Mouse code for the MacroRat
mbed-dev/targets/TARGET_NORDIC/TARGET_MCU_NRF51822/pwmout_api.c@18:6a4db94011d3, 2017-05-14 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Sun May 14 23:18:57 2017 +0000
- Revision:
- 18:6a4db94011d3
Publishing again
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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sahilmgandhi | 18:6a4db94011d3 | 1 | /* mbed Microcontroller Library |
sahilmgandhi | 18:6a4db94011d3 | 2 | * Copyright (c) 2013 Nordic Semiconductor |
sahilmgandhi | 18:6a4db94011d3 | 3 | * |
sahilmgandhi | 18:6a4db94011d3 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
sahilmgandhi | 18:6a4db94011d3 | 5 | * you may not use this file except in compliance with the License. |
sahilmgandhi | 18:6a4db94011d3 | 6 | * You may obtain a copy of the License at |
sahilmgandhi | 18:6a4db94011d3 | 7 | * |
sahilmgandhi | 18:6a4db94011d3 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
sahilmgandhi | 18:6a4db94011d3 | 9 | * |
sahilmgandhi | 18:6a4db94011d3 | 10 | * Unless required by applicable law or agreed to in writing, software |
sahilmgandhi | 18:6a4db94011d3 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
sahilmgandhi | 18:6a4db94011d3 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
sahilmgandhi | 18:6a4db94011d3 | 13 | * See the License for the specific language governing permissions and |
sahilmgandhi | 18:6a4db94011d3 | 14 | * limitations under the License. |
sahilmgandhi | 18:6a4db94011d3 | 15 | */ |
sahilmgandhi | 18:6a4db94011d3 | 16 | #include "mbed_assert.h" |
sahilmgandhi | 18:6a4db94011d3 | 17 | #include "pwmout_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 18 | #include "cmsis.h" |
sahilmgandhi | 18:6a4db94011d3 | 19 | #include "pinmap.h" |
sahilmgandhi | 18:6a4db94011d3 | 20 | #include "mbed_error.h" |
sahilmgandhi | 18:6a4db94011d3 | 21 | |
sahilmgandhi | 18:6a4db94011d3 | 22 | #define NO_PWMS 3 |
sahilmgandhi | 18:6a4db94011d3 | 23 | #define TIMER_PRECISION 4 //4us ticks |
sahilmgandhi | 18:6a4db94011d3 | 24 | #define TIMER_PRESCALER 6 //4us ticks = 16Mhz/(2**6) |
sahilmgandhi | 18:6a4db94011d3 | 25 | static const PinMap PinMap_PWM[] = { |
sahilmgandhi | 18:6a4db94011d3 | 26 | {P0_0, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 27 | {P0_1, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 28 | {P0_2, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 29 | {P0_3, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 30 | {P0_4, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 31 | {P0_5, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 32 | {P0_6, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 33 | {P0_7, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 34 | {P0_8, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 35 | {P0_9, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 36 | {P0_10, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 37 | {P0_11, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 38 | {P0_12, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 39 | {P0_13, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 40 | {P0_14, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 41 | {P0_15, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 42 | {P0_16, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 43 | {P0_17, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 44 | {P0_18, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 45 | {P0_19, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 46 | {P0_20, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 47 | {P0_21, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 48 | {P0_22, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 49 | {P0_23, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 50 | {P0_24, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 51 | {P0_25, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 52 | {P0_28, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 53 | {P0_29, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 54 | {P0_30, PWM_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 55 | {NC, NC, 0} |
sahilmgandhi | 18:6a4db94011d3 | 56 | }; |
sahilmgandhi | 18:6a4db94011d3 | 57 | |
sahilmgandhi | 18:6a4db94011d3 | 58 | static NRF_TIMER_Type *Timers[1] = { |
sahilmgandhi | 18:6a4db94011d3 | 59 | NRF_TIMER2 |
sahilmgandhi | 18:6a4db94011d3 | 60 | }; |
sahilmgandhi | 18:6a4db94011d3 | 61 | |
sahilmgandhi | 18:6a4db94011d3 | 62 | uint16_t PERIOD = 20000 / TIMER_PRECISION; //20ms |
sahilmgandhi | 18:6a4db94011d3 | 63 | uint8_t PWM_taken[NO_PWMS] = {0, 0, 0}; |
sahilmgandhi | 18:6a4db94011d3 | 64 | uint16_t PULSE_WIDTH[NO_PWMS] = {1, 1, 1}; //set to 1 instead of 0 |
sahilmgandhi | 18:6a4db94011d3 | 65 | uint16_t ACTUAL_PULSE[NO_PWMS] = {0, 0, 0}; |
sahilmgandhi | 18:6a4db94011d3 | 66 | |
sahilmgandhi | 18:6a4db94011d3 | 67 | |
sahilmgandhi | 18:6a4db94011d3 | 68 | /** @brief Function for handling timer 2 peripheral interrupts. |
sahilmgandhi | 18:6a4db94011d3 | 69 | */ |
sahilmgandhi | 18:6a4db94011d3 | 70 | #ifdef __cplusplus |
sahilmgandhi | 18:6a4db94011d3 | 71 | extern "C" { |
sahilmgandhi | 18:6a4db94011d3 | 72 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 73 | void TIMER2_IRQHandler(void) |
sahilmgandhi | 18:6a4db94011d3 | 74 | { |
sahilmgandhi | 18:6a4db94011d3 | 75 | NRF_TIMER2->EVENTS_COMPARE[3] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 76 | NRF_TIMER2->CC[3] = PERIOD; |
sahilmgandhi | 18:6a4db94011d3 | 77 | |
sahilmgandhi | 18:6a4db94011d3 | 78 | if (PWM_taken[0]) { |
sahilmgandhi | 18:6a4db94011d3 | 79 | NRF_TIMER2->CC[0] = PULSE_WIDTH[0]; |
sahilmgandhi | 18:6a4db94011d3 | 80 | } |
sahilmgandhi | 18:6a4db94011d3 | 81 | if (PWM_taken[1]) { |
sahilmgandhi | 18:6a4db94011d3 | 82 | NRF_TIMER2->CC[1] = PULSE_WIDTH[1]; |
sahilmgandhi | 18:6a4db94011d3 | 83 | } |
sahilmgandhi | 18:6a4db94011d3 | 84 | if (PWM_taken[2]) { |
sahilmgandhi | 18:6a4db94011d3 | 85 | NRF_TIMER2->CC[2] = PULSE_WIDTH[2]; |
sahilmgandhi | 18:6a4db94011d3 | 86 | } |
sahilmgandhi | 18:6a4db94011d3 | 87 | |
sahilmgandhi | 18:6a4db94011d3 | 88 | NRF_TIMER2->TASKS_START = 1; |
sahilmgandhi | 18:6a4db94011d3 | 89 | } |
sahilmgandhi | 18:6a4db94011d3 | 90 | |
sahilmgandhi | 18:6a4db94011d3 | 91 | #ifdef __cplusplus |
sahilmgandhi | 18:6a4db94011d3 | 92 | } |
sahilmgandhi | 18:6a4db94011d3 | 93 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 94 | /** @brief Function for initializing the Timer peripherals. |
sahilmgandhi | 18:6a4db94011d3 | 95 | */ |
