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-rw-r--r--os/hal/ports/NRF51/NRF51822/hal_pal_lld.h2
-rw-r--r--os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c77
-rw-r--r--os/hal/ports/NRF51/NRF51822/hal_pwm_lld.h49
3 files changed, 114 insertions, 14 deletions
diff --git a/os/hal/ports/NRF51/NRF51822/hal_pal_lld.h b/os/hal/ports/NRF51/NRF51822/hal_pal_lld.h
index e5b62ee..5032916 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_pal_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/hal_pal_lld.h
@@ -80,7 +80,7 @@
/**
* @brief Value identifying an invalid line.
*/
-#define PAL_NOLINE FFU
+#define PAL_NOLINE ((ioline_t)-1)
/** @} */
/**
diff --git a/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c b/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c
index 76bc572..456dcff 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c
+++ b/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c
@@ -68,25 +68,27 @@ PWMDriver PWMD3;
/*===========================================================================*/
static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
- // Deal with PWM period
- if (pwmp->timer->EVENTS_COMPARE[pwmp->channels]) {
- pwmp->timer->EVENTS_COMPARE[pwmp->channels] = 0;
-
- if (pwmp->config->callback != NULL) {
- pwmp->config->callback(pwmp);
- }
- }
-
// Deal with PWM channels
uint8_t n;
for (n = 0 ; n < pwmp->channels ; n++) {
if (pwmp->timer->EVENTS_COMPARE[n]) {
pwmp->timer->EVENTS_COMPARE[n] = 0;
+
if (pwmp->config->channels[n].callback != NULL) {
pwmp->config->channels[n].callback(pwmp);
}
}
}
+
+ // Deal with PWM period
+ if (pwmp->timer->EVENTS_COMPARE[pwmp->channels]) {
+ pwmp->timer->EVENTS_COMPARE[pwmp->channels] = 0;
+
+ if (pwmp->config->callback != NULL) {
+ pwmp->config->callback(pwmp);
+ }
+ }
+
}
/*===========================================================================*/
@@ -280,6 +282,47 @@ void pwm_lld_stop(PWMDriver *pwmp) {
void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width) {
+#if NRF51_PWM_USE_GPIOTE_PPI
+ const PWMChannelConfig *cfg_channel = &pwmp->config->channels[channel];
+
+ uint32_t outinit;
+ switch(cfg_channel->mode & PWM_OUTPUT_MASK) {
+ case PWM_OUTPUT_ACTIVE_LOW:
+ outinit = GPIOTE_CONFIG_OUTINIT_Low;
+ break;
+ case PWM_OUTPUT_ACTIVE_HIGH:
+ outinit = GPIOTE_CONFIG_OUTINIT_High;
+ break;
+ case PWM_OUTPUT_DISABLED:
+ default:
+ goto no_output_config;
+ }
+
+ const uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline);
+ const uint8_t gpiote_channel = cfg_channel->gpiote_channel;
+ const uint8_t *ppi_channel = cfg_channel->ppi_channel;
+ const uint32_t polarity = GPIOTE_CONFIG_POLARITY_Toggle;
+
+ // Create GPIO Task
+ NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Task |
+ ((gpio_pin << GPIOTE_CONFIG_PSEL_Pos ) & GPIOTE_CONFIG_PSEL_Msk) |
+ ((polarity << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk) |
+ ((outinit << GPIOTE_CONFIG_OUTINIT_Pos ) & GPIOTE_CONFIG_OUTINIT_Msk);
+
+ // Program tasks (one for duty cycle, one for periode)
+ NRF_PPI->CH[ppi_channel[0]].EEP =
+ (uint32_t)&pwmp->timer->EVENTS_COMPARE[channel];
+ NRF_PPI->CH[ppi_channel[0]].TEP =
+ (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
+ NRF_PPI->CH[ppi_channel[1]].EEP =
+ (uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels];
+ NRF_PPI->CH[ppi_channel[1]].TEP =
+ (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel];
+ NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
+
+ no_output_config:
+#endif
+
pwmp->timer->CC[channel] = width;
}
@@ -297,6 +340,22 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
*/
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
pwmp->timer->CC[channel] = 0;
+#if NRF51_PWM_USE_GPIOTE_PPI
+ const PWMChannelConfig *cfg_channel = &pwmp->config->channels[channel];
+ switch(cfg_channel->mode & PWM_OUTPUT_MASK) {
+ case PWM_OUTPUT_ACTIVE_LOW:
+ case PWM_OUTPUT_ACTIVE_HIGH: {
+ const uint8_t gpiote_channel = cfg_channel->gpiote_channel;
+ const uint8_t *ppi_channel = cfg_channel->ppi_channel;
+ NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
+ NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Disabled;
+ break;
+ }
+ case PWM_OUTPUT_DISABLED:
+ default:
+ break;
+ }
+#endif
}
/**
diff --git a/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.h b/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.h
index 0ddd65c..3cb0a89 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.h
@@ -52,14 +52,28 @@
/* Driver pre-compile time settings. */
/*===========================================================================*/
+/**
+ * @name Configuration options
+ * @{
+ */
+
+/**
+ * @brief TIMER0 as driver implementation
+ */
#if !defined(NRF51_PWM_USE_TIMER0)
#define NRF51_PWM_USE_TIMER0 FALSE
#endif
+/**
+ * @brief TIMER1 as driver implementation
+ */
#if !defined(NRF51_PWM_USE_TIMER1)
#define NRF51_PWM_USE_TIMER1 FALSE
#endif
+/**
+ * @brief TIMER2 as driver implementation
+ */
#if !defined(NRF51_PWM_USE_TIMER2)
#define NRF51_PWM_USE_TIMER2 FALSE
#endif
@@ -85,12 +99,13 @@
#define NRF51_PWM_TIMER2_PRIORITY 12
#endif
-/** @} */
-
/**
- * @name Configuration options
- * @{
+ * @brief Allow driver to use GPIOTE/PPI to control PAL line
*/
+#if !defined(NRF51_PWM_USE_GPIOTE_PPI)
+#define NRF51_PWM_USE_GPIOTE_PPI FALSE
+#endif
+
/** @} */
/*===========================================================================*/
@@ -145,6 +160,32 @@ typedef struct {
*/
pwmcallback_t callback;
/* End of the mandatory fields.*/
+
+ /**
+ * @brief PAL line to toggle.
+ * @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW.
+ * @note When NRF51_PWM_USE_GPIOTE_PPI is used and channel enabled,
+ * it wont be possible to access this PAL line using the PAL
+ * driver.
+ */
+ ioline_t ioline;
+
+#if NRF51_PWM_USE_GPIOTE_PPI || defined(__DOXYGEN__)
+ /**
+ * @brief Unique GPIOTE channel to use. (1 channel)
+ * @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW.
+ * @note Only 4 GPIOTE channels are available on nRF51.
+ */
+ uint8_t gpiote_channel;
+
+ /**
+ * @brief Unique PPI channels to use. (2 channels)
+ * @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW.
+ * @note Only 16 PPI channels are available on nRF51
+ * (When Softdevice is enabled, only channels 0-7 are available)
+ */
+ uint8_t ppi_channel[2];
+#endif
} PWMChannelConfig;
/**
generated by cgit v1.2.3 (git 2.25.1) at 2024-10-30 07:42:34 +0000