403 lines
11 KiB
C
403 lines
11 KiB
C
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/*
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ChibiOS/HAL - Copyright (C) 2018 Andru
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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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,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file hal_pwm_lld.c
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* @brief NRF52 PWM subsystem low level driver source.
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*
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* @addtogroup PWM
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* @{
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*/
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#include "hal.h"
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#if HAL_USE_PWM || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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uint16_t pwm_seq[PWM_CHANNELS];
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/**
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* @brief PWMD1 driver identifier.
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* @note The driver PWMD1 enabled.
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*/
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#if NRF5_PWM_USE_PWM0 || defined(__DOXYGEN__)
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PWMDriver PWMD1;
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#endif
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/**
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* @brief PWMD2 driver identifier.
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* @note The driver PWMD2 enabled.
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*/
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#if NRF5_PWM_USE_PWM1 || defined(__DOXYGEN__)
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PWMDriver PWMD2;
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#endif
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/**
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* @brief PWMD3 driver identifier.
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* @note The driver PWMD3 enabled.
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*/
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#if NRF5_PWM_USE_PWM2 || defined(__DOXYGEN__)
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PWMDriver PWMD3;
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#endif
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
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/* Deal with PWM period
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*/
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if (pwmp->config->callback == NULL) {
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return;
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}
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if ((pwmp->pwm->INTEN & PWM_INTEN_PWMPERIODEND_Msk) && (pwmp->pwm->EVENTS_PWMPERIODEND)) {
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pwmp->config->callback(pwmp);
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pwmp->pwm->EVENTS_PWMPERIODEND = 0;
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(void)pwmp->pwm->EVENTS_PWMPERIODEND;
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}
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}
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if NRF5_PWM_USE_PWM0
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/**
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* @brief PWM0 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(VectorB0) {
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OSAL_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD1);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* NRF5_PWM_USE_PWM0 */
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#if NRF5_PWM_USE_PWM1
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/**
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* @brief PWM1 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(VectorC4) {
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OSAL_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD2);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* NRF5_PWM_USE_PWM1 */
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#if NRF5_PWM_USE_PWM2
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/**
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* @brief PWM2 interrupt handler.
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(VectorC8) {
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OSAL_IRQ_PROLOGUE();
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pwm_lld_serve_interrupt(&PWMD3);
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* NRF5_PWM_USE_PWM2 */
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level PWM driver initialization.
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*
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* @notapi
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*/
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void pwm_lld_init(void) {
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#if NRF5_PWM_USE_PWM0
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pwmObjectInit(&PWMD1);
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PWMD1.channels = PWM_CHANNELS;
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PWMD1.pwm = NRF_PWM0;
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#endif
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#if NRF5_PWM_USE_PWM1
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pwmObjectInit(&PWMD2);
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PWMD2.channels = PWM_CHANNELS;
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PWMD2.pwm = NRF_PWM1;
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#endif
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#if NRF5_PWM_USE_PWM2
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pwmObjectInit(&PWMD3);
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PWMD3.channels = PWM_CHANNELS;
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PWMD3.pwm = NRF_PWM2;
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#endif
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}
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/**
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* @brief Configures and activates the PWM peripheral.
