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- /******************************************************************************
- * Copyright 2013-2014 Espressif Systems (Wuxi)
- *
- * FileName: pwm.c
- *
- * Description: pwm driver
- *
- * Modification history:
- * 2014/5/1, v1.0 create this file.
- *******************************************************************************/
- #include "platform.h"
- #include "ets_sys.h"
- #include "os_type.h"
- #include "osapi.h"
- #include "gpio.h"
- #include "user_interface.h"
- #include "driver/pwm.h"
- // #define PWM_DBG os_printf
- #define PWM_DBG
- LOCAL struct pwm_single_param pwm_single_toggle[2][PWM_CHANNEL + 1];
- LOCAL struct pwm_single_param *pwm_single;
- LOCAL struct pwm_param pwm;
- // LOCAL uint8 pwm_out_io_num[PWM_CHANNEL] = {PWM_0_OUT_IO_NUM, PWM_1_OUT_IO_NUM, PWM_2_OUT_IO_NUM};
- LOCAL int8 pwm_out_io_num[PWM_CHANNEL] = {-1, -1, -1, -1, -1, -1};
- LOCAL uint8 pwm_channel_toggle[2];
- LOCAL uint8 *pwm_channel;
- LOCAL uint8 pwm_toggle = 1;
- LOCAL uint8 pwm_timer_down = 1;
- LOCAL uint8 pwm_current_channel = 0;
- LOCAL uint16 pwm_gpio = 0;
- LOCAL uint8 pwm_channel_num = 0;
- //XXX: 0xffffffff/(80000000/16)=35A
- #define US_TO_RTC_TIMER_TICKS(t) \
- ((t) ? \
- (((t) > 0x35A) ? \
- (((t)>>2) * ((APB_CLK_FREQ>>4)/250000) + ((t)&0x3) * ((APB_CLK_FREQ>>4)/1000000)) : \
- (((t) *(APB_CLK_FREQ>>4)) / 1000000)) : \
- 0)
- //FRC1
- #define FRC1_ENABLE_TIMER BIT7
- typedef enum {
- DIVDED_BY_1 = 0,
- DIVDED_BY_16 = 4,
- DIVDED_BY_256 = 8,
- } TIMER_PREDIVED_MODE;
- typedef enum {
- TM_LEVEL_INT = 1,
- TM_EDGE_INT = 0,
- } TIMER_INT_MODE;
- LOCAL void ICACHE_FLASH_ATTR
- pwm_insert_sort(struct pwm_single_param pwm[], uint8 n)
- {
- uint8 i;
- for (i = 1; i < n; i++) {
- if (pwm[i].h_time < pwm[i - 1].h_time) {
- int8 j = i - 1;
- struct pwm_single_param tmp;
- os_memcpy(&tmp, &pwm[i], sizeof(struct pwm_single_param));
- os_memcpy(&pwm[i], &pwm[i - 1], sizeof(struct pwm_single_param));
- while (tmp.h_time < pwm[j].h_time) {
- os_memcpy(&pwm[j + 1], &pwm[j], sizeof(struct pwm_single_param));
- j--;
- if (j < 0) {
- break;
- }
- }
- os_memcpy(&pwm[j + 1], &tmp, sizeof(struct pwm_single_param));
- }
- }
- }
- LOCAL volatile uint8 critical = 0;
- #define LOCK_PWM(c) do { \
- while( (c)==1 ); \
- (c) = 1; \
- } while (0)
- #define UNLOCK_PWM(c) do { \
- (c) = 0; \
- } while (0)
- void ICACHE_FLASH_ATTR
- pwm_start(void)
- {
- uint8 i, j;
- PWM_DBG("--Function pwm_start() is called\n");
- 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.period:%d,pwm.duty[0]:%d,[1]:%d,[2]:%d\n",pwm.period,pwm.duty[0],pwm.duty[1],pwm.duty[2]);
- LOCK_PWM(critical); // enter critical
- struct pwm_single_param *local_single = pwm_single_toggle[pwm_toggle ^ 0x01];
- uint8 *local_channel = &pwm_channel_toggle[pwm_toggle ^ 0x01];
- // step 1: init PWM_CHANNEL+1 channels param
- for (i = 0; i < pwm_channel_num; i++) {
- uint32 us = pwm.period * pwm.duty[i] / PWM_DEPTH;
- local_single[i].h_time = US_TO_RTC_TIMER_TICKS(us);
- PWM_DBG("i:%d us:%d ht:%d\n",i,us,local_single[i].h_time);
- local_single[i].gpio_set = 0;
- local_single[i].gpio_clear = 1 << pin_num[pwm_out_io_num[i]];
- }
- local_single[pwm_channel_num].h_time = US_TO_RTC_TIMER_TICKS(pwm.period);
- local_single[pwm_channel_num].gpio_set = pwm_gpio;
- local_single[pwm_channel_num].gpio_clear = 0;
- PWM_DBG("i:%d period:%d ht:%d\n",pwm_channel_num,pwm.period,local_single[pwm_channel_num].h_time);
- // step 2: sort, small to big
- pwm_insert_sort(local_single, pwm_channel_num + 1);
- *local_channel = pwm_channel_num + 1;
- 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);
- // step 3: combine same duty channels
