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imxrt: flexpwm remove 1:1 mapping requirement
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@PetervdPerk-NXP
PetervdPerk-NXP committed Mar 28, 2024
1 parent 416b6a3 commit a4c870e
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Showing 2 changed files with 116 additions and 64 deletions.
28 changes: 13 additions & 15 deletions Tools/module_config/output_groups_from_timer_config.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,24 +34,23 @@ def extract_timer(line):
if search:
return search.group(1), 'generic'

# nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
# NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
if search:
return search.group(1), 'imxrt'
return (search.group(1) + '_' + search.group(2)), 'imxrt'

return None, 'unknown'

def extract_timer_from_channel(line, num_channels_already_found):
def extract_timer_from_channel(line, timer_names):
# Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
if search:
return search.group(1)

# nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
# NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
if search:
# imxrt uses a 1:1 timer group to channel association
return str(num_channels_already_found)
return str(timer_names.index((search.group(1) + '_' + search.group(2))))

return None

Expand All @@ -69,6 +68,7 @@ def get_timer_groups(timer_config_file, verbose=False):
open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
timers_str = timer_config[open_idx:close_idx]
timers = []
timer_names = []
for line in timers_str.splitlines():
line = line.strip()
if len(line) == 0 or line.startswith('//'):
Expand All @@ -77,14 +77,12 @@ def get_timer_groups(timer_config_file, verbose=False):

if timer_type == 'imxrt':
if verbose: print('imxrt timer found')
max_num_channels = 16 # Just add a fixed number of timers
timers = [str(i) for i in range(max_num_channels)]
dshot_support = {str(i): False for i in range(max_num_channels)}
timer_names.append(timer)
timers.append(str(len(timers)))
dshot_support = {str(i): False for i in range(16)}
for i in range(8): # First 8 channels support dshot
dshot_support[str(i)] = True
break

if timer:
elif timer:
if verbose: print('found timer def: {:}'.format(timer))
dshot_support[timer] = 'DMA' in line
timers.append(timer)
Expand All @@ -111,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
continue

if verbose: print('--'+line+'--')
timer = extract_timer_from_channel(line, len(channel_timers))
timer = extract_timer_from_channel(line, timer_names)

if timer:
if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
Expand Down
152 changes: 103 additions & 49 deletions platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -255,6 +255,34 @@ static inline int channels_timer(unsigned channel)
return timer_io_channels[channel].timer_index;
}

static uint32_t get_timer_channels(unsigned timer)
{
uint32_t channels = 0;
static uint32_t channels_cache[MAX_IO_TIMERS] = {0};

if (validate_timer_index(timer) < 0) {
return channels;

} else {
if (channels_cache[timer] == 0) {
/* Gather the channel bits that belong to the timer */

uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;

for (unsigned chan_index = first_channel_index; chan_index < last_channel_index; chan_index++) {
channels |= 1 << chan_index;
}

/* cache them */

channels_cache[timer] = channels;
}
}

return channels_cache[timer];
}

static uint32_t get_channel_mask(unsigned channel)
{
return io_timer_validate_channel_index(channel) == 0 ? 1 << channel : 0;
Expand Down Expand Up @@ -391,41 +419,66 @@ static int allocate_channel(unsigned channel, io_timer_channel_mode_t mode)
return rv;
}

static int timer_set_rate(unsigned channel, unsigned rate)
static int timer_set_rate(unsigned timer, unsigned rate)
{
int channels = get_timer_channels(timer);

irqstate_t flags = px4_enter_critical_section();
rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
;
rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;

for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
if ((1 << channel) & channels) {
rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
;
rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;

}
}

px4_leave_critical_section(flags);
return 0;
}

static inline void io_timer_set_oneshot_mode(unsigned channel)
static inline void io_timer_set_oneshot_mode(unsigned timer)
{
int channels = get_timer_channels(timer);

irqstate_t flags = px4_enter_critical_section();
uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
rvalue &= ~SMCTRL_PRSC_MASK;
rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
;
rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;

for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
if ((1 << channel) & channels) {
uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
rvalue &= ~SMCTRL_PRSC_MASK;
rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
;
rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
}
}

px4_leave_critical_section(flags);

}

static inline void io_timer_set_PWM_mode(unsigned channel)
static inline void io_timer_set_PWM_mode(unsigned timer)
{
int channels = get_timer_channels(timer);

irqstate_t flags = px4_enter_critical_section();
uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
rvalue |= SMCTRL_PRSC_DIV16;
rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
;
rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;

for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
if ((1 << channel) & channels) {
uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
rvalue |= SMCTRL_PRSC_DIV16;
rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
;
rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
}
}

px4_leave_critical_section(flags);
}

Expand Down Expand Up @@ -530,33 +583,35 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
break;
}

uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;

for (uint32_t chan = first_channel_index; chan < last_channel_index; chan++) {

/* Clear all Faults */
rFSTS0(timer) = FSTS_FFLAG_MASK;

rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
rCTRL(timer, timer_io_channels[chan].sub_module) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
/* Edge aligned at 0 */
rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
: OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
rDTSRCSEL(timer) = 0;
rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
io_timer_set_PWM_mode(chan);
timer_set_rate(chan, 50);
int channels = get_timer_channels(timer);

for (uint32_t chan = 0; chan < DIRECT_PWM_OUTPUT_CHANNELS; ++chan) {
if ((1 << chan) & channels) {

/* Clear all Faults */
rFSTS0(timer) = FSTS_FFLAG_MASK;

rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
rCTRL(timer, timer_io_channels[chan].sub_module) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
/* Edge aligned at 0 */
rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
: OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
rDTSRCSEL(timer) = 0;
rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
}
}

io_timer_set_PWM_mode(timer);
timer_set_rate(timer, 50);

px4_leave_critical_section(flags);
}

Expand Down Expand Up @@ -818,8 +873,7 @@ uint16_t io_channel_get_ccr(unsigned channel)
return value;
}

// The rt has 1:1 group to channel
uint32_t io_timer_get_group(unsigned group)
uint32_t io_timer_get_group(unsigned timer)
{
return get_channel_mask(group);
return get_timer_channels(timer);
}

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