circuitpython/ports/stm32f4/common-hal/pulseio/PWMOut.c

/*
 * This file is part of the MicroPython project, http://micropython.org/
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2019 Lucian Copeland for Adafruit Industries
 * Uses code from Micropython, Copyright (c) 2013-2016 Damien P. George
 *
 * 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 <stdint.h>
#include "py/runtime.h"
#include "common-hal/pulseio/PWMOut.h"
#include "shared-bindings/pulseio/PWMOut.h"
#include "supervisor/shared/translate.h"

#include "shared-bindings/microcontroller/__init__.h"
#include "stm32f4xx_hal.h"
#include "common-hal/microcontroller/Pin.h"

#define ALL_CLOCKS 0xFFFF

STATIC uint8_t reserved_tim[TIM_BANK_ARRAY_LEN];
STATIC uint32_t tim_frequencies[TIM_BANK_ARRAY_LEN];
STATIC bool never_reset_tim[TIM_BANK_ARRAY_LEN];

STATIC void tim_clock_enable(uint16_t mask);
STATIC void tim_clock_disable(uint16_t mask);

// Get the frequency (in Hz) of the source clock for the given timer.
// On STM32F405/407/415/417 there are 2 cases for how the clock freq is set.
// If the APB prescaler is 1, then the timer clock is equal to its respective
// APB clock.  Otherwise (APB prescaler > 1) the timer clock is twice its
// respective APB clock.  See DM00031020 Rev 4, page 115.
static uint32_t timer_get_source_freq(uint32_t tim_id) {
    uint32_t source, clk_div;
    if (tim_id == 1 || (8 <= tim_id && tim_id <= 11)) {
        // TIM{1,8,9,10,11} are on APB2
        source = HAL_RCC_GetPCLK2Freq();
        clk_div = RCC->CFGR & RCC_CFGR_PPRE2;
    } else {
        // TIM{2,3,4,5,6,7,12,13,14} are on APB1
        source = HAL_RCC_GetPCLK1Freq();
        clk_div = RCC->CFGR & RCC_CFGR_PPRE1;
    }
    if (clk_div != 0) {
        // APB prescaler for this timer is > 1
        source *= 2;
    }
    return source;
}

void pwmout_reset(void) {
    uint16_t never_reset_mask = 0x00;
    for(int i=0;i<TIM_BANK_ARRAY_LEN;i++) {
        if (!never_reset_tim[i]) {
            reserved_tim[i] = 0x00;
            tim_frequencies[i] = 0x00;
        } else {
            never_reset_mask |= 1<<i;
        }
    }
    tim_clock_disable(ALL_CLOCKS & ~(never_reset_mask));
}

void common_hal_pulseio_pwmout_never_reset(pulseio_pwmout_obj_t *self) {
    for(size_t i = 0 ; i < TIM_BANK_ARRAY_LEN; i++) {
        if (mcu_tim_banks[i] == self->handle.Instance) {
            never_reset_tim[i] = true;
            never_reset_pin_number(self->tim->pin->port, self->tim->pin->number);
            break;
        }
    }
}

void common_hal_pulseio_pwmout_reset_ok(pulseio_pwmout_obj_t *self) {
    for(size_t i = 0 ; i < TIM_BANK_ARRAY_LEN; i++) {
        if (mcu_tim_banks[i] == self->handle.Instance) {
            never_reset_tim[i] = false;
            break;
        }
    }
}

pwmout_result_t common_hal_pulseio_pwmout_construct(pulseio_pwmout_obj_t* self,
                                                    const mcu_pin_obj_t* pin,
                                                    uint16_t duty,
                                                    uint32_t frequency,
                                                    bool variable_frequency) {
    TIM_TypeDef * TIMx;
    uint8_t tim_num = sizeof(mcu_tim_pin_list)/sizeof(*mcu_tim_pin_list);
    bool tim_chan_taken = false;
    bool tim_taken_f_mismatch = false;
    bool var_freq_mismatch = false;
    bool first_time_setup = true;

