forked from PaulStoffregen/cores
/
pwm.c
429 lines (390 loc) · 13 KB
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pwm.c
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#include "imxrt.h"
#include "core_pins.h"
#include "debug/printf.h"
#include <stdbool.h>
struct pwm_pin_info_struct {
uint8_t type; // 0=no pwm, 1=flexpwm, 2=quad
uint8_t module; // 0-3, 0-3
uint8_t channel; // 0=X, 1=A, 2=B
uint8_t muxval; //
};
uint8_t analog_write_res = 8;
#define M(a, b) ((((a) - 1) << 4) | (b))
#if defined(__IMXRT1062__)
const struct pwm_pin_info_struct pwm_pin_info[] = {
{1, M(1, 1), 0, 4}, // FlexPWM1_1_X 0 // AD_B0_03
{1, M(1, 0), 0, 4}, // FlexPWM1_0_X 1 // AD_B0_02
{1, M(4, 2), 1, 1}, // FlexPWM4_2_A 2 // EMC_04
{1, M(4, 2), 2, 1}, // FlexPWM4_2_B 3 // EMC_05
{1, M(2, 0), 1, 1}, // FlexPWM2_0_A 4 // EMC_06
{1, M(2, 1), 1, 1}, // FlexPWM2_1_A 5 // EMC_08
{1, M(2, 2), 1, 2}, // FlexPWM2_2_A 6 // B0_10
{1, M(1, 3), 2, 6}, // FlexPWM1_3_B 7 // B1_01
{1, M(1, 3), 1, 6}, // FlexPWM1_3_A 8 // B1_00
{1, M(2, 2), 2, 2}, // FlexPWM2_2_B 9 // B0_11
{2, M(1, 0), 0, 1}, // QuadTimer1_0 10 // B0_00
{2, M(1, 2), 0, 1}, // QuadTimer1_2 11 // B0_02
{2, M(1, 1), 0, 1}, // QuadTimer1_1 12 // B0_01
{2, M(2, 0), 0, 1}, // QuadTimer2_0 13 // B0_03
{2, M(3, 2), 0, 1}, // QuadTimer3_2 14 // AD_B1_02
{2, M(3, 3), 0, 1}, // QuadTimer3_3 15 // AD_B1_03
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{2, M(3, 1), 0, 1}, // QuadTimer3_1 18 // AD_B1_01
{2, M(3, 0), 0, 1}, // QuadTimer3_0 19 // AD_B1_00
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{1, M(4, 0), 1, 1}, // FlexPWM4_0_A 22 // AD_B1_08
{1, M(4, 1), 1, 1}, // FlexPWM4_1_A 23 // AD_B1_09
{1, M(1, 2), 0, 4}, // FlexPWM1_2_X 24 // AD_B0_12
{1, M(1, 3), 0, 4}, // FlexPWM1_3_X 25 // AD_B0_13
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{1, M(3, 1), 2, 1}, // FlexPWM3_1_B 28 // EMC_32
{1, M(3, 1), 1, 1}, // FlexPWM3_1_A 29 // EMC_31
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{1, M(2, 0), 2, 1}, // FlexPWM2_0_B 33 // EMC_07
#ifdef ARDUINO_TEENSY40
{1, M(1, 1), 2, 1}, // FlexPWM1_1_B 34 // SD_B0_03
{1, M(1, 1), 1, 1}, // FlexPWM1_1_A 35 // SD_B0_02
{1, M(1, 0), 2, 1}, // FlexPWM1_0_B 36 // SD_B0_01
{1, M(1, 0), 1, 1}, // FlexPWM1_0_A 37 // SD_B0_00
{1, M(1, 2), 2, 1}, // FlexPWM1_2_B 38 // SD_B0_05
