Merge pull request #4738 from WyliodrinEmbeddedIoT/pwm-dev

lpc55: pwm simple

8 files changed, 369 insertions, 4 deletions

diff --git a/embassy-nxp/CHANGELOG.md b/embassy-nxp/CHANGELOG.md
index ad8670854..39f5c75bd 100644
--- a/embassy-nxp/CHANGELOG.md
+++ b/embassy-nxp/CHANGELOG.md
@@ -7,6 +7,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 <!-- next-header -->
 ## Unreleased - ReleaseDate
+- LPC55: PWM simple
 - LPC55: Move ALT definitions for USART to TX/RX pin impls. 
 - LPC55: Remove internal match_iocon macro
 - LPC55: DMA Controller and asynchronous version of USART
diff --git a/embassy-nxp/Cargo.toml b/embassy-nxp/Cargo.toml
index 33f0f2dff..f8c63ba29 100644
--- a/embassy-nxp/Cargo.toml
+++ b/embassy-nxp/Cargo.toml
@@ -38,13 +38,13 @@ embassy-time-queue-utils = { version = "0.3.0", path = "../embassy-time-queue-ut
 embedded-io = "0.6.1"
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 ## Chip dependencies
-nxp-pac = { version = "0.1.0", optional = true, git = "https://github.com/i509VCB/nxp-pac", rev = "b736e3038254d593024aaa1a5a7b1f95a5728538"}
+nxp-pac = { version = "0.1.0", optional = true, git = "https://github.com/i509VCB/nxp-pac", rev = "477dfdbfd5e6c75c0730c56494b601c1b2257263"}
 
 imxrt-rt = { version = "0.1.7", optional = true, features = ["device"] }
 
 [build-dependencies]
 cfg_aliases = "0.2.1"
-nxp-pac = { version = "0.1.0", git = "https://github.com/i509VCB/nxp-pac", rev = "b736e3038254d593024aaa1a5a7b1f95a5728538", features = ["metadata"], optional = true }
+nxp-pac = { version = "0.1.0", git = "https://github.com/i509VCB/nxp-pac", rev = "477dfdbfd5e6c75c0730c56494b601c1b2257263", features = ["metadata"], optional = true }
 proc-macro2 = "1.0.95"
 quote = "1.0.15"
 
diff --git a/embassy-nxp/src/chips/lpc55.rs b/embassy-nxp/src/chips/lpc55.rs
index 9f4e7269f..e9addddb6 100644
--- a/embassy-nxp/src/chips/lpc55.rs
+++ b/embassy-nxp/src/chips/lpc55.rs
@@ -97,6 +97,18 @@ embassy_hal_internal::peripherals! {
     DMA_CH21,
     DMA_CH22,
 
+    // Pulse-Width Modulation Outputs.
+    PWM_OUTPUT0,
+    PWM_OUTPUT1,
+    PWM_OUTPUT2,
+    PWM_OUTPUT3,
+    PWM_OUTPUT4,
+    PWM_OUTPUT5,
+    PWM_OUTPUT6,
+    PWM_OUTPUT7,
+    PWM_OUTPUT8,
+    PWM_OUTPUT9,
+
     // Universal Synchronous/Asynchronous Receiver/Transmitter (USART) instances.
     USART0,
     USART1,
diff --git a/embassy-nxp/src/fmt.rs b/embassy-nxp/src/fmt.rs
index 27d41ace6..11275235e 100644
--- a/embassy-nxp/src/fmt.rs
+++ b/embassy-nxp/src/fmt.rs
@@ -1,5 +1,4 @@
 //! Copied from embassy-rp
-
 #![macro_use]
 #![allow(unused)]
 
diff --git a/embassy-nxp/src/lib.rs b/embassy-nxp/src/lib.rs
index 9576f02b1..4058881a5 100644
--- a/embassy-nxp/src/lib.rs
+++ b/embassy-nxp/src/lib.rs
@@ -10,6 +10,8 @@ pub mod gpio;
 #[cfg(feature = "lpc55-core0")]
 pub mod pint;
 #[cfg(feature = "lpc55-core0")]
+pub mod pwm;
+#[cfg(feature = "lpc55-core0")]
 pub mod usart;
 
