circuitpython/ports/mimxrt10xx/common-hal/pulseio/PWMOut.c

/*
 * This file is part of the MicroPython project, http://micropython.org/
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
 * SPDX-FileCopyrightText: Copyright (c) 2016 Damien P. George
 * Copyright (c) 2019 Artur Pacholec
 *
 * 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 "shared-bindings/microcontroller/Processor.h"

#include "fsl_pwm.h"

#include "supervisor/shared/translate.h"
#include "periph.h"

#include <stdio.h>

// TODO
//#include "samd/pins.h"

//#undef ENABLE
//
//#  define _TCC_SIZE(unused, n) TCC ## n ## _SIZE,
//#  define TCC_SIZES         { REPEAT_MACRO(_TCC_SIZE, 0, TCC_INST_NUM) }
//
//static uint32_t tcc_periods[TCC_INST_NUM];
//static uint32_t tc_periods[TC_INST_NUM];
//
//uint32_t target_tcc_frequencies[TCC_INST_NUM];
//uint8_t tcc_refcount[TCC_INST_NUM];
//
//// This bitmask keeps track of which channels of a TCC are currently claimed.
//#ifdef SAMD21
//uint8_t tcc_channels[3];   // Set by pwmout_reset() to {0xf0, 0xfc, 0xfc} initially.
//#endif
//#ifdef SAMD51
//uint8_t tcc_channels[5];   // Set by pwmout_reset() to {0xc0, 0xf0, 0xf8, 0xfc, 0xfc} initially.
//#endif
//
//static uint8_t never_reset_tc_or_tcc[TC_INST_NUM + TCC_INST_NUM];

void common_hal_pulseio_pwmout_never_reset(pulseio_pwmout_obj_t *self) {
//    if (self->timer->is_tc) {
//        never_reset_tc_or_tcc[self->timer->index] += 1;
//    } else {
//        never_reset_tc_or_tcc[TC_INST_NUM + self->timer->index] += 1;
//    }
//
//    never_reset_pin_number(self->pin->number);
}

void common_hal_pulseio_pwmout_reset_ok(pulseio_pwmout_obj_t *self) {
//    if (self->timer->is_tc) {
//        never_reset_tc_or_tcc[self->timer->index] -= 1;
//    } else {
//        never_reset_tc_or_tcc[TC_INST_NUM + self->timer->index] -= 1;
//    }
}

void pwmout_reset(void) {
//    // Reset all timers
//    for (int i = 0; i < TCC_INST_NUM; i++) {
//        target_tcc_frequencies[i] = 0;
//        tcc_refcount[i] = 0;
//    }
//    Tcc *tccs[TCC_INST_NUM] = TCC_INSTS;
//    for (int i = 0; i < TCC_INST_NUM; i++) {
//        if (never_reset_tc_or_tcc[TC_INST_NUM + i] > 0) {
//            continue;
//        }
//        // Disable the module before resetting it.
//        if (tccs[i]->CTRLA.bit.ENABLE == 1) {
//            tccs[i]->CTRLA.bit.ENABLE = 0;
//            while (tccs[i]->SYNCBUSY.bit.ENABLE == 1) {
//            }
//        }
//        uint8_t mask = 0xff;
//        for (uint8_t j = 0; j < tcc_cc_num[i]; j++) {
//            mask <<= 1;
//        }
//        tcc_channels[i] = mask;
//        tccs[i]->CTRLA.bit.SWRST = 1;
//        while (tccs[i]->CTRLA.bit.SWRST == 1) {
//        }
//    }
//    Tc *tcs[TC_INST_NUM] = TC_INSTS;
//    for (int i = 0; i < TC_INST_NUM; i++) {
//        if (never_reset_tc_or_tcc[i] > 0) {
//            continue;
//        }
//        tcs[i]->COUNT16.CTRLA.bit.SWRST = 1;
//        while (tcs[i]->COUNT16.CTRLA.bit.SWRST == 1) {
//        }
//    }
}

//static uint8_t tcc_channel(const pin_timer_t* t) {
//    // For the SAMD51 this hardcodes the use of OTMX == 0x0, the output matrix mapping, which uses
//    // SAMD21-style modulo mapping.
//    return t->wave_output % tcc_cc_num[t->index];
//}

//bool channel_ok(const pin_timer_t* t) {
//    uint8_t channel_bit = 1 << tcc_channel(t);
//    return (!t->is_tc && ((tcc_channels[t->index] & channel_bit) == 0)) ||
//            t->is_tc;
//}

