-
Notifications
You must be signed in to change notification settings - Fork 13
/
app_pwm.c
1145 lines (993 loc) · 39 KB
/
app_pwm.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/**
* Copyright (c) 2015 - 2017, 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 form under this license must not be reverse
* engineered, decompiled, modified and/or disassembled.
*
* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
* OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA 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 "sdk_common.h"
#if NRF_MODULE_ENABLED(APP_PWM)
#include "app_pwm.h"
#include "nrf_drv_timer.h"
#include "nrf_drv_ppi.h"
#include "nrf_drv_common.h"
#include "nrf_drv_gpiote.h"
#include "nrf_gpiote.h"
#include "nrf_gpio.h"
#include "app_util_platform.h"
#include "nrf_assert.h"
#define APP_PWM_CHANNEL_INITIALIZED 1
#define APP_PWM_CHANNEL_UNINITIALIZED 0
#define APP_PWM_CHANNEL_ENABLED 1
#define APP_PWM_CHANNEL_DISABLED 0
#define TIMER_PRESCALER_MAX 9
#define TIMER_MAX_PULSEWIDTH_US_ON_16M 4095
#ifndef GPIOTE_SET_CLEAR_TASKS
#define APP_PWM_REQUIRED_PPI_CHANNELS_PER_INSTANCE 2
#endif
#define APP_PWM_REQUIRED_PPI_CHANNELS_PER_CHANNEL 2
#define UNALLOCATED 0xFFFFFFFFUL
#define BUSY_STATE_CHANGING 0xFE
#define BUSY_STATE_IDLE 0xFF
#define PWM_MAIN_CC_CHANNEL 2
#define PWM_SECONDARY_CC_CHANNEL 3
#ifdef GPIOTE_SET_CLEAR_TASKS
static bool m_use_ppi_delay_workaround;
#endif
/**
* @brief PWM busy status
*
* Stores the number of a channel being currently updated.
*
*/
static volatile uint8_t m_pwm_busy[TIMER_COUNT];
/**
* @brief New duty cycle value
*
* When the channel duty cycle reaches this value, the update process is complete.
*/
static volatile uint32_t m_pwm_target_value[TIMER_COUNT];
/**
* @brief PWM ready counter
*
* The value in this counter is decremented in every PWM cycle after initiating the update.
* If an event handler function was specified by the user, it is being called
* after two cycle events (at least one full PWM cycle).
*/
volatile uint8_t m_pwm_ready_counter[TIMER_COUNT][APP_PWM_CHANNELS_PER_INSTANCE];
/**
* @brief Pointers to instances
*
* This array connects any active timer instance number with the pointer to the PWM instance.
* It is used by the interrupt runtime.
*/
static const app_pwm_t * m_instances[TIMER_COUNT];
// Macros for getting the polarity of given instance/channel.
#define POLARITY_ACTIVE(INST,CH) (( ((INST)->p_cb)->channels_cb[(CH)].polarity == \
APP_PWM_POLARITY_ACTIVE_LOW)?(0):(1))
#define POLARITY_INACTIVE(INST,CH) (( ((INST)->p_cb)->channels_cb[(CH)].polarity == \
APP_PWM_POLARITY_ACTIVE_LOW)?(1):(0))
//lint -save -e534
/**
* @brief Workaround for PAN-73.
*
* @param[in] timer Timer.
* @param[in] enable Enable or disable.
*/
static void pan73_workaround(NRF_TIMER_Type * p_timer, bool enable)
{
#ifndef GPIOTE_SET_CLEAR_TASKS
if (p_timer == NRF_TIMER0)
{
*(uint32_t *)0x40008C0C = (enable ? 1 : 0);
}
else if (p_timer == NRF_TIMER1)
{
*(uint32_t *)0x40009C0C = (enable ? 1 : 0);
}
else if (p_timer == NRF_TIMER2)
{
*(uint32_t *)0x4000AC0C = (enable ? 1 : 0);
}
#else
UNUSED_PARAMETER(p_timer);
UNUSED_PARAMETER(enable);
#endif
}
bool app_pwm_busy_check(app_pwm_t const * const p_instance)
{
uint8_t busy_state = (m_pwm_busy[p_instance->p_timer->instance_id]);
bool busy = true;
if (busy_state != BUSY_STATE_IDLE)
{
if (busy_state != BUSY_STATE_CHANGING)
{
if (nrf_drv_timer_capture_get(p_instance->p_timer, (nrf_timer_cc_channel_t) busy_state)
== m_pwm_target_value[p_instance->p_timer->instance_id])
{
m_pwm_busy[p_instance->p_timer->instance_id] = BUSY_STATE_IDLE;
busy = false;
}
}
}
else
{
busy = false;
}
return busy;
}
/**
* @brief Function for enabling the IRQ for a given PWM instance.
