Add new MCU support "NRF52 series"

src/drivers/hardware_specific/generic_mcu.cpp

@@ -20,6 +20,8 @@
 
 #elif defined(TARGET_RP2040)
 
+#elif defined(NRF52_SERIES)
+
 #else
 
 // function setting the high pwm frequency to the supplied pins

src/drivers/hardware_specific/nrf52_mcu.cpp

@@ -0,0 +1,353 @@
+#include "../hardware_api.h"
+
+#if defined(NRF52_SERIES)
+
+#define PWM_CLK (16000000)
+#define PWM_FREQ (40000)
+#define PWM_RESOLUTION (PWM_CLK/PWM_FREQ)
+#define PWM_MAX_FREQ (62500)
+#define DEAD_ZONE (250) // in ns
+#define DEAD_TIME (DEAD_ZONE  / (PWM_RESOLUTION * 0.25 * 62.5)) // 62.5ns resolution of PWM
+
+#ifdef NRF_PWM3
+#define PWM_COUNT 4
+#else
+#define PWM_COUNT 3
+#endif
+
+// empty motor slot 
+#define _EMPTY_SLOT (-0xAA)
+#define _TAKEN_SLOT (-0x55)
+
+int pwm_range;
+float dead_time;
+
+static NRF_PWM_Type* pwms[PWM_COUNT] = {
+  NRF_PWM0,
+  NRF_PWM1,
+  NRF_PWM2,
+  #ifdef  NRF_PWM3
+  NRF_PWM3
+  #endif
+};
+
+typedef struct {
+  int pinA;
+  NRF_PWM_Type* mcpwm;
+  uint16_t mcpwm_channel_sequence[4];
+} bldc_3pwm_motor_slots_t;
+
+typedef struct {
+  int pin1A;
+  NRF_PWM_Type* mcpwm;
+  uint16_t mcpwm_channel_sequence[4];
+} stepper_motor_slots_t;
+
+typedef struct {
+  int pinAH;
+  NRF_PWM_Type* mcpwm1;
+  NRF_PWM_Type* mcpwm2;
+  uint16_t mcpwm_channel_sequence[8];
+} bldc_6pwm_motor_slots_t;
+
+// define bldc motor slots array
+bldc_3pwm_motor_slots_t nrf52_bldc_3pwm_motor_slots[4] =  { 
+  {_EMPTY_SLOT, pwms[0], {0,0,0,0}},// 1st motor will be PWM0 
+  {_EMPTY_SLOT, pwms[1], {0,0,0,0}},// 2nd motor will be PWM1 
+  {_EMPTY_SLOT, pwms[2], {0,0,0,0}},// 3rd motor will be PWM2 
+  {_EMPTY_SLOT, pwms[3], {0,0,0,0}} // 4th motor will be PWM3 
+  };
+
+// define stepper motor slots array
+stepper_motor_slots_t nrf52_stepper_motor_slots[4] =  { 
+  {_EMPTY_SLOT, pwms[0], {0,0,0,0}},// 1st motor will be on PWM0
+  {_EMPTY_SLOT, pwms[1], {0,0,0,0}},// 1st motor will be on PWM1
+  {_EMPTY_SLOT, pwms[2], {0,0,0,0}},// 1st motor will be on PWM2
+  {_EMPTY_SLOT, pwms[3], {0,0,0,0}} // 1st motor will be on PWM3
+  };  
+
+// define BLDC motor slots array
+bldc_6pwm_motor_slots_t nrf52_bldc_6pwm_motor_slots[2] =  { 
+  {_EMPTY_SLOT, pwms[0], pwms[1], {0,0,0,0,0,0,0,0}},// 1st motor will be on PWM0 & PWM1
+  {_EMPTY_SLOT, pwms[2], pwms[3], {0,0,0,0,0,0,0,0}} // 2nd motor will be on PWM1 & PWM2
+  };  
+
+// configuring high frequency pwm timer
+void _configureHwPwm(NRF_PWM_Type* mcpwm1,  NRF_PWM_Type* mcpwm2){
+
+  mcpwm1->ENABLE = (PWM_ENABLE_ENABLE_Enabled << PWM_ENABLE_ENABLE_Pos);
+  mcpwm1->PRESCALER = (PWM_PRESCALER_PRESCALER_DIV_1 << PWM_PRESCALER_PRESCALER_Pos);
+  mcpwm1->MODE = (PWM_MODE_UPDOWN_UpAndDown << PWM_MODE_UPDOWN_Pos); 
+  mcpwm1->COUNTERTOP = pwm_range; //pwm freq.
+  mcpwm1->LOOP = (PWM_LOOP_CNT_Disabled << PWM_LOOP_CNT_Pos);
+  mcpwm1->DECODER = ((uint32_t)PWM_DECODER_LOAD_Individual << PWM_DECODER_LOAD_Pos) | ((uint32_t)PWM_DECODER_MODE_RefreshCount << PWM_DECODER_MODE_Pos);
+  mcpwm1->SEQ[0].REFRESH  = 0;
+  mcpwm1->SEQ[0].ENDDELAY = 0;
+
+  if(mcpwm1 != mcpwm2){
+    mcpwm2->ENABLE = (PWM_ENABLE_ENABLE_Enabled << PWM_ENABLE_ENABLE_Pos);
+    mcpwm2->PRESCALER = (PWM_PRESCALER_PRESCALER_DIV_1 << PWM_PRESCALER_PRESCALER_Pos);
+    mcpwm2->MODE = (PWM_MODE_UPDOWN_UpAndDown << PWM_MODE_UPDOWN_Pos); 
+    mcpwm2->COUNTERTOP = pwm_range; //pwm freq.
+    mcpwm2->LOOP = (PWM_LOOP_CNT_Disabled << PWM_LOOP_CNT_Pos);
+    mcpwm2->DECODER = ((uint32_t)PWM_DECODER_LOAD_Individual << PWM_DECODER_LOAD_Pos) | ((uint32_t)PWM_DECODER_MODE_RefreshCount << PWM_DECODER_MODE_Pos);
+    mcpwm2->SEQ[0].REFRESH  = 0;
+    mcpwm2->SEQ[0].ENDDELAY = 0;
