NORDIC nRF52840 PWM Module 硬件功能实现

硬件: NORDIC nRF 52840 SoC

软件: NORDIC nRF SDK Ver 15.2

功能: nRF 52840 带3路PWM硬件模块，每个模块支持4通道，总共支持12路PWM通道

PWM Module 工程配置

于 sdk_config.h 文件 nRF_Drivers 配置中使能 PWM_ENABLED

于工程文件目录中添加 nrfx_pwm.c

软件编程实现

定义及初始化 PWM Module 实例

#include "nrf_drv_pwm.h"static nrf_drv_pwm_t m_pwm0 = NRF_DRV_PWM_INSTANCE(0);
static nrf_drv_pwm_t m_pwm1 = NRF_DRV_PWM_INSTANCE(1);
static nrf_drv_pwm_t m_pwm2 = NRF_DRV_PWM_INSTANCE(2);

PWM Module nrf_drv_pwm_config_t 参数设置

    nrf_drv_pwm_config_t const config0 ={.output_pins ={BSP_LED_0 | NRF_DRV_PWM_PIN_INVERTED, // channel 0BSP_LED_1 | NRF_DRV_PWM_PIN_INVERTED, // channel 1BSP_LED_2 | NRF_DRV_PWM_PIN_INVERTED, // channel 2//    NRF_DRV_PWM_PIN_NOT_USED,       // NOT USEDBSP_LED_3 | NRF_DRV_PWM_PIN_INVERTED  // channel 3},.irq_priority = APP_IRQ_PRIORITY_LOWEST,.base_clock   = NRF_PWM_CLK_1MHz,.count_mode   = NRF_PWM_MODE_UP,.top_value    = 10000,.load_mode    = NRF_PWM_LOAD_INDIVIDUAL,.step_mode    = NRF_PWM_STEP_AUTO};nrf_drv_pwm_init(&m_pwm0, &config0, pwm0_handler);

脉冲发生计数器操作图示

PWM Module 模块加载 RAM 中的Multiple duty cycle array(sequences)并输出执行

count_mode 加载模式设置:
NRF_PWM_LOAD_COMMON: 4通道共用一个配置
NRF_PWM_LOAD_GROUPED: 1,2通道使用第一个值；3,4通道使用第二个值。
NRF_PWM_LOAD_INDIVIDUAL: 各通道完全独立，1通道对应第一个值，...,4通道对应第四个值。
NRF_PWM_LOAD_WAVE_FORM: 1,2,3独立，第四个值写入 top value

/*** @brief PWM decoder load modes.** The selected mode determines how the sequence data is read from RAM and* spread to the compare registers.*/
typedef enum
{NRF_PWM_LOAD_COMMON     = PWM_DECODER_LOAD_Common,     ///< 1st half word (16-bit) used in all PWM channels (0-3).NRF_PWM_LOAD_GROUPED    = PWM_DECODER_LOAD_Grouped,    ///< 1st half word (16-bit) used in channels 0 and 1; 2nd word in channels 2 and 3.NRF_PWM_LOAD_INDIVIDUAL = PWM_DECODER_LOAD_Individual, ///< 1st half word (16-bit) used in channel 0; 2nd in channel 1; 3rd in channel 2; 4th in channel 3.NRF_PWM_LOAD_WAVE_FORM  = PWM_DECODER_LOAD_WaveForm    ///< 1st half word (16-bit) used in channel 0; 2nd in channel 1; ... ; 4th as the top value for the pulse generator counter.
} nrf_pwm_dec_load_t;

PWM Module nrf_pwm_sequence_t 参数设置

基于 nrf_drv_pwm_config_t -> base_clock PWM 基准时钟，定义每个通道的占空比，不能超过 nrf_drv_pwm_config_t -> top_value。
如果四个通道均使用，则每个数组均有4个 PWM 周期数据，至少有一组数据，如{ 0x8000, 0, 0, 0 }，通道1的 PWM 周期数是0x8000，通道2-4均为0。根据需要，也可使用不同的占空比来形成一个序列。