{1, M(1, 2), 1, 1}, // FlexPWM1_2_A 39 // SD_B0_04
#endif
#ifdef ARDUINO_TEENSY41
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{1, M(2, 3), 1, 6}, // FlexPWM2_3_A 36 // B1_00
{1, M(2, 3), 2, 6}, // FlexPWM2_3_B 37 // B1_01
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{0, M(1, 0), 0, 0},
{1, M(1, 1), 2, 1}, // FlexPWM1_1_B 42 // SD_B0_03
{1, M(1, 1), 1, 1}, // FlexPWM1_1_A 43 // SD_B0_02
{1, M(1, 0), 2, 1}, // FlexPWM1_0_B 44 // SD_B0_01
{1, M(1, 0), 1, 1}, // FlexPWM1_0_A 45 // SD_B0_00
{1, M(1, 2), 2, 1}, // FlexPWM1_2_B 46 // SD_B0_05
{1, M(1, 2), 1, 1}, // FlexPWM1_2_A 47 // SD_B0_04
{0, M(1, 0), 0, 0}, // duplicate FlexPWM1_0_B
{0, M(1, 0), 0, 0}, // duplicate FlexPWM1_2_A
{0, M(1, 0), 0, 0}, // duplicate FlexPWM1_2_B
{1, M(3, 3), 2, 1}, // FlexPWM3_3_B 51 // EMC_22
{0, M(1, 0), 0, 0}, // duplicate FlexPWM1_1_B
{0, M(1, 0), 0, 0}, // duplicate FlexPWM1_1_A
{1, M(3, 0), 1, 1}, // FlexPWM3_0_A 53 // EMC_29
#endif
};
// Known usage of FlexPWM and QuadTimers
// -------------------------------------
// FlexPWM1_0 PWM pin 1, 36(T4.0), 37(T4.0), 44(T4.1), 45(T4.1)
// FlexPWM1_1 PWM pin 0, 34(T4.0), 35(T4.0), 42(T4.1), 43(T4.1)
// FlexPWM1_2 PWM pin 24, 38(T4.0), 39(T4.0), 46(T4.1), 47(T4.1)
// FlexPWM1_3 PWM pin 7, 8, 25
// FlexPWM2_0 PWM pin 4, 33
// FlexPWM2_1 PWM pin 5
// FlexPWM2_2 PWM pin 6, 9
// FlexPWM2_3 PWM pin 36(T4.1), 37(T4.1)
// FlexPWM3_0 PWM pin 53(T4.1)
// FlexPWM3_1 PWM pin 28, 29
// FlexPWM3_2
// FlexPWM3_3 PWM pin 41(T4.1)
// FlexPWM4_0 PWM pin 22
// FlexPWM4_1 PWM pin 23
// FlexPWM4_2 PWM pin 2, 3
// FlexPWM4_3
// QuadTimer1_0 PWM pin 10
// QuadTimer1_1 PWM pin 12
// QuadTimer1_2 PWM pin 11
// QuadTimer1_3
// QuadTimer2_0 PWM pin 13
// QuadTimer2_1
// QuadTimer2_2
// QuadTimer2_3
// QuadTimer3_0 PWM pin 19
// QuadTimer3_1 PWM pin 18
// QuadTimer3_2 PWM pin 14
// QuadTimer3_3 PWM pin 15
// QuadTimer4_0 OctoWS2811
// QuadTimer4_1 OctoWS2811
// QuadTimer4_2 OctoWS2811
// QuadTimer4_3 AudioInputAnalog
#endif // __IMXRT1062__
void flexpwmWrite(IMXRT_FLEXPWM_t *p, unsigned int submodule, uint8_t channel, uint16_t val)
{
uint16_t mask = 1 << submodule;
uint32_t modulo = p->SM[submodule].VAL1;
uint32_t cval = ((uint32_t)val * (modulo + 1)) >> analog_write_res;
if (cval > modulo) cval = modulo; // TODO: is this check correct?