*
* @param[in] p_instance PWM instance.
*/
__STATIC_INLINE void pwm_irq_enable(app_pwm_t const * const p_instance)
{
nrf_drv_timer_compare_int_enable(p_instance->p_timer, PWM_MAIN_CC_CHANNEL);
}
/**
* @brief Function for disabling the IRQ for a given PWM instance.
*
* @param[in] p_instance PWM instance.
*/
__STATIC_INLINE void pwm_irq_disable(app_pwm_t const * const p_instance)
{
nrf_drv_timer_compare_int_disable(p_instance->p_timer, PWM_MAIN_CC_CHANNEL);
}
#ifndef GPIOTE_SET_CLEAR_TASKS
/**
* @brief Function for disabling PWM channel PPI.
*
* @param[in] p_instance PWM instance.
*/
__STATIC_INLINE void pwm_channel_ppi_disable(app_pwm_t const * const p_instance, uint8_t channel)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
nrf_drv_ppi_channel_disable(p_cb->channels_cb[channel].ppi_channels[0]);
nrf_drv_ppi_channel_disable(p_cb->channels_cb[channel].ppi_channels[1]);
}
/**
* @brief Function for disabling PWM PPI.
*
* @param[in] p_instance PWM instance.
*/
__STATIC_INLINE void pwm_ppi_disable(app_pwm_t const * const p_instance)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
nrf_drv_ppi_channel_disable(p_cb->ppi_channels[0]);
nrf_drv_ppi_channel_disable(p_cb->ppi_channels[1]);
}
#endif
/**
* @brief This function is called on interrupt after duty set.
*
* @param[in] timer Timer used by PWM.
* @param[in] timer_instance_id Timer index.
*/
void pwm_ready_tick(nrf_timer_event_t event_type, void * p_context)
{
uint32_t timer_instance_id = (uint32_t)p_context;
uint8_t disable = 1;
for (uint8_t channel = 0; channel < APP_PWM_CHANNELS_PER_INSTANCE; ++channel)
{
if (m_pwm_ready_counter[timer_instance_id][channel])
{
--m_pwm_ready_counter[timer_instance_id][channel];
if (!m_pwm_ready_counter[timer_instance_id][channel])
{
app_pwm_cb_t * p_cb = m_instances[timer_instance_id]->p_cb;
p_cb->p_ready_callback(timer_instance_id);
}
else
{
disable = 0;
}
}
}
if (disable)
{
pwm_irq_disable(m_instances[timer_instance_id]);
}
}
/**
* @brief Function for resource de-allocation.
*
* @param[in] p_instance PWM instance.
*/
//lint -e{650}
static void pwm_dealloc(app_pwm_t const * const p_instance)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
#ifdef GPIOTE_SET_CLEAR_TASKS
nrf_drv_ppi_channel_free(p_cb->ppi_channel);
#else
for (uint8_t i = 0; i < APP_PWM_REQUIRED_PPI_CHANNELS_PER_INSTANCE; ++i)
{
if (p_cb->ppi_channels[i] != (nrf_ppi_channel_t)(uint8_t)(UNALLOCATED))
{
nrf_drv_ppi_channel_free(p_cb->ppi_channels[i]);
}
}
if (p_cb->ppi_group != (nrf_ppi_channel_group_t)UNALLOCATED)
{
nrf_drv_ppi_group_free(p_cb->ppi_group);
}
#endif //GPIOTE_SET_CLEAR_TASKS
for (uint8_t ch = 0; ch < APP_PWM_CHANNELS_PER_INSTANCE; ++ch)
{
for (uint8_t i = 0; i < APP_PWM_REQUIRED_PPI_CHANNELS_PER_CHANNEL; ++i)
{
if (p_cb->channels_cb[ch].ppi_channels[i] != (nrf_ppi_channel_t)UNALLOCATED)
{
nrf_drv_ppi_channel_free(p_cb->channels_cb[ch].ppi_channels[i]);
p_cb->channels_cb[ch].ppi_channels[i] = (nrf_ppi_channel_t)UNALLOCATED;
}
}
if (p_cb->channels_cb[ch].gpio_pin != UNALLOCATED)
{
nrf_drv_gpiote_out_uninit(p_cb->channels_cb[ch].gpio_pin);
p_cb->channels_cb[ch].gpio_pin = UNALLOCATED;
}
p_cb->channels_cb[ch].initialized = APP_PWM_CHANNEL_UNINITIALIZED;
}
nrf_drv_timer_uninit(p_instance->p_timer);
return;
}
#ifndef GPIOTE_SET_CLEAR_TASKS
/**
* @brief PWM state transition from (0%, 100%) to 0% or 100%.
