Mouse code for the MacroRat
Diff: mbed-dev/targets/TARGET_NORDIC/TARGET_MCU_NRF51822/pwmout_api.c
- Revision:
- 18:6a4db94011d3
diff -r f713758f6238 -r 6a4db94011d3 mbed-dev/targets/TARGET_NORDIC/TARGET_MCU_NRF51822/pwmout_api.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-dev/targets/TARGET_NORDIC/TARGET_MCU_NRF51822/pwmout_api.c Sun May 14 23:18:57 2017 +0000 @@ -0,0 +1,380 @@ +/* mbed Microcontroller Library + * Copyright (c) 2013 Nordic Semiconductor + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#include "mbed_assert.h" +#include "pwmout_api.h" +#include "cmsis.h" +#include "pinmap.h" +#include "mbed_error.h" + +#define NO_PWMS 3 +#define TIMER_PRECISION 4 //4us ticks +#define TIMER_PRESCALER 6 //4us ticks = 16Mhz/(2**6) +static const PinMap PinMap_PWM[] = { + {P0_0, PWM_1, 1}, + {P0_1, PWM_1, 1}, + {P0_2, PWM_1, 1}, + {P0_3, PWM_1, 1}, + {P0_4, PWM_1, 1}, + {P0_5, PWM_1, 1}, + {P0_6, PWM_1, 1}, + {P0_7, PWM_1, 1}, + {P0_8, PWM_1, 1}, + {P0_9, PWM_1, 1}, + {P0_10, PWM_1, 1}, + {P0_11, PWM_1, 1}, + {P0_12, PWM_1, 1}, + {P0_13, PWM_1, 1}, + {P0_14, PWM_1, 1}, + {P0_15, PWM_1, 1}, + {P0_16, PWM_1, 1}, + {P0_17, PWM_1, 1}, + {P0_18, PWM_1, 1}, + {P0_19, PWM_1, 1}, + {P0_20, PWM_1, 1}, + {P0_21, PWM_1, 1}, + {P0_22, PWM_1, 1}, + {P0_23, PWM_1, 1}, + {P0_24, PWM_1, 1}, + {P0_25, PWM_1, 1}, + {P0_28, PWM_1, 1}, + {P0_29, PWM_1, 1}, + {P0_30, PWM_1, 1}, + {NC, NC, 0} +}; + +static NRF_TIMER_Type *Timers[1] = { + NRF_TIMER2 +}; + +uint16_t PERIOD = 20000 / TIMER_PRECISION; //20ms +uint8_t PWM_taken[NO_PWMS] = {0, 0, 0}; +uint16_t PULSE_WIDTH[NO_PWMS] = {1, 1, 1}; //set to 1 instead of 0 +uint16_t ACTUAL_PULSE[NO_PWMS] = {0, 0, 0}; + + +/** @brief Function for handling timer 2 peripheral interrupts. + */ +#ifdef __cplusplus +extern "C" { +#endif +void TIMER2_IRQHandler(void) +{ + NRF_TIMER2->EVENTS_COMPARE[3] = 0; + NRF_TIMER2->CC[3] = PERIOD; + + if (PWM_taken[0]) { + NRF_TIMER2->CC[0] = PULSE_WIDTH[0]; + } + if (PWM_taken[1]) { + NRF_TIMER2->CC[1] = PULSE_WIDTH[1]; + } + if (PWM_taken[2]) { + NRF_TIMER2->CC[2] = PULSE_WIDTH[2]; + } + + NRF_TIMER2->TASKS_START = 1; +} + +#ifdef __cplusplus +} +#endif +/** @brief Function for initializing the Timer peripherals. + */ +void timer_init(uint8_t pwmChoice) +{ + NRF_TIMER_Type *timer = Timers[0]; + timer->TASKS_STOP = 0; + + if (pwmChoice == 0) { + timer->POWER = 0; + timer->POWER = 1; + timer->MODE = TIMER_MODE_MODE_Timer; + timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit << TIMER_BITMODE_BITMODE_Pos; + timer->PRESCALER = TIMER_PRESCALER; + timer->CC[3] = PERIOD; + } + + timer->CC[pwmChoice] = PULSE_WIDTH[pwmChoice]; + + //high priority application interrupt + NVIC_SetPriority(TIMER2_IRQn, 1); + NVIC_EnableIRQ(TIMER2_IRQn); + + timer->TASKS_START = 0x01; +} + +static void timer_free() +{ + NRF_TIMER_Type *timer = Timers[0]; + for(uint8_t i = 1; i < NO_PWMS; i++){ + if(PWM_taken[i]){ + break; + } + if((i == NO_PWMS - 1) && (!PWM_taken[i])) + timer->TASKS_STOP = 0x01; + } +} + + +/** @brief Function for initializing the GPIO Tasks/Events peripheral. + */ +void gpiote_init(PinName pin, uint8_t channel_number) +{ + // Connect GPIO input buffers and configure PWM_OUTPUT_PIN_NUMBER as an output. + NRF_GPIO->PIN_CNF[pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) + | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos) + | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos) + | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) + | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos); + NRF_GPIO->OUTCLR = (1UL << pin); + // Configure GPIOTE channel 0 to toggle the PWM pin state + // @note Only one GPIOTE task can be connected to an output pin. + /* Configure channel to Pin31, not connected to the pin, and configure as a tasks that will set it to proper level */ + NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | + (31UL << GPIOTE_CONFIG_PSEL_Pos) | + (GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos); + /* Three NOPs are required to make sure configuration is written before setting tasks or getting events */ + __NOP(); + __NOP(); + __NOP(); + /* Launch the task to take the GPIOTE channel output to the desired level */ + NRF_GPIOTE->TASKS_OUT[channel_number] = 1; + + /* Finally configure the channel as the caller expects. If OUTINIT works, the channel is configured properly. + If it does not, the channel output inheritance sets the proper level. */ + NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | + ((uint32_t)pin << GPIOTE_CONFIG_PSEL_Pos) | + ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos) | + ((uint32_t)GPIOTE_CONFIG_OUTINIT_Low << GPIOTE_CONFIG_OUTINIT_Pos); // ((uint32_t)GPIOTE_CONFIG_OUTINIT_High << + // GPIOTE_CONFIG_OUTINIT_Pos);// + + /* Three NOPs are required to make sure configuration is written before setting tasks or getting events */ + __NOP(); + __NOP(); + __NOP(); +} + +static void gpiote_free(PinName pin,uint8_t channel_number) +{ + NRF_GPIOTE->TASKS_OUT[channel_number] = 0; + NRF_GPIOTE->CONFIG[channel_number] = 0; + NRF_GPIO->PIN_CNF[pin] = (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos); + +} + +/** @brief Function for initializing the Programmable Peripheral Interconnect peripheral. + */ +static void ppi_init(uint8_t pwm) +{ + //using ppi channels 0-7 (only 0-7 are available) + uint8_t channel_number = 2 * pwm; + NRF_TIMER_Type *timer = Timers[0]; + + // Configure PPI channel 0 to toggle ADVERTISING_LED_PIN_NO on every TIMER1 COMPARE[0] match + NRF_PPI->CH[channel_number].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm]; + NRF_PPI->CH[channel_number + 1].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm]; + NRF_PPI->CH[channel_number].EEP = (uint32_t)&timer->EVENTS_COMPARE[pwm]; + NRF_PPI->CH[channel_number + 1].EEP = (uint32_t)&timer->EVENTS_COMPARE[3]; + + // Enable PPI channels. + NRF_PPI->CHEN |= (1 << channel_number) | + (1 << (channel_number + 1)); +} + +static void ppi_free(uint8_t pwm) +{ + //using ppi channels 0-7 (only 0-7 are available) + uint8_t channel_number = 2*pwm; + + // Disable PPI channels. + NRF_PPI->CHEN &= (~(1 << channel_number)) + & (~(1 << (channel_number+1))); +} + +void setModulation(pwmout_t *obj, uint8_t toggle, uint8_t high) +{ + if (high) { + NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_OUTINIT_High << GPIOTE_CONFIG_OUTINIT_Pos); + if (toggle) { + NRF_GPIOTE->CONFIG[obj->pwm] |= (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | + ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); + } else { + NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); + NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos); + } + } else { + NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_OUTINIT_High << GPIOTE_CONFIG_OUTINIT_Pos); + + if (toggle) { + NRF_GPIOTE->CONFIG[obj->pwm] |= (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) | + ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); + } else { + NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos); + NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos); + } + } +} + +void pwmout_init(pwmout_t *obj, PinName pin) +{ + // determine the channel + uint8_t pwmOutSuccess = 0; + PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM); + + MBED_ASSERT(pwm != (PWMName)NC); + + if (PWM_taken[(uint8_t)pwm]) { + for (uint8_t i = 1; !pwmOutSuccess && (i<NO_PWMS); i++) { + if (!PWM_taken[i]) { + pwm = (PWMName)i; + PWM_taken[i] = 1; + pwmOutSuccess = 1; + } + } + } else { + pwmOutSuccess = 1; + PWM_taken[(uint8_t)pwm] = 1; + } + + if (!pwmOutSuccess) { + error("PwmOut pin mapping failed. All available PWM channels are in use."); + } + + obj->pwm = pwm; + obj->pin = pin; + + gpiote_init(pin, (uint8_t)pwm); + ppi_init((uint8_t)pwm); + + if (pwm == 0) { + NRF_POWER->TASKS_CONSTLAT = 1; + } + + timer_init((uint8_t)pwm); + + //default to 20ms: standard for servos, and fine for e.g. brightness control + pwmout_period_ms(obj, 20); + pwmout_write (obj, 0); +} + +void pwmout_free(pwmout_t* obj) { + MBED_ASSERT(obj->pwm != (PWMName)NC); + pwmout_write(obj, 0); + PWM_taken[obj->pwm] = 0; + timer_free(); + ppi_free(obj->pwm); + gpiote_free(obj->pin,obj->pwm); +} + +void pwmout_write(pwmout_t *obj, float value) +{ + uint16_t oldPulseWidth; + + NRF_TIMER2->EVENTS_COMPARE[3] = 0; + NRF_TIMER2->TASKS_STOP = 1; + + if (value < 0.0f) { + value = 0.0; + } else if (value > 1.0f) { + value = 1.0; + } + + oldPulseWidth = ACTUAL_PULSE[obj->pwm]; + ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = value * PERIOD; + + if (PULSE_WIDTH[obj->pwm] == 0) { + PULSE_WIDTH[obj->pwm] = 1; + setModulation(obj, 0, 0); + } else if (PULSE_WIDTH[obj->pwm] == PERIOD) { + PULSE_WIDTH[obj->pwm] = PERIOD - 1; + setModulation(obj, 0, 1); + } else if ((oldPulseWidth == 0) || (oldPulseWidth == PERIOD)) { + setModulation(obj, 1, oldPulseWidth == PERIOD); + } + + NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk; + NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk; + NRF_TIMER2->TASKS_START = 1; +} + +float pwmout_read(pwmout_t *obj) +{ + return ((float)PULSE_WIDTH[obj->pwm] / (float)PERIOD); +} + +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); +} + +// Set the PWM period, keeping the duty cycle the same. +void pwmout_period_us(pwmout_t *obj, int us) +{ + uint32_t periodInTicks = us / TIMER_PRECISION; + + NRF_TIMER2->EVENTS_COMPARE[3] = 0; + NRF_TIMER2->TASKS_STOP = 1; + + if (periodInTicks>((1 << 16) - 1)) { + PERIOD = (1 << 16) - 1; //131ms + } else if (periodInTicks<5) { + PERIOD = 5; + } else { + PERIOD = periodInTicks; + } + NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk; + NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk; + NRF_TIMER2->TASKS_START = 1; +} + +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) +{ + uint32_t pulseInTicks = us / TIMER_PRECISION; + uint16_t oldPulseWidth = ACTUAL_PULSE[obj->pwm]; + + NRF_TIMER2->EVENTS_COMPARE[3] = 0; + NRF_TIMER2->TASKS_STOP = 1; + + ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = pulseInTicks; + + if (PULSE_WIDTH[obj->pwm] == 0) { + PULSE_WIDTH[obj->pwm] = 1; + setModulation(obj, 0, 0); + } else if (PULSE_WIDTH[obj->pwm] == PERIOD) { + PULSE_WIDTH[obj->pwm] = PERIOD - 1; + setModulation(obj, 0, 1); + } else if ((oldPulseWidth == 0) || (oldPulseWidth == PERIOD)) { + setModulation(obj, 1, oldPulseWidth == PERIOD); + } + NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk; + NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk; + NRF_TIMER2->TASKS_START = 1; +}