pbio/drv/pwm/pwm_ev3: Consolidate LEDs into one PWM device

Author: ArcaneNibble

lib/pbio/drv/pwm/pwm_ev3.c

@@ -27,7 +27,7 @@
 
 // This needs to match the interface expected by the PRU firmware
 typedef struct shared_ram {
-    uint8_t pwms[4];
+    uint8_t pwms[PBDRV_PWM_EV3_NUM_CHANNELS];
 } shared_ram;
 static volatile shared_ram *const pru1_shared_ram = (volatile shared_ram *)PRU1_SHARED_RAM_ADDR;
 
@@ -43,19 +43,15 @@ static const pbdrv_pwm_driver_funcs_t pbdrv_pwm_tiam1808_funcs = {
 extern char _pru1_start;
 extern char _pru1_end;
 
+#define PINMUX_ALT_PRU1     4
+
 void pbdrv_pwm_tiam1808_init(pbdrv_pwm_dev_t *devs) {
     // Enable Timer0 "34" half to count up to 256 * 256
     // This is used by the PRU to time the PWM
     TimerPreScalarCount34Set(SOC_TMR_0_REGS, 0);
     TimerPeriodSet(SOC_TMR_0_REGS, TMR_TIMER34, 256 * 256 - 1);
     TimerEnable(SOC_TMR_0_REGS, TMR_TIMER34, TMR_ENABLE_CONT);
 
-    // Set GPIO alt modes for the PRU
-    pbdrv_gpio_alt(&pbdrv_pwm_tiam1808_platform_data[0].gpio_red, SYSCFG_PINMUX13_PINMUX13_11_8_PRU1_R30_12);
-    pbdrv_gpio_alt(&pbdrv_pwm_tiam1808_platform_data[0].gpio_green, SYSCFG_PINMUX14_PINMUX14_3_0_PRU1_R30_10);
-    pbdrv_gpio_alt(&pbdrv_pwm_tiam1808_platform_data[1].gpio_red, SYSCFG_PINMUX13_PINMUX13_15_12_PRU1_R30_11);
-    pbdrv_gpio_alt(&pbdrv_pwm_tiam1808_platform_data[1].gpio_green, SYSCFG_PINMUX13_PINMUX13_7_4_PRU1_R30_13);
-
     // TODO: Remove this test code
     pru1_shared_ram->pwms[0] = 0x20;    // R
     pru1_shared_ram->pwms[1] = 0xc0;    // G
@@ -76,6 +72,11 @@ void pbdrv_pwm_tiam1808_init(pbdrv_pwm_dev_t *devs) {
     for (int i = 0; i < PBDRV_CONFIG_PWM_TIAM1808_NUM_DEV; i++) {
         devs[i].funcs = &pbdrv_pwm_tiam1808_funcs;
         devs[i].priv = (pbdrv_pwm_tiam1808_platform_data_t *)&pbdrv_pwm_tiam1808_platform_data[i];
+
+        // Set GPIO alt modes for the PRU
+        for (int j = 0; j < PBDRV_PWM_EV3_NUM_CHANNELS; j++) {
+            pbdrv_gpio_alt(&pbdrv_pwm_tiam1808_platform_data[i].gpios[j], PINMUX_ALT_PRU1);
+        }
     }
 }
 

lib/pbio/drv/pwm/pwm_ev3.h

@@ -13,11 +13,12 @@
 #include <pbdrv/pwm.h>
 #include <pbdrv/gpio.h>
 
+#define PBDRV_PWM_EV3_NUM_CHANNELS  4
+
 /** Platform-specific device information. */
 typedef struct {
     uint8_t id;
-    pbdrv_gpio_t gpio_red;
-    pbdrv_gpio_t gpio_green;
+    pbdrv_gpio_t gpios[PBDRV_PWM_EV3_NUM_CHANNELS];
 } pbdrv_pwm_tiam1808_platform_data_t;
 
