432 lines
11 KiB
C
432 lines
11 KiB
C
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/*
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* Copyright (c) 2006-2020, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2020-07-26 supperthomas first version
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*
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*/
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#include <board.h>
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#include "rtdevice.h"
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#include "rtservice.h"
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#ifdef RT_USING_PWM
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#include <nrfx_pwm.h>
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struct mcu_pwm
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{
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struct rt_device_pwm pwm_device;
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nrfx_pwm_t *pwm_handle;
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nrf_pwm_values_individual_t m_demo1_seq_values;
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nrf_pwm_sequence_t m_demo1_seq;
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rt_uint8_t channel;
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char *name;
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rt_uint64_t pwm_src_clk;
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uint8_t channel_0_pin;
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uint8_t channel_1_pin;
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uint8_t channel_2_pin;
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uint8_t channel_3_pin;
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};
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enum
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{
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#ifdef BSP_USING_PWM0
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PWM0_INDEX,
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#endif
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#ifdef BSP_USING_PWM1
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PWM1_INDEX,
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#endif
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#ifdef BSP_USING_PWM2
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PWM2_INDEX,
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#endif
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#ifdef BSP_USING_PWM3
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PWM3_INDEX,
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#endif
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};
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#ifdef BSP_USING_PWM0
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static nrfx_pwm_t m_pwm0 = NRFX_PWM_INSTANCE(0);
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#define PWM0_CONFIG \
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{ \
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.pwm_handle = &m_pwm0, \
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.name = "pwm0", \
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.pwm_src_clk = 1000000, \
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}
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#endif
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#ifdef BSP_USING_PWM1
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static nrfx_pwm_t m_pwm1 = NRFX_PWM_INSTANCE(1);
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#define PWM1_CONFIG \
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{ \
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.pwm_handle = &m_pwm1, \
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.name = "pwm1", \
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.pwm_src_clk = 1000000, \
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}
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#endif
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#ifdef BSP_USING_PWM2
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static nrfx_pwm_t m_pwm2 = NRFX_PWM_INSTANCE(2);
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#define PWM2_CONFIG \
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{ \
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.pwm_handle = &m_pwm2, \
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.name = "pwm2", \
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.pwm_src_clk = 1000000, \
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}
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#endif
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#ifdef BSP_USING_PWM3
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static nrfx_pwm_t m_pwm3 = NRFX_PWM_INSTANCE(3);
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#define PWM3_CONFIG \
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{ \
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.pwm_handle = &m_pwm3, \
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.name = "pwm3", \
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.pwm_src_clk = 1000000, \
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}
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#endif
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static struct mcu_pwm mcu_pwm_obj[] =
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{
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#ifdef BSP_USING_PWM0
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PWM0_CONFIG,
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#endif
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#ifdef BSP_USING_PWM1
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PWM1_CONFIG,
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#endif
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#ifdef BSP_USING_PWM2
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PWM2_CONFIG,
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#endif
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#ifdef BSP_USING_PWM3
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PWM3_CONFIG,
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#endif
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};
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static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg);
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static struct rt_pwm_ops drv_ops =
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{
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drv_pwm_control
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};
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static rt_err_t drv_pwm_enable(struct mcu_pwm *p_mcu, struct rt_pwm_configuration *configuration, rt_bool_t enable)
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{
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if (!enable)
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{
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nrfx_pwm_stop(p_mcu->pwm_handle, true);
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}
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else
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{
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(void)nrfx_pwm_simple_playback(p_mcu->pwm_handle, &p_mcu->m_demo1_seq, 1, NRFX_PWM_FLAG_LOOP);
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}
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return RT_EOK;
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}
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uint8_t mcu_get_channel_number(uint8_t channel)
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{
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if (channel & 0x01)
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{
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return 0;
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}
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else if (channel & 0x02)
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{
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return 1;
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}
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else if (channel & 0x04)
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{
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return 2;
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}
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else if (channel & 0x08)
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{
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return 3;
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}
