Janek Mann / mbed-src-openwear

mbed library sources modified for open wear

Dependents:   openwear-lifelogger-example

Fork of mbed-src by mbed official

targets/hal/TARGET_NORDIC/TARGET_MCU_NRF51822/pwmout_api.c@308:61b24bcb4679, 2014-09-04 (annotated)

Committer:
janekm
Date:
Thu Sep 04 21:18:39 2014 +0000
Revision:
308:61b24bcb4679
Parent:
301:55638feb26a4 
?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 85:e1a8e879a6a9 1 /* mbed Microcontroller Library
mbed_official 104:a6a92e2e5a92 2 * Copyright (c) 2013 Nordic Semiconductor
mbed_official 85:e1a8e879a6a9 3 *
mbed_official 85:e1a8e879a6a9 4 * Licensed under the Apache License, Version 2.0 (the "License");
mbed_official 85:e1a8e879a6a9 5 * you may not use this file except in compliance with the License.
mbed_official 85:e1a8e879a6a9 6 * You may obtain a copy of the License at
mbed_official 85:e1a8e879a6a9 7 *
mbed_official 85:e1a8e879a6a9 8 * http://www.apache.org/licenses/LICENSE-2.0
mbed_official 85:e1a8e879a6a9 9 *
mbed_official 85:e1a8e879a6a9 10 * Unless required by applicable law or agreed to in writing, software
mbed_official 85:e1a8e879a6a9 11 * distributed under the License is distributed on an "AS IS" BASIS,
mbed_official 85:e1a8e879a6a9 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
mbed_official 85:e1a8e879a6a9 13 * See the License for the specific language governing permissions and
mbed_official 85:e1a8e879a6a9 14 * limitations under the License.
mbed_official 85:e1a8e879a6a9 15 */
mbed_official 227:7bd0639b8911 16 #include "mbed_assert.h"
mbed_official 85:e1a8e879a6a9 17 #include "pwmout_api.h"
mbed_official 85:e1a8e879a6a9 18 #include "cmsis.h"
mbed_official 85:e1a8e879a6a9 19 #include "pinmap.h"
mbed_official 286:31249416b6f9 20 #include "mbed_error.h"
mbed_official 85:e1a8e879a6a9 21
mbed_official 229:9bd26d142f33 22 #define NO_PWMS 3
mbed_official 301:55638feb26a4 23 #define TIMER_PRECISION 4 //4us ticks
mbed_official 229:9bd26d142f33 24 #define TIMER_PRESCALER 6 //4us ticks = 16Mhz/(2**6)
mbed_official 85:e1a8e879a6a9 25 static const PinMap PinMap_PWM[] = {
mbed_official 85:e1a8e879a6a9 26 {p0, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 27 {p1, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 28 {p2, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 29 {p3, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 30 {p4, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 31 {p5, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 32 {p6, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 33 {p7, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 34 {p8, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 35 {p9, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 36 {p10, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 37 {p11, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 38 {p12, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 39 {p13, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 40 {p14, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 41 {p15, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 42 {p16, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 43 {p17, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 44 {p18, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 45 {p19, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 46 {p20, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 47 {p21, PWM_1, 1},
mbed_official 227:7bd0639b8911 48 {p22, PWM_1, 1},
mbed_official 227:7bd0639b8911 49 {p23, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 50 {p24, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 51 {p25, PWM_1, 1},
janekm 308:61b24bcb4679 52 {p26, PWM_1, 1},
janekm 308:61b24bcb4679 53 {p27, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 54 {p28, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 55 {p29, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 56 {p30, PWM_1, 1},
mbed_official 85:e1a8e879a6a9 57 {NC, NC, 0}
mbed_official 85:e1a8e879a6a9 58 };
mbed_official 85:e1a8e879a6a9 59
mbed_official 85:e1a8e879a6a9 60 static NRF_TIMER_Type *Timers[1] = {
mbed_official 227:7bd0639b8911 61 NRF_TIMER2
mbed_official 85:e1a8e879a6a9 62 };
mbed_official 85:e1a8e879a6a9 63
mbed_official 301:55638feb26a4 64 uint16_t PERIOD = 20000 / TIMER_PRECISION; //20ms
mbed_official 301:55638feb26a4 65 uint8_t PWM_taken[NO_PWMS] = {0, 0, 0};
mbed_official 301:55638feb26a4 66 uint16_t PULSE_WIDTH[NO_PWMS] = {1, 1, 1}; //set to 1 instead of 0
mbed_official 301:55638feb26a4 67 uint16_t ACTUAL_PULSE[NO_PWMS] = {0, 0, 0};
mbed_official 85:e1a8e879a6a9 68
mbed_official 85:e1a8e879a6a9 69
mbed_official 85:e1a8e879a6a9 70 /** @brief Function for handling timer 2 peripheral interrupts.