//printf("flexpwmWrite, p=%08lX, sm=%d, ch=%c, cval=%ld\n",
//(uint32_t)p, submodule, channel == 0 ? 'X' : (channel == 1 ? 'A' : 'B'), cval);
p->MCTRL |= FLEXPWM_MCTRL_CLDOK(mask);
switch (channel) {
case 0: // X
p->SM[submodule].VAL0 = modulo - cval;
p->OUTEN |= FLEXPWM_OUTEN_PWMX_EN(mask);
//printf(" write channel X\n");
break;
case 1: // A
p->SM[submodule].VAL3 = cval;
p->OUTEN |= FLEXPWM_OUTEN_PWMA_EN(mask);
//printf(" write channel A\n");
break;
case 2: // B
p->SM[submodule].VAL5 = cval;
p->OUTEN |= FLEXPWM_OUTEN_PWMB_EN(mask);
//printf(" write channel B\n");
}
p->MCTRL |= FLEXPWM_MCTRL_LDOK(mask);
}
void flexPwmInvertPolarity(uint8_t pin, bool inversePolarity)
{
const struct pwm_pin_info_struct *info;
if (pin >= CORE_NUM_DIGITAL) return;
info = pwm_pin_info + pin;
//return if not a FlexPWM pin
if (info->type != 1) return;
// FlexPWM pin
IMXRT_FLEXPWM_t *flexpwm;
switch ((info->module >> 4) & 3) {
case 0: flexpwm = &IMXRT_FLEXPWM1; break;
case 1: flexpwm = &IMXRT_FLEXPWM2; break;
case 2: flexpwm = &IMXRT_FLEXPWM3; break;
default: flexpwm = &IMXRT_FLEXPWM4;
}
unsigned int submodule = info->module & 0x03;
uint8_t channel = info->channel;
uint8_t polarityShift = 0;
//find out offset for the channel
//TODO: move magic numbers to declarations
switch (channel) {
case 0: // X
polarityShift = 8U; //PWM_OCTRL_POLX_SHIFT
break;
case 1: // A
polarityShift = 10U; //PWM_OCTRL_POLA_SHIFT
break;
case 2: // B
polarityShift = 9U; //PWM_OCTRL_POLB_SHIFT
}
//if polarityShift was not initialized skip
if(!polarityShift) return;
//update polarity
if(inversePolarity) {
flexpwm->SM[submodule].OCTRL |= ((uint16_t)1U << (uint16_t)polarityShift);
} else {
flexpwm->SM[submodule].OCTRL &= ~((uint16_t)1U << (uint16_t)polarityShift);
}
}
void flexpwmFrequency(IMXRT_FLEXPWM_t *p, unsigned int submodule, uint8_t channel, float frequency)
{
uint16_t mask = 1 << submodule;
uint32_t olddiv = p->SM[submodule].VAL1;
uint32_t newdiv = (uint32_t)((float)F_BUS_ACTUAL / frequency + 0.5f);
uint32_t prescale = 0;
//printf(" div=%lu\n", newdiv);
while (newdiv > 65535 && prescale < 7) {
newdiv = newdiv >> 1;
prescale = prescale + 1;
}
if (newdiv > 65535) {
newdiv = 65535;
} else if (newdiv < 2) {
newdiv = 2;
}
//printf(" div=%lu, scale=%lu\n", newdiv, prescale);
p->MCTRL |= FLEXPWM_MCTRL_CLDOK(mask);
p->SM[submodule].CTRL = FLEXPWM_SMCTRL_FULL | FLEXPWM_SMCTRL_PRSC(prescale);
p->SM[submodule].VAL1 = newdiv - 1;
p->SM[submodule].VAL0 = (p->SM[submodule].VAL0 * newdiv) / olddiv;
p->SM[submodule].VAL3 = (p->SM[submodule].VAL3 * newdiv) / olddiv;
p->SM[submodule].VAL5 = (p->SM[submodule].VAL5 * newdiv) / olddiv;
p->MCTRL |= FLEXPWM_MCTRL_LDOK(mask);
}
void quadtimerWrite(IMXRT_TMR_t *p, unsigned int submodule, uint16_t val)
{
uint32_t modulo = 65537 - p->CH[submodule].LOAD + p->CH[submodule].CMPLD1;
uint32_t high = ((uint32_t)val * (modulo - 1)) >> analog_write_res;
if (high >= modulo - 1) high = modulo - 2;
//printf(" modulo=%lu\n", modulo);
//printf(" high=%lu\n", high);
uint32_t low = modulo - high; // low must 2 or higher
//printf(" low=%lu\n", low);
p->CH[submodule].LOAD = 65537 - low;
p->CH[submodule].CMPLD1 = high;
}
void quadtimerFrequency(IMXRT_TMR_t *p, unsigned int submodule, float frequency)
{
uint32_t newdiv = (uint32_t)((float)F_BUS_ACTUAL / frequency + 0.5f);
uint32_t prescale = 0;
//printf(" div=%lu\n", newdiv);
while (newdiv > 65534 && prescale < 7) {
newdiv = newdiv >> 1;
prescale = prescale + 1;
}
if (newdiv > 65534) {
newdiv = 65534;
} else if (newdiv < 2) {
newdiv = 2;
}
//printf(" div=%lu, scale=%lu\n", newdiv, prescale);
uint32_t oldhigh = p->CH[submodule].CMPLD1;
uint32_t oldlow = 65537 - p->CH[submodule].LOAD;
uint32_t high = (oldhigh * newdiv) / (oldhigh + oldlow);
// TODO: low must never be less than 2 - can it happen with this?
