Mouse code for the MacroRat
mbed-dev/targets/TARGET_NORDIC/TARGET_NRF5_SDK13/pwmout_api.c@46:b156ef445742, 2017-06-03 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Sat Jun 03 00:22:44 2017 +0000
- Revision:
- 46:b156ef445742
- Parent:
- 18:6a4db94011d3
Final code for internal battlebot competition.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 18:6a4db94011d3 | 1 | /* |
sahilmgandhi | 18:6a4db94011d3 | 2 | * Copyright (c) 2013 Nordic Semiconductor ASA |
sahilmgandhi | 18:6a4db94011d3 | 3 | * All rights reserved. |
sahilmgandhi | 18:6a4db94011d3 | 4 | * |
sahilmgandhi | 18:6a4db94011d3 | 5 | * Redistribution and use in source and binary forms, with or without modification, |
sahilmgandhi | 18:6a4db94011d3 | 6 | * are permitted provided that the following conditions are met: |
sahilmgandhi | 18:6a4db94011d3 | 7 | * |
sahilmgandhi | 18:6a4db94011d3 | 8 | * 1. Redistributions of source code must retain the above copyright notice, this list |
sahilmgandhi | 18:6a4db94011d3 | 9 | * of conditions and the following disclaimer. |
sahilmgandhi | 18:6a4db94011d3 | 10 | * |
sahilmgandhi | 18:6a4db94011d3 | 11 | * 2. Redistributions in binary form, except as embedded into a Nordic Semiconductor ASA |
sahilmgandhi | 18:6a4db94011d3 | 12 | * integrated circuit in a product or a software update for such product, must reproduce |
sahilmgandhi | 18:6a4db94011d3 | 13 | * the above copyright notice, this list of conditions and the following disclaimer in |
sahilmgandhi | 18:6a4db94011d3 | 14 | * the documentation and/or other materials provided with the distribution. |
sahilmgandhi | 18:6a4db94011d3 | 15 | * |
sahilmgandhi | 18:6a4db94011d3 | 16 | * 3. Neither the name of Nordic Semiconductor ASA nor the names of its contributors may be |
sahilmgandhi | 18:6a4db94011d3 | 17 | * used to endorse or promote products derived from this software without specific prior |
sahilmgandhi | 18:6a4db94011d3 | 18 | * written permission. |
sahilmgandhi | 18:6a4db94011d3 | 19 | * |
sahilmgandhi | 18:6a4db94011d3 | 20 | * 4. This software, with or without modification, must only be used with a |
sahilmgandhi | 18:6a4db94011d3 | 21 | * Nordic Semiconductor ASA integrated circuit. |
sahilmgandhi | 18:6a4db94011d3 | 22 | * |
sahilmgandhi | 18:6a4db94011d3 | 23 | * 5. Any software provided in binary or object form under this license must not be reverse |
sahilmgandhi | 18:6a4db94011d3 | 24 | * engineered, decompiled, modified and/or disassembled. |
sahilmgandhi | 18:6a4db94011d3 | 25 | * |
sahilmgandhi | 18:6a4db94011d3 | 26 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND |
sahilmgandhi | 18:6a4db94011d3 | 27 | * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
sahilmgandhi | 18:6a4db94011d3 | 28 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
sahilmgandhi | 18:6a4db94011d3 | 29 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR |
sahilmgandhi | 18:6a4db94011d3 | 30 | * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
sahilmgandhi | 18:6a4db94011d3 | 31 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
sahilmgandhi | 18:6a4db94011d3 | 32 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON |
