405 lines
14 KiB
C
405 lines
14 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2019 Lucian Copeland for Adafruit Industries
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* Uses code from Micropython, Copyright (c) 2013-2016 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdint.h>
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#include "py/runtime.h"
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#include "common-hal/pulseio/PWMOut.h"
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#include "shared-bindings/pulseio/PWMOut.h"
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#include "supervisor/shared/translate.h"
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#include "shared-bindings/microcontroller/__init__.h"
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#include "stm32f4xx_hal.h"
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#include "common-hal/microcontroller/Pin.h"
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#define ALL_CLOCKS 0xFFFF
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STATIC uint8_t reserved_tim[TIM_BANK_ARRAY_LEN];
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STATIC uint32_t tim_frequencies[TIM_BANK_ARRAY_LEN];
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STATIC bool never_reset_tim[TIM_BANK_ARRAY_LEN];
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STATIC void tim_clock_enable(uint16_t mask);
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STATIC void tim_clock_disable(uint16_t mask);
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// Get the frequency (in Hz) of the source clock for the given timer.
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// On STM32F405/407/415/417 there are 2 cases for how the clock freq is set.
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// If the APB prescaler is 1, then the timer clock is equal to its respective
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// APB clock. Otherwise (APB prescaler > 1) the timer clock is twice its
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// respective APB clock. See DM00031020 Rev 4, page 115.
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STATIC uint32_t timer_get_source_freq(uint32_t tim_id) {
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uint32_t source, clk_div;
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if (tim_id == 1 || (8 <= tim_id && tim_id <= 11)) {
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// TIM{1,8,9,10,11} are on APB2
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source = HAL_RCC_GetPCLK2Freq();
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clk_div = RCC->CFGR & RCC_CFGR_PPRE2;
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} else {
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// TIM{2,3,4,5,6,7,12,13,14} are on APB1
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source = HAL_RCC_GetPCLK1Freq();
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clk_div = RCC->CFGR & RCC_CFGR_PPRE1;
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}
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if (clk_div != 0) {
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// APB prescaler for this timer is > 1
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source *= 2;
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}
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return source;
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}
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STATIC uint32_t timer_get_internal_duty(uint16_t duty, uint32_t period) {
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//duty cycle is duty/0xFFFF fraction x (number of pulses per period)
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return (duty*period)/((1<<16)-1);
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}
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STATIC void timer_get_optimal_divisors(uint32_t*period, uint32_t*prescaler,
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uint32_t frequency, uint32_t source_freq) {
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//Find the largest possible period supported by this frequency
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for (int i=0; i<(1 << 16);i++) {
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*period = source_freq/(i*frequency);
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if (*period < (1 << 16) && *period>=2) {
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*prescaler = i;
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break;
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}
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}
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if (*prescaler == 0) {
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mp_raise_ValueError(translate("Invalid frequency supplied"));
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}
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}
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void pwmout_reset(void) {
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uint16_t never_reset_mask = 0x00;
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for(int i=0;i<TIM_BANK_ARRAY_LEN;i++) {
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if (!never_reset_tim[i]) {
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reserved_tim[i] = 0x00;
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tim_frequencies[i] = 0x00;
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} else {
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never_reset_mask |= 1<<i;
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}
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}
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tim_clock_disable(ALL_CLOCKS & ~(never_reset_mask));
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}
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void common_hal_pulseio_pwmout_never_reset(pulseio_pwmout_obj_t *self) {
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for(size_t i = 0 ; i < TIM_BANK_ARRAY_LEN; i++) {
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if (mcu_tim_banks[i] == self->handle.Instance) {
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never_reset_tim[i] = true;
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never_reset_pin_number(self->tim->pin->port, self->tim->pin->number);
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break;
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}
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}
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}
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void common_hal_pulseio_pwmout_reset_ok(pulseio_pwmout_obj_t *self) {
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for(size_t i = 0 ; i < TIM_BANK_ARRAY_LEN; i++) {
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if (mcu_tim_banks[i] == self->handle.Instance) {
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never_reset_tim[i] = false;
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break;
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}
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}