sahilmgandhi | 18:6a4db94011d3 | 96 | void timer_init(uint8_t pwmChoice) |
sahilmgandhi | 18:6a4db94011d3 | 97 | { |
sahilmgandhi | 18:6a4db94011d3 | 98 | NRF_TIMER_Type *timer = Timers[0]; |
sahilmgandhi | 18:6a4db94011d3 | 99 | timer->TASKS_STOP = 0; |
sahilmgandhi | 18:6a4db94011d3 | 100 | |
sahilmgandhi | 18:6a4db94011d3 | 101 | if (pwmChoice == 0) { |
sahilmgandhi | 18:6a4db94011d3 | 102 | timer->POWER = 0; |
sahilmgandhi | 18:6a4db94011d3 | 103 | timer->POWER = 1; |
sahilmgandhi | 18:6a4db94011d3 | 104 | timer->MODE = TIMER_MODE_MODE_Timer; |
sahilmgandhi | 18:6a4db94011d3 | 105 | timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit << TIMER_BITMODE_BITMODE_Pos; |
sahilmgandhi | 18:6a4db94011d3 | 106 | timer->PRESCALER = TIMER_PRESCALER; |
sahilmgandhi | 18:6a4db94011d3 | 107 | timer->CC[3] = PERIOD; |
sahilmgandhi | 18:6a4db94011d3 | 108 | } |
sahilmgandhi | 18:6a4db94011d3 | 109 | |
sahilmgandhi | 18:6a4db94011d3 | 110 | timer->CC[pwmChoice] = PULSE_WIDTH[pwmChoice]; |
sahilmgandhi | 18:6a4db94011d3 | 111 | |
sahilmgandhi | 18:6a4db94011d3 | 112 | //high priority application interrupt |
sahilmgandhi | 18:6a4db94011d3 | 113 | NVIC_SetPriority(TIMER2_IRQn, 1); |
sahilmgandhi | 18:6a4db94011d3 | 114 | NVIC_EnableIRQ(TIMER2_IRQn); |
sahilmgandhi | 18:6a4db94011d3 | 115 | |
sahilmgandhi | 18:6a4db94011d3 | 116 | timer->TASKS_START = 0x01; |
sahilmgandhi | 18:6a4db94011d3 | 117 | } |
sahilmgandhi | 18:6a4db94011d3 | 118 | |
sahilmgandhi | 18:6a4db94011d3 | 119 | static void timer_free() |
sahilmgandhi | 18:6a4db94011d3 | 120 | { |
sahilmgandhi | 18:6a4db94011d3 | 121 | NRF_TIMER_Type *timer = Timers[0]; |
sahilmgandhi | 18:6a4db94011d3 | 122 | for(uint8_t i = 1; i < NO_PWMS; i++){ |
sahilmgandhi | 18:6a4db94011d3 | 123 | if(PWM_taken[i]){ |
sahilmgandhi | 18:6a4db94011d3 | 124 | break; |
sahilmgandhi | 18:6a4db94011d3 | 125 | } |
sahilmgandhi | 18:6a4db94011d3 | 126 | if((i == NO_PWMS - 1) && (!PWM_taken[i])) |
sahilmgandhi | 18:6a4db94011d3 | 127 | timer->TASKS_STOP = 0x01; |
sahilmgandhi | 18:6a4db94011d3 | 128 | } |
sahilmgandhi | 18:6a4db94011d3 | 129 | } |
sahilmgandhi | 18:6a4db94011d3 | 130 | |
sahilmgandhi | 18:6a4db94011d3 | 131 | |
sahilmgandhi | 18:6a4db94011d3 | 132 | /** @brief Function for initializing the GPIO Tasks/Events peripheral. |
sahilmgandhi | 18:6a4db94011d3 | 133 | */ |
sahilmgandhi | 18:6a4db94011d3 | 134 | void gpiote_init(PinName pin, uint8_t channel_number) |
sahilmgandhi | 18:6a4db94011d3 | 135 | { |
sahilmgandhi | 18:6a4db94011d3 | 136 | // Connect GPIO input buffers and configure PWM_OUTPUT_PIN_NUMBER as an output. |
sahilmgandhi | 18:6a4db94011d3 | 137 | NRF_GPIO->PIN_CNF[pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) |
sahilmgandhi | 18:6a4db94011d3 | 138 | | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos) |
sahilmgandhi | 18:6a4db94011d3 | 139 | | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos) |
sahilmgandhi | 18:6a4db94011d3 | 140 | | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) |
sahilmgandhi | 18:6a4db94011d3 | 141 | | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 142 | NRF_GPIO->OUTCLR = (1UL << pin); |
sahilmgandhi | 18:6a4db94011d3 | 143 | // Configure GPIOTE channel 0 to toggle the PWM pin state |
