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Update machine_pwm.c
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@IhorNehrutsa
IhorNehrutsa committed Nov 14, 2024
1 parent fcd2281 commit e0ddfff
Showing 1 changed file with 66 additions and 32 deletions.
98 changes: 66 additions & 32 deletions ports/esp32/machine_pwm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@
#define debug_printf2(...) //mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, ", LINE=%d\n", __LINE__);
#define debug_printf3(...) //mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, ", LINE=%d\n", __LINE__);
#define debug_printf4(...)// mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, ", LINE=%d\n", __LINE__);
#define debug_printf5(...) //mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, ", LINE=%d\n", __LINE__);
#define debug_printf5(...) //mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, ", LINE=%d\n", __LINE__);

typedef struct _chan_t {
// Which channel has which GPIO pin assigned?
Expand All @@ -73,22 +73,23 @@ static ledc_timer_config_t timers[LEDC_SPEED_MODE_MAX][LEDC_TIMER_MAX];
#define UI_RES_10_BIT (10)

// Maximum duty value on 10-bit resolution
#define UI10_DUTY (1 << UI_RES_10_BIT)
#define UI10_DUTY ((1 << UI_RES_10_BIT) - 1)

// Duty resolution of user interface in `duty_u16(0..2^16)` and `duty_u16` parameter in constructor/initializer
#define UI_RES_16_BIT (16)
// Maximum duty value on highest user interface resolution
#define UI16_DUTY (1 << UI_RES_16_BIT)
#define UI16_DUTY ((1 << UI_RES_16_BIT) - 1)

#define HIGHEST_PWM_RES (LEDC_TIMER_BIT_MAX - 1)
//#define HIGHEST_PWM_RES (LEDC_TIMER_BIT_MAX - 1 - 1)

// timer_duty is the MAX value of a channel_duty
#define timer_duty (1 << timer->duty_resolution)
#define timer_duty ((1 << timer->duty_resolution) - 1)

// All chips except esp32 and esp32s2 do not have timer-specific clock sources, which means clock source for all timers must be the same one.
#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2
// 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
#define EMPIRIC_FREQ (10) // Hz
//#define EMPIRIC_FREQ (10) // Hz
#endif
// Config of timer upon which we run all PWM'ed GPIO pins
static bool pwm_inited = false;
Expand Down Expand Up @@ -135,6 +136,7 @@ static void pwm_init(void) {
timers[mode][timer].speed_mode = mode;
timers[mode][timer].timer_num = timer;
timers[mode][timer].clk_cfg = LEDC_AUTO_CLK; // will reinstall later
timers[mode][timer].deconfigure = false;
}
}
}
Expand Down Expand Up @@ -274,11 +276,25 @@ static void _apply_duty(machine_pwm_obj_t *self) {
.flags.output_invert = self->output_invert,
};
debug_printf4("apply_duty():self->channel_duty=%d, timer_duty=%d, cfg.flags.output_invert=%d", self->channel_duty, timer_duty, cfg.flags.output_invert)
/*
if (self->channel_duty == timer_duty) {
cfg.duty = 0;
cfg.flags.output_invert = self->output_invert ^ 1;
}
*/
check_esp_err(ledc_channel_config(&cfg));
/*
#define USE_THREAD_SAFE_LEDC_API 0
#if USE_THREAD_SAFE_LEDC_API
check_esp_err(ledc_set_duty_and_update(self->mode, self->channel, channel_duty, timer_duty - 1));
esp_err_t err = ESP_OK; // ledc_set_duty_and_update(self->mode, self->channel, channel_duty, timer_duty - 1);
if (err != ESP_OK)
#endif
{
check_esp_err(ledc_set_duty(self->mode, self->channel, channel_duty));
check_esp_err(ledc_update_duty(self->mode, self->channel));
}
*/
}
/*
static unsigned int calc_divider(uint32_t src_clk_freq, uint32_t timer_freq) {
Expand All @@ -297,6 +313,12 @@ static uint32_t calc_divider(uint32_t src_clk_freq, uint32_t timer_freq) {
*/
static uint32_t calc_divider(uint32_t src_clk_freq, uint32_t timer_freq) {
uint32_t divider = (uint32_t)(((uint64_t)src_clk_freq + timer_freq / 2) / timer_freq); // rounded
/*
uint32_t divider2 = (uint32_t)((uint64_t)src_clk_freq / timer_freq); // tracate
if (divider != divider2) {
debug_printf5("divider=%d, divider2=%d", divider, divider2);
}
*/
return divider == 0 ? 1 : divider;
}

