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boards/arduino-r4-minima: Add PWM support using GPT timer
- Added PWM support on Arduino R4 Minima board. This board has 5 PWM channels available using the GPT timer from the RA4M1 microcontroller. - Added a pwm config file to enable PWM supporting GTP2 GTIOCB on P102. Signed-off-by: leocafonso <leocafonso@gmail.com>
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‎boards/arm/ra4/arduino-r4-minima/Kconfig‎

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if ARCH_BOARD_ARDUINO_R4_MINIMA
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config ARDUINO_R4_MINIMA_PWM_CHANNEL
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int "PWM channel number"
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default 0 if RA_GPT0_PWM
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default 1 if RA_GPT1_PWM
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default 2 if RA_GPT2_PWM
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default 3 if RA_GPT3_PWM
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default 4 if RA_GPT4_PWM
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default 5 if RA_GPT5_PWM
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default 6 if RA_GPT6_PWM
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default 7 if RA_GPT7_PWM
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range 0 7
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depends on PWM && RA_PWM
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---help---
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Selects the PWM channel number that will be used to perform the PWM
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test. See apps/examples/pwm.
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endif

‎boards/arm/ra4/arduino-r4-minima/configs/pwm/defconfig‎

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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="arduino-r4-minima"
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CONFIG_ARCH_BOARD_ARDUINO_R4_MINIMA=y
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CONFIG_ARCH_CHIP="ra4"
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CONFIG_ARCH_CHIP_R7FA4M1ABxxFM=y
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CONFIG_ARCH_CHIP_RA4=y
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CONFIG_ARCH_STACKDUMP=y
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CONFIG_BOARD_LOOPSPERMSEC=6965
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CONFIG_BUILTIN=y
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CONFIG_EXAMPLES_PWM=y
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CONFIG_FS_PROCFS=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_INTELHEX_BINARY=y
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_DISABLE_IFUPDOWN=y
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CONFIG_NSH_FILEIOSIZE=512
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CONFIG_NSH_READLINE=y
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CONFIG_PREALLOC_TIMERS=4
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CONFIG_RAM_SIZE=32768
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CONFIG_RAM_START=0x20000000
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CONFIG_RA_GPT2=y
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CONFIG_RA_GPT2_OUTPUTB=y
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CONFIG_RA_GPT2_PWM=y
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CONFIG_RR_INTERVAL=200
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CONFIG_SCHED_WAITPID=y
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CONFIG_SCI2_SERIAL_CONSOLE=y
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CONFIG_START_DAY=28
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CONFIG_START_MONTH=6
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CONFIG_START_YEAR=2013
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CONFIG_SYSTEM_NSH=y
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CONFIG_TASK_NAME_SIZE=32

‎boards/arm/ra4/arduino-r4-minima/include/board.h‎

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#define GPIO_SCI9_RX GPIO_RXD9_MISO9_SCL9_1 /* P110 */
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#define GPIO_SCI9_TX GPIO_TXD9_MOSI9_SDA9_1 /* P109 */
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/* PWM Pins *****************************************************************/
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/* PWM output pins:
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* D3 - P104
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* D5 - P102
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* D6 - P106
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* D9 - P303
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* D10 - P112
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* D11 - P109
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*/
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#define GPIO_GPT1_GTIOCB GPIO_GPT_GTIOC1B_P104
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#define GPIO_GPT2_GTIOCB GPIO_GPT_GTIOC2B_P102
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#define GPIO_GPT0_GTIOCB GPIO_GPT_GTIOC0B_P106
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#define GPIO_GPT7_GTIOCB GPIO_GPT_GTIOC7B_P303
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#define GPIO_GPT3_GTIOCB GPIO_GPT_GTIOC3B_P112
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#define GPIO_GPT1_GTIOCA GPIO_GPT_GTIOC1A_P109
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/* LED pin selections */
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#define GPIO_L_LED (gpio_pinset_t){ PORT1,PIN11, (GPIO_OUPUT | GPIO_LOW_DRIVE | GPIO_OUTPUT_LOW)} /* P111 */