sahilmgandhi | 18:6a4db94011d3 | 144 | // @note Only one GPIOTE task can be connected to an output pin. |
sahilmgandhi | 18:6a4db94011d3 | 145 | /* Configure channel to Pin31, not connected to the pin, and configure as a tasks that will set it to proper level */ |
sahilmgandhi | 18:6a4db94011d3 | 146 | NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | |
sahilmgandhi | 18:6a4db94011d3 | 147 | (31UL << GPIOTE_CONFIG_PSEL_Pos) | |
sahilmgandhi | 18:6a4db94011d3 | 148 | (GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 149 | /* Three NOPs are required to make sure configuration is written before setting tasks or getting events */ |
sahilmgandhi | 18:6a4db94011d3 | 150 | __NOP(); |
sahilmgandhi | 18:6a4db94011d3 | 151 | __NOP(); |
sahilmgandhi | 18:6a4db94011d3 | 152 | __NOP(); |
sahilmgandhi | 18:6a4db94011d3 | 153 | /* Launch the task to take the GPIOTE channel output to the desired level */ |
sahilmgandhi | 18:6a4db94011d3 | 154 | NRF_GPIOTE->TASKS_OUT[channel_number] = 1; |
sahilmgandhi | 18:6a4db94011d3 | 155 | |
sahilmgandhi | 18:6a4db94011d3 | 156 | /* Finally configure the channel as the caller expects. If OUTINIT works, the channel is configured properly. |
sahilmgandhi | 18:6a4db94011d3 | 157 | If it does not, the channel output inheritance sets the proper level. */ |
sahilmgandhi | 18:6a4db94011d3 | 158 | NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | |
sahilmgandhi | 18:6a4db94011d3 | 159 | ((uint32_t)pin << GPIOTE_CONFIG_PSEL_Pos) | |
sahilmgandhi | 18:6a4db94011d3 | 160 | ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos) | |
sahilmgandhi | 18:6a4db94011d3 | 161 | ((uint32_t)GPIOTE_CONFIG_OUTINIT_Low << GPIOTE_CONFIG_OUTINIT_Pos); // ((uint32_t)GPIOTE_CONFIG_OUTINIT_High << |
sahilmgandhi | 18:6a4db94011d3 | 162 | // GPIOTE_CONFIG_OUTINIT_Pos);// |
sahilmgandhi | 18:6a4db94011d3 | 163 | |
sahilmgandhi | 18:6a4db94011d3 | 164 | /* Three NOPs are required to make sure configuration is written before setting tasks or getting events */ |
sahilmgandhi | 18:6a4db94011d3 | 165 | __NOP(); |
sahilmgandhi | 18:6a4db94011d3 | 166 | __NOP(); |
sahilmgandhi | 18:6a4db94011d3 | 167 | __NOP(); |
sahilmgandhi | 18:6a4db94011d3 | 168 | } |
sahilmgandhi | 18:6a4db94011d3 | 169 | |
sahilmgandhi | 18:6a4db94011d3 | 170 | static void gpiote_free(PinName pin,uint8_t channel_number) |
sahilmgandhi | 18:6a4db94011d3 | 171 | { |
sahilmgandhi | 18:6a4db94011d3 | 172 | NRF_GPIOTE->TASKS_OUT[channel_number] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 173 | NRF_GPIOTE->CONFIG[channel_number] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 174 | NRF_GPIO->PIN_CNF[pin] = (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 175 | |
sahilmgandhi | 18:6a4db94011d3 | 176 | } |
sahilmgandhi | 18:6a4db94011d3 | 177 | |
sahilmgandhi | 18:6a4db94011d3 | 178 | /** @brief Function for initializing the Programmable Peripheral Interconnect peripheral. |
sahilmgandhi | 18:6a4db94011d3 | 179 | */ |
sahilmgandhi | 18:6a4db94011d3 | 180 | static void ppi_init(uint8_t pwm) |
sahilmgandhi | 18:6a4db94011d3 | 181 | { |
sahilmgandhi | 18:6a4db94011d3 | 182 | //using ppi channels 0-7 (only 0-7 are available) |
sahilmgandhi | 18:6a4db94011d3 | 183 | uint8_t channel_number = 2 * pwm; |
sahilmgandhi | 18:6a4db94011d3 | 184 | NRF_TIMER_Type *timer = Timers[0]; |
