From 7ea44ed39c7c25ad0b3e1ad331dcdd70ca534bae Mon Sep 17 00:00:00 2001 From: Stephane D'Alu Date: Sun, 20 Nov 2016 13:25:25 +0100 Subject: Use active wait and perform extra toggle if needed. (same as the nrf_pwm) --- os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c | 132 +++++++++++++++++++++---------- os/hal/ports/NRF5/NRF51822/hal_pwm_lld.h | 11 +-- 2 files changed, 98 insertions(+), 45 deletions(-) (limited to 'os/hal/ports/NRF5/NRF51822') diff --git a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c index 378525f..f446fd3 100644 --- a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c +++ b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c @@ -30,6 +30,7 @@ /* Driver local definitions. */ /*===========================================================================*/ +#define PWM_GPIOTE_PPI_CC 3 /*===========================================================================*/ /* Driver exported variables. */ @@ -63,19 +64,23 @@ PWMDriver PWMD3; /* Driver local variables and types. */ /*===========================================================================*/ +static const uint8_t pwm_margin_by_prescaler[] = { + 80, 40, 20, 15, 10, 5, 2, 1, 1, 1 +}; + /*===========================================================================*/ /* Driver local functions. */ /*===========================================================================*/ static void pwm_lld_serve_interrupt(PWMDriver *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); + uint8_t channel; + // Deal with PWM channels + for (channel = 0 ; channel < pwmp->channels ; channel++) { + if (pwmp->timer->EVENTS_COMPARE[channel]) { + pwmp->timer->EVENTS_COMPARE[channel] = 0; + + if (pwmp->config->channels[channel].callback != NULL) { + pwmp->config->channels[channel].callback(pwmp); } } } @@ -88,7 +93,14 @@ static void pwm_lld_serve_interrupt(PWMDriver *pwmp) { pwmp->config->callback(pwmp); } } +} +static inline +bool pwm_within_safe_margins(PWMDriver *pwmp, uint32_t timer, uint32_t width) { + const uint32_t margin = pwm_margin_by_prescaler[pwmp->timer->PRESCALER]; + return (width <= margin) + ? ((width <= timer) && (timer < (pwmp->period + width - margin))) + : ((width <= timer) || (timer < (width - margin))); } /*===========================================================================*/ @@ -245,7 +257,7 @@ void pwm_lld_start(PWMDriver *pwmp) { * @notapi */ void pwm_lld_stop(PWMDriver *pwmp) { - pwmp->timer->TASKS_STOP = 1; + pwmp->timer->TASKS_SHUTDOWN = 1; #if NRF5_PWM_USE_TIMER0 if (&PWMD1 == pwmp) { @@ -284,41 +296,81 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, pwmcnt_t width) { #if NRF5_PWM_USE_GPIOTE_PPI const PWMChannelConfig *cfg_channel = &pwmp->config->channels[channel]; - + const uint8_t gpiote_channel = cfg_channel->gpiote_channel; + const uint8_t *ppi_channel = cfg_channel->ppi_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; + 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 : /* fall-through */ + 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])); + // Deal with corner case: 0% and 100% + if ((width <= 0) || (width >= pwmp->period)) { + // Disable GPIOTE/PPI task + NRF_GPIOTE->CONFIG[gpiote_channel] = GPIOTE_CONFIG_MODE_Disabled; + NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1])); + // Set Line + palWriteLine(cfg_channel->ioline, + ((width <= 0) ^ + ((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH))); + + // Really doing PWM + } else { + const uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline); + const uint32_t polarity = GPIOTE_CONFIG_POLARITY_Toggle; + + // 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])); + + // Something Old, something New + const uint32_t old_width = pwmp->timer->CC[channel]; + const uint32_t new_width = width; + + // Check GPIOTE state + const bool gpiote = (NRF_GPIOTE->CONFIG[gpiote_channel] & + GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled; + + // GPIOTE is currently running + if (gpiote) { + uint32_t current; + while (true) { + pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1; + current = pwmp->timer->CC[PWM_GPIOTE_PPI_CC]; + + if (pwm_within_safe_margins(pwmp, current, old_width) && + pwm_within_safe_margins(pwmp, current, new_width)) + break; + } + if (((old_width <= current) && (current < new_width)) || + ((new_width <= current) && (current < old_width))) { + NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; + } + + // GPIOTE need to be restarted + } else { + // Create GPIO Task + NRF_GPIOTE->CONFIG[gpiote_channel] = + (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | + ((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 ); + + pwmp->timer->TASKS_CAPTURE[PWM_GPIOTE_PPI_CC] = 1; + if (pwmp->timer->CC[PWM_GPIOTE_PPI_CC] > width) + NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; + } + } no_output_config: #endif diff --git a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.h b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.h index cd64fa7..2cad6e7 100644 --- a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.h +++ b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.h @@ -34,8 +34,11 @@ /** * @brief Number of PWM channels per PWM driver. */ +#if NRF5_PWM_USE_GPIOTE_PPI +#define PWM_CHANNELS 2 +#else #define PWM_CHANNELS 3 - +#endif #define PWM_FREQUENCY_16MHZ 16000000 /** @brief 16MHz */ #define PWM_FREQUENCY_8MHZ 8000000 /** @brief 8MHz */ @@ -103,7 +106,7 @@ * @brief Allow driver to use GPIOTE/PPI to control PAL line */ #if !defined(NRF5_PWM_USE_GPIOTE_PPI) -#define NRF5_PWM_USE_GPIOTE_PPI FALSE +#define NRF5_PWM_USE_GPIOTE_PPI TRUE #endif /** @} */ @@ -177,6 +180,7 @@ typedef struct { pwmcallback_t callback; /* End of the mandatory fields.*/ +#if NRF5_PWM_USE_GPIOTE_PPI || defined(__DOXYGEN__) /** * @brief PAL line to toggle. * @note Only used if mode is PWM_OUTPUT_HIGH or PWM_OUTPUT_LOW. @@ -186,17 +190,14 @@ typedef struct { */ ioline_t ioline; -#if NRF5_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) */ -- cgit v1.2.3