drv/pwm: new driver subsystem

This introduces an abstraction layer for PWM devices. Currently this
just consists of STM32 TIM devices being used as PWMs. It prepares the
way for adding other types of PWM devices.

The platform-specific motor and light drivers are converted to use the
new APIs. This is one step towards making those drivers more generic.

Author: dlech

bricks/ev3dev/Makefile

@@ -261,14 +261,15 @@ PYBRICKS_LIB_SRC_C = $(addprefix lib/,\
 	contiki-core/sys/timer.c \
 	ev3dev/src/ev3dev_stretch/lego_port.c \
 	ev3dev/src/ev3dev_stretch/lego_sensor.c \
-	ev3dev/src/ev3dev_stretch/sysfs.c \
 	ev3dev/src/ev3dev_stretch/nxtcolor.c \
+	ev3dev/src/ev3dev_stretch/sysfs.c \
 	libfixmath/libfixmath/fix16_sqrt.c \
 	libfixmath/libfixmath/fix16_str.c \
 	libfixmath/libfixmath/fix16.c \
 	libfixmath/libfixmath/uint32.c \
 	pbio/drv/battery/battery_linux_ev3.c \
 	pbio/drv/button/button_linux_ev3.c \
+	pbio/drv/core.c \
 	pbio/drv/counter/counter_core.c \
 	pbio/drv/counter/counter_ev3dev_stretch_iio.c \
 	pbio/drv/ev3dev_stretch/light.c \
@@ -277,9 +278,10 @@ PYBRICKS_LIB_SRC_C = $(addprefix lib/,\
 	pbio/drv/ioport/ioport_ev3dev_stretch.c \
 	pbio/platform/ev3dev_stretch/clock.c \
 	pbio/src/control.c \
+	pbio/src/dcmotor.c \
 	pbio/src/drivebase.c \
 	pbio/src/error.c \
-	pbio/src/dcmotor.c \
+	pbio/src/integrator.c \
 	pbio/src/light.c \
 	pbio/src/logger.c \
 	pbio/src/main.c \
@@ -289,9 +291,8 @@ PYBRICKS_LIB_SRC_C = $(addprefix lib/,\
 	pbio/src/servo.c \
 	pbio/src/sound.c \
 	pbio/src/tacho.c \
-	pbio/src/trajectory.c \
 	pbio/src/trajectory_ext.c \
-	pbio/src/integrator.c \
+	pbio/src/trajectory.c \
 	)
 
 OBJ = $(PY_O)

bricks/nxt/Makefile

@@ -162,24 +162,25 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/$(PBIO_PLATFORM)/motor.c \
 	drv/battery/battery_nxt.c \
 	drv/button/button_nxt.c \
+	drv/core.c \
 	drv/counter/counter_core.c \
 	drv/counter/counter_nxt.c \
 	platform/$(PBIO_PLATFORM)/clock.c \
 	platform/$(PBIO_PLATFORM)/platform.c \
 	platform/$(PBIO_PLATFORM)/sys.c \
 	src/control.c \
+	src/dcmotor.c \
 	src/drivebase.c \
 	src/error.c \
-	src/dcmotor.c \
+	src/integrator.c \
 	src/logger.c \
 	src/main.c \
 	src/math.c \
 	src/motorpoll.c \
 	src/servo.c \
 	src/tacho.c \
-	src/trajectory.c \
 	src/trajectory_ext.c \
-	src/integrator.c \
+	src/trajectory.c \
 	)
 
 OBJ = $(PY_O) $(addprefix $(BUILD)/, $(SRC_C:.c=.o) $(SRC_S:.s=.o))

bricks/stm32/stm32.mk

@@ -131,6 +131,7 @@ endif
 # Required for STM32 library
 CFLAGS += -D$(PB_CMSIS_MCU)
 
+CFLAGS += -DSTM32_H='<stm32$(PB_MCU_SERIES_LCASE)xx.h>'
 CFLAGS += -DSTM32_HAL_H='<stm32$(PB_MCU_SERIES_LCASE)xx_hal.h>'
 