sahilmgandhi | 18:6a4db94011d3 | 33 | * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
sahilmgandhi | 18:6a4db94011d3 | 34 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
sahilmgandhi | 18:6a4db94011d3 | 35 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
sahilmgandhi | 18:6a4db94011d3 | 36 | * |
sahilmgandhi | 18:6a4db94011d3 | 37 | */ |
sahilmgandhi | 18:6a4db94011d3 | 38 | |
sahilmgandhi | 18:6a4db94011d3 | 39 | #include "mbed_assert.h" |
sahilmgandhi | 18:6a4db94011d3 | 40 | #include "mbed_error.h" |
sahilmgandhi | 18:6a4db94011d3 | 41 | #include "pwmout_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 42 | #include "cmsis.h" |
sahilmgandhi | 18:6a4db94011d3 | 43 | #include "pinmap.h" |
sahilmgandhi | 18:6a4db94011d3 | 44 | |
sahilmgandhi | 18:6a4db94011d3 | 45 | #if DEVICE_PWMOUT |
sahilmgandhi | 18:6a4db94011d3 | 46 | |
sahilmgandhi | 18:6a4db94011d3 | 47 | #include "app_util_platform.h" |
sahilmgandhi | 18:6a4db94011d3 | 48 | #include "nrf_drv_pwm.h" |
sahilmgandhi | 18:6a4db94011d3 | 49 | |
sahilmgandhi | 18:6a4db94011d3 | 50 | #define MAX_PWM_COUNTERTOP (0x7FFF) // 0x7FFF is the max of COUNTERTOP value for the PWM peripherial of the nRF52. |
sahilmgandhi | 18:6a4db94011d3 | 51 | #define MAX_PWM_PERIOD_US (MAX_PWM_COUNTERTOP * 8) // PWM hw is driven by 16 MHz clock, hence the tick is 1_us/16, |
sahilmgandhi | 18:6a4db94011d3 | 52 | // and 128 is the max prescaler value. |
sahilmgandhi | 18:6a4db94011d3 | 53 | #define MAX_PWM_PERIOD_MS ((MAX_PWM_PERIOD_US / 1000) + 1) // approximations advance |
sahilmgandhi | 18:6a4db94011d3 | 54 | #define MAX_PWM_PERIOD_S ((MAX_PWM_PERIOD_US / 1000000) + 1) // approximations advance |
sahilmgandhi | 18:6a4db94011d3 | 55 | |
sahilmgandhi | 18:6a4db94011d3 | 56 | |
sahilmgandhi | 18:6a4db94011d3 | 57 | #define PWM_INSTANCE_COUNT (PWM_COUNT) // import from the nrf_drv_config.h file |
sahilmgandhi | 18:6a4db94011d3 | 58 | |
sahilmgandhi | 18:6a4db94011d3 | 59 | ///> instances of nRF52 PWM driver |
sahilmgandhi | 18:6a4db94011d3 | 60 | static const nrf_drv_pwm_t m_pwm_driver[PWM_INSTANCE_COUNT] = |
sahilmgandhi | 18:6a4db94011d3 | 61 | { |
sahilmgandhi | 18:6a4db94011d3 | 62 | #if PWM0_ENABLED |
sahilmgandhi | 18:6a4db94011d3 | 63 | NRF_DRV_PWM_INSTANCE(0), |
sahilmgandhi | 18:6a4db94011d3 | 64 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 65 | #if PWM1_ENABLED |
sahilmgandhi | 18:6a4db94011d3 | 66 | NRF_DRV_PWM_INSTANCE(1), |
sahilmgandhi | 18:6a4db94011d3 | 67 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 68 | #if PWM2_ENABLED |
sahilmgandhi | 18:6a4db94011d3 | 69 | NRF_DRV_PWM_INSTANCE(2) |
sahilmgandhi | 18:6a4db94011d3 | 70 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 71 | }; |
sahilmgandhi | 18:6a4db94011d3 | 72 | |
sahilmgandhi | 18:6a4db94011d3 | 73 | typedef struct |
sahilmgandhi | 18:6a4db94011d3 | 74 | { |
sahilmgandhi | 18:6a4db94011d3 | 75 | uint32_t period_us; |
sahilmgandhi | 18:6a4db94011d3 | 76 | uint32_t duty_us; |
sahilmgandhi | 18:6a4db94011d3 | 77 | float duty; |
sahilmgandhi | 18:6a4db94011d3 | 78 | } pwm_signal_t; /// PWM signal description type |
sahilmgandhi | 18:6a4db94011d3 | 79 | |
sahilmgandhi | 18:6a4db94011d3 | 80 | typedef struct |
