esp32/machine_pwm: Implement duty_u16() and duty_ns() PWM methods.
The methods duty_u16() and duty_ns() are implemented to match the existing docs. The duty will remain the same when the frequency is changed. Standard ESP32 as well as S2, S3 and C3 are supported. Thanks to @kdschlosser for the fix for rounding in resolution calculation. Documentation is updated and examples expanded for esp32, including the quickref and tutorial. Additional notes are added to the machine.PWM docs regarding limitations of hardware PWM.
This commit is contained in:
IhorNehrutsa
Damien George
parent
a7fa18c203
commit
b491967bbd
@ -218,20 +218,24 @@ range from 1Hz to 40MHz but there is a tradeoff; as the base frequency
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*increases* the duty resolution *decreases*. See
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`LED Control <https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html>`_
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for more details.
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Currently the duty cycle has to be in the range of 0-1023.
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Use the ``machine.PWM`` class::
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Use the :ref:`machine.PWM <machine.PWM>` class::
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from machine import Pin, PWM
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pwm0 = PWM(Pin(0)) # create PWM object from a pin
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pwm0.freq() # get current frequency (default 5kHz)
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pwm0.freq(1000) # set frequency
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pwm0.duty() # get current duty cycle (default 512, 50%)
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pwm0.duty(200) # set duty cycle
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pwm0.deinit() # turn off PWM on the pin
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pwm0 = PWM(Pin(0)) # create PWM object from a pin
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pwm0.freq() # get current frequency (default 5kHz)
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pwm0.freq(1000) # set PWM frequency from 1Hz to 40MHz
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pwm0.duty() # get current duty cycle, range 0-1023 (default 512, 50%)
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pwm0.duty(256) # set duty cycle from 0 to 1023 as a ratio duty/1023, (now 25%)
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pwm0.duty_u16(2**16*3//4) # set duty cycle from 0 to 65535 as a ratio duty_u16/65535, (now 75%)
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pwm0.duty_u16() # get current duty cycle, range 0-65535
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pwm0.duty_ns(250_000) # set pulse width in nanoseconds from 0 to 1_000_000_000/freq, (now 25%)
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pwm0.duty_ns() # get current pulse width in ns
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pwm0.deinit() # turn off PWM on the pin
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pwm2 = PWM(Pin(2), freq=20000, duty=512) # create and configure in one go
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print(pwm2) # view PWM settings
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ESP chips have different hardware peripherals:
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@ -251,6 +255,8 @@ but only 8 different PWM frequencies are available, the remaining 8 channels mus
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have the same frequency. On the other hand, 16 independent PWM duty cycles are
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possible at the same frequency.
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See more examples in the :ref:`esp32_pwm` tutorial.
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ADC (analog to digital conversion)
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----------------------------------
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@ -1,4 +1,4 @@
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.. _esp32_pwm:
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.. _esp32_pwm:
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Pulse Width Modulation
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======================
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@ -11,7 +11,7 @@ compared with the length of a single period (low plus high time). Maximum
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duty cycle is when the pin is high all of the time, and minimum is when it is
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low all of the time.
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More comprehensive example with all 16 PWM channels and 8 timers::
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* More comprehensive example with all 16 PWM channels and 8 timers::
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from machine import Pin, PWM
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try:
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@ -29,21 +29,87 @@ More comprehensive example with all 16 PWM channels and 8 timers::
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except:
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pass
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Output is::
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Output is::
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PWM(pin=15, freq=100, duty=64, resolution=10, mode=0, channel=0, timer=0)
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PWM(pin=2, freq=100, duty=128, resolution=10, mode=0, channel=1, timer=0)
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PWM(pin=4, freq=200, duty=192, resolution=10, mode=0, channel=2, timer=1)
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PWM(pin=16, freq=200, duty=256, resolution=10, mode=0, channel=3, timer=1)
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PWM(pin=18, freq=300, duty=320, resolution=10, mode=0, channel=4, timer=2)
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PWM(pin=19, freq=300, duty=384, resolution=10, mode=0, channel=5, timer=2)
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PWM(pin=22, freq=400, duty=448, resolution=10, mode=0, channel=6, timer=3)
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PWM(pin=23, freq=400, duty=512, resolution=10, mode=0, channel=7, timer=3)
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PWM(pin=25, freq=500, duty=576, resolution=10, mode=1, channel=0, timer=0)
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PWM(pin=26, freq=500, duty=640, resolution=10, mode=1, channel=1, timer=0)
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PWM(pin=27, freq=600, duty=704, resolution=10, mode=1, channel=2, timer=1)
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PWM(pin=14, freq=600, duty=768, resolution=10, mode=1, channel=3, timer=1)
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PWM(pin=12, freq=700, duty=832, resolution=10, mode=1, channel=4, timer=2)
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PWM(pin=13, freq=700, duty=896, resolution=10, mode=1, channel=5, timer=2)
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PWM(pin=32, freq=800, duty=960, resolution=10, mode=1, channel=6, timer=3)
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PWM(pin=33, freq=800, duty=1023, resolution=10, mode=1, channel=7, timer=3)
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PWM(Pin(15), freq=100, duty=64, resolution=10, mode=0, channel=0, timer=0)
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PWM(Pin(2), freq=100, duty=128, resolution=10, mode=0, channel=1, timer=0)
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PWM(Pin(4), freq=200, duty=192, resolution=10, mode=0, channel=2, timer=1)
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PWM(Pin(16), freq=200, duty=256, resolution=10, mode=0, channel=3, timer=1)
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PWM(Pin(18), freq=300, duty=320, resolution=10, mode=0, channel=4, timer=2)
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PWM(Pin(19), freq=300, duty=384, resolution=10, mode=0, channel=5, timer=2)
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PWM(Pin(22), freq=400, duty=448, resolution=10, mode=0, channel=6, timer=3)
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PWM(Pin(23), freq=400, duty=512, resolution=10, mode=0, channel=7, timer=3)
