pwm: update drivers with PWM to use new interface

Signed-off-by: deadprogram <[email protected]>

Author: deadprogram

examples/apa102/itsybitsy-m0/main.go

@@ -15,7 +15,7 @@ import (
 var (
 	apa apa102.Device
 
-	led   = machine.PWM{machine.LED}
+	pwm   = machine.TCC0
 	leds  = make([]color.RGBA, 1)
 	wheel = &Wheel{Brightness: 0x10}
 )
@@ -27,12 +27,21 @@ func init() {
 	apa = apa102.NewSoftwareSPI(machine.PA00, machine.PA01, 1)
 
 	// Configure the regular on-board LED for PWM fading
-	machine.InitPWM()
-	led.Configure()
-
+	err := pwm.Configure(machine.PWMConfig{
+		Period: 16384e3, // 16.384ms
+	})
+	if err != nil {
+		println("failed to configure PWM")
+		return
+	}
 }
 
 func main() {
+	channelLED, err := pwm.Channel(machine.LED)
+	if err != nil {
+		println("failed to configure LED PWM channel")
+		return
+	}
 
 	// We'll fade the on-board LED in a goroutine to show/ensure that the APA102
 	// works fine with the scheduler enabled.  Comment this out to test this code
@@ -47,7 +56,7 @@ func main() {
 			if !brightening {
 				brightness = 0xFFFF - brightness
 			}
-			led.Set(brightness)
+			pwm.Set(channelLED, uint32(brightness)/0xFFFF)
 			time.Sleep(5 * time.Millisecond)
 		}
 	}()

examples/l293x/speed/main.go

@@ -8,19 +8,17 @@ import (
 )
 
 const (
-	maxSpeed = 30000
+	maxSpeed = 100
 )
 
 func main() {
-	machine.InitPWM()
-
-	wheel := l293x.NewWithSpeed(machine.D10, machine.D11, machine.PWM{machine.D12})
+	wheel := l293x.NewWithSpeed(machine.D10, machine.D11, machine.D12, machine.TCC0)
 	wheel.Configure()
 
 	for i := 0; i <= 10; i++ {
 		println("Forward")
-		var i uint16
-		for i = 0; i < maxSpeed; i += 1000 {
+		var i uint32
+		for i = 0; i < maxSpeed; i += 10 {
 			wheel.Forward(i)
 			time.Sleep(time.Millisecond * 100)
 		}
@@ -30,7 +28,7 @@ func main() {
 		time.Sleep(time.Millisecond * 1000)
 
 		println("Backward")
-		for i = 0; i < maxSpeed; i += 1000 {
+		for i = 0; i < maxSpeed; i += 10 {
 			wheel.Backward(i)
 			time.Sleep(time.Millisecond * 100)
 		}

examples/l9110x/speed/main.go

@@ -8,19 +8,17 @@ import (
 )
 
 const (
-	maxSpeed = 30000
+	maxSpeed = 100
 )
 
 func main() {
-	machine.InitPWM()
-
-	wheel := l9110x.NewWithSpeed(machine.PWM{machine.D11}, machine.PWM{machine.D12})
+	wheel := l9110x.NewWithSpeed(machine.D11, machine.D12, machine.TCC0)
 	wheel.Configure()
 
 	for i := 0; i <= 10; i++ {
 		println("Forward")
-		var i uint16
-		for i = 0; i < maxSpeed; i += 1000 {
+		var i uint32
+		for i = 0; i < maxSpeed; i += 10 {
 			wheel.Forward(i)
 			time.Sleep(time.Millisecond * 100)
 		}
@@ -30,7 +28,7 @@ func main() {
 		time.Sleep(time.Millisecond * 1000)
 
 		println("Backward")
-		for i = 0; i < maxSpeed; i += 1000 {
+		for i = 0; i < maxSpeed; i += 10 {
 			wheel.Backward(i)
 			time.Sleep(time.Millisecond * 100)
 		}

l293x/l293x.go

@@ -61,44 +61,67 @@ func (d *Device) Stop() {
 // en is the PWM pin that controls the motor speed.
 type PWMDevice struct {
 	a1, a2 machine.Pin
-	en     machine.PWM
+	en     machine.Pin
+	pwm    *machine.TCC
+	ch     uint8
 }
 
