Working implementation of a PLL HAL.

rp2040-hal/src/lib.rs

@@ -15,6 +15,7 @@ pub extern crate rp2040_pac as pac;
 
 pub mod adc;
 pub mod i2c;
+pub mod pll;
 pub mod prelude;
 pub mod pwm;
 pub mod rom_data;

rp2040-hal/src/pll.rs

@@ -0,0 +1,227 @@
+//! Phase-Locked Loops (PLL)
+// See [Chapter 2 Section 18](https://datasheets.raspberrypi.org/rp2040/rp2040_datasheet.pdf) for more details
+
+use core::{
+    convert::{
+        Infallible,
+        TryFrom
+    },
+    marker::PhantomData,
+    ops::{
+        RangeInclusive,
+        Range,
+        Deref
+    }
+};
+
+use embedded_time::{
+    fixed_point::FixedPoint,
+    rate::{
+        Hertz,
+        Generic
+    }
+};
+
+use nb::Error::WouldBlock;
+
+/// State of the PLL
+pub trait State {}
+
+
+/// PLL is disabled but is configured.
+pub struct Disabled {
+    refdiv: u8,
+    vco_freq: Hertz,
+    post_div1: u8,
+    post_div2: u8
+}
+
+/// PLL is locked : it delivers a steady frequency.
+pub struct Locked;
+
+/// PLL is locking into its designated frequency.
+pub struct Locking {
+    post_div1: u8,
+    post_div2: u8
+}
+
+impl State for Disabled {}
+impl State for Locked {}
+impl State for Locking {}
+
+
+/// Trait to handle both underlying devices from the PAC (PLL_SYS & PLL_USB)
+pub trait PhaseLockedLoopDevice: Deref<Target = rp2040_pac::pll_sys::RegisterBlock> {}
+
+impl PhaseLockedLoopDevice for rp2040_pac::PLL_SYS {}
+impl PhaseLockedLoopDevice for rp2040_pac::PLL_USB {}
+
+/// A PLL.
+pub struct PhaseLockedLoop<S: State, D: PhaseLockedLoopDevice> {
+    device: D,
+    state: S
+}
+
+impl<S: State, D: PhaseLockedLoopDevice> PhaseLockedLoop<S, D> {
+    fn transition<To: State>(self, state: To) -> PhaseLockedLoop<To, D> {
+        PhaseLockedLoop {
+            device: self.device,
+            state: state
+        }
+    }
+
+    /// Releases the underlying device.
+    pub fn free(self) -> D{
+        self.device
+    }
+}
+
+
+/// Error type for the PLL module.
+/// See Chapter 2, Section 18 §2 for details on constraints triggering these errors.
+pub enum Error {
+
+    /// Proposed VCO frequency is out of range.
+    VCOFreqOutOfRange,
+
+    /// Feedback Divider value is out of range.
+    FBDIVOutOfRange,
+
+    /// Post Divider value is out of range.
+    PostDivOutOfRage,
+
+    /// Reference Frequency is out of range.
+    RefFreqOutOfRange,
+
+    /// Bad argument : overflows, bad conversion, ...
+    BadArgument
+}
+
+impl<D: PhaseLockedLoopDevice> PhaseLockedLoop<Disabled, D> {
+
+
+    /// Instantiates and configures a new Phase-Locked-Loop device.
+    pub fn new(dev: D, refdiv: u8, vco_freq: Generic<u32>, post_div1: u8, post_div2: u8) -> Result<PhaseLockedLoop<Disabled, D>, Error> {
+
+        const VCO_FREQ_RANGE: RangeInclusive<Hertz<u32>> = Hertz(400_000_000)..=Hertz(1600_000_000);
+        const POSTDIV_RANGE: Range<u8> = 1..7;
+
+        let vco_freq = Hertz::<u32>::try_from(vco_freq).map_err(|_| Error::BadArgument)?;
+
+        if !VCO_FREQ_RANGE.contains(&vco_freq) {
+            return Err(Error::VCOFreqOutOfRange)
+        }
+
+        if !POSTDIV_RANGE.contains(&post_div1) || !POSTDIV_RANGE.contains(&post_div2) {