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PWM(Pin(25), freq=500, duty=576, resolution=10, mode=1, channel=0, timer=0)
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PWM(Pin(26), freq=500, duty=640, resolution=10, mode=1, channel=1, timer=0)
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PWM(Pin(27), freq=600, duty=704, resolution=10, mode=1, channel=2, timer=1)
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PWM(Pin(14), freq=600, duty=768, resolution=10, mode=1, channel=3, timer=1)
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PWM(Pin(12), freq=700, duty=832, resolution=10, mode=1, channel=4, timer=2)
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PWM(Pin(13), freq=700, duty=896, resolution=10, mode=1, channel=5, timer=2)
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PWM(Pin(32), freq=800, duty=960, resolution=10, mode=1, channel=6, timer=3)
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PWM(Pin(33), freq=800, duty=1023, resolution=10, mode=1, channel=7, timer=3)
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* Example of a smooth frequency change::
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from utime import sleep
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from machine import Pin, PWM
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F_MIN = 500
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F_MAX = 1000
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f = F_MIN
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delta_f = 1
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p = PWM(Pin(5), f)
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print(p)
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while True:
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p.freq(f)
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sleep(10 / F_MIN)
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f += delta_f
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if f >= F_MAX or f <= F_MIN:
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delta_f = -delta_f
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See PWM wave at Pin(5) with an oscilloscope.
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* Example of a smooth duty change::
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from utime import sleep
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from machine import Pin, PWM
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DUTY_MAX = 2**16 - 1
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duty_u16 = 0
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delta_d = 16
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p = PWM(Pin(5), 1000, duty_u16=duty_u16)
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print(p)
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while True:
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p.duty_u16(duty_u16)
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sleep(1 / 1000)
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duty_u16 += delta_d
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if duty_u16 >= DUTY_MAX:
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duty_u16 = DUTY_MAX
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delta_d = -delta_d
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elif duty_u16 <= 0:
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duty_u16 = 0
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delta_d = -delta_d
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See PWM wave at Pin(5) with an oscilloscope.
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Note: the Pin.OUT mode does not need to be specified. The channel is initialized
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to PWM mode internally once for each Pin that is passed to the PWM constructor.
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The following code is wrong::
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pwm = PWM(Pin(5, Pin.OUT), freq=1000, duty=512) # Pin(5) in PWM mode here
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pwm = PWM(Pin(5, Pin.OUT), freq=500, duty=256) # Pin(5) in OUT mode here, PWM is off
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Use this code instead::
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pwm = PWM(Pin(5), freq=1000, duty=512)
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pwm.init(freq=500, duty=256)
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@ -77,3 +77,34 @@ Methods
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With no arguments the pulse width in nanoseconds is returned.
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With a single *value* argument the pulse width is set to that value.
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Limitations of PWM
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------------------
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* Not all frequencies can be generated with absolute accuracy due to
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the discrete nature of the computing hardware. Typically the PWM frequency
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is obtained by dividing some integer base frequency by an integer divider.
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For example, if the base frequency is 80MHz and the required PWM frequency is
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300kHz the divider must be a non-integer number 80000000 / 300000 = 266.67.
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After rounding the divider is set to 267 and the PWM frequency will be
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80000000 / 267 = 299625.5 Hz, not 300kHz. If the divider is set to 266 then
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the PWM frequency will be 80000000 / 266 = 300751.9 Hz, but again not 300kHz.
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* The duty cycle has the same discrete nature and its absolute accuracy is not
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achievable. On most hardware platforms the duty will be applied at the next
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frequency period. Therefore, you should wait more than "1/frequency" before
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measuring the duty.
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* The frequency and the duty cycle resolution are usually interdependent.
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The higher the PWM frequency the lower the duty resolution which is available,
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and vice versa. For example, a 300kHz PWM frequency can have a duty cycle
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resolution of 8 bit, not 16-bit as may be expected. In this case, the lowest
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8 bits of *duty_u16* are insignificant. So::
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pwm=PWM(Pin(13), freq=300_000, duty_u16=2**16//2)
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and::
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pwm=PWM(Pin(13), freq=300_000, duty_u16=2**16//2 + 255)
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will generate PWM with the same 50% duty cycle.
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@ -27,6 +27,8 @@
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* THE SOFTWARE.
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*/
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#include <math.h>
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#include "py/runtime.h"
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#include "py/mphal.h"
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@ -34,10 +36,11 @@
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#include "esp_err.h"
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#define PWM_DBG(...)
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// #define PWM_DBG(...) mp_printf(&mp_plat_print, __VA_ARGS__)
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// #define PWM_DBG(...) mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, "\n");
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// Total number of channels
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#define PWM_CHANNEL_MAX (LEDC_SPEED_MODE_MAX * LEDC_CHANNEL_MAX)
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typedef struct _chan_t {
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// Which channel has which GPIO pin assigned?
