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stmhal, timer: Factor code to compute PWM percent; improve 32bit case.

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Also do the same for teensy timer code.
This commit is contained in:
Damien George 2014-09-25 15:44:10 +01:00
parent 3fafe730d3
commit e8ea0724da
2 changed files with 106 additions and 89 deletions
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105
stmhal/timer.c
View File

@ -139,7 +139,7 @@ typedef struct _pyb_timer_obj_t {
// The following yields TIM_IT_UPDATE when channel is zero and // The following yields TIM_IT_UPDATE when channel is zero and
// TIM_IT_CC1..TIM_IT_CC4 when channel is 1..4 // TIM_IT_CC1..TIM_IT_CC4 when channel is 1..4
#define TIMER_IRQ_MASK(channel) (1 << (channel)) #define TIMER_IRQ_MASK(channel) (1 << (channel))
#define TIMER_CNT_MASK(self) ((self)->is_32bit ? 0x3fffffff : 0xffff) #define TIMER_CNT_MASK(self) ((self)->is_32bit ? 0xffffffff : 0xffff)
#define TIMER_CHANNEL(self) ((((self)->channel) - 1) << 2) #define TIMER_CHANNEL(self) ((((self)->channel) - 1) << 2)
TIM_HandleTypeDef TIM3_Handle; TIM_HandleTypeDef TIM3_Handle;
@ -268,6 +268,37 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
STATIC const mp_obj_type_t pyb_timer_channel_type; STATIC const mp_obj_type_t pyb_timer_channel_type;
// Helper function to compute PWM value from timer period and percent value.
// 'val' can be an int or a float between 0 and 100 (out of range values are
// clamped).
STATIC uint32_t compute_pwm_value_from_percent(uint32_t period, mp_obj_t val) {
uint32_t cmp;
if (0) {
#if MICROPY_PY_BUILTINS_FLOAT
} else if (MP_OBJ_IS_TYPE(val, &mp_type_float)) {
cmp = mp_obj_get_float(val) / 100.0 * period;
#endif
} else {
// For integer arithmetic, if period is large and 100*period will
// overflow, then divide period before multiplying by cmp. Otherwise
// do it the other way round to retain precision.
// TODO we really need an mp_obj_get_uint_clamped function here so
// that we can get long-int values as large as 0xffffffff.
cmp = mp_obj_get_int(val);
if (period > (1 << 31) / 100) {
cmp = cmp * (period / 100);
} else {
cmp = (cmp * period) / 100;
}
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
return cmp;
}
STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_timer_obj_t *self = self_in; pyb_timer_obj_t *self = self_in;
@ -568,7 +599,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
STATIC const mp_arg_t pyb_timer_channel_args[] = { STATIC const mp_arg_t pyb_timer_channel_args[] = {
{ MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_pulse_width_percent, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_pulse_width_percent, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
@ -663,30 +694,19 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
case CHANNEL_MODE_PWM_INVERTED: { case CHANNEL_MODE_PWM_INVERTED: {
TIM_OC_InitTypeDef oc_config; TIM_OC_InitTypeDef oc_config;
oc_config.OCMode = channel_mode_info[chan->mode].oc_mode; oc_config.OCMode = channel_mode_info[chan->mode].oc_mode;
if (vals[2].u_int != 0xffffffff) { if (vals[3].u_obj != mp_const_none) {
// absolute pulse width value given
oc_config.Pulse = vals[2].u_int;
} else if (vals[3].u_obj != mp_const_none) {
// pulse width percent given // pulse width percent given
uint32_t period = (__HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self)) + 1; uint32_t period = (__HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self)) + 1;
uint32_t cmp; // For 32-bit timer, maximum period + 1 will overflow. In that
#if MICROPY_PY_BUILTINS_FLOAT // case we set the period back to 0xffffffff which will give very
if (MP_OBJ_IS_TYPE(vals[3].u_obj, &mp_type_float)) { // close to the correct result for the percentage calculation.
