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pwm.h
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1/*
2 * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
3 *
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef _HARDWARE_PWM_H
8#define _HARDWARE_PWM_H
9
10#include "pico.h"
11#include "hardware/structs/pwm.h"
12#include "hardware/regs/dreq.h"
13
14#ifdef __cplusplus
15extern "C" {
16#endif
17
18// PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_PWM, Enable/disable assertions in the PWM module, type=bool, default=0, group=hardware_pwm
19#ifndef PARAM_ASSERTIONS_ENABLED_PWM
20#define PARAM_ASSERTIONS_ENABLED_PWM 0
21#endif
22
56
57enum pwm_chan
58{
59 PWM_CHAN_A = 0,
60 PWM_CHAN_B = 1
61};
62
63typedef struct {
64 uint32_t csr;
65 uint32_t div;
66 uint32_t top;
68
69static inline void check_slice_num_param(__unused uint slice_num) {
70 valid_params_if(PWM, slice_num < NUM_PWM_SLICES);
71}
72
78static inline uint pwm_gpio_to_slice_num(uint gpio) {
79 valid_params_if(PWM, gpio < NUM_BANK0_GPIOS);
80 return (gpio >> 1u) & 7u;
81}
82
90static inline uint pwm_gpio_to_channel(uint gpio) {
91 valid_params_if(PWM, gpio < NUM_BANK0_GPIOS);
92 return gpio & 1u;
93}
94
104static inline void pwm_config_set_phase_correct(pwm_config *c, bool phase_correct) {
105 c->csr = (c->csr & ~PWM_CH0_CSR_PH_CORRECT_BITS)
106 | (bool_to_bit(phase_correct) << PWM_CH0_CSR_PH_CORRECT_LSB);
107}
108
119static inline void pwm_config_set_clkdiv(pwm_config *c, float div) {
120 valid_params_if(PWM, div >= 1.f && div < 256.f);
121 c->div = (uint32_t)(div * (float)(1u << PWM_CH0_DIV_INT_LSB));
122}
123
135static inline void pwm_config_set_clkdiv_int_frac(pwm_config *c, uint8_t integer, uint8_t fract) {
136 valid_params_if(PWM, integer >= 1);
137 valid_params_if(PWM, fract < 16);
138 c->div = (((uint)integer) << PWM_CH0_DIV_INT_LSB) | (((uint)fract) << PWM_CH0_DIV_FRAC_LSB);
139}
140
151static inline void pwm_config_set_clkdiv_int(pwm_config *c, uint div) {
152 valid_params_if(PWM, div >= 1 && div < 256);
153 pwm_config_set_clkdiv_int_frac(c, (uint8_t)div, 0);
154}
155
166static inline void pwm_config_set_clkdiv_mode(pwm_config *c, enum pwm_clkdiv_mode mode) {
167 valid_params_if(PWM, mode == PWM_DIV_FREE_RUNNING ||
168 mode == PWM_DIV_B_RISING ||
169 mode == PWM_DIV_B_HIGH ||
170 mode == PWM_DIV_B_FALLING);
171 c->csr = (c->csr & ~PWM_CH0_CSR_DIVMODE_BITS)
172 | (((uint)mode) << PWM_CH0_CSR_DIVMODE_LSB);
173}
174
182static inline void pwm_config_set_output_polarity(pwm_config *c, bool a, bool b) {
183 c->csr = (c->csr & ~(PWM_CH0_CSR_A_INV_BITS | PWM_CH0_CSR_B_INV_BITS))
184 | ((bool_to_bit(a) << PWM_CH0_CSR_A_INV_LSB) | (bool_to_bit(b) << PWM_CH0_CSR_B_INV_LSB));
185}
186
195static inline void pwm_config_set_wrap(pwm_config *c, uint16_t wrap) {
196 c->top = wrap;
197}
198
210static inline void pwm_init(uint slice_num, pwm_config *c, bool start) {
211 check_slice_num_param(slice_num);
212 pwm_hw->slice[slice_num].csr = 0;
213
214 pwm_hw->slice[slice_num].ctr = PWM_CH0_CTR_RESET;
215 pwm_hw->slice[slice_num].cc = PWM_CH0_CC_RESET;
216 pwm_hw->slice[slice_num].top = c->top;
217 pwm_hw->slice[slice_num].div = c->div;
