File: hardware_pwm_test.c

package info (click to toggle)
pico-sdk 2.1.1-1
  • links: PTS, VCS
  • area: main
  • in suites: trixie
  • size: 26,552 kB
  • sloc: ansic: 146,841; asm: 13,423; python: 2,417; cpp: 2,171; yacc: 381; lex: 270; makefile: 32; sh: 13; javascript: 13
file content (166 lines) | stat: -rw-r--r-- 6,553 bytes parent folder | download | duplicates (2)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
/**
 * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */

#include <stdio.h>
#include "pico/stdlib.h"
#include "pico/test.h"
#include "pico/time.h"
#include "hardware/irq.h"
#include "hardware/resets.h"
#include "hardware/pwm.h"

PICOTEST_MODULE_NAME("PWM", "PWM SDK Test harness");

/* In a struct for future expansion of the interrupt testv */
struct interrupt_state {
    int count;
} interrupt_states[NUM_PWM_SLICES] = {0};

void on_pwm_wrap() {
    for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
        // See if this pwm, is the one that fired.
        if (pwm_get_irq_status_mask() & (1 << pwm)) {
            // Clear the interrupt flag that brought us here
            pwm_clear_irq(pwm);

            interrupt_states[pwm].count++;
        }
    }
}

int main() {
    reset_unreset_block_num_wait_blocking(RESET_PWM);

    setup_default_uart();

    PICOTEST_START();

    pwm_config config = pwm_get_default_config();


    // Test that config sets works on all PWMs by comparing what we pass in
    // via the API with what the registers contains afterwards

    pwm_config_set_phase_correct(&config, true);
    pwm_config_set_clkdiv(&config, 42.5);
    pwm_config_set_clkdiv_mode(&config, PWM_DIV_B_HIGH);
    pwm_config_set_output_polarity(&config, false, true);
    pwm_config_set_wrap(&config, 0x1234);

    PICOTEST_START_SECTION("PWM config init tests");
        for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
            pwm_slice_hw_t *slice = &pwm_hw->slice[pwm];

            pwm_init(pwm, &config, false);

            uint div = (uint)(42.5f * (float)(1 << PWM_CH0_DIV_INT_LSB));

            PICOTEST_CHECK_CHANNEL(pwm, slice->top == config.top, "HW top does not match requested config");
            //PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == 0x1234, "HW counter does not match config");
            PICOTEST_CHECK_CHANNEL(pwm, slice->cc == PWM_CH0_CC_RESET, "HW compares does not match config");
            PICOTEST_CHECK_CHANNEL(pwm, slice->div == div, "HW divider  does not match config");
            PICOTEST_CHECK_CHANNEL(pwm, slice->csr ==
                                        (1 << PWM_CH0_CSR_PH_CORRECT_LSB | 0 << PWM_CH0_CSR_A_INV_LSB | 1 << PWM_CH0_CSR_B_INV_LSB |
                                         PWM_CH0_CSR_DIVMODE_VALUE_LEVEL << PWM_CH0_CSR_DIVMODE_LSB), "HW CSR does not match config");
        }
    PICOTEST_END_SECTION();


    // Need to test the SDK APIs do the right thing

    PICOTEST_START_SECTION("PWM SDK API tests");
        for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
            pwm_slice_hw_t *slice = &pwm_hw->slice[pwm];
            int v = 100 + pwm * 10;

            pwm_set_wrap(pwm, v);
            PICOTEST_CHECK_CHANNEL(pwm, slice->top == v, "pwm_set_wrap() failed to set register");

            pwm_set_both_levels(pwm, v + 1, v);
            PICOTEST_CHECK_CHANNEL(pwm, slice->cc == (((v) << PWM_CH0_CC_B_LSB) | ((v + 1) << PWM_CH0_CC_A_LSB)),
                                   "pwm_set_both_levels() failed to set register");

            float divider = 100.5;
            int i = (int16_t) divider;
            int f = (int8_t) ((divider - i) * 16);
            pwm_set_clkdiv(pwm, divider);
            PICOTEST_CHECK_CHANNEL(pwm, slice->div == (i << 4 | f), "pwm_set_clkdiv() failed to set register");

            i++;
            pwm_set_clkdiv_int_frac(pwm, i, f);
            PICOTEST_CHECK_CHANNEL(pwm, slice->div == (i << 4 | f),
                                   "pwm_set_clkdiv_int_frac() failed to set register");

            int c = 1234;
            pwm_set_counter(pwm, c);
            PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == c, "pwm_set_counter() failed to set register");

            int cc = pwm_get_counter(pwm);
            PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == cc && cc == c, "pwm_get_counter() failed to get register");

            pwm_set_output_polarity(pwm, false, false);
            PICOTEST_CHECK_CHANNEL(pwm,
                                   !(slice->csr & PWM_CH0_CSR_A_INV_BITS) && !(slice->csr & PWM_CH0_CSR_B_INV_BITS),
                                   "pwm_set_output_polarity() (F/F)");

            pwm_set_output_polarity(pwm, true, false);
            PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_A_INV_BITS) && !(slice->csr & PWM_CH0_CSR_B_INV_BITS),
                                   "pwm_set_output_polarity() (T/F)");

            pwm_set_output_polarity(pwm, false, true);
            PICOTEST_CHECK_CHANNEL(pwm, !(slice->csr & PWM_CH0_CSR_A_INV_BITS) && (slice->csr & PWM_CH0_CSR_B_INV_BITS),
                                   "pwm_set_output_polarity() (F/T)");

            pwm_set_output_polarity(pwm, true, true);
            PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_A_INV_BITS) && (slice->csr & PWM_CH0_CSR_B_INV_BITS),
                                   "pwm_set_output_polarity() (T/T)");

            pwm_set_phase_correct(pwm, true);
            PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_PH_CORRECT_BITS), "pwm_set_phase_correct(T)");

            pwm_set_phase_correct(pwm, false);
            PICOTEST_CHECK_CHANNEL(pwm, !(slice->csr & PWM_CH0_CSR_PH_CORRECT_BITS), "pwm_set_phase_correct(F)");

            for (int m = PWM_DIV_FREE_RUNNING; m <= PWM_DIV_B_FALLING; m++) {
                pwm_set_clkdiv_mode(pwm, m);
                PICOTEST_CHECK_CHANNEL(pwm, ((slice->csr & PWM_CH0_CSR_DIVMODE_BITS) >> PWM_CH0_CSR_DIVMODE_LSB) == m,
                                       "pwm_set_clkdiv_mode");
            }
        }
    PICOTEST_END_SECTION();

    PICOTEST_START_SECTION("PWM IRQ tests");

        irq_set_exclusive_handler(PWM_DEFAULT_IRQ_NUM(), on_pwm_wrap);
        irq_set_enabled(PWM_DEFAULT_IRQ_NUM(), true);

        config = pwm_get_default_config();

        // Slow down the interrupt rate a load, don't need it high.
        // This give about 40 per second on Picoboard
        pwm_config_set_clkdiv(&config, 50);

        for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
            pwm_init(pwm, &config, false);
            pwm_clear_irq(pwm);
            pwm_set_irq_enabled(pwm, true);
        }

        // Now enable all the PWM at the same time.
        pwm_set_mask_enabled((1 << NUM_PWM_SLICES) - 1);
        sleep_ms(1000);

        int err = 0;

        for (int p = 0; p < NUM_PWM_SLICES; p++) {
            PICOTEST_CHECK_CHANNEL(p, interrupt_states[p].count != 0, "No interrupts detected from PWM\n");
        }

    PICOTEST_END_SECTION();

    PICOTEST_END_TEST();
}