+            return Err(Error::PostDivOutOfRage)
+        }
+
+        Ok(PhaseLockedLoop {
+            state: Disabled {
+                refdiv, vco_freq, post_div1, post_div2
+            },
+            device: dev,
+        })
+    }
+
+    /// Configures and starts the PLL : it switches to Locking state.
+    pub fn initialize(self, xosc_frequency: Generic<u32>) -> Result<PhaseLockedLoop<Locking, D>, Error>{
+
+        const FBDIV_RANGE: Range<u16> = 16..320;
+
+        let ref_freq_range: Range<Hertz<u32>> = Hertz(5_000_000)..self.state.vco_freq.div(16);
+
+        // Turn off PLL in case it is already running
+        self.device.pwr.reset();
+        self.device.fbdiv_int.reset();
+
+        let refdiv = self.state.refdiv;
+
+        let ref_freq_hz = Hertz::<u32>::try_from(xosc_frequency).
+            map_err(|_| Error::BadArgument)?.
+            checked_div(&(refdiv as u32)).
+            ok_or(Error::BadArgument)?;
+
+        if !ref_freq_range.contains(&ref_freq_hz) {
+            return Err(Error::RefFreqOutOfRange)
+        }
+
+        self.device.cs.write(|w| unsafe {
+            w.refdiv().bits(refdiv as u8);
+            w
+        });
+
+        let fbdiv = *self.state.vco_freq.checked_div(ref_freq_hz.integer()).
+            ok_or(Error::BadArgument)?.integer() as u16;
+
+        if !FBDIV_RANGE.contains(&fbdiv) {
+            return Err(Error::FBDIVOutOfRange)
+        }
+
+        self.device.fbdiv_int.write(|w| unsafe {
+            w.fbdiv_int().bits(fbdiv);
+            w
+        });
+
+        self.device.cs.write(|w| unsafe {
+            w.refdiv().bits(refdiv);
+            w
+        });
+
+        // Turn on self.device
+        self.device.pwr.write(|w| unsafe {
+            //w.pd().clear_bit();
+            //w.vcopd().clear_bit();
+            w.bits(0);
+            w
+        });
+
+        let post_div1 = self.state.post_div1;
+        let post_div2 = self.state.post_div2;
+
+        Ok(self.transition(Locking {
+            post_div1, post_div2
+        }))
+    }
+}
+
+/// A token that's given when the PLL is properly locked, so we can safely transition to the next state.
+pub struct LockedPLLToken<D> {
+    _private: PhantomData<D>
+}
+
+impl<D: PhaseLockedLoopDevice> PhaseLockedLoop<Locking, D> {
+
+    /// Awaits locking of the PLL.
+    pub fn await_lock(&self) -> nb::Result<LockedPLLToken<D>, Infallible> {
+
+        if self.device.cs.read().lock().bit_is_clear() {
+            return Err(WouldBlock);
+        }
+
+        Ok(LockedPLLToken {
+            _private: PhantomData
+        })
+    }
+
+    /// Exchanges a token for a Locked PLL.
+    pub fn get_locked(self, _token: LockedPLLToken<D>) -> PhaseLockedLoop<Locked, D> {
+
+        // Set up post dividers
+        self.device.prim.write(|w| unsafe {
+            w.postdiv1().bits(self.state.post_div1);
+            w.postdiv2().bits(self.state.post_div2);
+            w
+        });
+
+        // Turn on post divider
+        self.device.pwr.write(|w| unsafe {
+            //w.postdivpd().clear_bit();
+            w.bits(0);
+            w
+        });
+
+        self.transition(Locked)
+    }
+
+}