354 lines
12 KiB
C
354 lines
12 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) 2016-2018 Glenn Ruben Bakke
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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 <stdio.h>
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#include <string.h>
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#include "py/nlr.h"
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#include "py/runtime.h"
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#include "py/mphal.h"
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#if MICROPY_PY_MACHINE_HW_PWM
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#include "pin.h"
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#include "genhdr/pins.h"
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#include "pwm.h"
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#if defined(NRF52_SERIES)
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// Use PWM hardware.
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#include "nrfx_pwm.h"
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#endif
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typedef enum {
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MODE_LOW_HIGH,
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MODE_HIGH_LOW
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} pwm_mode_t;
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typedef struct {
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uint8_t pwm_pin;
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uint8_t duty;
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uint16_t pulse_width;
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uint16_t period;
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nrf_pwm_clk_t freq;
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pwm_mode_t mode;
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} machine_pwm_config_t;
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typedef struct _machine_hard_pwm_obj_t {
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mp_obj_base_t base;
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const nrfx_pwm_t * p_pwm;
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machine_pwm_config_t * p_config;
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} machine_hard_pwm_obj_t;
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STATIC const nrfx_pwm_t machine_hard_pwm_instances[] = {
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#if NRF52
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NRFX_PWM_INSTANCE(0),
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NRFX_PWM_INSTANCE(1),
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NRFX_PWM_INSTANCE(2),
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#elif NRF52840
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NRFX_PWM_INSTANCE(3),
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#else
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NULL
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#endif
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};
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STATIC machine_pwm_config_t hard_configs[MP_ARRAY_SIZE(machine_hard_pwm_instances)];
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STATIC const machine_hard_pwm_obj_t machine_hard_pwm_obj[] = {
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#if NRF52
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{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[0], .p_config = &hard_configs[0]},
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{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[1], .p_config = &hard_configs[0]},
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{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[2], .p_config = &hard_configs[0]},
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#elif NRF52840
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{{&machine_hard_pwm_type}, .p_pwm = &machine_hard_pwm_instances[3], .p_config = &hard_configs[0]},
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#endif
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};
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void pwm_init0(void) {
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}
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STATIC int hard_pwm_find(mp_obj_t id) {
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if (MP_OBJ_IS_INT(id)) {
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// given an integer id
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int pwm_id = mp_obj_get_int(id);
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if (pwm_id >= 0 && pwm_id <= MP_ARRAY_SIZE(machine_hard_pwm_obj)) {
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return pwm_id;
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}
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError,
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"PWM(%d) does not exist", pwm_id));
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}
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return -1;
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}
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STATIC void machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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machine_hard_pwm_obj_t *self = self_in;
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mp_printf(print, "PWM(%u)", self->p_pwm->drv_inst_idx);
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}
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/******************************************************************************/
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/* MicroPython bindings for machine API */
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STATIC mp_obj_t machine_hard_pwm_make_new(mp_arg_val_t *args);
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STATIC void machine_hard_pwm_init(mp_obj_t self, mp_arg_val_t *args);
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STATIC void machine_hard_pwm_deinit(mp_obj_t self);
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STATIC mp_obj_t machine_hard_pwm_freq(mp_obj_t self, mp_arg_val_t *args);
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/* common code for both soft and hard implementations *************************/
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STATIC mp_obj_t machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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enum { ARG_id, ARG_pin, ARG_freq, ARG_period, ARG_duty, ARG_pulse_width, ARG_mode };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_id, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)} },
