/* Audio Library for Teensy 3.X * Copyright (c) 2014, Paul Stoffregen, paul@pjrc.com * * Development of this audio library was funded by PJRC.COM, LLC by sales of * Teensy and Audio Adaptor boards. Please support PJRC's efforts to develop * open source software by purchasing Teensy or other PJRC products. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice, development funding notice, and this permission * notice shall be included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include #include "output_pwm.h" bool AudioOutputPWM::update_responsibility = false; #if defined(KINETISK) audio_block_t * AudioOutputPWM::block_1st = NULL; audio_block_t * AudioOutputPWM::block_2nd = NULL; uint32_t AudioOutputPWM::block_offset = 0; uint8_t AudioOutputPWM::interrupt_count = 0; DMAMEM uint32_t pwm_dma_buffer[AUDIO_BLOCK_SAMPLES*2]; DMAChannel AudioOutputPWM::dma(false); // TODO: this code assumes F_BUS is 48 MHz. // supporting other speeds is not easy, but should be done someday void AudioOutputPWM::begin(void) { dma.begin(true); // Allocate the DMA channel first //Serial.println("AudioPwmOutput constructor"); block_1st = NULL; FTM1_SC = 0; FTM1_CNT = 0; FTM1_MOD = 543; FTM1_C0SC = 0x69; // send DMA request on match FTM1_C1SC = 0x28; FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_PS(0); CORE_PIN3_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; CORE_PIN4_CONFIG = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; FTM1_C0V = 120; // range 120 to 375 FTM1_C1V = 0; // range 0 to 255 for (int i=0; i<(AUDIO_BLOCK_SAMPLES*2); i+=2) { pwm_dma_buffer[i] = 120; // zero must not be used pwm_dma_buffer[i+1] = 0; } dma.TCD->SADDR = pwm_dma_buffer; dma.TCD->SOFF = 4; dma.TCD->ATTR = DMA_TCD_ATTR_SSIZE(2) | DMA_TCD_ATTR_DSIZE(2) | DMA_TCD_ATTR_DMOD(4); dma.TCD->NBYTES_MLNO = 8; dma.TCD->SLAST = -sizeof(pwm_dma_buffer); dma.TCD->DADDR = &FTM1_C0V; dma.TCD->DOFF = 8; dma.TCD->CITER_ELINKNO = sizeof(pwm_dma_buffer) / 8; dma.TCD->DLASTSGA = 0; dma.TCD->BITER_ELINKNO = sizeof(pwm_dma_buffer) / 8; dma.TCD->CSR = DMA_TCD_CSR_INTHALF | DMA_TCD_CSR_INTMAJOR; dma.triggerAtHardwareEvent(DMAMUX_SOURCE_FTM1_CH0); dma.enable(); update_responsibility = update_setup(); dma.attachInterrupt(isr); } void AudioOutputPWM::update(void) { audio_block_t *block; block = receiveReadOnly(); if (!block) return; __disable_irq(); if (block_1st == NULL) { block_1st = block; block_offset = 0; __enable_irq(); } else if (block_2nd == NULL) { block_2nd = block; __enable_irq(); } else { audio_block_t *tmp = block_1st; block_1st = block_2nd; block_2nd = block; block_offset = 0; __enable_irq(); release(tmp); } } void AudioOutputPWM::isr(void) { int16_t *src; uint32_t *dest; audio_block_t *block; uint32_t saddr, offset; saddr = (uint32_t)(dma.TCD->SADDR); dma.clearInterrupt(); if (saddr < (uint32_t)pwm_dma_buffer + sizeof(pwm_dma_buffer) / 2) { // DMA is transmitting the first half of the buffer // so we must fill the second half dest = &pwm_dma_buffer[AUDIO_BLOCK_SAMPLES]; } else { // DMA is transmitting the second half of the buffer // so we must fill the first half dest = pwm_dma_buffer; } block = AudioOutputPWM::block_1st; offset = AudioOutputPWM::block_offset; if (block) { src = &block->data[offset]; for (int i=0; i < AUDIO_BLOCK_SAMPLES/4; i++) { uint16_t sample = *src++ + 0x8000; uint32_t msb = ((sample >> 8) & 255) + 120; uint32_t lsb = sample & 255; *dest++ = msb; *dest++ = lsb; *dest++ = msb; *dest++ = lsb; } offset += AUDIO_BLOCK_SAMPLES/4; if (offset < AUDIO_BLOCK_SAMPLES) { AudioOutputPWM::block_offset = offset; } else { AudioOutputPWM::block_offset = 0; AudioStream::release(block); AudioOutputPWM::block_1st = AudioOutputPWM::block_2nd; AudioOutputPWM::block_2nd = NULL; } } else { // fill with silence when no data available for (int i=0; i < AUDIO_BLOCK_SAMPLES/4; i++) { *dest++ = 248; *dest++ = 0; *dest++ = 248; *dest++ = 0; } } if (AudioOutputPWM::update_responsibility) { if (++AudioOutputPWM::interrupt_count >= 4) { AudioOutputPWM::interrupt_count = 0; AudioStream::update_all(); } } } // DMA target is: (registers require 32 bit writes) // 40039010 Channel 0 Value (FTM1_C0V) // 40039018 Channel 1 Value (FTM1_C1V) // TCD: // source address = buffer address // source offset = 4 bytes // attr = no src mod, ssize = 32 bit, dest mod = 16 bytes (4), dsize = 32 bit // minor loop byte count = 8 // source last adjust = -sizeof(buffer) // dest address = FTM1_C0V // dest address offset = 8 // citer = sizeof(buffer) / 8 (no minor loop linking) // dest last adjust = 0 (dest modulo keeps it ready for more) // control: // throttling = 0 // major link to same channel // done = 0 // active = 0 // majorlink = 1 // scatter/gather = 0 // disable request = 0 // inthalf = 1 // intmajor = 1 // start = 0 // biter = sizeof(buffer) / 8 (no minor loop linking) #elif defined(KINETISL) void AudioOutputPWM::update(void) { audio_block_t *block; block = receiveReadOnly(); if (block) release(block); } #elif defined(__IMXRT1062__) /* * by Frank B */ static const uint8_t silence[2] = {0x80, 0x00}; extern uint8_t analog_write_res; extern const struct _pwm_pin_info_struct pwm_pin_info[]; audio_block_t * AudioOutputPWM::block = NULL; DMAMEM __attribute__((aligned(32))) static uint16_t pwm_tx_buffer[2][AUDIO_BLOCK_SAMPLES * 2]; DMAChannel AudioOutputPWM::dma[2]; _audio_info_flexpwm AudioOutputPWM::apins[2]; FLASHMEM void AudioOutputPWM::begin(void) { begin(3, 4); } FLASHMEM void AudioOutputPWM::begin(uint8_t pin1, uint8_t pin2) { analogWriteResolution(8); const uint8_t pins[2] = {pin1, pin2}; for (unsigned i = 0; i < 2; i++) { // use the existing code here: analogWriteFrequency(pins[i], AUDIO_SAMPLE_RATE_EXACT); analogWrite(pins[i], silence[i]); //Fill structure apins[i].pin = pins[i]; apins[i].info = pwm_pin_info[apins[i].pin]; uint8_t dmamux_source; if (apins[i].info.type == 1) { //only for valid flexPWM pin: unsigned module = (apins[i].info.module >> 4) & 3; unsigned submodule = apins[i].info.module & 3; switch (module) { case 0: { apins[i].flexpwm = &IMXRT_FLEXPWM1; switch (submodule) { case 0: dmamux_source = DMAMUX_SOURCE_FLEXPWM1_WRITE0; break; case 1: dmamux_source = DMAMUX_SOURCE_FLEXPWM1_WRITE1; break; case 2: dmamux_source = DMAMUX_SOURCE_FLEXPWM1_WRITE2; break; default: dmamux_source = DMAMUX_SOURCE_FLEXPWM1_WRITE3; } break; } case 1: { apins[i].flexpwm = &IMXRT_FLEXPWM2; switch (submodule) { case 0: dmamux_source = DMAMUX_SOURCE_FLEXPWM2_WRITE0; break; case 1: dmamux_source = DMAMUX_SOURCE_FLEXPWM2_WRITE1; break; case 2: dmamux_source = DMAMUX_SOURCE_FLEXPWM2_WRITE2; break; default: dmamux_source = DMAMUX_SOURCE_FLEXPWM2_WRITE3; } break; } case 2: { apins[i].flexpwm = &IMXRT_FLEXPWM3; switch (submodule) { case 0: dmamux_source = DMAMUX_SOURCE_FLEXPWM3_WRITE0; break; case 1: dmamux_source = DMAMUX_SOURCE_FLEXPWM3_WRITE1; break; case 2: dmamux_source = DMAMUX_SOURCE_FLEXPWM3_WRITE2; break; default: dmamux_source = DMAMUX_SOURCE_FLEXPWM3_WRITE3; } break; } default: { apins[i].flexpwm = &IMXRT_FLEXPWM4; switch (submodule) { case 0: dmamux_source = DMAMUX_SOURCE_FLEXPWM4_WRITE0; break; case 1: dmamux_source = DMAMUX_SOURCE_FLEXPWM4_WRITE1; break; case 2: dmamux_source = DMAMUX_SOURCE_FLEXPWM4_WRITE2; break; default: dmamux_source = DMAMUX_SOURCE_FLEXPWM4_WRITE3; } } } volatile uint16_t *valReg; switch (apins[i].info.channel) { case 0: valReg = &apins[i].flexpwm->SM[submodule].VAL0; break; case 1: valReg = &apins[i].flexpwm->SM[submodule].VAL3; break; default: valReg = &apins[i].flexpwm->SM[submodule].VAL5; break; } dma[i].begin(true); dma[i].TCD->SADDR = &pwm_tx_buffer[i][0]; dma[i].TCD->SOFF = 2; dma[i].TCD->ATTR = DMA_TCD_ATTR_SSIZE(1) | DMA_TCD_ATTR_DSIZE(1); dma[i].TCD->NBYTES_MLNO = 2; dma[i].TCD->SLAST = -sizeof(pwm_tx_buffer[0]); dma[i].TCD->DOFF = 0; dma[i].TCD->CITER_ELINKNO = sizeof(pwm_tx_buffer[0]) / 2; dma[i].TCD->DLASTSGA = 0; dma[i].TCD->BITER_ELINKNO = sizeof(pwm_tx_buffer[0]) / 2; dma[i].TCD->DADDR = valReg; dma[i].triggerAtHardwareEvent(dmamux_source); if (i == 1) { //One interrupt only dma[i].TCD->CSR = DMA_TCD_CSR_INTHALF | DMA_TCD_CSR_INTMAJOR; dma[i].attachInterrupt(isr); } //set PWM-DMA-Enable apins[i].flexpwm->SM[submodule].DMAEN = FLEXPWM_SMDMAEN_VALDE; //clear inital dma data: uint32_t modulo = apins[i].flexpwm->SM[apins[i].info.module & 3].VAL1; for (unsigned j=0; j> analog_write_res; if (cval > modulo) cval = modulo; pwm_tx_buffer[i][j] = cval; } arm_dcache_flush_delete(&pwm_tx_buffer[i][0], sizeof(pwm_tx_buffer[0]) / 2 ); } } dma[0].enable(); dma[1].enable(); update_responsibility = update_setup(); //pinMode(13,OUTPUT); } void AudioOutputPWM::isr(void) { dma[1].clearInterrupt(); uint16_t *dest, *dest1; uint32_t saddr = (uint32_t)(dma[0].TCD->SADDR); if (saddr < (uint32_t)&pwm_tx_buffer[0][AUDIO_BLOCK_SAMPLES]) { // DMA is transmitting the first half of the buffer // so we must fill the second half dest = &pwm_tx_buffer[0][AUDIO_BLOCK_SAMPLES]; dest1 = &pwm_tx_buffer[1][AUDIO_BLOCK_SAMPLES]; } else { // DMA is transmitting the second half of the buffer // so we must fill the first half dest = &pwm_tx_buffer[0][0]; dest1 = &pwm_tx_buffer[1][0]; } const uint32_t modulo[2] = { apins[0].flexpwm->SM[apins[0].info.module & 3].VAL1, apins[1].flexpwm->SM[apins[1].info.module & 3].VAL1}; if (block) { for (unsigned i=0; i < AUDIO_BLOCK_SAMPLES; i++) { uint32_t sample = (uint16_t)block->data[i] + 0x8000; uint32_t msb = ((sample >> 8) & 255)/* + 120 ???*/; uint32_t cval0 = (msb * (modulo[0] + 1)) >> analog_write_res; if (cval0 > modulo[0]) cval0 = modulo[0]; // TODO: is this check correct? *dest++ = cval0; uint32_t lsb = sample & 255; uint32_t cval1 = (lsb * (modulo[1] + 1)) >> analog_write_res; if (cval1 > modulo[1]) cval1 = modulo[1]; *dest1++ = cval1; } arm_dcache_flush_delete(dest, sizeof(pwm_tx_buffer[0]) / 2 ); arm_dcache_flush_delete(dest1, sizeof(pwm_tx_buffer[1]) / 2 ); AudioStream::release(block); block = NULL; } else { //Serial.println("."); // fill with silence when no data available uint32_t cval0 = (silence[0] * (modulo[0] + 1)) >> analog_write_res; if (cval0 > modulo[0]) cval0 = modulo[0]; uint32_t cval1 = (silence[1] * (modulo[1] + 1)) >> analog_write_res; if (cval1 > modulo[1]) cval1 = modulo[1]; for (unsigned i=0; i < AUDIO_BLOCK_SAMPLES / 2; i++) { *dest++ = cval0; *dest++ = cval0; *dest1++ = cval1; *dest1++ = cval1; } arm_dcache_flush_delete(dest, sizeof(pwm_tx_buffer[0]) / 2 ); arm_dcache_flush_delete(dest1, sizeof(pwm_tx_buffer[1]) / 2 ); } AudioStream::update_all(); //digitalWriteFast(13, !digitalRead(13)); } void AudioOutputPWM::update(void) { audio_block_t *tblock; tblock = receiveReadOnly(); if (!tblock) return; __disable_irq(); block = tblock; __enable_irq(); } #endif