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-rw-r--r--docs/library/machine.PWM.rst4
-rw-r--r--ports/rp2/machine_pwm.c86
2 files changed, 54 insertions, 36 deletions
diff --git a/docs/library/machine.PWM.rst b/docs/library/machine.PWM.rst
index d6c5de4b2..b9cf00240 100644
--- a/docs/library/machine.PWM.rst
+++ b/docs/library/machine.PWM.rst
@@ -24,7 +24,7 @@ Example usage::
Constructors
------------
-.. class:: PWM(dest, *, freq, duty_u16, duty_ns)
+.. class:: PWM(dest, *, freq, duty_u16, duty_ns, invert)
Construct and return a new PWM object using the following parameters:
@@ -35,10 +35,12 @@ Constructors
PWM cycle.
- *duty_u16* sets the duty cycle as a ratio ``duty_u16 / 65535``.
- *duty_ns* sets the pulse width in nanoseconds.
+ - *invert* inverts the respective output if the value is True
Setting *freq* may affect other PWM objects if the objects share the same
underlying PWM generator (this is hardware specific).
Only one of *duty_u16* and *duty_ns* should be specified at a time.
+ *invert* is not available at all ports.
Methods
-------
diff --git a/ports/rp2/machine_pwm.c b/ports/rp2/machine_pwm.c
index 5a0c4751e..5ab1efe0a 100644
--- a/ports/rp2/machine_pwm.c
+++ b/ports/rp2/machine_pwm.c
@@ -38,8 +38,8 @@ typedef struct _machine_pwm_obj_t {
mp_obj_base_t base;
uint8_t slice;
uint8_t channel;
+ uint8_t invert;
uint8_t duty_type;
- bool freq_set;
mp_int_t duty;
} machine_pwm_obj_t;
@@ -51,47 +51,57 @@ enum {
};
STATIC machine_pwm_obj_t machine_pwm_obj[] = {
- {{&machine_pwm_type}, 0, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 0, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 1, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 1, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 2, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 2, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 3, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 3, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 4, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 4, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 5, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 5, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 6, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 6, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 7, PWM_CHAN_A, DUTY_NOT_SET, 0, 0 },
- {{&machine_pwm_type}, 7, PWM_CHAN_B, DUTY_NOT_SET, 0, 0 },
+ {{&machine_pwm_type}, 0, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 0, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 1, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 1, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 2, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 2, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 3, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 3, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 4, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 4, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 5, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 5, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 6, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 6, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 7, PWM_CHAN_A, 0, DUTY_NOT_SET, 0 },
+ {{&machine_pwm_type}, 7, PWM_CHAN_B, 0, DUTY_NOT_SET, 0 },
};
+STATIC bool defer_start;
+STATIC bool slice_freq_set[8];
+
STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq);
STATIC void mp_machine_pwm_duty_set_u16(machine_pwm_obj_t *self, mp_int_t duty_u16);
STATIC void mp_machine_pwm_duty_set_ns(machine_pwm_obj_t *self, mp_int_t duty_ns);
STATIC void mp_machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
machine_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
- mp_printf(print, "<PWM slice=%u channel=%u>", self->slice, self->channel);
+ mp_printf(print, "<PWM slice=%u channel=%u invert=%u>",
+ self->slice, self->channel, self->invert);
}
void machine_pwm_start(machine_pwm_obj_t *self) {
// Start the PWM if properly set.
- if (self->freq_set && self->duty_type != DUTY_NOT_SET) {
+ if (defer_start == false && slice_freq_set[self->slice] == true && self->duty_type != DUTY_NOT_SET) {
+ if (self->channel == PWM_CHAN_A) {
+ pwm_set_output_polarity(self->slice, self->invert, (self + 1)->invert);
+ } else {
+ pwm_set_output_polarity(self->slice, (self - 1)->invert, self->invert);
+ }
pwm_set_enabled(self->slice, true);
}
}
STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
- enum { ARG_freq, ARG_duty_u16, ARG_duty_ns };
+ enum { ARG_freq, ARG_duty_u16, ARG_duty_ns, ARG_invert };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_freq, MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
{ MP_QSTR_duty_u16, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
{ MP_QSTR_duty_ns, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
+ { MP_QSTR_invert, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = VALUE_NOT_SET} },
};
// Parse the arguments.
@@ -99,19 +109,22 @@ STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
mp_arg_parse_all(n_args, pos_args, kw_args,
MP_ARRAY_SIZE(allowed_args), allowed_args, args);
- if ((n_args + kw_args->used) > 0) {
- if (args[ARG_freq].u_int != VALUE_NOT_SET) {
- mp_machine_pwm_freq_set(self, args[ARG_freq].u_int);
- }
- if (args[ARG_duty_u16].u_int != VALUE_NOT_SET) {
- mp_machine_pwm_duty_set_u16(self, args[ARG_duty_u16].u_int);
- }
- if (args[ARG_duty_ns].u_int != VALUE_NOT_SET) {
- mp_machine_pwm_duty_set_ns(self, args[ARG_duty_ns].u_int);
- }
- } else {
- machine_pwm_start(self);
+ // defer starting PWM until all provided args are checked.
+ defer_start = true;
+ if (args[ARG_freq].u_int != VALUE_NOT_SET) {
+ mp_machine_pwm_freq_set(self, args[ARG_freq].u_int);
+ }
+ if (args[ARG_duty_u16].u_int != VALUE_NOT_SET) {
+ mp_machine_pwm_duty_set_u16(self, args[ARG_duty_u16].u_int);
+ }
+ if (args[ARG_duty_ns].u_int != VALUE_NOT_SET) {
+ mp_machine_pwm_duty_set_ns(self, args[ARG_duty_ns].u_int);
}
+ if (args[ARG_invert].u_int != VALUE_NOT_SET) {
+ self->invert = !!args[ARG_invert].u_int;
+ }
+ defer_start = false;
+ machine_pwm_start(self);
}
// PWM(pin [, args])
@@ -126,7 +139,7 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args
uint slice = pwm_gpio_to_slice_num(gpio);
uint8_t channel = pwm_gpio_to_channel(gpio);
machine_pwm_obj_t *self = &machine_pwm_obj[slice * 2 + channel];
- self->freq_set = false;
+ self->invert = 0;
self->duty_type = DUTY_NOT_SET;
// Select PWM function for given GPIO.
@@ -143,6 +156,7 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type, size_t n_args
// Stop all active slices.
void machine_pwm_deinit_all(void) {
for (int i = 0; i < 8; i++) {
+ slice_freq_set[i] = false;
pwm_set_enabled(machine_pwm_obj[i].slice, false);
}
}
@@ -216,14 +230,16 @@ STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
}
pwm_hw->slice[self->slice].div = div16;
pwm_hw->slice[self->slice].top = top;
- self->freq_set = true;
+ slice_freq_set[self->slice] = true;
if (self->duty_type == DUTY_U16) {
mp_machine_pwm_duty_set_u16(self, self->duty);
} else if (self->duty_type == DUTY_NS) {
mp_machine_pwm_duty_set_ns(self, self->duty);
}
machine_pwm_obj_t *other = self->channel == PWM_CHAN_A ? self + 1 : self - 1;
- if (other->duty_type == DUTY_NS) {
+ if (other->duty_type == DUTY_U16) {
+ mp_machine_pwm_duty_set_u16(other, other->duty);
+ } else if (other->duty_type == DUTY_NS) {
mp_machine_pwm_duty_set_ns(other, other->duty);
}
}
generated by cgit v1.2.3 (git 2.46.0) at 2025-11-11 02:45:47 +0000