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// (-1 if not assigned)
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@ -46,6 +49,7 @@ typedef struct _chan_t {
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// (-1 if not assigned)
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int timer_idx;
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} chan_t;
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// List of PWM channels
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STATIC chan_t chans[PWM_CHANNEL_MAX];
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@ -57,6 +61,7 @@ STATIC chan_t chans[PWM_CHANNEL_MAX];
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// Total number of timers
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#define PWM_TIMER_MAX (LEDC_SPEED_MODE_MAX * LEDC_TIMER_MAX)
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// List of timer configs
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STATIC ledc_timer_config_t timers[PWM_TIMER_MAX];
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@ -73,6 +78,28 @@ STATIC ledc_timer_config_t timers[PWM_TIMER_MAX];
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// 10-bit resolution (compatible with esp8266 PWM)
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#define PWRES (LEDC_TIMER_10_BIT)
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// Maximum duty value on 10-bit resolution
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#define MAX_DUTY_U10 ((1 << PWRES) - 1)
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// https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/ledc.html#supported-range-of-frequency-and-duty-resolutions
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// duty() uses 10-bit resolution or less
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// duty_u16() and duty_ns() use 16-bit resolution or less
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// Possible highest resolution in device
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#if CONFIG_IDF_TARGET_ESP32
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#define HIGHEST_PWM_RES (LEDC_TIMER_16_BIT) // 20 bit in fact, but 16 bit is used
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#else
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#define HIGHEST_PWM_RES (LEDC_TIMER_14_BIT)
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#endif
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// Duty resolution of user interface in `duty_u16()` and `duty_u16` parameter in constructor/initializer
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#define UI_RES_16_BIT (16)
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// Maximum duty value on highest user interface resolution
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#define UI_MAX_DUTY ((1 << UI_RES_16_BIT) - 1)
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// How much to shift from the HIGHEST_PWM_RES duty resolution to the user interface duty resolution UI_RES_16_BIT
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#define UI_RES_SHIFT (16 - HIGHEST_PWM_RES) // 0 for ESP32, 2 for S2, S3, C3
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// If the PWM frequency is less than EMPIRIC_FREQ, then LEDC_REF_CLK_HZ(1 MHz) source is used, else LEDC_APB_CLK_HZ(80 MHz) source is used
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#define EMPIRIC_FREQ (10) // Hz
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// Config of timer upon which we run all PWM'ed GPIO pins
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STATIC bool pwm_inited = false;
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@ -84,8 +111,17 @@ typedef struct _machine_pwm_obj_t {
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int mode;
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int channel;
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int timer;
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int duty_x; // PWRES if duty(), HIGHEST_PWM_RES if duty_u16(), -HIGHEST_PWM_RES if duty_ns()
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int duty_u10; // stored values from previous duty setters
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int duty_u16; // - / -
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int duty_ns; // - / -
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} machine_pwm_obj_t;
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STATIC bool is_timer_in_use(int current_channel_idx, int timer_idx);
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STATIC void set_duty_u16(machine_pwm_obj_t *self, int duty);
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STATIC void set_duty_u10(machine_pwm_obj_t *self, int duty);
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STATIC void set_duty_ns(machine_pwm_obj_t *self, int ns);
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STATIC void pwm_init(void) {
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// Initial condition: no channels assigned
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for (int i = 0; i < PWM_CHANNEL_MAX; ++i) {
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@ -96,12 +132,61 @@ STATIC void pwm_init(void) {
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// Prepare all timers config
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// Initial condition: no timers assigned
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for (int i = 0; i < PWM_TIMER_MAX; ++i) {
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timers[i].duty_resolution = PWRES;
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timers[i].duty_resolution = HIGHEST_PWM_RES;
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// unset timer is -1
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timers[i].freq_hz = -1;
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timers[i].speed_mode = TIMER_IDX_TO_MODE(i);
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timers[i].timer_num = TIMER_IDX_TO_TIMER(i);
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timers[i].clk_cfg = LEDC_AUTO_CLK;
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timers[i].clk_cfg = LEDC_AUTO_CLK; // will reinstall later according to the EMPIRIC_FREQ
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}
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}
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// Deinit channel and timer if the timer is unused
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STATIC void pwm_deinit(int channel_idx) {
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// Valid channel?