mbed_official 85:e1a8e879a6a9 71 */
mbed_official 301:55638feb26a4 72 #ifdef __cplusplus
mbed_official 85:e1a8e879a6a9 73 extern "C" {
mbed_official 301:55638feb26a4 74 #endif
mbed_official 85:e1a8e879a6a9 75 void TIMER2_IRQHandler(void)
mbed_official 85:e1a8e879a6a9 76 {
mbed_official 229:9bd26d142f33 77 NRF_TIMER2->EVENTS_COMPARE[3] = 0;
mbed_official 301:55638feb26a4 78 NRF_TIMER2->CC[3] = PERIOD;
mbed_official 301:55638feb26a4 79
mbed_official 301:55638feb26a4 80 if (PWM_taken[0]) {
mbed_official 301:55638feb26a4 81 NRF_TIMER2->CC[0] = PULSE_WIDTH[0];
mbed_official 229:9bd26d142f33 82 }
mbed_official 301:55638feb26a4 83 if (PWM_taken[1]) {
mbed_official 301:55638feb26a4 84 NRF_TIMER2->CC[1] = PULSE_WIDTH[1];
mbed_official 229:9bd26d142f33 85 }
mbed_official 301:55638feb26a4 86 if (PWM_taken[2]) {
mbed_official 301:55638feb26a4 87 NRF_TIMER2->CC[2] = PULSE_WIDTH[2];
mbed_official 229:9bd26d142f33 88 }
mbed_official 301:55638feb26a4 89
mbed_official 229:9bd26d142f33 90 NRF_TIMER2->TASKS_START = 1;
mbed_official 301:55638feb26a4 91 }
mbed_official 85:e1a8e879a6a9 92
mbed_official 85:e1a8e879a6a9 93 #ifdef __cplusplus
mbed_official 85:e1a8e879a6a9 94 }
mbed_official 301:55638feb26a4 95 #endif
mbed_official 85:e1a8e879a6a9 96 /** @brief Function for initializing the Timer peripherals.
mbed_official 85:e1a8e879a6a9 97 */
mbed_official 85:e1a8e879a6a9 98 void timer_init(uint8_t pwmChoice)
mbed_official 85:e1a8e879a6a9 99 {
mbed_official 229:9bd26d142f33 100 NRF_TIMER_Type *timer = Timers[0];
mbed_official 229:9bd26d142f33 101 timer->TASKS_STOP = 0;
mbed_official 301:55638feb26a4 102
mbed_official 301:55638feb26a4 103 if (pwmChoice == 0) {
mbed_official 85:e1a8e879a6a9 104 timer->POWER = 0;
mbed_official 301:55638feb26a4 105 timer->POWER = 1;
mbed_official 301:55638feb26a4 106 timer->MODE = TIMER_MODE_MODE_Timer;
mbed_official 85:e1a8e879a6a9 107 timer->BITMODE = TIMER_BITMODE_BITMODE_16Bit << TIMER_BITMODE_BITMODE_Pos;
mbed_official 301:55638feb26a4 108 timer->PRESCALER = TIMER_PRESCALER;
mbed_official 229:9bd26d142f33 109 timer->CC[3] = PERIOD;
mbed_official 85:e1a8e879a6a9 110 }
mbed_official 301:55638feb26a4 111
mbed_official 229:9bd26d142f33 112 timer->CC[pwmChoice] = PULSE_WIDTH[pwmChoice];
mbed_official 301:55638feb26a4 113
mbed_official 85:e1a8e879a6a9 114 //high priority application interrupt
mbed_official 85:e1a8e879a6a9 115 NVIC_SetPriority(TIMER2_IRQn, 1);
mbed_official 85:e1a8e879a6a9 116 NVIC_EnableIRQ(TIMER2_IRQn);
mbed_official 301:55638feb26a4 117
mbed_official 85:e1a8e879a6a9 118 timer->TASKS_START = 0x01;
mbed_official 85:e1a8e879a6a9 119 }
mbed_official 301:55638feb26a4 120
mbed_official 85:e1a8e879a6a9 121 /** @brief Function for initializing the GPIO Tasks/Events peripheral.
