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alif/machine_pwm: Implement machine.PWM.
This commit adds `machine.PWM` support to the alif port. It uses the existing common machine bindings and implements the standard set of functionality: `freq()`, `duty_u16()`, `duty_ns()` and `invert`. It uses the UTIMER peripheral and makes PWM available on all pins that have an alt function connection to a UTIMER, which is 54 pins. It does not use UTIMER11 which is already in use by the HE core for its systick timer. So the following pins don't have PWM available because they need UTIMER11: P2_6, P2_7, P7_6, P7_7, P12_6, P12_7. Signed-off-by: Damien George <damien@micropython.org>
This commit is contained in:
Damien George
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ports/alif/machine_pwm.c
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422
ports/alif/machine_pwm.c
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2026 OpenMV LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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// This file is never compiled standalone, it's included directly from
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// extmod/machine_pwm.c via MICROPY_PY_MACHINE_PWM_INCLUDEFILE.
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#include "py/mphal.h"
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#include "utimer.h"
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#define UTIMER ((UTIMER_Type *)UTIMER_BASE)
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#define UTIMER_SOURCE_HZ (400000000)
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// Each UTIMER channel has two independent output drivers.
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enum {
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DRIVER_A,
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DRIVER_B,
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};
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enum {
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BUFFERING_SINGLE = 0,
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BUFFERING_DOUBLE = 1,
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};
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enum {
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DRIVER_VALUE_RETAINED = 0,
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DRIVER_VALUE_0 = 1,
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DRIVER_VALUE_1 = 2,
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DRIVER_VALUE_TOGGLE = 3,
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};
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// deinit (go to idle level)
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static void utimer_pwm_channel_init(unsigned int channel) {
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utimer_counter_stop(UTIMER, channel, true);
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utimer_reset(UTIMER, channel);
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utimer_clock_enable(UTIMER, channel);
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UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_CNTR_PTR = 1;
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UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_CNTR_PTR_BUF1 = 1;
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UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_CNTR_CTRL |= CNTR_CTRL_EN;
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UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_BUF_OP_CTRL =
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BUF_OP_CTRL_COMPARE_B_BUF_EVENT
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| BUF_OP_CTRL_COMPARE_A_BUF_EVENT
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| BUF_OP_CTRL_CNTR_BUF_OP_BIT0 // single buffer operation
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| BUF_OP_CTRL_COMPARE_BUF_EN
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| BUF_OP_CTRL_CNTR_BUF_EN;
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utimer_control_enable(UTIMER, channel);
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}
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static void utimer_pwm_channel_deinit(unsigned int channel) {
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utimer_counter_stop(UTIMER, channel, true);
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utimer_reset(UTIMER, channel);
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utimer_clock_disable(UTIMER, channel);
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}
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static void utimer_pwm_driver_init(unsigned int channel, unsigned int driver, bool invert) {
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uint32_t ctrl = COMPARE_CTRL_DRV_COMPARE_EN;
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if (invert) {
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ctrl |=
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COMPARE_CTRL_DRV_DISABLE_VAL // high upon disable
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| COMPARE_CTRL_DRV_START_VAL
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| COMPARE_CTRL_DRV_STOP_VAL
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| DRIVER_VALUE_0 << 2 // low at cycle end
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| DRIVER_VALUE_1 << 0 // high at compare match
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;
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} else {
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ctrl |=
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DRIVER_VALUE_1 << 2 // high at cycle end
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| DRIVER_VALUE_0 << 0 // low at compare match
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;
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}
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uint32_t chan_oen;
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volatile uint32_t *compare_ctrl;
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if (driver == DRIVER_A) {
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chan_oen = GLB_DRIVER_CHAN_A_OEN;
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compare_ctrl = &UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_CTRL_A;
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} else {
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chan_oen = GLB_DRIVER_CHAN_B_OEN;
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compare_ctrl = &UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_CTRL_B;
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}
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// Enable driver output (the bit is active low).
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UTIMER->UTIMER_GLB_DRIVER_OEN &= ~(chan_oen << (channel << 1));
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// Configure driver logic levels.