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}
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pwmout_result_t common_hal_pulseio_pwmout_construct(pulseio_pwmout_obj_t* self,
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const mcu_pin_obj_t* pin,
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uint16_t duty,
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uint32_t frequency,
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bool variable_frequency) {
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mp_printf(&mp_plat_print, "Construct PWM\n");
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TIM_TypeDef * TIMx;
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uint8_t tim_num = sizeof(mcu_tim_pin_list)/sizeof(*mcu_tim_pin_list);
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bool tim_chan_taken = false;
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bool tim_taken_f_mismatch = false;
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bool var_freq_mismatch = false;
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bool first_time_setup = true;
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for(uint i = 0; i < tim_num; i++) {
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mcu_tim_pin_obj_t l_tim = mcu_tim_pin_list[i];
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uint8_t l_tim_index = l_tim.tim_index-1;
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uint8_t l_tim_channel = l_tim.channel_index-1;
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//if pin is same
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if (l_tim.pin == pin) {
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//check if the timer has a channel active
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if (reserved_tim[l_tim_index] != 0) {
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//is it the same channel? (or all channels reserved by a var-freq)
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if (reserved_tim[l_tim_index] & 1<<(l_tim_channel)) {
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tim_chan_taken = true;
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continue; //keep looking, might be another viable option
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}
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//If the frequencies are the same it's ok
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if (tim_frequencies[l_tim_index] != frequency) {
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tim_taken_f_mismatch = true;
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continue; //keep looking
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}
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//you can't put a variable frequency on a partially reserved timer
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if (variable_frequency) {
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var_freq_mismatch = true;
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continue; //keep looking
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}
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first_time_setup = false; //skip setting up the timer
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}
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//No problems taken, so set it up
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self->tim = &l_tim;
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break;
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}
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}
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//handle valid/invalid timer instance
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if (self->tim!=NULL) {
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//create instance
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TIMx = mcu_tim_banks[self->tim->tim_index-1];
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//reserve timer/channel
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if (variable_frequency) {
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reserved_tim[self->tim->tim_index-1] = 0x0F;
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} else {
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reserved_tim[self->tim->tim_index-1] |= 1<<(self->tim->channel_index-1);
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}
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tim_frequencies[self->tim->tim_index-1] = frequency;
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} else { //no match found
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if (tim_chan_taken) {
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mp_raise_ValueError(translate("No more timers available on this pin."));
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} else if (tim_taken_f_mismatch) {
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mp_raise_ValueError(translate("Frequency must be the same as as the existing PWMOut using this timer"));
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} else if (var_freq_mismatch) {
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mp_raise_ValueError(translate("Cannot vary frequency on a timer that is already in use"));
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} else {
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mp_raise_ValueError(translate("Invalid pins"));
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}
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}
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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GPIO_InitStruct.Pin = pin_mask(pin->number);
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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GPIO_InitStruct.Alternate = self->tim->altfn_index;
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HAL_GPIO_Init(pin_port(pin->port), &GPIO_InitStruct);
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mp_printf(&mp_plat_print, "PWM Pin:%d Port:%d\n", pin->number, pin->port);
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tim_clock_enable(1<<(self->tim->tim_index - 1));
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//translate channel into handle value
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self->channel = 4 * (self->tim->channel_index - 1);
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uint32_t prescaler = 0; //prescaler is 15 bit
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uint32_t period = 0; //period is 16 bit
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timer_get_optimal_divisors(&period, &prescaler,frequency,timer_get_source_freq(self->tim->tim_index));
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mp_printf(&mp_plat_print, "Per:%d presc:%d\n", period, prescaler);
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//Timer init
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self->handle.Instance = TIMx;
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self->handle.Init.Period = period - 1;
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self->handle.Init.Prescaler = prescaler - 1;