uint32_t low = newdiv - high;
//printf(" high=%lu, low=%lu\n", high, low);
p->CH[submodule].LOAD = 65537 - low;
p->CH[submodule].CMPLD1 = high;
p->CH[submodule].CTRL = TMR_CTRL_CM(1) | TMR_CTRL_PCS(8 + prescale) |
TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE(6);
}
void analogWrite(uint8_t pin, int val)
{
const struct pwm_pin_info_struct *info;
if (pin >= CORE_NUM_DIGITAL) return;
//printf("analogWrite, pin %d, val %d\n", pin, val);
info = pwm_pin_info + pin;
if (info->type == 1) {
// FlexPWM pin
IMXRT_FLEXPWM_t *flexpwm;
switch ((info->module >> 4) & 3) {
case 0: flexpwm = &IMXRT_FLEXPWM1; break;
case 1: flexpwm = &IMXRT_FLEXPWM2; break;
case 2: flexpwm = &IMXRT_FLEXPWM3; break;
default: flexpwm = &IMXRT_FLEXPWM4;
}
flexpwmWrite(flexpwm, info->module & 0x03, info->channel, val);
} else if (info->type == 2) {
// QuadTimer pin
IMXRT_TMR_t *qtimer;
switch ((info->module >> 4) & 3) {
case 0: qtimer = &IMXRT_TMR1; break;
case 1: qtimer = &IMXRT_TMR2; break;
case 2: qtimer = &IMXRT_TMR3; break;
default: qtimer = &IMXRT_TMR4;
}
quadtimerWrite(qtimer, info->module & 0x03, val);
} else {
return;
}
*(portConfigRegister(pin)) = info->muxval;
// TODO: pad config register
}
void analogWriteFrequency(uint8_t pin, float frequency)
{
const struct pwm_pin_info_struct *info;
if (pin >= CORE_NUM_DIGITAL) return;
//printf("analogWriteFrequency, pin %d, freq %d\n", pin, (int)frequency);
info = pwm_pin_info + pin;
if (info->type == 1) {
// FlexPWM pin
IMXRT_FLEXPWM_t *flexpwm;
switch ((info->module >> 4) & 3) {
case 0: flexpwm = &IMXRT_FLEXPWM1; break;
case 1: flexpwm = &IMXRT_FLEXPWM2; break;
case 2: flexpwm = &IMXRT_FLEXPWM3; break;
default: flexpwm = &IMXRT_FLEXPWM4;
}
flexpwmFrequency(flexpwm, info->module & 0x03, info->channel, frequency);
} else if (info->type == 2) {
// QuadTimer pin
IMXRT_TMR_t *qtimer;
switch ((info->module >> 4) & 3) {
case 0: qtimer = &IMXRT_TMR1; break;
case 1: qtimer = &IMXRT_TMR2; break;
case 2: qtimer = &IMXRT_TMR3; break;
default: qtimer = &IMXRT_TMR4;
}
quadtimerFrequency(qtimer, info->module & 0x03, frequency);
}
}
void flexpwm_init(IMXRT_FLEXPWM_t *p)
{
int i;
p->FCTRL0 = FLEXPWM_FCTRL0_FLVL(15); // logic high = fault
p->FSTS0 = 0x000F; // clear fault status
