Merge #311

311: Enables PWM for the nRF9160 r=jonathanpallant a=huntc

Without it, we can't have blinky on the Thingy:91 as its RGB LEDs require PWM!

This PR assumes just unsecured peripheral access for now.

I've also included a new `pwm-blinky-demo` and ensure that this and the original `pwm-demo` are included with the `xtask` tests. Additionally, the `pwm-blinky-demo` is tested for the nRF9160 target.

Tested on an nRF9160-dk via the probe-rs/embed tool. The result from `cargo embed`:

![image](https://user-images.githubusercontent.com/694893/117934382-f9ccdc80-b345-11eb-9e86-f77e57c81f08.png)

cc @kalkyl 

Co-authored-by: huntc <[email protected]>

Author: bors[bot]

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "rust-analyzer.cargo.features": [
+        "52840"
+    ]
+}

examples/pwm-blinky-demo/Cargo.toml

@@ -0,0 +1,31 @@
+[package]
+name = "pwm-blinky-demo"
+version = "0.1.0"
+authors = ["Christopher Hunt <[email protected]>"]
+edition = "2018"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+cortex-m = "0.6.2"
+cortex-m-rt = "0.6.12"
+rtt-target = {version = "0.2.0", features = ["cortex-m"] }
+nb = "1.0.0"
+
+[dependencies.embedded-hal]
+version = "0.2.3"
+features = ["unproven"]
+
+[dependencies.nrf9160-hal]
+features = ["rt"]
+path = "../../nrf9160-hal"
+optional = true
+
+[dependencies.nrf52840-hal]
+features = ["rt"]
+path = "../../nrf52840-hal"
+optional = true
+
+[features]
+9160 = ["nrf9160-hal"]
+52840 = ["nrf52840-hal"]

examples/pwm-blinky-demo/Embed.toml

@@ -0,0 +1,63 @@
+[default.probe]
+# USB vendor ID
+# usb_vid = "1337"
+# USB product ID
+# usb_pid = "1337"
+# Serial number
+# serial = "12345678"
+# The protocol to be used for communicating with the target.
+protocol = "Swd"
+# The speed in kHz of the data link to the target.
+# speed = 1337
+
+[default.flashing]
+# Whether or not the target should be flashed.
+enabled = true
+# Whether or not the target should be halted after reset.
+# DEPRECATED, moved to reset section
+halt_afterwards = false
+# Whether or not bytes erased but not rewritten with data from the ELF
+# should be restored with their contents before erasing.
+restore_unwritten_bytes = false
+# The path where an SVG of the assembled flash layout should be written to.
+# flash_layout_output_path = "out.svg"
+
+[default.reset]
+# Whether or not the target should be reset.
+# When flashing is enabled as well, the target will be reset after flashing.
+enabled = true
+# Whether or not the target should be halted after reset.
+halt_afterwards = false
+
+[default.general]
+# The chip name of the chip to be debugged.
+chip = "nRF52840_xxAA"
+# A list of chip descriptions to be loaded during runtime.
+chip_descriptions = []
+# The default log level to be used. Possible values are one of:
+#   "OFF", "ERROR", "WARN", "INFO", "DEBUG", "TRACE" 
+log_level = "WARN"
+
+[default.rtt]
+# Whether or not an RTTUI should be opened after flashing.
+# This is exclusive and cannot be used with GDB at the moment.
+enabled = true
+# A list of channel associations to be displayed. If left empty, all channels are displayed.
+channels = [
+    # { up = 0, down = 0, name = "name", format = "String" }
+]
+# The duration in ms for which the logger should retry to attach to RTT.
+timeout = 3000
+# Whether timestamps in the RTTUI are enabled
+show_timestamps = true
+# Whether to save rtt history buffer on exit.
+log_enabled = false
+# Where to save rtt history buffer relative to manifest path.
+log_path = "./logs"
+
+[default.gdb]
+# Whether or not a GDB server should be opened after flashing.
+# This is exclusive and cannot be used with RTT at the moment.
+enabled = false
+# The connection string in host:port format wher the GDB server will open a socket.
+# gdb_connection_string

examples/pwm-blinky-demo/build.rs

@@ -0,0 +1,36 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+fn main() {
+    // We only need the memory.x file for the nRF9160 as our program
+    // must then reside in a location where unsecure programs need to be.
+    #[cfg(feature = "9160")]
+    {
+        use std::env;
+        use std::fs::File;
+        use std::io::Write;
+        use std::path::PathBuf;
+
+        // Put `memory.x` in our output directory and ensure it's
+        // on the linker search path.
+        let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+        File::create(out.join("memory.x"))
+            .unwrap()
+            .write_all(include_bytes!("memory.x"))
+            .unwrap();
+        println!("cargo:rustc-link-search={}", out.display());
+
+        // By default, Cargo will re-run a build script whenever
+        // any file in the project changes. By specifying `memory.x`
+        // here, we ensure the build script is only re-run when
+        // `memory.x` is changed.
+        println!("cargo:rerun-if-changed=memory.x");
+    }
+}