 // Defined in platform.c

lib/pbio/platform/ev3/pbdrvconfig.h

@@ -66,7 +66,7 @@
 #define PBDRV_CONFIG_PWM                            (1)
 #define PBDRV_CONFIG_PWM_NUM_DEV                    (2)
 #define PBDRV_CONFIG_PWM_TIAM1808                   (1)
-#define PBDRV_CONFIG_PWM_TIAM1808_NUM_DEV           (2)
+#define PBDRV_CONFIG_PWM_TIAM1808_NUM_DEV           (1)
 
 #define PBDRV_CONFIG_RESET                          (1)
 #define PBDRV_CONFIG_RESET_EV3                      (1)

lib/pbio/platform/ev3/platform.c

@@ -72,8 +72,7 @@ enum {
 };
 
 enum {
-    PWM_DEV_0_TODO,
-    PWM_DEV_1_TODO,
+    PWM_DEV_0,
 };
 
 // LED
@@ -100,26 +99,26 @@ const pbdrv_led_pwm_platform_data_t pbdrv_led_pwm_platform_data[PBDRV_CONFIG_LED
     {
         .color = &pbdrv_led_pwm_color,
         .id = LED_DEV_1_STATUS_LEFT,
-        .r_id = PWM_DEV_0_TODO,
+        .r_id = PWM_DEV_0,
         .r_ch = 0,
-        .g_id = PWM_DEV_0_TODO,
+        .g_id = PWM_DEV_0,
         .g_ch = 1,
         // Blue not available.
-        .b_id = PWM_DEV_0_TODO,
-        .b_ch = 2,
+        .b_id = PWM_DEV_0,
+        .b_ch = 0xff,
         // TODO: PWM not yet implemented, so these values not used.
         .scale_factor = 35,
     },
     {
         .color = &pbdrv_led_pwm_color,
         .id = LED_DEV_2_STATUS_RIGHT,
-        .r_id = PWM_DEV_1_TODO,
-        .r_ch = 0,
-        .g_id = PWM_DEV_1_TODO,
-        .g_ch = 1,
+        .r_id = PWM_DEV_0,
+        .r_ch = 2,
+        .g_id = PWM_DEV_0,
+        .g_ch = 3,
         // Blue not available.
-        .b_id = PWM_DEV_1_TODO,
-        .b_ch = 2,
+        .b_id = PWM_DEV_0,
+        .b_ch = 0xff,
         // TODO: PWM not yet implemented, so these values not used.
         .scale_factor = 35,
     },
@@ -128,14 +127,13 @@ const pbdrv_led_pwm_platform_data_t pbdrv_led_pwm_platform_data[PBDRV_CONFIG_LED
 const pbdrv_pwm_tiam1808_platform_data_t
     pbdrv_pwm_tiam1808_platform_data[PBDRV_CONFIG_PWM_TIAM1808_NUM_DEV] = {
     {
-        .id = PWM_DEV_0_TODO,
-        .gpio_red = PBDRV_GPIO_EV3_PIN(13, 11, 8, 6, 13),
-        .gpio_green = PBDRV_GPIO_EV3_PIN(14, 3, 0, 6, 7),
-    },
-    {
-        .id = PWM_DEV_1_TODO,
-        .gpio_red = PBDRV_GPIO_EV3_PIN(13, 15, 12, 6, 12),
-        .gpio_green = PBDRV_GPIO_EV3_PIN(13, 7, 4, 6, 14),
+        .id = PWM_DEV_0,
+        .gpios = {
+            PBDRV_GPIO_EV3_PIN(13, 11, 8, 6, 13),
+            PBDRV_GPIO_EV3_PIN(14, 3, 0, 6, 7),
+            PBDRV_GPIO_EV3_PIN(13, 15, 12, 6, 12),
+            PBDRV_GPIO_EV3_PIN(13, 7, 4, 6, 14),
+        },
     },
 };