+  }else{
+    mcpwm1->MODE = (PWM_MODE_UPDOWN_Up << PWM_MODE_UPDOWN_Pos);
+  }
+}
+
+// function setting the high pwm frequency to the supplied pins
+// - BLDC motor - 3PWM setting
+// - hardware speciffic
+void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) {
+
+  if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz for a resolution of 800
+  else pwm_frequency = _constrain(pwm_frequency, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max for a resolution of 256  
+
+  pwm_range = (PWM_CLK / pwm_frequency);
+
+  int pA = g_ADigitalPinMap[pinA];
+  int pB = g_ADigitalPinMap[pinB];
+  int pC = g_ADigitalPinMap[pinC];
+
+  // determine which motor are we connecting
+  // and set the appropriate configuration parameters 
+  int slot_num;
+  for(slot_num = 0; slot_num < 4; slot_num++){
+    if(nrf52_bldc_3pwm_motor_slots[slot_num].pinA == _EMPTY_SLOT){ // put the new motor in the first empty slot
+      nrf52_bldc_3pwm_motor_slots[slot_num].pinA = pinA;
+      break;
+    }
+  }
+  // disable all the slots with the same MCPWM 
+  if(slot_num < 2){
+    // slot 0 of the stepper
+    nrf52_stepper_motor_slots[slot_num].pin1A = _TAKEN_SLOT;
+    // slot 0 of the 6pwm bldc
+    nrf52_bldc_6pwm_motor_slots[0].pinAH = _TAKEN_SLOT;
+    //NRF_PPI->CHEN &= ~1UL;
+  }else{
+    // slot 1 of the stepper
+    nrf52_stepper_motor_slots[slot_num].pin1A = _TAKEN_SLOT;
+    // slot 0 of the 6pwm bldc
+    nrf52_bldc_6pwm_motor_slots[1].pinAH = _TAKEN_SLOT;
+    //NRF_PPI->CHEN &= ~2UL;
+  }
+
+  // configure pwm outputs
+
+  nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->PSEL.OUT[0] = pA;
+  nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->PSEL.OUT[1] = pB;
+  nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->PSEL.OUT[2] = pC;
+
+  nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->SEQ[0].PTR = (uint32_t)&nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm_channel_sequence[0];
+  nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->SEQ[0].CNT = 4;
+
+  // configure the pwm
+  _configureHwPwm(nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm, nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm);
+}
+
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 4PWM setting
+// - hardware speciffic
+void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) {
+
+  if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz for a resolution of 800
+  else pwm_frequency = _constrain(pwm_frequency, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max for a resolution of 256
+
+  pwm_range = (PWM_CLK / pwm_frequency);
+
+  int pA = g_ADigitalPinMap[pinA];
+  int pB = g_ADigitalPinMap[pinB];
+  int pC = g_ADigitalPinMap[pinC];
+  int pD = g_ADigitalPinMap[pinD];
+
+  // determine which motor are we connecting
+  // and set the appropriate configuration parameters 
+  int slot_num;
+  for(slot_num = 0; slot_num < 4; slot_num++){
+    if(nrf52_stepper_motor_slots[slot_num].pin1A == _EMPTY_SLOT){ // put the new motor in the first empty slot
+      nrf52_stepper_motor_slots[slot_num].pin1A = pinA;
+      break;
+    }
+  }
+  // disable all the slots with the same MCPWM 
+  if( slot_num < 2 ){
+    // slots 0 and 1 of the 3pwm bldc
+    nrf52_bldc_3pwm_motor_slots[slot_num].pinA = _TAKEN_SLOT;
+    // slot 0 of the 6pwm bldc
+    nrf52_bldc_6pwm_motor_slots[0].pinAH = _TAKEN_SLOT;
+    //NRF_PPI->CHEN &= ~1UL;
+  }else{
+    // slots 2 and 3 of the 3pwm bldc
+    nrf52_bldc_3pwm_motor_slots[slot_num].pinA = _TAKEN_SLOT;
+    // slot 1 of the 6pwm bldc
+    nrf52_bldc_6pwm_motor_slots[1].pinAH = _TAKEN_SLOT;