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if ((channel_idx >= 0) && (channel_idx < PWM_CHANNEL_MAX)) {
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// Clean up timer if necessary
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int timer_idx = chans[channel_idx].timer_idx;
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if (timer_idx != -1) {
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if (!is_timer_in_use(channel_idx, timer_idx)) {
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check_esp_err(ledc_timer_rst(TIMER_IDX_TO_MODE(timer_idx), TIMER_IDX_TO_TIMER(timer_idx)));
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// Flag it unused
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timers[chans[channel_idx].timer_idx].freq_hz = -1;
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}
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}
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int pin = chans[channel_idx].pin;
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if (pin != -1) {
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int mode = CHANNEL_IDX_TO_MODE(channel_idx);
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int channel = CHANNEL_IDX_TO_CHANNEL(channel_idx);
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// Mark it unused, and tell the hardware to stop routing
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check_esp_err(ledc_stop(mode, channel, 0));
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// Disable ledc signal for the pin
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// gpio_matrix_out(pin, SIG_GPIO_OUT_IDX, false, false);
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if (mode == LEDC_LOW_SPEED_MODE) {
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gpio_matrix_out(pin, LEDC_LS_SIG_OUT0_IDX + channel, false, true);
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} else {
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#if LEDC_SPEED_MODE_MAX > 1
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#if CONFIG_IDF_TARGET_ESP32
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gpio_matrix_out(pin, LEDC_HS_SIG_OUT0_IDX + channel, false, true);
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#else
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#error Add supported CONFIG_IDF_TARGET_ESP32_xxx
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#endif
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#endif
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}
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}
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chans[channel_idx].pin = -1;
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chans[channel_idx].timer_idx = -1;
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}
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}
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// This called from Ctrl-D soft reboot
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void machine_pwm_deinit_all(void) {
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if (pwm_inited) {
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for (int channel_idx = 0; channel_idx < PWM_CHANNEL_MAX; ++channel_idx) {
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pwm_deinit(channel_idx);
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}
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pwm_inited = false;
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}
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}
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@ -119,74 +204,169 @@ STATIC void configure_channel(machine_pwm_obj_t *self) {
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}
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}
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STATIC void set_freq(int newval, ledc_timer_config_t *timer) {
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// If already set, do nothing
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if (newval == timer->freq_hz) {
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return;
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}
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STATIC void set_freq(machine_pwm_obj_t *self, unsigned int freq, ledc_timer_config_t *timer) {
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// Even if the timer frequency is already set,
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// the set_duty_x() is required to reconfigure the channel duty anyway
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if (freq != timer->freq_hz) {
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PWM_DBG("set_freq(%d)", freq)
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// Find the highest bit resolution for the requested frequency
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if (newval <= 0) {
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newval = 1;
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}
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unsigned int res = 0;
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for (unsigned int i = LEDC_APB_CLK_HZ / newval; i > 1; i >>= 1) {
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++res;
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}
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if (res == 0) {
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res = 1;
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} else if (res > PWRES) {
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// Limit resolution to PWRES to match units of our duty
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res = PWRES;
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}
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// Configure the new resolution and frequency
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timer->duty_resolution = res;
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timer->freq_hz = newval;
