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JeremyGrosserJeremyGrosser
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rp2350 pwm tests pass
1 parent 21e9f11 commit b00e2a7

7 files changed

Lines changed: 526 additions & 10 deletions

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src/drivers/rp-pwm.adb renamed to src/devices/RP2040/rp-pwm.adb

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@@ -6,6 +6,8 @@
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with RP.Reset;
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package body RP.PWM is
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PWM_Periph : aliased PWM_Peripheral
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with Import, Address => RP2040_SVD.PWM_Base;
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procedure Initialize is
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use RP.Reset;

src/drivers/rp-pwm.ads renamed to src/devices/RP2040/rp-pwm.ads

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@@ -4,7 +4,6 @@
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-- SPDX-License-Identifier: BSD-3-Clause
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--
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with RP2040_SVD.PWM;
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with RP2040_SVD;
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with RP.Clock;
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with RP.GPIO;
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with HAL; use HAL;
@@ -209,7 +208,4 @@ private
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INTF at 172 range 0 .. 31;
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INTS at 176 range 0 .. 31;
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end record;
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PWM_Periph : aliased PWM_Peripheral
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with Import, Address => RP2040_SVD.PWM_Base;
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end RP.PWM;

‎src/devices/RP2350/rp-pwm.adb‎

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--
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-- Copyright 2021 (C) Jeremy Grosser
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--
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-- SPDX-License-Identifier: BSD-3-Clause
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--
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with RP.Reset;
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package body RP.PWM is
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type CSR_Register is record
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PH_ADV : Boolean := False;
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PH_RET : Boolean := False;
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DIVMODE : UInt2 := 0;
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B_INV : Boolean := False;
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A_INV : Boolean := False;
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PH_CORRECT : Boolean := False;
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EN : Boolean := False;
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end record
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with Volatile_Full_Access,
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Effective_Writes,
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Async_Writers,
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Async_Readers,
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Object_Size => 32;
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for CSR_Register use record
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PH_ADV at 0 range 7 .. 7;
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PH_RET at 0 range 6 .. 6;
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DIVMODE at 0 range 4 .. 5;
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B_INV at 0 range 3 .. 3;
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A_INV at 0 range 2 .. 2;
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PH_CORRECT at 0 range 1 .. 1;
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EN at 0 range 0 .. 0;
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end record;
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type DIV_Register is record
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INT : UInt8 := 1;
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FRAC : UInt4 := 0;
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end record
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with Volatile_Full_Access,
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Effective_Writes,
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Async_Readers,
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Object_Size => 32;
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for DIV_Register use record
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INT at 0 range 4 .. 11;
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FRAC at 0 range 0 .. 3;
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end record;
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type CC_Register is record
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B : UInt16 := 0;
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A : UInt16 := 0;
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end record
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with Volatile_Full_Access,
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Effective_Writes,
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Async_Readers,
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Object_Size => 32;
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for CC_Register use record
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B at 0 range 16 .. 31;
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A at 0 range 0 .. 15;
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end record;
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type PWM_Slice_Register is record
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CSR : CSR_Register;
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DIV : DIV_Register;
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CTR : UInt16 := 16#0000#;
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CC : CC_Register;
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TOP : UInt16 := 16#FFFF#;
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end record
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with Volatile,
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Object_Size => 160;
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for PWM_Slice_Register use record
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CSR at 16#00# range 0 .. 31;
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DIV at 16#04# range 0 .. 31;
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CTR at 16#08# range 0 .. 15;
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CC at 16#0C# range 0 .. 31;
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TOP at 16#10# range 0 .. 15;
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end record;
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type PWM_Slices is array (PWM_Slice) of PWM_Slice_Register
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with Volatile,
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Component_Size => 160;
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pragma Warnings (Off, "16 bits of ""*"" unused");
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type IRQ_Register is record
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INTE : PWM_Slice_Array;
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INTF : PWM_Slice_Array;
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INTS : PWM_Slice_Array;
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end record
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with Volatile, Object_Size => 96;
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for IRQ_Register use record
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INTE at 0 range 0 .. 11;
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INTF at 4 range 0 .. 11;
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INTS at 8 range 0 .. 11;
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end record;
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type IRQ_Array is array (PWM_IRQ) of IRQ_Register