218 pwm_hw->slice[slice_num].csr = c->csr | (bool_to_bit(start) << PWM_CH0_CSR_EN_LSB);
219}
220
230 pwm_config c = {0, 0, 0};
234 pwm_config_set_output_polarity(&c, false, false);
235 pwm_config_set_wrap(&c, 0xffffu);
236 return c;
237}
238
254static inline void pwm_set_wrap(uint slice_num, uint16_t wrap) {
255 check_slice_num_param(slice_num);
256 pwm_hw->slice[slice_num].top = wrap;
257}
258
274static inline void pwm_set_chan_level(uint slice_num, uint chan, uint16_t level) {
275 check_slice_num_param(slice_num);
277 &pwm_hw->slice[slice_num].cc,
278 ((uint)level) << (chan ? PWM_CH0_CC_B_LSB : PWM_CH0_CC_A_LSB),
279 chan ? PWM_CH0_CC_B_BITS : PWM_CH0_CC_A_BITS
280 );
281}
282
298static inline void pwm_set_both_levels(uint slice_num, uint16_t level_a, uint16_t level_b) {
299 check_slice_num_param(slice_num);
300 pwm_hw->slice[slice_num].cc = (((uint)level_b) << PWM_CH0_CC_B_LSB) | (((uint)level_a) << PWM_CH0_CC_A_LSB);
301}
302
321static inline void pwm_set_gpio_level(uint gpio, uint16_t level) {
322 valid_params_if(PWM, gpio < NUM_BANK0_GPIOS);
324}
325
334static inline uint16_t pwm_get_counter(uint slice_num) {
335 check_slice_num_param(slice_num);
336 return (uint16_t)(pwm_hw->slice[slice_num].ctr);
337}
338
348static inline void pwm_set_counter(uint slice_num, uint16_t c) {
349 check_slice_num_param(slice_num);
350 pwm_hw->slice[slice_num].ctr = c;
351}
352
362static inline void pwm_advance_count(uint slice_num) {
363 check_slice_num_param(slice_num);
364 hw_set_bits(&pwm_hw->slice[slice_num].csr, PWM_CH0_CSR_PH_ADV_BITS);
365 while (pwm_hw->slice[slice_num].csr & PWM_CH0_CSR_PH_ADV_BITS) {
367 }
368}
369
379static inline void pwm_retard_count(uint slice_num) {
380 check_slice_num_param(slice_num);
381 hw_set_bits(&pwm_hw->slice[slice_num].csr, PWM_CH0_CSR_PH_RET_BITS);
382 while (pwm_hw->slice[slice_num].csr & PWM_CH0_CSR_PH_RET_BITS) {
384 }
385}
386
396static inline void pwm_set_clkdiv_int_frac(uint slice_num, uint8_t integer, uint8_t fract) {
397 check_slice_num_param(slice_num);
398 valid_params_if(PWM, integer >= 1);
399 valid_params_if(PWM, fract < 16);
400 pwm_hw->slice[slice_num].div = (((uint)integer) << PWM_CH0_DIV_INT_LSB) | (((uint)fract) << PWM_CH0_DIV_FRAC_LSB);
401}
402
411static inline void pwm_set_clkdiv(uint slice_num, float divider) {
412 check_slice_num_param(slice_num);
413 valid_params_if(PWM, divider >= 1.f && divider < 256.f);
414 uint8_t i = (uint8_t)divider;
415 uint8_t f = (uint8_t)((divider - i) * (0x01 << 4));
416 pwm_set_clkdiv_int_frac(slice_num, i, f);
417}
418
426static inline void pwm_set_output_polarity(uint slice_num, bool a, bool b) {
427 check_slice_num_param(slice_num);
428 hw_write_masked(&pwm_hw->slice[slice_num].csr, bool_to_bit(a) << PWM_CH0_CSR_A_INV_LSB | bool_to_bit(b) << PWM_CH0_CSR_B_INV_LSB,
429 PWM_CH0_CSR_A_INV_BITS | PWM_CH0_CSR_B_INV_BITS);
430}
431
432
439static inline void pwm_set_clkdiv_mode(uint slice_num, enum pwm_clkdiv_mode mode) {
440 check_slice_num_param(slice_num);
441 valid_params_if(PWM, mode == PWM_DIV_FREE_RUNNING ||
442 mode == PWM_DIV_B_RISING ||
443 mode == PWM_DIV_B_HIGH ||
444 mode == PWM_DIV_B_FALLING);
445 hw_write_masked(&pwm_hw->slice[slice_num].csr, ((uint)mode) << PWM_CH0_CSR_DIVMODE_LSB, PWM_CH0_CSR_DIVMODE_BITS);