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// set freq
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esp_err_t err = ledc_timer_config(timer);
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if (err != ESP_OK) {
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if (err == ESP_FAIL) {
|
||||
PWM_DBG("timer timer->speed_mode %d, timer->timer_num %d, timer->clk_cfg %d, timer->freq_hz %d, timer->duty_resolution %d)", timer->speed_mode, timer->timer_num, timer->clk_cfg, timer->freq_hz, timer->duty_resolution);
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("bad frequency %d"), newval);
|
||||
} else {
|
||||
check_esp_err(err);
|
||||
// Find the highest bit resolution for the requested frequency
|
||||
unsigned int i = LEDC_APB_CLK_HZ; // 80 MHz
|
||||
if (freq < EMPIRIC_FREQ) {
|
||||
i = LEDC_REF_CLK_HZ; // 1 MHz
|
||||
}
|
||||
|
||||
#if 1
|
||||
// original code
|
||||
i /= freq;
|
||||
#else
|
||||
// See https://github.com/espressif/esp-idf/issues/7722
|
||||
unsigned int divider = i / freq; // truncated
|
||||
// int divider = (i + freq / 2) / freq; // rounded
|
||||
if (divider == 0) {
|
||||
divider = 1;
|
||||
}
|
||||
float f = (float)i / divider; // actual frequency
|
||||
if (f <= 1.0) {
|
||||
f = 1.0;
|
||||
}
|
||||
i = (unsigned int)roundf((float)i / f);
|
||||
#endif
|
||||
|
||||
unsigned int res = 0;
|
||||
for (; i > 1; i >>= 1) {
|
||||
++res;
|
||||
}
|
||||
if (res == 0) {
|
||||
res = 1;
|
||||
} else if (res > HIGHEST_PWM_RES) {
|
||||
// Limit resolution to HIGHEST_PWM_RES to match units of our duty
|
||||
res = HIGHEST_PWM_RES;
|
||||
}
|
||||
|
||||
// Configure the new resolution and frequency
|
||||
timer->duty_resolution = res;
|
||||
timer->freq_hz = freq;
|
||||
timer->clk_cfg = LEDC_USE_APB_CLK;
|
||||
if (freq < EMPIRIC_FREQ) {
|
||||
timer->clk_cfg = LEDC_USE_REF_TICK;
|
||||
}
|
||||
|
||||
// Set frequency
|
||||
esp_err_t err = ledc_timer_config(timer);
|
||||
if (err != ESP_OK) {
|
||||
if (err == ESP_FAIL) {
|
||||
PWM_DBG(" (timer timer->speed_mode %d, timer->timer_num %d, timer->clk_cfg %d, timer->freq_hz %d, timer->duty_resolution %d) ", timer->speed_mode, timer->timer_num, timer->clk_cfg, timer->freq_hz, timer->duty_resolution);
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("unreachable frequency %d"), freq);
|
||||
} else {
|
||||
check_esp_err(err);
|
||||
}
|
||||
}
|
||||
// Reset the timer if low speed
|
||||
if (self->mode == LEDC_LOW_SPEED_MODE) {
|
||||
check_esp_err(ledc_timer_rst(self->mode, self->timer));
|
||||
}
|
||||
}
|
||||
|
||||
// Save the same duty cycle when frequency or channel are changed
|
||||
if (self->duty_x == HIGHEST_PWM_RES) {
|
||||
set_duty_u16(self, self->duty_u16);
|
||||
} else if (self->duty_x == PWRES) {
|
||||
set_duty_u10(self, self->duty_u10);
|
||||
} else if (self->duty_x == -HIGHEST_PWM_RES) {
|
||||
set_duty_ns(self, self->duty_ns);
|
||||
}
|
||||
}
|
||||
|
||||
STATIC int get_duty(machine_pwm_obj_t *self) {
|
||||
uint32_t duty = ledc_get_duty(self->mode, self->channel);
|
||||
duty <<= PWRES - timers[TIMER_IDX(self->mode, self->timer)].duty_resolution;
|
||||
// Calculate the duty parameters based on an ns value
|
||||
STATIC int ns_to_duty(machine_pwm_obj_t *self, int ns) {
|
||||
ledc_timer_config_t timer = timers[TIMER_IDX(self->mode, self->timer)];
|
||||
int64_t duty = ((int64_t)ns * UI_MAX_DUTY * timer.freq_hz + 500000000LL) / 1000000000LL;
|
||||
if ((ns > 0) && (duty == 0)) {
|
||||
duty = 1;
|
||||
} else if (duty > UI_MAX_DUTY) {
|
||||
duty = UI_MAX_DUTY;
|
||||
}
|
||||
// PWM_DBG(" ns_to_duty(UI_MAX_DUTY=%d freq_hz=%d duty=%d=%f <- ns=%d) ", UI_MAX_DUTY, timer.freq_hz, duty, (float)ns * UI_MAX_DUTY * timer.freq_hz / 1000000000.0, ns);
|
||||
return duty;
|
||||
}
|
||||
|
||||
STATIC void set_duty(machine_pwm_obj_t *self, int duty) {
|
||||
if ((duty < 0) || (duty > (1 << PWRES) - 1)) {
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("duty must be between 0 and %u"), (1 << PWRES) - 1);
|
||||
STATIC int duty_to_ns(machine_pwm_obj_t *self, int duty) {
|
||||
ledc_timer_config_t timer = timers[TIMER_IDX(self->mode, self->timer)];
|
||||
int64_t ns = ((int64_t)duty * 1000000000LL + (int64_t)timer.freq_hz * UI_MAX_DUTY / 2) / ((int64_t)timer.freq_hz * UI_MAX_DUTY);
|
||||
// PWM_DBG(" duty_to_ns(UI_MAX_DUTY=%d freq_hz=%d duty=%d -> ns=%f=%d) ", UI_MAX_DUTY, timer.freq_hz, duty, (float)duty * 1000000000.0 / ((float)timer.freq_hz * UI_MAX_DUTY), ns);
|
||||
return ns;
|
||||
}
|
||||
|
||||
#define get_duty_raw(self) ledc_get_duty(self->mode, self->channel)
|
||||
|
||||
STATIC uint32_t get_duty_u16(machine_pwm_obj_t *self) {
|
||||
return ledc_get_duty(self->mode, self->channel) << (HIGHEST_PWM_RES + UI_RES_SHIFT - timers[TIMER_IDX(self->mode, self->timer)].duty_resolution);
|
||||
}
|
||||
|
||||
STATIC uint32_t get_duty_u10(machine_pwm_obj_t *self) {
|
||||
return get_duty_u16(self) >> (HIGHEST_PWM_RES - PWRES);
|
||||
}
|
||||
|
||||
STATIC uint32_t get_duty_ns(machine_pwm_obj_t *self) {
|
||||
return duty_to_ns(self, get_duty_u16(self));
|
||||
}
|
||||
|
||||
STATIC void set_duty_u16(machine_pwm_obj_t *self, int duty) {
|
||||
if ((duty < 0) || (duty > UI_MAX_DUTY)) {
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("duty_u16 must be from 0 to %d"), UI_MAX_DUTY);
|
||||
}
|
||||
duty >>= HIGHEST_PWM_RES + UI_RES_SHIFT - timers[TIMER_IDX(self->mode, self->timer)].duty_resolution;
|
||||
int max_duty = (1 << timers[TIMER_IDX(self->mode, self->timer)].duty_resolution) - 1;
|
||||
if (duty < 0) {
|
||||
duty = 0;
|
||||
} else if (duty > max_duty) {
|
||||
duty = max_duty;
|
||||
}
|
||||
duty &= (1 << PWRES) - 1;
|
||||
duty >>= PWRES - timers[TIMER_IDX(self->mode, self->timer)].duty_resolution;
|
||||
check_esp_err(ledc_set_duty(self->mode, self->channel, duty));
|
||||
check_esp_err(ledc_update_duty(self->mode, self->channel));
|
||||
// check_esp_err(ledc_set_duty_and_update(self->mode, self->channel, duty, (1 << PWRES) - 1)); // thread safe function ???
|
||||
|
||||
/*
|
||||
// Bug: Sometimes duty is not set right now.