// --- load_mode: NRF_PWM_LOAD_INDIVIDUAL ---static nrf_pwm_values_individual_t /*const*/ seq_values[] ={{ 0x8000,      0,      0,      0 },{      0, 0x8000,      0,      0 },{      0,      0, 0x8000,      0 },{      0,      0,      0, 0x8000 }};nrf_pwm_sequence_t const seq ={.values.p_individual = seq_values,.length              = NRF_PWM_VALUES_LENGTH(seq_values),.repeats             = 0,.end_delay           = 0};// --- load_mode: NRF_PWM_LOAD_COMMON ---static nrf_pwm_values_common_t /*const*/ seq1_values[] ={0,0x8000,0,0x8000,0,0};nrf_pwm_sequence_t const seq1 ={.values.p_common = seq1_values,.length          = NRF_PWM_VALUES_LENGTH(seq1_values),.repeats         = 4,.end_delay       = 0};// --- load_mode: NRF_PWM_LOAD_GROUPED---static nrf_pwm_values_grouped_t /*const*/ pwm0_seq_values[] ={{      0,      0 },{ 0x8000,      0 },{      0, 0x8000 },{ 0x8000, 0x8000 }};nrf_pwm_sequence_t const pwm0_seq ={.values.p_grouped = pwm0_seq_values,.length           = NRF_PWM_VALUES_LENGTH(pwm0_seq_values),.repeats          = 1,.end_delay        = 0};

typedef struct
{nrf_pwm_values_t values; ///< Pointer to an array with duty cycle values. This array must be in Data RAM./**< This field is defined as an union of pointers*   to provide a convenient way to define duty*   cycle values in various loading modes*   (see @ref nrf_pwm_dec_load_t).*   In each value, the most significant bit (15)*   determines the polarity of the output and the*   others (14-0) compose the 15-bit value to be*   compared with the pulse generator counter. */uint16_t length;    ///< Number of 16-bit values in the array pointed by @p values.uint32_t repeats;   ///< Number of times that each duty cycle should be repeated (after being played once). Ignored in @ref NRF_PWM_STEP_TRIGGERED mode.uint32_t end_delay; ///< Additional time (in PWM periods) that the last duty cycle is to be kept after the sequence is played. Ignored in @ref NRF_PWM_STEP_TRIGGERED mode.
} nrf_pwm_sequence_t;

values：PWM Module 占空比数据
length：通过宏NRF_PWM_VALUES_LENGTH自动计算 PWM Module 数据长度
repeats：每个PWM 周期重复次数，注意是每个 PWM 周期！不是重复 sequece 时钟序列！
如 PWM 数据是 { 0x8000, 0, 0, 0 }， { 0x4000, 0, 0, 0 }，在repeats为 2 的情况下, PWM生效的数据为，
channel 1 为: 0x8000,0x8000,0x4000,0x4000，第2-4通道均为: 0,0,0,0
end_delay: 每个sequence时钟序列中，最后一个PWM 周期重复的次数;
如: 通道1的PWM 周期数据为 {0x8000, 0}，在end_delay为4的情况下，最后PWM的生效数据为：{0x8000, 0，0，0，0，0}

PWM 启动

(void)nrf_drv_pwm_simple_playback(&m_pwm0, &pwm0_seq, 1,NRF_DRV_PWM_FLAG_LOOP);
(void)nrf_drv_pwm_complex_playback(&m_pwm1, &pwm1_seq0, &pwm1_seq1, 1,NRF_DRV_PWM_FLAG_LOOP);
(void)nrf_drv_pwm_complex_playback(&m_pwm2, &pwm2_seq0, &pwm2_seq1, 1,NRF_DRV_PWM_FLAG_LOOP);//-----------------------------------------------
uint32_t nrfx_pwm_simple_playback(nrfx_pwm_t const * const p_instance,nrf_pwm_sequence_t const * p_sequence,uint16_t                   playback_count,uint32_t                   flags)
{
...
}

函数 nrf_drv_pwm_complex_playback() 来触发PWM，参数 p_instance 为 PWM Module 实例, 参数 p_sequence 为时钟序列数据 , playback_count为 PWM Module 执行次数，参数 flags可设两种值, NRF_DRV_PWM_FLAG_LOOP:永远重复,NRFX_PWM_FLAG_STOP: PWM 执行设定次数后结束.