*
* @param[in] p_instance PWM instance.
* @param[in] channel PWM channel number.
* @param[in] ticks Number of clock ticks.
*/
static void pwm_transition_n_to_0or100(app_pwm_t const * const p_instance,
uint8_t channel, uint16_t ticks)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_cb->channels_cb[channel];
nrf_ppi_channel_group_t p_ppigrp = p_cb->ppi_group;
pwm_ppi_disable(p_instance);
nrf_drv_ppi_group_clear(p_ppigrp);
nrf_drv_ppi_channels_include_in_group(
nrf_drv_ppi_channel_to_mask(p_ch_cb->ppi_channels[0]) |
nrf_drv_ppi_channel_to_mask(p_ch_cb->ppi_channels[1]),
p_ppigrp);
if (!ticks)
{
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[0],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, channel),
nrf_drv_ppi_task_addr_group_disable_get(p_ppigrp));
nrf_drv_timer_compare(p_instance->p_timer, (nrf_timer_cc_channel_t) PWM_SECONDARY_CC_CHANNEL, 0, false);
m_pwm_target_value[p_instance->p_timer->instance_id] =
nrf_drv_timer_capture_get(p_instance->p_timer, (nrf_timer_cc_channel_t) channel);
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[1],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, channel),
nrf_drv_timer_capture_task_address_get(p_instance->p_timer, PWM_SECONDARY_CC_CHANNEL));
}
else
{
ticks = p_cb->period;
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[0],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_MAIN_CC_CHANNEL),
nrf_drv_ppi_task_addr_group_disable_get(p_ppigrp));
// Set secondary CC channel to non-zero value:
nrf_drv_timer_compare(p_instance->p_timer, (nrf_timer_cc_channel_t) PWM_SECONDARY_CC_CHANNEL, 1, false);
m_pwm_target_value[p_instance->p_timer->instance_id] = 0;
// The captured value will be equal to 0, because timer clear on main PWM CC channel compare is enabled.
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[1],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_MAIN_CC_CHANNEL),
nrf_drv_timer_capture_task_address_get(p_instance->p_timer, PWM_SECONDARY_CC_CHANNEL));
}
nrf_drv_ppi_channel_enable(p_cb->ppi_channels[0]);
nrf_drv_ppi_channel_enable(p_cb->ppi_channels[1]);
p_ch_cb->pulsewidth = ticks;
m_pwm_busy[p_instance->p_timer->instance_id] = PWM_SECONDARY_CC_CHANNEL;
}
/**
* @brief PWM state transition from (0%, 100%) to (0%, 100%).
*
* @param[in] p_instance PWM instance.
* @param[in] channel PWM channel number.
* @param[in] ticks Number of clock ticks.
*/
static void pwm_transition_n_to_m(app_pwm_t const * const p_instance,
uint8_t channel, uint16_t ticks)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_cb->channels_cb[channel];
nrf_ppi_channel_group_t p_ppigrp = p_cb->ppi_group;
pwm_ppi_disable(p_instance);
nrf_drv_ppi_group_clear(p_ppigrp);
nrf_drv_ppi_channels_include_in_group(
nrf_drv_ppi_channel_to_mask(p_cb->ppi_channels[0]) |
nrf_drv_ppi_channel_to_mask(p_cb->ppi_channels[1]),
p_ppigrp);
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[0],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_SECONDARY_CC_CHANNEL),
nrf_drv_timer_capture_task_address_get(p_instance->p_timer, channel));
if (ticks + ((nrf_timer_frequency_get(p_instance->p_timer->p_reg) == NRF_TIMER_FREQ_16MHz) ? 1 : 0)
< p_ch_cb->pulsewidth)
{
// For lower value, we need one more transition. Timer task delay is included.
// If prescaler is disabled, one tick must be added because of 1 PCLK16M clock cycle delay.
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[1],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_SECONDARY_CC_CHANNEL),
nrf_drv_gpiote_out_task_addr_get(p_ch_cb->gpio_pin));
}
else
{
nrf_drv_ppi_channel_remove_from_group(p_cb->ppi_channels[1], p_ppigrp);
}
p_ch_cb->pulsewidth = ticks;
nrf_drv_timer_compare(p_instance->p_timer, (nrf_timer_cc_channel_t) PWM_SECONDARY_CC_CHANNEL, ticks, false);
nrf_drv_ppi_group_enable(p_ppigrp);
m_pwm_target_value[p_instance->p_timer->instance_id] = ticks;
m_pwm_busy[p_instance->p_timer->instance_id] = channel;
}
/**
* @brief PWM state transition from 0% or 100% to (0%, 100%).
