Xose Pérez
7 years ago
5 changed files with 568 additions and 40 deletions
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+9 -1code/espurna/config/general.h
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+9 -8code/espurna/config/hardware.h
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+69 -31code/espurna/light.ino
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+448 -0code/espurna/pwm.c
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+33 -0code/espurna/pwm.h
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code/espurna/config/general.h
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code/espurna/config/hardware.h
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code/espurna/light.ino
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code/espurna/pwm.c
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| @ -0,0 +1,448 @@ | |||
| /* | |||
| * Copyright (C) 2016 Stefan Brüns <stefan.bruens@rwth-aachen.de> | |||
| * | |||
| * This program is free software; you can redistribute it and/or modify | |||
| * it under the terms of the GNU General Public License as published by | |||
| * the Free Software Foundation; either version 2 of the License, or | |||
| * (at your option) any later version. | |||
| * | |||
| * This program is distributed in the hope that it will be useful, | |||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | |||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |||
| * GNU General Public License for more details. | |||
| * | |||
| * You should have received a copy of the GNU General Public License | |||
| * along with this program; if not, write to the Free Software | |||
| * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA | |||
| */ | |||
| /* Set the following three defines to your needs */ | |||
| #ifndef SDK_PWM_PERIOD_COMPAT_MODE | |||
| #define SDK_PWM_PERIOD_COMPAT_MODE 0 | |||
| #endif | |||
| #ifndef PWM_MAX_CHANNELS | |||
| #define PWM_MAX_CHANNELS 8 | |||
| #endif | |||
| #define PWM_DEBUG 0 | |||
| #define PWM_USE_NMI 0 | |||
| /* no user servicable parts beyond this point */ | |||
| #define PWM_MAX_TICKS 0x7fffff | |||
| #if SDK_PWM_PERIOD_COMPAT_MODE | |||
| #define PWM_PERIOD_TO_TICKS(x) (x * 0.2) | |||
| #define PWM_DUTY_TO_TICKS(x) (x * 5) | |||
| #define PWM_MAX_DUTY (PWM_MAX_TICKS * 0.2) | |||
| #define PWM_MAX_PERIOD (PWM_MAX_TICKS * 5) | |||
| #else | |||
| #define PWM_PERIOD_TO_TICKS(x) (x) | |||
| #define PWM_DUTY_TO_TICKS(x) (x) | |||
| #define PWM_MAX_DUTY PWM_MAX_TICKS | |||
| #define PWM_MAX_PERIOD PWM_MAX_TICKS | |||
| #endif | |||
| #include <c_types.h> | |||
| #include <pwm.h> | |||
| #include <eagle_soc.h> | |||
| #include <ets_sys.h> | |||
| // from SDK hw_timer.c | |||
| #define TIMER1_DIVIDE_BY_16 0x0004 | |||
| #define TIMER1_ENABLE_TIMER 0x0080 | |||
| struct pwm_phase { | |||
| uint32_t ticks; ///< delay until next phase, in 200ns units | |||
| uint16_t on_mask; ///< GPIO mask to switch on | |||
| uint16_t off_mask; ///< GPIO mask to switch off | |||
| }; | |||
| /* Three sets of PWM phases, the active one, the one used | |||