mbed_official 85:e1a8e879a6a9 122 */
mbed_official 301:55638feb26a4 123 void gpiote_init(PinName pin, uint8_t channel_number)
mbed_official 85:e1a8e879a6a9 124 {
mbed_official 85:e1a8e879a6a9 125 // Connect GPIO input buffers and configure PWM_OUTPUT_PIN_NUMBER as an output.
mbed_official 85:e1a8e879a6a9 126 NRF_GPIO->PIN_CNF[pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
mbed_official 85:e1a8e879a6a9 127 | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
mbed_official 85:e1a8e879a6a9 128 | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
mbed_official 85:e1a8e879a6a9 129 | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
mbed_official 85:e1a8e879a6a9 130 | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
mbed_official 85:e1a8e879a6a9 131 NRF_GPIO->OUTCLR = (1UL << pin);
mbed_official 85:e1a8e879a6a9 132 // Configure GPIOTE channel 0 to toggle the PWM pin state
mbed_official 85:e1a8e879a6a9 133 // @note Only one GPIOTE task can be connected to an output pin.
mbed_official 85:e1a8e879a6a9 134 /* Configure channel to Pin31, not connected to the pin, and configure as a tasks that will set it to proper level */
mbed_official 301:55638feb26a4 135 NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
mbed_official 301:55638feb26a4 136 (31UL << GPIOTE_CONFIG_PSEL_Pos) |
mbed_official 85:e1a8e879a6a9 137 (GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos);
mbed_official 301:55638feb26a4 138 /* Three NOPs are required to make sure configuration is written before setting tasks or getting events */
mbed_official 301:55638feb26a4 139 __NOP();
mbed_official 85:e1a8e879a6a9 140 __NOP();
mbed_official 85:e1a8e879a6a9 141 __NOP();
mbed_official 85:e1a8e879a6a9 142 /* Launch the task to take the GPIOTE channel output to the desired level */
mbed_official 85:e1a8e879a6a9 143 NRF_GPIOTE->TASKS_OUT[channel_number] = 1;
mbed_official 301:55638feb26a4 144
mbed_official 301:55638feb26a4 145 /* Finally configure the channel as the caller expects. If OUTINIT works, the channel is configured properly.
mbed_official 85:e1a8e879a6a9 146 If it does not, the channel output inheritance sets the proper level. */
mbed_official 301:55638feb26a4 147 NRF_GPIOTE->CONFIG[channel_number] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
mbed_official 301:55638feb26a4 148 ((uint32_t)pin << GPIOTE_CONFIG_PSEL_Pos) |
mbed_official 301:55638feb26a4 149 ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos) |
mbed_official 301:55638feb26a4 150 ((uint32_t)GPIOTE_CONFIG_OUTINIT_Low << GPIOTE_CONFIG_OUTINIT_Pos); // ((uint32_t)GPIOTE_CONFIG_OUTINIT_High <<
mbed_official 301:55638feb26a4 151 // GPIOTE_CONFIG_OUTINIT_Pos);//
mbed_official 85:e1a8e879a6a9 152
mbed_official 85:e1a8e879a6a9 153 /* Three NOPs are required to make sure configuration is written before setting tasks or getting events */
mbed_official 85:e1a8e879a6a9 154 __NOP();
mbed_official 85:e1a8e879a6a9 155 __NOP();
mbed_official 301:55638feb26a4 156 __NOP();
mbed_official 85:e1a8e879a6a9 157 }
mbed_official 301:55638feb26a4 158
mbed_official 85:e1a8e879a6a9 159 /** @brief Function for initializing the Programmable Peripheral Interconnect peripheral.