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*compare_ctrl = (*compare_ctrl & COMPARE_CTRL_DRV_DRIVER_EN) | ctrl;
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}
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static void utimer_pwm_driver_deinit(unsigned int channel, unsigned int driver) {
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if (driver == DRIVER_A) {
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UTIMER->UTIMER_GLB_DRIVER_OEN |= GLB_DRIVER_CHAN_A_OEN << (channel << 1);
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UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_CTRL_A &= ~COMPARE_CTRL_DRV_DRIVER_EN;
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} else {
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UTIMER->UTIMER_GLB_DRIVER_OEN |= GLB_DRIVER_CHAN_B_OEN << (channel << 1);
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UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_CTRL_B &= ~COMPARE_CTRL_DRV_DRIVER_EN;
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}
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}
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static inline bool utimer_pwm_freq_is_valid(unsigned int channel) {
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return UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_CNTR_PTR_BUF1 != 1;
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}
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static inline uint32_t utimer_pwm_get_max_count(unsigned int channel) {
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return UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_CNTR_PTR_BUF1;
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}
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static inline void utimer_pwm_set_max_count(unsigned int channel, uint32_t max_count) {
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UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_CNTR_PTR_BUF1 = max_count;
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}
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static inline uint32_t utimer_pwm_get_duty(unsigned int channel, unsigned int driver) {
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if (driver == DRIVER_A) {
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return utimer_get_count(UTIMER, channel, UTIMER_COMPARE_A_BUF1);
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} else {
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return utimer_get_count(UTIMER, channel, UTIMER_COMPARE_B_BUF1);
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}
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}
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static inline void utimer_pwm_set_duty(unsigned int channel, unsigned int driver, uint32_t duty) {
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volatile uint32_t *compare_ctrl;
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volatile uint32_t *compare_buf;
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if (driver == DRIVER_A) {
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compare_ctrl = &UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_CTRL_A;
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compare_buf = &UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_A_BUF1;
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} else {
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compare_ctrl = &UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_CTRL_B;
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compare_buf = &UTIMER->UTIMER_CHANNEL_CFG[channel].UTIMER_COMPARE_B_BUF1;
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}
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if (duty == 0) {
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*compare_ctrl &= ~COMPARE_CTRL_DRV_DRIVER_EN;
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} else {
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*compare_ctrl |= COMPARE_CTRL_DRV_DRIVER_EN;
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}
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*compare_buf = duty;
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}
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static inline void utimer_pwm_start(unsigned int channel) {
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utimer_counter_start(UTIMER, channel);
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}
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/******************************************************************************/
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// MicroPython bindings for machine.PWM
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enum {
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DUTY_NOT_SET = 0,
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DUTY_U16,
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DUTY_NS
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};
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typedef struct _machine_pwm_obj_t {
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mp_obj_base_t base;
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uint8_t state_index; // indexes machine_pwm_state
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uint8_t channel; // UTIMER channel id
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uint8_t driver; // DRIVER_A or DRIVER_B
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} machine_pwm_obj_t;
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typedef struct _machine_pwm_state_t {
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bool invert;
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uint8_t duty_type;
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mp_int_t duty;
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} machine_pwm_state_t;
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static uint32_t utimer_pwm_channel_active = 0;
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static const machine_pwm_obj_t machine_pwm_obj[22] = {
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{{&machine_pwm_type}, 0, 0, DRIVER_A},
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{{&machine_pwm_type}, 1, 0, DRIVER_B},
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{{&machine_pwm_type}, 2, 1, DRIVER_A},
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{{&machine_pwm_type}, 3, 1, DRIVER_B},
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{{&machine_pwm_type}, 4, 2, DRIVER_A},
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{{&machine_pwm_type}, 5, 2, DRIVER_B},
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{{&machine_pwm_type}, 6, 3, DRIVER_A},
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{{&machine_pwm_type}, 7, 3, DRIVER_B},
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{{&machine_pwm_type}, 8, 4, DRIVER_A},
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{{&machine_pwm_type}, 9, 4, DRIVER_B},
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{{&machine_pwm_type}, 10, 5, DRIVER_A},
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{{&machine_pwm_type}, 11, 5, DRIVER_B},
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{{&machine_pwm_type}, 12, 6, DRIVER_A},
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{{&machine_pwm_type}, 13, 6, DRIVER_B},
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{{&machine_pwm_type}, 14, 7, DRIVER_A},
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{{&machine_pwm_type}, 15, 7, DRIVER_B},
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{{&machine_pwm_type}, 16, 8, DRIVER_A},
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{{&machine_pwm_type}, 17, 8, DRIVER_B},
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{{&machine_pwm_type}, 18, 9, DRIVER_A},
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{{&machine_pwm_type}, 19, 9, DRIVER_B},
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{{&machine_pwm_type}, 20, 10, DRIVER_A},
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{{&machine_pwm_type}, 21, 10, DRIVER_B},
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#if 0
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// UTIMER 11 is used by system tick.
