mirror of
https://github.com/apache/nuttx.git
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Added PWM support to rp2040
This commit is contained in:
curuvar
committed by
Alan Carvalho de Assis
Alan Carvalho de Assis
parent
75facdee72
commit
412539e66c
@@ -0,0 +1,143 @@
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/****************************************************************************
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* arch/arm/src/rp2040/hardware/rp2040_pwm.h
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*
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* Generated from rp2040.svd originally provided by
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* Raspberry Pi (Trading) Ltd.
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*
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* Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __ARCH_ARM_SRC_RP2040_HARDWARE_RP2040_PWM_H
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#define __ARCH_ARM_SRC_RP2040_HARDWARE_RP2040_PWM_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "hardware/rp2040_memorymap.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Register offsets *********************************************************/
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#define RP2040_PWM_CSR_OFFSET(n) (0x000000 + (n) * 20) /* PWM control and status register */
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#define RP2040_PWM_DIV_OFFSET(n) (0x000004 + (n) * 20) /* PWM clock divisor register */
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#define RP2040_PWM_CTR_OFFSET(n) (0x000008 + (n) * 20) /* PWM counter register */
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#define RP2040_PWM_CC_OFFSET(n) (0x00000C + (n) * 20) /* PWM compare register */
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#define RP2040_PWM_TOP_OFFSET(n) (0x000010 + (n) * 20) /* PWM wrap value register */
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#define RP2040_PWM_ENA_OFFSET 0x0000A0 /* PWM enable register */
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#define RP2040_PWM_INTR_OFFSET 0x0000A4 /* PWM raw interrupt register */
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#define RP2040_PWM_INTE_OFFSET 0x0000A8 /* PWM interrupt enable register */
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#define RP2040_PWM_INTF_OFFSET 0x0000AC /* PWM interrupt force register */
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#define RP2040_PWM_INTS_OFFSET 0x0000BO /* PWM interrupt status register */
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/* Register definitions *****************************************************/
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#define RP2040_PWM_CSR(n) (RP2040_PWM_BASE + RP2040_PWM_CSR_OFFSET(n))
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#define RP2040_PWM_DIV(n) (RP2040_PWM_BASE + RP2040_PWM_DIV_OFFSET(n))
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#define RP2040_PWM_CTR(n) (RP2040_PWM_BASE + RP2040_PWM_CTR_OFFSET(n))
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#define RP2040_PWM_CC(n) (RP2040_PWM_BASE + RP2040_PWM_CC_OFFSET(n))
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#define RP2040_PWM_TOP(n) (RP2040_PWM_BASE + RP2040_PWM_TOP_OFFSET(n))
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#define RP2040_PWM_ENA (RP2040_PWM_BASE + RP2040_PWM_ENA_OFFSET)
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#define RP2040_PWM_INTR (RP2040_PWM_BASE + RP2040_PWM_INTR_OFFSET)
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#define RP2040_PWM_INTE (RP2040_PWM_BASE + RP2040_PWM_INTE_OFFSET)
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#define RP2040_PWM_INTF (RP2040_PWM_BASE + RP2040_PWM_INTF_OFFSET)
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#define RP2040_PWM_INTS (RP2040_PWM_BASE + RP2040_PWM_INTS_OFFSET)
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/* Register bit definitions *************************************************/
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#define RP2040_PWM_CSR_PH_ADV (1 << 7) /* advance phase of counter by one */
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#define RP2040_PWM_CSR_PH_RET (1 << 5) /* retard phase of counter by one */
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#define RP2040_PWM_CSR_DIVMODE_SHIFT (4) /* divisor mode */
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#define RP2040_PWM_CSR_DIVMODE_MASK (0x03 << RP2040_PWM_CSR_DIVMODE_SHIFT)
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#define RP2040_PWM_CSR_B_INV (1 << 3) /* invert output B */
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#define RP2040_PWM_CSR_A_INV (1 << 2) /* invert output A */
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#define RP2040_PWM_CSR_PH_CORRECT (1 << 1) /* enable phase correct modulation */
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#define RP2040_PWM_CSR_EN (1 << 0) /* enable the PWM channel */
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#define RP2040_PWN_CSR_DIVMODE_DIV 0x00
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#define RP2040_PWN_CSR_DIVMODE_LEVEL 0x01
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#define RP2040_PWN_CSR_DIVMODE_RISE 0x02
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#define RP2040_PWN_CSR_DIVMODE_FALL 0x03
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#define RP2040_PWM_DIV_INT_SHIFT (4) /* divisor integer part */
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#define RP2040_PWM_DIV_INT_MASK (0xff << RP2040_PWM_DIV_INT_SHIFT)
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#define RP2040_PWM_DIV_FRAC_SHIFT (0) /* divisor fraction part */
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#define RP2040_PWM_DIV_FRAC_MASK (0x0f << RP2040_PWM_DIV_FRAC_SHIFT)
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#define RP2040_PWM_CC_B_SHIFT (16) /* channel B compare register */
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#define RP2040_PWM_CC_B_MASK (0xffff << RP2040_PWM_CC_B_SHIFT)
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#define RP2040_PWM_CC_A_SHIFT (0) /* channel A compare register */