#define PWM_SRC_CLK_FREQ CLOCK_GetFreq(kCLOCK_IpgClk)

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) {
    self->pin = pin;
    self->variable_frequency = variable_frequency;

    const uint32_t pwm_count = sizeof(mcu_pwm_list) / sizeof(mcu_pwm_obj_t);

    for (uint32_t i = 0; i < pwm_count; ++i) {
        if (mcu_pwm_list[i].pin != pin)
            continue;

        printf("pwm: 0x%p, sum %d, chan %d, mux %d\r\n", mcu_pwm_list[i].pwm, mcu_pwm_list[i].submodule, mcu_pwm_list[i].channel, mcu_pwm_list[i].mux_mode);

        self->pwm = &mcu_pwm_list[i];

        break;
    }

    if (self->pwm == NULL) {
        return PWMOUT_INVALID_PIN;
    }

    CLOCK_SetDiv(kCLOCK_AhbDiv, 0x2); /* Set AHB PODF to 2, divide by 3 */
    CLOCK_SetDiv(kCLOCK_IpgDiv, 0x3); /* Set IPG PODF to 3, divede by 4 */

//TODO re-enable
//    IOMUXC_SetPinMux(
//      IOMUXC_GPIO_SD_02_FLEXPWM1_PWM0_A,         /* GPIO_02 is configured as FLEXPWM1_PWM0_A */
//      0U);                                       /* Software Input On Field: Input Path is determined by functionality */
//
//    IOMUXC_SetPinConfig(
//      IOMUXC_GPIO_SD_02_FLEXPWM1_PWM0_A,         /* GPIO_02 PAD functional properties : */
//      0x10A0U);                                  /* Slew Rate Field: Slow Slew Rate
//                                                 Drive Strength Field: R0/4
//                                                 Speed Field: fast(150MHz)
//                                                 Open Drain Enable Field: Open Drain Disabled
//                                                 Pull / Keep Enable Field: Pull/Keeper Enabled
//                                                 Pull / Keep Select Field: Keeper
//                                                 Pull Up / Down Config. Field: 100K Ohm Pull Down
//                                                 Hyst. Enable Field: Hysteresis Disabled */

    pwm_config_t pwmConfig;

    /*
     * pwmConfig.enableDebugMode = false;
     * pwmConfig.enableWait = false;
     * pwmConfig.reloadSelect = kPWM_LocalReload;
     * pwmConfig.faultFilterCount = 0;
     * pwmConfig.faultFilterPeriod = 0;
     * pwmConfig.clockSource = kPWM_BusClock;
     * pwmConfig.prescale = kPWM_Prescale_Divide_1;
     * pwmConfig.initializationControl = kPWM_Initialize_LocalSync;
     * pwmConfig.forceTrigger = kPWM_Force_Local;
     * pwmConfig.reloadFrequency = kPWM_LoadEveryOportunity;
     * pwmConfig.reloadLogic = kPWM_ReloadImmediate;
     * pwmConfig.pairOperation = kPWM_Independent;
     */
    PWM_GetDefaultConfig(&pwmConfig);

    //pwmConfig.reloadLogic = kPWM_ReloadPwmFullCycle;
    pwmConfig.enableDebugMode = true;

    if (PWM_Init(PWM1, self->pwm->submodule, &pwmConfig) == kStatus_Fail) {
        printf("PWM initialization failed\r\n");
        return PWMOUT_INVALID_PIN;
    }

    pwm_signal_param_t pwmSignal;

    /* Set deadtime count, we set this to about 650ns */
    uint16_t deadTimeVal = ((uint64_t)PWM_SRC_CLK_FREQ * 650) / 1000000000;

    pwmSignal.pwmChannel       = self->pwm->channel;
    pwmSignal.level            = kPWM_HighTrue;
    pwmSignal.dutyCyclePercent = frequency / 2; /* 1 percent dutycycle */
    pwmSignal.deadtimeValue    = deadTimeVal;

    PWM_SetupPwm(PWM1, self->pwm->submodule, &pwmSignal, 1, kPWM_SignedCenterAligned, frequency, PWM_SRC_CLK_FREQ);

    PWM_SetPwmLdok(PWM1, kPWM_Control_Module_0 | kPWM_Control_Module_1 | kPWM_Control_Module_2, true);

    PWM_StartTimer(PWM1, kPWM_Control_Module_0 | kPWM_Control_Module_1 | kPWM_Control_Module_2);

//    if (frequency == 0 || frequency > 6000000) {
//        return PWMOUT_INVALID_FREQUENCY;
//    }