sahilmgandhi | 18:6a4db94011d3 | 185 | |
sahilmgandhi | 18:6a4db94011d3 | 186 | // Configure PPI channel 0 to toggle ADVERTISING_LED_PIN_NO on every TIMER1 COMPARE[0] match |
sahilmgandhi | 18:6a4db94011d3 | 187 | NRF_PPI->CH[channel_number].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm]; |
sahilmgandhi | 18:6a4db94011d3 | 188 | NRF_PPI->CH[channel_number + 1].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm]; |
sahilmgandhi | 18:6a4db94011d3 | 189 | NRF_PPI->CH[channel_number].EEP = (uint32_t)&timer->EVENTS_COMPARE[pwm]; |
sahilmgandhi | 18:6a4db94011d3 | 190 | NRF_PPI->CH[channel_number + 1].EEP = (uint32_t)&timer->EVENTS_COMPARE[3]; |
sahilmgandhi | 18:6a4db94011d3 | 191 | |
sahilmgandhi | 18:6a4db94011d3 | 192 | // Enable PPI channels. |
sahilmgandhi | 18:6a4db94011d3 | 193 | NRF_PPI->CHEN |= (1 << channel_number) | |
sahilmgandhi | 18:6a4db94011d3 | 194 | (1 << (channel_number + 1)); |
sahilmgandhi | 18:6a4db94011d3 | 195 | } |
sahilmgandhi | 18:6a4db94011d3 | 196 | |
sahilmgandhi | 18:6a4db94011d3 | 197 | static void ppi_free(uint8_t pwm) |
sahilmgandhi | 18:6a4db94011d3 | 198 | { |
sahilmgandhi | 18:6a4db94011d3 | 199 | //using ppi channels 0-7 (only 0-7 are available) |
sahilmgandhi | 18:6a4db94011d3 | 200 | uint8_t channel_number = 2*pwm; |
sahilmgandhi | 18:6a4db94011d3 | 201 | |
sahilmgandhi | 18:6a4db94011d3 | 202 | // Disable PPI channels. |
sahilmgandhi | 18:6a4db94011d3 | 203 | NRF_PPI->CHEN &= (~(1 << channel_number)) |
sahilmgandhi | 18:6a4db94011d3 | 204 | & (~(1 << (channel_number+1))); |
sahilmgandhi | 18:6a4db94011d3 | 205 | } |
sahilmgandhi | 18:6a4db94011d3 | 206 | |
sahilmgandhi | 18:6a4db94011d3 | 207 | void setModulation(pwmout_t *obj, uint8_t toggle, uint8_t high) |
sahilmgandhi | 18:6a4db94011d3 | 208 | { |
sahilmgandhi | 18:6a4db94011d3 | 209 | if (high) { |
sahilmgandhi | 18:6a4db94011d3 | 210 | NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_OUTINIT_High << GPIOTE_CONFIG_OUTINIT_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 211 | if (toggle) { |
sahilmgandhi | 18:6a4db94011d3 | 212 | NRF_GPIOTE->CONFIG[obj->pwm] |= (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | |
sahilmgandhi | 18:6a4db94011d3 | 213 | ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 214 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 215 | NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 216 | NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 217 | } |
sahilmgandhi | 18:6a4db94011d3 | 218 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 219 | NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_OUTINIT_High << GPIOTE_CONFIG_OUTINIT_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 220 | |
sahilmgandhi | 18:6a4db94011d3 | 221 | if (toggle) { |
sahilmgandhi | 18:6a4db94011d3 | 222 | NRF_GPIOTE->CONFIG[obj->pwm] |= (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | |
sahilmgandhi | 18:6a4db94011d3 | 223 | ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 224 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 225 | NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 226 | NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos); |
sahilmgandhi | 18:6a4db94011d3 | 227 | } |
sahilmgandhi | 18:6a4db94011d3 | 228 | } |