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#define RP2040_PWM_CC_A_MASK (0xffff << RP2040_PWM_CC_A_SHIFT)
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#define RP2040_PWM_TOP_SHIFT (0) /* channel A compare register */
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#define RP2040_PWM_TOP_MASK (0xffff << RP2040_PWM_TOP_SHIFT)
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/* Bit mask for ENA, INTR, INTE, INTF, and INTS registers */
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#define RP2040_PWM_CH7 (1 << 7) /* PWM channel 7 */
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#define RP2040_PWM_CH6 (1 << 6) /* PWM channel 6 */
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#define RP2040_PWM_CH5 (1 << 5) /* PWM channel 5 */
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#define RP2040_PWM_CH4 (1 << 4) /* PWM channel 4 */
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#define RP2040_PWM_CH3 (1 << 3) /* PWM channel 3 */
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#define RP2040_PWM_CH2 (1 << 2) /* PWM channel 2 */
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#define RP2040_PWM_CH1 (1 << 1) /* PWM channel 1 */
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#define RP2040_PWM_CH0 (1 << 0) /* PWM channel 0 */
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/****************************************************************************
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* The following IOCTL values set additional flags in the RP2040 PWM
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* device.
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****************************************************************************/
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/****************************************************************************
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* PWMIOC_RP2040_SETINVERTPULSE sets the pulse invert flag.
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*
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* The argument is an integer where:
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* bit zero is set to invert channel A
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* bit one is set to invert channel B
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****************************************************************************/
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#define PWMIOC_RP2040_SETINVERTPULSE _PWMIOC(0x80)
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#define PWMIOC_RP2040_GETINVERTPULSE _PWMIOC(0x81)
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/****************************************************************************
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* PWMIOC_RP2040_SETPHASECORRECT sets phase correct flags.
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*
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* The argument is an integer which if non-zero sets the phase correct flag.
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****************************************************************************/
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#define PWMIOC_RP2040_SETPHASECORRECT _PWMIOC(0x82)
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#define PWMIOC_RP2040_GETPHASECORRECT _PWMIOC(0x83)
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#endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,120 @@
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/****************************************************************************
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* arch/arm/src/rp2040/rp2040_pwm.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __ARCH_ARM_SRC_RP2040_RP2040_PWM_H
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#define __ARCH_ARM_SRC_RP2040_RP2040_PWM_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include "hardware/rp2040_pwm.h"
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#include "nuttx/timers/pwm.h"
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#ifndef __ASSEMBLY__
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/* This structure represents the state of one PWM timer */
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struct rp2040_pwm_lowerhalf_s
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{
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const struct pwm_ops_s * ops; /* PWM operations */
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uint32_t frequency; /* PWM current frequency */
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uint32_t divisor; /* PWM current clock divisor */
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uint32_t flags; /* PWM mode flags */
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uint16_t top; /* PWM current top value */
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#if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2
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uint16_t duty[2];
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int8_t pin[2];
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#else
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uint16_t duty; /* Time duty value */
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int8_t pin;
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#endif
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uint8_t num; /* Timer ID */
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: rp2040_pwm_initialize
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*
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* Description:
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* Initialize the selected PWM port. And return a unique instance of struct
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* struct rp2040_pwm_lowerhalf_s. This function may be called to obtain
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* multiple instances of the interface, each of which may be set up with a
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* different frequency and address.