还有一种函数模式，可定义两个参数 p_sequence !

3个 PWM Modulre,12 channels 通道独立调节样例程序

#include <stdio.h>
#include <stdlib.h>
#include "nrf_drv_pwm.h"
#include "pca10056.h"
#include "nrf_log.h"// --- PWM Modulestatic nrf_drv_pwm_t m_pwm0 = NRF_DRV_PWM_INSTANCE(0);
static nrf_drv_pwm_t m_pwm1 = NRF_DRV_PWM_INSTANCE(1);
static nrf_drv_pwm_t m_pwm2 = NRF_DRV_PWM_INSTANCE(2);static uint16_t const    m_PWM0_top_value  = 0x8000;
static uint16_t const   m_PWM1_top_value  = 0x8000;
static uint16_t const   m_PWM2_top_value  = 0x8000;static nrf_pwm_values_individual_t m_PWM0_seq_values;
static nrf_pwm_values_individual_t m_PWM1_seq_values;
static nrf_pwm_values_individual_t m_PWM2_seq_values;static nrf_pwm_sequence_t const    m_PWM0_seq =
{.values.p_individual = & m_PWM0_seq_values,.length              = NRF_PWM_VALUES_LENGTH( m_PWM0_seq_values),.repeats             = 0,.end_delay           = 0
};static nrf_pwm_sequence_t const    m_PWM1_seq =
{.values.p_individual = & m_PWM1_seq_values,.length              = NRF_PWM_VALUES_LENGTH( m_PWM1_seq_values),.repeats             = 0,.end_delay           = 0
};static nrf_pwm_sequence_t const    m_PWM2_seq =
{.values.p_individual = & m_PWM2_seq_values,.length              = NRF_PWM_VALUES_LENGTH( m_PWM2_seq_values),.repeats             = 0,.end_delay           = 0
};// 3 PWM Module, the value of 12 channels
uint16_t m_PWM_values[12] = {  0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000};static void PWM0_handler(nrf_drv_pwm_evt_type_t event_type)
{uint16_t * p_channels = (uint16_t *)& m_PWM0_seq_values;switch (event_type){case NRF_DRV_PWM_EVT_FINISHED:int i=0;for ( i=0;i<4;i++ ){p_channels[i] = m_PWM_values[i];}case NRFX_PWM_EVT_END_SEQ0:
//              NRF_LOG_INFO("-- PWM0 seq0 --");break;case NRFX_PWM_EVT_END_SEQ1:NRF_LOG_INFO("-- PWM0 seq1 --");break;case NRFX_PWM_EVT_STOPPED:NRF_LOG_INFO("-- PWM0 STOP --");break;default:break;}
}static void PWM1_handler(nrf_drv_pwm_evt_type_t event_type)
{uint16_t * p_channels = (uint16_t *)& m_PWM1_seq_values;switch (event_type){case NRF_DRV_PWM_EVT_FINISHED:int i=0;for ( i=0;i<4;i++ ){p_channels[i] = m_PWM_values[i+4];}case NRFX_PWM_EVT_END_SEQ0:
//              NRF_LOG_INFO("-- PWM1 seq0 --");break;case NRFX_PWM_EVT_END_SEQ1:NRF_LOG_INFO("-- PWM1 seq1 --");break;case NRFX_PWM_EVT_STOPPED:NRF_LOG_INFO("-- PWM1 STOP --");break;default:break;}
}static void PWM2_handler(nrf_drv_pwm_evt_type_t event_type)
{uint16_t * p_channels = (uint16_t *)& m_PWM2_seq_values;switch (event_type){case NRF_DRV_PWM_EVT_FINISHED:int i=0;for ( i=0;i<4;i++ ){p_channels[i] = m_PWM_values[i+8];}case NRFX_PWM_EVT_END_SEQ0:
