187 lines
6.9 KiB
C++
187 lines
6.9 KiB
C++
#include "Pwm.h"
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#include "Config.h"
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#include "Core.h"
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#if CONFIG_IDF_TARGET_ESP32C3
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#include <hal/ledc_ll.h>
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#elif CONFIG_IDF_TARGET_ESP32S3
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#include <driver/mcpwm_prelude.h>
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#endif
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namespace {
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#if CONFIG_IDF_TARGET_ESP32C3
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constexpr ledc_mode_t PWM_SPEED_MODE = LEDC_LOW_SPEED_MODE;
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constexpr ledc_timer_t PWM_TIMER = LEDC_TIMER_0;
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void setIntegerDivider(uint16_t divider) {
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ledc_dev_t *hardware = LEDC_LL_GET_HW();
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ledc_ll_timer_pause(hardware, PWM_SPEED_MODE, PWM_TIMER);
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ledc_ll_set_clock_divider(hardware, PWM_SPEED_MODE, PWM_TIMER,
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static_cast<uint32_t>(divider) << LEDC_LL_FRACTIONAL_BITS);
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ledc_ll_timer_rst(hardware, PWM_SPEED_MODE, PWM_TIMER);
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ledc_ll_ls_timer_update(hardware, PWM_SPEED_MODE, PWM_TIMER);
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ledc_ll_timer_resume(hardware, PWM_SPEED_MODE, PWM_TIMER);
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}
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bool integerDividerIsSet(uint16_t expected) {
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uint32_t rawDivider = 0;
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ledc_ll_get_clock_divider(LEDC_LL_GET_HW(), PWM_SPEED_MODE, PWM_TIMER, &rawDivider);
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return rawDivider == (static_cast<uint32_t>(expected) << LEDC_LL_FRACTIONAL_BITS);
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}
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#elif CONFIG_IDF_TARGET_ESP32S3
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mcpwm_timer_handle_t mcpwmTimer = nullptr;
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mcpwm_oper_handle_t mcpwmOperator = nullptr;
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mcpwm_cmpr_handle_t mcpwmComparator = nullptr;
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mcpwm_gen_handle_t mcpwmGenerator = nullptr;
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uint32_t mcpwmFrequencyHz = 0;
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void releaseMcpwm() {
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if (mcpwmGenerator) {
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mcpwm_del_generator(mcpwmGenerator);
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mcpwmGenerator = nullptr;
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}
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if (mcpwmComparator) {
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mcpwm_del_comparator(mcpwmComparator);
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mcpwmComparator = nullptr;
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}
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if (mcpwmOperator) {
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mcpwm_del_operator(mcpwmOperator);
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mcpwmOperator = nullptr;
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}
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if (mcpwmTimer) {
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mcpwm_timer_disable(mcpwmTimer);
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mcpwm_del_timer(mcpwmTimer);
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mcpwmTimer = nullptr;
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}
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}
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uint8_t periodResolutionBits(uint32_t periodTicks) {
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uint8_t bits = 0;
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while (periodTicks > 1U) {
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periodTicks >>= 1U;
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++bits;
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}
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return bits ? bits : 1U;
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}
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#endif
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}
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void PwmGenerator::begin() {
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#if CONFIG_IDF_TARGET_ESP32C3
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// Match LEDC_SOURCE_CLOCK_HZ and make the timer calculation deterministic.
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ledcSetClockSource(LEDC_USE_XTAL_CLK);
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pinMode(GPIO_PWM, OUTPUT);
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stop();
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#elif CONFIG_IDF_TARGET_ESP32S3
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mcpwm_timer_config_t timerConfig = {};
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timerConfig.group_id = 0;
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timerConfig.clk_src = MCPWM_TIMER_CLK_SRC_PLL160M;
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timerConfig.resolution_hz = MCPWM_RESOLUTION_HZ;
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timerConfig.count_mode = MCPWM_TIMER_COUNT_MODE_UP;
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timerConfig.period_ticks = MCPWM_RESOLUTION_HZ / 1000U;
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mcpwm_operator_config_t operatorConfig = {};
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operatorConfig.group_id = 0;
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mcpwm_comparator_config_t comparatorConfig = {};
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mcpwm_generator_config_t generatorConfig = {};
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generatorConfig.gen_gpio_num = GPIO_PWM;
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bool ok = mcpwm_new_timer(&timerConfig, &mcpwmTimer) == ESP_OK;
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ok = ok && mcpwm_new_operator(&operatorConfig, &mcpwmOperator) == ESP_OK;
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ok = ok && mcpwm_operator_connect_timer(mcpwmOperator, mcpwmTimer) == ESP_OK;
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ok = ok && mcpwm_new_comparator(mcpwmOperator, &comparatorConfig, &mcpwmComparator) == ESP_OK;
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ok = ok && mcpwm_new_generator(mcpwmOperator, &generatorConfig, &mcpwmGenerator) == ESP_OK;
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ok = ok && mcpwm_comparator_set_compare_value(mcpwmComparator,
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timerConfig.period_ticks / 2U) == ESP_OK;
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ok = ok && mcpwm_generator_set_action_on_timer_event(mcpwmGenerator,
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MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP,
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MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)) == ESP_OK;
