1 /**
2 * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
3 *
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7 #include <stdio.h>
8 #include "pico/stdlib.h"
9 #include "pico/test.h"
10 #include "pico/time.h"
11 #include "hardware/irq.h"
12 #include "hardware/resets.h"
13 #include "hardware/pwm.h"
14
15 PICOTEST_MODULE_NAME("PWM", "PWM SDK Test harness");
16
17 /* In a struct for future expansion of the interrupt testv */
18 struct interrupt_state {
19 int count;
20 } interrupt_states[NUM_PWM_SLICES] = {0};
21
on_pwm_wrap()22 void on_pwm_wrap() {
23 for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
24 // See if this pwm, is the one that fired.
25 if (pwm_get_irq_status_mask() & (1 << pwm)) {
26 // Clear the interrupt flag that brought us here
27 pwm_clear_irq(pwm);
28
29 interrupt_states[pwm].count++;
30 }
31 }
32 }
33
main()34 int main() {
35 reset_block(RESETS_RESET_PWM_BITS);
36 unreset_block_wait(RESETS_RESET_PWM_BITS);
37
38 setup_default_uart();
39
40 PICOTEST_START();
41
42 pwm_config config = pwm_get_default_config();
43
44
45 // Test that config sets works on all PWMs by comparing what we pass in
46 // via the API with what the registers contains afterwards
47
48 pwm_config_set_phase_correct(&config, true);
49 pwm_config_set_clkdiv(&config, 42.5);
50 pwm_config_set_clkdiv_mode(&config, PWM_DIV_B_HIGH);
51 pwm_config_set_output_polarity(&config, false, true);
52 pwm_config_set_wrap(&config, 0x1234);
53
54 PICOTEST_START_SECTION("PWM config init tests");
55 for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
56 pwm_slice_hw_t *slice = &pwm_hw->slice[pwm];
57
58 pwm_init(pwm, &config, false);
59
60 uint div = (uint)(42.5f * (float)(1 << PWM_CH0_DIV_INT_LSB));
61
62 PICOTEST_CHECK_CHANNEL(pwm, slice->top == config.top, "HW top does not match requested config");
63 //PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == 0x1234, "HW counter does not match config");
64 PICOTEST_CHECK_CHANNEL(pwm, slice->cc == PWM_CH0_CC_RESET, "HW compares does not match config");
65 PICOTEST_CHECK_CHANNEL(pwm, slice->div == div, "HW divider does not match config");
66 PICOTEST_CHECK_CHANNEL(pwm, slice->csr ==
67 (1 << PWM_CH0_CSR_PH_CORRECT_LSB | 0 << PWM_CH0_CSR_A_INV_LSB | 1 << PWM_CH0_CSR_B_INV_LSB |
68 PWM_CH0_CSR_DIVMODE_VALUE_LEVEL << PWM_CH0_CSR_DIVMODE_LSB), "HW CSR does not match config");
69 }
70 PICOTEST_END_SECTION();
71
72
73 // Need to test the SDK APIs do the right thing
74
75 PICOTEST_START_SECTION("PWM SDK API tests");
76 for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
77 pwm_slice_hw_t *slice = &pwm_hw->slice[pwm];
78 int v = 100 + pwm * 10;
79
80 pwm_set_wrap(pwm, v);
81 PICOTEST_CHECK_CHANNEL(pwm, slice->top == v, "pwm_set_wrap() failed to set register");
82
83 pwm_set_both_levels(pwm, v + 1, v);
84 PICOTEST_CHECK_CHANNEL(pwm, slice->cc == (((v) << PWM_CH0_CC_B_LSB) | ((v + 1) << PWM_CH0_CC_A_LSB)),
85 "pwm_set_both_levels() failed to set register");
86
87 float divider = 100.5;
