467 lines
15 KiB
C
467 lines
15 KiB
C
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/******************************************************************************
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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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*******************************************************************************/
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#include "platform.h"
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#include "ets_sys.h"
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#include "os_type.h"
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#include "osapi.h"
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#include "gpio.h"
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#include "hw_timer.h"
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#include "user_interface.h"
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#include "driver/pwm.h"
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// #define PWM_DBG os_printf
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#define PWM_DBG( ... )
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// Enabling the next line will cause the interrupt handler to toggle
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// this output pin during processing so that the timing is obvious
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//
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// #define PWM_DBG_PIN 13 // GPIO7
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#ifdef PWM_DBG_PIN
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#define PWM_DBG_PIN_HIGH() GPIO_REG_WRITE(GPIO_OUT_W1TS_ADDRESS, 1 << PWM_DBG_PIN)
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#define PWM_DBG_PIN_LOW() GPIO_REG_WRITE(GPIO_OUT_W1TC_ADDRESS, 1 << PWM_DBG_PIN)
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#else
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#define PWM_DBG_PIN_HIGH()
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#define PWM_DBG_PIN_LOW()
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#endif
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LOCAL struct pwm_single_param pwm_single_toggle[2][PWM_CHANNEL + 1];
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LOCAL struct pwm_single_param *pwm_single;
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LOCAL struct pwm_param pwm;
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// LOCAL uint8 pwm_out_io_num[PWM_CHANNEL] = {PWM_0_OUT_IO_NUM, PWM_1_OUT_IO_NUM, PWM_2_OUT_IO_NUM};
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LOCAL int8 pwm_out_io_num[PWM_CHANNEL] = {-1, -1, -1, -1, -1, -1};
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LOCAL uint8 pwm_channel_toggle[2];
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LOCAL uint8 *pwm_channel;
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// Toggle flips between 1 and 0 when we make updates so that the interrupt code
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// cn switch cleanly between the two states. The cinterrupt handler uses either
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// the pwm_single_toggle[0] or pwm_single_toggle[1]
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// pwm_toggle indicates which state should be used on the *next* timer interrupt
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// freq boundary.
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LOCAL uint8 pwm_toggle = 1;
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LOCAL volatile uint8 pwm_current_toggle = 1;
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LOCAL uint8 pwm_timer_down = 1;
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LOCAL uint8 pwm_current_channel = 0;
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LOCAL uint16 pwm_gpio = 0;
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LOCAL uint8 pwm_channel_num = 0;
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LOCAL void ICACHE_RAM_ATTR pwm_tim1_intr_handler(os_param_t p);
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#define TIMER_OWNER ((os_param_t) 'P')
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LOCAL 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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os_memcpy(&tmp, &pwm[i], sizeof(struct pwm_single_param));
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while (tmp.h_time < pwm[j].h_time) {
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os_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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os_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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// Returns FALSE if we cannot start
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bool 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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// First we need to make sure that the interrupt handler is running
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// out of the same set of params as we expect
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while (!pwm_timer_down && pwm_toggle != pwm_current_toggle) {
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os_delay_us(100);
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}
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if (pwm_timer_down) {
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pwm_toggle = pwm_current_toggle;
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}
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uint8_t new_toggle = pwm_toggle ^ 0x01;
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struct pwm_single_param *local_single = pwm_single_toggle[new_toggle];
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uint8 *local_channel = &pwm_channel_toggle[new_toggle];
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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 (or nearly the same duty). If there is
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// under 2 us between pwm outputs, then treat them as the same.
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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 + US_TO_RTC_TIMER_TICKS(2)) {
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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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os_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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os_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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// Make the new ones active
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pwm_toggle = new_toggle;
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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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pwm_current_toggle = pwm_toggle;
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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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// yeah, if all channels' duty is 0 or 255, don't need to start timer, otherwise start...