- for (i = pwm_channel_num; i > 0; i--) {
- if (local_single[i].h_time == local_single[i - 1].h_time) {
- local_single[i - 1].gpio_set |= local_single[i].gpio_set;
- local_single[i - 1].gpio_clear |= local_single[i].gpio_clear;
- for (j = i + 1; j < *local_channel; j++) {
- os_memcpy(&local_single[j - 1], &local_single[j], sizeof(struct pwm_single_param));
- }
- (*local_channel)--;
- }
- }
- 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);
- // step 4: cacl delt time
- for (i = *local_channel - 1; i > 0; i--) {
- local_single[i].h_time -= local_single[i - 1].h_time;
- }
- // step 5: last channel needs to clean
- local_single[*local_channel-1].gpio_clear = 0;
- // step 6: if first channel duty is 0, remove it
- if (local_single[0].h_time == 0) {
- local_single[*local_channel - 1].gpio_set &= ~local_single[0].gpio_clear;
- local_single[*local_channel - 1].gpio_clear |= local_single[0].gpio_clear;
- for (i = 1; i < *local_channel; i++) {
- os_memcpy(&local_single[i - 1], &local_single[i], sizeof(struct pwm_single_param));
- }
- (*local_channel)--;
- }
- // if timer is down, need to set gpio and start timer
- if (pwm_timer_down == 1) {
- pwm_channel = local_channel;
- pwm_single = local_single;
- // start
- gpio_output_set(local_single[0].gpio_set, local_single[0].gpio_clear, pwm_gpio, 0);
- // yeah, if all channels' duty is 0 or 255, don't need to start timer, otherwise start...
- if (*local_channel != 1) {
- pwm_timer_down = 0;
- RTC_REG_WRITE(FRC1_LOAD_ADDRESS, local_single[0].h_time);
- }
- }
- if (pwm_toggle == 1) {
- pwm_toggle = 0;
- } else {
- pwm_toggle = 1;
- }
- UNLOCK_PWM(critical); // leave critical
- 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);
- }
- /******************************************************************************
- * FunctionName : pwm_set_duty
- * Description : set each channel's duty params
- * Parameters : uint8 duty : 0 ~ PWM_DEPTH
- * uint8 channel : channel index
- * Returns : NONE
- *******************************************************************************/
- void ICACHE_FLASH_ATTR
- pwm_set_duty(uint16 duty, uint8 channel)
- {
- uint8 i;
- for(i=0;i<pwm_channel_num;i++){
- if(pwm_out_io_num[i] == channel){
- channel = i;
- break;
- }
- }
- if(i==pwm_channel_num) // non found
- return;
- LOCK_PWM(critical); // enter critical
- if (duty < 1) {
- pwm.duty[channel] = 0;
- } else if (duty >= PWM_DEPTH) {
- pwm.duty[channel] = PWM_DEPTH;
- } else {
- pwm.duty[channel] = duty;
- }
- UNLOCK_PWM(critical); // leave critical
- }
- /******************************************************************************
- * FunctionName : pwm_set_freq
- * Description : set pwm frequency
- * Parameters : uint16 freq : 100hz typically
- * Returns : NONE
- *******************************************************************************/
- void ICACHE_FLASH_ATTR
- pwm_set_freq(uint16 freq, uint8 channel)
- {
- LOCK_PWM(critical); // enter critical
- if (freq > PWM_FREQ_MAX) {
- pwm.freq = PWM_FREQ_MAX;
- } else if (freq < 1) {
- pwm.freq = 1;
- } else {
- pwm.freq = freq;
- }
- pwm.period = PWM_1S / pwm.freq;
- UNLOCK_PWM(critical); // leave critical
- }
- /******************************************************************************
- * FunctionName : pwm_set_freq_duty
- * Description : set pwm frequency and each channel's duty
- * Parameters : uint16 freq : 100hz typically
- * uint16 *duty : each channel's duty
- * Returns : NONE
- *******************************************************************************/
- LOCAL void ICACHE_FLASH_ATTR
- pwm_set_freq_duty(uint16 freq, uint16 *duty)
- {
- uint8 i;
- pwm_set_freq(freq, 0);
- for (i = 0; i < PWM_CHANNEL; i++) {
- // pwm_set_duty(duty[i], i);
