339 lines
13 KiB
C
339 lines
13 KiB
C
/**
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* Copyright (c) 2015 - 2019, Nordic Semiconductor ASA
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into a Nordic
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* Semiconductor ASA integrated circuit in a product or a software update for
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* such product, must reproduce the above copyright notice, this list of
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* conditions and the following disclaimer in the documentation and/or other
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* materials provided with the distribution.
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*
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* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* Nordic Semiconductor ASA integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be reverse
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* engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
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* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/** @file
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*
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* @defgroup app_pwm Pulse-width modulation (PWM)
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* @{
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* @ingroup app_common
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*
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* @brief Module for generating a pulse-width modulated output signal.
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*
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* @details This module provides a PWM implementation using timers, GPIOTE, and PPI.
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*
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* Resource usage:
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* - 2 PPI channels per instance + 2 PPI channels per PWM channel.
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* - 1 PPI group per instance.
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* - 1 GPIOTE channel per PWM channel.
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*
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* For example, a PWM instance with two channels will consume 2 + 4 PPI channels, 1 PPI group, and 2 GPIOTE channels.
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*
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* The maximum number of PWM channels per instance is 2.
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*/
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#ifndef APP_PWM_H__
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#define APP_PWM_H__
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#include <stdint.h>
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#include "sdk_errors.h"
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#include "nrf_drv_timer.h"
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#include "nrf_drv_ppi.h"
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#include "nrf_peripherals.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#if defined(GPIOTE_FEATURE_SET_PRESENT) && defined(GPIOTE_FEATURE_CLR_PRESENT)
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#define GPIOTE_SET_CLEAR_TASKS
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#endif
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#define APP_PWM_NOPIN 0xFFFFFFFF
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/** @brief Number of channels for one timer instance (fixed to 2 due to timer properties).*/
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#define APP_PWM_CHANNELS_PER_INSTANCE 2
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/**@brief Macro for creating a PWM instance. */
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#define APP_PWM_INSTANCE(name, num) \
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const nrf_drv_timer_t m_pwm_##name##_timer = NRF_DRV_TIMER_INSTANCE(num); \
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app_pwm_cb_t m_pwm_##name##_cb; \
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/*lint -e{545}*/ \
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const app_pwm_t name = { \
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.p_cb = &m_pwm_##name##_cb, \
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.p_timer = &m_pwm_##name##_timer, \
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}
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/**@brief PWM instance default configuration (1 channel). */
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#define APP_PWM_DEFAULT_CONFIG_1CH(period_in_us, pin) \
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{ \
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.pins = {pin, APP_PWM_NOPIN}, \
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.pin_polarity = {APP_PWM_POLARITY_ACTIVE_LOW, APP_PWM_POLARITY_ACTIVE_LOW}, \
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.num_of_channels = 1, \
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.period_us = period_in_us \
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}
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/**@brief PWM instance default configuration (2 channels). */
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#define APP_PWM_DEFAULT_CONFIG_2CH(period_in_us, pin0, pin1) \
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{ \
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.pins = {pin0, pin1}, \
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.pin_polarity = {APP_PWM_POLARITY_ACTIVE_LOW, APP_PWM_POLARITY_ACTIVE_LOW}, \
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.num_of_channels = 2, \
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.period_us = period_in_us \
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}
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typedef uint16_t app_pwm_duty_t;
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/**
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* @brief PWM callback that is executed when a PWM duty change has been completed.
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*
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* @param[in] pwm_id PWM instance ID.
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*/
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typedef void (* app_pwm_callback_t)(uint32_t);
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/**
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* @brief Channel polarity.
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*/
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typedef enum
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{
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APP_PWM_POLARITY_ACTIVE_LOW = 0,
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APP_PWM_POLARITY_ACTIVE_HIGH = 1
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} app_pwm_polarity_t;
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/**@brief PWM configuration structure used for initialization. */
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typedef struct
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{
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uint32_t pins[APP_PWM_CHANNELS_PER_INSTANCE]; //!< Pins configured as PWM output.
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app_pwm_polarity_t pin_polarity[APP_PWM_CHANNELS_PER_INSTANCE]; //!< Polarity of active state on pin.
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uint32_t num_of_channels; //!< Number of channels that can be used.
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uint32_t period_us; //!< PWM signal output period to configure (in microseconds).
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} app_pwm_config_t;
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/**
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* @cond (NODOX)
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* @defgroup app_pwm_internal Auxiliary internal types declarations
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* @{
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* @internal
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*
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* @brief Module for internal usage inside the library only
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*
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* There are some definitions that must be included in the header file because
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* of the way the library is set up. In this way, the are accessible to the user.
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* However, any functions and variables defined here may change at any time
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* without a warning, so you should not access them directly.
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*/
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/**
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* @brief PWM channel instance
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*
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* This structure holds all data needed by a single PWM channel.
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*/
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typedef struct
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{
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uint32_t gpio_pin; //!< Pin that is used by this PWM channel.
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uint32_t pulsewidth; //!< The copy of duty currently set (in ticks).
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nrf_ppi_channel_t ppi_channels[2]; //!< PPI channels used by the PWM channel to clear and set the output.
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app_pwm_polarity_t polarity; //!< The active state of the pin.
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uint8_t initialized; //!< The internal information if the selected channel was initialized.
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} app_pwm_channel_cb_t;
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/**
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* @brief Variable part of PWM instance
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*
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* This structure holds instance data that may change.