 # TODO: probably only need no-unicode on movehub
@@ -283,12 +284,15 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/battery/battery_adc.c \
 	drv/button/button_adc.c \
 	drv/button/button_gpio.c \
+	drv/core.c \
 	drv/counter/counter_core.c \
 	drv/counter/counter_stm32f0_gpio_quad_enc.c \
 	drv/gpio/gpio_stm32f0.c \
 	drv/gpio/gpio_stm32f4.c \
 	drv/gpio/gpio_stm32l4.c \
 	drv/ioport/ioport_lpf2.c \
+	drv/pwm/pwm_core.c \
+	drv/pwm/pwm_stm32_tim.c \
 	drv/uart/uart_stm32f0.c \
 	drv/uart/uart_stm32f4_ll_irq.c \
 	drv/uart/uart_stm32l4_ll_dma.c \

lib/pbio/doc/doxygen.conf

@@ -2102,6 +2102,7 @@ INCLUDE_FILE_PATTERNS  =
 PREDEFINED = \
     PBIO_CONFIG_ENABLE_DEINIT \
     PBIO_CONFIG_ENABLE_SYS \
+    PBDRV_CONFIG_PWM=1
     PBDRV_CONFIG_HAS_PORT_A=1 \
     PBDRV_CONFIG_HAS_PORT_B=1 \
     PBDRV_CONFIG_HAS_PORT_C=1 \

lib/pbio/drv/city_hub/light.c

@@ -6,66 +6,11 @@
 #if PBDRV_CONFIG_LIGHT
 
 #include <pbdrv/light.h>
+#include <pbdrv/pwm.h>
 #include <pbio/config.h>
 #include <pbio/error.h>
 #include <pbio/port.h>
 
-#include "stm32f030xc.h"
-
-// setup LED PWMs and pins
-void _pbdrv_light_init(void) {
-    // RGB values are 0-255, so multiplying by 5 here to limit brightness to
-    // 1/5 of max possible without having to do division later. It should also
-    // give use smoother steps than the official LEGO firmware since we aren't
-    // jumping by 5s.
-    TIM15->PSC = 187;
-    TIM15->ARR = 256 * 5;
-    TIM15->BDTR |= TIM_BDTR_MOE;
-    TIM16->PSC = 187;
-    TIM16->ARR = 256 * 5;
-    TIM16->BDTR |= TIM_BDTR_MOE;
-
-    // red LED on PB8 using TIM16 CH1
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODER8_Msk) | (2 << GPIO_MODER_MODER8_Pos);
-    GPIOB->AFR[1] = (GPIOB->AFR[1] & ~GPIO_AFRH_AFSEL8_Msk) | (2 << GPIO_AFRH_AFSEL8_Pos);
-    TIM16->CCMR1 |= (0x6 << TIM_CCMR1_OC1M_Pos) | TIM_CCMR1_OC1PE; // PWM Mode 1
-    TIM16->CCER |= TIM_CCER_CC1E;
-
-    // green LED on PB14 using TIM15 CH1
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODER14_Msk) | (2 << GPIO_MODER_MODER14_Pos);
-    GPIOB->AFR[1] = (GPIOB->AFR[1] & ~GPIO_AFRH_AFSEL14_Msk) | (1 << GPIO_AFRH_AFSEL14_Pos);
-    TIM15->CCMR1 |= (0x6 << TIM_CCMR1_OC1M_Pos) | TIM_CCMR1_OC1PE; // PWM Mode 1
-    TIM15->CCER |= TIM_CCER_CC1E;
-
-    // blue LED on PB15 using TIM15 CH2
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODER15_Msk) | (2 << GPIO_MODER_MODER15_Pos);
-    GPIOB->AFR[1] = (GPIOB->AFR[1] & ~GPIO_AFRH_AFSEL15_Msk) | (1 << GPIO_AFRH_AFSEL15_Pos);
-    TIM15->CCMR1 |= (0x6 << TIM_CCMR1_OC2M_Pos) | TIM_CCMR1_OC2PE; // PWM Mode 1
-    TIM15->CCER |= TIM_CCER_CC2E;
-
-    TIM16->CR1 |= TIM_CR1_CEN;
-    TIM16->EGR |= TIM_EGR_UG;
-    TIM15->CR1 |= TIM_CR1_CEN;
-    TIM15->EGR |= TIM_EGR_UG;
-    TIM16->CCR1 = 0;
-    TIM15->CCR1 = 0;
-    TIM15->CCR2 = 0;
-}
-
-#if PBIO_CONFIG_ENABLE_DEINIT
-// turn off the light
-void _pbdrv_light_deinit(void) {
-    TIM15->CR1 &= ~TIM_CR1_CEN;
-    TIM16->CR1 &= ~TIM_CR1_CEN;
-    GPIOB->BRR = GPIO_BRR_BR_8;
-    GPIOB->BRR = GPIO_BRR_BR_14;
-    GPIOB->BRR = GPIO_BRR_BR_15;
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODER8_Msk) | (1 << GPIO_MODER_MODER8_Pos);
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODER14_Msk) | (1 << GPIO_MODER_MODER14_Pos);
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODER15_Msk) | (1 << GPIO_MODER_MODER15_Pos);
-}
-#endif
-
 pbio_error_t pbdrv_light_set_rgb(pbio_port_t port, uint8_t r, uint8_t g, uint8_t b) {
     if (port == PBIO_PORT_B || port == PBIO_PORT_A) {
         // TODO: check for Powered UP Lights connected to ports C/D
@@ -76,9 +21,14 @@ pbio_error_t pbdrv_light_set_rgb(pbio_port_t port, uint8_t r, uint8_t g, uint8_t
         return PBIO_ERROR_INVALID_PORT;
     }
 
