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Roughing out scheduling timer0

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This commit is contained in:
Ben V. Brown
2022-04-13 20:46:51 +10:00
parent d4e27a5b9b
commit 8ec723a749
7 changed files with 158 additions and 112 deletions
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136
source/Core/BSP/Magic/IRQ.cpp
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@@ -8,7 +8,15 @@
#include "IRQ.h"
#include "Pins.h"
#include "configuration.h"
extern "C" {
#include "bflb_platform.h"
#include "bl702_glb.h"
#include "bl702_pwm.h"
#include "bl702_timer.h"
#include "hal_clock.h"
#include "hal_pwm.h"
#include "hal_timer.h"
}
void ADC0_1_IRQHandler(void) {
// adc_interrupt_flag_clear(ADC0, ADC_INT_FLAG_EOIC);
@@ -22,65 +30,85 @@ void ADC0_1_IRQHandler(void) {
}
}
// static bool fastPWM;
// static void switchToSlowPWM(void);
// static void switchToFastPWM(void);
static bool fastPWM;
static void switchToSlowPWM(void);
static void switchToFastPWM(void);
// volatile uint16_t PWMSafetyTimer = 0;
volatile uint8_t pendingPWM = 200;
// void TIMER1_IRQHandler(void) {
// static bool lastPeriodWasFast = false;
volatile uint16_t PWMSafetyTimer = 0;
volatile uint8_t pendingPWM = 200;
volatile bool lastPeriodWasFast = false;
// if (timer_interrupt_flag_get(TIMER1, TIMER_INT_UP) == SET) {
// timer_interrupt_flag_clear(TIMER1, TIMER_INT_UP);
// // rollover turn on output if required
// if (PWMSafetyTimer) {
// PWMSafetyTimer--;
// if (lastPeriodWasFast != fastPWM) {
// if (fastPWM) {
// switchToFastPWM();
// } else {
// switchToSlowPWM();
// }
// }
// if (pendingPWM) {
// timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, pendingPWM);
// timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_0, 50);
// } else {
// timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_0, 0);
// }
// }
// }
// if (timer_interrupt_flag_get(TIMER1, TIMER_INT_CH1) == SET) {
// timer_interrupt_flag_clear(TIMER1, TIMER_INT_CH1);
// timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_0, 0);
// }
// }
// Timer 0 is used to co-ordinate the ADC and the output PWM
void timer0_irq_callback(struct device *dev, void *args, uint32_t size, uint32_t state) {
if (state == TIMER_EVENT_COMP0) {
// MSG((char *)"timer event comp0! \r\n");
// We use channel 0 to trigger the ADC, this occurs after the main PWM is done with a delay
// void switchToFastPWM(void) {
// // fastPWM = true;
// // totalPWM = powerPWM + tempMeasureTicks + holdoffTicks;
// // TIMER_CAR(TIMER1) = (uint32_t)totalPWM;
} else if (state == TIMER_EVENT_COMP1) {
// MSG((char *)"timer event comp1! \r\n");
// Channel 1 is end of the main PWM section; so turn off the output PWM
} else if (state == TIMER_EVENT_COMP2) {
// This occurs at timer rollover, so if we want to turn on the output PWM; we do so
if (PWMSafetyTimer) {
PWMSafetyTimer--;
if (lastPeriodWasFast != fastPWM) {
if (fastPWM) {
switchToFastPWM();
} else {
switchToSlowPWM();
}
}
// Update trigger for the end point of the PWM cycle
if (pendingPWM > 0) {
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_1, pendingPWM - 1);
// Turn on output
} else {
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_1, 0);
// Leave output off
}
}
// MSG((char *)"timer event comp2! \r\n");
}
}
// // // ~10Hz
// // TIMER_CH0CV(TIMER1) = powerPWM + holdoffTicks;
// // // 1 kHz tick rate
// // TIMER_PSC(TIMER1) = 18000;
// }
void switchToFastPWM(void) {
fastPWM = true;
totalPWM = powerPWM + tempMeasureTicks + holdoffTicks;
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_2, totalPWM);
// void switchToSlowPWM(void) {
// // 5Hz
// // fastPWM = false;
// // totalPWM = powerPWM + tempMeasureTicks / 2 + holdoffTicks / 2;
// // TIMER_CAR(TIMER1) = (uint32_t)totalPWM;
// // TIMER_CH0CV(TIMER1) = powerPWM + holdoffTicks / 2;
// // TIMER_PSC(TIMER1) = 36000;
// }
// ~10Hz
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + holdoffTicks);
// Set divider to 11
uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);
tmpVal = BL_SET_REG_BITS_VAL(tmpVal, TIMER_TCDR2, 11);
BL_WR_REG(TIMER_BASE, TIMER_TCDR, tmpVal);
}
void switchToSlowPWM(void) {
// 5Hz
fastPWM = false;
totalPWM = powerPWM + tempMeasureTicks / 2 + holdoffTicks / 2;
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_2, totalPWM);
// Adjust ADC
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + (holdoffTicks / 2));
// Set divider to 22
uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);
tmpVal = BL_SET_REG_BITS_VAL(tmpVal, TIMER_TCDR2, 22);
BL_WR_REG(TIMER_BASE, TIMER_TCDR, tmpVal);
}
void setTipPWM(const uint8_t pulse, const bool shouldUseFastModePWM) {
// // PWMSafetyTimer = 10; // This is decremented in the handler for PWM so that the tip pwm is
// // // disabled if the PID task is not scheduled often enough.
// // pendingPWM = pulse;
// // fastPWM = shouldUseFastModePWM;
PWMSafetyTimer = 10; // This is decremented in the handler for PWM so that the tip pwm is
// disabled if the PID task is not scheduled often enough.
pendingPWM = pulse;
fastPWM = shouldUseFastModePWM;
}
extern osThreadId POWTaskHandle;