 #[cfg(feature = "_time_driver")]
@@ -154,7 +156,10 @@ pub fn init(_config: config::Config) -> Peripherals {
     gpio::init();
 
     #[cfg(feature = "lpc55-core0")]
-    pint::init();
+    {
+        pint::init();
+        pwm::Pwm::reset();
+    }
 
     #[cfg(feature = "_time_driver")]
     time_driver::init();
diff --git a/embassy-nxp/src/pwm.rs b/embassy-nxp/src/pwm.rs
new file mode 100644
index 000000000..68980924a
--- /dev/null
+++ b/embassy-nxp/src/pwm.rs
@@ -0,0 +1,5 @@
+//! Pulse-Width Modulation (PWM) driver.
+
+#[cfg_attr(feature = "lpc55-core0", path = "./pwm/lpc55.rs")]
+mod inner;
+pub use inner::*;
diff --git a/embassy-nxp/src/pwm/lpc55.rs b/embassy-nxp/src/pwm/lpc55.rs
new file mode 100644
index 000000000..197184ad6
--- /dev/null
+++ b/embassy-nxp/src/pwm/lpc55.rs
@@ -0,0 +1,325 @@
+use core::sync::atomic::{AtomicU8, AtomicU32, Ordering};
+
+use embassy_hal_internal::{Peri, PeripheralType};
+
+use crate::gpio::AnyPin;
+use crate::pac::iocon::vals::{PioDigimode, PioFunc, PioMode, PioOd, PioSlew};
+use crate::pac::sct0::vals;
+use crate::pac::syscon::vals::{SctRst, SctclkselSel};
+use crate::pac::{SCT0, SYSCON};
+
+// Since for now the counter is shared, the TOP value has to be kept.
+static TOP_VALUE: AtomicU32 = AtomicU32::new(0);
+// To check if there are still active instances.
+static REF_COUNT: AtomicU8 = AtomicU8::new(0);
+
+/// The configuration of a PWM output.
+/// Note the period in clock cycles of an output can be computed as:
+/// `(top + 1) * (phase_correct ? 1 : 2) * divider * prescale_factor`
+/// By default, the clock used is 96 MHz.
+#[non_exhaustive]
+#[derive(Clone)]
+pub struct Config {
+    /// Inverts the PWM output signal.
+    pub invert: bool,
+    /// Enables phase-correct mode for PWM operation.
+    /// In phase-correct mode, the PWM signal is generated in such a way that
+    /// the pulse is always centered regardless of the duty cycle.
+    /// The output frequency is halved when phase-correct mode is enabled.
+    pub phase_correct: bool,
+    /// Enables the PWM output, allowing it to generate an output.
+    pub enable: bool,
+    /// A SYSCON clock divider allows precise control over
+    /// the PWM output frequency by gating the PWM counter increment.
+    /// A higher value will result in a slower output frequency.
+    /// The clock is divided by `divider + 1`.
+    pub divider: u8,
+    /// Specifies the factor by which the SCT clock is prescaled to produce the unified
+    /// counter clock. The counter clock is clocked at the rate of the SCT clock divided by
+    /// `PRE + 1`.
+    pub prescale_factor: u8,
+    /// The output goes high when `compare` is higher than the
+    /// counter. A compare of 0 will produce an always low output, while a
+    /// compare of `top` will produce an always high output.
+    pub compare: u32,
+    /// The point at which the counter resets, representing the maximum possible
+    /// period. The counter will either wrap to 0 or reverse depending on the
+    /// setting of `phase_correct`.
+    pub top: u32,
+}
+
+impl Config {
+    pub fn new(compare: u32, top: u32) -> Self {
+        Self {
+            invert: false,
+            phase_correct: false,
