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6-PWM is working
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@runger1101001
runger1101001 committed Oct 14, 2024
1 parent 218070d commit 3c8e287
Showing 1 changed file with 90 additions and 11 deletions.
101 changes: 90 additions & 11 deletions src/drivers/hardware_specific/silabs/silabs_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ void setupPWM(int pin_nr, long pwm_frequency, bool active_high, SilabsDriverPara
int8_t timer_nr = getTimerNumber(timer);
TIMER_InitCC_TypeDef timerCCInit = TIMER_INITCC_DEFAULT;
timerCCInit.mode = timerCCModePWM;
timerCCInit.coist = !active_high;
timerCCInit.outInvert = !active_high;
switch(channel) {
case 0:
Expand Down Expand Up @@ -65,7 +66,7 @@ void setupPWM(int pin_nr, long pwm_frequency, bool active_high, SilabsDriverPara
printPortLetter(port);
SimpleFOCDebug::print((int)pin);
SimpleFOCDebug::print(") on TIMER");
SimpleFOCDebug::print(getTimerNumber(timer));
SimpleFOCDebug::print(timer_nr);
SimpleFOCDebug::print(" CH");
SimpleFOCDebug::print(channel);
SimpleFOCDebug::print(" top ");
Expand All @@ -74,6 +75,50 @@ void setupPWM(int pin_nr, long pwm_frequency, bool active_high, SilabsDriverPara



void setupComplementaryPWM(int pin_nr, SilabsDriverParams* params, uint8_t index, TIMER_TypeDef* timer, uint8_t channel){
int8_t timer_nr = getTimerNumber(timer);
PinName pin_n = pinToPinName(pin_nr);
GPIO_Port_TypeDef port = getSilabsPortFromArduinoPin(pin_n);
uint32_t pin = getSilabsPinFromArduinoPin(pin_n);
switch(channel) {
case 0:
GPIO->TIMERROUTE[timer_nr].ROUTEEN |= GPIO_TIMER_ROUTEEN_CCC0PEN;
GPIO->TIMERROUTE[timer_nr].CDTI0ROUTE = (port << _GPIO_TIMER_CDTI0ROUTE_PORT_SHIFT)
| (pin << _GPIO_TIMER_CDTI0ROUTE_PIN_SHIFT);
break;
case 1:
GPIO->TIMERROUTE[timer_nr].ROUTEEN |= GPIO_TIMER_ROUTEEN_CCC1PEN;
GPIO->TIMERROUTE[timer_nr].CDTI1ROUTE = (port << _GPIO_TIMER_CDTI1ROUTE_PORT_SHIFT)
| (pin << _GPIO_TIMER_CDTI1ROUTE_PIN_SHIFT);
break;
case 2:
GPIO->TIMERROUTE[timer_nr].ROUTEEN |= GPIO_TIMER_ROUTEEN_CCC2PEN;
GPIO->TIMERROUTE[timer_nr].CDTI2ROUTE = (port << _GPIO_TIMER_CDTI2ROUTE_PORT_SHIFT)
| (pin << _GPIO_TIMER_CDTI2ROUTE_PIN_SHIFT);
break;
}

params->pins[index] = pin_nr;
params->timer[index] = timer;
params->channel[index] = channel;

SimpleFOCDebug::print("DRV (Silabs): Pin ");
SimpleFOCDebug::print(pin_nr);
SimpleFOCDebug::print(" (P");
printPortLetter(port);
SimpleFOCDebug::print((int)pin);
SimpleFOCDebug::print(") on TIMER");
SimpleFOCDebug::print(timer_nr);
SimpleFOCDebug::print(" CH");
SimpleFOCDebug::print(channel);
SimpleFOCDebug::print("COMP top ");
SimpleFOCDebug::println((int)params->resolution);
}





bool isTimerUsed(TIMER_TypeDef* timer) {
for (int i=0;i<num_configured_motors;i++) {
for (int j=0;j<6;j++) {
Expand Down Expand Up @@ -139,9 +184,29 @@ void initTimer(TIMER_TypeDef* timer, long pwm_frequency, SilabsDriverParams* par



