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') 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 From 5c85f5a7cea3a08662df1ab95d837d32982eecda Mon Sep 17 00:00:00 2001 From: Stephane D'Alu Date: Thu, 24 Nov 2016 12:00:11 +0100 Subject: reducing to one magical value, putting reference to nrf51-pwm-library --- os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) (limited to 'os/hal/ports') diff --git a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c index f446fd3..8f3ae25 100644 --- a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c +++ b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c @@ -18,6 +18,11 @@ * @file hal_pwm_lld.c * @brief NRF51 PWM subsystem low level driver source. * + * @note Using the method described in nrf51-pwm-library to correctly + * handle toggling of the pin with GPIOTE when changing period. + * It means it is generally unsafe to use GPIOTE with a period + * less than (2 * PWM_GPIOTE_DECISION_TIME / 16MHz) + * * @addtogroup PWM * @{ */ @@ -31,6 +36,7 @@ /*===========================================================================*/ #define PWM_GPIOTE_PPI_CC 3 +#define PWM_GPIOTE_DECISION_TIME 160 /*===========================================================================*/ /* Driver exported variables. */ @@ -65,7 +71,16 @@ PWMDriver PWMD3; /*===========================================================================*/ static const uint8_t pwm_margin_by_prescaler[] = { - 80, 40, 20, 15, 10, 5, 2, 1, 1, 1 + (PWM_GPIOTE_DECISION_TIME + 0) >> 0, + (PWM_GPIOTE_DECISION_TIME + 1) >> 1, + (PWM_GPIOTE_DECISION_TIME + 3) >> 2, + (PWM_GPIOTE_DECISION_TIME + 7) >> 3, + (PWM_GPIOTE_DECISION_TIME + 15) >> 4, + (PWM_GPIOTE_DECISION_TIME + 31) >> 5, + (PWM_GPIOTE_DECISION_TIME + 63) >> 6, + (PWM_GPIOTE_DECISION_TIME + 128) >> 7, + (PWM_GPIOTE_DECISION_TIME + 255) >> 8, + (PWM_GPIOTE_DECISION_TIME + 511) >> 9 }; /*===========================================================================*/ @@ -349,7 +364,7 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, 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)) + pwm_within_safe_margins(pwmp, current, new_width)) break; } if (((old_width <= current) && (current < new_width)) || -- cgit v1.2.3 From 0c9313ee3db5fd2eb75cbf1c9df9313e316d5123 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?St=C3=A9phane=20D=27Alu?= Date: Thu, 24 Nov 2016 12:07:58 +0100 Subject: Wrong roundup for prescaler 7 --- os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'os/hal/ports') diff --git a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c index 8f3ae25..09c03a1 100644 --- a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c +++ b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c @@ -78,7 +78,7 @@ static const uint8_t pwm_margin_by_prescaler[] = { (PWM_GPIOTE_DECISION_TIME + 15) >> 4, (PWM_GPIOTE_DECISION_TIME + 31) >> 5, (PWM_GPIOTE_DECISION_TIME + 63) >> 6, - (PWM_GPIOTE_DECISION_TIME + 128) >> 7, + (PWM_GPIOTE_DECISION_TIME + 127) >> 7, (PWM_GPIOTE_DECISION_TIME + 255) >> 8, (PWM_GPIOTE_DECISION_TIME + 511) >> 9 }; -- cgit v1.2.3 From 13bb299950d2e1631ffb59c505fb0d927247d811 Mon Sep 17 00:00:00 2001 From: Stephane D'Alu Date: Thu, 24 Nov 2016 21:47:31 +0100 Subject: fixed style --- os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c | 146 +++++++++++++++---------------- 1 file changed, 73 insertions(+), 73 deletions(-) (limited to 'os/hal/ports') diff --git a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c index 8f3ae25..e2b4b6b 100644 --- a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c +++ b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c @@ -71,16 +71,16 @@ PWMDriver PWMD3; /*===========================================================================*/ static const uint8_t pwm_margin_by_prescaler[] = { - (PWM_GPIOTE_DECISION_TIME + 0) >> 0, - (PWM_GPIOTE_DECISION_TIME + 1) >> 1, - (PWM_GPIOTE_DECISION_TIME + 3) >> 2, - (PWM_GPIOTE_DECISION_TIME + 7) >> 3, - (PWM_GPIOTE_DECISION_TIME + 15) >> 4, - (PWM_GPIOTE_DECISION_TIME + 31) >> 5, - (PWM_GPIOTE_DECISION_TIME + 63) >> 6, - (PWM_GPIOTE_DECISION_TIME + 128) >> 7, - (PWM_GPIOTE_DECISION_TIME + 255) >> 8, - (PWM_GPIOTE_DECISION_TIME + 511) >> 9 + (PWM_GPIOTE_DECISION_TIME + 0) >> 0, + (PWM_GPIOTE_DECISION_TIME + 1) >> 1, + (PWM_GPIOTE_DECISION_TIME + 3) >> 2, + (PWM_GPIOTE_DECISION_TIME + 7) >> 3, + (PWM_GPIOTE_DECISION_TIME + 15) >> 