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if (*local_channel != 1) {
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PWM_DBG("Need to setup timer\n");
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if (!platform_hw_timer_init(TIMER_OWNER, FRC1_SOURCE, FALSE)) {
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return FALSE;
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}
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pwm_timer_down = 0;
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platform_hw_timer_set_func(TIMER_OWNER, pwm_tim1_intr_handler, 0);
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platform_hw_timer_arm_ticks(TIMER_OWNER, local_single[0].h_time);
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} else {
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PWM_DBG("Timer left idle\n");
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platform_hw_timer_close(TIMER_OWNER);
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}
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} else {
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// ensure that all outputs are outputs
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gpio_output_set(0, 0, pwm_gpio, 0);
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}
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#ifdef PWM_DBG_PIN
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// Enable as output
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gpio_output_set(0, 0, 1 << PWM_DBG_PIN, 0);
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#endif
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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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return TRUE;
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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 : uint8 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(uint16 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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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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}
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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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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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}
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#if 0
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/******************************************************************************
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* FunctionName : pwm_set_freq_duty
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* Description : set pwm frequency and each channel's duty
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* Parameters : uint16 freq : 100hz typically
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* uint16 *duty : each channel's duty
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* Returns : NONE
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*******************************************************************************/
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LOCAL void ICACHE_FLASH_ATTR
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pwm_set_freq_duty(uint16 freq, uint16 *duty)
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{
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uint8 i;
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pwm_set_freq(freq, 0);
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for (i = 0; i < PWM_CHANNEL; i++) {
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// pwm_set_duty(duty[i], i);
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if(pwm_out_io_num[i] != -1)
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pwm_set_duty(duty[i], pwm_out_io_num[i]);
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}
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}
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#endif
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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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LOCAL void ICACHE_RAM_ATTR
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pwm_tim1_intr_handler(os_param_t p)
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{
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(void)p;
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PWM_DBG_PIN_HIGH();
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int offset = 0;
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while (1) {
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if (pwm_current_channel >= (*pwm_channel - 1)) {
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pwm_single = pwm_single_toggle[pwm_toggle];
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pwm_channel = &pwm_channel_toggle[pwm_toggle];