cmp = mp_obj_get_float(vals[3].u_obj) * period / 100.0; if (period == 0) {
} else period = 0xffffffff;
#endif
{
cmp = mp_obj_get_int(vals[3].u_obj) * period / 100;
} }
if (cmp < 0) { oc_config.Pulse = compute_pwm_value_from_percent(period, vals[3].u_obj);
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
oc_config.Pulse = cmp;
} else { } else {
// nothing given, default to pulse width of 0 // use absolute pulse width value (defaults to 0 if nothing given)
oc_config.Pulse = 0; oc_config.Pulse = vals[2].u_int;
} }
oc_config.OCPolarity = TIM_OCPOLARITY_HIGH; oc_config.OCPolarity = TIM_OCPOLARITY_HIGH;
oc_config.OCNPolarity = TIM_OCNPOLARITY_HIGH; oc_config.OCNPolarity = TIM_OCNPOLARITY_HIGH;
@ -910,38 +930,33 @@ STATIC mp_obj_t pyb_timer_channel_capture_compare(mp_uint_t n_args, const mp_obj
} }
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj, 1, 2, pyb_timer_channel_capture_compare); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj, 1, 2, pyb_timer_channel_capture_compare);
/// \method pulse_width_ratio([value]) /// \method pulse_width_percent([value])
/// Get or set the pulse width ratio associated with a channel. The value is /// Get or set the pulse width percentage associated with a channel. The value
/// a floating-point number between 0.0 and 1.0, and is relative to the period /// is a number between 0 and 100 and sets the percentage of the timer period
/// of the timer associated with this channel. For example, a ratio of 0.5 /// for which the pulse is active. The value can be an integer or
/// would be a 50% duty cycle. /// floating-point number for more accuracy. For example, a value of 25 gives
/// a duty cycle of 25%.
STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(mp_uint_t n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0]; pyb_timer_channel_obj_t *self = args[0];
uint32_t period = (__HAL_TIM_GetAutoreload(&self->timer->tim) & TIMER_CNT_MASK(self->timer)) + 1; uint32_t period = (__HAL_TIM_GetAutoreload(&self->timer->tim) & TIMER_CNT_MASK(self->timer)) + 1;
// For 32-bit timer, maximum period + 1 will overflow. In that case we set
// the period back to 0xffffffff which will give very close to the correct
// result for the percentage calculation.
if (period == 0) {
period = 0xffffffff;
}
if (n_args == 1) { if (n_args == 1) {
// get // get
uint32_t cmp = __HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer); uint32_t cmp = __HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer);
#if MICROPY_PY_BUILTINS_FLOAT #if MICROPY_PY_BUILTINS_FLOAT
return mp_obj_new_float((float)cmp * 100.0 / (float)period); return mp_obj_new_float((float)cmp / (float)period * 100.0);
#else #else
// TODO handle overflow of multiplication for 32-bit timer
return mp_obj_new_int(cmp * 100 / period); return mp_obj_new_int(cmp * 100 / period);
#endif #endif
} else { } else {
// set // set
uint32_t cmp; uint32_t cmp = compute_pwm_value_from_percent(period, args[1]);
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_TYPE(args[1], &mp_type_float)) {
cmp = mp_obj_get_float(args[1]) * period / 100.0;
} else
#endif
{
cmp = mp_obj_get_int(args[1]) * period / 100;
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
__HAL_TIM_SetCompare(&self->timer->tim, TIMER_CHANNEL(self), cmp & TIMER_CNT_MASK(self->timer)); __HAL_TIM_SetCompare(&self->timer->tim, TIMER_CHANNEL(self), cmp & TIMER_CNT_MASK(self->timer));
return mp_const_none; return mp_const_none;
} }

90
teensy/timer.c
View File

@ -128,6 +128,37 @@ mp_uint_t get_prescaler_shift(mp_int_t prescaler) {
STATIC const mp_obj_type_t pyb_timer_channel_type; STATIC const mp_obj_type_t pyb_timer_channel_type;
// Helper function to compute PWM value from timer period and percent value.
// 'val' can be an int or a float between 0 and 100 (out of range values are
// clamped).
STATIC uint32_t compute_pwm_value_from_percent(uint32_t period, mp_obj_t val) {
uint32_t cmp;
if (0) {
#if MICROPY_PY_BUILTINS_FLOAT
} else if (MP_OBJ_IS_TYPE(val, &mp_type_float)) {
cmp = mp_obj_get_float(val) / 100.0 * period;
#endif
} else {
// For integer arithmetic, if period is large and 100*period will
// overflow, then divide period before multiplying by cmp. Otherwise
// do it the other way round to retain precision.