sahilmgandhi | 18:6a4db94011d3 | 229 | } |
sahilmgandhi | 18:6a4db94011d3 | 230 | |
sahilmgandhi | 18:6a4db94011d3 | 231 | void pwmout_init(pwmout_t *obj, PinName pin) |
sahilmgandhi | 18:6a4db94011d3 | 232 | { |
sahilmgandhi | 18:6a4db94011d3 | 233 | // determine the channel |
sahilmgandhi | 18:6a4db94011d3 | 234 | uint8_t pwmOutSuccess = 0; |
sahilmgandhi | 18:6a4db94011d3 | 235 | PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM); |
sahilmgandhi | 18:6a4db94011d3 | 236 | |
sahilmgandhi | 18:6a4db94011d3 | 237 | MBED_ASSERT(pwm != (PWMName)NC); |
sahilmgandhi | 18:6a4db94011d3 | 238 | |
sahilmgandhi | 18:6a4db94011d3 | 239 | if (PWM_taken[(uint8_t)pwm]) { |
sahilmgandhi | 18:6a4db94011d3 | 240 | for (uint8_t i = 1; !pwmOutSuccess && (i<NO_PWMS); i++) { |
sahilmgandhi | 18:6a4db94011d3 | 241 | if (!PWM_taken[i]) { |
sahilmgandhi | 18:6a4db94011d3 | 242 | pwm = (PWMName)i; |
sahilmgandhi | 18:6a4db94011d3 | 243 | PWM_taken[i] = 1; |
sahilmgandhi | 18:6a4db94011d3 | 244 | pwmOutSuccess = 1; |
sahilmgandhi | 18:6a4db94011d3 | 245 | } |
sahilmgandhi | 18:6a4db94011d3 | 246 | } |
sahilmgandhi | 18:6a4db94011d3 | 247 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 248 | pwmOutSuccess = 1; |
sahilmgandhi | 18:6a4db94011d3 | 249 | PWM_taken[(uint8_t)pwm] = 1; |
sahilmgandhi | 18:6a4db94011d3 | 250 | } |
sahilmgandhi | 18:6a4db94011d3 | 251 | |
sahilmgandhi | 18:6a4db94011d3 | 252 | if (!pwmOutSuccess) { |
sahilmgandhi | 18:6a4db94011d3 | 253 | error("PwmOut pin mapping failed. All available PWM channels are in use."); |
sahilmgandhi | 18:6a4db94011d3 | 254 | } |
sahilmgandhi | 18:6a4db94011d3 | 255 | |
sahilmgandhi | 18:6a4db94011d3 | 256 | obj->pwm = pwm; |
sahilmgandhi | 18:6a4db94011d3 | 257 | obj->pin = pin; |
sahilmgandhi | 18:6a4db94011d3 | 258 | |
sahilmgandhi | 18:6a4db94011d3 | 259 | gpiote_init(pin, (uint8_t)pwm); |
sahilmgandhi | 18:6a4db94011d3 | 260 | ppi_init((uint8_t)pwm); |
sahilmgandhi | 18:6a4db94011d3 | 261 | |
sahilmgandhi | 18:6a4db94011d3 | 262 | if (pwm == 0) { |
sahilmgandhi | 18:6a4db94011d3 | 263 | NRF_POWER->TASKS_CONSTLAT = 1; |
sahilmgandhi | 18:6a4db94011d3 | 264 | } |
sahilmgandhi | 18:6a4db94011d3 | 265 | |
sahilmgandhi | 18:6a4db94011d3 | 266 | timer_init((uint8_t)pwm); |
sahilmgandhi | 18:6a4db94011d3 | 267 | |
sahilmgandhi | 18:6a4db94011d3 | 268 | //default to 20ms: standard for servos, and fine for e.g. brightness control |
sahilmgandhi | 18:6a4db94011d3 | 269 | pwmout_period_ms(obj, 20); |
sahilmgandhi | 18:6a4db94011d3 | 270 | pwmout_write (obj, 0); |
sahilmgandhi | 18:6a4db94011d3 | 271 | } |
sahilmgandhi | 18:6a4db94011d3 | 272 | |
sahilmgandhi | 18:6a4db94011d3 | 273 | void pwmout_free(pwmout_t* obj) { |
sahilmgandhi | 18:6a4db94011d3 | 274 | MBED_ASSERT(obj->pwm != (PWMName)NC); |
sahilmgandhi | 18:6a4db94011d3 | 275 | pwmout_write(obj, 0); |
sahilmgandhi | 18:6a4db94011d3 | 276 | PWM_taken[obj->pwm] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 277 | timer_free(); |
sahilmgandhi | 18:6a4db94011d3 | 278 | ppi_free(obj->pwm); |
sahilmgandhi | 18:6a4db94011d3 | 279 | gpiote_free(obj->pin,obj->pwm); |
sahilmgandhi | 18:6a4db94011d3 | 280 | } |
sahilmgandhi | 18:6a4db94011d3 | 281 | |
sahilmgandhi | 18:6a4db94011d3 | 282 | void pwmout_write(pwmout_t *obj, float value) |
