pbio/drv/pwm/pwm_ev3: Reimplement using PRU

Author: ArcaneNibble

lib/pbio/drv/pwm/pwm_ev3.c

@@ -32,7 +32,12 @@ typedef struct shared_ram {
 static volatile shared_ram *const pru1_shared_ram = (volatile shared_ram *)PRU1_SHARED_RAM_ADDR;
 
 static pbio_error_t pbdrv_pwm_tiam1808_set_duty(pbdrv_pwm_dev_t *dev, uint32_t ch, uint32_t value) {
-    // TODO: Reimplement this function to use the PRU
+    // Blue not available.
+    if (ch == 0xff) {
+        return PBIO_SUCCESS;
+    }
+
+    pru1_shared_ram->pwms[ch] = value;
     return PBIO_SUCCESS;
 }
 
@@ -52,12 +57,6 @@ void pbdrv_pwm_tiam1808_init(pbdrv_pwm_dev_t *devs) {
     TimerPeriodSet(SOC_TMR_0_REGS, TMR_TIMER34, 256 * 256 - 1);
     TimerEnable(SOC_TMR_0_REGS, TMR_TIMER34, TMR_ENABLE_CONT);
 
-    // TODO: Remove this test code
-    pru1_shared_ram->pwms[0] = 0x20;    // R
-    pru1_shared_ram->pwms[1] = 0xc0;    // G
-    pru1_shared_ram->pwms[2] = 0x10;    // R
-    pru1_shared_ram->pwms[3] = 0xf0;    // G
-
     // Enable PRU1 and load its firmware
     PSCModuleControl(SOC_PSC_0_REGS, HW_PSC_PRU, PSC_POWERDOMAIN_ALWAYS_ON, PSC_MDCTL_NEXT_ENABLE);
     PRUSSDRVPruDisable(1);

lib/pbio/platform/ev3/platform.c

@@ -86,7 +86,7 @@ const pbdrv_led_dual_platform_data_t pbdrv_led_dual_platform_data[PBDRV_CONFIG_L
 };
 
 static const pbdrv_led_pwm_platform_color_t pbdrv_led_pwm_color = {
-    // TODO: PWM not yet implemented, so these values not used.
+    // TODO: Calibrate these numbers, as well as .scale_factor
     .r_factor = 1000,
     .g_factor = 170,
     .b_factor = 200,
@@ -106,7 +106,6 @@ const pbdrv_led_pwm_platform_data_t pbdrv_led_pwm_platform_data[PBDRV_CONFIG_LED
         // Blue not available.
         .b_id = PWM_DEV_0,
         .b_ch = 0xff,
-        // TODO: PWM not yet implemented, so these values not used.
         .scale_factor = 35,
     },
     {
@@ -119,7 +118,6 @@ const pbdrv_led_pwm_platform_data_t pbdrv_led_pwm_platform_data[PBDRV_CONFIG_LED
         // Blue not available.
         .b_id = PWM_DEV_0,
         .b_ch = 0xff,
-        // TODO: PWM not yet implemented, so these values not used.
         .scale_factor = 35,
     },
 };