//              NRF_LOG_INFO("-- PWM2 seq0 --");break;case NRFX_PWM_EVT_END_SEQ1:NRF_LOG_INFO("-- PWM2 seq1 --");break;case NRFX_PWM_EVT_STOPPED:NRF_LOG_INFO("-- PWM2 STOP --");break;default:break;}
}void PWM_init(void)
{nrf_drv_pwm_config_t const config0 ={.output_pins ={DO_CHANNEL_1 , // PWM0 CHANNEL-0DO_CHANNEL_2 , // PWM0 CHANNEL-1DO_CHANNEL_3 , // PWM0 CHANNEL-2DO_CHANNEL_4   // PWM0 CHANNEL-3},.irq_priority = APP_IRQ_PRIORITY_LOWEST,.base_clock   = NRF_PWM_CLK_2MHz,                        .count_mode   = NRF_PWM_MODE_UP,.top_value    = m_PWM0_top_value,.load_mode    = NRF_PWM_LOAD_INDIVIDUAL,.step_mode    = NRF_PWM_STEP_AUTO};nrf_drv_pwm_config_t const config1 ={.output_pins ={DO_CHANNEL_5 , // PWM1 CHANNEL-0DO_CHANNEL_6 , // PWM1 CHANNEL-1DO_CHANNEL_7 , // PWM1 CHANNEL-2DO_CHANNEL_8   // PWM1 CHANNEL-3},.irq_priority = APP_IRQ_PRIORITY_LOWEST,.base_clock   = NRF_PWM_CLK_2MHz,.count_mode   = NRF_PWM_MODE_UP,.top_value    = m_PWM1_top_value,.load_mode    = NRF_PWM_LOAD_INDIVIDUAL,.step_mode    = NRF_PWM_STEP_AUTO};     nrf_drv_pwm_config_t const config2 ={.output_pins ={DO_CHANNEL_9 , // PWM1 CHANNEL-0DO_CHANNEL_10 , // PWM1 CHANNEL-1DO_CHANNEL_11, // PWM1 CHANNEL-2DO_CHANNEL_12   // PWM1 CHANNEL-3},.irq_priority = APP_IRQ_PRIORITY_LOWEST,.base_clock   = NRF_PWM_CLK_2MHz,.count_mode   = NRF_PWM_MODE_UP,.top_value    = m_PWM2_top_value,.load_mode    = NRF_PWM_LOAD_INDIVIDUAL,.step_mode    = NRF_PWM_STEP_AUTO};   APP_ERROR_CHECK(nrf_drv_pwm_init(&m_pwm0, &config0, PWM0_handler));APP_ERROR_CHECK(nrf_drv_pwm_init(&m_pwm1, &config1, PWM1_handler));APP_ERROR_CHECK(nrf_drv_pwm_init(&m_pwm2, &config2, PWM2_handler));m_PWM0_seq_values.channel_0 = 0x8000;m_PWM0_seq_values.channel_1 = 0x8000;m_PWM0_seq_values.channel_2 = 0x8000;m_PWM0_seq_values.channel_3 = 0x8000;m_PWM1_seq_values.channel_0 = 0x8000;m_PWM1_seq_values.channel_1 = 0x8000;m_PWM1_seq_values.channel_2 = 0x8000;m_PWM1_seq_values.channel_3 = 0x8000;m_PWM2_seq_values.channel_0 = 0x8000;m_PWM2_seq_values.channel_1 = 0x8000;m_PWM2_seq_values.channel_2 = 0x8000;m_PWM2_seq_values.channel_3 = 0x8000;(void)nrf_drv_pwm_simple_playback(&m_pwm0, &m_PWM0_seq, 1,NRF_DRV_PWM_FLAG_LOOP);(void)nrf_drv_pwm_simple_playback(&m_pwm1, &m_PWM1_seq, 1,NRF_DRV_PWM_FLAG_LOOP);(void)nrf_drv_pwm_simple_playback(&m_pwm2, &m_PWM2_seq, 1,NRF_DRV_PWM_FLAG_LOOP);
}

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NORDIC nRF52840 PWM Module 硬件功能实现

PWM 启动

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