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rp2/machine_pwm: Enable keyword args in constructor and add init method.

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This adds support for freq/duty_u16/duty_ns keyword arguments in the PWM
constructor, and adds the PWM.init() method.  Using init() without
arguments enables a previously deinit-ed PWM again.

Further changes in this commit:
- Do not start PWM output if only duty was set.
- Stop all PWM slices on soft-reset.
- Fix a bug when changing the freq on a channel pair with duty_ns set.
This commit is contained in:
robert-hh
2023-02-24 17:06:34 +01:00
committed by Damien George
parent 250757716a
commit 84302b2854
4 changed files with 80 additions and 21 deletions
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98
ports/rp2/machine_pwm.c
View File

@@ -39,34 +39,37 @@ typedef struct _machine_pwm_obj_t {
uint8_t slice;
uint8_t channel;
uint8_t duty_type;
bool freq_set;
mp_int_t duty;
} machine_pwm_obj_t;
enum {
VALUE_NOT_SET = -1,
DUTY_NOT_SET = 0,
DUTY_U16,
DUTY_NS
};
STATIC machine_pwm_obj_t machine_pwm_obj[] = {
{{&machine_pwm_type}, 0, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 0, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 1, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 1, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 2, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 2, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 3, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 3, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 4, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 4, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 5, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 5, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 6, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 6, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 7, PWM_CHAN_A, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 7, PWM_CHAN_B, DUTY_NOT_SET, 0},
{{&machine_pwm_type}, 0, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 0, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 1, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 1, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 2, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 2, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 3, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 3, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 4, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 4, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 5, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 5, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 6, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 6, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 7, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
{{&machine_pwm_type}, 7, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
};
STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq);
STATIC void mp_machine_pwm_duty_set_u16(machine_pwm_obj_t *self, mp_int_t duty_u16);
STATIC void mp_machine_pwm_duty_set_ns(machine_pwm_obj_t *self, mp_int_t duty_ns);
@@ -75,10 +78,46 @@ STATIC void mp_machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_p
mp_printf(print, "<PWM slice=%u channel=%u>", self->slice, self->channel);
}
// PWM(pin)
void machine_pwm_start(machine_pwm_obj_t *self) {
// Start the PWM if properly set.
if (self->freq_set && self->duty_type != DUTY_NOT_SET) {
pwm_set_enabled(self->slice, true);
}
}
STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_freq, ARG_duty_u16, ARG_duty_ns };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_freq, MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
{ MP_QSTR_duty_u16, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
{ MP_QSTR_duty_ns, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
};
// Parse the arguments.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args,
MP_ARRAY_SIZE(allowed_args), allowed_args, args);
if ((n_args + kw_args->used) > 0) {
if (args[ARG_freq].u_int != VALUE_NOT_SET) {
mp_machine_pwm_freq_set(self, args[ARG_freq].u_int);
}
if (args[ARG_duty_u16].u_int != VALUE_NOT_SET) {
mp_machine_pwm_duty_set_u16(self, args[ARG_duty_u16].u_int);
}
if (args[ARG_duty_ns].u_int != VALUE_NOT_SET) {
mp_machine_pwm_duty_set_ns(self, args[ARG_duty_ns].u_int);
}
} else {
machine_pwm_start(self);
}
}
// PWM(pin [, args])
STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
// Check number of arguments
mp_arg_check_num(n_args, n_kw, 1, 1, false);
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// Get GPIO to connect to PWM.
uint32_t gpio = mp_hal_get_pin_obj(all_args[0]);
@@ -87,16 +126,28 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args
uint slice = pwm_gpio_to_slice_num(gpio);
uint8_t channel = pwm_gpio_to_channel(gpio);
machine_pwm_obj_t *self = &machine_pwm_obj[slice * 2 + channel];
self->freq_set = false;
self->duty_type = DUTY_NOT_SET;
// Select PWM function for given GPIO.
gpio_set_function(gpio, GPIO_FUNC_PWM);
// Process the remaining parameters.
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, all_args + n_args);
mp_machine_pwm_init_helper(self, n_args - 1, all_args + 1, &kw_args);
return MP_OBJ_FROM_PTR(self);
}
// Stop all active slices.
void machine_pwm_deinit_all(void) {
for (int i = 0; i < 8; i++) {
pwm_set_enabled(machine_pwm_obj[i].slice, false);
}
}
STATIC void mp_machine_pwm_deinit(machine_pwm_obj_t *self) {
self->duty_type = DUTY_NOT_SET;
pwm_set_enabled(self->slice, false);
}
@@ -165,11 +216,16 @@ STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
}
pwm_hw->slice[self->slice].div = div16;
pwm_hw->slice[self->slice].top = top;
self->freq_set = true;
if (self->duty_type == DUTY_U16) {
mp_machine_pwm_duty_set_u16(self, self->duty);
} else if (self->duty_type == DUTY_NS) {
mp_machine_pwm_duty_set_ns(self, self->duty);
}
machine_pwm_obj_t *other = self->channel == PWM_CHAN_A ? self + 1 : self - 1;
if (other->duty_type == DUTY_NS) {
mp_machine_pwm_duty_set_ns(other, other->duty);
}
}
STATIC mp_obj_t mp_machine_pwm_duty_get_u16(machine_pwm_obj_t *self) {
@@ -188,9 +244,9 @@ STATIC void mp_machine_pwm_duty_set_u16(machine_pwm_obj_t *self, mp_int_t duty_u
// Use rounding here to set it as accurately as possible.
uint32_t cc = (duty_u16 * (top + 1) + 65535 / 2) / 65535;
pwm_set_chan_level(self->slice, self->channel, cc);
pwm_set_enabled(self->slice, true);
self->duty = duty_u16;
self->duty_type = DUTY_U16;
machine_pwm_start(self);
}
STATIC mp_obj_t mp_machine_pwm_duty_get_ns(machine_pwm_obj_t *self) {
@@ -207,7 +263,7 @@ STATIC void mp_machine_pwm_duty_set_ns(machine_pwm_obj_t *self, mp_int_t duty_ns
mp_raise_ValueError(MP_ERROR_TEXT("duty larger than period"));
}
pwm_set_chan_level(self->slice, self->channel, cc);
pwm_set_enabled(self->slice, true);
self->duty = duty_ns;
self->duty_type = DUTY_NS;
machine_pwm_start(self);
}

