b691aa0aae
The PWM at full value was not considered as an "active" channel so if no
other channel was used the timer used to mange PWM was not started. So
when another duty value was set the PWM timer restarted and there was a
visible glitch when driving LEDs. Such a glitch can be seen with the
following code (assuming active-low LED on pin 0):
p = machine.PWM(machine.Pin(0))
p.duty(1023) # full width, LED is off
p.duty(1022) # LED flashes brightly then goes dim
This patch fixes the glitch.
422 lines
14 KiB
C
422 lines
14 KiB
C
/******************************************************************************
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* Copyright 2013-2014 Espressif Systems (Wuxi)
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*
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* FileName: pwm.c
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*
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* Description: pwm driver
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*
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* Modification history:
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* 2014/5/1, v1.0 create this file.
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* 2016/3/2: Modifications by dpgeorge to suit MicroPython
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*******************************************************************************/
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#include <stdio.h>
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#include <string.h>
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#include "etshal.h"
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#include "os_type.h"
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#include "gpio.h"
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#include "esppwm.h"
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#include "py/mpprint.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 ICACHE_RAM_ATTR // __attribute__((section(".text")))
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#define PWM_CHANNEL 8
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#define PWM_DEPTH 1023
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#define PWM_FREQ_MAX 1000
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#define PWM_1S 1000000
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struct pwm_single_param {
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uint16_t gpio_set;
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uint16_t gpio_clear;
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uint32_t h_time;
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};
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struct pwm_param {
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uint32_t period;
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uint16_t freq;
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uint16_t duty[PWM_CHANNEL];
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};
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STATIC const uint8_t pin_num[PWM_CHANNEL] = {0, 2, 4, 5, 12, 13, 14, 15};
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STATIC struct pwm_single_param pwm_single_toggle[2][PWM_CHANNEL + 1];
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STATIC struct pwm_single_param *pwm_single;
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STATIC struct pwm_param pwm;
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STATIC int8_t pwm_out_io_num[PWM_CHANNEL] = {-1, -1, -1, -1, -1, -1, -1, -1};
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STATIC uint8_t pwm_channel_toggle[2];
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STATIC uint8_t *pwm_channel;
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STATIC uint8_t pwm_toggle = 1;
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STATIC uint8_t pwm_timer_down = 1;
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STATIC uint8_t pwm_current_channel = 0;
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STATIC uint16_t pwm_gpio = 0;
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STATIC uint8_t pwm_channel_num = 0;
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//XXX: 0xffffffff/(80000000/16)=35A
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#define US_TO_RTC_TIMER_TICKS(t) \
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((t) ? \
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(((t) > 0x35A) ? \
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(((t)>>2) * ((APB_CLK_FREQ>>4)/250000) + ((t)&0x3) * ((APB_CLK_FREQ>>4)/1000000)) : \
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(((t) *(APB_CLK_FREQ>>4)) / 1000000)) : \
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0)
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//FRC1
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#define FRC1_ENABLE_TIMER BIT7
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typedef enum {
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DIVDED_BY_1 = 0,
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DIVDED_BY_16 = 4,
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DIVDED_BY_256 = 8,
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} TIMER_PREDIVED_MODE;
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typedef enum {
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TM_LEVEL_INT = 1,
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TM_EDGE_INT = 0,
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} TIMER_INT_MODE;
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STATIC void ICACHE_FLASH_ATTR
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pwm_insert_sort(struct pwm_single_param pwm[], uint8 n)
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{
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uint8 i;
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for (i = 1; i < n; i++) {
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if (pwm[i].h_time < pwm[i - 1].h_time) {
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int8 j = i - 1;
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struct pwm_single_param tmp;
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memcpy(&tmp, &pwm[i], sizeof(struct pwm_single_param));
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memcpy(&pwm[i], &pwm[i - 1], sizeof(struct pwm_single_param));
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while (tmp.h_time < pwm[j].h_time) {
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memcpy(&pwm[j + 1], &pwm[j], sizeof(struct pwm_single_param));
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j--;
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if (j < 0) {
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break;
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}
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}
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memcpy(&pwm[j + 1], &tmp, sizeof(struct pwm_single_param));
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}
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}
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}
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STATIC volatile uint8 critical = 0;
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#define LOCK_PWM(c) do { \
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while( (c)==1 ); \
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(c) = 1; \
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} while (0)
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#define UNLOCK_PWM(c) do { \
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(c) = 0; \
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} while (0)