sahilmgandhi | 18:6a4db94011d3 | 283 | { |
sahilmgandhi | 18:6a4db94011d3 | 284 | uint16_t oldPulseWidth; |
sahilmgandhi | 18:6a4db94011d3 | 285 | |
sahilmgandhi | 18:6a4db94011d3 | 286 | NRF_TIMER2->EVENTS_COMPARE[3] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 287 | NRF_TIMER2->TASKS_STOP = 1; |
sahilmgandhi | 18:6a4db94011d3 | 288 | |
sahilmgandhi | 18:6a4db94011d3 | 289 | if (value < 0.0f) { |
sahilmgandhi | 18:6a4db94011d3 | 290 | value = 0.0; |
sahilmgandhi | 18:6a4db94011d3 | 291 | } else if (value > 1.0f) { |
sahilmgandhi | 18:6a4db94011d3 | 292 | value = 1.0; |
sahilmgandhi | 18:6a4db94011d3 | 293 | } |
sahilmgandhi | 18:6a4db94011d3 | 294 | |
sahilmgandhi | 18:6a4db94011d3 | 295 | oldPulseWidth = ACTUAL_PULSE[obj->pwm]; |
sahilmgandhi | 18:6a4db94011d3 | 296 | ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = value * PERIOD; |
sahilmgandhi | 18:6a4db94011d3 | 297 | |
sahilmgandhi | 18:6a4db94011d3 | 298 | if (PULSE_WIDTH[obj->pwm] == 0) { |
sahilmgandhi | 18:6a4db94011d3 | 299 | PULSE_WIDTH[obj->pwm] = 1; |
sahilmgandhi | 18:6a4db94011d3 | 300 | setModulation(obj, 0, 0); |
sahilmgandhi | 18:6a4db94011d3 | 301 | } else if (PULSE_WIDTH[obj->pwm] == PERIOD) { |
sahilmgandhi | 18:6a4db94011d3 | 302 | PULSE_WIDTH[obj->pwm] = PERIOD - 1; |
sahilmgandhi | 18:6a4db94011d3 | 303 | setModulation(obj, 0, 1); |
sahilmgandhi | 18:6a4db94011d3 | 304 | } else if ((oldPulseWidth == 0) || (oldPulseWidth == PERIOD)) { |
sahilmgandhi | 18:6a4db94011d3 | 305 | setModulation(obj, 1, oldPulseWidth == PERIOD); |
sahilmgandhi | 18:6a4db94011d3 | 306 | } |
sahilmgandhi | 18:6a4db94011d3 | 307 | |
sahilmgandhi | 18:6a4db94011d3 | 308 | NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk; |
sahilmgandhi | 18:6a4db94011d3 | 309 | NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk; |
sahilmgandhi | 18:6a4db94011d3 | 310 | NRF_TIMER2->TASKS_START = 1; |
sahilmgandhi | 18:6a4db94011d3 | 311 | } |
sahilmgandhi | 18:6a4db94011d3 | 312 | |
sahilmgandhi | 18:6a4db94011d3 | 313 | float pwmout_read(pwmout_t *obj) |
sahilmgandhi | 18:6a4db94011d3 | 314 | { |
sahilmgandhi | 18:6a4db94011d3 | 315 | return ((float)PULSE_WIDTH[obj->pwm] / (float)PERIOD); |
sahilmgandhi | 18:6a4db94011d3 | 316 | } |
sahilmgandhi | 18:6a4db94011d3 | 317 | |
sahilmgandhi | 18:6a4db94011d3 | 318 | void pwmout_period(pwmout_t *obj, float seconds) |
sahilmgandhi | 18:6a4db94011d3 | 319 | { |
sahilmgandhi | 18:6a4db94011d3 | 320 | pwmout_period_us(obj, seconds * 1000000.0f); |
sahilmgandhi | 18:6a4db94011d3 | 321 | } |
sahilmgandhi | 18:6a4db94011d3 | 322 | |
sahilmgandhi | 18:6a4db94011d3 | 323 | void pwmout_period_ms(pwmout_t *obj, int ms) |
sahilmgandhi | 18:6a4db94011d3 | 324 | { |
sahilmgandhi | 18:6a4db94011d3 | 325 | pwmout_period_us(obj, ms * 1000); |
sahilmgandhi | 18:6a4db94011d3 | 326 | } |
sahilmgandhi | 18:6a4db94011d3 | 327 | |
sahilmgandhi | 18:6a4db94011d3 | 328 | // Set the PWM period, keeping the duty cycle the same. |
sahilmgandhi | 18:6a4db94011d3 | 329 | void pwmout_period_us(pwmout_t *obj, int us) |
sahilmgandhi | 18:6a4db94011d3 | 330 | { |
sahilmgandhi | 18:6a4db94011d3 | 331 | uint32_t periodInTicks = us / TIMER_PRECISION; |
sahilmgandhi | 18:6a4db94011d3 | 332 | |
