diff --git a/embassy-nrf-examples/src/bin/pwm.rs b/embassy-nrf-examples/src/bin/pwm.rs new file mode 100644 index 00000000..6efcf22d --- /dev/null +++ b/embassy-nrf-examples/src/bin/pwm.rs @@ -0,0 +1,104 @@ +#![no_std] +#![no_main] +#![feature(min_type_alias_impl_trait)] +#![feature(impl_trait_in_bindings)] +#![feature(type_alias_impl_trait)] +#![allow(incomplete_features)] + +#[path = "../example_common.rs"] +mod example_common; +use defmt::{panic, *}; +use embassy::executor::Spawner; +use embassy::time::{Duration, Timer}; +use embassy_nrf::pwm::{Prescaler, Pwm}; +use embassy_nrf::{interrupt, Peripherals}; + +// for i in range(1024): print(int((math.sin(i/512*math.pi)*0.4+0.5)**2*32767), ', ', end='') +static DUTY: [u16; 1024] = [ + 8191, 8272, 8353, 8434, 8516, 8598, 8681, 8764, 8847, 8931, 9015, 9099, 9184, 9269, 9354, 9440, + 9526, 9613, 9700, 9787, 9874, 9962, 10050, 10139, 10227, 10316, 10406, 10495, 10585, 10675, + 10766, 10857, 10948, 11039, 11131, 11223, 11315, 11407, 11500, 11592, 11685, 11779, 11872, + 11966, 12060, 12154, 12248, 12343, 12438, 12533, 12628, 12723, 12818, 12914, 13010, 13106, + 13202, 13298, 13394, 13491, 13587, 13684, 13781, 13878, 13975, 14072, 14169, 14266, 14364, + 14461, 14558, 14656, 14754, 14851, 14949, 15046, 15144, 15242, 15339, 15437, 15535, 15632, + 15730, 15828, 15925, 16023, 16120, 16218, 16315, 16412, 16510, 16607, 16704, 16801, 16898, + 16995, 17091, 17188, 17284, 17380, 17477, 17572, 17668, 17764, 17859, 17955, 18050, 18145, + 18239, 18334, 18428, 18522, 18616, 18710, 18803, 18896, 18989, 19082, 19174, 19266, 19358, + 19449, 19540, 19631, 19722, 19812, 19902, 19991, 20081, 20169, 20258, 20346, 20434, 20521, + 20608, 20695, 20781, 20867, 20952, 21037, 21122, 21206, 21290, 21373, 21456, 21538, 21620, + 21701, 21782, 21863, 21943, 22022, 22101, 22179, 22257, 22335, 22412, 22488, 22564, 22639, + 22714, 22788, 22861, 22934, 23007, 23079, 23150, 23220, 23290, 23360, 23429, 23497, 23564, + 23631, 23698, 23763, 23828, 23892, 23956, 24019, 24081, 24143, 24204, 24264, 24324, 24383, + 24441, 24499, 24555, 24611, 24667, 24721, 24775, 24828, 24881, 24933, 24983, 25034, 25083, + 25132, 25180, 25227, 25273, 25319, 25363, 25407, 25451, 25493, 25535, 25575, 25615, 25655, + 25693, 25731, 25767, 25803, 25838, 25873, 25906, 25939, 25971, 26002, 26032, 26061, 26089, + 26117, 26144, 26170, 26195, 26219, 26242, 26264, 26286, 26307, 26327, 26346, 26364, 26381, + 26397, 26413, 26427, 26441, 26454, 26466, 26477, 26487, 26496, 26505, 26512, 26519, 26525, + 26530, 26534, 26537, 26539, 26540, 26541, 26540, 26539, 26537, 26534, 26530, 26525, 26519, + 26512, 26505, 26496, 26487, 26477, 26466, 26454, 26441, 26427, 26413, 26397, 26381, 26364, + 26346, 26327, 26307, 26286, 26264, 26242, 26219, 26195, 26170, 26144, 26117, 26089, 26061, + 26032, 26002, 25971, 25939, 25906, 25873, 25838, 