kopia lustrzana https://github.com/pimoroni/pimoroni-pico
190 wiersze
6.9 KiB
C++
190 wiersze
6.9 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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#include "hardware/pio.h"
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#include "hardware/dma.h"
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#include "hardware/irq.h"
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#include "common/pimoroni_common.hpp"
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#include <initializer_list>
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namespace pimoroni {
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class PWMCluster {
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//--------------------------------------------------
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// Constants
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//--------------------------------------------------
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private:
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static const uint64_t MAX_PWM_CLUSTER_WRAP = UINT16_MAX; // UINT32_MAX works too, but seems to produce less accurate counters
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static const uint32_t LOADING_ZONE_SIZE = 3; // The number of dummy transitions to insert into the data to delay the DMA interrupt (if zero then no zone is used)
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static const uint32_t LOADING_ZONE_POSITION = 55; // The number of levels before the wrap level to insert the load zone
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// Smaller values will make the DMA interrupt trigger closer to the time the data is needed,
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// but risks stalling the PIO if the interrupt takes longer due to other processes
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static const bool DEFAULT_USE_LOADING_ZONE = true; // Whether or not the default behaviour of PWMCluster is to use the loading zone
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public:
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static const uint BUFFER_SIZE = 64; // Set to 64, the maximum number of single rises and falls for 32 channels within a looping time period
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static const uint NUM_BUFFERS = 3;
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static const uint MAX_PWM_CHANNELS = 32;
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//--------------------------------------------------
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// Substructures
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//--------------------------------------------------
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public:
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struct Transition {
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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uint32_t mask;
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uint32_t delay;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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Transition() : mask(0), delay(0) {};
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};
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struct Sequence {
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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uint32_t size;
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Transition data[BUFFER_SIZE];
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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Sequence() : size(1), data{Transition()} {};
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};
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struct TransitionData {
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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uint8_t channel;
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uint32_t level;
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bool state;
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bool dummy;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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TransitionData() : channel(0), level(0), state(false), dummy(false) {};
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TransitionData(uint8_t channel, uint32_t level, bool new_state) : channel(channel), level(level), state(new_state), dummy(false) {};
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TransitionData(uint32_t level) : channel(0), level(level), state(false), dummy(true) {};
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};
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private:
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struct ChannelState {
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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uint level;
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uint offset;
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bool polarity;
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uint overrun;
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uint next_overrun;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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ChannelState() : level(0), offset(0), polarity(false), overrun(0), next_overrun(0) {}
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};
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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PIO pio;
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uint sm;
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int dma_channel;
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uint pin_mask;
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uint8_t channel_count;
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ChannelState channels[NUM_BANK0_GPIOS];
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uint8_t channel_to_pin_map[NUM_BANK0_GPIOS];
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uint wrap_level;
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Sequence sequences[NUM_BUFFERS];
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Sequence loop_sequences[NUM_BUFFERS];
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TransitionData transitions[BUFFER_SIZE];
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TransitionData looping_transitions[BUFFER_SIZE];
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volatile uint read_index = 0;
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volatile uint last_written_index = 0;
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bool initialised = false;
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bool loading_zone = true;
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//--------------------------------------------------
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// Statics
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//--------------------------------------------------
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static PWMCluster* clusters[NUM_DMA_CHANNELS];
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static uint8_t claimed_sms[NUM_PIOS];
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static uint pio_program_offset;
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static void dma_interrupt_handler();
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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PWMCluster(PIO pio, uint sm, uint pin_mask, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
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PWMCluster(PIO pio, uint sm, uint pin_base, uint pin_count, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
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PWMCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
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PWMCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
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PWMCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
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PWMCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
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~PWMCluster();
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private:
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void constructor_common();
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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bool init();
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uint8_t get_chan_count() const;
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uint8_t get_chan_pair_count() const;
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uint8_t get_chan_pin(uint8_t channel) const;
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pin_pair get_chan_pin_pair(uint8_t channel_pair) const;
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static uint8_t channel_from_pair(uint8_t channel_pair);
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uint32_t get_chan_level(uint8_t channel) const;
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void set_chan_level(uint8_t channel, uint32_t level, bool load = true);
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uint32_t get_chan_offset(uint8_t channel) const;
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void set_chan_offset(uint8_t channel, uint32_t offset, bool load = true);
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bool get_chan_polarity(uint8_t channel) const;
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void set_chan_polarity(uint8_t channel, bool polarity, bool load = true);
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uint32_t get_wrap() const;
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void set_wrap(uint32_t wrap, bool load = true);
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void set_clkdiv(float divider);
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void set_clkdiv_int_frac(uint16_t integer, uint8_t fract);
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void load_pwm();
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//--------------------------------------------------
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public:
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static bool calculate_pwm_factors(float freq, uint32_t& top_out, uint32_t& div256_out);
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private:
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static bool bit_in_mask(uint bit, uint mask);
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static void sorted_insert(TransitionData array[], uint &size, const TransitionData &data);
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void populate_sequence(const TransitionData transitions[], const uint &data_size, Sequence &seq_out, uint &pin_states_in_out) const;
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void next_dma_sequence();
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};
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} |