Add an example of using PWMs to generate an audio output

boards/rp-pico/examples/pico_pwm_audio.rs

@@ -0,0 +1,244 @@
+//! # Pico PWM Audio Example
+//!
+//! Drives GPIO0 with PWM to generate an audio signal for use with a speaker.
+//!
+//! Note that you will need to supply your own speaker. When hooked up to GPIO0,
+//! you should hear an audible chime.
+//!
+//! See the `Cargo.toml` file for Copyright and license details.
+
+#![no_std]
+#![no_main]
+
+use embedded_hal::digital::v2::OutputPin;
+use hal::{
+    clocks::{ClocksManager, InitError},
+    pac::interrupt,
+    pll::{common_configs::PLL_USB_48MHZ, PLLConfig},
+    pwm::{FreeRunning, Pwm0},
+    Watchdog,
+};
+
+// The macro for our start-up function
+use rp_pico::entry;
+
+// GPIO traits
+use embedded_hal::PwmPin;
+
+// Time handling traits
+use embedded_time::rate::*;
+
+// Ensure we halt the program on panic (if we don't mention this crate it won't
+// be linked)
+use panic_halt as _;
+
+// Pull in any important traits
+use rp_pico::hal::prelude::*;
+
+// A shorter alias for the Peripheral Access Crate, which provides low-level
+// register access
+use rp_pico::hal::pac;
+
+// A shorter alias for the Hardware Abstraction Layer, which provides
+// higher-level drivers.
+use rp_pico::hal;
+
+/// Signed 8-bit raw PCM samples
+///
+/// If you want to create your own, use Audacity to create a recording with a
+/// sample rate of 32,000 Hz and then export it as raw 8-bit signed PCM with no
+/// file header.
+const AUDIO: &[u8] = include_bytes!("pico_pwm_audio.raw");
+
+/// The hardware PWM driver that is shared with the interrupt routine.
+static mut PWM: Option<hal::pwm::Slice<Pwm0, FreeRunning>> = None;
+
+// Output from vocalc.py
+/// This clock rate is closest to 176,400,000 Hz, which is a multiple of 44,100 Hz.
+#[allow(dead_code)]
+const PLL_SYS_176MHZ: PLLConfig<Megahertz> = PLLConfig {
+    vco_freq: Megahertz(528),
+    refdiv: 1,
+    post_div1: 3,
+    post_div2: 1,
+};
+
+/// This clock rate is closest to 131,072,000 Hz, which is a multiple of 32,000 Hz (the audio sample rate).
+#[allow(dead_code)]
+const PLL_SYS_131MHZ: PLLConfig<Megahertz> = PLLConfig {
+    vco_freq: Megahertz(1572),
+    refdiv: 1,
+    post_div1: 6,
+    post_div2: 2,
+};
+
+/// Initialize system clocks and PLLs according to specified configs
+#[allow(clippy::too_many_arguments)]
+fn init_clocks_and_plls_cfg(
+    xosc_crystal_freq: u32,
+    xosc_dev: pac::XOSC,
+    clocks_dev: pac::CLOCKS,
+    pll_sys_dev: pac::PLL_SYS,
+    pll_usb_dev: pac::PLL_USB,
+    pll_sys_cfg: PLLConfig<Megahertz>,
+    pll_usb_cfg: PLLConfig<Megahertz>,
+    resets: &mut pac::RESETS,
+    watchdog: &mut Watchdog,
+) -> Result<ClocksManager, InitError> {
+    let xosc = hal::xosc::setup_xosc_blocking(xosc_dev, xosc_crystal_freq.Hz())
+        .map_err(InitError::XoscErr)?;
+
+    // Configure watchdog tick generation to tick over every microsecond
+    watchdog.enable_tick_generation((xosc_crystal_freq / 1_000_000) as u8);
+
+    let mut clocks = ClocksManager::new(clocks_dev);
+
+    let pll_sys = hal::pll::setup_pll_blocking(
+        pll_sys_dev,
+        xosc.operating_frequency().into(),
+        pll_sys_cfg,
+        &mut clocks,
+        resets,
+    )
+    .map_err(InitError::PllError)?;
+    let pll_usb = hal::pll::setup_pll_blocking(
+        pll_usb_dev,
+        xosc.operating_frequency().into(),
+        pll_usb_cfg,
+        &mut clocks,
+        resets,
+    )
+    .map_err(InitError::PllError)?;
+
+    clocks
+        .init_default(&xosc, &pll_sys, &pll_usb)
+        .map_err(InitError::ClockError)?;
+    Ok(clocks)
+}
+
+/// Entry point to our bare-metal application.