+    //NRF_PPI->CHEN &= ~2UL;
+  } 
+
+  // configure pwm outputs
+
+  nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[0] = pA;
+  nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[1] = pB;
+  nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[2] = pC;
+  nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[3] = pD;
+
+  nrf52_stepper_motor_slots[slot_num].mcpwm->SEQ[0].PTR = (uint32_t)&nrf52_stepper_motor_slots[slot_num].mcpwm_channel_sequence[0];
+  nrf52_stepper_motor_slots[slot_num].mcpwm->SEQ[0].CNT = 4;
+
+  // configure the pwm
+  _configureHwPwm(nrf52_stepper_motor_slots[slot_num].mcpwm, nrf52_stepper_motor_slots[slot_num].mcpwm);
+}
+
+// function setting the pwm duty cycle to the hardware
+// - BLDC motor - 3PWM setting
+// - hardware speciffic
+void _writeDutyCycle3PWM(float dc_a,  float dc_b, float dc_c, int pinA, int pinB, int pinC){
+  // determine which motor slot is the motor connected to 
+  for(int i = 0; i < 4; i++){
+    if(nrf52_bldc_3pwm_motor_slots[i].pinA == pinA){ // if motor slot found
+      // se the PWM on the slot timers
+      // transform duty cycle from [0,1] to [0,range]
+
+      nrf52_bldc_3pwm_motor_slots[i].mcpwm_channel_sequence[0] = (int)(dc_a * pwm_range) | 0x8000;
+      nrf52_bldc_3pwm_motor_slots[i].mcpwm_channel_sequence[1] = (int)(dc_b * pwm_range) | 0x8000;
+      nrf52_bldc_3pwm_motor_slots[i].mcpwm_channel_sequence[2] = (int)(dc_c * pwm_range) | 0x8000;
+
+      nrf52_bldc_3pwm_motor_slots[i].mcpwm->TASKS_SEQSTART[0] = 1;
+      break;
+    }
+  }
+}
+
+// function setting the pwm duty cycle to the hardware
+// - Stepper motor - 4PWM setting
+// - hardware speciffic
+void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, int pin1A){
+  // determine which motor slot is the motor connected to 
+  for(int i = 0; i < 4; i++){
+    if(nrf52_stepper_motor_slots[i].pin1A == pin1A){ // if motor slot found
+      // se the PWM on the slot timers
+      // transform duty cycle from [0,1] to [0,range]
+
+      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[0] = (int)(dc_1a * pwm_range) | 0x8000;
+      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[1] = (int)(dc_1b * pwm_range) | 0x8000;
+      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[2] = (int)(dc_2a * pwm_range) | 0x8000;
+      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[3] = (int)(dc_2b * pwm_range) | 0x8000;
+
+      nrf52_stepper_motor_slots[i].mcpwm->TASKS_SEQSTART[0] = 1;
+      break;
+    }
+  }
+}
+
+/* Configuring PWM frequency, resolution and alignment
+// - BLDC driver - 6PWM setting
+// - hardware specific
+*/
+int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){
+
+  if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz - centered pwm has twice lower frequency for a resolution of 400
+  else pwm_frequency = _constrain(pwm_frequency*2, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max => 31.25kHz for a resolution of 256  
+
+  pwm_range = (PWM_CLK / pwm_frequency);
+  pwm_range /= 2; // scale the frequency (centered PWM)
+
+  if (dead_zone != NOT_SET){
+    dead_time = dead_zone/2;
+  }else{
+    dead_time = DEAD_TIME/2; 
+  }
+
+  int pA_l = g_ADigitalPinMap[pinA_l];
+  int pA_h = g_ADigitalPinMap[pinA_h];
+  int pB_l = g_ADigitalPinMap[pinB_l];
+  int pB_h = g_ADigitalPinMap[pinB_h];
+  int pC_l = g_ADigitalPinMap[pinC_l];
+  int pC_h = g_ADigitalPinMap[pinC_h];
+
+
+  // determine which motor are we connecting
+  // and set the appropriate configuration parameters 
+  int slot_num;
+  for(slot_num = 0; slot_num < 2; slot_num++){