-    TIM16->CCR1 = r;
-    TIM15->CCR1 = g;
-    TIM15->CCR2 = b;
+    pbdrv_pwm_dev_t *dev;
+    if (pbdrv_pwm_get_dev(2, &dev) == PBIO_SUCCESS) {
+        pbdrv_pwm_set_duty(dev, 1, r);
+    }
+    if (pbdrv_pwm_get_dev(1, &dev) == PBIO_SUCCESS) {
+        pbdrv_pwm_set_duty(dev, 1, g);
+        pbdrv_pwm_set_duty(dev, 2, b);
+    }
 
     return PBIO_SUCCESS;
 }

lib/pbio/drv/city_hub/motor.c

@@ -12,48 +12,10 @@
 #include "stm32f030xc.h"
 
 #include <pbdrv/motor.h>
-#include <pbio/config.h>
-
-void _pbdrv_motor_init(void) {
-    // TIM3 is used for port C PWM
-    TIM3->PSC = 3;      // divide by 4 (= 3 + 1), so ticks are 12MHz
-    TIM3->ARR = 10000;  // 12MHz divided by 10k makes 1.2kHz PWM
-    TIM3->BDTR |= TIM_BDTR_MOE;
-
-    // port B
-    // init PWM pins as gpio out low (coasting) and prepare alternate function
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER6_Msk) | (1 << GPIO_MODER_MODER6_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_6;
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER8_Msk) | (1 << GPIO_MODER_MODER8_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_8;
-    GPIOC->AFR[0] = (GPIOC->AFR[0] & ~GPIO_AFRL_AFSEL6_Msk) | (0 << GPIO_AFRL_AFSEL6_Pos);
-    GPIOC->AFR[1] = (GPIOC->AFR[1] & ~GPIO_AFRH_AFSEL8_Msk) | (0 << GPIO_AFRH_AFSEL8_Pos);
-    TIM3->CCR1 = 0;
-    TIM3->CCR3 = 0;
-    TIM3->CCMR1 |= (6 << TIM_CCMR1_OC1M_Pos) | TIM_CCMR1_OC1PE; // PWM mode 1
-    TIM3->CCER |= TIM_CCER_CC1E;
-    TIM3->CCMR2 |= (6 << TIM_CCMR2_OC3M_Pos) | TIM_CCMR2_OC3PE; // PWM mode 1
-    TIM3->CCER |= TIM_CCER_CC3E;
-
-    // port A
-    // init PWM pins as gpio out low (coasting) and prepare alternate function
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER7_Msk) | (1 << GPIO_MODER_MODER7_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_7;
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER9_Msk) | (1 << GPIO_MODER_MODER9_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_9;
-    GPIOC->AFR[0] = (GPIOC->AFR[0] & ~GPIO_AFRL_AFSEL7_Msk) | (0 << GPIO_AFRL_AFSEL7_Pos);
-    GPIOC->AFR[1] = (GPIOC->AFR[1] & ~GPIO_AFRH_AFSEL9_Msk) | (0 << GPIO_AFRH_AFSEL9_Pos);
-    TIM3->CCR2 = 0;
-    TIM3->CCR4 = 0;
-    TIM3->CCMR1 |= (6 << TIM_CCMR1_OC2M_Pos) | TIM_CCMR1_OC2PE; // PWM mode 1
-    TIM3->CCER |= TIM_CCER_CC2E;
-    TIM3->CCMR2 |= (6 << TIM_CCMR2_OC4M_Pos) | TIM_CCMR2_OC4PE; // PWM mode 1
-    TIM3->CCER |= TIM_CCER_CC4E;
-
-    // apply settings and start timer
-    TIM3->CR1 |= TIM_CR1_CEN;
-    TIM3->EGR |= TIM_EGR_UG;
-}
+#include <pbdrv/pwm.h>
+#include <pbio/error.h>
+#include <pbio/iodev.h>
+#include <pbio/port.h>
 
 static pbio_iodev_t *get_iodev(pbio_port_t port) {
     pbio_iodev_t *iodev;
@@ -115,18 +77,24 @@ static void pbdrv_motor_brake(pbio_port_t port) {
 }
 
