Mouse code for the MacroRat
Diff: mbed-dev/targets/TARGET_NORDIC/TARGET_NRF5/TARGET_MCU_NRF51822_UNIFIED/pwmout_api.c
- Revision:
- 18:6a4db94011d3
diff -r f713758f6238 -r 6a4db94011d3 mbed-dev/targets/TARGET_NORDIC/TARGET_NRF5/TARGET_MCU_NRF51822_UNIFIED/pwmout_api.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-dev/targets/TARGET_NORDIC/TARGET_NRF5/TARGET_MCU_NRF51822_UNIFIED/pwmout_api.c Sun May 14 23:18:57 2017 +0000 @@ -0,0 +1,259 @@ +/* + * 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