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with Volatile, Component_Size => 96;
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type PWM_Peripheral is record
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CH : PWM_Slices;
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EN : PWM_Slice_Array;
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INTR : PWM_Slice_Array;
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IRQ : IRQ_Array;
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end record
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with Volatile;
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for PWM_Peripheral use record
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CH at 16#000# range 0 .. 1919;
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EN at 16#0F0# range 0 .. 31;
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INTR at 16#0F4# range 0 .. 31;
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IRQ at 16#0F8# range 0 .. 191;
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end record;
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pragma Warnings (On, "16 bits of ""*"" unused");
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PWM_Periph : aliased PWM_Peripheral
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with Import, Address => System'To_Address (16#400A_8000#);
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function Div_Integer
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(V : Divider)
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return UInt8
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is
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I : constant Natural := Natural (V);
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begin
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if V = Divider'Last then
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return 0;
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elsif Divider (I) > V then
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return UInt8 (I - 1);
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else
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return UInt8 (I);
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end if;
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end Div_Integer;
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function Div_Fraction
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(V : Divider)
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return UInt4
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is
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begin
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if V = Divider'Last then
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return 0;
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else
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return UInt4 ((V - Divider (Div_Integer (V))) * 2 ** 4);
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end if;
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end Div_Fraction;
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procedure Initialize is
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use RP.Reset;
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begin
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RP.Clock.Enable_PERI;
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Reset_Peripheral (Reset_PWM);
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PWM_Periph.EN := (others => False);
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for Slice in PWM_Periph.CH'Range loop
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PWM_Periph.CH (Slice) := (others => <>);
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end loop;
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Initialized := True;
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end Initialize;
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function To_PWM
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(GPIO : RP.GPIO.GPIO_Point)
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return PWM_Point
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is
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Pin : constant UInt32 := UInt32 (GPIO.Pin);
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Channel : constant UInt32 := Pin and 1;
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Slice : UInt32 := Shift_Right (Pin, 1);
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begin
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if Pin < 32 then
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Slice := Pin and 2#111#;
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else
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Slice := 8 + (Pin and 2#11#);
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end if;
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return PWM_Point'
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(Slice => PWM_Slice (Slice),
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Channel => PWM_Channel'Val (Natural (Channel)));
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end To_PWM;
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procedure Enable
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(Slice : PWM_Slice)
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is
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begin
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PWM_Periph.EN (Slice) := True;
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end Enable;
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procedure Disable
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(Slice : PWM_Slice)
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is
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begin
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PWM_Periph.EN (Slice) := False;
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end Disable;
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procedure Enable
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(Slices : PWM_Slice_Array)
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is
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Val : PWM_Slice_Array := PWM_Periph.EN;
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begin
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for S in Slices'Range loop
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if Slices (S) then
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Val (S) := True;
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end if;
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end loop;
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PWM_Periph.EN := Val;
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end Enable;
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procedure Disable
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(Slices : PWM_Slice_Array)
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is
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Val : PWM_Slice_Array := PWM_Periph.EN;
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begin
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for S in Slices'Range loop
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if Slices (S) then
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Val (S) := False;
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end if;
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end loop;
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PWM_Periph.EN := Val;
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end Disable;
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function Enabled
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(Slice : PWM_Slice)
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return Boolean
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is (PWM_Periph.EN (Slice));
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procedure Set_Mode
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(Slice : PWM_Slice;
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Mode : PWM_Divider_Mode)
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is
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begin
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PWM_Periph.CH (Slice).CSR.DIVMODE := UInt2
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(PWM_Divider_Mode'Enum_Rep (Mode));
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end Set_Mode;