446}
447
457static inline void pwm_set_phase_correct(uint slice_num, bool phase_correct) {
458 check_slice_num_param(slice_num);
459 hw_write_masked(&pwm_hw->slice[slice_num].csr, bool_to_bit(phase_correct) << PWM_CH0_CSR_PH_CORRECT_LSB, PWM_CH0_CSR_PH_CORRECT_BITS);
460}
461
488static inline void pwm_set_enabled(uint slice_num, bool enabled) {
489 check_slice_num_param(slice_num);
490 hw_write_masked(&pwm_hw->slice[slice_num].csr, bool_to_bit(enabled) << PWM_CH0_CSR_EN_LSB, PWM_CH0_CSR_EN_BITS);
491}
492
498static inline void pwm_set_mask_enabled(uint32_t mask) {
499 pwm_hw->en = mask;
500}
501
510static inline void pwm_set_irq_enabled(uint slice_num, bool enabled) {
511 check_slice_num_param(slice_num);
512 if (enabled) {
513 hw_set_bits(&pwm_hw->inte, 1u << slice_num);
514 } else {
515 hw_clear_bits(&pwm_hw->inte, 1u << slice_num);
516 }
517}
518
527static inline void pwm_set_irq_mask_enabled(uint32_t slice_mask, bool enabled) {
528 valid_params_if(PWM, slice_mask < 256);
529 if (enabled) {
530 hw_set_bits(&pwm_hw->inte, slice_mask);
531 } else {
532 hw_clear_bits(&pwm_hw->inte, slice_mask);
533 }
534}
535
541static inline void pwm_clear_irq(uint slice_num) {
542 pwm_hw->intr = 1u << slice_num;
543}
544
550static inline uint32_t pwm_get_irq_status_mask(void) {
551 return pwm_hw->ints;
552}
553
559static inline void pwm_force_irq(uint slice_num) {
560 pwm_hw->intf = 1u << slice_num;
561}
562
568static inline uint pwm_get_dreq(uint slice_num) {
569 static_assert(DREQ_PWM_WRAP1 == DREQ_PWM_WRAP0 + 1, "");
570 static_assert(DREQ_PWM_WRAP7 == DREQ_PWM_WRAP0 + 7, "");
571 check_slice_num_param(slice_num);
572 return DREQ_PWM_WRAP0 + slice_num;
573}
574
575#ifdef __cplusplus
576}
577#endif
578
579#endif
static __force_inline void hw_set_bits(io_rw_32 *addr, uint32_t mask)
Atomically set the specified bits to 1 in a HW register.
Definition address_mapped.h:121
static __force_inline void hw_write_masked(io_rw_32 *addr, uint32_t values, uint32_t write_mask)
Set new values for a sub-set of the bits in a HW register.
Definition address_mapped.h:157
static __force_inline void hw_clear_bits(io_rw_32 *addr, uint32_t mask)
Atomically clear the specified bits to 0 in a HW register.
Definition address_mapped.h:131
static void pwm_init(uint slice_num, pwm_config *c, bool start)
Initialise a PWM with settings from a configuration object.
Definition pwm.h:210
static void pwm_config_set_phase_correct(pwm_config *c, bool phase_correct)
Set phase correction in a PWM configuration.
Definition pwm.h:104
static void pwm_set_irq_enabled(uint slice_num, bool enabled)
Enable PWM instance interrupt.
Definition pwm.h:510
pwm_clkdiv_mode
PWM Divider mode settings.
Definition pwm.h:50
static void pwm_set_clkdiv_int_frac(uint slice_num, uint8_t integer, uint8_t fract)
Set PWM clock divider using an 8:4 fractional value.
Definition pwm.h:396
static void pwm_retard_count(uint slice_num)
Retard PWM count.
Definition pwm.h:379
static uint16_t pwm_get_counter(uint slice_num)
Get PWM counter.
Definition pwm.h:334
static void pwm_set_chan_level(uint slice_num, uint chan, uint16_t level)
Set the current PWM counter compare value for one channel.
