Merge pull request #496 from henrygab/PWM_Conflicts

Opt-in PWM conflict avoidance
adafruit · Aug 24, 2020 · 3d7ead8 · 3d7ead8
2 parents 11142b5 + 53819e5
commit 3d7ead8
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Showing 11 changed files with 723 additions and 282 deletions.
diff --git a/cores/nRF5/HardwarePWM.cpp b/cores/nRF5/HardwarePWM.cpp
@@ -53,9 +53,123 @@ HardwarePWM* HwPWMx[] =
 #endif
 };
 
-HardwarePWM::HardwarePWM(NRF_PWM_Type* pwm)
+#if CFG_DEBUG
+bool can_stringify_token(uintptr_t token)
 {
-  _pwm = pwm;
+  uint8_t * t = (uint8_t *)&token;
+  for (size_t i = 0; i < sizeof(uintptr_t); ++i, ++t)
+  {
+    uint8_t x = *t;
+    if ((x < 0x20) || (x > 0x7E)) return false;
+  }
+  return true;
+}
+
+void HardwarePWM::DebugOutput(Stream& logger)
+{
+  const size_t count = arrcount(HwPWMx);
+  logger.printf("HwPWM Debug:");
+  for (size_t i = 0; i < count; i++) {
+    HardwarePWM const * pwm = HwPWMx[i];
+    uintptr_t token = pwm->_owner_token;
+    logger.printf(" || %d:", i);
+    if (can_stringify_token(token)) {
+      uint8_t * t = (uint8_t*)(&token);
+      static_assert(sizeof(uintptr_t) == 4);
+      logger.printf("   \"%c%c%c%c\"", t[0], t[1], t[2], t[3] );
+    } else {
+      static_assert(sizeof(uintptr_t) == 4);
+      logger.printf(" %08x", token);
+    }
+    for (size_t j = 0; j < MAX_CHANNELS; j++) {
+      uint32_t r = pwm->_pwm->PSEL.OUT[j]; // only read it once
+      if ( (r & PWM_PSEL_OUT_CONNECT_Msk) != (PWM_PSEL_OUT_CONNECT_Disconnected << PWM_PSEL_OUT_CONNECT_Pos) ) {
+        logger.printf(" %02x", r & 0x1F);
+      } else {
+        logger.printf(" xx");
+      }
+    }
+  }
+  logger.printf("\n");
+}
+#else
+void HardwarePWM::DebugOutput(Stream& logger) {}
+#endif // CFG_DEBUG
+
+// returns true ONLY when (1) no PWM channel has a pin, and (2) the owner token is nullptr
+bool HardwarePWM::takeOwnership(uintptr_t token)
+{
+  bool notInIsr = !isInISR();
+  if (token == 0) {
+    if (notInIsr) {
+      LOG_LV1("HwPWM", "zero / nullptr is not a valid ownership token (attempted use in takeOwnership)");
+    }
+    return false; // cannot take ownership with nullptr
+  }
+  if (token == this->_owner_token) {
+    if (notInIsr) {
+      LOG_LV1("HwPWM", "failing to acquire ownership because already owned by requesting token (cannot take ownership twice)");
+    }
+  }
+  if (this->_owner_token != 0) {
+    return false;
+  }
+  if (this->usedChannelCount() != 0) {
+    return false;
+  }
+  if (this->enabled()) {
+    return false;
+  }
+  // TODO: warn, but do not fail, if taking ownership with IRQs already enabled
+  // NVIC_GetActive
+
+  // Use C++11 atomic CAS operation
+  uintptr_t newValue = 0U;
+  return this->_owner_token.compare_exchange_strong(newValue, token);
+}
+// returns true ONLY when (1) no PWM channel has a pin attached, and (2) the owner token matches
+bool HardwarePWM::releaseOwnership(uintptr_t token)
+{
+  bool notInIsr = !isInISR();
+  if (token == 0) {
+    if (notInIsr) {
+      LOG_LV1("HwPWM", "zero / nullptr is not a valid ownership token (attempted use in releaseOwnership)");
+    }
+    return false;
+  }
+  if (!this->isOwner(token)) {
+    if (notInIsr) {
+      LOG_LV1("HwPWM", "attempt to release ownership when not the current owner");
+    }
+    return false;
+  }
+  if (this->usedChannelCount() != 0) {
+    if (notInIsr) {
+      LOG_LV1("HwPWM", "attempt to release ownership when at least on channel is still connected");
+    }
+    return false;
+  }
+  if (this->enabled()) {
+    if (notInIsr) {
+      LOG_LV1("HwPWM", "attempt to release ownership when PWM peripheral is still enabled");
+    }
+    return false; // if it's enabled, do not allow ownership to be released, even with no pins in use
+  }
+  // TODO: warn, but do not fail, if releasing ownership with IRQs enabled
+  // NVIC_GetActive
+
+  // Use C++11 atomic CAS operation
+  bool result = this->_owner_token.compare_exchange_strong(token, 0U);
+  if (!result) {
+    LOG_LV1("HwPWM", "race condition resulted in failure to acquire ownership");
+  }
+  return result;
+}
+
+HardwarePWM::HardwarePWM(NRF_PWM_Type* pwm) :
+  _pwm(pwm)
+{
+  _owner_token = 0U;
   arrclr(_seq0);
 
