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rt-thread/bsp/nrf5x/libraries/drivers/drv_pwm.c

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/*
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2020-07-26 supperthomas first version
*
*/
#include <board.h>
#include "rtdevice.h"
#include "rtservice.h"
#ifdef RT_USING_PWM
#include <nrfx_pwm.h>
struct mcu_pwm
{
struct rt_device_pwm pwm_device;
nrfx_pwm_t *pwm_handle;
nrf_pwm_values_individual_t m_demo1_seq_values;
nrf_pwm_sequence_t m_demo1_seq;
rt_uint8_t channel;
char *name;
rt_uint64_t pwm_src_clk;
uint8_t channel_0_pin;
uint8_t channel_1_pin;
uint8_t channel_2_pin;
uint8_t channel_3_pin;
};
enum
{
#ifdef BSP_USING_PWM0
PWM0_INDEX,
#endif
#ifdef BSP_USING_PWM1
PWM1_INDEX,
#endif
#ifdef BSP_USING_PWM2
PWM2_INDEX,
#endif
#ifdef BSP_USING_PWM3
PWM3_INDEX,
#endif
};
#ifdef BSP_USING_PWM0
static nrfx_pwm_t m_pwm0 = NRFX_PWM_INSTANCE(0);
#define PWM0_CONFIG \
{ \
.pwm_handle = &m_pwm0, \
.name = "pwm0", \
.pwm_src_clk = 1000000, \
}
#endif
#ifdef BSP_USING_PWM1
static nrfx_pwm_t m_pwm1 = NRFX_PWM_INSTANCE(1);
#define PWM1_CONFIG \
{ \
.pwm_handle = &m_pwm1, \
.name = "pwm1", \
.pwm_src_clk = 1000000, \
}
#endif
#ifdef BSP_USING_PWM2
static nrfx_pwm_t m_pwm2 = NRFX_PWM_INSTANCE(2);
#define PWM2_CONFIG \
{ \
.pwm_handle = &m_pwm2, \
.name = "pwm2", \
.pwm_src_clk = 1000000, \
}
#endif
#ifdef BSP_USING_PWM3
static nrfx_pwm_t m_pwm3 = NRFX_PWM_INSTANCE(3);
#define PWM3_CONFIG \
{ \
.pwm_handle = &m_pwm3, \
.name = "pwm3", \
.pwm_src_clk = 1000000, \
}
#endif
static struct mcu_pwm mcu_pwm_obj[] =
{
#ifdef BSP_USING_PWM0
PWM0_CONFIG,
#endif
#ifdef BSP_USING_PWM1
PWM1_CONFIG,
#endif
#ifdef BSP_USING_PWM2
PWM2_CONFIG,
#endif
#ifdef BSP_USING_PWM3
PWM3_CONFIG,
#endif
};
static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg);
static struct rt_pwm_ops drv_ops =
{
drv_pwm_control
};
static rt_err_t drv_pwm_enable(struct mcu_pwm *p_mcu, struct rt_pwm_configuration *configuration, rt_bool_t enable)
{
if (!enable)
{
nrfx_pwm_stop(p_mcu->pwm_handle, true);
}
else
{
(void)nrfx_pwm_simple_playback(p_mcu->pwm_handle, &p_mcu->m_demo1_seq, 1, NRFX_PWM_FLAG_LOOP);
}
return RT_EOK;
}
uint8_t mcu_get_channel_number(uint8_t channel)
{
if (channel & 0x01)
{
return 0;
}
else if (channel & 0x02)
{
return 1;
}
else if (channel & 0x04)
{
return 2;
}
else if (channel & 0x08)
{
return 3;
}
return 0;
}
static rt_err_t drv_pwm_get(struct mcu_pwm *pwm_handle, struct rt_pwm_configuration *configuration)
{
rt_uint8_t channel_number = mcu_get_channel_number(configuration->channel);
uint8_t tick_pscond;
tick_pscond = pwm_handle->pwm_src_clk / 1000000UL;
configuration->period = pwm_handle->pwm_handle->p_registers->COUNTERTOP * 1000UL / tick_pscond;