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void ICACHE_FLASH_ATTR
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pwm_start(void)
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{
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uint8 i, j;
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PWM_DBG("--Function pwm_start() is called\n");
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PWM_DBG("pwm_gpio:%x,pwm_channel_num:%d\n",pwm_gpio,pwm_channel_num);
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PWM_DBG("pwm_out_io_num[0]:%d,[1]:%d,[2]:%d\n",pwm_out_io_num[0],pwm_out_io_num[1],pwm_out_io_num[2]);
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PWM_DBG("pwm.period:%d,pwm.duty[0]:%d,[1]:%d,[2]:%d\n",pwm.period,pwm.duty[0],pwm.duty[1],pwm.duty[2]);
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LOCK_PWM(critical); // enter critical
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struct pwm_single_param *local_single = pwm_single_toggle[pwm_toggle ^ 0x01];
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uint8 *local_channel = &pwm_channel_toggle[pwm_toggle ^ 0x01];
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// step 1: init PWM_CHANNEL+1 channels param
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for (i = 0; i < pwm_channel_num; i++) {
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uint32 us = pwm.period * pwm.duty[i] / PWM_DEPTH;
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local_single[i].h_time = US_TO_RTC_TIMER_TICKS(us);
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PWM_DBG("i:%d us:%d ht:%d\n",i,us,local_single[i].h_time);
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local_single[i].gpio_set = 0;
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local_single[i].gpio_clear = 1 << pin_num[pwm_out_io_num[i]];
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}
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local_single[pwm_channel_num].h_time = US_TO_RTC_TIMER_TICKS(pwm.period);
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local_single[pwm_channel_num].gpio_set = pwm_gpio;
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local_single[pwm_channel_num].gpio_clear = 0;
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PWM_DBG("i:%d period:%d ht:%d\n",pwm_channel_num,pwm.period,local_single[pwm_channel_num].h_time);
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// step 2: sort, small to big
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pwm_insert_sort(local_single, pwm_channel_num + 1);
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*local_channel = pwm_channel_num + 1;
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PWM_DBG("1channel:%d,single[0]:%d,[1]:%d,[2]:%d,[3]:%d\n",*local_channel,local_single[0].h_time,local_single[1].h_time,local_single[2].h_time,local_single[3].h_time);
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// step 3: combine same duty channels
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for (i = pwm_channel_num; i > 0; i--) {
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if (local_single[i].h_time == local_single[i - 1].h_time) {
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local_single[i - 1].gpio_set |= local_single[i].gpio_set;
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local_single[i - 1].gpio_clear |= local_single[i].gpio_clear;
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for (j = i + 1; j < *local_channel; j++) {
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memcpy(&local_single[j - 1], &local_single[j], sizeof(struct pwm_single_param));
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}
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(*local_channel)--;
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}
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}
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PWM_DBG("2channel:%d,single[0]:%d,[1]:%d,[2]:%d,[3]:%d\n",*local_channel,local_single[0].h_time,local_single[1].h_time,local_single[2].h_time,local_single[3].h_time);
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// step 4: cacl delt time
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for (i = *local_channel - 1; i > 0; i--) {
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local_single[i].h_time -= local_single[i - 1].h_time;
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}
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// step 5: last channel needs to clean
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local_single[*local_channel-1].gpio_clear = 0;
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// step 6: if first channel duty is 0, remove it
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if (local_single[0].h_time == 0) {
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local_single[*local_channel - 1].gpio_set &= ~local_single[0].gpio_clear;
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local_single[*local_channel - 1].gpio_clear |= local_single[0].gpio_clear;
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for (i = 1; i < *local_channel; i++) {
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memcpy(&local_single[i - 1], &local_single[i], sizeof(struct pwm_single_param));
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}
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(*local_channel)--;
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}
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// if timer is down, need to set gpio and start timer
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if (pwm_timer_down == 1) {
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pwm_channel = local_channel;
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pwm_single = local_single;
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// start
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gpio_output_set(local_single[0].gpio_set, local_single[0].gpio_clear, pwm_gpio, 0);
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pwm_timer_down = 0;
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RTC_REG_WRITE(FRC1_LOAD_ADDRESS, local_single[0].h_time);
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}
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if (pwm_toggle == 1) {
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pwm_toggle = 0;
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} else {
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pwm_toggle = 1;
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}
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UNLOCK_PWM(critical); // leave critical
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PWM_DBG("3channel:%d,single[0]:%d,[1]:%d,[2]:%d,[3]:%d\n",*local_channel,local_single[0].h_time,local_single[1].h_time,local_single[2].h_time,local_single[3].h_time);
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}
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/******************************************************************************
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* FunctionName : pwm_set_duty
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* Description : set each channel's duty params
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* Parameters : int16_t duty : 0 ~ PWM_DEPTH
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* uint8 channel : channel index
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* Returns : NONE
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*******************************************************************************/
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void ICACHE_FLASH_ATTR
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pwm_set_duty(int16_t duty, uint8 channel)