| * starting with the next cycle, and the one updated | |||
| * by pwm_start. After the update pwm_next_set | |||
| * is set to the last updated set. pwm_current_set is set to | |||
| * pwm_next_set from the interrupt routine during the first | |||
| * pwm phase | |||
| */ | |||
| typedef struct pwm_phase (pwm_phase_array)[PWM_MAX_CHANNELS + 2]; | |||
| static pwm_phase_array pwm_phases[3]; | |||
| static struct { | |||
| struct pwm_phase* next_set; | |||
| struct pwm_phase* current_set; | |||
| uint8_t current_phase; | |||
| } pwm_state; | |||
| static uint32_t pwm_period; | |||
| static uint32_t pwm_period_ticks; | |||
| static uint32_t pwm_duty[PWM_MAX_CHANNELS]; | |||
| static uint16_t gpio_mask[PWM_MAX_CHANNELS]; | |||
| static uint8_t pwm_channels; | |||
| // 3-tuples of MUX_REGISTER, MUX_VALUE and GPIO number | |||
| typedef uint32_t (pin_info_type)[3]; | |||
| struct gpio_regs { | |||
| uint32_t out; /* 0x60000300 */ | |||
| uint32_t out_w1ts; /* 0x60000304 */ | |||
| uint32_t out_w1tc; /* 0x60000308 */ | |||
| uint32_t enable; /* 0x6000030C */ | |||
| uint32_t enable_w1ts; /* 0x60000310 */ | |||
| uint32_t enable_w1tc; /* 0x60000314 */ | |||
| uint32_t in; /* 0x60000318 */ | |||
| uint32_t status; /* 0x6000031C */ | |||
| uint32_t status_w1ts; /* 0x60000320 */ | |||
| uint32_t status_w1tc; /* 0x60000324 */ | |||
| }; | |||
| static struct gpio_regs* gpio = (struct gpio_regs*)(0x60000300); | |||
| struct timer_regs { | |||
| uint32_t frc1_load; /* 0x60000600 */ | |||
| uint32_t frc1_count; /* 0x60000604 */ | |||
| uint32_t frc1_ctrl; /* 0x60000608 */ | |||
| uint32_t frc1_int; /* 0x6000060C */ | |||
| uint8_t pad[16]; | |||
| uint32_t frc2_load; /* 0x60000620 */ | |||
| uint32_t frc2_count; /* 0x60000624 */ | |||
| uint32_t frc2_ctrl; /* 0x60000628 */ | |||
| uint32_t frc2_int; /* 0x6000062C */ | |||
| uint32_t frc2_alarm; /* 0x60000630 */ | |||
| }; | |||
| static struct timer_regs* timer = (struct timer_regs*)(0x60000600); | |||
| static void ICACHE_RAM_ATTR | |||
| pwm_intr_handler(void) | |||
| { | |||
| if ((pwm_state.current_set[pwm_state.current_phase].off_mask == 0) && | |||
| (pwm_state.current_set[pwm_state.current_phase].on_mask == 0)) { | |||
| pwm_state.current_set = pwm_state.next_set; | |||
| pwm_state.current_phase = 0; | |||
| } | |||
| do { | |||
| // force write to GPIO registers on each loop | |||
| asm volatile ("" : : : "memory"); | |||
| gpio->out_w1ts = (uint32_t)(pwm_state.current_set[pwm_state.current_phase].on_mask); | |||
| gpio->out_w1tc = (uint32_t)(pwm_state.current_set[pwm_state.current_phase].off_mask); | |||
| uint32_t ticks = pwm_state.current_set[pwm_state.current_phase].ticks; | |||
| pwm_state.current_phase++; | |||
| if (ticks) { | |||
| if (ticks >= 16) { | |||
| // constant interrupt overhead | |||
| ticks -= 9; | |||
| timer->frc1_int &= ~FRC1_INT_CLR_MASK; | |||
| WRITE_PERI_REG(&timer->frc1_load, ticks); | |||
| return; | |||
| } | |||
| ticks *= 4; | |||
| do { | |||
| ticks -= 1; | |||
| // stop compiler from optimizing delay loop to noop | |||
| asm volatile ("" : : : "memory"); | |||
