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RP2040 PWM driver now supports pre-scaler #277

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Merged
merged 3 commits into from
Jun 1, 2023
Merged

RP2040 PWM driver now supports pre-scaler #277

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ae5accb
extend RP2040 PWM to support low speeds
runger1101001 May 30, 2023
3cee9cf
make isSentinel useable for other code
Jun 1, 2023
fa637de
RP2040 PWM driver now supports pre-scaler
Jun 1, 2023
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2 changes: 1 addition & 1 deletion src/communication/Commander.h
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Original file line number Diff line number Diff line change
Expand Up @@ -240,6 +240,7 @@ class Commander
*/
void motion(FOCMotor* motor, char* user_cmd, char* separator = (char *)" ");

bool isSentinel(char ch);
private:
// Subscribed command callback variables
CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
Expand Down Expand Up @@ -294,7 +295,6 @@ class Commander


void printError();
bool isSentinel(char ch);
};


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24 changes: 17 additions & 7 deletions src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp
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Expand Up @@ -9,10 +9,11 @@
#include "../../hardware_api.h"
#include "./rp2040_mcu.h"
#include "hardware/pwm.h"
#include "hardware/clocks.h"

#define _PWM_FREQUENCY 24000
#define _PWM_FREQUENCY_MAX 66000
#define _PWM_FREQUENCY_MIN 5000
#define _PWM_FREQUENCY_MIN 1



Expand All @@ -30,11 +31,12 @@ void setupPWM(int pin, long pwm_frequency, bool invert, RP2040DriverParams* para
params->pins[index] = pin;
params->slice[index] = slice;
params->chan[index] = chan;
pwm_set_clkdiv_int_frac(slice, 1, 0); // fastest pwm we can get
pwm_set_phase_correct(slice, true);
uint16_t wrapvalue = ((125L * 1000L * 1000L) / pwm_frequency) / 2L - 1L;
if (wrapvalue < 999) wrapvalue = 999; // 66kHz, resolution 1000
if (wrapvalue > 12499) wrapvalue = 12499; // 20kHz, resolution 12500
uint32_t sysclock_hz = frequency_count_khz(CLOCKS_FC0_SRC_VALUE_CLK_SYS) * 1000;
uint32_t factor = 4096 * 2 * pwm_frequency;
uint32_t div = sysclock_hz / factor;
if (sysclock_hz % factor !=0) div+=1;
if (div < 16) div = 16;
uint32_t wrapvalue = (sysclock_hz * 8) / div / pwm_frequency - 1;
#ifdef SIMPLEFOC_DEBUG_RP2040
SimpleFOCDebug::print("Configuring pin ");
SimpleFOCDebug::print(pin);
Expand All @@ -44,9 +46,17 @@ void setupPWM(int pin, long pwm_frequency, bool invert, RP2040DriverParams* para
SimpleFOCDebug::print((int)chan);
SimpleFOCDebug::print(" frequency ");
SimpleFOCDebug::print((int)pwm_frequency);
SimpleFOCDebug::print(" divisor ");
SimpleFOCDebug::print((int)(div>>4));
SimpleFOCDebug::print(".");
SimpleFOCDebug::print((int)(div&0xF));
SimpleFOCDebug::print(" top value ");
SimpleFOCDebug::println(wrapvalue);
SimpleFOCDebug::println((int)wrapvalue);
#endif
if (wrapvalue < 999)
SimpleFOCDebug::println("Warning: PWM resolution is low.");
pwm_set_clkdiv_int_frac(slice, div>>4, div&0xF);
pwm_set_phase_correct(slice, true);
pwm_set_wrap(slice, wrapvalue);
wrapvalues[slice] = wrapvalue;
if (invert) {
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2 changes: 2 additions & 0 deletions src/drivers/hardware_specific/rp2040/rp2040_mcu.h
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Expand Up @@ -2,6 +2,8 @@

#pragma once

#include "Arduino.h"

#if defined(TARGET_RP2040)


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