Definition pwm.h:274
static void pwm_config_set_clkdiv_int(pwm_config *c, uint div)
Set PWM clock divider in a PWM configuration.
Definition pwm.h:151
static void pwm_set_clkdiv_mode(uint slice_num, enum pwm_clkdiv_mode mode)
Set PWM divider mode.
Definition pwm.h:439
static void pwm_set_enabled(uint slice_num, bool enabled)
Enable/Disable PWM.
Definition pwm.h:488
static void pwm_set_mask_enabled(uint32_t mask)
Enable/Disable multiple PWM slices simultaneously.
Definition pwm.h:498
static void pwm_set_gpio_level(uint gpio, uint16_t level)
Helper function to set the PWM level for the slice and channel associated with a GPIO.
Definition pwm.h:321
static void pwm_config_set_clkdiv_mode(pwm_config *c, enum pwm_clkdiv_mode mode)
Set PWM counting mode in a PWM configuration.
Definition pwm.h:166
static uint pwm_get_dreq(uint slice_num)
Return the DREQ to use for pacing transfers to a particular PWM slice.
Definition pwm.h:568
static void pwm_config_set_clkdiv_int_frac(pwm_config *c, uint8_t integer, uint8_t fract)
Set PWM clock divider in a PWM configuration using an 8:4 fractional value.
Definition pwm.h:135
static void pwm_force_irq(uint slice_num)
Force PWM interrupt.
Definition pwm.h:559
static void pwm_set_counter(uint slice_num, uint16_t c)
Set PWM counter.
Definition pwm.h:348
static uint32_t pwm_get_irq_status_mask(void)
Get PWM interrupt status, raw.
Definition pwm.h:550
static void pwm_config_set_clkdiv(pwm_config *c, float div)
Set PWM clock divider in a PWM configuration.
Definition pwm.h:119
static void pwm_set_wrap(uint slice_num, uint16_t wrap)
Set the current PWM counter wrap value.
Definition pwm.h:254
static uint pwm_gpio_to_slice_num(uint gpio)
Determine the PWM slice that is attached to the specified GPIO.
Definition pwm.h:78
static void pwm_clear_irq(uint slice_num)
Clear a single PWM channel interrupt.
Definition pwm.h:541
static void pwm_set_clkdiv(uint slice_num, float divider)
Set PWM clock divider.
Definition pwm.h:411
static uint pwm_gpio_to_channel(uint gpio)
Determine the PWM channel that is attached to the specified GPIO.
Definition pwm.h:90
static void pwm_advance_count(uint slice_num)
Advance PWM count.
Definition pwm.h:362
static void pwm_set_output_polarity(uint slice_num, bool a, bool b)
Set PWM output polarity.
Definition pwm.h:426
static void pwm_config_set_output_polarity(pwm_config *c, bool a, bool b)
Set output polarity in a PWM configuration.
Definition pwm.h:182
static void pwm_set_irq_mask_enabled(uint32_t slice_mask, bool enabled)
Enable multiple PWM instance interrupts.
Definition pwm.h:527
static void pwm_set_phase_correct(uint slice_num, bool phase_correct)
Set PWM phase correct on/off.
Definition pwm.h:457
static void pwm_config_set_wrap(pwm_config *c, uint16_t wrap)
Set PWM counter wrap value in a PWM configuration.
Definition pwm.h:195
static pwm_config pwm_get_default_config(void)
Get a set of default values for PWM configuration.
Definition pwm.h:229
static void pwm_set_both_levels(uint slice_num, uint16_t level_a, uint16_t level_b)
Set PWM counter compare values.
Definition pwm.h:298
@ PWM_DIV_B_FALLING
Fractional divider advances with each falling edge of the PWM B pin.
Definition pwm.h:54
@ PWM_DIV_B_HIGH
Fractional divider is gated by the PWM B pin.
Definition pwm.h:52
@ PWM_DIV_FREE_RUNNING
Free-running counting at rate dictated by fractional divider.
Definition pwm.h:51
@ PWM_DIV_B_RISING
Fractional divider advances with each rising edge of the PWM B pin.
Definition pwm.h:53
static __always_inline void tight_loop_contents(void)
No-op function for the body of tight loops.
Definition platform.h:434
Definition pwm.h:63