25803, 25767, 25731, 25693, 25655, 25615, + 25575, 25535, 25493, 25451, 25407, 25363, 25319, 25273, 25227, 25180, 25132, 25083, 25034, + 24983, 24933, 24881, 24828, 24775, 24721, 24667, 24611, 24555, 24499, 24441, 24383, 24324, + 24264, 24204, 24143, 24081, 24019, 23956, 23892, 23828, 23763, 23698, 23631, 23564, 23497, + 23429, 23360, 23290, 23220, 23150, 23079, 23007, 22934, 22861, 22788, 22714, 22639, 22564, + 22488, 22412, 22335, 22257, 22179, 22101, 22022, 21943, 21863, 21782, 21701, 21620, 21538, + 21456, 21373, 21290, 21206, 21122, 21037, 20952, 20867, 20781, 20695, 20608, 20521, 20434, + 20346, 20258, 20169, 20081, 19991, 19902, 19812, 19722, 19631, 19540, 19449, 19358, 19266, + 19174, 19082, 18989, 18896, 18803, 18710, 18616, 18522, 18428, 18334, 18239, 18145, 18050, + 17955, 17859, 17764, 17668, 17572, 17477, 17380, 17284, 17188, 17091, 16995, 16898, 16801, + 16704, 16607, 16510, 16412, 16315, 16218, 16120, 16023, 15925, 15828, 15730, 15632, 15535, + 15437, 15339, 15242, 15144, 15046, 14949, 14851, 14754, 14656, 14558, 14461, 14364, 14266, + 14169, 14072, 13975, 13878, 13781, 13684, 13587, 13491, 13394, 13298, 13202, 13106, 13010, + 12914, 12818, 12723, 12628, 12533, 12438, 12343, 12248, 12154, 12060, 11966, 11872, 11779, + 11685, 11592, 11500, 11407, 11315, 11223, 11131, 11039, 10948, 10857, 10766, 10675, 10585, + 10495, 10406, 10316, 10227, 10139, 10050, 9962, 9874, 9787, 9700, 9613, 9526, 9440, 9354, 9269, + 9184, 9099, 9015, 8931, 8847, 8764, 8681, 8598, 8516, 8434, 8353, 8272, 8191, 8111, 8031, 7952, + 7873, 7794, 7716, 7638, 7561, 7484, 7407, 7331, 7255, 7180, 7105, 7031, 6957, 6883, 6810, 6738, + 6665, 6594, 6522, 6451, 6381, 6311, 6241, 6172, 6104, 6036, 5968, 5901, 5834, 5767, 5702, 5636, + 5571, 5507, 5443, 5379, 5316, 5253, 5191, 5130, 5068, 5008, 4947, 4888, 4828, 4769, 4711, 4653, + 4596, 4539, 4482, 4426, 4371, 4316, 4261, 4207, 4153, 4100, 4047, 3995, 3943, 3892, 3841, 3791, + 3741, 3691, 3642, 3594, 3546, 3498, 3451, 3404, 3358, 3312, 3267, 3222, 3178, 3134, 3090, 3047, + 3005, 2962, 2921, 2879, 2839, 2798, 2758, 2719, 2680, 2641, 2603, 2565, 2528, 2491, 2454, 2418, + 2382, 2347, 2312, 2278, 2244, 2210, 2177, 2144, 2112, 2080, 2048, 2017, 1986, 1956, 1926, 1896, + 1867, 1838, 1810, 1781, 1754, 1726, 1699, 1673, 1646, 1620, 1595, 1570, 1545, 1520, 1496, 1472, + 1449, 1426, 1403, 1380, 1358, 1336, 1315, 1294, 1273, 1252, 1232, 1212, 1192, 1173, 1154, 1135, + 1117, 1099, 1081, 1063, 1046, 1029, 1012, 996, 980, 964, 948, 933, 918, 903, 888, 874, 860, + 846, 833, 819, 806, 793, 781, 768, 756, 744, 733, 721, 710, 699, 688, 677, 667, 657, 647, 637, + 627, 618, 609, 599, 591, 582, 574, 565, 557, 549, 541, 534, 526, 519, 512, 505, 498, 492, 485, + 479, 473, 467, 461, 455, 450, 444, 439, 434, 429, 424, 419, 415, 410, 406, 402, 398, 394, 390, + 386, 383, 379, 376, 373, 370, 367, 