 static void pbdrv_motor_run_fwd(pbio_port_t port, int16_t duty_cycle) { // duty is pos
+    pbdrv_pwm_dev_t *dev;
+
     // one pin as out, high and the other as PWM
     switch (port) {
         case PBIO_PORT_B:
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER6_Msk) | (1 << GPIO_MODER_MODER6_Pos);
             GPIOC->BSRR = GPIO_BSRR_BS_6;
-            TIM3->CCR3 = 10000 - duty_cycle;
+            if (pbdrv_pwm_get_dev(0, &dev) == PBIO_SUCCESS) {
+                pbdrv_pwm_set_duty(dev, 3, 10000 - duty_cycle);
+            }
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER8_Msk) | (2 << GPIO_MODER_MODER8_Pos);
             break;
         case PBIO_PORT_A:
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER7_Msk) | (1 << GPIO_MODER_MODER7_Pos);
             GPIOC->BSRR = GPIO_BSRR_BS_7;
-            TIM3->CCR4 = 10000 - duty_cycle;
+            if (pbdrv_pwm_get_dev(0, &dev) == PBIO_SUCCESS) {
+                pbdrv_pwm_set_duty(dev, 4, 10000 - duty_cycle);
+            }
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER9_Msk) | (2 << GPIO_MODER_MODER9_Pos);
             break;
         default:
@@ -135,18 +103,24 @@ static void pbdrv_motor_run_fwd(pbio_port_t port, int16_t duty_cycle) { // duty
 }
 
 static void pbdrv_motor_run_rev(pbio_port_t port, int16_t duty_cycle) { // duty is neg
+    pbdrv_pwm_dev_t *dev;
+
     // one pin as out, high and the other as PWM
     switch (port) {
         case PBIO_PORT_B:
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER8_Msk) | (1 << GPIO_MODER_MODER8_Pos);
             GPIOC->BSRR = GPIO_BSRR_BS_8;
-            TIM3->CCR1 = 10000 + duty_cycle;
+            if (pbdrv_pwm_get_dev(0, &dev) == PBIO_SUCCESS) {
+                pbdrv_pwm_set_duty(dev, 1, 10000 + duty_cycle);
+            }
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER6_Msk) | (2 << GPIO_MODER_MODER6_Pos);
             break;
         case PBIO_PORT_A:
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER9_Msk) | (1 << GPIO_MODER_MODER9_Pos);
             GPIOC->BSRR = GPIO_BSRR_BS_9;
-            TIM3->CCR2 = 10000 + duty_cycle;
+            if (pbdrv_pwm_get_dev(0, &dev) == PBIO_SUCCESS) {
+                pbdrv_pwm_set_duty(dev, 2, 10000 + duty_cycle);
+            }
             GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER7_Msk) | (2 << GPIO_MODER_MODER7_Pos);
             break;
         default:
@@ -192,19 +166,4 @@ pbio_error_t pbdrv_motor_setup(pbio_port_t port, bool is_servo) {
     return PBIO_SUCCESS;
 }
 
-#if PBIO_CONFIG_ENABLE_DEINIT
-void _pbdrv_motor_deinit(void) {
-    // disable the PWM timers
-    TIM3->CR1 &= TIM_CR1_CEN;
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER6_Msk) | (1 << GPIO_MODER_MODER6_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_6;
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER8_Msk) | (1 << GPIO_MODER_MODER8_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_8;
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER7_Msk) | (1 << GPIO_MODER_MODER7_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_7;
-    GPIOC->MODER = (GPIOC->MODER & ~GPIO_MODER_MODER9_Msk) | (1 << GPIO_MODER_MODER9_Pos);
-    GPIOC->BRR = GPIO_BRR_BR_9;
-}
-#endif
-
 #endif // PBDRV_CONFIG_MOTOR

lib/pbio/drv/core.c

@@ -0,0 +1,9 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2020 The Pybricks Authors
+
+#include <pbdrv/pwm.h>
+
+/** Initializes all enabled drivers. */
+void pbdrv_init() {
+    pbdrv_pwm_init();
+}

lib/pbio/drv/cplus_hub/light.c

@@ -6,64 +6,28 @@
 #if PBDRV_CONFIG_LIGHT
 
 #include <pbdrv/light.h>
+#include <pbdrv/pwm.h>
 #include <pbio/config.h>
 #include <pbio/error.h>
 #include <pbio/port.h>
 