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{ MP_QSTR_pin, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_duty, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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};
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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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if (args[ARG_id].u_obj == MP_OBJ_NEW_SMALL_INT(-1)) {
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// TODO: implement soft PWM
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// return machine_soft_pwm_make_new(args);
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return mp_const_none;
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} else {
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// hardware peripheral id given
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return machine_hard_pwm_make_new(args);
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}
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}
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STATIC mp_obj_t machine_pwm_init(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_INIT_pin };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }
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};
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// parse args
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mp_obj_t self = pos_args[0];
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// dispatch to specific implementation
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if (mp_obj_get_type(self) == &machine_hard_pwm_type) {
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machine_hard_pwm_init(self, args);
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pwm_init_obj, 1, machine_pwm_init);
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STATIC mp_obj_t machine_pwm_deinit(mp_obj_t self) {
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// dispatch to specific implementation
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if (mp_obj_get_type(self) == &machine_hard_pwm_type) {
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machine_hard_pwm_deinit(self);
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pwm_deinit_obj, machine_pwm_deinit);
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STATIC mp_obj_t machine_pwm_freq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_FREQ_freq };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_freq, MP_ARG_INT, {.u_int = -1} },
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};
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mp_obj_t self = pos_args[0];
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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if (mp_obj_get_type(self) == &machine_hard_pwm_type) {
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machine_hard_pwm_freq(self, args);
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} else {
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// soft pwm
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(mp_machine_pwm_freq_obj, 1, machine_pwm_freq);
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STATIC mp_obj_t machine_pwm_period(size_t n_args, const mp_obj_t *args) {
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_pwm_period_obj, 1, 2, machine_pwm_period);
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STATIC mp_obj_t machine_pwm_duty(size_t n_args, const mp_obj_t *args) {
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_machine_pwm_duty_obj, 1, 2, machine_pwm_duty);
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STATIC const mp_rom_map_elem_t machine_pwm_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_pwm_init_obj) },
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{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&machine_pwm_deinit_obj) },
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{ MP_ROM_QSTR(MP_QSTR_freq), MP_ROM_PTR(&mp_machine_pwm_freq_obj) },
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{ MP_ROM_QSTR(MP_QSTR_period), MP_ROM_PTR(&mp_machine_pwm_period_obj) },
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{ MP_ROM_QSTR(MP_QSTR_duty), MP_ROM_PTR(&mp_machine_pwm_duty_obj) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_16MHZ), MP_ROM_INT(NRF_PWM_CLK_16MHz) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_8MHZ), MP_ROM_INT(NRF_PWM_CLK_8MHz) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_4MHZ), MP_ROM_INT(NRF_PWM_CLK_4MHz) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_2MHZ), MP_ROM_INT(NRF_PWM_CLK_2MHz) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_1MHZ), MP_ROM_INT(NRF_PWM_CLK_1MHz) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_500KHZ), MP_ROM_INT(NRF_PWM_CLK_500kHz) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_250KHZ), MP_ROM_INT(NRF_PWM_CLK_250kHz) },
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{ MP_ROM_QSTR(MP_QSTR_FREQ_125KHZ), MP_ROM_INT(NRF_PWM_CLK_125kHz) },
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{ MP_ROM_QSTR(MP_QSTR_MODE_LOW_HIGH), MP_ROM_INT(MODE_LOW_HIGH) },
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{ MP_ROM_QSTR(MP_QSTR_MODE_HIGH_LOW), MP_ROM_INT(MODE_HIGH_LOW) },
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};
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STATIC MP_DEFINE_CONST_DICT(machine_pwm_locals_dict, machine_pwm_locals_dict_table);
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/* code for hard implementation ***********************************************/
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STATIC mp_obj_t machine_hard_pwm_make_new(mp_arg_val_t *args) {
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enum { ARG_id, ARG_pin, ARG_freq, ARG_period, ARG_duty, ARG_pulse_width, ARG_mode };
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// get static peripheral object
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int pwm_id = hard_pwm_find(args[ARG_id].u_obj);
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const machine_hard_pwm_obj_t *self = &machine_hard_pwm_obj[pwm_id];
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// check if PWM pin is set
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if (args[ARG_pin].u_obj != MP_OBJ_NULL) {
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self->p_config->pwm_pin = mp_hal_get_pin_obj(args[ARG_pin].u_obj)->pin;
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} else {
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// TODO: raise exception.
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}
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if (args[ARG_freq].u_obj != MP_OBJ_NULL) {
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self->p_config->freq = mp_obj_get_int(args[ARG_freq].u_obj);
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} else {
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self->p_config->freq = 50; // 50 Hz by default.