sahilmgandhi | 18:6a4db94011d3 | 81 | { |
sahilmgandhi | 18:6a4db94011d3 | 82 | nrf_drv_pwm_t * p_pwm_driver; |
sahilmgandhi | 18:6a4db94011d3 | 83 | pwm_signal_t signal; |
sahilmgandhi | 18:6a4db94011d3 | 84 | volatile nrf_pwm_values_common_t seq_values[1]; |
sahilmgandhi | 18:6a4db94011d3 | 85 | } pwm_t; /// internal PWM instance support type |
sahilmgandhi | 18:6a4db94011d3 | 86 | |
sahilmgandhi | 18:6a4db94011d3 | 87 | static pwm_t m_pwm[PWM_INSTANCE_COUNT] = |
sahilmgandhi | 18:6a4db94011d3 | 88 | { |
sahilmgandhi | 18:6a4db94011d3 | 89 | #if PWM0_ENABLED |
sahilmgandhi | 18:6a4db94011d3 | 90 | {.p_pwm_driver = NULL}, |
sahilmgandhi | 18:6a4db94011d3 | 91 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 92 | #if PWM1_ENABLED |
sahilmgandhi | 18:6a4db94011d3 | 93 | {.p_pwm_driver = NULL}, |
sahilmgandhi | 18:6a4db94011d3 | 94 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 95 | #if PWM2_ENABLED |
sahilmgandhi | 18:6a4db94011d3 | 96 | {.p_pwm_driver = NULL} |
sahilmgandhi | 18:6a4db94011d3 | 97 | #endif |
sahilmgandhi | 18:6a4db94011d3 | 98 | }; /// Array of internal PWM instances. |
sahilmgandhi | 18:6a4db94011d3 | 99 | |
sahilmgandhi | 18:6a4db94011d3 | 100 | typedef struct |
sahilmgandhi | 18:6a4db94011d3 | 101 | { |
sahilmgandhi | 18:6a4db94011d3 | 102 | uint16_t period_hwu; // unit related to pwm_clk |
sahilmgandhi | 18:6a4db94011d3 | 103 | uint16_t duty_hwu; // unit related to pwm_clk |
sahilmgandhi | 18:6a4db94011d3 | 104 | nrf_pwm_clk_t pwm_clk; |
sahilmgandhi | 18:6a4db94011d3 | 105 | } pulsewidth_set_t; /// helper type for timing calculations |
sahilmgandhi | 18:6a4db94011d3 | 106 | |
sahilmgandhi | 18:6a4db94011d3 | 107 | |
sahilmgandhi | 18:6a4db94011d3 | 108 | static void internal_pwmout_exe(pwmout_t *obj, bool new_period, bool initialization); |
sahilmgandhi | 18:6a4db94011d3 | 109 | |
sahilmgandhi | 18:6a4db94011d3 | 110 | // extern PWM nIRQ handler implementations |
sahilmgandhi | 18:6a4db94011d3 | 111 | void PWM0_IRQHandler(void); |
sahilmgandhi | 18:6a4db94011d3 | 112 | void PWM1_IRQHandler(void); |
sahilmgandhi | 18:6a4db94011d3 | 113 | void PWM2_IRQHandler(void); |
sahilmgandhi | 18:6a4db94011d3 | 114 | |
sahilmgandhi | 18:6a4db94011d3 | 115 | static const peripheral_handler_desc_t pwm_handlers[PWM_INSTANCE_COUNT] = |
sahilmgandhi | 18:6a4db94011d3 | 116 | { |
sahilmgandhi | 18:6a4db94011d3 | 117 | { |
sahilmgandhi | 18:6a4db94011d3 | 118 | PWM0_IRQn, |
sahilmgandhi | 18:6a4db94011d3 | 119 | (uint32_t)PWM0_IRQHandler |
sahilmgandhi | 18:6a4db94011d3 | 120 | }, |
sahilmgandhi | 18:6a4db94011d3 | 121 | { |
sahilmgandhi | 18:6a4db94011d3 | 122 | PWM1_IRQn, |
sahilmgandhi | 18:6a4db94011d3 | 123 | (uint32_t)PWM1_IRQHandler |
sahilmgandhi | 18:6a4db94011d3 | 124 | }, |
sahilmgandhi | 18:6a4db94011d3 | 125 | { |
sahilmgandhi | 18:6a4db94011d3 | 126 | PWM2_IRQn, |
sahilmgandhi | 18:6a4db94011d3 | 127 | (uint32_t)PWM2_IRQHandler |
sahilmgandhi | 18:6a4db94011d3 | 128 | } |
sahilmgandhi | 18:6a4db94011d3 | 129 | }; |
sahilmgandhi | 18:6a4db94011d3 | 130 | |
sahilmgandhi | 18:6a4db94011d3 | 131 | void pwmout_init(pwmout_t *obj, PinName pin) |
sahilmgandhi | 18:6a4db94011d3 | 132 | { |
sahilmgandhi | 18:6a4db94011d3 | 133 | uint32_t i; |