sahilmgandhi | 18:6a4db94011d3 | 333 | NRF_TIMER2->EVENTS_COMPARE[3] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 334 | NRF_TIMER2->TASKS_STOP = 1; |
sahilmgandhi | 18:6a4db94011d3 | 335 | |
sahilmgandhi | 18:6a4db94011d3 | 336 | if (periodInTicks>((1 << 16) - 1)) { |
sahilmgandhi | 18:6a4db94011d3 | 337 | PERIOD = (1 << 16) - 1; //131ms |
sahilmgandhi | 18:6a4db94011d3 | 338 | } else if (periodInTicks<5) { |
sahilmgandhi | 18:6a4db94011d3 | 339 | PERIOD = 5; |
sahilmgandhi | 18:6a4db94011d3 | 340 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 341 | PERIOD = periodInTicks; |
sahilmgandhi | 18:6a4db94011d3 | 342 | } |
sahilmgandhi | 18:6a4db94011d3 | 343 | NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk; |
sahilmgandhi | 18:6a4db94011d3 | 344 | NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk; |
sahilmgandhi | 18:6a4db94011d3 | 345 | NRF_TIMER2->TASKS_START = 1; |
sahilmgandhi | 18:6a4db94011d3 | 346 | } |
sahilmgandhi | 18:6a4db94011d3 | 347 | |
sahilmgandhi | 18:6a4db94011d3 | 348 | void pwmout_pulsewidth(pwmout_t *obj, float seconds) |
sahilmgandhi | 18:6a4db94011d3 | 349 | { |
sahilmgandhi | 18:6a4db94011d3 | 350 | pwmout_pulsewidth_us(obj, seconds * 1000000.0f); |
sahilmgandhi | 18:6a4db94011d3 | 351 | } |
sahilmgandhi | 18:6a4db94011d3 | 352 | |
sahilmgandhi | 18:6a4db94011d3 | 353 | void pwmout_pulsewidth_ms(pwmout_t *obj, int ms) |
sahilmgandhi | 18:6a4db94011d3 | 354 | { |
sahilmgandhi | 18:6a4db94011d3 | 355 | pwmout_pulsewidth_us(obj, ms * 1000); |
sahilmgandhi | 18:6a4db94011d3 | 356 | } |
sahilmgandhi | 18:6a4db94011d3 | 357 | |
sahilmgandhi | 18:6a4db94011d3 | 358 | void pwmout_pulsewidth_us(pwmout_t *obj, int us) |
sahilmgandhi | 18:6a4db94011d3 | 359 | { |
sahilmgandhi | 18:6a4db94011d3 | 360 | uint32_t pulseInTicks = us / TIMER_PRECISION; |
sahilmgandhi | 18:6a4db94011d3 | 361 | uint16_t oldPulseWidth = ACTUAL_PULSE[obj->pwm]; |
sahilmgandhi | 18:6a4db94011d3 | 362 | |
sahilmgandhi | 18:6a4db94011d3 | 363 | NRF_TIMER2->EVENTS_COMPARE[3] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 364 | NRF_TIMER2->TASKS_STOP = 1; |
sahilmgandhi | 18:6a4db94011d3 | 365 | |
sahilmgandhi | 18:6a4db94011d3 | 366 | ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = pulseInTicks; |
sahilmgandhi | 18:6a4db94011d3 | 367 | |
sahilmgandhi | 18:6a4db94011d3 | 368 | if (PULSE_WIDTH[obj->pwm] == 0) { |
sahilmgandhi | 18:6a4db94011d3 | 369 | PULSE_WIDTH[obj->pwm] = 1; |
sahilmgandhi | 18:6a4db94011d3 | 370 | setModulation(obj, 0, 0); |
sahilmgandhi | 18:6a4db94011d3 | 371 | } else if (PULSE_WIDTH[obj->pwm] == PERIOD) { |
sahilmgandhi | 18:6a4db94011d3 | 372 | PULSE_WIDTH[obj->pwm] = PERIOD - 1; |
sahilmgandhi | 18:6a4db94011d3 | 373 | setModulation(obj, 0, 1); |
sahilmgandhi | 18:6a4db94011d3 | 374 | } else if ((oldPulseWidth == 0) || (oldPulseWidth == PERIOD)) { |
sahilmgandhi | 18:6a4db94011d3 | 375 | setModulation(obj, 1, oldPulseWidth == PERIOD); |
sahilmgandhi | 18:6a4db94011d3 | 376 | } |
sahilmgandhi | 18:6a4db94011d3 | 377 | NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk; |
sahilmgandhi | 18:6a4db94011d3 | 378 | NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk; |
sahilmgandhi | 18:6a4db94011d3 | 379 | NRF_TIMER2->TASKS_START = 1; |
sahilmgandhi | 18:6a4db94011d3 | 380 | } |