    for(uint i = 0; i < tim_num; i++) {
        //if pin is same
        if (mcu_tim_pin_list[i].pin == pin) {
            //check if the timer has a channel active
            if (reserved_tim[mcu_tim_pin_list[i].tim_index-1] != 0) {
                //is it the same channel? (or all channels reserved by a var-freq)
                if (reserved_tim[mcu_tim_pin_list[i].tim_index-1] & 1<<(mcu_tim_pin_list[i].channel_index-1)) {
                    tim_chan_taken = true;
                    continue; //keep looking, might be another viable option
                }
                //If the frequencies are the same it's ok
                if (tim_frequencies[mcu_tim_pin_list[i].tim_index-1] != frequency) {
                    tim_taken_f_mismatch = true;
                    continue; //keep looking
                }
                //you can't put a variable frequency on a partially reserved timer
                if (variable_frequency) {
                    var_freq_mismatch = true;
                    continue; //keep looking
                }
                first_time_setup = false; //skip setting up the timer
            }
            //No problems taken, so set it up
            self->tim = &mcu_tim_pin_list[i];
            break;
        }
    }

    //handle valid/invalid timer instance
    if (self->tim!=NULL) {
        //create instance
        TIMx = mcu_tim_banks[self->tim->tim_index-1];
        //reserve timer/channel
        if (variable_frequency) {
            reserved_tim[self->tim->tim_index-1] = 0x0F;
        } else {
            reserved_tim[self->tim->tim_index-1] |= 1<<(self->tim->channel_index-1);
        }
        tim_frequencies[self->tim->tim_index-1] = frequency;
    } else { //no match found
        if (tim_chan_taken) {
            mp_raise_ValueError(translate("No more timers available on this pin."));
        } else if (tim_taken_f_mismatch) {
            mp_raise_ValueError(translate("Frequency must be the same as as the existing PWMOut using this timer"));
        } else if (var_freq_mismatch) {
            mp_raise_ValueError(translate("Cannot vary frequency on a timer that is already in use"));
        } else {
            mp_raise_ValueError(translate("Invalid pins"));
        }
    }

    GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitStruct.Pin = pin_mask(pin->number);
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    GPIO_InitStruct.Alternate = self->tim->altfn_index;
    HAL_GPIO_Init(pin_port(pin->port), &GPIO_InitStruct);

    //TODO: factor all of these into periph.c?
    tim_clock_enable(1<<(self->tim->tim_index - 1));

    //translate channel into handle value
    switch (self->tim->channel_index) {
        case 1: self->channel = TIM_CHANNEL_1; break;
        case 2: self->channel = TIM_CHANNEL_2; break;
        case 3: self->channel = TIM_CHANNEL_3; break;
        case 4: self->channel = TIM_CHANNEL_4; break;
    }

    uint32_t source_freq = timer_get_source_freq(self->tim->tim_index);
    uint32_t prescaler = 0;
    uint32_t period = 0;
    
    for (int i=0; i<32767;i++) {
        period = source_freq/(i*frequency);
        if (period <= 65535 && period>=2) {
            prescaler = i;
            break;
        }
    }
    if (prescaler == 0) {
        mp_raise_ValueError(translate("Invalid frequency supplied"));
    }
    uint32_t input = (duty*period)/65535;

    //Used for Debugging 
    // mp_printf(&mp_plat_print, "Duty:%d, Pulses:%d\n", duty,input);
    // mp_printf(&mp_plat_print, "SysCoreClock: %d\n", SystemCoreClock);
    // mp_printf(&mp_plat_print, "Source Freq: %d\n", source_freq);
    // mp_printf(&mp_plat_print, "Prescaler %d, Timer Freq: %d\n", prescaler, source_freq/prescaler);
    // mp_printf(&mp_plat_print, "Output Freq: %d\n", (source_freq/prescaler)/period);
    // mp_printf(&mp_plat_print, "Duty: %d\n", duty);
    // mp_printf(&mp_plat_print, "TIM#:%d CH:%d ALTF:%d\n", self->tim->tim_index, self->tim->channel_index, self->tim->altfn_index);

    //Timer init
    self->handle.Instance = TIMx;
    self->handle.Init.Period = period - 1;
    self->handle.Init.Prescaler = prescaler - 1;
    self->handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    self->handle.Init.CounterMode = TIM_COUNTERMODE_UP;
    self->handle.Init.RepetitionCounter = 0;

    //only run init if this is the first instance of this timer
    if (first_time_setup) {
        if (HAL_TIM_PWM_Init(&self->handle) != HAL_OK) {
            mp_raise_ValueError(translate("Could not initialize timer"));
        }
    }