//    // Figure out which timer we are using.
//    // First see if a tcc is already going with the frequency we want and our
//    // channel is unused. tc's don't have enough channels to share.
//    const pin_timer_t* timer = NULL;
//    uint8_t mux_position = 0;
//    if (!variable_frequency) {
//        for (uint8_t i = 0; i < TCC_INST_NUM && timer == NULL; i++) {
//            if (target_tcc_frequencies[i] != frequency) {
//                continue;
//            }
//            for (uint8_t j = 0; j < NUM_TIMERS_PER_PIN && timer == NULL; j++) {
//                const pin_timer_t* t = &pin->timer[j];
//                if (t->index != i || t->is_tc || t->index >= TCC_INST_NUM) {
//                    continue;
//                }
//                Tcc* tcc = tcc_insts[t->index];
//                if (tcc->CTRLA.bit.ENABLE == 1 && channel_ok(t)) {
//                    timer = t;
//                    mux_position = j;
//                    // Claim channel.
//                    tcc_channels[timer->index] |= (1 << tcc_channel(timer));
//
//                }
//            }
//        }
//    }
//
//    // No existing timer has been found, so find a new one to use and set it up.
//    if (timer == NULL) {
//        // By default, with fixed frequency we want to share a TCC because its likely we'll have
//        // other outputs at the same frequency. If the frequency is variable then we'll only have
//        // one output so we start with the TCs to see if they work.
//        int8_t direction = -1;
//        uint8_t start = NUM_TIMERS_PER_PIN - 1;
//        bool found = false;
//        if (variable_frequency) {
//            direction = 1;
//            start = 0;
//        }
//        for (int8_t i = start; i >= 0 && i < NUM_TIMERS_PER_PIN && timer == NULL; i += direction) {
//            const pin_timer_t* t = &pin->timer[i];
//            if ((!t->is_tc && t->index >= TCC_INST_NUM) ||
//                (t->is_tc && t->index >= TC_INST_NUM)) {
//                continue;
//            }
//            if (t->is_tc) {
//                found = true;
//                Tc* tc = tc_insts[t->index];
//                if (tc->COUNT16.CTRLA.bit.ENABLE == 0 && t->wave_output == 1) {
//                    timer = t;
//                    mux_position = i;
//                }
//            } else {
//                Tcc* tcc = tcc_insts[t->index];
//                if (tcc->CTRLA.bit.ENABLE == 0 && channel_ok(t)) {
//                    timer = t;
//                    mux_position = i;
//                }
//            }
//        }
//
//        if (timer == NULL) {
//            if (found) {
//                return PWMOUT_ALL_TIMERS_ON_PIN_IN_USE;
//            }
//            return PWMOUT_ALL_TIMERS_IN_USE;
//        }
//
//        uint8_t resolution = 0;
//        if (timer->is_tc) {
//            resolution = 16;
//        } else {
//            // TCC resolution varies so look it up.
//            const uint8_t _tcc_sizes[TCC_INST_NUM] = TCC_SIZES;
//            resolution = _tcc_sizes[timer->index];
//        }
//        // First determine the divisor that gets us the highest resolution.
//        uint32_t system_clock = common_hal_mcu_processor_get_frequency();
//        uint32_t top;
//        uint8_t divisor;
//        for (divisor = 0; divisor < 8; divisor++) {
//            top = (system_clock / prescaler[divisor] / frequency) - 1;
//            if (top < (1u << resolution)) {
//                break;
//            }
//        }
//
//        set_timer_handler(timer->is_tc, timer->index, TC_HANDLER_NO_INTERRUPT);
//        // We use the zeroeth clock on either port to go full speed.
//        turn_on_clocks(timer->is_tc, timer->index, 0);
//
//        if (timer->is_tc) {
//            tc_periods[timer->index] = top;
//            Tc* tc = tc_insts[timer->index];
//            #ifdef SAMD21
//            tc->COUNT16.CTRLA.reg = TC_CTRLA_MODE_COUNT16 |
//                                    TC_CTRLA_PRESCALER(divisor) |
//                                    TC_CTRLA_WAVEGEN_MPWM;
//            tc->COUNT16.CC[0].reg = top;
//            #endif
//            #ifdef SAMD51
//
//            tc->COUNT16.CTRLA.bit.SWRST = 1;
//            while (tc->COUNT16.CTRLA.bit.SWRST == 1) {
//            }
//            tc_set_enable(tc, false);
//            tc->COUNT16.CTRLA.reg = TC_CTRLA_MODE_COUNT16 | TC_CTRLA_PRESCALER(divisor);
//            tc->COUNT16.WAVE.reg = TC_WAVE_WAVEGEN_MPWM;
//            tc->COUNT16.CCBUF[0].reg = top;
//            tc->COUNT16.CCBUF[1].reg = 0;
//            #endif
//
//            tc_set_enable(tc, true);
//        } else {
//            tcc_periods[timer->index] = top;
//            Tcc* tcc = tcc_insts[timer->index];
//            tcc_set_enable(tcc, false);
//            tcc->CTRLA.bit.PRESCALER = divisor;
//            tcc->PER.bit.PER = top;
//            tcc->WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val;
//            tcc_set_enable(tcc, true);
//            target_tcc_frequencies[timer->index] = frequency;
//            tcc_refcount[timer->index]++;
//            if (variable_frequency) {
//                // We're changing frequency so claim all of the channels.
//                tcc_channels[timer->index] = 0xff;
//            } else {
//                tcc_channels[timer->index] |= (1 << tcc_channel(timer));
//            }
//        }
//    }
//
//    self->timer = timer;
//
//    gpio_set_pin_function(pin->number, GPIO_PIN_FUNCTION_E + mux_position);