examples/pwm-blinky-demo/memory.x

@@ -0,0 +1,32 @@
+MEMORY
+{
+  /* NOTE 1 K = 1 KiBi = 1024 bytes */
+  FLASH : ORIGIN = 0x00050000, LENGTH = 768K
+  RAM : ORIGIN = 0x20020000, LENGTH = 128K
+}
+
+/* This is where the call stack will be allocated. */
+/* The stack is of the full descending type. */
+/* You may want to use this variable to locate the call stack and static
+   variables in different memory regions. Below is shown the default value */
+/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
+
+/* You can use this symbol to customize the location of the .text section */
+/* If omitted the .text section will be placed right after the .vector_table
+   section */
+/* This is required only on microcontrollers that store some configuration right
+   after the vector table */
+/* _stext = ORIGIN(FLASH) + 0x400; */
+
+/* Example of putting non-initialized variables into custom RAM locations. */
+/* This assumes you have defined a region RAM2 above, and in the Rust
+   sources added the attribute `#[link_section = ".ram2bss"]` to the data
+   you want to place there. */
+/* Note that the section will not be zero-initialized by the runtime! */
+/* SECTIONS {
+     .ram2bss (NOLOAD) : ALIGN(4) {
+       *(.ram2bss);
+       . = ALIGN(4);
+     } > RAM2
+   } INSERT AFTER .bss;
+*/

examples/pwm-blinky-demo/src/main.rs

@@ -0,0 +1,74 @@
+#![no_main]
+#![no_std]
+
+use hal::{gpio, prelude::*, pwm, pwm::Pwm, timer, timer::Timer};
+use nb::block;
+#[cfg(feature = "52840")]
+use nrf52840_hal as hal;
+#[cfg(feature = "9160")]
+use nrf9160_hal as hal;
+use rtt_target::{rprintln, rtt_init_print};
+
+#[panic_handler] // panicking behavior
+fn panic(_: &core::panic::PanicInfo) -> ! {
+    loop {
+        cortex_m::asm::bkpt();
+    }
+}
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    rtt_init_print!();
+
+    let p = hal::pac::Peripherals::take().unwrap();
+
+    let (pwm, mut timer) = init_device(p);
+
+    pwm.set_period(500u32.hz());
+
+    rprintln!("PWM Blinky demo starting");
+    loop {
+        pwm.set_duty_on_common(pwm.get_max_duty());
+        delay(&mut timer, 250_000); // 250ms
+        pwm.set_duty_on_common(0);
+        delay(&mut timer, 1_000_000); // 1s
+    }
+}
+
+#[cfg(feature = "9160")]
+fn init_device(p: hal::pac::Peripherals) -> (Pwm<hal::pac::PWM0_NS>, Timer<hal::pac::TIMER0_NS>) {
+    let p0 = gpio::p0::Parts::new(p.P0_NS);
+
+    let pwm = Pwm::new(p.PWM0_NS);
+    pwm.set_output_pin(
+        pwm::Channel::C0,
+        &p0.p0_02.into_push_pull_output(gpio::Level::High).degrade(),
+    );
+
+    let timer = Timer::new(p.TIMER0_NS);
+
+    (pwm, timer)
+}
+
+#[cfg(feature = "52840")]
+fn init_device(p: hal::pac::Peripherals) -> (Pwm<hal::pac::PWM0>, Timer<hal::pac::TIMER0>) {
+    let p0 = gpio::p0::Parts::new(p.P0);
+
+    let pwm = Pwm::new(p.PWM0);
+    pwm.set_output_pin(
+        pwm::Channel::C0,
+        &p0.p0_13.into_push_pull_output(gpio::Level::High).degrade(),
+    );
+
+    let timer = Timer::new(p.TIMER0);
+
+    (pwm, timer)
+}
+
+fn delay<T>(timer: &mut Timer<T>, cycles: u32)
+where
+    T: timer::Instance,
+{
+    timer.start(cycles);
+    let _ = block!(timer.wait());
+}

examples/pwm-demo/Cargo.toml

@@ -10,8 +10,15 @@ edition = "2018"
 cortex-m = "0.6.2"
 cortex-m-rtic = "0.5.3"
 rtt-target = {version = "0.2.0", features = ["cortex-m"] }
-nrf52840-hal = { features = ["rt"], path = "../../nrf52840-hal" }
 
 [dependencies.embedded-hal]
 version = "0.2.3"
 features = ["unproven"]
+
+[dependencies.nrf52840-hal]
+features = ["rt"]
+path = "../../nrf52840-hal"
+optional = true
+
+[features]
+52840 = ["nrf52840-hal"]

nrf-hal-common/src/lib.rs

@@ -49,7 +49,7 @@ pub mod ieee802154;
 pub mod lpcomp;
 #[cfg(not(feature = "9160"))]
 pub mod ppi;
-#[cfg(not(any(feature = "51", feature = "52832", feature = "9160")))]
+#[cfg(not(any(feature = "51", feature = "52832")))]
 pub mod pwm;
 #[cfg(not(any(feature = "51", feature = "9160")))]
 pub mod qdec;