Expand All @@ -322,31 +344,44 @@ static uint32_t _ledc_find_suitable_duty_resolution(uint32_t src_clk_freq, uint3
return res;
}
*/
/*
unsigned int freq = src_clk_freq;
unsigned int divider = calc_divider(src_clk_freq, timer_freq);
float f = (float)src_clk_freq / divider; // actual frequency
if (f <= 1.0) {
f = 1.0;
}
freq = (unsigned int)roundf((float)src_clk_freq + (src_clk_freq / divider /2) / (src_clk_freq / divider));
*/
static uint32_t _ledc_find_suitable_duty_resolution(uint32_t src_clk_freq, uint32_t timer_freq) {
// Find the highest bit resolution for the requested frequency
uint32_t divider = calc_divider(src_clk_freq, timer_freq);
// actual frequency
uint32_t freq = (uint32_t)((uint64_t)src_clk_freq * (uint64_t)divider / (uint64_t)src_clk_freq);
uint32_t f = src_clk_freq / divider; // actual frequency
uint32_t freq = src_clk_freq + (f / 2) / f; // rounded
uint32_t freq1 = freq;

uint32_t resolution = 0;
for (; freq > 1; freq >>= 1) {
++resolution;
}
debug_printf5("\nsrc_clk_freq=%d, timer_freq=%d, divider=%d, freq=%d, resolution=%d", src_clk_freq, timer_freq, divider, freq, resolution);
//if (src_clk_freq != freq1) {
if (1) {
debug_printf5("\nsrc_clk_freq=%d, timer_freq=%d, divider=%d, freq=%d, resolution=%d", src_clk_freq, timer_freq, divider, freq1, resolution);
}
return resolution;
}
#endif

static uint32_t find_suitable_duty_resolution(uint32_t src_clk_freq, uint32_t timer_freq) {
unsigned int resolution = _ledc_find_suitable_duty_resolution(src_clk_freq, timer_freq);
#if 0 // ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
unsigned int resolution2 = ledc_find_suitable_duty_resolution(src_clk_freq, timer_freq);
if (resolution1 != resolution2) {
debug_printf("resolution1=%d, resolution2=%d", resolution1, resolution2);
}
unsigned int ledc_resolution = _ledc_find_suitable_duty_resolution(src_clk_freq, timer_freq);
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
unsigned int resolution = ledc_find_suitable_duty_resolution(src_clk_freq, timer_freq);
//if (resolution != resolution2) {
debug_printf5("resolution=%d, ledc_resolution=%d", resolution, ledc_resolution);
//}
#endif
if (resolution == 0) {
resolution = 1;
//resolution = 1;
} else if (resolution > HIGHEST_PWM_RES) {
// Limit resolution to HIGHEST_PWM_RES to match units of our duty
resolution = HIGHEST_PWM_RES;
Expand All @@ -358,13 +393,16 @@ static uint32_t find_suitable_duty_resolution(uint32_t src_clk_freq, uint32_t ti

static uint32_t get_duty_u16(machine_pwm_obj_t *self) {
pwm_is_active(self);
ledc_timer_config_t *timer = &timers[self->mode][self->timer];
//ledc_timer_config_t *timer = &timers[self->mode][self->timer];
debug_printf("MAX_TIMER_DUTY=%d timer->duty_resolution=%d self->channel_duty=%d ledc_duty()=%d", MAX_TIMER_DUTY, timer->duty_resolution, self->channel_duty, ledc_duty())