    common_hal_pulseio_pwmout_set_duty_cycle(self, duty);

    return PWMOUT_OK;
}

bool common_hal_pulseio_pwmout_deinited(pulseio_pwmout_obj_t* self) {
    return self->pin == NULL;
}

void common_hal_pulseio_pwmout_deinit(pulseio_pwmout_obj_t* self) {
    if (common_hal_pulseio_pwmout_deinited(self)) {
        return;
    }

//    const pin_timer_t* t = self->timer;
//    if (t->is_tc) {
//        Tc* tc = tc_insts[t->index];
//        tc_set_enable(tc, false);
//        tc->COUNT16.CTRLA.bit.SWRST = true;
//        tc_wait_for_sync(tc);
//    } else {
//        tcc_refcount[t->index]--;
//        tcc_channels[t->index] &= ~(1 << tcc_channel(t));
//        if (tcc_refcount[t->index] == 0) {
//            target_tcc_frequencies[t->index] = 0;
//            Tcc* tcc = tcc_insts[t->index];
//            tcc_set_enable(tcc, false);
//            tcc->CTRLA.bit.SWRST = true;
//            while (tcc->SYNCBUSY.bit.SWRST != 0) {
//                /* Wait for sync */
//            }
//        }
//    }
//    reset_pin_number(self->pin->number);
    self->pin = NULL;
}

void common_hal_pulseio_pwmout_set_duty_cycle(pulseio_pwmout_obj_t *self, uint16_t duty) {
    PWM_UpdatePwmDutycycle(PWM1, self->pwm->submodule, self->pwm->channel, kPWM_SignedCenterAligned, duty);

//    const pin_timer_t* t = self->timer;
//    if (t->is_tc) {
//        uint16_t adjusted_duty = tc_periods[t->index] * duty / 0xffff;
//        #ifdef SAMD21
//        tc_insts[t->index]->COUNT16.CC[t->wave_output].reg = adjusted_duty;
//        #endif
//        #ifdef SAMD51
//        Tc* tc = tc_insts[t->index];
//        while (tc->COUNT16.SYNCBUSY.bit.CC1 != 0) {}
//        tc->COUNT16.CCBUF[1].reg = adjusted_duty;
//        #endif
//    } else {
//        uint32_t adjusted_duty = ((uint64_t) tcc_periods[t->index]) * duty / 0xffff;
//        uint8_t channel = tcc_channel(t);
//        Tcc* tcc = tcc_insts[t->index];
//
//        // Write into the CC buffer register, which will be transferred to the
//        // CC register on an UPDATE (when period is finished).
//        // Do clock domain syncing as necessary.
//
//        while (tcc->SYNCBUSY.reg != 0) {}
//
//        // Lock out double-buffering while updating the CCB value.
//        tcc->CTRLBSET.bit.LUPD = 1;
//        #ifdef SAMD21
//        tcc->CCB[channel].reg = adjusted_duty;
//        #endif
//        #ifdef SAMD51
//        tcc->CCBUF[channel].reg = adjusted_duty;
//        #endif
//        tcc->CTRLBCLR.bit.LUPD = 1;
//    }
}