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return 0;
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}
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static rt_err_t drv_pwm_get(struct mcu_pwm *pwm_handle, struct rt_pwm_configuration *configuration)
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{
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rt_uint8_t channel_number = mcu_get_channel_number(configuration->channel);
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uint8_t tick_pscond;
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tick_pscond = pwm_handle->pwm_src_clk / 1000000UL;
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configuration->period = pwm_handle->pwm_handle->p_registers->COUNTERTOP * 1000UL / tick_pscond;
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configuration->pulse = pwm_handle->pwm_handle->p_registers->SEQ[channel_number].PTR / tick_pscond;
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return RT_EOK;
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}
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static void nrfx_set_prioid(nrfx_pwm_t *pwm_handle, uint32_t perioid)
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{
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pwm_handle->p_registers->COUNTERTOP = perioid;
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}
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static rt_err_t drv_pwm_set(struct mcu_pwm *p_mcu, struct rt_pwm_configuration *configuration)
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{
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rt_uint32_t period, pulse;
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uint8_t tick_pscond;
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tick_pscond = p_mcu->pwm_src_clk / 1000000UL;
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p_mcu->pwm_handle->p_registers->COUNTERTOP = (unsigned long long)configuration->period * tick_pscond;
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if (configuration->channel & 0x01)
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{
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p_mcu->m_demo1_seq_values.channel_0 = configuration->pulse;
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}
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if (configuration->channel & 0x02)
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{
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p_mcu->m_demo1_seq_values.channel_1 = configuration->pulse;
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}
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if (configuration->channel & 0x04)
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{
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p_mcu->m_demo1_seq_values.channel_2 = configuration->pulse;
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}
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if (configuration->channel & 0x08)
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{
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p_mcu->m_demo1_seq_values.channel_3 = configuration->pulse;
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}
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return RT_EOK;
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}
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static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg)
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{
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struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg;
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void *pwm_handle = (void *)device->parent.user_data;
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nrfx_pwm_t *p_handle = (nrfx_pwm_t *)pwm_handle;
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struct mcu_pwm *p_mcu = rt_container_of(p_handle, struct mcu_pwm, pwm_handle);
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switch (cmd)
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{
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case PWM_CMD_ENABLE:
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return drv_pwm_enable(p_mcu, configuration, RT_TRUE);
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case PWM_CMD_DISABLE:
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return drv_pwm_enable(p_mcu, configuration, RT_FALSE);
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case PWM_CMD_SET:
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return drv_pwm_set(p_mcu, configuration);
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case PWM_CMD_GET:
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return drv_pwm_get(p_mcu, configuration);
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default:
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return RT_EINVAL;
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}
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}
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static rt_err_t mcu_hw_pwm_init(struct mcu_pwm *device)
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{
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#define NRFX_PWM_PIN_INVERTED 0x80
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#define _PRIO_APP_LOWEST 7
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nrfx_pwm_config_t config0 =
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{
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.irq_priority = _PRIO_APP_LOWEST,
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.base_clock = NRF_PWM_CLK_1MHz, //default value
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.count_mode = NRF_PWM_MODE_UP,
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.top_value = 5000, //default vaule
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.load_mode = NRF_PWM_LOAD_INDIVIDUAL,
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.step_mode = NRF_PWM_STEP_AUTO
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};
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rt_err_t result = RT_EOK;
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if (device->pwm_src_clk == 1000000)
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{
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config0.base_clock = NRF_PWM_CLK_1MHz;
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}
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else if (device->pwm_src_clk == 2000000)
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{
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config0.base_clock = NRF_PWM_CLK_2MHz;
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}
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else if (device->pwm_src_clk == 8000000)
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{
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config0.base_clock = NRF_PWM_CLK_8MHz;
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}
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else
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{
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config0.base_clock = NRF_PWM_CLK_1MHz;
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}
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if (device->channel & 0x01)
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{
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config0.output_pins[0] = device->channel_0_pin | NRFX_PWM_PIN_INVERTED;
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}
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if (device->channel & 0x02)
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{
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config0.output_pins[1] = device->channel_1_pin | NRFX_PWM_PIN_INVERTED;
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}
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if (device->channel & 0x04)
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{
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config0.output_pins[2] = device->channel_2_pin | NRFX_PWM_PIN_INVERTED;
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}
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if (device->channel & 0x08)
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{
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config0.output_pins[3] = device->channel_3_pin | NRFX_PWM_PIN_INVERTED;
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}
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device->m_demo1_seq.values.p_individual = &device->m_demo1_seq_values;
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device->m_demo1_seq.length = NRF_PWM_VALUES_LENGTH(device->m_demo1_seq_values),