+            enable: true,
+            divider: 255,
+            prescale_factor: 255,
+            compare,
+            top,
+        }
+    }
+}
+
+/// PWM driver.
+pub struct Pwm<'d> {
+    _pin: Peri<'d, AnyPin>,
+    output: usize,
+}
+
+impl<'d> Pwm<'d> {
+    pub(crate) fn reset() {
+        // Reset SCTimer => Reset counter and halt it.
+        // It should be done only once during the initialization of the board.
+        SYSCON.presetctrl1().modify(|w| w.set_sct_rst(SctRst::ASSERTED));
+        SYSCON.presetctrl1().modify(|w| w.set_sct_rst(SctRst::RELEASED));
+    }
+    fn new_inner<T: Output>(output: usize, channel: Peri<'d, impl OutputChannelPin<T>>, config: Config) -> Self {
+        // Enable clocks (Syscon is enabled by default)
+        critical_section::with(|_cs| {
+            if !SYSCON.ahbclkctrl0().read().iocon() {
+                SYSCON.ahbclkctrl0().modify(|w| w.set_iocon(true));
+            }
+            if !SYSCON.ahbclkctrl1().read().sct() {
+                SYSCON.ahbclkctrl1().modify(|w| w.set_sct(true));
+            }
+        });
+
+        // Choose the clock for PWM.
+        SYSCON.sctclksel().modify(|w| w.set_sel(SctclkselSel::ENUM_0X3));
+        // For now, 96 MHz.
+
+        // IOCON Setup
+        channel.pio().modify(|w| {
+            w.set_func(channel.pin_func());
+            w.set_digimode(PioDigimode::DIGITAL);
+            w.set_slew(PioSlew::STANDARD);
+            w.set_mode(PioMode::INACTIVE);
+            w.set_od(PioOd::NORMAL);
+        });
+
+        Self::configure(output, &config);
+        REF_COUNT.fetch_add(1, Ordering::Relaxed);
+        Self {
+            _pin: channel.into(),
+            output,
+        }
+    }
+
+    /// Create PWM driver with a single 'a' pin as output.
+    #[inline]
+    pub fn new_output<T: Output>(
+        output: Peri<'d, T>,
+        channel: Peri<'d, impl OutputChannelPin<T>>,
+        config: Config,
+    ) -> Self {
+        Self::new_inner(output.number(), channel, config)
+    }
+
+    /// Set the PWM config.
+    pub fn set_config(&mut self, config: &Config) {
+        Self::configure(self.output, config);
+    }
+
+    fn configure(output_number: usize, config: &Config) {
+        // Stop and reset the counter
+        SCT0.ctrl().modify(|w| {
+            if config.phase_correct {
+                w.set_bidir_l(vals::Bidir::UP_DOWN);
+            } else {
+                w.set_bidir_l(vals::Bidir::UP);
+            }
+            w.set_halt_l(true); // halt the counter to make new changes
+            w.set_clrctr_l(true); // clear the counter
+        });
+        // Divides clock by 1-255
+        SYSCON.sctclkdiv().modify(|w| w.set_div(config.divider));
+
+        SCT0.config().modify(|w| {
+            w.set_unify(vals::Unify::UNIFIED_COUNTER);
+            w.set_clkmode(vals::Clkmode::SYSTEM_CLOCK_MODE);
+            w.set_noreload_l(true);
+            w.set_autolimit_l(true);
+        });
+
+        // Before setting the match registers, we have to make sure that `compare` is lower or equal to `top`,
+        // otherwise the counter will not reach the match and, therefore, no events will happen.
+        assert!(config.compare <= config.top);
+