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* @note Starting a driver that is already in the @p PWM_READY state
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* disables all the active channels.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_start(PWMDriver *pwmp) {
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/* Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER */
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/* Prescaler value as a power of 2, must be 0..7 */
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uint8_t i, psc_value;
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for (psc_value = 0; psc_value < 8; psc_value++)
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if (pwmp->config->frequency == (uint32_t)(16000000 >> psc_value))
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break;
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/* Prescaler value must be between 0..7, and a power of two. */
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osalDbgAssert(psc_value <= 7, "invalid frequency");
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/* Set PWM output lines */
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for (i=0; i<PWM_CHANNELS; i++) {
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const PWMChannelConfig *cfg_channel = &pwmp->config->channels[i];
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uint32_t gpio_pin = PAL_PAD(cfg_channel->ioline);
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if (cfg_channel->mode == PWM_OUTPUT_DISABLED) {
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gpio_pin = PAL_NOLINE;
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}
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pwmp->pwm->PSEL.OUT[i] = gpio_pin << PWM_PSEL_OUT_PIN_Pos;
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}
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/* Enable PWM */
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pwmp->pwm->ENABLE = PWM_ENABLE_ENABLE_Enabled << PWM_ENABLE_ENABLE_Pos;
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/* Set mode */
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pwmp->pwm->MODE = PWM_MODE_UPDOWN_Up & PWM_MODE_UPDOWN_Msk;
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/* Set prescaler */
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pwmp->pwm->PRESCALER = psc_value & PWM_PRESCALER_PRESCALER_Msk;
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/* Set period */
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pwmp->pwm->COUNTERTOP = pwmp->period & PWM_COUNTERTOP_COUNTERTOP_Msk;
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pwmp->pwm->LOOP = PWM_LOOP_CNT_Disabled & PWM_LOOP_CNT_Msk;
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pwmp->pwm->DECODER = (PWM_DECODER_LOAD_Individual << PWM_DECODER_LOAD_Pos) |
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(PWM_DECODER_MODE_RefreshCount << PWM_DECODER_MODE_Pos);
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pwmp->pwm->SEQ[0].PTR = ((uint32_t)(pwm_seq) << PWM_SEQ_PTR_PTR_Pos);
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pwmp->pwm->SEQ[0].CNT = ((sizeof(pwm_seq) / sizeof(uint16_t)) << PWM_SEQ_CNT_CNT_Pos);
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pwmp->pwm->SEQ[0].REFRESH = 0;
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pwmp->pwm->SEQ[0].ENDDELAY = 0;
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pwmp->pwm->SEQ[1].PTR = ((uint32_t)(pwm_seq) << PWM_SEQ_PTR_PTR_Pos);
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pwmp->pwm->SEQ[1].CNT = ((sizeof(pwm_seq) / sizeof(uint16_t)) << PWM_SEQ_CNT_CNT_Pos);
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pwmp->pwm->SEQ[1].REFRESH = 0;
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pwmp->pwm->SEQ[1].ENDDELAY = 0;
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/* With clear shortcuts for period */
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pwmp->pwm->SHORTS = 0;
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/* Disable and reset interrupts */
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pwmp->pwm->INTEN = 0;
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}
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/**
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* @brief Deactivates the PWM peripheral.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_stop(PWMDriver *pwmp) {
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#if NRF5_PWM_USE_PWM0
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if (&PWMD1 == pwmp) {
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nvicDisableVector(PWM0_IRQn);
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}
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#endif
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#if NRF5_PWM_USE_PWM1
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if (&PWMD2 == pwmp) {
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nvicDisableVector(PWM1_IRQn);
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}
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#endif
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#if NRF5_PWM_USE_PWM2
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if (&PWMD3 == pwmp) {
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nvicDisableVector(PWM2_IRQn);
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}
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#endif
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/* Stop PWM generation */
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pwmp->pwm->TASKS_STOP = 1;
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/* Disable PWM */
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pwmp->pwm->ENABLE = (PWM_ENABLE_ENABLE_Disabled << PWM_ENABLE_ENABLE_Pos);
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}
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/**
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* @brief Enables a PWM channel.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is active using the specified configuration.
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* @note The function has effect at the next cycle start.