-#include "stm32l4xx_hal.h"
-
-extern TIM_HandleTypeDef *cplus_hub_htim1;
-extern TIM_HandleTypeDef *cplus_hub_htim15;
-extern TIM_HandleTypeDef *cplus_hub_htim16;
-
-// setup LED PWMs and pins
-void _pbdrv_light_init(void) {
-    TIM_OC_InitTypeDef tim_oc_init = { 0 };
-
-    tim_oc_init.OCMode = TIM_OCMODE_PWM1;
-    tim_oc_init.OCPolarity = TIM_OCPOLARITY_LOW;
-
-    // red LED on PB15 using TIM15 CH2
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODE15_Msk) | (2 << GPIO_MODER_MODE15_Pos);
-    GPIOB->AFR[1] = (GPIOB->AFR[1] & ~GPIO_AFRH_AFSEL15_Msk) | (14 << GPIO_AFRH_AFSEL15_Pos);
-    HAL_TIM_PWM_ConfigChannel(cplus_hub_htim15, &tim_oc_init, TIM_CHANNEL_2);
-    HAL_TIM_PWM_Start(cplus_hub_htim15, TIM_CHANNEL_2);
-
-    // green LED on PA11 using TIM1 CH4
-    GPIOA->MODER = (GPIOA->MODER & ~GPIO_MODER_MODE11_Msk) | (2 << GPIO_MODER_MODE11_Pos);
-    GPIOA->AFR[1] = (GPIOA->AFR[1] & ~GPIO_AFRH_AFSEL11_Msk) | (1 << GPIO_AFRH_AFSEL11_Pos);
-    HAL_TIM_PWM_ConfigChannel(cplus_hub_htim1, &tim_oc_init, TIM_CHANNEL_4);
-    HAL_TIM_PWM_Start(cplus_hub_htim1, TIM_CHANNEL_4);
-
-    // blue LED on PA6 using TIM16 CH1
-    GPIOA->MODER = (GPIOA->MODER & ~GPIO_MODER_MODE6_Msk) | (2 << GPIO_MODER_MODE6_Pos);
-    GPIOA->AFR[0] = (GPIOA->AFR[0] & ~GPIO_AFRL_AFSEL6_Msk) | (14 << GPIO_AFRL_AFSEL6_Pos);
-    HAL_TIM_PWM_ConfigChannel(cplus_hub_htim16, &tim_oc_init, TIM_CHANNEL_1);
-    HAL_TIM_PWM_Start(cplus_hub_htim16, TIM_CHANNEL_1);
-}
-
-#if PBIO_CONFIG_ENABLE_DEINIT
-// turn off the light
-void _pbdrv_light_deinit(void) {
-    HAL_TIM_PWM_Stop(cplus_hub_htim16, TIM_CHANNEL_1);
-    HAL_TIM_PWM_Stop(cplus_hub_htim1, TIM_CHANNEL_4);
-    HAL_TIM_PWM_Stop(cplus_hub_htim15, TIM_CHANNEL_2);
-    GPIOB->MODER = (GPIOB->MODER & ~GPIO_MODER_MODE15_Msk) | (1 << GPIO_MODER_MODE15_Pos);
-    GPIOA->MODER = (GPIOA->MODER & ~GPIO_MODER_MODE11_Msk) | (1 << GPIO_MODER_MODE11_Pos);
-    GPIOA->MODER = (GPIOA->MODER & ~GPIO_MODER_MODE6_Msk) | (1 << GPIO_MODER_MODE6_Pos);
-}
-#endif
-
 pbio_error_t pbdrv_light_set_rgb(pbio_port_t port, uint8_t r, uint8_t g, uint8_t b) {
     if (port != PBIO_PORT_SELF) {
         return PBIO_ERROR_INVALID_PORT;
     }
 
     // Timers have period of 10000 and we want period / 5 as max brightness.
 
-    TIM15->CCR2 = 10000 - r * 2000 / 255;
-    TIM1->CCR4 = 10000 - g * 2000 / 255;
-    TIM16->CCR1 = 10000 - b * 2000 / 255;
+    pbdrv_pwm_dev_t *dev;
+    if (pbdrv_pwm_get_dev(1, &dev) == PBIO_SUCCESS) {
+        pbdrv_pwm_set_duty(dev, 2, 10000 - r * 2000 / 255);
+    }
+    if (pbdrv_pwm_get_dev(0, &dev) == PBIO_SUCCESS) {
+        pbdrv_pwm_set_duty(dev, 4, 10000 - g * 2000 / 255);
+    }
+    if (pbdrv_pwm_get_dev(2, &dev) == PBIO_SUCCESS) {
+        pbdrv_pwm_set_duty(dev, 1, 10000 - b * 2000 / 255);
+    }
 
     return PBIO_SUCCESS;
 }