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self->handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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self->handle.Init.CounterMode = TIM_COUNTERMODE_UP;
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self->handle.Init.RepetitionCounter = 0;
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//only run init if this is the first instance of this timer
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if (first_time_setup) {
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if (HAL_TIM_PWM_Init(&self->handle) != HAL_OK) {
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mp_raise_ValueError(translate("Could not initialize timer"));
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}
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}
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//Channel/PWM init
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self->chan_handle.OCMode = TIM_OCMODE_PWM1;
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self->chan_handle.Pulse = timer_get_internal_duty(duty, period);
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self->chan_handle.OCPolarity = TIM_OCPOLARITY_LOW;
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self->chan_handle.OCFastMode = TIM_OCFAST_DISABLE;
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self->chan_handle.OCNPolarity = TIM_OCNPOLARITY_LOW; // needed for TIM1 and TIM8
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self->chan_handle.OCIdleState = TIM_OCIDLESTATE_SET; // needed for TIM1 and TIM8
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self->chan_handle.OCNIdleState = TIM_OCNIDLESTATE_SET; // needed for TIM1 and TIM8
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if (HAL_TIM_PWM_ConfigChannel(&self->handle, &self->chan_handle, self->channel) != HAL_OK) {
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mp_raise_ValueError(translate("Could not initialize channel"));
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}
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if (HAL_TIM_PWM_Start(&self->handle, self->channel) != HAL_OK) {
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mp_raise_ValueError(translate("Could not start PWM"));
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}
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self->variable_frequency = variable_frequency;
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self->frequency = frequency;
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self->duty_cycle = duty;
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self->period = period;
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return PWMOUT_OK;
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}
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bool common_hal_pulseio_pwmout_deinited(pulseio_pwmout_obj_t* self) {
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return self->tim == mp_const_none;
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}
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void common_hal_pulseio_pwmout_deinit(pulseio_pwmout_obj_t* self) {
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if (common_hal_pulseio_pwmout_deinited(self)) {
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return;
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}
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//var freq shuts down entire timer, others just their channel
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if (self->variable_frequency) {
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reserved_tim[self->tim->tim_index-1] = 0x00;
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} else {
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reserved_tim[self->tim->tim_index-1] &= ~(1<<self->tim->channel_index);
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HAL_TIM_PWM_Stop(&self->handle, self->channel);
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}
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reset_pin_number(self->tim->pin->port,self->tim->pin->number);
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self->tim = mp_const_none;
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//if reserved timer has no active channels, we can disable it
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if (!reserved_tim[self->tim->tim_index-1]) {
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tim_frequencies[self->tim->tim_index-1] = 0x00;
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tim_clock_disable(1<<(self->tim->tim_index-1));
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}
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}
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void common_hal_pulseio_pwmout_set_duty_cycle(pulseio_pwmout_obj_t* self, uint16_t duty) {
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uint32_t internal_duty_cycle = timer_get_internal_duty(duty, self->period);
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__HAL_TIM_SET_COMPARE(&self->handle, self->channel, internal_duty_cycle);
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self->duty_cycle = duty;
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}
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uint16_t common_hal_pulseio_pwmout_get_duty_cycle(pulseio_pwmout_obj_t* self) {
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return self->duty_cycle;
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}
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void common_hal_pulseio_pwmout_set_frequency(pulseio_pwmout_obj_t* self, uint32_t frequency) {
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//don't halt setup for the same frequency
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if (frequency == self->frequency) return;
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uint32_t prescaler = 0;
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uint32_t period = 0;
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timer_get_optimal_divisors(&period, &prescaler,frequency,timer_get_source_freq(self->tim->tim_index));
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//shut down
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HAL_TIM_PWM_Stop(&self->handle, self->channel);
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//Only change altered values
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self->handle.Init.Period = period - 1;
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self->handle.Init.Prescaler = prescaler - 1;
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//restart everything, adjusting for new speed
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if (HAL_TIM_PWM_Init(&self->handle) != HAL_OK) {
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mp_raise_ValueError(translate("Could not re-init timer"));
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}
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self->chan_handle.Pulse = timer_get_internal_duty(self->duty_cycle, period);
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if (HAL_TIM_PWM_ConfigChannel(&self->handle, &self->chan_handle, self->channel) != HAL_OK) {