|
||||
// See https://github.com/espressif/esp-idf/issues/7288
|
||||
/*
|
||||
if (duty != get_duty(self)) {
|
||||
PWM_DBG("\n duty_set %u %u %d %d \n", duty, get_duty(self), PWRES, timers[TIMER_IDX(self->mode, self->timer)].duty_resolution);
|
||||
if (duty != get_duty_u16(self)) {
|
||||
ets_delay_us(100);
|
||||
if (duty != get_duty_u16(self)) {
|
||||
PWM_DBG(" (set_duty_u16(%u) get_duty_u16()=%u duty_resolution=%d) ", duty, get_duty_u16(self), timers[TIMER_IDX(self->mode, self->timer)].duty_resolution);
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
self->duty_x = HIGHEST_PWM_RES;
|
||||
self->duty_u16 = duty;
|
||||
}
|
||||
|
||||
STATIC void set_duty_u10(machine_pwm_obj_t *self, int duty) {
|
||||
if ((duty < 0) || (duty > MAX_DUTY_U10)) {
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("duty must be from 0 to %u"), MAX_DUTY_U10);
|
||||
}
|
||||
set_duty_u16(self, duty << (HIGHEST_PWM_RES + UI_RES_SHIFT - PWRES));
|
||||
self->duty_x = PWRES;
|
||||
self->duty_u10 = duty;
|
||||
}
|
||||
|
||||
STATIC void set_duty_ns(machine_pwm_obj_t *self, int ns) {
|
||||
if ((ns < 0) || (ns > duty_to_ns(self, UI_MAX_DUTY))) {
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("duty_ns must be from 0 to %d ns"), duty_to_ns(self, UI_MAX_DUTY));
|
||||
}
|
||||
set_duty_u16(self, ns_to_duty(self, ns));
|
||||
self->duty_x = -HIGHEST_PWM_RES;
|
||||
self->duty_ns = ns;
|
||||
}
|
||||
|
||||
/******************************************************************************/
|
||||
|
||||
#define SAME_FREQ_ONLY (true)
|
||||
#define SAME_FREQ_OR_FREE (false)
|
||||
#define ANY_MODE (-1)
|
||||
|
||||
// Return timer_idx. Use TIMER_IDX_TO_MODE(timer_idx) and TIMER_IDX_TO_TIMER(timer_idx) to get mode and timer
|
||||
STATIC int find_timer(int freq, bool same_freq_only, int mode) {
|
||||
STATIC int find_timer(unsigned int freq, bool same_freq_only, int mode) {
|
||||
int free_timer_idx_found = -1;
|
||||
// Find a free PWM Timer using the same freq
|
||||
for (int timer_idx = 0; timer_idx < PWM_TIMER_MAX; ++timer_idx) {
|
||||
@ -242,22 +422,36 @@ STATIC int find_channel(int pin, int mode) {
|
||||
|
||||
STATIC void mp_machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
|
||||
machine_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
|
||||
mp_printf(print, "PWM(pin=%u", self->pin);
|
||||
mp_printf(print, "PWM(Pin(%u)", self->pin);
|
||||
if (self->active) {
|
||||
int duty = get_duty(self);
|
||||
mp_printf(print, ", freq=%u, duty=%u", ledc_get_freq(self->mode, self->timer), duty);
|
||||
mp_printf(print, ", resolution=%u", timers[TIMER_IDX(self->mode, self->timer)].duty_resolution);
|
||||
mp_printf(print, ", freq=%u", ledc_get_freq(self->mode, self->timer));
|
||||
|
||||
if (self->duty_x == PWRES) {
|
||||
mp_printf(print, ", duty=%d", get_duty_u10(self));
|
||||
} else if (self->duty_x == -HIGHEST_PWM_RES) {
|
||||
mp_printf(print, ", duty_ns=%d", get_duty_ns(self));
|
||||
} else {
|
||||
mp_printf(print, ", duty_u16=%d", get_duty_u16(self));
|
||||
}
|
||||
int resolution = timers[TIMER_IDX(self->mode, self->timer)].duty_resolution;
|
||||
mp_printf(print, ", resolution=%d", resolution);
|
||||
|
||||
mp_printf(print, ", (duty=%.2f%%, resolution=%.3f%%)", 100.0 * get_duty_raw(self) / (1 << resolution), 100.0 * 1 / (1 << resolution)); // percents
|
||||
|
||||
mp_printf(print, ", mode=%d, channel=%d, timer=%d", self->mode, self->channel, self->timer);
|
||||
}
|
||||
mp_printf(print, ")");
|
||||
}
|
||||
|
||||
// This called from pwm.init() method
|
||||
STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
|
||||
size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
||||
enum { ARG_freq, ARG_duty };
|
||||
enum { ARG_freq, ARG_duty, ARG_duty_u16, ARG_duty_ns };
|
||||
static const mp_arg_t allowed_args[] = {
|
||||
{ MP_QSTR_freq, MP_ARG_INT, {.u_int = -1} },
|
||||
{ MP_QSTR_duty, MP_ARG_INT, {.u_int = -1} },
|
||||
{ MP_QSTR_duty, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
|
||||
{ MP_QSTR_duty_u16, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
|
||||
{ MP_QSTR_duty_ns, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
|
||||
};
|
||||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
||||
mp_arg_parse_all(n_args, pos_args, kw_args,
|
||||
@ -268,25 +462,40 @@ STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
|
||||
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("out of PWM channels:%d"), PWM_CHANNEL_MAX); // in all modes
|
||||
}
|
||||
|
||||
int freq = args[ARG_freq].u_int;
|
||||
if ((freq < -1) || (freq > 40000000)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("freqency must be between 1Hz and 40MHz"));
|
||||
int duty = args[ARG_duty].u_int;
|
||||
int duty_u16 = args[ARG_duty_u16].u_int;
|
||||
int duty_ns = args[ARG_duty_ns].u_int;
|
||||
if (((duty != -1) && (duty_u16 != -1)) || ((duty != -1) && (duty_ns != -1)) || ((duty_u16 != -1) && (duty_ns != -1))) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("only one of parameters 'duty', 'duty_u16' or 'duty_ns' is allowed"));
|
||||
}
|
||||
|
||||
int freq = args[ARG_freq].u_int;
|
||||
// Check if freq wasn't passed as an argument
|
||||
if (freq == -1) {
|
||||
// Check if already set, otherwise use the default freq.