configuration->pulse = pwm_handle->pwm_handle->p_registers->SEQ[channel_number].PTR / tick_pscond;
return RT_EOK;
}
static void nrfx_set_prioid(nrfx_pwm_t *pwm_handle, uint32_t perioid)
{
pwm_handle->p_registers->COUNTERTOP = perioid;
}
static rt_err_t drv_pwm_set(struct mcu_pwm *p_mcu, struct rt_pwm_configuration *configuration)
{
rt_uint32_t period, pulse;
uint8_t tick_pscond;
tick_pscond = p_mcu->pwm_src_clk / 1000000UL;
p_mcu->pwm_handle->p_registers->COUNTERTOP = (unsigned long long)configuration->period * tick_pscond;
if (configuration->channel & 0x01)
{
p_mcu->m_demo1_seq_values.channel_0 = configuration->pulse;
}
if (configuration->channel & 0x02)
{
p_mcu->m_demo1_seq_values.channel_1 = configuration->pulse;
}
if (configuration->channel & 0x04)
{
p_mcu->m_demo1_seq_values.channel_2 = configuration->pulse;
}
if (configuration->channel & 0x08)
{
p_mcu->m_demo1_seq_values.channel_3 = configuration->pulse;
}
return RT_EOK;
}
static rt_err_t drv_pwm_control(struct rt_device_pwm *device, int cmd, void *arg)
{
struct rt_pwm_configuration *configuration = (struct rt_pwm_configuration *)arg;
void *pwm_handle = (void *)device->parent.user_data;
nrfx_pwm_t *p_handle = (nrfx_pwm_t *)pwm_handle;
struct mcu_pwm *p_mcu = rt_container_of(p_handle, struct mcu_pwm, pwm_handle);
switch (cmd)
{
case PWM_CMD_ENABLE:
return drv_pwm_enable(p_mcu, configuration, RT_TRUE);
case PWM_CMD_DISABLE:
return drv_pwm_enable(p_mcu, configuration, RT_FALSE);
case PWM_CMD_SET:
return drv_pwm_set(p_mcu, configuration);
case PWM_CMD_GET:
return drv_pwm_get(p_mcu, configuration);
default:
return RT_EINVAL;
}
}
static rt_err_t mcu_hw_pwm_init(struct mcu_pwm *device)
{
#define NRFX_PWM_PIN_INVERTED 0x80
#define _PRIO_APP_LOWEST 7
nrfx_pwm_config_t config0 =
{
.irq_priority = _PRIO_APP_LOWEST,
.base_clock = NRF_PWM_CLK_1MHz, //default value
.count_mode = NRF_PWM_MODE_UP,
.top_value = 5000, //default vaule
.load_mode = NRF_PWM_LOAD_INDIVIDUAL,
.step_mode = NRF_PWM_STEP_AUTO
};
rt_err_t result = RT_EOK;
if (device->pwm_src_clk == 1000000)
{
config0.base_clock = NRF_PWM_CLK_1MHz;
}
else if (device->pwm_src_clk == 2000000)
{
config0.base_clock = NRF_PWM_CLK_2MHz;
}
else if (device->pwm_src_clk == 8000000)
{
config0.base_clock = NRF_PWM_CLK_8MHz;
}
else
{
config0.base_clock = NRF_PWM_CLK_1MHz;
}
if (device->channel & 0x01)
{
config0.output_pins[0] = device->channel_0_pin | NRFX_PWM_PIN_INVERTED;
}
if (device->channel & 0x02)
{
config0.output_pins[1] = device->channel_1_pin | NRFX_PWM_PIN_INVERTED;
}
if (device->channel & 0x04)
{
config0.output_pins[2] = device->channel_2_pin | NRFX_PWM_PIN_INVERTED;
}
if (device->channel & 0x08)
{
config0.output_pins[3] = device->channel_3_pin | NRFX_PWM_PIN_INVERTED;
}