88 int i = (int16_t) divider;
89 int f = (int8_t) ((divider - i) * 16);
90 pwm_set_clkdiv(pwm, divider);
91 PICOTEST_CHECK_CHANNEL(pwm, slice->div == (i << 4 | f), "pwm_set_clkdiv() failed to set register");
92
93 i++;
94 pwm_set_clkdiv_int_frac(pwm, i, f);
95 PICOTEST_CHECK_CHANNEL(pwm, slice->div == (i << 4 | f),
96 "pwm_set_clkdiv_int_frac() failed to set register");
97
98 int c = 1234;
99 pwm_set_counter(pwm, c);
100 PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == c, "pwm_set_counter() failed to set register");
101
102 int cc = pwm_get_counter(pwm);
103 PICOTEST_CHECK_CHANNEL(pwm, slice->ctr == cc && cc == c, "pwm_get_counter() failed to get register");
104
105 pwm_set_output_polarity(pwm, false, false);
106 PICOTEST_CHECK_CHANNEL(pwm,
107 !(slice->csr & PWM_CH0_CSR_A_INV_BITS) && !(slice->csr & PWM_CH0_CSR_B_INV_BITS),
108 "pwm_set_output_polarity() (F/F)");
109
110 pwm_set_output_polarity(pwm, true, false);
111 PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_A_INV_BITS) && !(slice->csr & PWM_CH0_CSR_B_INV_BITS),
112 "pwm_set_output_polarity() (T/F)");
113
114 pwm_set_output_polarity(pwm, false, true);
115 PICOTEST_CHECK_CHANNEL(pwm, !(slice->csr & PWM_CH0_CSR_A_INV_BITS) && (slice->csr & PWM_CH0_CSR_B_INV_BITS),
116 "pwm_set_output_polarity() (F/T)");
117
118 pwm_set_output_polarity(pwm, true, true);
119 PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_A_INV_BITS) && (slice->csr & PWM_CH0_CSR_B_INV_BITS),
120 "pwm_set_output_polarity() (T/T)");
121
122 pwm_set_phase_correct(pwm, true);
123 PICOTEST_CHECK_CHANNEL(pwm, (slice->csr & PWM_CH0_CSR_PH_CORRECT_BITS), "pwm_set_phase_correct(T)");
124
125 pwm_set_phase_correct(pwm, false);
126 PICOTEST_CHECK_CHANNEL(pwm, !(slice->csr & PWM_CH0_CSR_PH_CORRECT_BITS), "pwm_set_phase_correct(F)");
127
128 for (int m = PWM_DIV_FREE_RUNNING; m <= PWM_DIV_B_FALLING; m++) {
129 pwm_set_clkdiv_mode(pwm, m);
130 PICOTEST_CHECK_CHANNEL(pwm, ((slice->csr & PWM_CH0_CSR_DIVMODE_BITS) >> PWM_CH0_CSR_DIVMODE_LSB) == m,
131 "pwm_set_clkdiv_mode");
132 }
133 }
134 PICOTEST_END_SECTION();
135
136 PICOTEST_START_SECTION("PWM IRQ tests");
137
138 irq_set_exclusive_handler(PWM_IRQ_WRAP, on_pwm_wrap);
139 irq_set_enabled(PWM_IRQ_WRAP, true);
140
141 config = pwm_get_default_config();
142
143 // Slow down the interrupt rate a load, don't need it high.
144 // This give about 40 per second on Picoboard
145 pwm_config_set_clkdiv(&config, 50);
146
147 for (int pwm = 0; pwm < NUM_PWM_SLICES; pwm++) {
148 pwm_init(pwm, &config, false);
149 pwm_clear_irq(pwm);
150 pwm_set_irq_enabled(pwm, true);
151 }
152
153 // Now enable all the PWM at the same time.
154 pwm_set_mask_enabled(0xff);
155
156 sleep_ms(1000);
157
158 int err = 0;
159
160 for (int p = 0; p < NUM_PWM_SLICES; p++) {
161 PICOTEST_CHECK_CHANNEL(p, interrupt_states[p].count != 0, "No interrupts detected from PWM %d\n");
162 }
163
164 PICOTEST_END_SECTION();
165
166 PICOTEST_END_TEST();
167 }
168
169