*
* @param[in] p_instance PWM instance.
* @param[in] channel PWM channel number.
* @param[in] ticks Number of clock ticks.
*/
static void pwm_transition_0or100_to_n(app_pwm_t const * const p_instance,
uint8_t channel, uint16_t ticks)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_cb->channels_cb[channel];
nrf_ppi_channel_group_t p_ppigrp = p_cb->ppi_group;
nrf_timer_cc_channel_t pwm_ch_cc = (nrf_timer_cc_channel_t)(channel);
pwm_ppi_disable(p_instance);
pwm_channel_ppi_disable(p_instance, channel);
nrf_drv_timer_compare(p_instance->p_timer, pwm_ch_cc, ticks, false);
nrf_drv_ppi_group_clear(p_ppigrp);
nrf_drv_ppi_channels_include_in_group(
nrf_drv_ppi_channel_to_mask(p_ch_cb->ppi_channels[0])|
nrf_drv_ppi_channel_to_mask(p_ch_cb->ppi_channels[1]),
p_ppigrp);
if (!p_ch_cb->pulsewidth)
{
// Channel is at 0%.
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[0],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, channel),
nrf_drv_ppi_task_addr_group_enable_get(p_ppigrp));
nrf_drv_timer_compare(p_instance->p_timer, (nrf_timer_cc_channel_t) PWM_SECONDARY_CC_CHANNEL, 0, false);
m_pwm_target_value[p_instance->p_timer->instance_id] =
nrf_drv_timer_capture_get(p_instance->p_timer, (nrf_timer_cc_channel_t) channel);
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[1],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, channel),
nrf_drv_timer_capture_task_address_get(p_instance->p_timer, PWM_SECONDARY_CC_CHANNEL));
}
else
{
// Channel is at 100%.
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[0],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_MAIN_CC_CHANNEL),
nrf_drv_ppi_task_addr_group_enable_get(p_ppigrp));
// Set secondary CC channel to non-zero value:
nrf_drv_timer_compare(p_instance->p_timer, (nrf_timer_cc_channel_t) PWM_SECONDARY_CC_CHANNEL, 1, false);
m_pwm_target_value[p_instance->p_timer->instance_id] = 0;
// The captured value will be equal to 0, because timer clear on main PWM CC channel compare is enabled.
nrf_drv_ppi_channel_assign(p_cb->ppi_channels[1],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_MAIN_CC_CHANNEL),
nrf_drv_timer_capture_task_address_get(p_instance->p_timer, PWM_SECONDARY_CC_CHANNEL));
}
nrf_drv_ppi_channel_enable(p_cb->ppi_channels[0]);
nrf_drv_ppi_channel_enable(p_cb->ppi_channels[1]);
p_ch_cb->pulsewidth = ticks;
m_pwm_busy[p_instance->p_timer->instance_id] = PWM_SECONDARY_CC_CHANNEL;
}
/**
* @brief PWM state transition from 0% or 100% to 0% or 100%.
*
* @param[in] p_instance PWM instance.
* @param[in] channel PWM channel number.
* @param[in] ticks Number of clock ticks.
*/
static void pwm_transition_0or100_to_0or100(app_pwm_t const * const p_instance,
uint8_t channel, uint16_t ticks)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_cb->channels_cb[channel];
nrf_timer_cc_channel_t pwm_ch_cc = (nrf_timer_cc_channel_t)(channel);
pwm_ppi_disable(p_instance);
pwm_channel_ppi_disable(p_instance, channel);
if (!ticks)
{
// Set to 0%.
nrf_drv_gpiote_out_task_force(p_ch_cb->gpio_pin, POLARITY_INACTIVE(p_instance, channel));
}
else if (ticks >= p_cb->period)
{
// Set to 100%.
ticks = p_cb->period;
nrf_drv_gpiote_out_task_force(p_ch_cb->gpio_pin, POLARITY_ACTIVE(p_instance, channel));
}
nrf_drv_timer_compare(p_instance->p_timer, pwm_ch_cc, ticks, false);
p_ch_cb->pulsewidth = ticks;
m_pwm_busy[p_instance->p_timer->instance_id] = BUSY_STATE_IDLE;
return;
}
static void pwm_transition(app_pwm_t const * const p_instance,
uint8_t channel, uint16_t ticks)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_instance->p_cb->channels_cb[channel];
// Pulse width change sequence:
if (!p_ch_cb->pulsewidth || p_ch_cb->pulsewidth >= p_cb->period)
{
// Channel is disabled (0%) or at 100%.
if (!ticks || ticks >= p_cb->period)
{
// Set to 0 or 100%.
pwm_transition_0or100_to_0or100(p_instance, channel, ticks);
}
else
{
// Other value.
pwm_transition_0or100_to_n(p_instance, channel, ticks);
}
}
else
{
// Channel is at other value.
if (!ticks || ticks >= p_cb->period)
{
// Disable channel (set to 0%) or set to 100%.
pwm_transition_n_to_0or100(p_instance, channel, ticks);
}
else
{
// Set to any other value.
pwm_transition_n_to_m(p_instance, channel, ticks);
}
}
}
#else //GPIOTE_SET_CLEAR_TASKS
/**
* @brief PWM state transition.