debug_printf2("get_duty_u16():self->output_invert=%d, ledc_duty()=%d", self->output_invert, ledc_duty())
#if 0 // UI16_DUTY == 65536
if (self->channel_duty == timer_duty) {
return UI16_DUTY;
} else {
} else
#endif
{
int duty_resolution = timers[self->mode][self->timer].duty_resolution;
debug_printf2("duty_resolution=%d", duty_resolution)
if (duty_resolution <= UI_RES_16_BIT) {
Expand All @@ -391,18 +429,6 @@ static void set_duty_u16(machine_pwm_obj_t *self, int duty) {
self->duty_x = UI_RES_16_BIT;
self->duty_ui = duty;
apply_duty(self);
/*
#define USE_THREAD_SAFE_LEDC_API 0
#if USE_THREAD_SAFE_LEDC_API
check_esp_err(ledc_set_duty_and_update(self->mode, self->channel, channel_duty, timer_duty - 1));
esp_err_t err = ESP_OK; // ledc_set_duty_and_update(self->mode, self->channel, channel_duty, timer_duty - 1);
if (err != ESP_OK)
#endif
{
check_esp_err(ledc_set_duty(self->mode, self->channel, channel_duty));
check_esp_err(ledc_update_duty(self->mode, self->channel));
}
*/
}

static void set_duty_u10(machine_pwm_obj_t *self, int duty) {
Expand Down Expand Up @@ -477,15 +503,23 @@ static void set_freq(machine_pwm_obj_t *self, unsigned int freq) {

// Configure the new resolution and frequency
timer->duty_resolution = find_suitable_duty_resolution(src_clk_freq, timer->freq_hz);
//debug_printf5("SOC_MOD_CLK_APB=%d, LEDC_USE_APB_CLK=%d, LEDC_AUTO_CLK=%d", SOC_MOD_CLK_APB, LEDC_USE_APB_CLK, LEDC_AUTO_CLK);
debug_printf5("src_clk_freq=%d, timer->freq_hz=%d, timer->clk_cfg=%d, timer->duty_resolution=%d", src_clk_freq, timer->freq_hz, timer->clk_cfg, timer->duty_resolution)
debug_printf5("SOC_MOD_CLK_APB=%d, LEDC_USE_APB_CLK=%d, LEDC_AUTO_CLK=%d, LEDC_USE_REF_TICK=%d", SOC_MOD_CLK_APB, LEDC_USE_APB_CLK, LEDC_AUTO_CLK, LEDC_USE_REF_TICK);
debug_printf5("src_clk_freq=%d, timer->freq_hz=%d, timer->clk_cfg=%d, timer->duty_resolution=%d, timer->speed_mode=%d, timer->timer_num=%d", src_clk_freq, timer->freq_hz, timer->clk_cfg, timer->duty_resolution, timer->speed_mode, timer->timer_num)

// Configure timer - Set frequency
if (ESP_OK != ledc_timer_config(timer)) {
check_esp_err(ledc_timer_config(timer));
/*
err = ledc_timer_config(timer);
if (1) {
//if (ESP_OK != (err = ledc_timer_config(timer))) {
uint32_t divider = calc_divider(src_clk_freq, timer->freq_hz);
debug_printf5("divider=%d, timer->clk_cfg=%d, err=0x%X", divider, timer->clk_cfg, err);
check_esp_err(ledc_timer_set(timer->speed_mode, timer->timer_num, divider, timer->duty_resolution, timer->clk_cfg));
if (freq >= EMPIRIC_FREQ) {
check_esp_err(ledc_set_freq(timer->speed_mode, timer->timer_num,timer->freq_hz));
}
}
*/
// Reset the timer if low speed
if (self->mode == LEDC_LOW_SPEED_MODE) {
check_esp_err(ledc_timer_rst(self->mode, self->timer));
Expand Down

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