4, + (PWM_GPIOTE_DECISION_TIME + 31) >> 5, + (PWM_GPIOTE_DECISION_TIME + 63) >> 6, + (PWM_GPIOTE_DECISION_TIME + 127) >> 7, + (PWM_GPIOTE_DECISION_TIME + 255) >> 8, + (PWM_GPIOTE_DECISION_TIME + 511) >> 9 }; /*===========================================================================*/ @@ -89,18 +89,20 @@ static const uint8_t pwm_margin_by_prescaler[] = { static void pwm_lld_serve_interrupt(PWMDriver *pwmp) { uint8_t channel; - // Deal with PWM channels + /* 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); + pwmp->config->channels[channel].callback(pwmp); } } } - // Deal with PWM period + /* Deal with PWM period + */ if (pwmp->timer->EVENTS_COMPARE[pwmp->channels]) { pwmp->timer->EVENTS_COMPARE[pwmp->channels] = 0; @@ -112,10 +114,10 @@ static void pwm_lld_serve_interrupt(PWMDriver *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))); + 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))); } /*===========================================================================*/ @@ -201,47 +203,45 @@ void pwm_lld_init(void) { * @notapi */ void pwm_lld_start(PWMDriver *pwmp) { - // Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER + /* Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER */ uint16_t psc_ratio = NRF5_HFCLK_FREQUENCY / pwmp->config->frequency; - // Prescaler ratio must be between 1 and 512, and a power of two. + /* Prescaler ratio must be between 1 and 512, and a power of two. */ osalDbgAssert(psc_ratio <= 512 && !(psc_ratio & (psc_ratio - 1)), - "invalid frequency"); - // Prescaler value as a power of 2, must be 0..9 + "invalid frequency"); + /* Prescaler value as a power of 2, must be 0..9 */ uint32_t psc_value; for (psc_value = 0; psc_value < 10; psc_value++) - if (psc_ratio == (unsigned)(1 << psc_value)) - break; + if (psc_ratio == (unsigned)(1 << psc_value)) + break; - - // Configure as 16bits timer (only TIMER0 support 32bits) + /* Configure as 16bits timer (only TIMER0 support 32bits) */ pwmp->timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit; pwmp->timer->MODE = TIMER_MODE_MODE_Timer; - // With clear shortcuts for period + /* With clear shortcuts for period */ pwmp->timer->SHORTS = - 0x1UL << (TIMER_SHORTS_COMPARE0_CLEAR_Pos + pwmp->channels); + 0x1UL << (TIMER_SHORTS_COMPARE0_CLEAR_Pos + pwmp->channels); - // Disable and reset interrupts for compare events + /* Disable and reset interrupts for compare events */ pwmp->timer->INTENCLR = (TIMER_INTENCLR_COMPARE0_Msk | - TIMER_INTENCLR_COMPARE1_Msk | - TIMER_INTENCLR_COMPARE2_Msk | - TIMER_INTENCLR_COMPARE3_Msk ); + TIMER_INTENCLR_COMPARE1_Msk | + TIMER_INTENCLR_COMPARE2_Msk | + TIMER_INTENCLR_COMPARE3_Msk ); pwmp->timer->EVENTS_COMPARE[0] = 0; pwmp->timer->EVENTS_COMPARE[1] = 0; pwmp->timer->EVENTS_COMPARE[2] = 0; pwmp->timer->EVENTS_COMPARE[3] = 0; - // Set prescaler + /* Set prescaler */ pwmp->timer->PRESCALER = psc_value; - // Set period + /* Set period */ pwmp->timer->CC[pwmp->channels] = pwmp->period; - // Clear everything + /* Clear everything */ pwmp->timer->TASKS_CLEAR = 1; - - // Enable interrupt + /* Enable interrupt */ #if NRF5_PWM_USE_TIMER0 if (&PWMD1 == pwmp) { nvicEnableVector(TIMER0_IRQn, NRF5_PWM_TIMER0_PRIORITY); @@ -260,7 +260,7 @@ void pwm_lld_start(PWMDriver *pwmp) { } #endif - // Start timer + /* Start timer */ pwmp->timer->TASKS_START = 1; } @@ -322,68 +322,68 @@ void pwm_lld_enable_channel(PWMDriver *pwmp, default : goto no_output_config; } - // Deal with corner case: 0% and 100% + /* Deal with corner case: 0% and 100% */ if ((width <= 0) || (width >= pwmp->period)) { - // Disable GPIOTE/PPI task + /* 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 + /* Set Line */ palWriteLine(cfg_channel->ioline, - ((width <= 0) ^ - ((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH))); + ((width <= 0) ^ + ((cfg_channel->mode & PWM_OUTPUT_MASK) == PWM_OUTPUT_ACTIVE_HIGH))); - // Really doing PWM + /* 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) + /* Program tasks (one for duty cycle, one for periode) */ NRF_PPI->CH[ppi_channel[0]].EEP = - (uint32_t)&pwmp->timer->EVENTS_COMPARE[channel]; + (uint32_t)&pwmp->timer->EVENTS_COMPARE[channel]; NRF_PPI->CH[ppi_channel[0]].TEP = - (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; + (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; NRF_PPI->CH[ppi_channel[1]].EEP = - (uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels]; + (uint32_t)&pwmp->timer->EVENTS_COMPARE[pwmp->channels]; NRF_PPI->CH[ppi_channel[1]].TEP = - (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; + (uint32_t)&NRF_GPIOTE->TASKS_OUT[gpiote_channel]; NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1])); - // Something Old, something New + /* Something Old, something New */ const uint32_t old_width = pwmp->timer->CC[channel]; const uint32_t new_width = width; - // Check GPIOTE state + /* Check GPIOTE state */ const bool gpiote = (NRF_GPIOTE->CONFIG[gpiote_channel] & - GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled; + GPIOTE_CONFIG_MODE_Msk) != GPIOTE_CONFIG_MODE_Disabled; - // GPIOTE is currently running + /* 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]; + 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 (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; + ((new_width <= current) && (current < old_width))) { + NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; } - // GPIOTE need to be restarted + /* GPIOTE need to be restarted */ } else { - // Create GPIO Task + /* 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 ); + (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; + NRF_GPIOTE->TASKS_OUT[gpiote_channel] = 1; } } @@ -436,7 +436,7 @@ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) { */ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { pwmp->timer->INTENSET = - 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + pwmp->channels); + 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + pwmp->channels); } /** @@ -450,7 +450,7 @@ void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { */ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { pwmp->timer->INTENCLR = - 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + pwmp->channels); + 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + pwmp->channels); } /** @@ -467,7 +467,7 @@ void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { void pwm_lld_enable_channel_notification(PWMDriver *pwmp, pwmchannel_t channel) { pwmp->timer->INTENSET = - 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + channel); + 0x1UL << (TIMER_INTENSET_COMPARE0_Pos + channel); } /** @@ -476,15 +476,15 @@ void pwm_lld_enable_channel_notification(PWMDriver *pwmp, * @pre The channel must have been activated using @p pwmEnableChannel(). * @note If the notification is already disabled then the call has no effect. * - * @param[in] pwmp pointer to a @p PWMDriver object - * @param[in] channel PWM channel identifier (0...channels-1) + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...channels-1) * * @notapi */ void pwm_lld_disable_channel_notification(PWMDriver *pwmp, - pwmchannel_t channel) { + pwmchannel_t channel) { pwmp->timer->INTENCLR = - 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + channel); + 0x1UL << (TIMER_INTENCLR_COMPARE0_Pos + channel); } #endif /* HAL_USE_PWM */ -- cgit v1.2.3 From d2b5649b0f1699589a4153154f7f436f205bdfa4 Mon Sep 17 00:00:00 2001 From: Stephane D'Alu Date: Thu, 24 Nov 2016 21:50:14 +0100 Subject: fixed bad commit --- os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c | 13 ------------- 1 file changed, 13 deletions(-) (limited to 'os/hal/ports') diff --git a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c index ba8ed16..e2b4b6b 100644 --- a/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c +++ b/os/hal/ports/NRF5/NRF51822/hal_pwm_lld.c @@ -71,7 +71,6 @@ PWMDriver PWMD3; /*===========================================================================*/ static const uint8_t pwm_margin_by_prescaler[] = { -<<<<<<< HEAD (PWM_GPIOTE_DECISION_TIME + 0) >> 0, (PWM_GPIOTE_DECISION_TIME + 1) >> 1, (PWM_GPIOTE_DECISION_TIME + 3) >> 2, @@ -82,18 +81,6 @@ static const uint8_t pwm_margin_by_prescaler[] = { (PWM_GPIOTE_DECISION_TIME + 127) >> 7, (PWM_GPIOTE_DECISION_TIME + 255) >> 8, (PWM_GPIOTE_DECISION_TIME + 511) >> 9 -======= - (PWM_GPIOTE_DECISION_TIME + 0) >> 0, - (PWM_GPIOTE_DECISION_TIME + 1) >> 1, - (PWM_GPIOTE_DECISION_TIME + 3) >> 2, - (PWM_GPIOTE_DECISION_TIME + 7) >> 3, - (PWM_GPIOTE_DECISION_TIME + 15) >> 4, - (PWM_GPIOTE_DECISION_TIME + 31) >> 5, - (PWM_GPIOTE_DECISION_TIME + 63) >> 6, - (PWM_GPIOTE_DECISION_TIME + 127) >> 7, - (PWM_GPIOTE_DECISION_TIME + 255) >> 8, - (PWM_GPIOTE_DECISION_TIME + 511) >> 9 ->>>>>>> 0c9313ee3db5fd2eb75cbf1c9df9313e316d5123 }; /*===========================================================================*/ -- cgit v1.2.3