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}
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if (args[ARG_period].u_obj != MP_OBJ_NULL) {
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self->p_config->period = mp_obj_get_int(args[ARG_period].u_obj);
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} else {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError,
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"PWM period has to be within 16000 frequence cycles", self->p_config->period));
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}
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if (args[ARG_duty].u_obj != MP_OBJ_NULL) {
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self->p_config->duty = mp_obj_get_int(args[ARG_duty].u_obj);
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} else {
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self->p_config->duty = 50; // 50% by default.
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}
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if (args[ARG_pulse_width].u_obj != MP_OBJ_NULL) {
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self->p_config->pulse_width = mp_obj_get_int(args[ARG_pulse_width].u_obj);
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} else {
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self->p_config->pulse_width = 0;
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}
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if (args[ARG_mode].u_obj != MP_OBJ_NULL) {
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self->p_config->mode = mp_obj_get_int(args[ARG_mode].u_obj);
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} else {
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self->p_config->mode = MODE_HIGH_LOW;
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}
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return MP_OBJ_FROM_PTR(self);
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}
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STATIC void machine_hard_pwm_init(mp_obj_t self_in, mp_arg_val_t *args) {
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machine_hard_pwm_obj_t *self = self_in;
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nrfx_pwm_config_t config;
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config.output_pins[0] = self->p_config->pwm_pin;
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config.output_pins[1] = NRFX_PWM_PIN_NOT_USED;
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config.output_pins[2] = NRFX_PWM_PIN_NOT_USED;
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config.output_pins[3] = NRFX_PWM_PIN_NOT_USED;
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config.irq_priority = 6;
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config.base_clock = self->p_config->freq;
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config.count_mode = NRF_PWM_MODE_UP;
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config.top_value = self->p_config->period;
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config.load_mode = NRF_PWM_LOAD_INDIVIDUAL;
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config.step_mode = NRF_PWM_STEP_AUTO;
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nrfx_pwm_init(self->p_pwm, &config, NULL);
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uint16_t pulse_width = ((self->p_config->period * self->p_config->duty) / 100);
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// If manual period has been set, override duty-cycle.
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if (self->p_config->pulse_width > 0) {
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pulse_width = self->p_config->pulse_width;
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}
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// TODO: Move DMA buffer to global memory.
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volatile static uint16_t pwm_seq[4];
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if (self->p_config->mode == MODE_HIGH_LOW) {
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pwm_seq[0] = self->p_config->period - pulse_width;
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pwm_seq[1] = self->p_config->period - pulse_width;
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} else {
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pwm_seq[0] = self->p_config->period - pulse_width;
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pwm_seq[1] = self->p_config->period - pulse_width;
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}
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pwm_seq[2] = self->p_config->period - pulse_width;
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pwm_seq[3] = self->p_config->period - pulse_width;
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const nrf_pwm_sequence_t pwm_sequence = {
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.values.p_raw = (const uint16_t *)&pwm_seq,
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.length = 4,
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.repeats = 0,
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.end_delay = 0
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};
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nrfx_pwm_simple_playback(self->p_pwm,
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&pwm_sequence,
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0, // Loop disabled.
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0);
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}
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STATIC void machine_hard_pwm_deinit(mp_obj_t self_in) {
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machine_hard_pwm_obj_t *self = self_in;
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(void)self;
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nrfx_pwm_stop(self->p_pwm, true);
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nrfx_pwm_uninit(self->p_pwm);
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}
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STATIC mp_obj_t machine_hard_pwm_freq(mp_obj_t self_in, mp_arg_val_t *args) {
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machine_hard_pwm_obj_t *self = self_in;
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(void)self;
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return mp_const_none;
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}
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const mp_obj_type_t machine_hard_pwm_type = {
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{ &mp_type_type },
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.name = MP_QSTR_PWM,
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.print = machine_pwm_print,
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.make_new = machine_pwm_make_new,
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.locals_dict = (mp_obj_dict_t*)&machine_pwm_locals_dict,
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};
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#endif // MICROPY_PY_MACHINE_HW_PWM
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