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pwm_current_toggle = pwm_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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0,
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0);
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pwm_current_channel = 0;
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if (*pwm_channel == 1) {
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pwm_timer_down = 1;
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break;
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}
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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,
|
||
|
|
0, 0);
|
||
|
|
|
||
|
|
pwm_current_channel++;
|
||
|
|
}
|
||
|
|
|
||
|
|
int next_time = pwm_single[pwm_current_channel].h_time;
|
||
|
|
// Delay now holds the time (in ticks) since when the last timer expiry was
|
||
|
|
PWM_DBG_PIN_LOW();
|
||
|
|
int delay = platform_hw_timer_get_delay_ticks(TIMER_OWNER) + 4 - offset;
|
||
|
|
|
||
|
|
offset += next_time;
|
||
|
|
|
||
|
|
next_time = next_time - delay;
|
||
|
|
|
||
|
|
if (next_time > US_TO_RTC_TIMER_TICKS(4)) {
|
||
|
|
PWM_DBG_PIN_HIGH();
|
||
|
|
platform_hw_timer_arm_ticks(TIMER_OWNER, next_time);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
PWM_DBG_PIN_HIGH();
|
||
|
|
}
|
||
|
|
|
||
|
|
PWM_DBG_PIN_LOW();
|
||
|
|
}
|
||
|
|
|
||
|
|
/******************************************************************************
|
||
|
|
* FunctionName : pwm_init
|
||
|
|
* Description : pwm gpio, params and timer initialization
|
||
|
|
* Parameters : uint16 freq : pwm freq param
|
||
|
|
* uint16 *duty : each channel's duty
|
||
|
|
* Returns : void
|
||
|
|
*******************************************************************************/
|
||
|
|
void ICACHE_FLASH_ATTR
|
||
|
|
pwm_init(uint16 freq, uint16 *duty)
|
||
|
|
{
|
||
|
|
uint8 i;
|
||
|
|
|
||
|
|
// PIN_FUNC_SELECT(PWM_0_OUT_IO_MUX, PWM_0_OUT_IO_FUNC);
|
||
|
|
// PIN_FUNC_SELECT(PWM_1_OUT_IO_MUX, PWM_1_OUT_IO_FUNC);
|
||
|
|
// PIN_FUNC_SELECT(PWM_2_OUT_IO_MUX, PWM_2_OUT_IO_FUNC);
|
||
|
|
// GPIO_OUTPUT_SET(GPIO_ID_PIN(PWM_0_OUT_IO_NUM), 0);
|
||
|
|
// GPIO_OUTPUT_SET(GPIO_ID_PIN(PWM_1_OUT_IO_NUM), 0);
|
||
|
|
// GPIO_OUTPUT_SET(GPIO_ID_PIN(PWM_2_OUT_IO_NUM), 0);
|
||
|
|
|
||
|
|
for (i = 0; i < PWM_CHANNEL; i++) {
|
||
|
|
// pwm_gpio |= (1 << pwm_out_io_num[i]);
|
||
|
|
pwm_gpio = 0;
|
||
|
|
pwm.duty[i] = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
pwm_set_freq(500, 0);
|
||
|
|
// pwm_set_freq_duty(freq, duty);
|
||
|
|
|
||
|
|
pwm_start();
|
||
|
|
|
||
|
|
PWM_DBG("pwm_init returning\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
bool ICACHE_FLASH_ATTR
|
||
|
|
pwm_add(uint8 channel){
|
||
|
|
PWM_DBG("--Function pwm_add() is called. channel:%d\n", channel);
|
||
|
|
PWM_DBG("pwm_gpio:%x,pwm_channel_num:%d\n",pwm_gpio,pwm_channel_num);
|
||
|
|
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]);
|
||
|
|
PWM_DBG("pwm.duty[0]:%d,[1]:%d,[2]:%d\n",pwm.duty[0],pwm.duty[1],pwm.duty[2]);
|
||
|
|
uint8 i;
|
||
|
|
for(i=0;i<PWM_CHANNEL;i++){
|
||
|
|
if(pwm_out_io_num[i]==channel) // already exist
|
||
|
|
return true;
|
||
|
|
if(pwm_out_io_num[i] == -1){ // empty exist
|
||
|
|
pwm_out_io_num[i] = channel;
|
||
|
|
pwm.duty[i] = 0;
|
||
|
|
pwm_gpio |= (1 << pin_num[channel]);
|
||
|
|
PIN_FUNC_SELECT(pin_mux[channel], pin_func[channel]);
|
||
|
|
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;
|
||
|
|
pwm_channel_num++;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool ICACHE_FLASH_ATTR
|
||
|
|
pwm_delete(uint8 channel){
|
||
|
|
PWM_DBG("--Function pwm_delete() is called. channel:%d\n", channel);
|
||
|
|
PWM_DBG("pwm_gpio:%x,pwm_channel_num:%d\n",pwm_gpio,pwm_channel_num);
|
||
|
|
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]);
|
||
|
|
PWM_DBG("pwm.duty[0]:%d,[1]:%d,[2]:%d\n",pwm.duty[0],pwm.duty[1],pwm.duty[2]);
|
||
|
|
uint8 i,j;
|
||
|
|
for(i=0;i<pwm_channel_num;i++){
|
||
|
|
if(pwm_out_io_num[i]==channel){ // exist
|
||
|
|
pwm_out_io_num[i] = -1;
|
||
|
|
pwm_gpio &= ~(1 << pin_num[channel]); //clear the bit
|
||
|
|
for(j=i;j<pwm_channel_num-1;j++){
|
||
|
|
pwm_out_io_num[j] = pwm_out_io_num[j+1];
|
||
|
|
pwm.duty[j] = pwm.duty[j+1];
|
||
|
|
}
|
||
|
|
pwm_out_io_num[pwm_channel_num-1] = -1;
|
||
|
|
pwm.duty[pwm_channel_num-1] = 0;
|
||
|
|
pwm_channel_num--;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// non found
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool ICACHE_FLASH_ATTR
|
||
|
|
pwm_exist(uint8 channel){
|
||
|
|
PWM_DBG("--Function pwm_exist() is called. channel:%d\n", channel);
|
||
|
|
PWM_DBG("pwm_gpio:%x,pwm_channel_num:%d\n",pwm_gpio,pwm_channel_num);
|
||
|
|
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]);
|
||
|
|
PWM_DBG("pwm.duty[0]:%d,[1]:%d,[2]:%d\n",pwm.duty[0],pwm.duty[1],pwm.duty[2]);
|
||
|
|
uint8 i;
|
||
|
|
for(i=0;i<PWM_CHANNEL;i++){
|
||
|
|
if(pwm_out_io_num[i]==channel) // exist
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|