 // NewWithSpeed returns a new PWMMotor driver that uses a PWM pin to control speed.
-func NewWithSpeed(direction1, direction2 machine.Pin, speedPin machine.PWM) PWMDevice {
+func NewWithSpeed(direction1, direction2 machine.Pin, speedPin machine.Pin, pwm *machine.TCC) PWMDevice {
 	return PWMDevice{
-		a1: direction1,
-		a2: direction2,
-		en: speedPin,
+		a1:  direction1,
+		a2:  direction2,
+		en:  speedPin,
+		pwm: pwm,
 	}
 }
 
 // Configure configures the PWMDevice.
-func (d *PWMDevice) Configure() {
+func (d *PWMDevice) Configure() error {
 	d.a1.Configure(machine.PinConfig{Mode: machine.PinOutput})
 	d.a2.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	d.en.Configure()
+	err := d.pwm.Configure(machine.PWMConfig{
+		Period: 16384e3, // 16.384ms
+	})
+	if err != nil {
+		return err
+	}
+
+	d.ch, err = d.pwm.Channel(d.en)
+	if err != nil {
+		return err
+	}
 
 	d.Stop()
+
+	return nil
 }
 
-// Forward turns motor on in forward direction at specific speed.
-func (d *PWMDevice) Forward(speed uint16) {
+// Forward turns motor on in forward direction at specific speed as a percentage.
+func (d *PWMDevice) Forward(speed uint32) {
+	if speed > 100 {
+		speed = 100
+	}
+
 	d.a1.High()
 	d.a2.Low()
-	d.en.Set(speed)
+	d.pwm.Set(d.ch, speed)
 }
 
-// Backward turns motor on in backward direction at specific speed.
-func (d *PWMDevice) Backward(speed uint16) {
+// Backward turns motor on in backward direction at specific speed as a percentage.
+func (d *PWMDevice) Backward(speed uint32) {
+	if speed > 100 {
+		speed = 100
+	}
+
 	d.a1.Low()
 	d.a2.High()
-	d.en.Set(speed)
+	d.pwm.Set(d.ch, speed)
 }
 
 // Stop turns motor off.
 func (d *PWMDevice) Stop() {
 	d.a1.Low()
 	d.a2.Low()
-	d.en.Set(0)
+	d.pwm.Set(d.ch, 0)
 }

l9110x/l9110x.go

@@ -52,39 +52,59 @@ func (d *Device) Stop() {
 // PWMDevice is a motor with speed control.
 // ia and ib are the directional/speed PWM pins.
 type PWMDevice struct {
-	ia, ib machine.PWM
+	ia, ib machine.Pin
+	pwm    *machine.TCC
+	ca, cb uint8
 }
 
 // NewWithSpeed returns a new PWMMotor driver that uses 2 PWM pins to control both direction and speed.
-func NewWithSpeed(direction1, direction2 machine.PWM) PWMDevice {
+func NewWithSpeed(direction1, direction2 machine.Pin, pwm *machine.TCC) PWMDevice {
 	return PWMDevice{
-		ia: direction1,
-		ib: direction2,
+		ia:  direction1,
+		ib:  direction2,
+		pwm: pwm,
 	}
 }
 
 // Configure configures the PWMDevice.
-func (d *PWMDevice) Configure() {
-	d.ia.Configure()
-	d.ib.Configure()
+func (d *PWMDevice) Configure() (err error) {
+	d.ia.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.ib.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	err = d.pwm.Configure(machine.PWMConfig{
+		Period: 16384e3, // 16.384ms
+	})
+	if err != nil {
+		return
+	}
+
+	d.ca, err = d.pwm.Channel(d.ia)
+	if err != nil {
+		return
+	}
+
+	d.cb, err = d.pwm.Channel(d.ib)
+	if err != nil {
+		return
+	}
 
 	d.Stop()
+	return
 }
 
 // Forward turns motor on in forward direction at specific speed.
-func (d *PWMDevice) Forward(speed uint16) {
-	d.ia.Set(speed)
-	d.ib.Set(0)
+func (d *PWMDevice) Forward(speed uint32) {
+	d.pwm.Set(d.ca, speed)
+	d.pwm.Set(d.cb, 0)
 }
 
 // Backward turns motor on in backward direction at specific speed.
-func (d *PWMDevice) Backward(speed uint16) {
-	d.ia.Set(0)
-	d.ib.Set(speed)
+func (d *PWMDevice) Backward(speed uint32) {
+	d.pwm.Set(d.ca, 0)
+	d.pwm.Set(d.cb, speed)
 }
 
 // Stop turns motor off.
 func (d *PWMDevice) Stop() {
-	d.ia.Set(0)
-	d.ib.Set(0)
+	d.pwm.Set(d.ca, 0)
+	d.pwm.Set(d.cb, 0)
 }