+        if TOP_VALUE.load(Ordering::Relaxed) == 0 {
+            // Match 0 will reset the timer using TOP value
+            SCT0.match_(0).modify(|w| {
+                w.set_matchn_l((config.top & 0xFFFF) as u16);
+                w.set_matchn_h((config.top >> 16) as u16);
+            });
+        } else {
+            panic!("The top value cannot be changed after the initialization.");
+        }
+        // The actual matches that are used for event logic
+        SCT0.match_(output_number + 1).modify(|w| {
+            w.set_matchn_l((config.compare & 0xFFFF) as u16);
+            w.set_matchn_h((config.compare >> 16) as u16);
+        });
+
+        SCT0.match_(15).modify(|w| {
+            w.set_matchn_l(0);
+            w.set_matchn_h(0);
+        });
+
+        // Event configuration
+        critical_section::with(|_cs| {
+            // If it is already set, don't change
+            if SCT0.ev(0).ev_ctrl().read().matchsel() != 15 {
+                SCT0.ev(0).ev_ctrl().modify(|w| {
+                    w.set_matchsel(15);
+                    w.set_combmode(vals::Combmode::MATCH);
+                    // STATE + statev, where STATE is a on-board variable.
+                    w.set_stateld(vals::Stateld::ADD);
+                    w.set_statev(0);
+                });
+            }
+        });
+        SCT0.ev(output_number + 1).ev_ctrl().modify(|w| {
+            w.set_matchsel((output_number + 1) as u8);
+            w.set_combmode(vals::Combmode::MATCH);
+            w.set_stateld(vals::Stateld::ADD);
+            // STATE + statev, where STATE is a on-board variable.
+            w.set_statev(0);
+        });
+
+        // Assign events to states
+        SCT0.ev(0).ev_state().modify(|w| w.set_statemskn(1 << 0));
+        SCT0.ev(output_number + 1)
+            .ev_state()
+            .modify(|w| w.set_statemskn(1 << 0));
+        // TODO(frihetselsker): optimize nxp-pac so that `set_clr` and `set_set` are turned into a bit array.
+        if config.invert {
+            // Low when event 0 is active
+            SCT0.out(output_number).out_clr().modify(|w| w.set_clr(1 << 0));
+            // High when event `output_number + 1` is active
+            SCT0.out(output_number)
+                .out_set()
+                .modify(|w| w.set_set(1 << (output_number + 1)));
+        } else {
+            // High when event 0 is active
+            SCT0.out(output_number).out_set().modify(|w| w.set_set(1 << 0));
+            // Low when event `output_number + 1` is active
+            SCT0.out(output_number)
+                .out_clr()
+                .modify(|w| w.set_clr(1 << (output_number + 1)));
+        }
+
+        if config.phase_correct {
+            // Take into account the set matches and reverse their actions while counting back.
+            SCT0.outputdirctrl()
+                .modify(|w| w.set_setclr(output_number, vals::Setclr::L_REVERSED));
+        }
+
+        // State 0 by default
+        SCT0.state().modify(|w| w.set_state_l(0));
+        // Remove halt and start the actual counter
+        SCT0.ctrl().modify(|w| {
+            w.set_halt_l(!config.enable);
+        });
+    }
+
+    /// Read PWM counter.
+    #[inline]