‎boards/arm/ra4/arduino-r4-minima/src/CMakeLists.txt‎

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list(APPEND SRCS ra4m1_userleds.c)
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endif()
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if(CONFIG_PWM)
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list(APPEND SRCS ra4m1_pwm.c)
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endif()
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target_sources(board PRIVATE ${SRCS})
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set_property(GLOBAL PROPERTY LD_SCRIPT

‎boards/arm/ra4/arduino-r4-minima/src/Makefile‎

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CSRCS += ra4m1_appinit.c
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endif
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ifeq ($(CONFIG_PWM),y)
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CSRCS += ra4m1_pwm.c
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endif
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include $(TOPDIR)/boards/Board.mk

‎boards/arm/ra4/arduino-r4-minima/src/ra4m1_bringup.c‎

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# define HAVE_LEDS 1
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#endif
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#ifdef CONFIG_PWM
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extern int ra4m1_pwm_setup(void);
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#endif
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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}
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#endif
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#ifdef CONFIG_PWM
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/* Initialize PWM and register the PWM device. */
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ret = ra4m1_pwm_setup();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: ra4m1_pwm_setup() failed: %d\n", ret);
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}
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#endif
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UNUSED(ret);
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return OK;
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}

‎boards/arm/ra4/arduino-r4-minima/src/ra4m1_pwm.c‎

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/****************************************************************************
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* boards/arm/ra4/arduino-r4-minima/src/ra4m1_pwm.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/board.h>
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#include <nuttx/timers/pwm.h>
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#include <arch/board/board.h>
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#include "ra_pwm.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* PWM.
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* There are no dedicated PWM output pins available to the user for PWM
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* testing.
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*/
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#ifndef CONFIG_ARDUINO_R4_MINIMA_PWM_CHANNEL
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# if defined(CONFIG_RA4M1_PWM_CHAN0)
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# warning Assuming PWM channel 0
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# define CONFIG_ARDUINO_R4_MINIMA_PWM_CHANNEL 0
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# elif defined(CONFIG_RA4M1_PWM_CHAN1)
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# warning Assuming PWM channel 1
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# define CONFIG_ARDUINO_R4_MINIMA_PWM_CHANNEL 1
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# elif defined(CONFIG_RA4M1_PWM_CHAN2)
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# warning Assuming PWM channel 2
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# define CONFIG_ARDUINO_R4_MINIMA_PWM_CHANNEL 2
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# elif defined(CONFIG_RA4M1_PWM_CHAN3)
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# warning Assuming PWM channel 3
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# define CONFIG_ARDUINO_R4_MINIMA_PWM_CHANNEL 3
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# endif
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#endif
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#if defined(CONFIG_PWM) && defined(CONFIG_RA_PWM)
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: ra4m1_pwm_setup
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*
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* Description:
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* Initialize PWM and register the PWM device.
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*
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****************************************************************************/
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int ra4m1_pwm_setup(void)
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{
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static bool initialized = false;
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struct pwm_lowerhalf_s *pwm;
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int ret;
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/* Have we already initialized? */
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if (!initialized)
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{
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/* Call ra_pwminitialize() to get an instance of the PWM interface */
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pwm = ra_pwminitialize(CONFIG_ARDUINO_R4_MINIMA_PWM_CHANNEL);
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if (!pwm)
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{
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_err("ERROR: Failed to get the RA4M1 PWM lower half\n");
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return -ENODEV;
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}
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/* Register the PWM driver at "/dev/pwm0" */
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ret = pwm_register("/dev/pwm0", pwm);
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if (ret < 0)
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{
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aerr("ERROR: pwm_register failed: %d\n", ret);
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return ret;
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}
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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#endif /* CONFIG_PWM */

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