   _max_value = 255;
@@ -204,17 +318,35 @@ bool HardwarePWM::writePin(uint8_t pin, uint16_t value, bool inverted)
   return writeChannel(ch, value, inverted);
 }
 
-uint16_t HardwarePWM::readPin(uint8_t pin)
+uint16_t HardwarePWM::readPin(uint8_t pin) const
 {
   int ch = pin2channel(pin);
   VERIFY( ch >= 0, 0);
 
   return readChannel(ch);
 }
 
-uint16_t HardwarePWM::readChannel(uint8_t ch)
+uint16_t HardwarePWM::readChannel(uint8_t ch) const
 {
   // remove inverted bit
   return (_seq0[ch] & 0x7FFF);
 }
 
+uint8_t HardwarePWM::usedChannelCount(void) const
+{
+  uint8_t usedChannels = 0;
+  for(int i=0; i<MAX_CHANNELS; i++)
+  {
+    if ( (_pwm->PSEL.OUT[i] & PWM_PSEL_OUT_CONNECT_Msk) != (PWM_PSEL_OUT_CONNECT_Disconnected << PWM_PSEL_OUT_CONNECT_Pos) )
+    {
+      usedChannels++;
+    }
+  }
+  return usedChannels;
+}
+
+uint8_t HardwarePWM::freeChannelCount(void) const
+{
+  return MAX_CHANNELS - usedChannelCount();
+}
+
diff --git a/cores/nRF5/HardwarePWM.h b/cores/nRF5/HardwarePWM.h
@@ -38,6 +38,7 @@
 
 #include "common_inc.h"
 #include "nrf.h"
+#include <atomic>
 
 #ifdef NRF52840_XXAA
 #define HWPWM_MODULE_NUM    4
@@ -49,7 +50,8 @@ class HardwarePWM
 {
   private:
     enum { MAX_CHANNELS = 4 }; // Max channel per group
-    NRF_PWM_Type* _pwm;
+    NRF_PWM_Type * const _pwm;
+    std::atomic_uintptr_t _owner_token;
 
     uint16_t _seq0[MAX_CHANNELS];
 
@@ -67,10 +69,23 @@ class HardwarePWM
 
     void setClockDiv(uint8_t div);      // value is PWM_PRESCALER_PRESCALER_DIV_x, DIV1 is 16Mhz
 
+    // Cooperative ownership sharing
+
+    // returns true ONLY when (1) no PWM channel has a pin, and (2) the owner token is nullptr
+    bool takeOwnership   (uintptr_t    token);
+    // returns true ONLY when (1) no PWM channel has a pin attached, and (2) the owner token matches
+    bool releaseOwnership(uintptr_t    token);
+
+    // allows caller to verify that they own the peripheral
+    __INLINE bool isOwner(uintptr_t token) const
+    {
+      return this->_owner_token == token;
+    }
+
     bool addPin     (uint8_t pin);
     bool removePin  (uint8_t pin);
 
-    int  pin2channel(uint8_t pin)
+    int  pin2channel(uint8_t pin) const
     {
       pin = g_ADigitalPinMap[pin];
       for(int i=0; i<MAX_CHANNELS; i++)
@@ -80,7 +95,7 @@ class HardwarePWM
       return (-1);
     }
 
-    bool checkPin(uint8_t pin)
+    bool checkPin(uint8_t pin) const
     {
       return pin2channel(pin) >= 0;
     }
@@ -94,8 +109,14 @@ class HardwarePWM
     bool writeChannel(uint8_t ch , uint16_t value, bool inverted = false);
 
     // Read current set value
-    uint16_t readPin     (uint8_t pin);
-    uint16_t readChannel (uint8_t ch);
+    uint16_t readPin     (uint8_t pin) const;
+    uint16_t readChannel (uint8_t ch) const;
+
+    // Get count of used / free channels
+    uint8_t usedChannelCount(void) const;
+    uint8_t freeChannelCount(void) const;
+
+    static void DebugOutput(Stream& logger);
 };
 
 extern HardwarePWM HwPWM0;