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Add PWM interrupt functionality for RP2040 #2684

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Add PWM interrupt functionality for RP2040 #2684

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55 changes: 47 additions & 8 deletions src/machine/machine_rp2040_pwm.go
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,14 @@ type pwmGroup struct {
TOP volatile.Register32
}

type pwmBlock struct {
EN volatile.Register32
INTR volatile.Register32
INTE volatile.Register32
INTF volatile.Register32
INTS volatile.Register32
}

// Equivalent of
// var pwmSlice []pwmGroup = (*[8]pwmGroup)(unsafe.Pointer(rp.PWM))[:]
// return &pwmSlice[index]
Expand All @@ -52,6 +60,11 @@ func getPWMGroup(index uintptr) *pwmGroup {
return (*pwmGroup)(unsafe.Pointer(uintptr(unsafe.Pointer(rp.PWM)) + 0x14*index))
}

func getPWMHW() *pwmBlock {
const offset = 0xa0 // EN register offset
return (*pwmBlock)(unsafe.Pointer(uintptr(unsafe.Pointer(rp.PWM)) + offset))
}

// Hardware Pulse Width Modulation (PWM) API
// PWM peripherals available on RP2040. Each peripheral has 2 pins available for
// a total of 16 available PWM outputs. Some pins may not be available on some boards.
Expand All @@ -68,14 +81,15 @@ func getPWMGroup(index uintptr) *pwmGroup {
// immediately wrap to 0. PWM slices also offer a phase-correct mode, where the counter starts to count downward after
// reaching TOP, until it reaches 0 again.
var (
PWM0 = getPWMGroup(0)
PWM1 = getPWMGroup(1)
PWM2 = getPWMGroup(2)
PWM3 = getPWMGroup(3)
PWM4 = getPWMGroup(4)
PWM5 = getPWMGroup(5)
PWM6 = getPWMGroup(6)
PWM7 = getPWMGroup(7)
pwmHW = getPWMHW()
PWM0 = getPWMGroup(0)
PWM1 = getPWMGroup(1)
PWM2 = getPWMGroup(2)
PWM3 = getPWMGroup(3)
PWM4 = getPWMGroup(4)
PWM5 = getPWMGroup(5)
PWM6 = getPWMGroup(6)
PWM7 = getPWMGroup(7)
)

// Configure enables and configures this PWM.
Expand Down Expand Up @@ -391,6 +405,31 @@ func (pwm *pwmGroup) getClockDiv() (Int, frac uint8) {
return uint8((div & rp.PWM_CH0_DIV_INT_Msk) >> rp.PWM_CH0_DIV_INT_Pos), uint8((div & rp.PWM_CH0_DIV_FRAC_Msk) >> rp.PWM_CH0_DIV_FRAC_Pos)
}

// SetIRQ enables or disables PWM instance interrupt request functionality.
func (pwm *pwmGroup) SetIRQ(enabled bool) {
p := pwm.peripheral()
if enabled {
pwmHW.INTE.SetBits(1 << p)
} else {
pwmHW.INTE.ClearBits(1 << p)
}
}

// ClearIRQ clears the current PWM's channel interrupt
func (pwm *pwmGroup) ClearIRQ() {
pwmHW.INTR.Set(1 << pwm.peripheral())
}

// ForceIRQ forces an interrupt request for the given PWM.
func (pwm *pwmGroup) ForceIRQ() {
pwmHW.INTF.Set(1 << pwm.peripheral())
}

// IRQStatus returns true if interrupt functionality is enabled for the pwmGroup.
func (pwm *pwmGroup) IsIRQSet() bool {
return pwmHW.INTS.Get()&(1<<pwm.peripheral()) != 0
}

// pwmGPIOToSlice Determine the PWM channel that is attached to the specified GPIO.
// gpio must be less than 30. Returns the PWM slice number that controls the specified GPIO.
func pwmGPIOToSlice(gpio Pin) (slicenum uint8) {
Expand Down