*
* @param[in] p_instance PWM instance.
* @param[in] channel PWM channel number.
* @param[in] ticks Number of clock ticks.
*/
static void pwm_transition(app_pwm_t const * const p_instance,
uint8_t channel, uint16_t ticks)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_cb->channels_cb[channel];
nrf_timer_cc_channel_t pwm_ch_cc = (nrf_timer_cc_channel_t)(channel);
nrf_drv_ppi_channel_disable(p_cb->ppi_channel);
if (!ticks)
{
nrf_drv_ppi_channel_disable(p_ch_cb->ppi_channels[1]);
nrf_drv_ppi_channel_enable(p_ch_cb->ppi_channels[0]);
m_pwm_busy[p_instance->p_timer->instance_id] = BUSY_STATE_IDLE;
}
else if (ticks >= p_cb->period)
{
ticks = p_cb->period;
nrf_drv_ppi_channel_disable(p_ch_cb->ppi_channels[0]);
nrf_drv_ppi_channel_enable(p_ch_cb->ppi_channels[1]);
m_pwm_busy[p_instance->p_timer->instance_id] = BUSY_STATE_IDLE;
}
else
{
// Set to any other value.
if ((p_ch_cb->pulsewidth != p_cb->period) && (p_ch_cb->pulsewidth != 0) && (ticks < p_ch_cb->pulsewidth))
{
nrf_drv_timer_compare(p_instance->p_timer, (nrf_timer_cc_channel_t)PWM_SECONDARY_CC_CHANNEL, p_ch_cb->pulsewidth, false);
nrf_drv_ppi_channel_assign(p_cb->ppi_channel,
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, (nrf_timer_cc_channel_t)PWM_SECONDARY_CC_CHANNEL),
p_ch_cb->polarity ? nrf_drv_gpiote_clr_task_addr_get(p_ch_cb->gpio_pin) : nrf_drv_gpiote_set_task_addr_get(p_ch_cb->gpio_pin));
nrf_drv_ppi_channel_enable(p_cb->ppi_channel);
m_pwm_busy[p_instance->p_timer->instance_id] = channel;
m_pwm_target_value[p_instance->p_timer->instance_id] = ticks;
}
else
{
m_pwm_busy[p_instance->p_timer->instance_id] = BUSY_STATE_IDLE;
}
nrf_drv_timer_compare(p_instance->p_timer, pwm_ch_cc, ticks, false);
nrf_drv_ppi_channel_enable(p_ch_cb->ppi_channels[0]);
nrf_drv_ppi_channel_enable(p_ch_cb->ppi_channels[1]);
}
p_ch_cb->pulsewidth = ticks;
return;
}
#endif //GPIOTE_SET_CLEAR_TASKS
ret_code_t app_pwm_channel_duty_ticks_set(app_pwm_t const * const p_instance,
uint8_t channel,
uint16_t ticks)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_cb->channels_cb[channel];
ASSERT(channel < APP_PWM_CHANNELS_PER_INSTANCE);
ASSERT(p_ch_cb->initialized == APP_PWM_CHANNEL_INITIALIZED);
if (p_cb->state != NRF_DRV_STATE_POWERED_ON)
{
return NRF_ERROR_INVALID_STATE;
}
if (ticks == p_ch_cb->pulsewidth)
{
if (p_cb->p_ready_callback)
{
p_cb->p_ready_callback(p_instance->p_timer->instance_id);
}
return NRF_SUCCESS; // No action required.
}
if (app_pwm_busy_check(p_instance))
{
return NRF_ERROR_BUSY; // PPI channels for synchronization are still in use.