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*/
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typedef struct
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{
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app_pwm_channel_cb_t channels_cb[APP_PWM_CHANNELS_PER_INSTANCE]; //!< Channels data
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uint32_t period; //!< Selected period in ticks
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app_pwm_callback_t p_ready_callback; //!< Callback function called on PWM readiness
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#ifdef GPIOTE_SET_CLEAR_TASKS
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nrf_ppi_channel_t ppi_channel; //!< PPI channel used temporary while changing duty
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#else
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nrf_ppi_channel_t ppi_channels[2]; //!< PPI channels used temporary while changing duty
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nrf_ppi_channel_group_t ppi_group; //!< PPI group used to synchronize changes on channels
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#endif
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nrfx_drv_state_t state; //!< Current driver status
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} app_pwm_cb_t;
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/** @}
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* @endcond
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*/
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/**@brief PWM instance structure. */
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typedef struct
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{
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app_pwm_cb_t *p_cb; //!< Pointer to control block internals.
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nrf_drv_timer_t const * const p_timer; //!< Timer used by this PWM instance.
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} app_pwm_t;
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/**
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* @brief Function for checking if the PWM instance is busy updating the duty cycle.
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*
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* @param[in] p_instance PWM instance.
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*
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* @retval True If the PWM instance is ready for duty cycle changes.
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* @retval False If a change operation is in progress.
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*/
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bool app_pwm_busy_check(app_pwm_t const * const p_instance);
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/**
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* @brief Function for initializing a PWM instance.
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*
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* @param[in] p_instance PWM instance.
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* @param[in] p_config Initial configuration.
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* @param[in] p_ready_callback Pointer to ready callback function (or NULL to disable).
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*
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* @retval NRF_SUCCESS If initialization was successful.
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* @retval NRF_ERROR_NO_MEM If there were not enough free resources.
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* @retval NRF_ERROR_INVALID_PARAM If an invalid configuration structure was passed.
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* @retval NRF_ERROR_INVALID_STATE If the timer/PWM is already in use or if initialization failed.
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*/
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ret_code_t app_pwm_init(app_pwm_t const * const p_instance, app_pwm_config_t const * const p_config,
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app_pwm_callback_t p_ready_callback);
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/**
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* @brief Function for uninitializing a PWM instance and releasing the allocated resources.
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*
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* @param[in] p_instance PWM instance.
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*
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* @retval NRF_SUCCESS If uninitialization was successful.
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* @retval NRF_ERROR_INVALID_STATE If the given instance was not initialized.
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*/
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ret_code_t app_pwm_uninit(app_pwm_t const * const p_instance);
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/**
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* @brief Function for enabling a PWM instance after initialization.
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*
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* @param[in] p_instance PWM instance.
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*/
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void app_pwm_enable(app_pwm_t const * const p_instance);
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/**
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* @brief Function for disabling a PWM instance after initialization.
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*
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* @param[in] p_instance PWM instance.
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*/
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void app_pwm_disable(app_pwm_t const * const p_instance);
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/**
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* @brief Function for setting the PWM channel duty cycle in percents.
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*
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* A duty cycle change requires one full PWM clock period to finish.
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* If another change is attempted for any channel of given instance before
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* the current change is complete, the new attempt will result in the error
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* NRF_ERROR_BUSY.
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*
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* @param[in] p_instance PWM instance.
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* @param[in] channel Channel number.
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* @param[in] duty Duty cycle (0 - 100).
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*
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* @retval NRF_SUCCESS If the operation was successful.
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* @retval NRF_ERROR_BUSY If the PWM is not ready yet.
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* @retval NRF_ERROR_INVALID_STATE If the given instance was not initialized.
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*
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*/
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ret_code_t app_pwm_channel_duty_set(app_pwm_t const * const p_instance,
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uint8_t channel, app_pwm_duty_t duty);
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/**
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* @brief Function for retrieving the PWM channel duty cycle in percents.
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*
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* @param[in] p_instance PWM instance.
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* @param[in] channel Channel number.
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*
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* @return Duty cycle value.
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*/
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app_pwm_duty_t app_pwm_channel_duty_get(app_pwm_t const * const p_instance, uint8_t channel);
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/**
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* @name Functions accessing values in ticks
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*
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* Auxiliary functions that allow to get values in actual timer ticks.
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* @{
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*/
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/**
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* @brief Function for setting PWM channel duty cycle in clock ticks.
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*
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* @note Duty cycle changes require one full PWM clock period to finish.
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* Until that, the next change attempt (for any channel of given instance)
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* will result in an NRF_ERROR_BUSY error.
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*
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* @param[in] p_instance PWM instance.
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* @param[in] channel Channel number.
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* @param[in] ticks Number of PWM clock ticks.
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*
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* @retval NRF_SUCCESS If the operation was successful.
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* @retval NRF_ERROR_BUSY If PWM is not ready yet.
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* @retval NRF_ERROR_INVALID_STATE If the given instance was not initialized.
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*/
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ret_code_t app_pwm_channel_duty_ticks_set(app_pwm_t const * const p_instance,
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uint8_t channel,
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uint16_t ticks);
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/**
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* @brief Function for retrieving the PWM channel duty cycle in ticks.
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*
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* This function retrieves the real, currently set duty cycle in ticks.
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* For one full PWM cycle the value might be different than the value set by the last
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* @ref app_pwm_channel_duty_ticks_set function call.
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*
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* @param[in] p_instance PWM instance.
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* @param[in] channel Channel number.
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*
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* @return Number of ticks set for selected channel.
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*
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*/
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uint16_t app_pwm_channel_duty_ticks_get(app_pwm_t const * const p_instance, uint8_t channel);
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/**
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* @brief Function for returning the number of ticks in a whole cycle.
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*
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* @param[in] p_instance PWM instance.
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*
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* @return Number of ticks that corresponds to 100% of the duty cycle.
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*/
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uint16_t app_pwm_cycle_ticks_get(app_pwm_t const * const p_instance);
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#endif
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/** @} */
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