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{
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uint8 i;
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for(i=0;i<pwm_channel_num;i++){
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if(pwm_out_io_num[i] == channel){
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channel = i;
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break;
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}
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}
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if(i==pwm_channel_num) // non found
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return;
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LOCK_PWM(critical); // enter critical
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if (duty < 1) {
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pwm.duty[channel] = 0;
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} else if (duty >= PWM_DEPTH) {
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pwm.duty[channel] = PWM_DEPTH;
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} else {
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pwm.duty[channel] = duty;
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}
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UNLOCK_PWM(critical); // leave critical
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}
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/******************************************************************************
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* FunctionName : pwm_set_freq
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* Description : set pwm frequency
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* Parameters : uint16 freq : 100hz typically
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* Returns : NONE
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*******************************************************************************/
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void ICACHE_FLASH_ATTR
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pwm_set_freq(uint16 freq, uint8 channel)
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{
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LOCK_PWM(critical); // enter critical
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if (freq > PWM_FREQ_MAX) {
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pwm.freq = PWM_FREQ_MAX;
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} else if (freq < 1) {
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pwm.freq = 1;
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} else {
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pwm.freq = freq;
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}
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pwm.period = PWM_1S / pwm.freq;
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UNLOCK_PWM(critical); // leave critical
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}
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/******************************************************************************
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* FunctionName : pwm_get_duty
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* Description : get duty of each channel
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* Parameters : uint8 channel : channel index
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* Returns : NONE
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*******************************************************************************/
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uint16 ICACHE_FLASH_ATTR
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pwm_get_duty(uint8 channel)
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{
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uint8 i;
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for(i=0;i<pwm_channel_num;i++){
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if(pwm_out_io_num[i] == channel){
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channel = i;
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break;
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}
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}
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if(i==pwm_channel_num) // non found
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return 0;
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return pwm.duty[channel];
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}
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/******************************************************************************
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* FunctionName : pwm_get_freq
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* Description : get pwm frequency
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* Parameters : NONE
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* Returns : uint16 : pwm frequency
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*******************************************************************************/
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uint16 ICACHE_FLASH_ATTR
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pwm_get_freq(uint8 channel)
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{
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return pwm.freq;
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}
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/******************************************************************************
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* FunctionName : pwm_period_timer
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* Description : pwm period timer function, output high level,
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* start each channel's high level timer
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* Parameters : NONE
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* Returns : NONE
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*******************************************************************************/
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STATIC void ICACHE_RAM_ATTR
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pwm_tim1_intr_handler(void *dummy)
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{
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(void)dummy;
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uint8 local_toggle = pwm_toggle; // pwm_toggle may change outside
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RTC_CLR_REG_MASK(FRC1_INT_ADDRESS, FRC1_INT_CLR_MASK);
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if (pwm_current_channel >= (*pwm_channel - 1)) { // *pwm_channel may change outside
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pwm_single = pwm_single_toggle[local_toggle];
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pwm_channel = &pwm_channel_toggle[local_toggle];
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gpio_output_set(pwm_single[*pwm_channel - 1].gpio_set,
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pwm_single[*pwm_channel - 1].gpio_clear,
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pwm_gpio,
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0);
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pwm_current_channel = 0;
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RTC_REG_WRITE(FRC1_LOAD_ADDRESS, pwm_single[pwm_current_channel].h_time);
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} else {
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gpio_output_set(pwm_single[pwm_current_channel].gpio_set,