+///
+/// The `#[entry]` macro ensures the Cortex-M start-up code calls this function
+/// as soon as all global variables are initialised.
+///
+/// The function configures the RP2040 peripherals, then outputs an audio signal
+/// on GPIO0 in an infinite loop.
+#[entry]
+fn main() -> ! {
+    // Grab our singleton objects
+    let mut pac = pac::Peripherals::take().unwrap();
+    let core = pac::CorePeripherals::take().unwrap();
+
+    // Set up the watchdog driver - needed by the clock setup code
+    let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
+
+    // Configure the clocks
+    // Note that we choose a nonstandard system clock rate, so that we can closely
+    // control the PWM cycles so that they're (close to) a multiple of the audio sample rate.
+    let clocks = init_clocks_and_plls_cfg(
+        rp_pico::XOSC_CRYSTAL_FREQ,
+        pac.XOSC,
+        pac.CLOCKS,
+        pac.PLL_SYS,
+        pac.PLL_USB,
+        PLL_SYS_131MHZ,
+        PLL_USB_48MHZ,
+        &mut pac.RESETS,
+        &mut watchdog,
+    )
+    .ok()
+    .unwrap();
+
+    // The single-cycle I/O block controls our GPIO pins
+    let sio = hal::Sio::new(pac.SIO);
+
+    // Set the pins up according to their function on this particular board
+    let pins = rp_pico::Pins::new(
+        pac.IO_BANK0,
+        pac.PADS_BANK0,
+        sio.gpio_bank0,
+        &mut pac.RESETS,
+    );
+
+    // The delay object lets us wait for specified amounts of time (in
+    // milliseconds)
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+
+    // Init PWMs
+    let pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
+
+    // Setup the LED pin
+    let mut led_pin = pins.led.into_push_pull_output();
+
+    // Configure PWM0
+    let mut pwm = pwm_slices.pwm0;
+    pwm.default_config();
+
+    // 131,000,000 Hz divided by (top * div.int).
+    //
+    // fPWM = fSYS / ((TOP + 1) * (CSR_PH_CORRECT + 1) * (DIV_INT + (DIV_FRAC / 16)))
+    //
+    // 32kHz ~= 131,000,000 / ((4096 + 1) * 1 * 1)
+    pwm.set_top(4096);
+    pwm.set_div_int(1);
+
+    pwm.enable_interrupt();
+    pwm.enable();
+
+    // Output channel A on PWM0 to GPIO0
+    pwm.channel_a.output_to(pins.gpio0);
+
+    unsafe {
+        // Share the PWM with our interrupt routine.
+        PWM = Some(pwm);
+
+        // Unmask the PWM_IRQ_WRAP interrupt so we start receiving events.
+        pac::NVIC::unmask(pac::interrupt::PWM_IRQ_WRAP);
+    }
+
+    // N.B: Note that this would be much more efficiently implemented by using a DMA controller
+    // to continuously feed audio samples to the PWM straight from memory. The hardware
+    // is set up in a way where a rollover interrupt from the PWM channel can trigger a DMA
+    // request for the next byte (or u16) of memory.
+    // So while this is a good illustration for driving an audio signal from PWM, use DMA instead
+    // for a real project.
+
+    // Infinite loop, with LED on while audio is playing.
+    loop {
+        let _ = led_pin.set_high();
+
+        for i in AUDIO {
+            // Rescale from signed i8 numbers to 0..4096 (the TOP register we specified earlier)
+            //
+            // The PWM channel will increment an internal counter register, and if the counter is
+            // above or equal to this number, the PWM will output a logic high signal.
+            let i = ((*i as u16) << 4).wrapping_add(2048) & 0xFFF;
+
+            cortex_m::interrupt::free(|_| {
+                // SAFETY: Interrupt cannot currently use this while we're in a critical section.
+                let channel = &mut unsafe { PWM.as_mut() }.unwrap().channel_a;
+                channel.set_duty(i);
+            });
+
+            // Throttle until the PWM channel delivers us an interrupt saying it's done
+            // with this cycle (the internal counter wrapped). The interrupt handler will
+            // clear the interrupt and we'll send out the next sample.
+            cortex_m::asm::wfi();
+        }
+
+        // Flash the LED to let the user know that the audio is looping.
+        let _ = led_pin.set_low();
+        delay.delay_ms(50);
+    }
+}
+
+#[interrupt]
+fn PWM_IRQ_WRAP() {
+    // SAFETY: This is not used outside of interrupt critical sections in the main thread.
+    let pwm = unsafe { PWM.as_mut() }.unwrap();
+
+    // Clear the interrupt (so we don't immediately re-enter this routine)
+    pwm.clear_interrupt();
+}
+
+// End of file