|
||||
// Possible case:
|
||||
// It is possible in case:
|
||||
// pwm = PWM(pin, freq=1000, duty=256)
|
||||
// pwm = PWM(pin, duty=128)
|
||||
if (chans[channel_idx].timer_idx != -1) {
|
||||
freq = timers[chans[channel_idx].timer_idx].freq_hz;
|
||||
}
|
||||
if (freq < 0) {
|
||||
if (freq <= 0) {
|
||||
freq = PWFREQ;
|
||||
}
|
||||
}
|
||||
if ((freq <= 0) || (freq > 40000000)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("freqency must be from 1Hz to 40MHz"));
|
||||
}
|
||||
|
||||
int timer_idx;
|
||||
int current_timer_idx = chans[channel_idx].timer_idx;
|
||||
bool current_in_use = is_timer_in_use(channel_idx, current_timer_idx);
|
||||
if (current_in_use) {
|
||||
timer_idx = find_timer(freq, SAME_FREQ_OR_FREE, CHANNEL_IDX_TO_MODE(channel_idx));
|
||||
} else {
|
||||
timer_idx = chans[channel_idx].timer_idx;
|
||||
}
|
||||
|
||||
int timer_idx = find_timer(freq, SAME_FREQ_OR_FREE, CHANNEL_IDX_TO_MODE(channel_idx));
|
||||
if (timer_idx == -1) {
|
||||
timer_idx = find_timer(freq, SAME_FREQ_OR_FREE, ANY_MODE);
|
||||
}
|
||||
@ -318,23 +527,24 @@ STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
|
||||
self->active = true;
|
||||
|
||||
// Set timer frequency
|
||||
set_freq(freq, &timers[timer_idx]);
|
||||
set_freq(self, freq, &timers[timer_idx]);
|
||||
|
||||
// Set duty cycle?
|
||||
int duty = args[ARG_duty].u_int;
|
||||
if (duty != -1) {
|
||||
set_duty(self, duty);
|
||||
}
|
||||
|
||||
// Reset the timer if low speed
|
||||
if (self->mode == LEDC_LOW_SPEED_MODE) {
|
||||
check_esp_err(ledc_timer_rst(self->mode, self->timer));
|
||||
if (duty_u16 != -1) {
|
||||
set_duty_u16(self, duty_u16);
|
||||
} else if (duty_ns != -1) {
|
||||
set_duty_ns(self, duty_ns);
|
||||
} else if (duty != -1) {
|
||||
set_duty_u10(self, duty);
|
||||
} else if (self->duty_x == 0) {
|
||||
set_duty_u10(self, (1 << PWRES) / 2); // 50%
|
||||
}
|
||||
}
|
||||
|
||||
// This called from PWM() constructor
|
||||
STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type,
|
||||
size_t n_args, size_t n_kw, const mp_obj_t *args) {
|
||||
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
|
||||
mp_arg_check_num(n_args, n_kw, 1, 2, true);
|
||||
gpio_num_t pin_id = machine_pin_get_id(args[0]);
|
||||
|
||||
// create PWM object from the given pin
|
||||
@ -345,6 +555,7 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type,
|
||||
self->mode = -1;
|
||||
self->channel = -1;
|
||||
self->timer = -1;
|
||||
self->duty_x = 0;
|
||||
|
||||
// start the PWM subsystem if it's not already running
|
||||
if (!pwm_inited) {
|
||||
@ -360,47 +571,27 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type,
|
||||
return MP_OBJ_FROM_PTR(self);
|
||||
}
|
||||
|
||||
// This called from pwm.deinit() method
|
||||
STATIC void mp_machine_pwm_deinit(machine_pwm_obj_t *self) {
|
||||
int chan = CHANNEL_IDX(self->mode, self->channel);
|
||||
|
||||
// Valid channel?