| } while (ticks > 0); | |||
| } | |||
| } while (1); | |||
| } | |||
| /** | |||
| * period: initial period (base unit 1us OR 200ns) | |||
| * duty: array of initial duty values, may be NULL, may be freed after pwm_init | |||
| * pwm_channel_num: number of channels to use | |||
| * pin_info_list: array of pin_info | |||
| */ | |||
| void ICACHE_FLASH_ATTR | |||
| pwm_init(uint32_t period, uint32_t *duty, uint32_t pwm_channel_num, | |||
| uint32_t (*pin_info_list)[3]) | |||
| { | |||
| int i, j, n; | |||
| pwm_channels = pwm_channel_num; | |||
| if (pwm_channels > PWM_MAX_CHANNELS) | |||
| pwm_channels = PWM_MAX_CHANNELS; | |||
| for (i = 0; i < 3; i++) { | |||
| for (j = 0; j < (PWM_MAX_CHANNELS + 2); j++) { | |||
| pwm_phases[i][j].ticks = 0; | |||
| pwm_phases[i][j].on_mask = 0; | |||
| pwm_phases[i][j].off_mask = 0; | |||
| } | |||
| } | |||
| pwm_state.current_set = pwm_state.next_set = 0; | |||
| pwm_state.current_phase = 0; | |||
| uint32_t all = 0; | |||
| // PIN info: MUX-Register, Mux-Setting, PIN-Nr | |||
| for (n = 0; n < pwm_channels; n++) { | |||
| pin_info_type* pin_info = &pin_info_list[n]; | |||
| PIN_FUNC_SELECT((*pin_info)[0], (*pin_info)[1]); | |||
| gpio_mask[n] = 1 << (*pin_info)[2]; | |||
| all |= 1 << (*pin_info)[2]; | |||
| if (duty) | |||
| pwm_set_duty(duty[n], n); | |||
| } | |||
| GPIO_REG_WRITE(GPIO_OUT_W1TC_ADDRESS, all); | |||
| GPIO_REG_WRITE(GPIO_ENABLE_W1TS_ADDRESS, all); | |||
| pwm_set_period(period); | |||
| #if PWM_USE_NMI | |||
| ETS_FRC_TIMER1_NMI_INTR_ATTACH(pwm_intr_handler); | |||
| #else | |||
| ETS_FRC_TIMER1_INTR_ATTACH(pwm_intr_handler, NULL); | |||
| #endif | |||
| TM1_EDGE_INT_ENABLE(); | |||
| timer->frc1_int &= ~FRC1_INT_CLR_MASK; | |||
| timer->frc1_ctrl = 0; | |||
| pwm_start(); | |||
| } | |||
| __attribute__ ((noinline)) | |||
| static uint8_t ICACHE_FLASH_ATTR | |||
| _pwm_phases_prep(struct pwm_phase* pwm) | |||
| { | |||
| uint8_t n, phases; | |||
| uint16_t off_mask = 0; | |||
| for (n = 0; n < pwm_channels + 2; n++) { | |||
| pwm[n].ticks = 0; | |||
| pwm[n].on_mask = 0; | |||
| pwm[n].off_mask = 0; | |||
| } | |||
| phases = 1; | |||
| for (n = 0; n < pwm_channels; n++) { | |||
| uint32_t ticks = PWM_DUTY_TO_TICKS(pwm_duty[n]); | |||
| if (ticks == 0) { | |||
| pwm[0].off_mask |= gpio_mask[n]; | |||
| } else if (ticks >= pwm_period_ticks) { | |||
| pwm[0].on_mask |= gpio_mask[n]; | |||
| } else { | |||
| if (ticks < (pwm_period_ticks/2)) { | |||
| pwm[phases].ticks = ticks; | |||
| pwm[0].on_mask |= gpio_mask[n]; | |||
| pwm[phases].off_mask = gpio_mask[n]; | |||
| } else { | |||
| pwm[phases].ticks = pwm_period_ticks - ticks; | |||
| pwm[phases].on_mask = gpio_mask[n]; | |||
| pwm[0].off_mask |= gpio_mask[n]; | |||
| } | |||
| phases++; | |||
| } | |||
| } | |||
| pwm[phases].ticks = pwm_period_ticks; | |||
| // bubble sort, lowest to hightest duty | |||
| n = 2; | |||
| while (n < phases) { | |||
| if (pwm[n].ticks < pwm[n - 1].ticks) { | |||
| struct pwm_phase t = pwm[n]; | |||
| pwm[n] = pwm[n - 1]; | |||
| pwm[n - 1] = t; | |||
| if (n > 2) | |||
| n--; | |||