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nrfx_pwm_init(device->pwm_handle, &config0, NULL, NULL);
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return result;
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}
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static void pwm_get_channel(void)
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{
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#ifdef BSP_USING_PWM0_CH0
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mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 0;
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mcu_pwm_obj[PWM0_INDEX].channel_0_pin = BSP_USING_PWM0_CH0;
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#endif
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#ifdef BSP_USING_PWM0_CH1
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mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 1;
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mcu_pwm_obj[PWM0_INDEX].channel_1_pin = BSP_USING_PWM0_CH1;
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#endif
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#ifdef BSP_USING_PWM0_CH2
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mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 2;
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mcu_pwm_obj[PWM0_INDEX].channel_2_pin = BSP_USING_PWM0_CH2;
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#endif
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#ifdef BSP_USING_PWM0_CH3
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mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 3;
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mcu_pwm_obj[PWM0_INDEX].channel_3_pin = BSP_USING_PWM0_CH3;
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#endif
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#ifdef BSP_USING_PWM1_CH0
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mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 0;
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mcu_pwm_obj[PWM1_INDEX].channel_0_pin = BSP_USING_PWM1_CH0;
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#endif
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#ifdef BSP_USING_PWM1_CH1
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mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 1;
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mcu_pwm_obj[PWM1_INDEX].channel_1_pin = BSP_USING_PWM1_CH1;
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#endif
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#ifdef BSP_USING_PWM1_CH2
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mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 2;
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mcu_pwm_obj[PWM1_INDEX].channel_2_pin = BSP_USING_PWM1_CH2;
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#endif
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#ifdef BSP_USING_PWM1_CH3
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mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 3;
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mcu_pwm_obj[PWM1_INDEX].channel_3_pin = BSP_USING_PWM1_CH3;
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#endif
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#ifdef BSP_USING_PWM2_CH0
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mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 0;
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mcu_pwm_obj[PWM2_INDEX].channel_0_pin = BSP_USING_PWM2_CH0;
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#endif
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#ifdef BSP_USING_PWM2_CH1
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mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 1;
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mcu_pwm_obj[PWM2_INDEX].channel_1_pin = BSP_USING_PWM2_CH1;
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#endif
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#ifdef BSP_USING_PWM2_CH2
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mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 2;
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mcu_pwm_obj[PWM2_INDEX].channel_2_pin = BSP_USING_PWM2_CH2;
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#endif
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#ifdef BSP_USING_PWM2_CH3
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mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 3;
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mcu_pwm_obj[PWM2_INDEX].channel_3_pin = BSP_USING_PWM2_CH3;
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#endif
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#ifdef BSP_USING_PWM3_CH0
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mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 0;
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mcu_pwm_obj[PWM3_INDEX].channel_0_pin = BSP_USING_PWM3_CH0;
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#endif
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#ifdef BSP_USING_PWM3_CH1
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mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 1;
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mcu_pwm_obj[PWM3_INDEX].channel_1_pin = BSP_USING_PWM3_CH1;
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#endif
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#ifdef BSP_USING_PWM3_CH2
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mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 2;
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mcu_pwm_obj[PWM3_INDEX].channel_2_pin = BSP_USING_PWM3_CH2;
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#endif
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#ifdef BSP_USING_PWM3_CH3
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mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 3;
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mcu_pwm_obj[PWM3_INDEX].channel_3_pin = BSP_USING_PWM3_CH3;
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#endif
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}
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static int mcu_pwm_init(void)
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{
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int i = 0;
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||
|
|
int result = RT_EOK;
|
||
|
|
|
||
|
|
pwm_get_channel();
|
||
|
|
for (i = 0; i < sizeof(mcu_pwm_obj) / sizeof(mcu_pwm_obj[0]); i++)
|
||
|
|
{
|
||
|
|
/* pwm init */
|
||
|
|
if (mcu_hw_pwm_init(&mcu_pwm_obj[i]) != RT_EOK)
|
||
|
|
{
|
||
|
|
rt_kprintf("\r\n %s init failed", mcu_pwm_obj[i].name);
|
||
|
|
result = -RT_ERROR;
|
||
|
|
goto __exit;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
rt_kprintf("\r\n %s init success", mcu_pwm_obj[i].name);
|
||
|
|
|
||
|
|
/* register pwm device */
|
||
|
|
if (rt_device_pwm_register(&mcu_pwm_obj[i].pwm_device, mcu_pwm_obj[i].name, &drv_ops, &mcu_pwm_obj[i].pwm_handle) == RT_EOK)
|
||
|
|
{
|
||
|
|
rt_kprintf("\r\n %s register success", mcu_pwm_obj[i].name);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
rt_kprintf("\r\n %s register failed", mcu_pwm_obj[i].name);
|
||
|
|
result = -RT_ERROR;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
__exit:
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
INIT_DEVICE_EXPORT(mcu_pwm_init);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/* test example */
|
||
|
|
#define PWM_DEV_NAME "pwm0" /* PWM name*/
|
||
|
|
#define PWM_DEV_CHANNEL 15 /* PWM channel */
|
||
|
|
|
||
|
|
struct rt_device_pwm *pwm_dev;
|
||
|
|
|
||
|
|
static int pwm_led_sample(int argc, char *argv[])
|
||
|
|
{
|
||
|
|
rt_uint32_t period, pulse, dir;
|
||
|
|
|
||
|
|
period = 50000; /* 50ms*/
|
||
|
|
dir = 1;
|
||
|
|
pulse = 0;
|
||
|
|
|
||
|
|
|
||
|
|
pwm_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME);
|
||
|
|
if (pwm_dev == RT_NULL)
|
||
|
|
{
|
||
|
|
rt_kprintf("pwm sample run failed! can't find %s device!\n", PWM_DEV_NAME);
|
||
|
|
return RT_ERROR;
|
||
|
|
}
|
||
|
|
|
||
|
|
rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);
|
||
|
|
rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL);
|
||
|
|
|
||
|
|
while (1)
|
||
|
|
{
|
||
|
|
rt_thread_mdelay(50);
|
||
|
|
if (dir)
|
||
|
|
{
|
||
|
|
pulse += 500;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
pulse -= 500;
|
||
|
|
}
|
||
|
|
if (pulse >= period)
|
||
|
|
{
|
||
|
|
dir = 0;
|
||
|
|
}
|
||
|
|
if (0 == pulse)
|
||
|
|
{
|
||
|
|
dir = 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
MSH_CMD_EXPORT(pwm_led_sample, pwm sample);
|
||
|
|
|
||
|
|
#endif
|