rp2/machine_pwm: Add support for inverting a PWM channel output.
Using the invert=True|False keyword option with the constructor or init().
This commit is contained in:
robert-hh
Damien George
parent
2ac643c15b
commit
0b3b508d1d
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@ -24,7 +24,7 @@ Example usage::
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Constructors
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------------
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.. class:: PWM(dest, *, freq, duty_u16, duty_ns)
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.. class:: PWM(dest, *, freq, duty_u16, duty_ns, invert)
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Construct and return a new PWM object using the following parameters:
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@ -35,10 +35,12 @@ Constructors
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PWM cycle.
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- *duty_u16* sets the duty cycle as a ratio ``duty_u16 / 65535``.
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- *duty_ns* sets the pulse width in nanoseconds.
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- *invert* inverts the respective output if the value is True
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Setting *freq* may affect other PWM objects if the objects share the same
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underlying PWM generator (this is hardware specific).
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Only one of *duty_u16* and *duty_ns* should be specified at a time.
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*invert* is not available at all ports.
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Methods
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-------
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@ -38,8 +38,8 @@ typedef struct _machine_pwm_obj_t {
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mp_obj_base_t base;
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uint8_t slice;
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uint8_t channel;
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uint8_t invert;
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uint8_t duty_type;
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bool freq_set;
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mp_int_t duty;
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} machine_pwm_obj_t;
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@ -51,47 +51,57 @@ enum {
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};
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STATIC machine_pwm_obj_t machine_pwm_obj[] = {
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{{&machine_pwm_type}, 0, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 0, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 1, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 1, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 2, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 2, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 3, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 3, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 4, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 4, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 5, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 5, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 6, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 6, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 7, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 7, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
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{{&machine_pwm_type}, 0, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 0, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 1, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 1, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 2, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 2, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 3, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 3, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 4, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 4, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 5, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 5, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 6, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 6, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 7, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
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{{&machine_pwm_type}, 7, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
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};
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STATIC bool defer_start;
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STATIC bool slice_freq_set[8];
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STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq);
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STATIC void mp_machine_pwm_duty_set_u16(machine_pwm_obj_t *self, mp_int_t duty_u16);
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STATIC void mp_machine_pwm_duty_set_ns(machine_pwm_obj_t *self, mp_int_t duty_ns);
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STATIC void mp_machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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machine_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
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mp_printf(print, "<PWM slice=%u channel=%u>", self->slice, self->channel);
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mp_printf(print, "<PWM slice=%u channel=%u invert=%u>",
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self->slice, self->channel, self->invert);
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}
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void machine_pwm_start(machine_pwm_obj_t *self) {
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// Start the PWM if properly set.
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if (self->freq_set && self->duty_type != DUTY_NOT_SET) {
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if (defer_start == false && slice_freq_set[self->slice] == true && self->duty_type != DUTY_NOT_SET) {
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if (self->channel == PWM_CHAN_A) {
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pwm_set_output_polarity(self->slice, self->invert, (self + 1)->invert);
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} else {
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pwm_set_output_polarity(self->slice, (self - 1)->invert, self->invert);
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}
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pwm_set_enabled(self->slice, true);
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}
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}
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STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
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size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_freq, ARG_duty_u16, ARG_duty_ns };
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enum { ARG_freq, ARG_duty_u16, ARG_duty_ns, ARG_invert };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_freq, MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
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{ MP_QSTR_duty_u16, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
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{ MP_QSTR_duty_ns, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
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{ MP_QSTR_invert, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
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};
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// Parse the arguments.
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@ -99,19 +109,22 @@ STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
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mp_arg_parse_all(n_args, pos_args, kw_args,
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MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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if ((n_args + kw_args->used) > 0) {
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if (args[ARG_freq].u_int != VALUE_NOT_SET) {
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mp_machine_pwm_freq_set(self, args[ARG_freq].u_int);
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}
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if (args[ARG_duty_u16].u_int != VALUE_NOT_SET) {
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mp_machine_pwm_duty_set_u16(self, args[ARG_duty_u16].u_int);
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}
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if (args[ARG_duty_ns].u_int != VALUE_NOT_SET) {
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mp_machine_pwm_duty_set_ns(self, args[ARG_duty_ns].u_int);
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}
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} else {
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machine_pwm_start(self);
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// defer starting PWM until all provided args are checked.
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defer_start = true;
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if (args[ARG_freq].u_int != VALUE_NOT_SET) {
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mp_machine_pwm_freq_set(self, args[ARG_freq].u_int);
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}
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if (args[ARG_duty_u16].u_int != VALUE_NOT_SET) {
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mp_machine_pwm_duty_set_u16(self, args[ARG_duty_u16].u_int);
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}
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if (args[ARG_duty_ns].u_int != VALUE_NOT_SET) {
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mp_machine_pwm_duty_set_ns(self, args[ARG_duty_ns].u_int);
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}
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if (args[ARG_invert].u_int != VALUE_NOT_SET) {
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self->invert = !!args[ARG_invert].u_int;
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}
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defer_start = false;
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machine_pwm_start(self);
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}
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// PWM(pin [, args])
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@ -126,7 +139,7 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args
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uint slice = pwm_gpio_to_slice_num(gpio);
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uint8_t channel = pwm_gpio_to_channel(gpio);
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machine_pwm_obj_t *self = &machine_pwm_obj[slice * 2 + channel];
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self->freq_set = false;
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self->invert = 0;
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self->duty_type = DUTY_NOT_SET;
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// Select PWM function for given GPIO.
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@ -143,6 +156,7 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args
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// Stop all active slices.
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void machine_pwm_deinit_all(void) {
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for (int i = 0; i < 8; i++) {
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slice_freq_set[i] = false;
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pwm_set_enabled(machine_pwm_obj[i].slice, false);
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}
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}
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@ -216,14 +230,16 @@ STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
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}
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pwm_hw->slice[self->slice].div = div16;
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pwm_hw->slice[self->slice].top = top;
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self->freq_set = true;
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slice_freq_set[self->slice] = true;
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if (self->duty_type == DUTY_U16) {
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mp_machine_pwm_duty_set_u16(self, self->duty);
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} else if (self->duty_type == DUTY_NS) {
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mp_machine_pwm_duty_set_ns(self, self->duty);
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}
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machine_pwm_obj_t *other = self->channel == PWM_CHAN_A ? self + 1 : self - 1;
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if (other->duty_type == DUTY_NS) {
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if (other->duty_type == DUTY_U16) {
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mp_machine_pwm_duty_set_u16(other, other->duty);
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} else if (other->duty_type == DUTY_NS) {
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mp_machine_pwm_duty_set_ns(other, other->duty);
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}
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}
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