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{{&machine_pwm_type}, 22, 11, DRIVER_A},
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{{&machine_pwm_type}, 23, 11, DRIVER_B},
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#endif
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};
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static machine_pwm_state_t machine_pwm_state[22];
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static void mp_machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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machine_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
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mp_printf(print, "<PWM channel=%u driver=%u>", self->channel, self->driver);
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}
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static void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
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size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_freq, ARG_duty_u16, ARG_duty_ns, ARG_invert };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_freq, MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_duty_u16, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_duty_ns, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_invert, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
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};
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// Parse the arguments.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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machine_pwm_state_t *state = &machine_pwm_state[self->state_index];
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if (args[ARG_invert].u_int != -1) {
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state->invert = !!args[ARG_invert].u_int;
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utimer_pwm_driver_init(self->channel, self->driver, state->invert);
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}
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if (args[ARG_freq].u_int != -1) {
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mp_machine_pwm_freq_set(self, args[ARG_freq].u_int);
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}
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if (args[ARG_duty_u16].u_int != -1) {
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mp_machine_pwm_duty_set_u16(self, args[ARG_duty_u16].u_int);
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}
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if (args[ARG_duty_ns].u_int != -1) {
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mp_machine_pwm_duty_set_ns(self, args[ARG_duty_ns].u_int);
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}
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}
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// PWM(pin [, args])
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static mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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// Check number of arguments
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
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// Get pin to connect to PWM.
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mp_hal_pin_obj_t pin = mp_hal_get_pin_obj(all_args[0]);
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// Search for the UTIMER alternate function for the given pin.
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int pwm_index = -1;
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unsigned int pin_alt_index;
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for (pin_alt_index = 0; pin_alt_index < MP_ARRAY_SIZE(pin->alt); pin_alt_index++) {
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unsigned int alt_func = MP_HAL_PIN_ALT_GET_FUNC(pin->alt[pin_alt_index]);
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unsigned int alt_unit = MP_HAL_PIN_ALT_GET_UNIT(pin->alt[pin_alt_index]);
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if (alt_func == MP_HAL_PIN_ALT_UT_T0) {
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pwm_index = alt_unit * 2;
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break;
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} else if (alt_func == MP_HAL_PIN_ALT_UT_T1) {
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pwm_index = alt_unit * 2 + 1;
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break;
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}
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}
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// Pin does not have an available UTIMER associated with it.
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if (pwm_index < 0 || pwm_index >= MP_ARRAY_SIZE(machine_pwm_obj)) {
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mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("Pin(%q) doesn't have PWM capabilities"), pin->name);
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}
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// Get static peripheral object.
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machine_pwm_obj_t *self = (machine_pwm_obj_t *)&machine_pwm_obj[pwm_index];
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// If inactive, initialise state and UTIMER peripheral.
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if (!(utimer_pwm_channel_active & (1 << self->channel))) {
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utimer_pwm_channel_active |= 1 << self->channel;
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utimer_pwm_channel_init(self->channel);
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for (size_t i = 0; i < 2; ++i) {
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machine_pwm_state_t *state = &machine_pwm_state[(pwm_index & ~1) + i];
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state->invert = false;
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state->duty_type = DUTY_NOT_SET;
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}
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}
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// Initialise the UTIMER output driver.
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machine_pwm_state_t *state = &machine_pwm_state[self->state_index];
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utimer_pwm_driver_init(self->channel, self->driver, state->invert);
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// Process the remaining parameters.