+    if(nrf52_bldc_6pwm_motor_slots[slot_num].pinAH == _EMPTY_SLOT){ // put the new motor in the first empty slot
+      nrf52_bldc_6pwm_motor_slots[slot_num].pinAH = pinA_h;
+      break;
+    }
+  }
+  // if no slots available
+  if(slot_num >= 2) return -1;
+
+  // disable all the slots with the same MCPWM 
+  if( slot_num == 0 ){
+    // slots 0 and 1 of the 3pwm bldc
+    nrf52_bldc_3pwm_motor_slots[0].pinA = _TAKEN_SLOT;
+    nrf52_bldc_3pwm_motor_slots[1].pinA = _TAKEN_SLOT;
+    // slot 0 and 1 of the stepper
+    nrf52_stepper_motor_slots[0].pin1A = _TAKEN_SLOT;
+    nrf52_stepper_motor_slots[1].pin1A = _TAKEN_SLOT;
+  }else{
+    // slots 2 and 3 of the 3pwm bldc
+    nrf52_bldc_3pwm_motor_slots[2].pinA = _TAKEN_SLOT;
+    nrf52_bldc_3pwm_motor_slots[3].pinA = _TAKEN_SLOT;
+    // slot 1 of the stepper
+    nrf52_stepper_motor_slots[2].pin1A = _TAKEN_SLOT;
+    nrf52_stepper_motor_slots[3].pin1A = _TAKEN_SLOT;
+  } 
+
+  // Configure pwm outputs
+
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[0] = pA_h;
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[1] = pA_l;
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[2] = pB_h;
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[3] = pB_l;
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->SEQ[0].PTR = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm_channel_sequence[0];
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->SEQ[0].CNT = 4;
+
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->PSEL.OUT[0] = pC_h;
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->PSEL.OUT[1] = pC_l;
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->SEQ[0].PTR = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm_channel_sequence[4];
+  nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->SEQ[0].CNT = 4;
+
+  // Initializing the PPI peripheral for sync the pwm slots
+
+  NRF_PPI->CH[slot_num].EEP = (uint32_t)&NRF_EGU0->EVENTS_TRIGGERED[0];
+  NRF_PPI->CH[slot_num].TEP = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->TASKS_SEQSTART[0];
+  NRF_PPI->FORK[slot_num].TEP = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->TASKS_SEQSTART[0];
+  NRF_PPI->CHEN =  1UL << slot_num;
+
+  // configure the pwm type
+  _configureHwPwm(nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1, nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2);
+
+  // return 
+  return 0;
+}
+
+/* Function setting the duty cycle to the pwm pin
+//  - BLDC driver - 6PWM setting
+//  - hardware specific
+*/
+void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, float dead_zone, const int pinA_h, const int, const int, const int, const int, const int){
+  for(int i = 0; i < 2; i++){
+    if(nrf52_bldc_6pwm_motor_slots[i].pinAH == pinA_h){ // if motor slot found
+      // se the PWM on the slot timers
+      // transform duty cycle from [0,1] to [0,range]
+
+      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[0] = (int)(_constrain(dc_a-dead_time,0,1)*pwm_range) | 0x8000;
+      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[1] = (int)(_constrain(dc_a+dead_time,0,1)*pwm_range);
+      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[2] = (int)(_constrain(dc_b-dead_time,0,1)*pwm_range) | 0x8000;
+      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[3] = (int)(_constrain(dc_b+dead_time,0,1)*pwm_range);
+      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[4] = (int)(_constrain(dc_c-dead_time,0,1)*pwm_range) | 0x8000;
+      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[5] = (int)(_constrain(dc_c+dead_time,0,1)*pwm_range);
+
+      NRF_EGU0->TASKS_TRIGGER[0] = 1;
+      break;
+    }
+  }
+}
+
+
+#endif