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mp_raise_ValueError(translate("Could not re-init channel"));
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}
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if (HAL_TIM_PWM_Start(&self->handle, self->channel) != HAL_OK) {
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mp_raise_ValueError(translate("Could not restart PWM"));
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}
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tim_frequencies[self->tim->tim_index-1] = frequency;
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self->frequency = frequency;
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self->period = period;
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}
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uint32_t common_hal_pulseio_pwmout_get_frequency(pulseio_pwmout_obj_t* self) {
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return self->frequency;
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}
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bool common_hal_pulseio_pwmout_get_variable_frequency(pulseio_pwmout_obj_t* self) {
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return self->variable_frequency;
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}
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STATIC void tim_clock_enable(uint16_t mask) {
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#ifdef TIM1
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if (mask & 1<<0) __HAL_RCC_TIM1_CLK_ENABLE();
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#endif
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#ifdef TIM2
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if (mask & 1<<1) __HAL_RCC_TIM2_CLK_ENABLE();
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#endif
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#ifdef TIM3
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if (mask & 1<<2) __HAL_RCC_TIM3_CLK_ENABLE();
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#endif
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#ifdef TIM4
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if (mask & 1<<3) __HAL_RCC_TIM4_CLK_ENABLE();
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#endif
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#ifdef TIM5
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if (mask & 1<<4) __HAL_RCC_TIM5_CLK_ENABLE();
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#endif
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//6 and 7 are reserved ADC timers
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#ifdef TIM8
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if (mask & 1<<7) __HAL_RCC_TIM8_CLK_ENABLE();
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#endif
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#ifdef TIM9
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if (mask & 1<<8) __HAL_RCC_TIM9_CLK_ENABLE();
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#endif
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#ifdef TIM10
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if (mask & 1<<9) __HAL_RCC_TIM10_CLK_ENABLE();
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#endif
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#ifdef TIM11
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if (mask & 1<<10) __HAL_RCC_TIM11_CLK_ENABLE();
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#endif
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#ifdef TIM12
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if (mask & 1<<11) __HAL_RCC_TIM12_CLK_ENABLE();
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#endif
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#ifdef TIM13
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if (mask & 1<<12) __HAL_RCC_TIM13_CLK_ENABLE();
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#endif
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#ifdef TIM14
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if (mask & 1<<13) __HAL_RCC_TIM14_CLK_ENABLE();
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#endif
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}
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STATIC void tim_clock_disable(uint16_t mask) {
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#ifdef TIM1
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if (mask & 1<<0) __HAL_RCC_TIM1_CLK_DISABLE();
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#endif
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#ifdef TIM2
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if (mask & 1<<1) __HAL_RCC_TIM2_CLK_DISABLE();
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#endif
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#ifdef TIM3
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if (mask & 1<<2) __HAL_RCC_TIM3_CLK_DISABLE();
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#endif
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#ifdef TIM4
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if (mask & 1<<3) __HAL_RCC_TIM4_CLK_DISABLE();
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#endif
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#ifdef TIM5
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if (mask & 1<<4) __HAL_RCC_TIM5_CLK_DISABLE();
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#endif
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//6 and 7 are reserved ADC timers
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#ifdef TIM8
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if (mask & 1<<7) __HAL_RCC_TIM8_CLK_DISABLE();
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#endif
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#ifdef TIM9
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if (mask & 1<<8) __HAL_RCC_TIM9_CLK_DISABLE();
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#endif
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#ifdef TIM10
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if (mask & 1<<9) __HAL_RCC_TIM10_CLK_DISABLE();
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#endif
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#ifdef TIM11
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if (mask & 1<<10) __HAL_RCC_TIM11_CLK_DISABLE();
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#endif
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#ifdef TIM12
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if (mask & 1<<11) __HAL_RCC_TIM12_CLK_DISABLE();
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#endif
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#ifdef TIM13
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if (mask & 1<<12) __HAL_RCC_TIM13_CLK_DISABLE();
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#endif
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#ifdef TIM14
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if (mask & 1<<13) __HAL_RCC_TIM14_CLK_DISABLE();
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#endif
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}
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