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pwm_single[pwm_current_channel].gpio_clear,
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pwm_gpio, 0);
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pwm_current_channel++;
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RTC_REG_WRITE(FRC1_LOAD_ADDRESS, pwm_single[pwm_current_channel].h_time);
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}
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}
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/******************************************************************************
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* FunctionName : pwm_init
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* Description : pwm gpio, params and timer initialization
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* Parameters : uint16 freq : pwm freq param
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* uint16 *duty : each channel's duty
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* Returns : NONE
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*******************************************************************************/
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void ICACHE_FLASH_ATTR
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pwm_init(void)
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{
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uint8 i;
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RTC_REG_WRITE(FRC1_CTRL_ADDRESS, //FRC2_AUTO_RELOAD|
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DIVDED_BY_16
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| FRC1_ENABLE_TIMER
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| TM_EDGE_INT);
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RTC_REG_WRITE(FRC1_LOAD_ADDRESS, 0);
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for (i = 0; i < PWM_CHANNEL; i++) {
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pwm_gpio = 0;
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pwm.duty[i] = 0;
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}
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pwm_set_freq(500, 0);
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pwm_start();
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ETS_FRC_TIMER1_INTR_ATTACH(pwm_tim1_intr_handler, NULL);
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TM1_EDGE_INT_ENABLE();
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ETS_FRC1_INTR_ENABLE();
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}
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int ICACHE_FLASH_ATTR
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pwm_add(uint8_t pin_id, uint32_t pin_mux, uint32_t pin_func){
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PWM_DBG("--Function pwm_add() is called. channel:%d\n", channel);
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PWM_DBG("pwm_gpio:%x,pwm_channel_num:%d\n",pwm_gpio,pwm_channel_num);
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PWM_DBG("pwm_out_io_num[0]:%d,[1]:%d,[2]:%d\n",pwm_out_io_num[0],pwm_out_io_num[1],pwm_out_io_num[2]);
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PWM_DBG("pwm.duty[0]:%d,[1]:%d,[2]:%d\n",pwm.duty[0],pwm.duty[1],pwm.duty[2]);
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int channel = -1;
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for (int i = 0; i < PWM_CHANNEL; ++i) {
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if (pin_num[i] == pin_id) {
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channel = i;
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break;
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}
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}
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if (channel == -1) {
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return -1;
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}
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uint8 i;
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for(i=0;i<PWM_CHANNEL;i++){
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if(pwm_out_io_num[i]==channel) // already exist
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return channel;
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if(pwm_out_io_num[i] == -1){ // empty exist
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LOCK_PWM(critical); // enter critical
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pwm_out_io_num[i] = channel;
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pwm.duty[i] = 0;
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pwm_gpio |= (1 << pin_num[channel]);
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PIN_FUNC_SELECT(pin_mux, pin_func);
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GPIO_REG_WRITE(GPIO_PIN_ADDR(GPIO_ID_PIN(pin_num[channel])), GPIO_REG_READ(GPIO_PIN_ADDR(GPIO_ID_PIN(pin_num[channel]))) & (~ GPIO_PIN_PAD_DRIVER_SET(GPIO_PAD_DRIVER_ENABLE))); //disable open drain;
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pwm_channel_num++;
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UNLOCK_PWM(critical); // leave critical
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return channel;
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}
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}
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return -1;
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}
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bool ICACHE_FLASH_ATTR
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pwm_delete(uint8 channel){
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PWM_DBG("--Function pwm_delete() is called. channel:%d\n", channel);
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PWM_DBG("pwm_gpio:%x,pwm_channel_num:%d\n",pwm_gpio,pwm_channel_num);
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PWM_DBG("pwm_out_io_num[0]:%d,[1]:%d,[2]:%d\n",pwm_out_io_num[0],pwm_out_io_num[1],pwm_out_io_num[2]);
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PWM_DBG("pwm.duty[0]:%d,[1]:%d,[2]:%d\n",pwm.duty[0],pwm.duty[1],pwm.duty[2]);
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uint8 i,j;
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for(i=0;i<pwm_channel_num;i++){
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if(pwm_out_io_num[i]==channel){ // exist
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LOCK_PWM(critical); // enter critical
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pwm_out_io_num[i] = -1;
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pwm_gpio &= ~(1 << pin_num[channel]); //clear the bit
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for(j=i;j<pwm_channel_num-1;j++){
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pwm_out_io_num[j] = pwm_out_io_num[j+1];
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pwm.duty[j] = pwm.duty[j+1];
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}
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pwm_out_io_num[pwm_channel_num-1] = -1;
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pwm.duty[pwm_channel_num-1] = 0;
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pwm_channel_num--;
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UNLOCK_PWM(critical); // leave critical
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return true;
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}
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}
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// non found
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return true;
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}
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