| } else { | |||
| n++; | |||
| } | |||
| } | |||
| #if PWM_DEBUG | |||
| int t = 0; | |||
| for (t = 0; t <= phases; t++) { | |||
| ets_printf("%d @%d: %04x %04x\n", t, pwm[t].ticks, pwm[t].on_mask, pwm[t].off_mask); | |||
| } | |||
| #endif | |||
| // shift left to align right edge; | |||
| uint8_t l = 0, r = 1; | |||
| while (r <= phases) { | |||
| uint32_t diff = pwm[r].ticks - pwm[l].ticks; | |||
| if (diff && (diff <= 16)) { | |||
| uint16_t mask = pwm[r].on_mask | pwm[r].off_mask; | |||
| pwm[l].off_mask ^= pwm[r].off_mask; | |||
| pwm[l].on_mask ^= pwm[r].on_mask; | |||
| pwm[0].off_mask ^= pwm[r].on_mask; | |||
| pwm[0].on_mask ^= pwm[r].off_mask; | |||
| pwm[r].ticks = pwm_period_ticks - diff; | |||
| pwm[r].on_mask ^= mask; | |||
| pwm[r].off_mask ^= mask; | |||
| } else { | |||
| l = r; | |||
| } | |||
| r++; | |||
| } | |||
| #if PWM_DEBUG | |||
| for (t = 0; t <= phases; t++) { | |||
| ets_printf("%d @%d: %04x %04x\n", t, pwm[t].ticks, pwm[t].on_mask, pwm[t].off_mask); | |||
| } | |||
| #endif | |||
| // sort again | |||
| n = 2; | |||
| while (n <= phases) { | |||
| if (pwm[n].ticks < pwm[n - 1].ticks) { | |||
| struct pwm_phase t = pwm[n]; | |||
| pwm[n] = pwm[n - 1]; | |||
| pwm[n - 1] = t; | |||
| if (n > 2) | |||
| n--; | |||
| } else { | |||
| n++; | |||
| } | |||
| } | |||
| // merge same duty | |||
| l = 0, r = 1; | |||
| while (r <= phases) { | |||
| if (pwm[r].ticks == pwm[l].ticks) { | |||
| pwm[l].off_mask |= pwm[r].off_mask; | |||
| pwm[l].on_mask |= pwm[r].on_mask; | |||
| pwm[r].on_mask = 0; | |||
| pwm[r].off_mask = 0; | |||
| } else { | |||
| l++; | |||
| if (l != r) { | |||
| struct pwm_phase t = pwm[l]; | |||
| pwm[l] = pwm[r]; | |||
| pwm[r] = t; | |||
| } | |||
| } | |||
| r++; | |||
| } | |||
| phases = l; | |||
| #if PWM_DEBUG | |||
| for (t = 0; t <= phases; t++) { | |||
| ets_printf("%d @%d: %04x %04x\n", t, pwm[t].ticks, pwm[t].on_mask, pwm[t].off_mask); | |||
| } | |||
| #endif | |||
| // transform absolute end time to phase durations | |||
| for (n = 0; n < phases; n++) { | |||
| pwm[n].ticks = | |||
| pwm[n + 1].ticks - pwm[n].ticks; | |||
| // subtract common overhead | |||
| pwm[n].ticks--; | |||
| } | |||
| pwm[phases].ticks = 0; | |||
| // do a cyclic shift if last phase is short | |||
| if (pwm[phases - 1].ticks < 16) { | |||
| for (n = 0; n < phases - 1; n++) { | |||
| struct pwm_phase t = pwm[n]; | |||
| pwm[n] = pwm[n + 1]; | |||
| pwm[n + 1] = t; | |||
| } | |||
| } | |||
| #if PWM_DEBUG | |||
| for (t = 0; t <= phases; t++) { | |||
| ets_printf("%d +%d: %04x %04x\n", t, pwm[t].ticks, pwm[t].on_mask, pwm[t].off_mask); | |||
| } | |||
| ets_printf("\n"); | |||
| #endif | |||
| return phases; | |||
| } | |||
| void ICACHE_FLASH_ATTR | |||
| pwm_start(void) | |||
| { | |||
| pwm_phase_array* pwm = &pwm_phases[0]; | |||
| if ((*pwm == pwm_state.next_set) || | |||
| (*pwm == pwm_state.current_set)) | |||
| pwm++; | |||
| if ((*pwm == pwm_state.next_set) || | |||
| (*pwm == pwm_state.current_set)) | |||
| pwm++; | |||
| uint8_t phases = _pwm_phases_prep(*pwm); | |||