}
m_pwm_busy[p_instance->p_timer->instance_id] = BUSY_STATE_CHANGING;
// Set new value.
pwm_transition(p_instance, channel, ticks);
if (p_instance->p_cb->p_ready_callback)
{
//PWM ready interrupt handler will be called after one full period.
m_pwm_ready_counter[p_instance->p_timer->instance_id][channel] = 2;
pwm_irq_enable(p_instance);
}
return NRF_SUCCESS;
}
uint16_t app_pwm_channel_duty_ticks_get(app_pwm_t const * const p_instance, uint8_t channel)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_ch_cb = &p_cb->channels_cb[channel];
return p_ch_cb->pulsewidth;
}
uint16_t app_pwm_cycle_ticks_get(app_pwm_t const * const p_instance)
{
app_pwm_cb_t * p_cb = p_instance->p_cb;
return (uint16_t)p_cb->period;
}
ret_code_t app_pwm_channel_duty_set(app_pwm_t const * const p_instance,
uint8_t channel, app_pwm_duty_t duty)
{
uint32_t ticks = ((uint32_t)app_pwm_cycle_ticks_get(p_instance) * (uint32_t)duty) / 100UL;
return app_pwm_channel_duty_ticks_set(p_instance, channel, ticks);
}
app_pwm_duty_t app_pwm_channel_duty_get(app_pwm_t const * const p_instance, uint8_t channel)
{
uint32_t value = ((uint32_t)app_pwm_channel_duty_ticks_get(p_instance, channel) * 100UL) \
/ (uint32_t)app_pwm_cycle_ticks_get(p_instance);
return (app_pwm_duty_t)value;
}
/**
* @brief Function for initializing the PWM channel.
*
* @param[in] p_instance PWM instance.
* @param[in] channel Channel number.
* @param[in] pin GPIO pin number.
*
* @retval NRF_SUCCESS If initialization was successful.
* @retval NRF_ERROR_NO_MEM If there were not enough free resources.
* @retval NRF_ERROR_INVALID_STATE If the timer is already in use or initialization failed.
*/
static ret_code_t app_pwm_channel_init(app_pwm_t const * const p_instance, uint8_t channel,
uint32_t pin, app_pwm_polarity_t polarity)
{
ASSERT(channel < APP_PWM_CHANNELS_PER_INSTANCE);
app_pwm_cb_t * p_cb = p_instance->p_cb;
app_pwm_channel_cb_t * p_channel_cb = &p_cb->channels_cb[channel];
if (p_cb->state != NRF_DRV_STATE_UNINITIALIZED)
{
return NRF_ERROR_INVALID_STATE;
}
p_channel_cb->pulsewidth = 0;
p_channel_cb->polarity = polarity;
ret_code_t err_code;
/* GPIOTE setup: */
nrf_drv_gpiote_out_config_t out_cfg = GPIOTE_CONFIG_OUT_TASK_TOGGLE( POLARITY_INACTIVE(p_instance, channel) );
err_code = nrf_drv_gpiote_out_init((nrf_drv_gpiote_pin_t)pin,&out_cfg);
if (err_code != NRF_SUCCESS)
{
return NRF_ERROR_NO_MEM;
}
p_cb->channels_cb[channel].gpio_pin = pin;
// Set output to inactive state.
if (polarity)
{
nrf_gpio_pin_clear(pin);
}
else
{
nrf_gpio_pin_set(pin);
}
/* PPI setup: */
for (uint8_t i = 0; i < APP_PWM_REQUIRED_PPI_CHANNELS_PER_CHANNEL; ++i)
{
if (nrf_drv_ppi_channel_alloc(&p_channel_cb->ppi_channels[i]) != NRF_SUCCESS)
{
return NRF_ERROR_NO_MEM; // Resource de-allocation is done by callee.
}
}
nrf_drv_ppi_channel_disable(p_channel_cb->ppi_channels[0]);
nrf_drv_ppi_channel_disable(p_channel_cb->ppi_channels[1]);
#ifdef GPIOTE_SET_CLEAR_TASKS
uint32_t deactivate_task_addr = polarity ? nrf_drv_gpiote_clr_task_addr_get(p_channel_cb->gpio_pin) : nrf_drv_gpiote_set_task_addr_get(p_channel_cb->gpio_pin);
uint32_t activate_task_addr = polarity ? nrf_drv_gpiote_set_task_addr_get(p_channel_cb->gpio_pin) : nrf_drv_gpiote_clr_task_addr_get(p_channel_cb->gpio_pin);
nrf_drv_ppi_channel_assign(p_channel_cb->ppi_channels[0],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, channel),
deactivate_task_addr);
nrf_drv_ppi_channel_assign(p_channel_cb->ppi_channels[1],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_MAIN_CC_CHANNEL),
activate_task_addr);
#else //GPIOTE_SET_CLEAR_TASKS
nrf_drv_ppi_channel_assign(p_channel_cb->ppi_channels[0],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, channel),
nrf_drv_gpiote_out_task_addr_get(p_channel_cb->gpio_pin));
nrf_drv_ppi_channel_assign(p_channel_cb->ppi_channels[1],
nrf_drv_timer_compare_event_address_get(p_instance->p_timer, PWM_MAIN_CC_CHANNEL),
nrf_drv_gpiote_out_task_addr_get(p_channel_cb->gpio_pin));
#endif //GPIOTE_SET_CLEAR_TASKS
p_channel_cb->initialized = APP_PWM_CHANNEL_INITIALIZED;
m_pwm_ready_counter[p_instance->p_timer->instance_id][channel] = 0;
return NRF_SUCCESS;
}
/**
* @brief Function for calculating target timer frequency, which will allow to set given period length.