364, 361, 359, 356, 354, 351, 349, 347, 345, 343, 342, 340, + 338, 337, 336, 334, 333, 332, 331, 330, 330, 329, 328, 328, 328, 327, 327, 327, 327, 327, 328, + 328, 328, 329, 330, 330, 331, 332, 333, 334, 336, 337, 338, 340, 342, 343, 345, 347, 349, 351, + 354, 356, 359, 361, 364, 367, 370, 373, 376, 379, 383, 386, 390, 394, 398, 402, 406, 410, 415, + 419, 424, 429, 434, 439, 444, 450, 455, 461, 467, 473, 479, 485, 492, 498, 505, 512, 519, 526, + 534, 541, 549, 557, 565, 574, 582, 591, 599, 609, 618, 627, 637, 647, 657, 667, 677, 688, 699, + 710, 721, 733, 744, 756, 768, 781, 793, 806, 819, 833, 846, 860, 874, 888, 903, 918, 933, 948, + 964, 980, 996, 1012, 1029, 1046, 1063, 1081, 1099, 1117, 1135, 1154, 1173, 1192, 1212, 1232, + 1252, 1273, 1294, 1315, 1336, 1358, 1380, 1403, 1426, 1449, 1472, 1496, 1520, 1545, 1570, 1595, + 1620, 1646, 1673, 1699, 1726, 1754, 1781, 1810, 1838, 1867, 1896, 1926, 1956, 1986, 2017, 2048, + 2080, 2112, 2144, 2177, 2210, 2244, 2278, 2312, 2347, 2382, 2418, 2454, 2491, 2528, 2565, 2603, + 2641, 2680, 2719, 2758, 2798, 2839, 2879, 2921, 2962, 3005, 3047, 3090, 3134, 3178, 3222, 3267, + 3312, 3358, 3404, 3451, 3498, 3546, 3594, 3642, 3691, 3741, 3791, 3841, 3892, 3943, 3995, 4047, + 4100, 4153, 4207, 4261, 4316, 4371, 4426, 4482, 4539, 4596, 4653, 4711, 4769, 4828, 4888, 4947, + 5008, 5068, 5130, 5191, 5253, 5316, 5379, 5443, 5507, 5571, 5636, 5702, 5767, 5834, 5901, 5968, + 6036, 6104, 6172, 6241, 6311, 6381, 6451, 6522, 6594, 6665, 6738, 6810, 6883, 6957, 7031, 7105, + 7180, 7255, 7331, 7407, 7484, 7561, 7638, 7716, 7794, 7873, 7952, 8031, 8111, +]; + +#[embassy::main] +async fn main(spawner: Spawner, p: Peripherals) { + let pwm = Pwm::new(p.PWM0, p.P0_13, p.P0_14, p.P0_16, p.P0_15); + pwm.set_prescaler(Prescaler::Div1); + info!("pwm initialized!"); + + let mut i = 0; + loop { + i += 1; + pwm.set_duty(0, DUTY[i % 1024]); + pwm.set_duty(1, DUTY[(i + 256) % 1024]); + pwm.set_duty(2, DUTY[(i + 512) % 1024]); + pwm.set_duty(3, DUTY[(i + 768) % 1024]); + Timer::after(Duration::from_millis(3)).await; + } +} diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs index 2e77a2fa..9e9f8009 100644 --- a/embassy-nrf/src/chips/nrf52810.rs +++ b/embassy-nrf/src/chips/nrf52810.rs @@ -18,6 +18,9 @@ embassy_extras::peripherals! { // SAADC SAADC, + // PWM + PWM0, + // TIMER TIMER0, TIMER1, @@ -115,6 +118,8 @@ impl_spim!(SPI0, SPIM0, SPIM0_SPIS0_SPI0); impl_twim!(TWI0, TWIM0, TWIM0_TWIS0_TWI0); +impl_pwm!(PWM0, PWM0, PWM0); + impl_timer!(TIMER0, TIMER0, TIMER0); impl_timer!(TIMER1, TIMER1, TIMER1); impl_timer!(TIMER2, TIMER2, TIMER2); diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs index b3ad5817..a9ef0ed1 100644 --- a/embassy-nrf/src/chips/nrf52811.rs +++ b/embassy-nrf/src/chips/nrf52811.rs @@ -18,6 +18,9 @@ embassy_extras::peripherals! { // SAADC SAADC, + // PWM + PWM0, + // TIMER TIMER0, TIMER1, @@ -116,6 +119,8 @@ impl_spim!