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procedure Set_Interval
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(Slice : PWM_Slice;
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Clocks : Period)
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is
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begin
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PWM_Periph.CH (Slice).TOP := Clocks;
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end Set_Interval;
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procedure Set_Duty_Cycle
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(Slice : PWM_Slice;
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Channel_A : Period;
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Channel_B : Period)
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is
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begin
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PWM_Periph.CH (Slice).CC.A := Channel_A;
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PWM_Periph.CH (Slice).CC.B := Channel_B;
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end Set_Duty_Cycle;
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procedure Set_Duty_Cycle
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(Slice : PWM_Slice;
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Channel : PWM_Channel;
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Duty_Cycle : Period)
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is
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begin
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case Channel is
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when A =>
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PWM_Periph.CH (Slice).CC.A := Duty_Cycle;
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when B =>
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PWM_Periph.CH (Slice).CC.B := Duty_Cycle;
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end case;
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end Set_Duty_Cycle;
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procedure Set_Invert
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(Slice : PWM_Slice;
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Channel_A : Boolean;
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Channel_B : Boolean)
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is
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begin
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PWM_Periph.CH (Slice).CSR.A_INV := Channel_A;
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PWM_Periph.CH (Slice).CSR.B_INV := Channel_B;
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end Set_Invert;
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procedure Set_Phase_Correction
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(Slice : PWM_Slice;
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Enabled : Boolean)
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is
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begin
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PWM_Periph.CH (Slice).CSR.PH_CORRECT := Enabled;
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end Set_Phase_Correction;
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procedure Advance_Phase
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(Slice : PWM_Slice)
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is
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begin
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PWM_Periph.CH (Slice).CSR.PH_ADV := True;
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while PWM_Periph.CH (Slice).CSR.PH_ADV loop
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null;
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end loop;
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end Advance_Phase;
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procedure Retard_Phase
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(Slice : PWM_Slice)
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is
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begin
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PWM_Periph.CH (Slice).CSR.PH_RET := True;
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while PWM_Periph.CH (Slice).CSR.PH_RET loop
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null;
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end loop;
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end Retard_Phase;
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procedure Set_Divider
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(Slice : PWM_Slice;
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Div : Divider)
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is
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begin
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PWM_Periph.CH (Slice).DIV :=
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(INT => Div_Integer (Div),
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FRAC => Div_Fraction (Div));
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end Set_Divider;
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procedure Set_Frequency
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(Slice : PWM_Slice;
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Frequency : Hertz)
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is
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Clk_Sys : constant Hertz := RP.Clock.Frequency (RP.Clock.SYS);
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Div : constant Divider := Divider (Clk_Sys / Frequency);
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begin
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Set_Divider (Slice, Div);
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end Set_Frequency;
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function Count
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(Slice : PWM_Slice)
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return UInt16
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is (PWM_Periph.CH (Slice).CTR);
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procedure Set_Count
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(Slice : PWM_Slice;
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Value : Period)
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is
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begin
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PWM_Periph.CH (Slice).CTR := Value;
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end Set_Count;
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function Compare_Reg_Address
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(Slice : PWM_Slice)
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return System.Address
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is (PWM_Periph.CH (Slice).CC'Address);
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procedure Enable_Interrupt
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(Slice : PWM_Slice;
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IRQ : PWM_IRQ := 0)
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is
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begin
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PWM_Periph.IRQ (IRQ).INTE (Slice) := True;
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end Enable_Interrupt;
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procedure Disable_Interrupt
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(Slice : PWM_Slice;
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IRQ : PWM_IRQ := 0)
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is
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begin
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PWM_Periph.IRQ (IRQ).INTE (Slice) := False;
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end Disable_Interrupt;
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procedure Acknowledge_Interrupt
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(Slice : PWM_Slice)
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is
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begin
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PWM_Periph.INTR (Slice) := True;
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end Acknowledge_Interrupt;
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end RP.PWM;

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