| // all with 0% / 100% duty - stop timer | |||
| if (phases == 1) { | |||
| if (pwm_state.next_set) { | |||
| #if PWM_DEBUG | |||
| ets_printf("PWM stop\n"); | |||
| #endif | |||
| timer->frc1_ctrl = 0; | |||
| ETS_FRC1_INTR_DISABLE(); | |||
| } | |||
| pwm_state.next_set = NULL; | |||
| GPIO_REG_WRITE(GPIO_OUT_W1TS_ADDRESS, (*pwm)[0].on_mask); | |||
| GPIO_REG_WRITE(GPIO_OUT_W1TC_ADDRESS, (*pwm)[0].off_mask); | |||
| return; | |||
| } | |||
| // start if not running | |||
| if (!pwm_state.next_set) { | |||
| #if PWM_DEBUG | |||
| ets_printf("PWM start\n"); | |||
| #endif | |||
| pwm_state.current_set = pwm_state.next_set = *pwm; | |||
| pwm_state.current_phase = phases - 1; | |||
| ETS_FRC1_INTR_ENABLE(); | |||
| RTC_REG_WRITE(FRC1_LOAD_ADDRESS, 0); | |||
| timer->frc1_ctrl = TIMER1_DIVIDE_BY_16 | TIMER1_ENABLE_TIMER; | |||
| return; | |||
| } | |||
| pwm_state.next_set = *pwm; | |||
| } | |||
| void ICACHE_FLASH_ATTR | |||
| pwm_set_duty(uint32_t duty, uint8_t channel) | |||
| { | |||
| if (channel > PWM_MAX_CHANNELS) | |||
| return; | |||
| if (duty > PWM_MAX_DUTY) | |||
| duty = PWM_MAX_DUTY; | |||
| pwm_duty[channel] = duty; | |||
| } | |||
| uint32_t ICACHE_FLASH_ATTR | |||
| pwm_get_duty(uint8_t channel) | |||
| { | |||
| if (channel > PWM_MAX_CHANNELS) | |||
| return 0; | |||
| return pwm_duty[channel]; | |||
| } | |||
| void ICACHE_FLASH_ATTR | |||
| pwm_set_period(uint32_t period) | |||
| { | |||
| pwm_period = period; | |||
| if (pwm_period > PWM_MAX_PERIOD) | |||
| pwm_period = PWM_MAX_PERIOD; | |||
| pwm_period_ticks = PWM_PERIOD_TO_TICKS(period); | |||
| } | |||
| uint32_t ICACHE_FLASH_ATTR | |||
| pwm_get_period(void) | |||
| { | |||
| return pwm_period; | |||
| } | |||
| uint32_t ICACHE_FLASH_ATTR | |||
| get_pwm_version(void) | |||
| { | |||
| return 1; | |||
| } | |||
| void ICACHE_FLASH_ATTR | |||
| set_pwm_debug_en(uint8_t print_en) | |||
| { | |||
| (void) print_en; | |||
| } | |||
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code/espurna/pwm.h
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| @ -0,0 +1,33 @@ | |||
| #ifndef __PWM_H__ | |||
| #define __PWM_H__ | |||
| /*pwm.h: function and macro definition of PWM API , driver level */ | |||
| /*user_light.h: user interface for light API, user level*/ | |||
| /*user_light_adj: API for color changing and lighting effects, user level*/ | |||
| /*NOTE!! : DO NOT CHANGE THIS FILE*/ | |||
| /*SUPPORT UP TO 8 PWM CHANNEL*/ | |||
| //#define PWM_CHANNEL_NUM_MAX 8 | |||
| struct pwm_param { | |||
| uint32 period; | |||
| uint32 freq; | |||
| uint32 duty[PWM_CHANNEL_NUM_MAX]; //PWM_CHANNEL<=8 | |||
| }; | |||
| /* pwm_init should be called only once, for now */ | |||
| void pwm_init(uint32 period, uint32 *duty,uint32 pwm_channel_num,uint32 (*pin_info_list)[3]); | |||
| void pwm_start(void); | |||
| void pwm_set_duty(uint32 duty, uint8 channel); | |||
| uint32 pwm_get_duty(uint8 channel); | |||
| void pwm_set_period(uint32 period); | |||
| uint32 pwm_get_period(void); | |||
| uint32 get_pwm_version(void); | |||
| void set_pwm_debug_en(uint8 print_en); | |||
| #endif | |||