mbed_official 85:e1a8e879a6a9 160 */
mbed_official 85:e1a8e879a6a9 161 static void ppi_init(uint8_t pwm)
mbed_official 85:e1a8e879a6a9 162 {
mbed_official 301:55638feb26a4 163 //using ppi channels 0-7 (only 0-7 are available)
mbed_official 301:55638feb26a4 164 uint8_t channel_number = 2 * pwm;
mbed_official 301:55638feb26a4 165 NRF_TIMER_Type *timer = Timers[0];
mbed_official 301:55638feb26a4 166
mbed_official 85:e1a8e879a6a9 167 // Configure PPI channel 0 to toggle ADVERTISING_LED_PIN_NO on every TIMER1 COMPARE[0] match
mbed_official 85:e1a8e879a6a9 168 NRF_PPI->CH[channel_number].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm];
mbed_official 301:55638feb26a4 169 NRF_PPI->CH[channel_number + 1].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[pwm];
mbed_official 301:55638feb26a4 170 NRF_PPI->CH[channel_number].EEP = (uint32_t)&timer->EVENTS_COMPARE[pwm];
mbed_official 301:55638feb26a4 171 NRF_PPI->CH[channel_number + 1].EEP = (uint32_t)&timer->EVENTS_COMPARE[3];
mbed_official 301:55638feb26a4 172
mbed_official 85:e1a8e879a6a9 173 // Enable PPI channels.
mbed_official 301:55638feb26a4 174 NRF_PPI->CHEN |= (1 << channel_number) |
mbed_official 301:55638feb26a4 175 (1 << (channel_number + 1));
mbed_official 85:e1a8e879a6a9 176 }
mbed_official 85:e1a8e879a6a9 177
mbed_official 301:55638feb26a4 178 void setModulation(pwmout_t *obj, uint8_t toggle, uint8_t high)
mbed_official 85:e1a8e879a6a9 179 {
mbed_official 301:55638feb26a4 180 if (high) {
mbed_official 85:e1a8e879a6a9 181 NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_OUTINIT_High << GPIOTE_CONFIG_OUTINIT_Pos);
mbed_official 301:55638feb26a4 182 if (toggle) {
mbed_official 301:55638feb26a4 183 NRF_GPIOTE->CONFIG[obj->pwm] |= (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
mbed_official 301:55638feb26a4 184 ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos);
mbed_official 301:55638feb26a4 185 } else {
mbed_official 301:55638feb26a4 186 NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos);
mbed_official 301:55638feb26a4 187 NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos);
mbed_official 85:e1a8e879a6a9 188 }
mbed_official 301:55638feb26a4 189 } else {
mbed_official 85:e1a8e879a6a9 190 NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_OUTINIT_High << GPIOTE_CONFIG_OUTINIT_Pos);
mbed_official 301:55638feb26a4 191
mbed_official 301:55638feb26a4 192 if (toggle) {
mbed_official 301:55638feb26a4 193 NRF_GPIOTE->CONFIG[obj->pwm] |= (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
mbed_official 301:55638feb26a4 194 ((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos);
mbed_official 301:55638feb26a4 195 } else {
mbed_official 301:55638feb26a4 196 NRF_GPIOTE->CONFIG[obj->pwm] &= ~((uint32_t)GPIOTE_CONFIG_POLARITY_Toggle << GPIOTE_CONFIG_POLARITY_Pos);