*
* @param[in] period_us Desired period in microseconds.
*
* @retval Timer frequency.
*/
__STATIC_INLINE nrf_timer_frequency_t pwm_calculate_timer_frequency(uint32_t period_us)
{
uint32_t f = (uint32_t) NRF_TIMER_FREQ_16MHz;
uint32_t min = (uint32_t) NRF_TIMER_FREQ_31250Hz;
while ((period_us > TIMER_MAX_PULSEWIDTH_US_ON_16M) && (f < min))
{
period_us >>= 1;
++f;
}
#ifdef GPIOTE_SET_CLEAR_TASKS
if ((m_use_ppi_delay_workaround) && (f == (uint32_t) NRF_TIMER_FREQ_16MHz))
{
f = (uint32_t) NRF_TIMER_FREQ_8MHz;
}
#endif // GPIOTE_SET_CLEAR_TASKS
return (nrf_timer_frequency_t) f;
}
ret_code_t app_pwm_init(app_pwm_t const * const p_instance, app_pwm_config_t const * const p_config,
app_pwm_callback_t p_ready_callback)
{
ASSERT(p_instance);
if (!p_config)
{
return NRF_ERROR_INVALID_DATA;
}
app_pwm_cb_t * p_cb = p_instance->p_cb;
if (p_cb->state != NRF_DRV_STATE_UNINITIALIZED)
{
return NRF_ERROR_INVALID_STATE;
}
uint32_t err_code = nrf_drv_ppi_init();
if ((err_code != NRF_SUCCESS) && (err_code != NRF_ERROR_MODULE_ALREADY_INITIALIZED))
{
return NRF_ERROR_NO_MEM;
}
if (!nrf_drv_gpiote_is_init())
{
err_code = nrf_drv_gpiote_init();
if (err_code != NRF_SUCCESS)
{
return NRF_ERROR_INTERNAL;
}
}
#ifdef GPIOTE_SET_CLEAR_TASKS
if (((*(uint32_t *)0xF0000FE8) & 0x000000F0) == 0x30)
{
m_use_ppi_delay_workaround = false;
}
else
{
m_use_ppi_delay_workaround = true;
}
#endif
// Innitialize resource status:
#ifdef GPIOTE_SET_CLEAR_TASKS
p_cb->ppi_channel = (nrf_ppi_channel_t)UNALLOCATED;
#else
p_cb->ppi_channels[0] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->ppi_channels[1] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->ppi_group = (nrf_ppi_channel_group_t)UNALLOCATED;
#endif //GPIOTE_SET_CLEAR_TASKS
for (uint8_t i = 0; i < APP_PWM_CHANNELS_PER_INSTANCE; ++i)
{
p_cb->channels_cb[i].initialized = APP_PWM_CHANNEL_UNINITIALIZED;
p_cb->channels_cb[i].ppi_channels[0] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->channels_cb[i].ppi_channels[1] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->channels_cb[i].gpio_pin = UNALLOCATED;
}
// Allocate PPI channels and groups:
#ifdef GPIOTE_SET_CLEAR_TASKS
if (nrf_drv_ppi_channel_alloc(&p_cb->ppi_channel) != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return NRF_ERROR_NO_MEM;
}
#else //GPIOTE_SET_CLEAR_TASKS
if (nrf_drv_ppi_group_alloc(&p_cb->ppi_group) != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return NRF_ERROR_NO_MEM;
}
for (uint8_t i = 0; i < APP_PWM_REQUIRED_PPI_CHANNELS_PER_INSTANCE; ++i)
{
if (nrf_drv_ppi_channel_alloc(&p_cb->ppi_channels[i]) != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return NRF_ERROR_NO_MEM;
}
}
#endif //GPIOTE_SET_CLEAR_TASKS
// Initialize channels:
for (uint8_t i = 0; i < APP_PWM_CHANNELS_PER_INSTANCE; ++i)
{
if (p_config->pins[i] != APP_PWM_NOPIN)
{
err_code = app_pwm_channel_init(p_instance, i, p_config->pins[i], p_config->pin_polarity[i]);
if (err_code != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return err_code;
}
app_pwm_channel_duty_ticks_set(p_instance, i, 0);
}
}
// Initialize timer:
nrf_timer_frequency_t timer_freq = pwm_calculate_timer_frequency(p_config->period_us);