// if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY;
// else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX);
// params->pwm_frequency = pwm_frequency;

void initDeadTimeInsertion(TIMER_TypeDef* timer, long pwm_frequency, bool highside_active_high, bool lowside_active_high, SilabsDriverParams* params){
TIMER_InitDTI_TypeDef dtiInit = TIMER_INITDTI_DEFAULT;
dtiInit.enable = false; // or true? need to check first PWM cycle for this
dtiInit.activeLowOut = !highside_active_high;
dtiInit.invertComplementaryOut = !lowside_active_high;
dtiInit.riseTime = params->dead_zone * params->resolution; // divided by 2 for symmetric dead-time, times 2 due to up-down counting
if (dtiInit.riseTime > 64) dtiInit.riseTime = 64; // max dead-time is 64 counts (each side)
dtiInit.fallTime = dtiInit.riseTime;
dtiInit.autoRestart = true;
SimpleFOCDebug::print("DRV (Silabs): Dead time ");
Serial.println(dtiInit.riseTime);
dtiInit.outputsEnableMask = TIMER_DTOGEN_DTOGCC0EN | TIMER_DTOGEN_DTOGCDTI0EN
| TIMER_DTOGEN_DTOGCC1EN | TIMER_DTOGEN_DTOGCDTI1EN
| TIMER_DTOGEN_DTOGCC2EN | TIMER_DTOGEN_DTOGCDTI2EN;
unsigned long long max = TIMER_MaxCount(timer) + 1;
CMU_Clock_TypeDef timer_clock = getTimerClock(timer);
dtiInit.prescale = (TIMER_Prescale_TypeDef)(CMU_ClockFreqGet(timer_clock) / pwm_frequency / 2 / max);
TIMER_InitDTI(timer, &dtiInit);
}




void* _configure1PWM(long pwm_frequency, const int pinA) {
SilabsDriverParams* params = new SilabsDriverParams();
Expand Down Expand Up @@ -203,14 +268,20 @@ void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const

void* _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) {
SilabsDriverParams* params = new SilabsDriverParams();
int pins[6] = {pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l};
TIMER_TypeDef* timer = findFreeTimer(pins, 6);
initTimer(timer, pwm_frequency, params);
// init using DTI
params->dead_zone = dead_zone;
// TODO init using DTI if posssible
// setupPWM(pinA_h, pwm_frequency, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 0);
// setupPWM(pinB_h, pwm_frequency, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 2);
// setupPWM(pinC_h, pwm_frequency, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 4);
// setupPWM(pinA_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 1);
// setupPWM(pinB_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 3);
// setupPWM(pinC_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 5);
setupPWM(pinA_h, pwm_frequency, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 0, timer, 0);
setupPWM(pinB_h, pwm_frequency, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 2, timer, 1);
setupPWM(pinC_h, pwm_frequency, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 4, timer, 2);
initDeadTimeInsertion(timer, pwm_frequency, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params);
setupComplementaryPWM(pinA_l, params, 1, timer, 0);
setupComplementaryPWM(pinB_l, params, 3, timer, 1);
setupComplementaryPWM(pinC_l, params, 5, timer, 2);
TIMER_EnableDTI(timer, true);
TIMER_Enable(timer, true);
return params;
}

Expand Down Expand Up @@ -256,6 +327,14 @@ void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, vo
}


void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params) {
// TODO: handle phase state
writeDutyCycle(dc_a, ((SilabsDriverParams*)params)->timer[0], ((SilabsDriverParams*)params)->channel[0]);
writeDutyCycle(dc_b, ((SilabsDriverParams*)params)->timer[2], ((SilabsDriverParams*)params)->channel[2]);
writeDutyCycle(dc_c, ((SilabsDriverParams*)params)->timer[4], ((SilabsDriverParams*)params)->channel[4]);
}



CMU_Clock_TypeDef getTimerClock(TIMER_TypeDef* timer) {
if(timer == TIMER0) return cmuClock_TIMER0;
Expand Down

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