mbed_official 301:55638feb26a4 197 NRF_GPIOTE->CONFIG[obj->pwm] |= ((uint32_t)GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos);
mbed_official 85:e1a8e879a6a9 198 }
mbed_official 85:e1a8e879a6a9 199 }
mbed_official 85:e1a8e879a6a9 200 }
mbed_official 301:55638feb26a4 201
mbed_official 301:55638feb26a4 202 void pwmout_init(pwmout_t *obj, PinName pin)
mbed_official 301:55638feb26a4 203 {
mbed_official 85:e1a8e879a6a9 204 // determine the channel
mbed_official 85:e1a8e879a6a9 205 uint8_t pwmOutSuccess = 0;
mbed_official 301:55638feb26a4 206 PWMName pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
mbed_official 301:55638feb26a4 207
mbed_official 227:7bd0639b8911 208 MBED_ASSERT(pwm != (PWMName)NC);
mbed_official 301:55638feb26a4 209
mbed_official 301:55638feb26a4 210 if (PWM_taken[(uint8_t)pwm]) {
mbed_official 301:55638feb26a4 211 for (uint8_t i = 1; !pwmOutSuccess && (i<NO_PWMS); i++) {
mbed_official 301:55638feb26a4 212 if (!PWM_taken[i]) {
mbed_official 85:e1a8e879a6a9 213 pwm = (PWMName)i;
mbed_official 85:e1a8e879a6a9 214 PWM_taken[i] = 1;
mbed_official 85:e1a8e879a6a9 215 pwmOutSuccess = 1;
mbed_official 85:e1a8e879a6a9 216 }
mbed_official 85:e1a8e879a6a9 217 }
mbed_official 301:55638feb26a4 218 } else {
mbed_official 85:e1a8e879a6a9 219 pwmOutSuccess = 1;
mbed_official 85:e1a8e879a6a9 220 PWM_taken[(uint8_t)pwm] = 1;
mbed_official 85:e1a8e879a6a9 221 }
mbed_official 301:55638feb26a4 222
mbed_official 301:55638feb26a4 223 if (!pwmOutSuccess) {
mbed_official 85:e1a8e879a6a9 224 error("PwmOut pin mapping failed. All available PWM channels are in use.");
mbed_official 85:e1a8e879a6a9 225 }
mbed_official 301:55638feb26a4 226
mbed_official 85:e1a8e879a6a9 227 obj->pwm = pwm;
mbed_official 85:e1a8e879a6a9 228 obj->pin = pin;
mbed_official 301:55638feb26a4 229
mbed_official 301:55638feb26a4 230 gpiote_init(pin, (uint8_t)pwm);
mbed_official 85:e1a8e879a6a9 231 ppi_init((uint8_t)pwm);
mbed_official 301:55638feb26a4 232
mbed_official 301:55638feb26a4 233 if (pwm == 0) {
mbed_official 85:e1a8e879a6a9 234 NRF_POWER->TASKS_CONSTLAT = 1;
mbed_official 85:e1a8e879a6a9 235 }
mbed_official 301:55638feb26a4 236
mbed_official 85:e1a8e879a6a9 237 timer_init((uint8_t)pwm);
mbed_official 301:55638feb26a4 238
mbed_official 85:e1a8e879a6a9 239 //default to 20ms: standard for servos, and fine for e.g. brightness control
mbed_official 85:e1a8e879a6a9 240 pwmout_period_ms(obj, 20);
mbed_official 85:e1a8e879a6a9 241 pwmout_write (obj, 0);
mbed_official 85:e1a8e879a6a9 242 }
mbed_official 85:e1a8e879a6a9 243
mbed_official 301:55638feb26a4 244 void pwmout_free(pwmout_t *obj)
mbed_official 301:55638feb26a4 245 {
mbed_official 85:e1a8e879a6a9 246 // [TODO]
mbed_official 85:e1a8e879a6a9 247 }