nrf_drv_timer_config_t timer_cfg = {
.frequency = timer_freq,
.mode = NRF_TIMER_MODE_TIMER,
.bit_width = NRF_TIMER_BIT_WIDTH_16,
.interrupt_priority = APP_IRQ_PRIORITY_LOWEST,
.p_context = (void *) (uint32_t) p_instance->p_timer->instance_id
};
err_code = nrf_drv_timer_init(p_instance->p_timer, &timer_cfg,
pwm_ready_tick);
if (err_code != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return err_code;
}
uint32_t ticks = nrf_drv_timer_us_to_ticks(p_instance->p_timer, p_config->period_us);
p_cb->period = ticks;
nrf_drv_timer_clear(p_instance->p_timer);
nrf_drv_timer_extended_compare(p_instance->p_timer, (nrf_timer_cc_channel_t) PWM_MAIN_CC_CHANNEL,
ticks, NRF_TIMER_SHORT_COMPARE2_CLEAR_MASK, true);
nrf_drv_timer_compare_int_disable(p_instance->p_timer, PWM_MAIN_CC_CHANNEL);
p_cb->p_ready_callback = p_ready_callback;
m_instances[p_instance->p_timer->instance_id] = p_instance;
m_pwm_busy[p_instance->p_timer->instance_id] = BUSY_STATE_IDLE;
p_cb->state = NRF_DRV_STATE_INITIALIZED;
return NRF_SUCCESS;
}
ret_code_t app_pwm_ticks_init(app_pwm_t const * const p_instance, app_pwm_config_t const * const p_config,
app_pwm_callback_t p_ready_callback)
{
ASSERT(p_instance);
if (!p_config)
{
return NRF_ERROR_INVALID_DATA;
}
app_pwm_cb_t * p_cb = p_instance->p_cb;
if (p_cb->state != NRF_DRV_STATE_UNINITIALIZED)
{
return NRF_ERROR_INVALID_STATE;
}
uint32_t err_code = nrf_drv_ppi_init();
if ((err_code != NRF_SUCCESS) && (err_code != NRF_ERROR_MODULE_ALREADY_INITIALIZED))
{
return NRF_ERROR_NO_MEM;
}
if (!nrf_drv_gpiote_is_init())
{
err_code = nrf_drv_gpiote_init();
if (err_code != NRF_SUCCESS)
{
return NRF_ERROR_INTERNAL;
}
}
#ifdef GPIOTE_SET_CLEAR_TASKS
if (((*(uint32_t *)0xF0000FE8) & 0x000000F0) == 0x30)
{
m_use_ppi_delay_workaround = false;
}
else
{
m_use_ppi_delay_workaround = true;
}
#endif
// Innitialize resource status:
#ifdef GPIOTE_SET_CLEAR_TASKS
p_cb->ppi_channel = (nrf_ppi_channel_t)UNALLOCATED;
#else
p_cb->ppi_channels[0] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->ppi_channels[1] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->ppi_group = (nrf_ppi_channel_group_t)UNALLOCATED;
#endif //GPIOTE_SET_CLEAR_TASKS
for (uint8_t i = 0; i < APP_PWM_CHANNELS_PER_INSTANCE; ++i)
{
p_cb->channels_cb[i].initialized = APP_PWM_CHANNEL_UNINITIALIZED;
p_cb->channels_cb[i].ppi_channels[0] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->channels_cb[i].ppi_channels[1] = (nrf_ppi_channel_t)UNALLOCATED;
p_cb->channels_cb[i].gpio_pin = UNALLOCATED;
}
// Allocate PPI channels and groups:
#ifdef GPIOTE_SET_CLEAR_TASKS
if (nrf_drv_ppi_channel_alloc(&p_cb->ppi_channel) != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return NRF_ERROR_NO_MEM;
}
#else //GPIOTE_SET_CLEAR_TASKS
if (nrf_drv_ppi_group_alloc(&p_cb->ppi_group) != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return NRF_ERROR_NO_MEM;
}
for (uint8_t i = 0; i < APP_PWM_REQUIRED_PPI_CHANNELS_PER_INSTANCE; ++i)
{
if (nrf_drv_ppi_channel_alloc(&p_cb->ppi_channels[i]) != NRF_SUCCESS)
{
pwm_dealloc(p_instance);
return NRF_ERROR_NO_MEM;
}
}
#endif //GPIOTE_SET_CLEAR_TASKS