(SPI1, SPIM1, SPIM1_SPIS1_SPI1); impl_twim!(TWISPI0, TWIM0, TWIM0_TWIS0_TWI0_SPIM0_SPIS0_SPI0); +impl_pwm!(PWM0, PWM0, PWM0); + impl_timer!(TIMER0, TIMER0, TIMER0); impl_timer!(TIMER1, TIMER1, TIMER1); impl_timer!(TIMER2, TIMER2, TIMER2); diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs index ed94430e..4e57f2fa 100644 --- a/embassy-nrf/src/chips/nrf52832.rs +++ b/embassy-nrf/src/chips/nrf52832.rs @@ -21,6 +21,11 @@ embassy_extras::peripherals! { // SAADC SAADC, + // PWM + PWM0, + PWM1, + PWM2, + // TIMER TIMER0, TIMER1, @@ -123,6 +128,10 @@ impl_spim!(SPI2, SPIM2, SPIM2_SPIS2_SPI2); impl_twim!(TWISPI0, TWIM0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0); impl_twim!(TWISPI1, TWIM1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1); +impl_pwm!(PWM0, PWM0, PWM0); +impl_pwm!(PWM1, PWM1, PWM1); +impl_pwm!(PWM2, PWM2, PWM2); + impl_timer!(TIMER0, TIMER0, TIMER0); impl_timer!(TIMER1, TIMER1, TIMER1); impl_timer!(TIMER2, TIMER2, TIMER2); diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs index 080157d6..30b0ab00 100644 --- a/embassy-nrf/src/chips/nrf52833.rs +++ b/embassy-nrf/src/chips/nrf52833.rs @@ -22,6 +22,12 @@ embassy_extras::peripherals! { // SAADC SAADC, + // PWM + PWM0, + PWM1, + PWM2, + PWM3, + // TIMER TIMER0, TIMER1, @@ -144,6 +150,11 @@ impl_spim!(SPI3, SPIM3, SPIM3); impl_twim!(TWISPI0, TWIM0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0); impl_twim!(TWISPI1, TWIM1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1); +impl_pwm!(PWM0, PWM0, PWM0); +impl_pwm!(PWM1, PWM1, PWM1); +impl_pwm!(PWM2, PWM2, PWM2); +impl_pwm!(PWM3, PWM3, PWM3); + impl_timer!(TIMER0, TIMER0, TIMER0); impl_timer!(TIMER1, TIMER1, TIMER1); impl_timer!(TIMER2, TIMER2, TIMER2); diff --git a/embassy-nrf/src/chips/nrf52840.rs b/embassy-nrf/src/chips/nrf52840.rs index 06b508d8..0b6c3f68 100644 --- a/embassy-nrf/src/chips/nrf52840.rs +++ b/embassy-nrf/src/chips/nrf52840.rs @@ -25,6 +25,12 @@ embassy_extras::peripherals! { // SAADC SAADC, + // PWM + PWM0, + PWM1, + PWM2, + PWM3, + // TIMER TIMER0, TIMER1, @@ -147,6 +153,11 @@ impl_spim!(SPI3, SPIM3, SPIM3); impl_twim!(TWISPI0, TWIM0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0); impl_twim!(TWISPI1, TWIM1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1); +impl_pwm!(PWM0, PWM0, PWM0); +impl_pwm!(PWM1, PWM1, PWM1); +impl_pwm!(PWM2, PWM2, PWM2); +impl_pwm!(PWM3, PWM3, PWM3); + impl_timer!(TIMER0, TIMER0, TIMER0); impl_timer!(TIMER1, TIMER1, TIMER1); impl_timer!