mbed_official 85:e1a8e879a6a9 248
mbed_official 301:55638feb26a4 249 void pwmout_write(pwmout_t *obj, float value)
mbed_official 301:55638feb26a4 250 {
mbed_official 85:e1a8e879a6a9 251 uint16_t oldPulseWidth;
mbed_official 301:55638feb26a4 252
mbed_official 229:9bd26d142f33 253 NRF_TIMER2->EVENTS_COMPARE[3] = 0;
mbed_official 301:55638feb26a4 254 NRF_TIMER2->TASKS_STOP = 1;
mbed_official 301:55638feb26a4 255
mbed_official 85:e1a8e879a6a9 256 if (value < 0.0f) {
mbed_official 85:e1a8e879a6a9 257 value = 0.0;
mbed_official 85:e1a8e879a6a9 258 } else if (value > 1.0f) {
mbed_official 85:e1a8e879a6a9 259 value = 1.0;
mbed_official 85:e1a8e879a6a9 260 }
mbed_official 301:55638feb26a4 261
mbed_official 301:55638feb26a4 262 oldPulseWidth = ACTUAL_PULSE[obj->pwm];
mbed_official 301:55638feb26a4 263 ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = value * PERIOD;
mbed_official 301:55638feb26a4 264
mbed_official 301:55638feb26a4 265 if (PULSE_WIDTH[obj->pwm] == 0) {
mbed_official 301:55638feb26a4 266 PULSE_WIDTH[obj->pwm] = 1;
mbed_official 301:55638feb26a4 267 setModulation(obj, 0, 0);
mbed_official 301:55638feb26a4 268 } else if (PULSE_WIDTH[obj->pwm] == PERIOD) {
mbed_official 301:55638feb26a4 269 PULSE_WIDTH[obj->pwm] = PERIOD - 1;
mbed_official 301:55638feb26a4 270 setModulation(obj, 0, 1);
mbed_official 301:55638feb26a4 271 } else if ((oldPulseWidth == 0) || (oldPulseWidth == PERIOD)) {
mbed_official 301:55638feb26a4 272 setModulation(obj, 1, oldPulseWidth == PERIOD);
mbed_official 85:e1a8e879a6a9 273 }
mbed_official 301:55638feb26a4 274
mbed_official 301:55638feb26a4 275 NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk;
mbed_official 301:55638feb26a4 276 NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk;
mbed_official 229:9bd26d142f33 277 NRF_TIMER2->TASKS_START = 1;
mbed_official 85:e1a8e879a6a9 278 }
mbed_official 85:e1a8e879a6a9 279
mbed_official 301:55638feb26a4 280 float pwmout_read(pwmout_t *obj)
mbed_official 301:55638feb26a4 281 {
mbed_official 301:55638feb26a4 282 return ((float)PULSE_WIDTH[obj->pwm] / (float)PERIOD);
mbed_official 85:e1a8e879a6a9 283 }
mbed_official 85:e1a8e879a6a9 284
mbed_official 301:55638feb26a4 285 void pwmout_period(pwmout_t *obj, float seconds)
mbed_official 301:55638feb26a4 286 {
mbed_official 85:e1a8e879a6a9 287 pwmout_period_us(obj, seconds * 1000000.0f);
mbed_official 85:e1a8e879a6a9 288 }
mbed_official 85:e1a8e879a6a9 289
mbed_official 301:55638feb26a4 290 void pwmout_period_ms(pwmout_t *obj, int ms)
mbed_official 301:55638feb26a4 291 {
mbed_official 85:e1a8e879a6a9 292 pwmout_period_us(obj, ms * 1000);
mbed_official 85:e1a8e879a6a9 293 }
mbed_official 85:e1a8e879a6a9 294
mbed_official 85:e1a8e879a6a9 295 // Set the PWM period, keeping the duty cycle the same.