p->FFILT0 = 0;
p->MCTRL |= FLEXPWM_MCTRL_CLDOK(15);
for (i=0; i < 4; i++) {
p->SM[i].CTRL2 = FLEXPWM_SMCTRL2_INDEP | FLEXPWM_SMCTRL2_WAITEN
| FLEXPWM_SMCTRL2_DBGEN;
p->SM[i].CTRL = FLEXPWM_SMCTRL_FULL;
p->SM[i].OCTRL = 0;
p->SM[i].DTCNT0 = 0;
p->SM[i].INIT = 0;
p->SM[i].VAL0 = 0;
p->SM[i].VAL1 = 33464;
p->SM[i].VAL2 = 0;
p->SM[i].VAL3 = 0;
p->SM[i].VAL4 = 0;
p->SM[i].VAL5 = 0;
}
p->MCTRL |= FLEXPWM_MCTRL_LDOK(15);
p->MCTRL |= FLEXPWM_MCTRL_RUN(15);
}
void quadtimer_init(IMXRT_TMR_t *p)
{
int i;
for (i=0; i < 4; i++) {
p->CH[i].CTRL = 0; // stop timer
p->CH[i].CNTR = 0;
p->CH[i].SCTRL = TMR_SCTRL_OEN | TMR_SCTRL_OPS | TMR_SCTRL_VAL | TMR_SCTRL_FORCE;
p->CH[i].CSCTRL = TMR_CSCTRL_CL1(1) | TMR_CSCTRL_ALT_LOAD;
// COMP must be less than LOAD - otherwise output is always low
p->CH[i].LOAD = 24000; // low time (65537 - x) -
p->CH[i].COMP1 = 0; // high time (0 = always low, max = LOAD-1)
p->CH[i].CMPLD1 = 0;
p->CH[i].CTRL = TMR_CTRL_CM(1) | TMR_CTRL_PCS(8) |
TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE(6);
}
}
void pwm_init(void)
{
//printf("pwm init\n");
CCM_CCGR4 |= CCM_CCGR4_PWM1(CCM_CCGR_ON) | CCM_CCGR4_PWM2(CCM_CCGR_ON) |
CCM_CCGR4_PWM3(CCM_CCGR_ON) | CCM_CCGR4_PWM4(CCM_CCGR_ON);
CCM_CCGR6 |= CCM_CCGR6_QTIMER1(CCM_CCGR_ON) | CCM_CCGR6_QTIMER2(CCM_CCGR_ON) |
CCM_CCGR6_QTIMER3(CCM_CCGR_ON) | CCM_CCGR6_QTIMER4(CCM_CCGR_ON);
flexpwm_init(&IMXRT_FLEXPWM1);
flexpwm_init(&IMXRT_FLEXPWM2);
flexpwm_init(&IMXRT_FLEXPWM3);
flexpwm_init(&IMXRT_FLEXPWM4);
quadtimer_init(&IMXRT_TMR1);
quadtimer_init(&IMXRT_TMR2);
quadtimer_init(&IMXRT_TMR3);
}
void xbar_connect(unsigned int input, unsigned int output)
{
if (input >= 88) return;
if (output >= 132) return;
#if 1
volatile uint16_t *xbar = &XBARA1_SEL0 + (output / 2);
uint16_t val = *xbar;
if (!(output & 1)) {
val = (val & 0xFF00) | input;
} else {
val = (val & 0x00FF) | (input << 8);
}
*xbar = val;
#else
// does not work, seems 8 bit access is not allowed
volatile uint8_t *xbar = (volatile uint8_t *)XBARA1_SEL0;
xbar[output] = input;
#endif
}
uint32_t analogWriteRes(uint32_t bits)
{
uint32_t prior;
if (bits < 1) {
bits = 1;
} else if (bits > 16) {
bits = 16;
}
prior = analog_write_res;
analog_write_res = bits;
return prior;
}