    //Channel/PWM init
    self->chan_handle.OCMode = TIM_OCMODE_PWM1;
    self->chan_handle.Pulse = input; //-1?
    self->chan_handle.OCPolarity = TIM_OCPOLARITY_LOW;
    self->chan_handle.OCFastMode = TIM_OCFAST_DISABLE;
    self->chan_handle.OCNPolarity = TIM_OCNPOLARITY_LOW; // needed for TIM1 and TIM8
    self->chan_handle.OCIdleState = TIM_OCIDLESTATE_SET; // needed for TIM1 and TIM8
    self->chan_handle.OCNIdleState = TIM_OCNIDLESTATE_SET; // needed for TIM1 and TIM8
    if (HAL_TIM_PWM_ConfigChannel(&self->handle, &self->chan_handle, self->channel) != HAL_OK) {
        mp_raise_ValueError(translate("Could not initialize channel"));
    }
    if (HAL_TIM_PWM_Start(&self->handle, self->channel) != HAL_OK) {
        mp_raise_ValueError(translate("Could not start PWM"));
    }

    self->variable_frequency = variable_frequency;
    self->frequency = frequency;
    self->duty_cycle = duty;
    self->period = period;

    return PWMOUT_OK;
}

bool common_hal_pulseio_pwmout_deinited(pulseio_pwmout_obj_t* self) {
    return self->tim == mp_const_none;
}

void common_hal_pulseio_pwmout_deinit(pulseio_pwmout_obj_t* self) {
    if (common_hal_pulseio_pwmout_deinited(self)) {
        return;
    }
    //var freq shuts down entire timer, others just their channel
    if (self->variable_frequency) {
        reserved_tim[self->tim->tim_index-1] = 0x00;
    } else {
        reserved_tim[self->tim->tim_index-1] &= ~(1<<self->tim->channel_index);
        HAL_TIM_PWM_Stop(&self->handle, self->channel);
    }
    reset_pin_number(self->tim->pin->port,self->tim->pin->number);
    self->tim = mp_const_none;

    //if reserved timer has no active channels, we can disable it
    if (!reserved_tim[self->tim->tim_index-1]) {
        tim_frequencies[self->tim->tim_index-1] = 0x00;
        tim_clock_disable(1<<(self->tim->tim_index-1));
    }
}

void common_hal_pulseio_pwmout_set_duty_cycle(pulseio_pwmout_obj_t* self, uint16_t duty_cycle) {
    uint32_t input = (duty_cycle*self->period)/65535;
    //Used for debugging
    //mp_printf(&mp_plat_print, "duty_cycle %d, Duty: %d, Input %d\n", duty_cycle, duty, input);
    __HAL_TIM_SET_COMPARE(&self->handle, self->channel, input);

    self->duty_cycle = duty_cycle;
}

uint16_t common_hal_pulseio_pwmout_get_duty_cycle(pulseio_pwmout_obj_t* self) {
    return self->duty_cycle;
}

void common_hal_pulseio_pwmout_set_frequency(pulseio_pwmout_obj_t* self, uint32_t frequency) {
    //don't halt setup for the same frequency
    if (frequency == self->frequency) return;

    uint32_t source_freq = timer_get_source_freq(self->tim->tim_index);
    uint32_t prescaler = 0;
    uint32_t period = 0;
    
    for (int i=0; i<32767;i++) {
        period = source_freq/(i*frequency);
        if (period <= 65535 && period>=2) {
            prescaler = i;
            break;
        }
    }
    if (prescaler == 0) {
        mp_raise_ValueError(translate("Invalid frequency supplied"));
    }

    uint32_t input = (self->duty_cycle*period)/65535;

    //debugging output
    // mp_printf(&mp_plat_print, "Duty:%d, Pulses:%d\n", self->duty_cycle,input);
    // mp_printf(&mp_plat_print, "Period: %d\n", period);
    // mp_printf(&mp_plat_print, "Source Freq: %d\n", source_freq);
    // mp_printf(&mp_plat_print, "Prescaler %d, Timer Freq: %d\n", prescaler, source_freq/prescaler);
    // mp_printf(&mp_plat_print, "Output Freq: %d\n", (source_freq/prescaler)/period);
    // mp_printf(&mp_plat_print, "TIM#:%d CH:%d ALTF:%d\n", self->tim->tim_index, self->tim->channel_index, self->tim->altfn_index);

    //shut down
    HAL_TIM_PWM_Stop(&self->handle, self->channel);

    //Only change altered values
    self->handle.Init.Period = period - 1;
    self->handle.Init.Prescaler = prescaler - 1; 