(TIMER2, TIMER2, TIMER2); diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs index 6ab9cbb2..1c496be1 100644 --- a/embassy-nrf/src/lib.rs +++ b/embassy-nrf/src/lib.rs @@ -29,6 +29,8 @@ pub mod buffered_uarte; pub mod gpio; pub mod gpiote; pub mod ppi; +#[cfg(not(any(feature = "nrf52805", feature = "nrf52820")))] +pub mod pwm; #[cfg(feature = "nrf52840")] pub mod qspi; pub mod rtc; diff --git a/embassy-nrf/src/pwm.rs b/embassy-nrf/src/pwm.rs new file mode 100644 index 00000000..b79c4bc3 --- /dev/null +++ b/embassy-nrf/src/pwm.rs @@ -0,0 +1,219 @@ +#![macro_use] + +use core::cell::UnsafeCell; +use core::marker::PhantomData; +use core::sync::atomic::{compiler_fence, Ordering}; +use embassy::util::Unborrow; +use embassy_extras::unborrow; + +use crate::fmt::{assert, panic, unreachable, *}; +use crate::gpio::sealed::Pin as _; +use crate::gpio::OptionalPin as GpioOptionalPin; +use crate::interrupt::Interrupt; +use crate::pac; + +#[derive(Debug, Eq, PartialEq, Clone, Copy)] +pub enum Prescaler { + Div1, + Div2, + Div4, + Div8, + Div16, + Div32, + Div64, + Div128, +} + +/// Interface to the UARTE peripheral +pub struct Pwm<'d, T: Instance> { + peri: T, + phantom: PhantomData<&'d mut T>, +} + +impl<'d, T: Instance> Pwm<'d, T> { + /// Creates the interface to a UARTE instance. + /// Sets the baud rate, parity and assigns the pins to the UARTE peripheral. + /// + /// # Safety + /// + /// The returned API is safe unless you use `mem::forget` (or similar safe mechanisms) + /// on stack allocated buffers which which have been passed to [`send()`](Pwm::send) + /// or [`receive`](Pwm::receive). + #[allow(unused_unsafe)] + pub fn new( + pwm: impl Unborrow + 'd, + ch0: impl Unborrow + 'd, + ch1: impl Unborrow + 'd, + ch2: impl Unborrow + 'd, + ch3: impl Unborrow + 'd, + ) -> Self { + unborrow!(pwm, ch0, ch1, ch2, ch3); + + let r = T::regs(); + let s = T::state(); + + if let Some(pin) = ch0.pin_mut() { + pin.set_high(); + pin.conf().write(|w| w.dir().output()); + } + if let Some(pin) = ch1.pin_mut() { + pin.set_high(); + pin.conf().write(|w| w.dir().output()); + } + if let Some(pin) = ch2.pin_mut() { + pin.set_high(); + pin.conf().write(|w| w.dir().output()); + } + if let Some(pin) = ch3.pin_mut() { + pin.set_high(); + pin.conf().write(|w| w.dir().output()); + } + r.psel.out[0].write(|w| unsafe { w.bits(ch0.psel_bits()) }); + r.psel.out[1].write(|w| unsafe { w.bits(ch1.psel_bits()) }); + r.psel.out[2].write(|w| unsafe { w.bits(ch2.psel_bits()) }); + r.psel.out[3].write(|w| unsafe { w.bits(ch3.psel_bits()) }); + + // Disable all interrupts + r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) }); + + // Enable + r.enable.write(|w| w.enable().enabled()); + + r.seq0 + .ptr + .write(|w| unsafe { w.bits(&s.duty as *const _ as u32) }); + r.seq0.cnt.write(|w| unsafe { w.bits(4) }); + r.seq0.refresh.write(|w| unsafe { w.bits(32) }); + r.seq0.enddelay.write(|w| unsafe { w.bits(0) }); + + r.decoder.write(|w| { + w.load().individual(); + w.mode().refresh_count() + }); + r.mode.write(|w| w.updown().up()); + r.prescaler.write(|w| w.prescaler().div_1()); + r.countertop + .write(|w| unsafe { w.countertop().bits(32767) }); + r.loop_.write(|w| w.cnt().disabled()); + + Self { + peri: pwm, + phantom: PhantomData, + } + } + + /// Sets duty cycle (15 bit) for a PWM channel. + pub fn set_duty(&self, channel: usize, duty: u16) { + let s = T::state(); + unsafe { (*s.duty.get())[channel] = duty & 0x7FFF }; + + compiler_fence(Ordering::SeqCst); + T::regs().tasks_seqstart[0].write(|w| unsafe { w.bits(1) }); + } + + /// Sets the PWM clock prescaler. + #[inline(always)] + pub fn set_prescaler(&self, div: Prescaler) { + T::regs().prescaler.write(|w| w.prescaler().bits(div as u8)); + } + + /// Sets the PWM clock prescaler. + #[inline(always)] + pub fn prescaler(&self) -> Prescaler { + match T::regs().prescaler.read().prescaler().bits() { + 0 => Prescaler::Div1, + 1 => Prescaler::Div2, + 2 => Prescaler::Div4, + 3 => Prescaler::Div8, + 4 => Prescaler::Div16, + 5 => Prescaler::Div32, + 6 => Prescaler::Div64, + 7 => Prescaler::Div128, + _ => unreachable!(), + } + } + + /// Sets the maximum duty cycle value. + #[inline(always)] + pub fn set_max_duty(&self, duty: u16) { + T::regs() + .countertop + .write(|w| unsafe { w.countertop().bits(duty.min(32767u16)) }); + } + + /// Returns the maximum duty cycle value. + #[inline(always)] + pub fn max_duty(&self) -> u16 { + T::regs().countertop.read().countertop().bits() + } + + /// Sets the PWM output frequency. + #[inline(always)] + pub fn set_period(&self, freq: u32) { + let clk = 16_000_000u32 >> (self.prescaler() as u8); + let duty = clk / freq; + self.set_max_duty(duty.min(32767) as u16); + } + + /// Returns the PWM output frequency. + #[inline(always)] + pub fn period(&self) -> u32 { + let clk = 16_000_000u32 >> (self.prescaler() as u8); + let max_duty = self.max_duty() as u32; + clk / max_duty + } +} + +impl<'a, T: Instance> Drop for Pwm<'a, T> { + fn drop(&mut self) { + let r = T::regs(); + r.enable.write(|w| w.enable().disabled()); + + info!("pwm drop: done"); + + // TODO: disable pins + } +} + +pub(crate) mod sealed { + use super::*; + + pub struct State { + pub duty: UnsafeCell<[u16; 4]>, + } + unsafe impl Sync for State {} + + impl State { + pub const fn new() -> Self { + Self { + duty: UnsafeCell::new([0; 4]), + } + } + } + + pub trait Instance { + fn regs() -> &'static pac::pwm0::RegisterBlock; + fn state() -> &'static State; + } +} + +pub trait Instance: sealed::Instance + 'static { + type Interrupt: Interrupt; +} + +macro_rules! impl_pwm { + ($type:ident, $pac_type:ident, $irq:ident) => { + impl crate::pwm::sealed::Instance for peripherals::$type { + fn regs() -> &'static pac::pwm0::RegisterBlock { + unsafe { &*pac::$pac_type::ptr() } + } + fn state() -> &'static crate::pwm::sealed::State { + static STATE: crate::pwm::sealed::State = crate::pwm::sealed::State::new(); + &STATE + } + } + impl crate::pwm::Instance for peripherals::$type { + type Interrupt = crate::interrupt::$irq; + } + }; +}