sahilmgandhi | 18:6a4db94011d3 | 134 | |
sahilmgandhi | 18:6a4db94011d3 | 135 | for (i = 0; PWM_INSTANCE_COUNT; i++) |
sahilmgandhi | 18:6a4db94011d3 | 136 | { |
sahilmgandhi | 18:6a4db94011d3 | 137 | if (m_pwm[i].p_pwm_driver == NULL) // a driver instance not assigned to the obj? |
sahilmgandhi | 18:6a4db94011d3 | 138 | { |
sahilmgandhi | 18:6a4db94011d3 | 139 | NVIC_SetVector(pwm_handlers[i].IRQn, pwm_handlers[i].vector); |
sahilmgandhi | 18:6a4db94011d3 | 140 | |
sahilmgandhi | 18:6a4db94011d3 | 141 | obj->pin = pin; |
sahilmgandhi | 18:6a4db94011d3 | 142 | |
sahilmgandhi | 18:6a4db94011d3 | 143 | obj->pwm_channel = i; |
sahilmgandhi | 18:6a4db94011d3 | 144 | |
sahilmgandhi | 18:6a4db94011d3 | 145 | m_pwm[i].p_pwm_driver = (nrf_drv_pwm_t *) &m_pwm_driver[i]; |
sahilmgandhi | 18:6a4db94011d3 | 146 | m_pwm[i].signal.period_us = 200000; // 0.02 s |
sahilmgandhi | 18:6a4db94011d3 | 147 | m_pwm[i].signal.duty_us = 100000; |
sahilmgandhi | 18:6a4db94011d3 | 148 | m_pwm[i].signal.duty = 0.5f; |
sahilmgandhi | 18:6a4db94011d3 | 149 | |
sahilmgandhi | 18:6a4db94011d3 | 150 | obj->pwm_struct = &m_pwm[i]; |
sahilmgandhi | 18:6a4db94011d3 | 151 | |
sahilmgandhi | 18:6a4db94011d3 | 152 | internal_pwmout_exe(obj, true, true); |
sahilmgandhi | 18:6a4db94011d3 | 153 | |
sahilmgandhi | 18:6a4db94011d3 | 154 | break; |
sahilmgandhi | 18:6a4db94011d3 | 155 | } |
sahilmgandhi | 18:6a4db94011d3 | 156 | } |
sahilmgandhi | 18:6a4db94011d3 | 157 | |
sahilmgandhi | 18:6a4db94011d3 | 158 | MBED_ASSERT(i != PWM_INSTANCE_COUNT); // assert if free instance was not found. |
sahilmgandhi | 18:6a4db94011d3 | 159 | } |
sahilmgandhi | 18:6a4db94011d3 | 160 | |
sahilmgandhi | 18:6a4db94011d3 | 161 | void pwmout_free(pwmout_t *obj) |
sahilmgandhi | 18:6a4db94011d3 | 162 | { |
sahilmgandhi | 18:6a4db94011d3 | 163 | nrf_drv_pwm_uninit( (nrf_drv_pwm_t*) obj->pwm_struct ); |
sahilmgandhi | 18:6a4db94011d3 | 164 | |
sahilmgandhi | 18:6a4db94011d3 | 165 | m_pwm[obj->pwm_channel].p_pwm_driver = NULL; |
sahilmgandhi | 18:6a4db94011d3 | 166 | } |
sahilmgandhi | 18:6a4db94011d3 | 167 | |
sahilmgandhi | 18:6a4db94011d3 | 168 | void pwmout_write(pwmout_t *obj, float percent) |
sahilmgandhi | 18:6a4db94011d3 | 169 | { |
sahilmgandhi | 18:6a4db94011d3 | 170 | |
sahilmgandhi | 18:6a4db94011d3 | 171 | if (percent < 0) |
sahilmgandhi | 18:6a4db94011d3 | 172 | { |
sahilmgandhi | 18:6a4db94011d3 | 173 | percent = 0; |
sahilmgandhi | 18:6a4db94011d3 | 174 | } |
sahilmgandhi | 18:6a4db94011d3 | 175 | else if (percent > 1) |
sahilmgandhi | 18:6a4db94011d3 | 176 | { |
sahilmgandhi | 18:6a4db94011d3 | 177 | percent = 1; |
sahilmgandhi | 18:6a4db94011d3 | 178 | } |
sahilmgandhi | 18:6a4db94011d3 | 179 | |
sahilmgandhi | 18:6a4db94011d3 | 180 | pwm_signal_t * p_pwm_signal = &(((pwm_t*)obj->pwm_struct)->signal); |
sahilmgandhi | 18:6a4db94011d3 | 181 | |
sahilmgandhi | 18:6a4db94011d3 | 182 | p_pwm_signal->duty = percent; |
sahilmgandhi | 18:6a4db94011d3 | 183 | |
sahilmgandhi | 18:6a4db94011d3 | 184 | int us = (((int)p_pwm_signal->period_us) * percent); |
sahilmgandhi | 18:6a4db94011d3 | 185 | |
sahilmgandhi | 18:6a4db94011d3 | 186 | pwmout_pulsewidth_us(obj, us); |