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ok = ok && mcpwm_generator_set_action_on_compare_event(mcpwmGenerator,
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP,
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mcpwmComparator, MCPWM_GEN_ACTION_LOW)) == ESP_OK;
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ok = ok && mcpwm_timer_enable(mcpwmTimer) == ESP_OK;
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if (!ok) {
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releaseMcpwm();
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pinMode(GPIO_PWM, OUTPUT);
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digitalWrite(GPIO_PWM, PWM_SAFE_LEVEL);
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return;
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}
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mcpwm_generator_set_force_level(mcpwmGenerator, PWM_SAFE_LEVEL, true);
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#endif
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}
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bool PwmGenerator::start(uint32_t hz, uint8_t dutyPct, ActualPwm &a) {
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#if CONFIG_IDF_TARGET_ESP32C3
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IntegerPwmConfig config = {};
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if (!chooseIntegerPwmConfig(hz, LEDC_SOURCE_CLOCK_HZ, LEDC_MAX_BITS, dutyPct, config)) return false;
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const uint8_t bits = config.bits;
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const uint32_t levels = 1UL << bits;
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const uint32_t duty = (static_cast<uint64_t>(levels) * dutyPct + 50U) / 100U;
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for (uint8_t attempt = 0; attempt < 2; ++attempt) {
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stop();
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const bool attached = ledcAttachChannel(GPIO_PWM, config.actualHz, bits, LEDC_CHANNEL);
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if (attached) {
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// Arduino's LEDC API normally chooses an 8-bit fractional divider.
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// Force the fractional byte to zero so every PWM period contains the
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// same integer number of 40 MHz source-clock ticks.
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setIntegerDivider(config.divider);
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}
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if (attached && integerDividerIsSet(config.divider) && ledcWriteChannel(LEDC_CHANNEL, duty)) {
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// On the first configuration after power-up the duty update is latched
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// on a timer edge. Reading immediately can therefore return zero.
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uint32_t settleUs = static_cast<uint32_t>((2000000ULL + hz - 1U) / hz);
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if (settleUs > 2000U) settleUs = 2000U;
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delayMicroseconds(settleUs);
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const uint32_t actualHz = ledcReadFreq(GPIO_PWM);
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if (actualHz == config.actualHz) {
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a = {hz, actualHz, 100.0f * duty / levels, bits};
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running_ = true;
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return true;
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}
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}
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if (attached) ledcDetach(GPIO_PWM);
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delay(2);
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}
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pinMode(GPIO_PWM, OUTPUT); digitalWrite(GPIO_PWM, PWM_SAFE_LEVEL);
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return false;
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#elif CONFIG_IDF_TARGET_ESP32S3
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if (!mcpwmTimer || !mcpwmComparator || !mcpwmGenerator || !hz || dutyPct > 100U ||
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MCPWM_RESOLUTION_HZ % hz) return false;
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const uint32_t periodTicks = MCPWM_RESOLUTION_HZ / hz;
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if (periodTicks < 2U || periodTicks > MCPWM_MAX_PERIOD_TICKS) return false;
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uint32_t activeTicks = (static_cast<uint64_t>(periodTicks) * dutyPct + 50U) / 100U;
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if (activeTicks == 0U) activeTicks = 1U;
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if (activeTicks >= periodTicks) activeTicks = periodTicks - 1U;
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stop();
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bool ok = mcpwm_timer_set_period(mcpwmTimer, periodTicks) == ESP_OK;
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ok = ok && mcpwm_comparator_set_compare_value(mcpwmComparator, activeTicks) == ESP_OK;
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ok = ok && mcpwm_generator_set_force_level(mcpwmGenerator, -1, false) == ESP_OK;
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ok = ok && mcpwm_timer_start_stop(mcpwmTimer, MCPWM_TIMER_START_NO_STOP) == ESP_OK;
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if (!ok) {
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mcpwm_generator_set_force_level(mcpwmGenerator, PWM_SAFE_LEVEL, true);
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return false;
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}
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a = {hz, hz, 100.0f * activeTicks / periodTicks, periodResolutionBits(periodTicks)};
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mcpwmFrequencyHz = hz;
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running_ = true;
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return true;
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#endif
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}
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void PwmGenerator::stop() {
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#if CONFIG_IDF_TARGET_ESP32C3
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if (running_) ledcDetach(GPIO_PWM);
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pinMode(GPIO_PWM, OUTPUT); digitalWrite(GPIO_PWM, PWM_SAFE_LEVEL);
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#elif CONFIG_IDF_TARGET_ESP32S3
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if (mcpwmGenerator) mcpwm_generator_set_force_level(mcpwmGenerator, PWM_SAFE_LEVEL, true);
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if (running_ && mcpwmTimer) {
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mcpwm_timer_start_stop(mcpwmTimer, MCPWM_TIMER_STOP_EMPTY);
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const uint32_t waitUs = mcpwmFrequencyHz ? (1000000U / mcpwmFrequencyHz + 2U) : 2U;
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delayMicroseconds(waitUs);
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}
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mcpwmFrequencyHz = 0;
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#endif
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running_ = false;
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}
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