+    pub fn counter(&self) -> u32 {
+        SCT0.count().read().0
+    }
+}
+
+impl<'d> Drop for Pwm<'d> {
+    fn drop(&mut self) {
+        REF_COUNT.fetch_sub(1, Ordering::AcqRel);
+        if REF_COUNT.load(Ordering::Acquire) == 0 {
+            TOP_VALUE.store(0, Ordering::Release);
+        }
+    }
+}
+
+trait SealedOutput {
+    /// Output number.
+    fn number(&self) -> usize;
+}
+
+/// PWM Output.
+#[allow(private_bounds)]
+pub trait Output: PeripheralType + SealedOutput {}
+
+macro_rules! output {
+    ($name:ident, $num:expr) => {
+        impl SealedOutput for crate::peripherals::$name {
+            fn number(&self) -> usize {
+                $num
+            }
+        }
+        impl Output for crate::peripherals::$name {}
+    };
+}
+
+output!(PWM_OUTPUT0, 0);
+output!(PWM_OUTPUT1, 1);
+output!(PWM_OUTPUT2, 2);
+output!(PWM_OUTPUT3, 3);
+output!(PWM_OUTPUT4, 4);
+output!(PWM_OUTPUT5, 5);
+output!(PWM_OUTPUT6, 6);
+output!(PWM_OUTPUT7, 7);
+output!(PWM_OUTPUT8, 8);
+output!(PWM_OUTPUT9, 9);
+
+/// PWM Output Channel.
+pub trait OutputChannelPin<T: Output>: crate::gpio::Pin {
+    fn pin_func(&self) -> PioFunc;
+}
+
+macro_rules! impl_pin {
+    ($pin:ident, $output:ident, $func:ident) => {
+        impl crate::pwm::inner::OutputChannelPin<crate::peripherals::$output> for crate::peripherals::$pin {
+            fn pin_func(&self) -> PioFunc {
+                PioFunc::$func
+            }
+        }
+    };
+}
+
+impl_pin!(PIO0_2, PWM_OUTPUT0, ALT3);
+impl_pin!(PIO0_17, PWM_OUTPUT0, ALT4);
+impl_pin!(PIO1_4, PWM_OUTPUT0, ALT4);
+impl_pin!(PIO1_23, PWM_OUTPUT0, ALT2);
+
+impl_pin!(PIO0_3, PWM_OUTPUT1, ALT3);
+impl_pin!(PIO0_18, PWM_OUTPUT1, ALT4);
+impl_pin!(PIO1_8, PWM_OUTPUT1, ALT4);
+impl_pin!(PIO1_24, PWM_OUTPUT1, ALT2);
+
+impl_pin!(PIO0_10, PWM_OUTPUT2, ALT5);
+impl_pin!(PIO0_15, PWM_OUTPUT2, ALT4);
+impl_pin!(PIO0_19, PWM_OUTPUT2, ALT4);
+impl_pin!(PIO1_9, PWM_OUTPUT2, ALT4);
+impl_pin!(PIO1_25, PWM_OUTPUT2, ALT2);
+
+impl_pin!(PIO0_22, PWM_OUTPUT3, ALT4);
+impl_pin!(PIO0_31, PWM_OUTPUT3, ALT4);
+impl_pin!(PIO1_10, PWM_OUTPUT3, ALT4);
+impl_pin!(PIO1_26, PWM_OUTPUT3, ALT2);
+
+impl_pin!(PIO0_23, PWM_OUTPUT4, ALT4);
+impl_pin!(PIO1_3, PWM_OUTPUT4, ALT4);
+impl_pin!(PIO1_17, PWM_OUTPUT4, ALT4);
+
+impl_pin!(PIO0_26, PWM_OUTPUT5, ALT4);
+impl_pin!(PIO1_18, PWM_OUTPUT5, ALT4);
+
+impl_pin!(PIO0_27, PWM_OUTPUT6, ALT4);
+impl_pin!(PIO1_31, PWM_OUTPUT6, ALT4);
+
+impl_pin!(PIO0_28, PWM_OUTPUT7, ALT4);
+impl_pin!(PIO1_19, PWM_OUTPUT7, ALT2);
+
+impl_pin!(PIO0_29, PWM_OUTPUT8, ALT4);
+
+impl_pin!(PIO0_30, PWM_OUTPUT9, ALT4);
diff --git a/examples/lpc55s69/src/bin/pwm.rs b/examples/lpc55s69/src/bin/pwm.rs
new file mode 100644
index 000000000..93b898b9d
--- /dev/null
+++ b/examples/lpc55s69/src/bin/pwm.rs
@@ -0,0 +1,18 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_nxp::pwm::{Config, Pwm};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_halt as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_nxp::init(Default::default());
+    let pwm = Pwm::new_output(p.PWM_OUTPUT1, p.PIO0_18, Config::new(1_000_000_000, 2_000_000_000));
+    loop {
+        info!("Counter: {}", pwm.counter());
+        Timer::after_millis(50).await;
+    }
+}