sahilmgandhi | 18:6a4db94011d3 | 187 | } |
sahilmgandhi | 18:6a4db94011d3 | 188 | |
sahilmgandhi | 18:6a4db94011d3 | 189 | float pwmout_read(pwmout_t *obj) |
sahilmgandhi | 18:6a4db94011d3 | 190 | { |
sahilmgandhi | 18:6a4db94011d3 | 191 | pwm_signal_t * p_pwm_signal = &(((pwm_t*)obj->pwm_struct)->signal); |
sahilmgandhi | 18:6a4db94011d3 | 192 | |
sahilmgandhi | 18:6a4db94011d3 | 193 | return (float)p_pwm_signal->duty_us / (float)p_pwm_signal->period_us; |
sahilmgandhi | 18:6a4db94011d3 | 194 | } |
sahilmgandhi | 18:6a4db94011d3 | 195 | |
sahilmgandhi | 18:6a4db94011d3 | 196 | void pwmout_period(pwmout_t *obj, float seconds) |
sahilmgandhi | 18:6a4db94011d3 | 197 | { |
sahilmgandhi | 18:6a4db94011d3 | 198 | // raught saturation < 0, quasi-max> |
sahilmgandhi | 18:6a4db94011d3 | 199 | if (seconds > MAX_PWM_PERIOD_S) |
sahilmgandhi | 18:6a4db94011d3 | 200 | { |
sahilmgandhi | 18:6a4db94011d3 | 201 | seconds = MAX_PWM_PERIOD_S; |
sahilmgandhi | 18:6a4db94011d3 | 202 | } |
sahilmgandhi | 18:6a4db94011d3 | 203 | else if (seconds < 0) |
sahilmgandhi | 18:6a4db94011d3 | 204 | { |
sahilmgandhi | 18:6a4db94011d3 | 205 | seconds = 0; // f. pwmout_period_us will set period to min. value |
sahilmgandhi | 18:6a4db94011d3 | 206 | } |
sahilmgandhi | 18:6a4db94011d3 | 207 | |
sahilmgandhi | 18:6a4db94011d3 | 208 | int us = seconds * 1000000; |
sahilmgandhi | 18:6a4db94011d3 | 209 | |
sahilmgandhi | 18:6a4db94011d3 | 210 | pwmout_period_us(obj, us); |
sahilmgandhi | 18:6a4db94011d3 | 211 | } |
sahilmgandhi | 18:6a4db94011d3 | 212 | |
sahilmgandhi | 18:6a4db94011d3 | 213 | void pwmout_period_ms(pwmout_t *obj, int ms) |
sahilmgandhi | 18:6a4db94011d3 | 214 | { |
sahilmgandhi | 18:6a4db94011d3 | 215 | // reught saturation < 0, quasi-max> |
sahilmgandhi | 18:6a4db94011d3 | 216 | if (ms > MAX_PWM_PERIOD_MS) |
sahilmgandhi | 18:6a4db94011d3 | 217 | { |
sahilmgandhi | 18:6a4db94011d3 | 218 | ms = MAX_PWM_PERIOD_MS; |
sahilmgandhi | 18:6a4db94011d3 | 219 | } |
sahilmgandhi | 18:6a4db94011d3 | 220 | else if (ms < 0) |
sahilmgandhi | 18:6a4db94011d3 | 221 | { |
sahilmgandhi | 18:6a4db94011d3 | 222 | ms = 0; // f. pwmout_period_us will set period to min. value |
sahilmgandhi | 18:6a4db94011d3 | 223 | } |
sahilmgandhi | 18:6a4db94011d3 | 224 | |
sahilmgandhi | 18:6a4db94011d3 | 225 | int us = ms * 1000; |
sahilmgandhi | 18:6a4db94011d3 | 226 | |
sahilmgandhi | 18:6a4db94011d3 | 227 | pwmout_period_us(obj, us); |
sahilmgandhi | 18:6a4db94011d3 | 228 | } |
sahilmgandhi | 18:6a4db94011d3 | 229 | |
sahilmgandhi | 18:6a4db94011d3 | 230 | |
sahilmgandhi | 18:6a4db94011d3 | 231 | void pwmout_period_us(pwmout_t *obj, int us) |
sahilmgandhi | 18:6a4db94011d3 | 232 | { |
sahilmgandhi | 18:6a4db94011d3 | 233 | pwm_signal_t * p_pwm_signal = &(((pwm_t*)obj->pwm_struct)->signal); |
sahilmgandhi | 18:6a4db94011d3 | 234 | |
sahilmgandhi | 18:6a4db94011d3 | 235 | // saturation <1, real-max> |
sahilmgandhi | 18:6a4db94011d3 | 236 | if (us > MAX_PWM_PERIOD_US) |
sahilmgandhi | 18:6a4db94011d3 | 237 | { |
sahilmgandhi | 18:6a4db94011d3 | 238 | us = MAX_PWM_PERIOD_US; |
sahilmgandhi | 18:6a4db94011d3 | 239 | } |
sahilmgandhi | 18:6a4db94011d3 | 240 | else if (us < 1) |
sahilmgandhi | 18:6a4db94011d3 | 241 | { |