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*
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* Input Parameters:
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* Port number (for hardware that has multiple PWM interfaces)
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* GPIO pin number for pin A
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* GPIO pin number for pin B (CONFIG_PWM_NCHANNELS == 2)
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*
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* Returned Value:
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* Valid PWM device structure reference on success; a NULL on failure
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*
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****************************************************************************/
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#if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2
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struct rp2040_pwm_lowerhalf_s *rp2040_pwm_initialize(int port,
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int pin_a,
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int pin_b,
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uint32_t flags);
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#else
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struct rp2040_pwm_lowerhalf_s *rp2040_pwm_initialize(int port,
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int pin,
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uint32_t flags);
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#endif
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/****************************************************************************
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* Name: rp2040_pwmdev_uninitialize
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*
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* Description:
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* De-initialize the selected pwm port, and power down the device.
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*
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* Input Parameter:
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* Device structure as returned by the rp2040_pwmdev_initialize()
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*
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* Returned Value:
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* OK on success, ERROR when internal reference count mismatch or dev
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* points to invalid hardware device.
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*
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****************************************************************************/
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int rp2040_pwm_uninitialize(struct pwm_lowerhalf_s *dev);
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __ARCH_ARM_SRC_RP2040_RP2040_I2C_H */
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@@ -0,0 +1,78 @@
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/****************************************************************************
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* boards/arm/rp2040/common/include/rp2040_pwmdev.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __BOARDS_ARM_RP2040_RASPBERRYPI_PICO_INCLUDE_RP2040_PWMDEV_H
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#define __BOARDS_ARM_RP2040_RASPBERRYPI_PICO_INCLUDE_RP2040_PWMDEV_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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/****************************************************************************
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* Public Types
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****************************************************************************/
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#ifndef __ASSEMBLY__
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: rp2040_pwmdev_initialize
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*
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* Description:
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* Initialize pwm driver and register the /dev/pwm device.
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*
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****************************************************************************/
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#if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2
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int rp2040_pwmdev_initialize(int slice,
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int pin_a,
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int pin_b,
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uint32_t flags);
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#else
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int rp2040_pwmdev_initialize(int slice,
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int pin,
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uint32_t flags);
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#endif
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __BOARDS_ARM_RP2040_RASPBERRYPI_PICO_INCLUDE_RP2040_PWMDEV_H */
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@@ -0,0 +1,95 @@
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/****************************************************************************
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* boards/arm/rp2040/common/src/rp2040_pwmdev.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
|
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* contributor license agreements. See the NOTICE file distributed with
|
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* this work for additional information regarding copyright ownership. The
|
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
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* License. You may obtain a copy of the License at
|
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*
|
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
|
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include "rp2040_pwm.h"
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#ifdef CONFIG_RP2040_PWM
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_pwmdev_initialize
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*
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* Description:
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* Initialize and register spi driver for the specified pwm port
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*
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****************************************************************************/
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#if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2
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int rp2040_pwmdev_initialize(int slice,
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int pin_a,
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int pin_b,
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uint32_t flags)
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#else
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int rp2040_pwmdev_initialize(int slice,
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int pin,
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uint32_t flags)
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#endif
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{
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int ret;
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struct rp2040_pwm_lowerhalf_s *pwm_lowerhalf;
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pwminfo("Initializing /dev/pwm%d a %d b %d f 0x%08lX..\n",
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slice,
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pin_a,
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pin_b,
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flags);
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/* Initialize spi device */
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#if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2
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pwm_lowerhalf = rp2040_pwm_initialize(slice, pin_a, pin_b, flags);
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#else
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pwm_lowerhalf = rp2040_pwm_initialize(slice, pin, flags);
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#endif
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if (!pwm_lowerhalf)
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{
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pwmerr("ERROR: Failed to initialize pwm%d.\n", slice);
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return -ENODEV;
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}
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char path[10] = "/dev/pwmN";
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path[8] = '0' + slice; /* replace "N" with slice number. */
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ret = pwm_register(path, (struct pwm_lowerhalf_s *) pwm_lowerhalf);
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if (ret < 0)
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{
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pwmerr("ERROR: Failed to register pwm%d: %d\n", slice, ret);
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return -ENODEV;
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}
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return OK;
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}
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#endif /* CONFIG_RP2040_PWM */
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