pwmcfg = {
c_timerFrequency,
m_period,
nullptr,
{
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr}
},
0,
0
};
// Start the timer running
pwmStart(m_driver, &pwmcfg);
// Set initial duty cycle
setDuty(duty);
}
void setDuty(float duty) override {
if (!m_driver) {
firmwareError(OBD_PCM_Processor_Fault, "Attempted to set duty on null hard PWM device");
return;
}
pwm_lld_enable_channel(m_driver, m_channel, getHighTime(duty));
}
private:
PWMDriver* m_driver = nullptr;
uint8_t m_channel = 0;
uint32_t m_period = 0;
pwmcnt_t getHighTime(float duty) const {
return m_period * duty;
}
};
}
static expected<stm32_pwm_config> getConfigForPin(brain_pin_e pin) {
switch (pin) {
#if STM32_PWM_USE_TIM1
case GPIOA_8: return stm32_pwm_config{&PWMD1, 0, 1};
case GPIOA_9: return stm32_pwm_config{&PWMD1, 1, 1};
case GPIOA_10: return stm32_pwm_config{&PWMD1, 2, 1};
case GPIOA_11: return stm32_pwm_config{&PWMD1, 3, 1};
case GPIOE_9: return stm32_pwm_config{&PWMD1, 0, 1};
case GPIOE_11: return stm32_pwm_config{&PWMD1, 1, 1};
case GPIOE_13: return stm32_pwm_config{&PWMD1, 2, 1};
case GPIOE_14: return stm32_pwm_config{&PWMD1, 3, 1};
#endif
#if STM32_PWM_USE_TIM2
case GPIOA_15: return stm32_pwm_config{&PWMD2, 0, 1};
case GPIOB_3: return stm32_pwm_config{&PWMD2, 1, 1};
case GPIOB_10: return stm32_pwm_config{&PWMD2, 2, 1};
case GPIOB_11: return stm32_pwm_config{&PWMD2, 3, 1};
#endif
#if STM32_PWM_USE_TIM3
case GPIOB_4: return stm32_pwm_config{&PWMD3, 0, 2};
case GPIOB_5: return stm32_pwm_config{&PWMD3, 1, 2};
#endif
#if STM32_PWM_USE_TIM4
case GPIOB_6: return stm32_pwm_config{&PWMD4, 0, 2};
case GPIOB_7: return stm32_pwm_config{&PWMD4, 1, 2};
case GPIOB_8: return stm32_pwm_config{&PWMD4, 2, 2};
case GPIOB_9: return stm32_pwm_config{&PWMD4, 3, 2};
case GPIOD_12: return stm32_pwm_config{&PWMD4, 0, 2};
case GPIOD_13: return stm32_pwm_config{&PWMD4, 1, 2};
case GPIOD_14: return stm32_pwm_config{&PWMD4, 2, 2};
case GPIOD_15: return stm32_pwm_config{&PWMD4, 3, 2};
#endif
#if STM32_PWM_USE_TIM8
case GPIOC_6: return stm32_pwm_config{&PWMD8, 0, 3};
case GPIOC_7: return stm32_pwm_config{&PWMD8, 1, 3};
case GPIOC_8: return stm32_pwm_config{&PWMD8, 2, 3};
case GPIOC_9: return stm32_pwm_config{&PWMD8, 3, 3};
#endif
default: return unexpected;
}
};
stm32_hardware_pwm pwms[5];
stm32_hardware_pwm* getNextPwmDevice() {
for (size_t i = 0; i < efi::size(pwms); i++) {
if (!pwms[i].hasInit()) {
return &pwms[i];
}
}
firmwareError(OBD_PCM_Processor_Fault, "Run out of hardware PWM devices!");
return nullptr;
}
/*static*/ hardware_pwm* hardware_pwm::tryInitPin(const char* msg, brain_pin_e pin, float frequencyHz, float duty) {
// Hardware PWM can't do very slow PWM - the timer counter is only 16 bits, so at 2MHz counting, that's a minimum of 31hz.
if (frequencyHz < 50) {
return nullptr;
}
auto cfg = getConfigForPin(pin);
// This pin can't do hardware PWM
if (!cfg) {
return nullptr;
}
if (stm32_hardware_pwm* device = getNextPwmDevice()) {
device->start(msg, cfg.Value, frequencyHz, duty);
// Finally connect the timer to physical pin
efiSetPadMode(msg, pin, PAL_MODE_ALTERNATE(cfg.Value.AlternateFunc));
return device;
}
return nullptr;
}
#endif
void jump_to_bootloader() {
// leave DFU breadcrumb which assmebly startup code would check, see [rusefi][DFU] section in assembly code
*((unsigned long *)0x2001FFF0) = 0xDEADBEEF; // End of RAM