sahilmgandhi | 18:6a4db94011d3 | 242 | us = 1; |
sahilmgandhi | 18:6a4db94011d3 | 243 | } |
sahilmgandhi | 18:6a4db94011d3 | 244 | |
sahilmgandhi | 18:6a4db94011d3 | 245 | p_pwm_signal->duty_us = (int)((float)us * p_pwm_signal->duty); |
sahilmgandhi | 18:6a4db94011d3 | 246 | |
sahilmgandhi | 18:6a4db94011d3 | 247 | p_pwm_signal->period_us = us; |
sahilmgandhi | 18:6a4db94011d3 | 248 | |
sahilmgandhi | 18:6a4db94011d3 | 249 | internal_pwmout_exe(obj, true, false); |
sahilmgandhi | 18:6a4db94011d3 | 250 | } |
sahilmgandhi | 18:6a4db94011d3 | 251 | |
sahilmgandhi | 18:6a4db94011d3 | 252 | void pwmout_pulsewidth(pwmout_t *obj, float seconds) |
sahilmgandhi | 18:6a4db94011d3 | 253 | { |
sahilmgandhi | 18:6a4db94011d3 | 254 | // raught saturation < 0, quasi-max> |
sahilmgandhi | 18:6a4db94011d3 | 255 | if (seconds > MAX_PWM_PERIOD_S) |
sahilmgandhi | 18:6a4db94011d3 | 256 | { |
sahilmgandhi | 18:6a4db94011d3 | 257 | seconds = MAX_PWM_PERIOD_S; |
sahilmgandhi | 18:6a4db94011d3 | 258 | } |
sahilmgandhi | 18:6a4db94011d3 | 259 | else if (seconds < 0) |
sahilmgandhi | 18:6a4db94011d3 | 260 | { |
sahilmgandhi | 18:6a4db94011d3 | 261 | seconds = 0; |
sahilmgandhi | 18:6a4db94011d3 | 262 | } |
sahilmgandhi | 18:6a4db94011d3 | 263 | |
sahilmgandhi | 18:6a4db94011d3 | 264 | int us = seconds * 1000000; |
sahilmgandhi | 18:6a4db94011d3 | 265 | |
sahilmgandhi | 18:6a4db94011d3 | 266 | pwmout_pulsewidth_us(obj,us); |
sahilmgandhi | 18:6a4db94011d3 | 267 | } |
sahilmgandhi | 18:6a4db94011d3 | 268 | |
sahilmgandhi | 18:6a4db94011d3 | 269 | void pwmout_pulsewidth_ms(pwmout_t *obj, int ms) |
sahilmgandhi | 18:6a4db94011d3 | 270 | { |
sahilmgandhi | 18:6a4db94011d3 | 271 | // raught saturation < 0, quasi-max> |
sahilmgandhi | 18:6a4db94011d3 | 272 | if (ms > MAX_PWM_PERIOD_MS) |
sahilmgandhi | 18:6a4db94011d3 | 273 | { |
sahilmgandhi | 18:6a4db94011d3 | 274 | ms = MAX_PWM_PERIOD_MS; |
sahilmgandhi | 18:6a4db94011d3 | 275 | } |
sahilmgandhi | 18:6a4db94011d3 | 276 | else if (ms < 0) |
sahilmgandhi | 18:6a4db94011d3 | 277 | { |
sahilmgandhi | 18:6a4db94011d3 | 278 | ms = 0; |
sahilmgandhi | 18:6a4db94011d3 | 279 | } |
sahilmgandhi | 18:6a4db94011d3 | 280 | |
sahilmgandhi | 18:6a4db94011d3 | 281 | int us = ms * 1000; |
sahilmgandhi | 18:6a4db94011d3 | 282 | |
sahilmgandhi | 18:6a4db94011d3 | 283 | pwmout_pulsewidth_us(obj, us); |
sahilmgandhi | 18:6a4db94011d3 | 284 | } |
sahilmgandhi | 18:6a4db94011d3 | 285 | |
sahilmgandhi | 18:6a4db94011d3 | 286 | void pwmout_pulsewidth_us(pwmout_t *obj, int us) |
sahilmgandhi | 18:6a4db94011d3 | 287 | { |
sahilmgandhi | 18:6a4db94011d3 | 288 | // saturation <0, real-max> |
sahilmgandhi | 18:6a4db94011d3 | 289 | if (us > MAX_PWM_PERIOD_US) |
sahilmgandhi | 18:6a4db94011d3 | 290 | { |
sahilmgandhi | 18:6a4db94011d3 | 291 | us = MAX_PWM_PERIOD_US; |
sahilmgandhi | 18:6a4db94011d3 | 292 | } |
sahilmgandhi | 18:6a4db94011d3 | 293 | else if (us < 0) |
sahilmgandhi | 18:6a4db94011d3 | 294 | { |
sahilmgandhi | 18:6a4db94011d3 | 295 | us = 0; |
sahilmgandhi | 18:6a4db94011d3 | 296 | } |
sahilmgandhi | 18:6a4db94011d3 | 297 | |
sahilmgandhi | 18:6a4db94011d3 | 298 | pwm_signal_t * p_pwm_signal = &(((pwm_t*)obj->pwm_struct)->signal); |