// TODO we really need an mp_obj_get_uint_clamped function here so
// that we can get long-int values as large as 0xffffffff.
cmp = mp_obj_get_int(val);
if (period > (1 << 31) / 100) {
cmp = cmp * (period / 100);
} else {
cmp = (cmp * period) / 100;
}
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
return cmp;
}
STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_timer_obj_t *self = self_in; pyb_timer_obj_t *self = self_in;
@ -373,7 +404,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
STATIC const mp_arg_t pyb_timer_channel_args[] = { STATIC const mp_arg_t pyb_timer_channel_args[] = {
{ MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_pulse_width_percent, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_pulse_width_percent, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
@ -468,30 +499,13 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
case CHANNEL_MODE_PWM_INVERTED: { case CHANNEL_MODE_PWM_INVERTED: {
FTM_OC_InitTypeDef oc_config; FTM_OC_InitTypeDef oc_config;
oc_config.OCMode = channel_mode_info[chan->mode].oc_mode; oc_config.OCMode = channel_mode_info[chan->mode].oc_mode;
if (vals[2].u_int != 0xffffffff) { if (vals[3].u_obj != mp_const_none) {
// absolute pulse width value given
oc_config.Pulse = vals[2].u_int;
} else if (vals[3].u_obj != mp_const_none) {
// pulse width ratio given // pulse width ratio given
uint32_t period = (self->ftm.Instance->MOD & 0xffff) + 1; uint32_t period = (self->ftm.Instance->MOD & 0xffff) + 1;
uint32_t cmp; oc_config.Pulse = compute_pwm_value_from_percent(period, vals[3].u_obj);
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_TYPE(vals[3].u_obj, &mp_type_float)) {
cmp = mp_obj_get_float(vals[3].u_obj) * period / 100.0;
} else
#endif
{
cmp = mp_obj_get_int(vals[3].u_obj) * period / 100;
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
oc_config.Pulse = cmp;
} else { } else {
// nothing given, default to pulse width of 0 // use absolute pulse width value (defaults to 0 if nothing given)
oc_config.Pulse = 0; oc_config.Pulse = vals[2].u_int;
} }
oc_config.OCPolarity = FTM_OCPOLARITY_HIGH; oc_config.OCPolarity = FTM_OCPOLARITY_HIGH;
@ -748,10 +762,11 @@ STATIC mp_obj_t pyb_timer_channel_capture_compare(mp_uint_t n_args, const mp_obj
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj, 1, 2, pyb_timer_channel_capture_compare); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj, 1, 2, pyb_timer_channel_capture_compare);
/// \method pulse_width_percent([value]) /// \method pulse_width_percent([value])
/// Get or set the pulse width ratio associated with a channel. The value is /// Get or set the pulse width percentage associated with a channel. The value
/// a floating-point number between 0.0 and 1.0, and is relative to the period /// is a number between 0 and 100 and sets the percentage of the timer period
/// of the timer associated with this channel. For example, a ratio of 0.5 /// for which the pulse is active. The value can be an integer or
/// would be a 50% duty cycle. /// floating-point number for more accuracy. For example, a value of 25 gives
/// a duty cycle of 25%.
STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(mp_uint_t n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0]; pyb_timer_channel_obj_t *self = args[0];
FTM_TypeDef *FTMx = self->timer->ftm.Instance; FTM_TypeDef *FTMx = self->timer->ftm.Instance;
@ -759,27 +774,14 @@ STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(mp_uint_t n_args, const mp
if (n_args == 1) { if (n_args == 1) {
// get // get
uint32_t cmp = FTMx->channel[self->channel].CV & 0xffff; uint32_t cmp = FTMx->channel[self->channel].CV & 0xffff;
#if MICROPY_PY_BUILTINS_FLOAT #if MICROPY_PY_BUILTINS_FLOAT
return mp_obj_new_float((float)cmp * 100.0 / (float)period); return mp_obj_new_float((float)cmp / (float)period * 100.0);
#else #else
return mp_obj_new_int(cmp * 100 / period); return mp_obj_new_int(cmp * 100 / period);
#endif #endif
} else { } else {
// set // set
uint32_t cmp; uint32_t cmp = compute_pwm_value_from_percent(period, args[1]);
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_TYPE(args[1], &mp_type_float)) {
cmp = mp_obj_get_float(args[1]) * period / 100.0;
} else
#endif
{
cmp = mp_obj_get_int(args[1]) * period / 100;
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
FTMx->channel[self->channel].CV = cmp & 0xffff; FTMx->channel[self->channel].CV = cmp & 0xffff;
return mp_const_none; return mp_const_none;
} }