- if(pwm_out_io_num[i] != -1)
- pwm_set_duty(duty[i], pwm_out_io_num[i]);
- }
- }
- /******************************************************************************
- * FunctionName : pwm_get_duty
- * Description : get duty of each channel
- * Parameters : uint8 channel : channel index
- * Returns : NONE
- *******************************************************************************/
- uint16 ICACHE_FLASH_ATTR
- pwm_get_duty(uint8 channel)
- {
- uint8 i;
- for(i=0;i<pwm_channel_num;i++){
- if(pwm_out_io_num[i] == channel){
- channel = i;
- break;
- }
- }
- if(i==pwm_channel_num) // non found
- return 0;
- return pwm.duty[channel];
- }
- /******************************************************************************
- * FunctionName : pwm_get_freq
- * Description : get pwm frequency
- * Parameters : NONE
- * Returns : uint16 : pwm frequency
- *******************************************************************************/
- uint16 ICACHE_FLASH_ATTR
- pwm_get_freq(uint8 channel)
- {
- return pwm.freq;
- }
- /******************************************************************************
- * FunctionName : pwm_period_timer
- * Description : pwm period timer function, output high level,
- * start each channel's high level timer
- * Parameters : NONE
- * Returns : NONE
- *******************************************************************************/
- LOCAL void
- pwm_tim1_intr_handler(void)
- {
- uint8 local_toggle = pwm_toggle; // pwm_toggle may change outside
- RTC_CLR_REG_MASK(FRC1_INT_ADDRESS, FRC1_INT_CLR_MASK);
- if (pwm_current_channel >= (*pwm_channel - 1)) { // *pwm_channel may change outside
- pwm_single = pwm_single_toggle[local_toggle];
- pwm_channel = &pwm_channel_toggle[local_toggle];
- gpio_output_set(pwm_single[*pwm_channel - 1].gpio_set,
- pwm_single[*pwm_channel - 1].gpio_clear,
- pwm_gpio,
- 0);
- pwm_current_channel = 0;
- if (*pwm_channel != 1) {
- RTC_REG_WRITE(FRC1_LOAD_ADDRESS, pwm_single[pwm_current_channel].h_time);
- } else {
- pwm_timer_down = 1;
- }
- } else {
- gpio_output_set(pwm_single[pwm_current_channel].gpio_set,
- pwm_single[pwm_current_channel].gpio_clear,
- pwm_gpio, 0);
- pwm_current_channel++;
- RTC_REG_WRITE(FRC1_LOAD_ADDRESS, pwm_single[pwm_current_channel].h_time);
- }
- }
- /******************************************************************************
- * FunctionName : pwm_init
- * Description : pwm gpio, params and timer initialization
- * Parameters : uint16 freq : pwm freq param
- * uint16 *duty : each channel's duty
- * Returns : NONE
- *******************************************************************************/
- void ICACHE_FLASH_ATTR
- pwm_init(uint16 freq, uint16 *duty)
- {
- uint8 i;
- ETS_FRC_TIMER1_INTR_ATTACH(pwm_tim1_intr_handler, NULL);
- TM1_EDGE_INT_ENABLE();
- ETS_FRC1_INTR_ENABLE();
- RTC_CLR_REG_MASK(FRC1_INT_ADDRESS, FRC1_INT_CLR_MASK);
- RTC_REG_WRITE(FRC1_CTRL_ADDRESS, //FRC2_AUTO_RELOAD|
- DIVDED_BY_16
- | FRC1_ENABLE_TIMER
- | TM_EDGE_INT);
- RTC_REG_WRITE(FRC1_LOAD_ADDRESS, 0);
- // 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[0] = 0;
- }
- pwm_set_freq(500, 0);
- // pwm_set_freq_duty(freq, duty);
- pwm_start();
- }
- 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
- LOCK_PWM(critical); // enter critical
- 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++;
- UNLOCK_PWM(critical); // leave critical
- 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
- LOCK_PWM(critical); // enter critical
- 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--;
- UNLOCK_PWM(critical); // leave critical
- 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;
- }
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