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* @note Channel notification is not enabled.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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* @param[in] width PWM pulse width as clock pulses number
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*
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* @notapi
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*/
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void pwm_lld_enable_channel(PWMDriver *pwmp,
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pwmchannel_t channel,
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pwmcnt_t width) {
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const PWMChannelConfig *cfg_channel = &pwmp->config->channels[channel];
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/* Deal with corner case: 0% and 100% */
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if ((width <= 0) || (width >= pwmp->period)) {
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pwm_seq[channel] = pwmp->period & PWM_COUNTERTOP_COUNTERTOP_Msk;
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if (cfg_channel->mode == PWM_OUTPUT_ACTIVE_LOW) pwm_seq[channel] |= 0x8000;
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/* Really doing PWM */
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} else {
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pwm_seq[channel] = width & PWM_COUNTERTOP_COUNTERTOP_Msk;
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if (cfg_channel->mode == PWM_OUTPUT_ACTIVE_HIGH) pwm_seq[channel] |= 0x8000;
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}
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pwmp->pwm->EVENTS_STOPPED = 0;
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(void)pwmp->pwm->EVENTS_STOPPED;
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pwmp->pwm->TASKS_SEQSTART[0] = 1;
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}
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/**
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* @brief Disables a PWM channel and its notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @post The channel is disabled and its output line returned to the
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* idle state.
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* @note The function has effect at the next cycle start.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @notapi
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*/
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void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
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const PWMChannelConfig *cfg_channel = &pwmp->config->channels[channel];
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pwm_seq[channel] = pwmp->period & PWM_COUNTERTOP_COUNTERTOP_Msk;
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if (cfg_channel->mode == PWM_OUTPUT_ACTIVE_LOW) pwm_seq[channel] |= 0x8000;
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pwmp->pwm->EVENTS_STOPPED = 0;
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(void)pwmp->pwm->EVENTS_STOPPED;
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pwmp->pwm->TASKS_SEQSTART[0] = 1;
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}
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/**
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* @brief Enables the periodic activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @note If the notification is already enabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
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/* Events clear */
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pwmp->pwm->EVENTS_LOOPSDONE = 0;
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pwmp->pwm->EVENTS_SEQEND[0] = 0;
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pwmp->pwm->EVENTS_SEQEND[1] = 0;
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pwmp->pwm->EVENTS_STOPPED = 0;
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#if CORTEX_MODEL >= 4
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(void)pwmp->pwm->EVENTS_LOOPSDONE;
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(void)pwmp->pwm->EVENTS_SEQEND[0];
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(void)pwmp->pwm->EVENTS_SEQEND[1];
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(void)pwmp->pwm->EVENTS_STOPPED;
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#endif
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pwmp->pwm->INTENSET = PWM_INTENSET_PWMPERIODEND_Msk;
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/* Enable interrupt */
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#if NRF5_PWM_USE_PWM0
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if (&PWMD1 == pwmp) {
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nvicEnableVector(PWM0_IRQn, NRF5_PWM_PWM0_PRIORITY);
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}
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#endif
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#if NRF5_PWM_USE_PWM1
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if (&PWMD2 == pwmp) {
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nvicEnableVector(PWM1_IRQn, NRF5_PWM_PWM1_PRIORITY);
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}
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#endif
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#if NRF5_PWM_USE_PWM2
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if (&PWMD3 == pwmp) {
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nvicEnableVector(PWM2_IRQn, NRF5_PWM_PWM2_PRIORITY);
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}
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#endif
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}
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/**
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* @brief Disables the periodic activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @note If the notification is already disabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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*
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* @notapi
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*/
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void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
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pwmp->pwm->INTENCLR = PWM_INTENCLR_PWMPERIODEND_Msk;
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}
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/**
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* @brief Enables a channel de-activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @pre The channel must have been activated using @p pwmEnableChannel().
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* @note If the notification is already enabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @notapi
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*/
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void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
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pwmchannel_t channel) {
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}
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/**
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* @brief Disables a channel de-activation edge notification.
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* @pre The PWM unit must have been activated using @p pwmStart().
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* @pre The channel must have been activated using @p pwmEnableChannel().
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* @note If the notification is already disabled then the call has no effect.
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*
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* @param[in] pwmp pointer to a @p PWMDriver object
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* @param[in] channel PWM channel identifier (0...channels-1)
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*
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* @notapi
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*/
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void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
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pwmchannel_t channel) {
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}
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#endif /* HAL_USE_PWM */
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/** @} */
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