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mp_map_t kw_args;
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mp_map_init_fixed_table(&kw_args, n_kw, all_args + n_args);
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mp_machine_pwm_init_helper(self, n_args - 1, all_args + 1, &kw_args);
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// Select PWM function for given pin.
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mp_hal_pin_config(pin, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_NONE, MP_HAL_PIN_SPEED_HIGH, MP_HAL_PIN_DRIVE_8MA, pin->alt[pin_alt_index], false);
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return MP_OBJ_FROM_PTR(self);
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}
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void machine_pwm_deinit_all(void) {
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for (size_t i = 0; i < MP_ARRAY_SIZE(machine_pwm_obj); ++i) {
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const machine_pwm_obj_t *self = &machine_pwm_obj[i];
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utimer_pwm_driver_deinit(self->channel, self->driver);
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if (self->driver == DRIVER_B) {
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utimer_pwm_channel_deinit(self->channel);
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}
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}
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utimer_pwm_channel_active = 0;
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}
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static void mp_machine_pwm_deinit(machine_pwm_obj_t *self) {
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utimer_pwm_driver_deinit(self->channel, self->driver);
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}
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static mp_obj_t mp_machine_pwm_freq_get(machine_pwm_obj_t *self) {
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if (utimer_pwm_freq_is_valid(self->channel)) {
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uint32_t max_count = utimer_pwm_get_max_count(self->channel);
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return MP_OBJ_NEW_SMALL_INT(UTIMER_SOURCE_HZ / (max_count + 1));
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} else {
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return MP_OBJ_NEW_SMALL_INT(0);
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}
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}
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static void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
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// Ensure we don't go outside the limits of the UTIMER peripheral.
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if (freq == 0) {
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mp_raise_ValueError(MP_ERROR_TEXT("freq too small"));
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} else if (freq > 50000000) {
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mp_raise_ValueError(MP_ERROR_TEXT("freq too large"));
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}
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// Configure UTIMER to cycle at the given frequency.
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uint32_t max_count = (UTIMER_SOURCE_HZ + freq / 2) / freq - 1;
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utimer_pwm_set_max_count(self->channel, max_count);
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machine_pwm_state_t *state = &machine_pwm_state[self->state_index];
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if (state->duty_type == DUTY_U16) {
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mp_machine_pwm_duty_set_u16(self, state->duty);
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} else if (state->duty_type == DUTY_NS) {
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mp_machine_pwm_duty_set_ns(self, state->duty);
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}
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machine_pwm_obj_t *other = self->driver == DRIVER_A ? self + 1 : self - 1;
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machine_pwm_state_t *other_state = &machine_pwm_state[other->state_index];
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if (other_state->duty_type == DUTY_U16) {
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mp_machine_pwm_duty_set_u16(other, other_state->duty);
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} else if (other_state->duty_type == DUTY_NS) {
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mp_machine_pwm_duty_set_ns(other, other_state->duty);
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}
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}
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static mp_obj_t mp_machine_pwm_duty_get_u16(machine_pwm_obj_t *self) {
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machine_pwm_state_t *state = &machine_pwm_state[self->state_index];
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if (state->duty_type != DUTY_NOT_SET && utimer_pwm_freq_is_valid(self->channel)) {
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uint32_t max_count = utimer_pwm_get_max_count(self->channel);
|
||||
uint32_t comp = utimer_pwm_get_duty(self->channel, self->driver);
|
||||
uint32_t duty_u16 = ((uint64_t)comp * 65535ULL + (uint64_t)(max_count + 1) / 2) / (max_count + 1);
|
||||
return MP_OBJ_NEW_SMALL_INT(duty_u16);
|
||||
} else {
|
||||
return MP_OBJ_NEW_SMALL_INT(0);
|
||||
}
|
||||
}
|
||||
|
||||
static void mp_machine_pwm_duty_set_u16(machine_pwm_obj_t *self, mp_int_t duty_u16) {
|
||||
// Limit duty_u16 to 65535.