device->m_demo1_seq.values.p_individual = &device->m_demo1_seq_values;
device->m_demo1_seq.length = NRF_PWM_VALUES_LENGTH(device->m_demo1_seq_values),
nrfx_pwm_init(device->pwm_handle, &config0, NULL, NULL);
return result;
}
static void pwm_get_channel(void)
{
#ifdef BSP_USING_PWM0_CH0
mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 0;
mcu_pwm_obj[PWM0_INDEX].channel_0_pin = BSP_USING_PWM0_CH0;
#endif
#ifdef BSP_USING_PWM0_CH1
mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 1;
mcu_pwm_obj[PWM0_INDEX].channel_1_pin = BSP_USING_PWM0_CH1;
#endif
#ifdef BSP_USING_PWM0_CH2
mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 2;
mcu_pwm_obj[PWM0_INDEX].channel_2_pin = BSP_USING_PWM0_CH2;
#endif
#ifdef BSP_USING_PWM0_CH3
mcu_pwm_obj[PWM0_INDEX].channel |= 1 << 3;
mcu_pwm_obj[PWM0_INDEX].channel_3_pin = BSP_USING_PWM0_CH3;
#endif
#ifdef BSP_USING_PWM1_CH0
mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 0;
mcu_pwm_obj[PWM1_INDEX].channel_0_pin = BSP_USING_PWM1_CH0;
#endif
#ifdef BSP_USING_PWM1_CH1
mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 1;
mcu_pwm_obj[PWM1_INDEX].channel_1_pin = BSP_USING_PWM1_CH1;
#endif
#ifdef BSP_USING_PWM1_CH2
mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 2;
mcu_pwm_obj[PWM1_INDEX].channel_2_pin = BSP_USING_PWM1_CH2;
#endif
#ifdef BSP_USING_PWM1_CH3
mcu_pwm_obj[PWM1_INDEX].channel |= 1 << 3;
mcu_pwm_obj[PWM1_INDEX].channel_3_pin = BSP_USING_PWM1_CH3;
#endif
#ifdef BSP_USING_PWM2_CH0
mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 0;
mcu_pwm_obj[PWM2_INDEX].channel_0_pin = BSP_USING_PWM2_CH0;
#endif
#ifdef BSP_USING_PWM2_CH1
mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 1;
mcu_pwm_obj[PWM2_INDEX].channel_1_pin = BSP_USING_PWM2_CH1;
#endif
#ifdef BSP_USING_PWM2_CH2
mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 2;
mcu_pwm_obj[PWM2_INDEX].channel_2_pin = BSP_USING_PWM2_CH2;
#endif
#ifdef BSP_USING_PWM2_CH3
mcu_pwm_obj[PWM2_INDEX].channel |= 1 << 3;
mcu_pwm_obj[PWM2_INDEX].channel_3_pin = BSP_USING_PWM2_CH3;
#endif
#ifdef BSP_USING_PWM3_CH0
mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 0;
mcu_pwm_obj[PWM3_INDEX].channel_0_pin = BSP_USING_PWM3_CH0;
#endif
#ifdef BSP_USING_PWM3_CH1
mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 1;
mcu_pwm_obj[PWM3_INDEX].channel_1_pin = BSP_USING_PWM3_CH1;
#endif
#ifdef BSP_USING_PWM3_CH2
mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 2;
mcu_pwm_obj[PWM3_INDEX].channel_2_pin = BSP_USING_PWM3_CH2;
#endif
#ifdef BSP_USING_PWM3_CH3
mcu_pwm_obj[PWM3_INDEX].channel |= 1 << 3;
mcu_pwm_obj[PWM3_INDEX].channel_3_pin = BSP_USING_PWM3_CH3;
#endif
}
static int mcu_pwm_init(void)
{
int i = 0;
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
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