uint16_t common_hal_pulseio_pwmout_get_duty_cycle(pulseio_pwmout_obj_t* self) {
    return 0;
//    const pin_timer_t* t = self->timer;
//    if (t->is_tc) {
//        Tc* tc = tc_insts[t->index];
//        tc_wait_for_sync(tc);
//        uint16_t cv = tc->COUNT16.CC[t->wave_output].reg;
//        return cv * 0xffff / tc_periods[t->index];
//    } else {
//        Tcc* tcc = tcc_insts[t->index];
//        uint8_t channel = tcc_channel(t);
//        uint32_t cv = 0;
//
//        while (tcc->SYNCBUSY.bit.CTRLB) {}
//
//        #ifdef SAMD21
//        // If CCBV (CCB valid) is set, the CCB value hasn't yet been copied
//        // to the CC value.
//        if ((tcc->STATUS.vec.CCBV & (1 << channel)) != 0) {
//            cv = tcc->CCB[channel].reg;
//        } else {
//            cv = tcc->CC[channel].reg;
//        }
//        #endif
//        #ifdef SAMD51
//        if ((tcc->STATUS.vec.CCBUFV & (1 << channel)) != 0) {
//            cv = tcc->CCBUF[channel].reg;
//        } else {
//            cv = tcc->CC[channel].reg;
//        }
//        #endif
//
//        uint32_t duty_cycle = ((uint64_t) cv) * 0xffff / tcc_periods[t->index];
//
//        return duty_cycle;
//    }
}

void common_hal_pulseio_pwmout_set_frequency(pulseio_pwmout_obj_t* self,
                                              uint32_t frequency) {
//    if (frequency == 0 || frequency > 6000000) {
//        mp_raise_ValueError(translate("Invalid PWM frequency"));
//    }
//    const pin_timer_t* t = self->timer;
//    uint8_t resolution;
//    if (t->is_tc) {
//        resolution = 16;
//    } else {
//        resolution = 24;
//    }
//    uint32_t system_clock = common_hal_mcu_processor_get_frequency();
//    uint32_t new_top;
//    uint8_t new_divisor;
//    for (new_divisor = 0; new_divisor < 8; new_divisor++) {
//        new_top = (system_clock / prescaler[new_divisor] / frequency) - 1;
//        if (new_top < (1u << resolution)) {
//            break;
//        }
//    }
//    uint16_t old_duty = common_hal_pulseio_pwmout_get_duty_cycle(self);
//    if (t->is_tc) {
//        Tc* tc = tc_insts[t->index];
//        uint8_t old_divisor = tc->COUNT16.CTRLA.bit.PRESCALER;
//        if (new_divisor != old_divisor) {
//            tc_set_enable(tc, false);
//            tc->COUNT16.CTRLA.bit.PRESCALER = new_divisor;
//            tc_set_enable(tc, true);
//        }
//        tc_periods[t->index] = new_top;
//        #ifdef SAMD21
//        tc->COUNT16.CC[0].reg = new_top;
//        #endif
//        #ifdef SAMD51
//        while (tc->COUNT16.SYNCBUSY.reg != 0) {}
//        tc->COUNT16.CCBUF[0].reg = new_top;
//        #endif
//    } else {
//        Tcc* tcc = tcc_insts[t->index];
//        uint8_t old_divisor = tcc->CTRLA.bit.PRESCALER;
//        if (new_divisor != old_divisor) {
//            tcc_set_enable(tcc, false);
//            tcc->CTRLA.bit.PRESCALER = new_divisor;
//            tcc_set_enable(tcc, true);
//        }
//        while (tcc->SYNCBUSY.reg != 0) {}
//        tcc_periods[t->index] = new_top;
//        #ifdef SAMD21
//        tcc->PERB.bit.PERB = new_top;
//        #endif
//        #ifdef SAMD51
//        tcc->PERBUF.bit.PERBUF = new_top;
//        #endif
//    }

//    common_hal_pulseio_pwmout_set_duty_cycle(self, old_duty);
}

uint32_t common_hal_pulseio_pwmout_get_frequency(pulseio_pwmout_obj_t* self) {
//    uint32_t system_clock = common_hal_mcu_processor_get_frequency();
//    const pin_timer_t* t = self->timer;
//    uint8_t divisor;
//    uint32_t top;
//    if (t->is_tc) {
//        divisor = tc_insts[t->index]->COUNT16.CTRLA.bit.PRESCALER;
//        top = tc_periods[t->index];
//    } else {
//        divisor = tcc_insts[t->index]->CTRLA.bit.PRESCALER;
//        top = tcc_periods[t->index];
//    }
//    return (system_clock / prescaler[divisor]) / (top + 1);
    return 0;
}

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