Mouse code for the MacroRat
mbed-dev/targets/TARGET_NORDIC/TARGET_NRF5/TARGET_MCU_NRF51822_UNIFIED/pwmout_api.c
- Committer:
- sahilmgandhi
- Date:
- 2017-06-03
- Revision:
- 46:b156ef445742
- Parent:
- 18:6a4db94011d3
File content as of revision 46:b156ef445742:
/* * Copyright (c) 2013 Nordic Semiconductor ASA * All rights reserved. * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this list * of conditions and the following disclaimer. * * 2. Redistributions in binary form, except as embedded into a Nordic Semiconductor ASA * integrated circuit in a product or a software update for such product, must reproduce * the above copyright notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the distribution. * * 3. Neither the name of Nordic Semiconductor ASA nor the names of its contributors may be * used to endorse or promote products derived from this software without specific prior * written permission. * * 4. This software, with or without modification, must only be used with a * Nordic Semiconductor ASA integrated circuit. * * 5. Any software provided in binary or object form under this license must not be reverse * engineered, decompiled, modified and/or disassembled. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * */ #include "mbed_assert.h" #include "mbed_error.h" #include "pwmout_api.h" #include "cmsis.h" #include "pinmap.h" #if DEVICE_PWMOUT #include "nrf.h" #include "nrf_drv_timer.h" #include "app_pwm.h" #define PWM_INSTANCE_COUNT 2 #define PWM_CHANNELS_PER_INSTANCE 2 #define PWM_DEFAULT_PERIOD_US 20000 #define PWM_PERIOD_MIN 3 typedef struct { const app_pwm_t * const instance; NRF_TIMER_Type * const timer_reg; uint8_t channels_allocated; uint32_t pins[PWM_CHANNELS_PER_INSTANCE]; uint16_t period_us; uint16_t duty_ticks[PWM_CHANNELS_PER_INSTANCE]; } pwm_t; APP_PWM_INSTANCE(m_pwm_instance_0, 1); //PWM0: Timer 1 APP_PWM_INSTANCE(m_pwm_instance_1, 2); //PWM1: Timer 2 static pwm_t m_pwm[] = { {.instance = &m_pwm_instance_0, .timer_reg = NRF_TIMER1, .channels_allocated = 0}, {.instance = &m_pwm_instance_1, .timer_reg = NRF_TIMER2, .channels_allocated = 0} }; static inline void pwm_ticks_set(pwm_t* pwm, uint8_t channel, uint16_t ticks) { pwm->duty_ticks[channel] = ticks; while (app_pwm_channel_duty_ticks_set(pwm->instance, channel, ticks) != NRF_SUCCESS); } static void pwm_reinit(pwm_t * pwm) { app_pwm_uninit(pwm->instance); app_pwm_config_t pwm_cfg = APP_PWM_DEFAULT_CONFIG_2CH(pwm->period_us, pwm->pins[0], pwm->pins[1]); app_pwm_init(pwm->instance, &pwm_cfg, NULL); app_pwm_enable(pwm->instance); for (uint8_t channel = 0; channel < PWM_CHANNELS_PER_INSTANCE; ++channel) { if ((pwm->channels_allocated & (1 << channel)) && (pwm->pins[channel] != APP_PWM_NOPIN)) { app_pwm_channel_duty_ticks_set(pwm->instance, channel, pwm->duty_ticks[channel]); } } } void GPIOTE_IRQHandler(void);// exported from nrf_drv_gpiote.c void TIMER1_IRQHandler(void); void TIMER2_IRQHandler(void); static const peripheral_handler_desc_t timer_handlers[] = { { TIMER1_IRQn, (uint32_t)TIMER1_IRQHandler }, { TIMER2_IRQn, (uint32_t)TIMER2_IRQHandler } }; void pwmout_init(pwmout_t *obj, PinName pin) { if (pin == NC) { error("PwmOut init failed. Invalid pin name."); } // Check if pin is already initialized and find the next free channel. uint8_t free_instance = 0xFF; uint8_t free_channel = 0xFF; for (uint8_t inst = 0; inst < PWM_INSTANCE_COUNT; ++inst) { if (m_pwm[inst].channels_allocated) { for (uint8_t channel = 0; channel < PWM_CHANNELS_PER_INSTANCE; ++channel) { if (m_pwm[inst].channels_allocated & (1 << channel)) { if (m_pwm[inst].pins[channel] == (uint32_t)pin) { error("PwmOut init failed. Pin is already in use."); return; } } else { if (free_instance == 0xFF) { free_instance = inst; free_channel = channel; } } } } else { if (free_instance == 0xFF) { free_instance = inst; free_channel = 0; } } } if (free_instance == 0xFF) { error("PwmOut init failed. All available PWM channels are in use."); return; } // Init / reinit PWM instance. m_pwm[free_instance].pins[free_channel] = (uint32_t) pin; m_pwm[free_instance].duty_ticks[free_channel] = 0; if (!m_pwm[free_instance].channels_allocated) { NVIC_SetVector(GPIOTE_IRQn, (uint32_t) GPIOTE_IRQHandler); NVIC_SetVector(timer_handlers[free_instance].IRQn, timer_handlers[free_instance].vector); m_pwm[free_instance].period_us = PWM_DEFAULT_PERIOD_US; for (uint8_t channel = 1; channel < PWM_CHANNELS_PER_INSTANCE; ++channel) { m_pwm[free_instance].pins[channel] = APP_PWM_NOPIN; m_pwm[free_instance].duty_ticks[channel] = 0; } app_pwm_config_t pwm_cfg = APP_PWM_DEFAULT_CONFIG_1CH(PWM_DEFAULT_PERIOD_US, pin); app_pwm_init(m_pwm[free_instance].instance, &pwm_cfg, NULL); app_pwm_enable(m_pwm[free_instance].instance); } else { pwm_reinit(&m_pwm[free_instance]); } m_pwm[free_instance].channels_allocated |= (1 << free_channel); obj->pin = pin; obj->pwm_struct = (void *) &m_pwm[free_instance]; obj->pwm_channel = free_channel; } void pwmout_free(pwmout_t *obj) { MBED_ASSERT(obj->pwm_name != (PWMName)NC); MBED_ASSERT(obj->pwm_channel < PWM_CHANNELS_PER_INSTANCE); pwm_t * pwm = (pwm_t *) obj->pwm_struct; pwm->channels_allocated &= ~(1 << obj->pwm_channel); pwm->pins[obj->pwm_channel] = APP_PWM_NOPIN; pwm->duty_ticks[obj->pwm_channel] = 0; app_pwm_uninit(pwm->instance); if (pwm->channels_allocated) { pwm_reinit(pwm); } obj->pwm_struct = NULL; } void pwmout_write(pwmout_t *obj, float value) { pwm_t * pwm = (pwm_t *) obj->pwm_struct; if (value > 1.0f) { value = 1.0f; } app_pwm_channel_duty_set(pwm->instance, obj->pwm_channel, (app_pwm_duty_t)(value * 100.0f) ); } float pwmout_read(pwmout_t *obj) { pwm_t * pwm = (pwm_t *) obj->pwm_struct; MBED_ASSERT(pwm != NULL); return ((float)pwm->duty_ticks[obj->pwm_channel] / (float)app_pwm_cycle_ticks_get(pwm->instance)); } void pwmout_period(pwmout_t *obj, float seconds) { pwmout_period_us(obj, seconds * 1000000.0f); } void pwmout_period_ms(pwmout_t *obj, int ms) { pwmout_period_us(obj, ms * 1000); } void pwmout_period_us(pwmout_t *obj, int us) { pwm_t * pwm = (pwm_t *) obj->pwm_struct; MBED_ASSERT(pwm != NULL); if (us < PWM_PERIOD_MIN) { us = PWM_PERIOD_MIN; } pwm->period_us = (uint32_t)us; pwm_reinit(pwm); } void pwmout_pulsewidth(pwmout_t *obj, float seconds) { pwmout_pulsewidth_us(obj, seconds * 1000000.0f); } void pwmout_pulsewidth_ms(pwmout_t *obj, int ms) { pwmout_pulsewidth_us(obj, ms * 1000); } void pwmout_pulsewidth_us(pwmout_t *obj, int us) { pwm_t * pwm = (pwm_t *) obj->pwm_struct; MBED_ASSERT(pwm); uint16_t ticks = nrf_timer_us_to_ticks((uint32_t)us, nrf_timer_frequency_get(pwm->timer_reg)); pwm_ticks_set(pwm, obj->pwm_channel, ticks); } #endif // DEVICE_PWMOUT