    //restart everything, adjusting for new speed
    if (HAL_TIM_PWM_Init(&self->handle) != HAL_OK) {
        mp_raise_ValueError(translate("Could not re-init timer"));
    }

    self->chan_handle.Pulse = input;

    if (HAL_TIM_PWM_ConfigChannel(&self->handle, &self->chan_handle, self->channel) != HAL_OK) {
        mp_raise_ValueError(translate("Could not re-init channel"));
    }
    if (HAL_TIM_PWM_Start(&self->handle, self->channel) != HAL_OK) {
        mp_raise_ValueError(translate("Could not restart PWM"));
    }

    tim_frequencies[self->tim->tim_index-1] = frequency;
    self->frequency = frequency;
    self->period = period;
}

uint32_t common_hal_pulseio_pwmout_get_frequency(pulseio_pwmout_obj_t* self) {
    return self->frequency;
}

bool common_hal_pulseio_pwmout_get_variable_frequency(pulseio_pwmout_obj_t* self) {
    return self->variable_frequency;
}

STATIC void tim_clock_enable(uint16_t mask) {
    #ifdef TIM1
    if (mask & 1<<0) __HAL_RCC_TIM1_CLK_ENABLE();
    #endif
    #ifdef TIM2
    if (mask & 1<<1) __HAL_RCC_TIM2_CLK_ENABLE();
    #endif
    #ifdef TIM3
    if (mask & 1<<2) __HAL_RCC_TIM3_CLK_ENABLE();
    #endif
    #ifdef TIM4
    if (mask & 1<<3) __HAL_RCC_TIM4_CLK_ENABLE();
    #endif
    #ifdef TIM5
    if (mask & 1<<4) __HAL_RCC_TIM5_CLK_ENABLE();
    #endif
    //6 and 7 are reserved ADC timers
    #ifdef TIM8
    if (mask & 1<<7) __HAL_RCC_TIM8_CLK_ENABLE();
    #endif
    #ifdef TIM9
    if (mask & 1<<8) __HAL_RCC_TIM9_CLK_ENABLE();
    #endif
    #ifdef TIM10
    if (mask & 1<<9) __HAL_RCC_TIM10_CLK_ENABLE();
    #endif
    #ifdef TIM11
    if (mask & 1<<10) __HAL_RCC_TIM11_CLK_ENABLE();
    #endif
    #ifdef TIM12
    if (mask & 1<<11) __HAL_RCC_TIM12_CLK_ENABLE();
    #endif
    #ifdef TIM13
    if (mask & 1<<12) __HAL_RCC_TIM13_CLK_ENABLE();
    #endif
    #ifdef TIM14
    if (mask & 1<<13) __HAL_RCC_TIM14_CLK_ENABLE();
    #endif
}

STATIC void tim_clock_disable(uint16_t mask) {
    #ifdef TIM1
    if (mask & 1<<0) __HAL_RCC_TIM1_CLK_DISABLE();
    #endif
    #ifdef TIM2
    if (mask & 1<<1) __HAL_RCC_TIM2_CLK_DISABLE();
    #endif
    #ifdef TIM3
    if (mask & 1<<2) __HAL_RCC_TIM3_CLK_DISABLE();
    #endif
    #ifdef TIM4
    if (mask & 1<<3) __HAL_RCC_TIM4_CLK_DISABLE();
    #endif
    #ifdef TIM5
    if (mask & 1<<4) __HAL_RCC_TIM5_CLK_DISABLE();
    #endif
    //6 and 7 are reserved ADC timers
    #ifdef TIM8
    if (mask & 1<<7) __HAL_RCC_TIM8_CLK_DISABLE();
    #endif
    #ifdef TIM9
    if (mask & 1<<8) __HAL_RCC_TIM9_CLK_DISABLE();
    #endif
    #ifdef TIM10
    if (mask & 1<<9) __HAL_RCC_TIM10_CLK_DISABLE();
    #endif
    #ifdef TIM11
    if (mask & 1<<10) __HAL_RCC_TIM11_CLK_DISABLE();
    #endif
    #ifdef TIM12
    if (mask & 1<<11) __HAL_RCC_TIM12_CLK_DISABLE();
    #endif
    #ifdef TIM13
    if (mask & 1<<12) __HAL_RCC_TIM13_CLK_DISABLE();
    #endif
    #ifdef TIM14
    if (mask & 1<<13) __HAL_RCC_TIM14_CLK_DISABLE();
    #endif
}