1
ports/rp2/main.c
View File

@@ -206,6 +206,7 @@ int main(int argc, char **argv) {
#if MICROPY_PY_BLUETOOTH
mp_bluetooth_deinit();
#endif
machine_pwm_deinit_all();
machine_pin_deinit();
#if MICROPY_PY_THREAD
mp_thread_deinit();

1
ports/rp2/modmachine.h
View File

@@ -16,6 +16,7 @@ extern const mp_obj_type_t machine_wdt_type;
void machine_pin_init(void);
void machine_pin_deinit(void);
void machine_i2s_init0(void);
void machine_pwm_deinit_all(void);
struct _machine_spi_obj_t *spi_from_mp_obj(mp_obj_t o);
NORETURN mp_obj_t machine_bootloader(size_t n_args, const mp_obj_t *args);

1
ports/rp2/mpconfigport.h
View File

@@ -114,6 +114,7 @@
#define MICROPY_PY_MACHINE_BITSTREAM (1)
#define MICROPY_PY_MACHINE_PULSE (1)
#define MICROPY_PY_MACHINE_PWM (1)
#define MICROPY_PY_MACHINE_PWM_INIT (1)
#define MICROPY_PY_MACHINE_PWM_DUTY_U16_NS (1)
#define MICROPY_PY_MACHINE_PWM_INCLUDEFILE "ports/rp2/machine_pwm.c"
#define MICROPY_PY_MACHINE_I2C (1)