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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2024 Ayush Singh <ayush@beagleboard.org>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "extmod/modmachine.h"
#include "py/runtime.h"
#include "stdint.h"
#include "zephyr/drivers/pwm.h"
#include "zephyr_device.h"
#define VALUE_NOT_SET (-1)
typedef struct _machine_pwm_obj_t {
mp_obj_base_t base;
const struct device *pwm;
uint32_t channel;
int32_t freq;
int32_t duty_u16;
int32_t duty_ns;
pwm_flags_t flags;
} machine_pwm_obj_t;
static void configure_pwm(machine_pwm_obj_t *self) {
const uint32_t period = NSEC_PER_SEC / self->freq;
if ((self->duty_u16 == VALUE_NOT_SET && self->duty_ns == VALUE_NOT_SET) ||
self->freq == VALUE_NOT_SET) {
mp_raise_ValueError(MP_ERROR_TEXT("Frequency and duty values must be set"));
}
if (self->duty_ns == VALUE_NOT_SET) {
self->duty_ns = (self->duty_u16 * period) / UINT16_MAX;
}
if (self->duty_ns < 0) {
self->duty_ns = 0;
} else if (self->duty_ns > period) {
self->duty_ns = period;
}
pwm_set(self->pwm, self->channel, period, self->duty_ns, self->flags);
}
/******************************************************************************/
// MicroPython bindings for PWM
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 Controller %p channel=%d ", self->pwm, self->channel);
if (self->duty_ns != VALUE_NOT_SET) {
mp_printf(print, " duty_ns=%d", self->duty_ns);
} else {
mp_printf(print, " duty_u16=%d", self->duty_u16);
}
mp_printf(print, " freq=%d, flags=%u>", self->freq, self->flags);
}
// This called from pwm.init() method
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,
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_INT, {.u_int = VALUE_NOT_SET}},
{MP_QSTR_duty_ns, MP_ARG_INT, {.u_int = VALUE_NOT_SET}},
{MP_QSTR_invert, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args),
allowed_args, args);
// Maybe change PWM timer
if (args[ARG_freq].u_int > 0) {
self->freq = args[ARG_freq].u_int;
}
// Set duty_u16 cycle?
int32_t duty = args[ARG_duty_u16].u_int;
if (duty >= 0) {
self->duty_u16 = duty;
self->duty_ns = VALUE_NOT_SET;
}
// Set duty_ns value?
duty = args[ARG_duty_ns].u_int;
if (duty >= 0) {
self->duty_ns = duty;
self->duty_u16 = VALUE_NOT_SET;
}
self->flags = 0;
if (args[ARG_invert].u_int >= 0) {
self->flags |= PWM_POLARITY_INVERTED;
}
configure_pwm(self);
}
// PWM(pin-tuple, freq, [args])
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 *args) {
mp_obj_t *items;
uint32_t wanted_chan;
const struct device *wanted_pwm;
// Check number of arguments
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// Get referred Pin object(s)
if (!mp_obj_is_type(args[0], &mp_type_tuple)) {
mp_raise_ValueError(
MP_ERROR_TEXT("Pin id must be tuple of (\"pwm_x\", channel#)"));
}
mp_obj_get_array_fixed_n(args[0], 2, &items);
wanted_pwm = zephyr_device_find(items[0]);
wanted_chan = mp_obj_get_int(items[1]);
machine_pwm_obj_t *pwm = mp_obj_malloc(machine_pwm_obj_t, &machine_pwm_type);
pwm->pwm = wanted_pwm;
pwm->channel = wanted_chan;
pwm->duty_ns = VALUE_NOT_SET;
pwm->duty_u16 = VALUE_NOT_SET;
pwm->freq = VALUE_NOT_SET;
pwm->flags = 0;
if (n_args > 1 || n_kw > 0) {
// pin mode given, so configure this GPIO
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
mp_machine_pwm_init_helper(pwm, n_args - 1, args + 1, &kw_args);
}
return (mp_obj_t)pwm;
}
// This called from pwm.deinit() method
static void mp_machine_pwm_deinit(machine_pwm_obj_t *self) {
self->duty_ns = 0;
self->duty_u16 = VALUE_NOT_SET;
configure_pwm(self);
}
static mp_obj_t mp_machine_pwm_freq_get(machine_pwm_obj_t *self) {
return MP_OBJ_NEW_SMALL_INT(self->freq);
}
static void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
self->freq = freq;
configure_pwm(self);
}
static void mp_machine_pwm_duty_set_ns(machine_pwm_obj_t *self,
mp_int_t duty_ns) {
self->duty_ns = duty_ns;
self->duty_u16 = VALUE_NOT_SET;
configure_pwm(self);
}
static mp_obj_t mp_machine_pwm_duty_get_ns(machine_pwm_obj_t *self) {
return MP_OBJ_NEW_SMALL_INT(self->duty_ns);
}
static mp_obj_t mp_machine_pwm_duty_get_u16(machine_pwm_obj_t *self) {
return MP_OBJ_NEW_SMALL_INT(self->duty_u16);
}
static void mp_machine_pwm_duty_set_u16(machine_pwm_obj_t *self,
mp_int_t duty_u16) {
self->duty_ns = VALUE_NOT_SET;
self->duty_u16 = duty_u16;
configure_pwm(self);
}
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