sahilmgandhi | 18:6a4db94011d3 | 299 | |
sahilmgandhi | 18:6a4db94011d3 | 300 | p_pwm_signal->duty_us = us; |
sahilmgandhi | 18:6a4db94011d3 | 301 | p_pwm_signal->duty = us / p_pwm_signal->period_us; |
sahilmgandhi | 18:6a4db94011d3 | 302 | |
sahilmgandhi | 18:6a4db94011d3 | 303 | internal_pwmout_exe(obj, false, false); |
sahilmgandhi | 18:6a4db94011d3 | 304 | } |
sahilmgandhi | 18:6a4db94011d3 | 305 | |
sahilmgandhi | 18:6a4db94011d3 | 306 | |
sahilmgandhi | 18:6a4db94011d3 | 307 | |
sahilmgandhi | 18:6a4db94011d3 | 308 | |
sahilmgandhi | 18:6a4db94011d3 | 309 | |
sahilmgandhi | 18:6a4db94011d3 | 310 | |
sahilmgandhi | 18:6a4db94011d3 | 311 | static ret_code_t pulsewidth_us_set_get(int period_hwu, int duty_hwu, pulsewidth_set_t * p_settings) |
sahilmgandhi | 18:6a4db94011d3 | 312 | { |
sahilmgandhi | 18:6a4db94011d3 | 313 | uint16_t div; |
sahilmgandhi | 18:6a4db94011d3 | 314 | nrf_pwm_clk_t pwm_clk = NRF_PWM_CLK_16MHz; |
sahilmgandhi | 18:6a4db94011d3 | 315 | |
sahilmgandhi | 18:6a4db94011d3 | 316 | for(div = 1; div <= 128 ; div <<= 1) // 128 is the maximum of clock prescaler for PWM peripherial |
sahilmgandhi | 18:6a4db94011d3 | 317 | { |
sahilmgandhi | 18:6a4db94011d3 | 318 | if (MAX_PWM_COUNTERTOP >= period_hwu) |
sahilmgandhi | 18:6a4db94011d3 | 319 | { |
sahilmgandhi | 18:6a4db94011d3 | 320 | p_settings->period_hwu = period_hwu; // unit [us/16 * div] |
sahilmgandhi | 18:6a4db94011d3 | 321 | p_settings->duty_hwu = duty_hwu; // unit [us/16 * div] |
sahilmgandhi | 18:6a4db94011d3 | 322 | p_settings->pwm_clk = pwm_clk; |
sahilmgandhi | 18:6a4db94011d3 | 323 | |
sahilmgandhi | 18:6a4db94011d3 | 324 | return NRF_SUCCESS; |
sahilmgandhi | 18:6a4db94011d3 | 325 | } |
sahilmgandhi | 18:6a4db94011d3 | 326 | |
sahilmgandhi | 18:6a4db94011d3 | 327 | period_hwu >>= 1; |
sahilmgandhi | 18:6a4db94011d3 | 328 | duty_hwu >>= 1; |
sahilmgandhi | 18:6a4db94011d3 | 329 | pwm_clk++; |
sahilmgandhi | 18:6a4db94011d3 | 330 | } |
sahilmgandhi | 18:6a4db94011d3 | 331 | |
sahilmgandhi | 18:6a4db94011d3 | 332 | return NRF_ERROR_INVALID_PARAM; |
sahilmgandhi | 18:6a4db94011d3 | 333 | } |
sahilmgandhi | 18:6a4db94011d3 | 334 | |
sahilmgandhi | 18:6a4db94011d3 | 335 | |
sahilmgandhi | 18:6a4db94011d3 | 336 | static void internal_pwmout_exe(pwmout_t *obj, bool new_period, bool initialization) |
sahilmgandhi | 18:6a4db94011d3 | 337 | { |
sahilmgandhi | 18:6a4db94011d3 | 338 | pulsewidth_set_t pulsewidth_set; |
sahilmgandhi | 18:6a4db94011d3 | 339 | pwm_signal_t * p_pwm_signal; |
sahilmgandhi | 18:6a4db94011d3 | 340 | nrf_drv_pwm_t * p_pwm_driver; |
sahilmgandhi | 18:6a4db94011d3 | 341 | ret_code_t ret_code; |
sahilmgandhi | 18:6a4db94011d3 | 342 | |
sahilmgandhi | 18:6a4db94011d3 | 343 | p_pwm_signal = &(((pwm_t*)obj->pwm_struct)->signal); |
sahilmgandhi | 18:6a4db94011d3 | 344 | |
sahilmgandhi | 18:6a4db94011d3 | 345 | if (NRF_SUCCESS == pulsewidth_us_set_get(p_pwm_signal->period_us * 16, // base clk for PWM is 16 MHz |
sahilmgandhi | 18:6a4db94011d3 | 346 | p_pwm_signal->duty_us * 16, // base clk for PWM is 16 MHz |
sahilmgandhi | 18:6a4db94011d3 | 347 | &pulsewidth_set)) |
sahilmgandhi | 18:6a4db94011d3 | 348 | { |