mbed_official 301:55638feb26a4 296 void pwmout_period_us(pwmout_t *obj, int us)
mbed_official 301:55638feb26a4 297 {
mbed_official 301:55638feb26a4 298 uint32_t periodInTicks = us / TIMER_PRECISION;
mbed_official 301:55638feb26a4 299
mbed_official 229:9bd26d142f33 300 NRF_TIMER2->EVENTS_COMPARE[3] = 0;
mbed_official 301:55638feb26a4 301 NRF_TIMER2->TASKS_STOP = 1;
mbed_official 301:55638feb26a4 302
mbed_official 301:55638feb26a4 303 if (periodInTicks>((1 << 16) - 1)) {
mbed_official 301:55638feb26a4 304 PERIOD = (1 << 16) - 1; //131ms
mbed_official 301:55638feb26a4 305 } else if (periodInTicks<5) {
mbed_official 301:55638feb26a4 306 PERIOD = 5;
mbed_official 301:55638feb26a4 307 } else {
mbed_official 301:55638feb26a4 308 PERIOD = periodInTicks;
mbed_official 85:e1a8e879a6a9 309 }
mbed_official 301:55638feb26a4 310 NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk;
mbed_official 301:55638feb26a4 311 NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk;
mbed_official 301:55638feb26a4 312 NRF_TIMER2->TASKS_START = 1;
mbed_official 85:e1a8e879a6a9 313 }
mbed_official 85:e1a8e879a6a9 314
mbed_official 301:55638feb26a4 315 void pwmout_pulsewidth(pwmout_t *obj, float seconds)
mbed_official 301:55638feb26a4 316 {
mbed_official 85:e1a8e879a6a9 317 pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
mbed_official 85:e1a8e879a6a9 318 }
mbed_official 85:e1a8e879a6a9 319
mbed_official 301:55638feb26a4 320 void pwmout_pulsewidth_ms(pwmout_t *obj, int ms)
mbed_official 301:55638feb26a4 321 {
mbed_official 85:e1a8e879a6a9 322 pwmout_pulsewidth_us(obj, ms * 1000);
mbed_official 85:e1a8e879a6a9 323 }
mbed_official 85:e1a8e879a6a9 324
mbed_official 301:55638feb26a4 325 void pwmout_pulsewidth_us(pwmout_t *obj, int us)
mbed_official 301:55638feb26a4 326 {
mbed_official 301:55638feb26a4 327 uint32_t pulseInTicks = us / TIMER_PRECISION;
mbed_official 85:e1a8e879a6a9 328 uint16_t oldPulseWidth = ACTUAL_PULSE[obj->pwm];
mbed_official 301:55638feb26a4 329
mbed_official 229:9bd26d142f33 330 NRF_TIMER2->EVENTS_COMPARE[3] = 0;
mbed_official 301:55638feb26a4 331 NRF_TIMER2->TASKS_STOP = 1;
mbed_official 301:55638feb26a4 332
mbed_official 85:e1a8e879a6a9 333 ACTUAL_PULSE[obj->pwm] = PULSE_WIDTH[obj->pwm] = pulseInTicks;
mbed_official 301:55638feb26a4 334
mbed_official 301:55638feb26a4 335 if (PULSE_WIDTH[obj->pwm] == 0) {
mbed_official 85:e1a8e879a6a9 336 PULSE_WIDTH[obj->pwm] = 1;
mbed_official 301:55638feb26a4 337 setModulation(obj, 0, 0);
mbed_official 301:55638feb26a4 338 } else if (PULSE_WIDTH[obj->pwm] == PERIOD) {
mbed_official 301:55638feb26a4 339 PULSE_WIDTH[obj->pwm] = PERIOD - 1;
mbed_official 301:55638feb26a4 340 setModulation(obj, 0, 1);
mbed_official 301:55638feb26a4 341 } else if ((oldPulseWidth == 0) || (oldPulseWidth == PERIOD)) {
mbed_official 301:55638feb26a4 342 setModulation(obj, 1, oldPulseWidth == PERIOD);
mbed_official 85:e1a8e879a6a9 343 }
mbed_official 301:55638feb26a4 344 NRF_TIMER2->INTENSET = TIMER_INTENSET_COMPARE3_Msk;
mbed_official 301:55638feb26a4 345 NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk;
mbed_official 301:55638feb26a4 346 NRF_TIMER2->TASKS_START = 1;
mbed_official 85:e1a8e879a6a9 347 }