|
||||
if ((chan >= 0) && (chan < PWM_CHANNEL_MAX)) {
|
||||
// Clean up timer if necessary
|
||||
if (!is_timer_in_use(chan, chans[chan].timer_idx)) {
|
||||
check_esp_err(ledc_timer_rst(self->mode, self->timer));
|
||||
// Flag it unused
|
||||
timers[chans[chan].timer_idx].freq_hz = -1;
|
||||
}
|
||||
|
||||
// Mark it unused, and tell the hardware to stop routing
|
||||
check_esp_err(ledc_stop(self->mode, chan, 0));
|
||||
// Disable ledc signal for the pin
|
||||
// gpio_matrix_out(self->pin, SIG_GPIO_OUT_IDX, false, false);
|
||||
if (self->mode == LEDC_LOW_SPEED_MODE) {
|
||||
gpio_matrix_out(self->pin, LEDC_LS_SIG_OUT0_IDX + self->channel, false, true);
|
||||
} else {
|
||||
#if LEDC_SPEED_MODE_MAX > 1
|
||||
#if CONFIG_IDF_TARGET_ESP32
|
||||
gpio_matrix_out(self->pin, LEDC_HS_SIG_OUT0_IDX + self->channel, false, true);
|
||||
#else
|
||||
#error Add supported CONFIG_IDF_TARGET_ESP32_xxx
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
chans[chan].pin = -1;
|
||||
chans[chan].timer_idx = -1;
|
||||
self->active = false;
|
||||
self->mode = -1;
|
||||
self->channel = -1;
|
||||
self->timer = -1;
|
||||
}
|
||||
int channel_idx = CHANNEL_IDX(self->mode, self->channel);
|
||||
pwm_deinit(channel_idx);
|
||||
self->active = false;
|
||||
self->mode = -1;
|
||||
self->channel = -1;
|
||||
self->timer = -1;
|
||||
self->duty_x = 0;
|
||||
}
|
||||
|
||||
// Set's and get's methods of PWM class
|
||||
|
||||
STATIC mp_obj_t mp_machine_pwm_freq_get(machine_pwm_obj_t *self) {
|
||||
return MP_OBJ_NEW_SMALL_INT(ledc_get_freq(self->mode, self->timer));
|
||||
}
|
||||
|
||||
STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
|
||||
if ((freq <= 0) || (freq > 40000000)) {
|
||||
mp_raise_ValueError(MP_ERROR_TEXT("freqency must be from 1Hz to 40MHz"));
|
||||
}
|
||||
if (freq == timers[TIMER_IDX(self->mode, self->timer)].freq_hz) {
|
||||
return;
|
||||
}
|
||||
@ -441,19 +632,30 @@ STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
|
||||
self->mode = TIMER_IDX_TO_MODE(current_timer_idx);
|
||||
self->timer = TIMER_IDX_TO_TIMER(current_timer_idx);
|
||||
|
||||
// Set the freq
|
||||
set_freq(freq, &timers[current_timer_idx]);
|
||||
|
||||
// Reset the timer if low speed
|
||||
if (self->mode == LEDC_LOW_SPEED_MODE) {
|
||||
check_esp_err(ledc_timer_rst(self->mode, self->timer));
|
||||
}
|
||||
// Set the frequency
|
||||
set_freq(self, freq, &timers[current_timer_idx]);
|
||||
}
|
||||
|
||||
STATIC mp_obj_t mp_machine_pwm_duty_get(machine_pwm_obj_t *self) {
|
||||
return MP_OBJ_NEW_SMALL_INT(get_duty(self));
|
||||
return MP_OBJ_NEW_SMALL_INT(get_duty_u10(self));
|
||||
}
|
||||
|
||||
STATIC void mp_machine_pwm_duty_set(machine_pwm_obj_t *self, mp_int_t duty) {
|
||||
set_duty(self, duty);
|
||||
set_duty_u10(self, duty);
|
||||
}
|
||||
|
||||
STATIC mp_obj_t mp_machine_pwm_duty_get_u16(machine_pwm_obj_t *self) {
|
||||
return MP_OBJ_NEW_SMALL_INT(get_duty_u16(self));
|
||||
}
|
||||
|
||||
STATIC void mp_machine_pwm_duty_set_u16(machine_pwm_obj_t *self, mp_int_t duty_u16) {
|
||||
set_duty_u16(self, duty_u16);
|
||||
}
|
||||
|
||||
STATIC mp_obj_t mp_machine_pwm_duty_get_ns(machine_pwm_obj_t *self) {
|
||||
return MP_OBJ_NEW_SMALL_INT(get_duty_ns(self));
|
||||
}
|
||||
|
||||
STATIC void mp_machine_pwm_duty_set_ns(machine_pwm_obj_t *self, mp_int_t duty_ns) {
|
||||
set_duty_ns(self, duty_ns);
|
||||
}
|
||||
|
||||
@ -193,6 +193,8 @@ soft_reset_exit:
|
||||
mp_hal_stdout_tx_str("MPY: soft reboot\r\n");
|
||||
|
||||
// deinitialise peripherals
|
||||
machine_pwm_deinit_all();
|
||||
// TODO: machine_rmt_deinit_all();
|
||||
machine_pins_deinit();
|
||||
machine_deinit();
|
||||
usocket_events_deinit();
|
||||
|
||||
@ -26,6 +26,8 @@ void machine_init(void);
|
||||
void machine_deinit(void);
|
||||
void machine_pins_init(void);
|
||||
void machine_pins_deinit(void);
|
||||
void machine_pwm_deinit_all(void);
|
||||
// TODO: void machine_rmt_deinit_all(void);
|
||||
void machine_timer_deinit_all(void);
|
||||
void machine_i2s_init0();
|
||||
|
||||
|
||||
@ -165,6 +165,7 @@
|
||||
#define MICROPY_PY_MACHINE_PWM (1)
|
||||
#define MICROPY_PY_MACHINE_PWM_INIT (1)
|
||||
#define MICROPY_PY_MACHINE_PWM_DUTY (1)
|
||||
#define MICROPY_PY_MACHINE_PWM_DUTY_U16_NS (1)
|
||||
#define MICROPY_PY_MACHINE_PWM_INCLUDEFILE "ports/esp32/machine_pwm.c"
|
||||
#define MICROPY_PY_MACHINE_I2C (1)
|
||||
#define MICROPY_PY_MACHINE_SOFTI2C (1)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user