sahilmgandhi | 18:6a4db94011d3 | 349 | p_pwm_driver = (((pwm_t*)obj->pwm_struct)->p_pwm_driver); |
sahilmgandhi | 18:6a4db94011d3 | 350 | |
sahilmgandhi | 18:6a4db94011d3 | 351 | const nrf_pwm_sequence_t seq = |
sahilmgandhi | 18:6a4db94011d3 | 352 | { |
sahilmgandhi | 18:6a4db94011d3 | 353 | .values.p_common = (nrf_pwm_values_common_t*) (((pwm_t*)obj->pwm_struct)->seq_values), |
sahilmgandhi | 18:6a4db94011d3 | 354 | .length = 1, |
sahilmgandhi | 18:6a4db94011d3 | 355 | .repeats = 0, |
sahilmgandhi | 18:6a4db94011d3 | 356 | .end_delay = 0 |
sahilmgandhi | 18:6a4db94011d3 | 357 | }; |
sahilmgandhi | 18:6a4db94011d3 | 358 | |
sahilmgandhi | 18:6a4db94011d3 | 359 | (((pwm_t*)obj->pwm_struct)->seq_values)[0] = pulsewidth_set.duty_hwu | 0x8000; |
sahilmgandhi | 18:6a4db94011d3 | 360 | |
sahilmgandhi | 18:6a4db94011d3 | 361 | if (new_period) |
sahilmgandhi | 18:6a4db94011d3 | 362 | { |
sahilmgandhi | 18:6a4db94011d3 | 363 | nrf_drv_pwm_config_t config0 = |
sahilmgandhi | 18:6a4db94011d3 | 364 | { |
sahilmgandhi | 18:6a4db94011d3 | 365 | .output_pins = |
sahilmgandhi | 18:6a4db94011d3 | 366 | { |
sahilmgandhi | 18:6a4db94011d3 | 367 | obj->pin | NRF_DRV_PWM_PIN_INVERTED, // channel 0 |
sahilmgandhi | 18:6a4db94011d3 | 368 | NRF_DRV_PWM_PIN_NOT_USED, // channel 1 |
sahilmgandhi | 18:6a4db94011d3 | 369 | NRF_DRV_PWM_PIN_NOT_USED, // channel 2 |
sahilmgandhi | 18:6a4db94011d3 | 370 | NRF_DRV_PWM_PIN_NOT_USED, // channel 3 |
sahilmgandhi | 18:6a4db94011d3 | 371 | }, |
sahilmgandhi | 18:6a4db94011d3 | 372 | .irq_priority = PWM_DEFAULT_CONFIG_IRQ_PRIORITY, |
sahilmgandhi | 18:6a4db94011d3 | 373 | .base_clock = pulsewidth_set.pwm_clk, |
sahilmgandhi | 18:6a4db94011d3 | 374 | .count_mode = NRF_PWM_MODE_UP, |
sahilmgandhi | 18:6a4db94011d3 | 375 | .top_value = pulsewidth_set.period_hwu, |
sahilmgandhi | 18:6a4db94011d3 | 376 | .load_mode = NRF_PWM_LOAD_COMMON, |
sahilmgandhi | 18:6a4db94011d3 | 377 | .step_mode = NRF_PWM_STEP_AUTO |
sahilmgandhi | 18:6a4db94011d3 | 378 | }; |
sahilmgandhi | 18:6a4db94011d3 | 379 | |
sahilmgandhi | 18:6a4db94011d3 | 380 | if (!initialization) |
sahilmgandhi | 18:6a4db94011d3 | 381 | { |
sahilmgandhi | 18:6a4db94011d3 | 382 | nrf_drv_pwm_uninit(p_pwm_driver); |
sahilmgandhi | 18:6a4db94011d3 | 383 | } |
sahilmgandhi | 18:6a4db94011d3 | 384 | |
sahilmgandhi | 18:6a4db94011d3 | 385 | ret_code = nrf_drv_pwm_init( p_pwm_driver, &config0, NULL); |
sahilmgandhi | 18:6a4db94011d3 | 386 | |
sahilmgandhi | 18:6a4db94011d3 | 387 | MBED_ASSERT(ret_code == NRF_SUCCESS); // assert if free instance was not found. |
sahilmgandhi | 18:6a4db94011d3 | 388 | } |
sahilmgandhi | 18:6a4db94011d3 | 389 | |
sahilmgandhi | 18:6a4db94011d3 | 390 | nrf_drv_pwm_simple_playback(p_pwm_driver, &seq, 0, NRF_DRV_PWM_FLAG_LOOP); |
sahilmgandhi | 18:6a4db94011d3 | 391 | } |
sahilmgandhi | 18:6a4db94011d3 | 392 | else |
sahilmgandhi | 18:6a4db94011d3 | 393 | { |
sahilmgandhi | 18:6a4db94011d3 | 394 | MBED_ASSERT(0); // force assertion |
sahilmgandhi | 18:6a4db94011d3 | 395 | } |
sahilmgandhi | 18:6a4db94011d3 | 396 | |
sahilmgandhi | 18:6a4db94011d3 | 397 | } |
sahilmgandhi | 18:6a4db94011d3 | 398 | |
sahilmgandhi | 18:6a4db94011d3 | 399 | #endif // DEVICE_PWMOUT |