|
||||
if (duty_u16 > 65535) {
|
||||
duty_u16 = 65535;
|
||||
}
|
||||
|
||||
machine_pwm_state_t *state = &machine_pwm_state[self->state_index];
|
||||
state->duty = duty_u16;
|
||||
state->duty_type = DUTY_U16;
|
||||
|
||||
if (utimer_pwm_freq_is_valid(self->channel)) {
|
||||
uint32_t max_count = utimer_pwm_get_max_count(self->channel);
|
||||
uint32_t comp = ((uint64_t)duty_u16 * (uint64_t)(max_count + 1) + 65535ULL / 2ULL) / 65535ULL;
|
||||
utimer_pwm_set_duty(self->channel, self->driver, comp);
|
||||
utimer_pwm_start(self->channel);
|
||||
}
|
||||
}
|
||||
|
||||
static mp_obj_t mp_machine_pwm_duty_get_ns(machine_pwm_obj_t *self) {
|
||||
machine_pwm_state_t *state = &machine_pwm_state[self->state_index];
|
||||
if (state->duty_type != DUTY_NOT_SET && utimer_pwm_freq_is_valid(self->channel)) {
|
||||
MP_STATIC_ASSERT(UTIMER_SOURCE_HZ == 400000000);
|
||||
uint32_t comp = utimer_pwm_get_duty(self->channel, self->driver);
|
||||
uint32_t duty_ns = comp * 5 / 2; // optimised version of: comp * 1e9 / UTIMER_SOURCE_HZ
|
||||
return mp_obj_new_int_from_uint(duty_ns);
|
||||
} else {
|
||||
return MP_OBJ_NEW_SMALL_INT(0);
|
||||
}
|
||||
}
|
||||
|
||||
static void mp_machine_pwm_duty_set_ns(machine_pwm_obj_t *self, mp_int_t duty_ns) {
|
||||
machine_pwm_state_t *state = &machine_pwm_state[self->state_index];
|
||||
state->duty = duty_ns;
|
||||
state->duty_type = DUTY_NS;
|
||||
|
||||
if (utimer_pwm_freq_is_valid(self->channel)) {
|
||||
MP_STATIC_ASSERT(UTIMER_SOURCE_HZ == 400000000);
|
||||
uint32_t max_count = utimer_pwm_get_max_count(self->channel);
|
||||
uint32_t comp = duty_ns * 2 / 5; // optimised version of: duty_ns * 1e-9 * UTIMER_SOURCE_HZ
|
||||
if (comp > (max_count + 1)) {
|
||||
comp = max_count + 1;
|
||||
}
|
||||
utimer_pwm_set_duty(self->channel, self->driver, comp);
|
||||
utimer_pwm_start(self->channel);
|
||||
}
|
||||
}
|
||||
@@ -56,6 +56,7 @@
|
||||
|
||||
extern uint8_t __StackTop, __StackLimit;
|
||||
extern uint8_t __GcHeapStart, __GcHeapEnd;
|
||||
extern void machine_pwm_deinit_all(void);
|
||||
extern void machine_pin_irq_deinit(void);
|
||||
|
||||
MP_NORETURN void panic(const char *msg) {
|
||||
@@ -170,6 +171,7 @@ int main(void) {
|
||||
mp_machine_i2c_target_deinit_all();
|
||||
#endif
|
||||
soft_timer_deinit();
|
||||
machine_pwm_deinit_all();
|
||||
machine_pin_irq_deinit();
|
||||
gc_sweep_all();
|
||||
mp_deinit();
|
||||
|
||||
@@ -132,6 +132,8 @@
|
||||
#define MICROPY_PY_MACHINE_ADC_INCLUDEFILE "ports/alif/machine_adc.c"
|
||||
#define MICROPY_PY_MACHINE_DHT_READINTO (1)
|
||||
#define MICROPY_PY_MACHINE_PULSE (1)
|
||||
#define MICROPY_PY_MACHINE_PWM (1)
|
||||
#define MICROPY_PY_MACHINE_PWM_INCLUDEFILE "ports/alif/machine_pwm.c"
|
||||
#define MICROPY_PY_MACHINE_I2C (MICROPY_HW_ENABLE_HW_I2C)
|
||||
#define MICROPY_PY_MACHINE_I2C_TRANSFER_WRITE1 (1)
|
||||
#ifndef MICROPY_PY_MACHINE_I2C_TARGET
|
||||
|
||||
Reference in New Issue
Block a user