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@ -73,9 +73,16 @@ uint16_t MarlinHAL::adc_result; |
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esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX]; |
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adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {}; |
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uint32_t thresholds[ADC_ATTEN_MAX]; |
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volatile int numPWMUsed = 0, |
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pwmPins[MAX_PWM_PINS], |
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pwmValues[MAX_PWM_PINS]; |
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volatile int numPWMUsed = 0; |
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volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS]; |
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pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
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struct { |
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uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
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uint16_t res; |
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} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2]; |
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// ------------------------
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// Public functions
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@ -254,25 +261,81 @@ void MarlinHAL::adc_start(const pin_t pin) { |
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adc1_set_attenuation(chan, atten); |
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} |
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void analogWrite(pin_t pin, int value) { |
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// Use ledc hardware for internal pins
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if (pin < 34) { |
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static int cnt_channel = 1, pin_to_channel[40] = { 0 }; |
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if (pin_to_channel[pin] == 0) { |
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ledcAttachPin(pin, cnt_channel); |
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ledcSetup(cnt_channel, 490, 8); |
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ledcWrite(cnt_channel, value); |
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pin_to_channel[pin] = cnt_channel++; |
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// ------------------------
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// PWM
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// ------------------------
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int8_t channel_for_pin(const uint8_t pin) { |
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for (int i = 0; i <= CHANNEL_MAX_NUM; i++) |
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if (chan_pin[i] == pin) return i; |
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return -1; |
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} |
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// get PWM channel for pin - if none then attach a new one
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// return -1 if fail or invalid pin#, channel # (0-15) if success
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int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) { |
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if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
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int8_t cid = channel_for_pin(pin); |
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if (cid >= 0) return cid; |
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// Find an empty adjacent channel (same timer & freq/res)
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for (int i = 0; i <= CHANNEL_MAX_NUM; i++) { |
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if (chan_pin[i] == 0) { |
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if (chan_pin[i ^ 0x1] != 0) { |
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if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) { |
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chan_pin[i] = pin; // Allocate PWM to this channel
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ledcAttachPin(pin, i); |
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return i; |
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} |
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} |
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else if (cid == -1) // Pair of empty channels?
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cid = i & 0xFE; // Save lower channel number
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} |
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ledcWrite(pin_to_channel[pin], value); |
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} |
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// not attached, is an empty timer slot avail?
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if (cid >= 0) { |
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chan_pin[cid] = pin; |
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pwmInfo[cid / 2].freq = freq; |
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pwmInfo[cid / 2].res = res; |
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ledcSetup(cid, freq, res); |
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ledcAttachPin(pin, cid); |
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} |
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return cid; // -1 if no channel avail
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} |
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void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) { |
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const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION); |
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if (cid >= 0) { |
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uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1); |
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ledcWrite(cid, duty); |
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} |
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} |
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int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) { |
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const int8_t cid = channel_for_pin(pin); |
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if (cid >= 0) { |
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if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
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ledcDetachPin(chan_pin[cid]); |
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chan_pin[cid] = 0; // remove old freq channel
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} |
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return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
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} |
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// use hardware PWM if avail, if not then ISR
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void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
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// Use ledc hardware for internal pins
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const int8_t cid = get_pwm_channel(pin, freq, res); |
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if (cid >= 0) { |
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ledcWrite(cid, value); // set duty value
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return; |
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} |
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// not a hardware PWM pin OR no PWM channels available
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int idx = -1; |
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// Search Pin
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for (int i = 0; i < numPWMUsed; ++i) |
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if (pwmPins[i] == pin) { idx = i; break; } |
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if (pwmState[i].pin == pin) { idx = i; break; } |
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// not found ?
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if (idx < 0) { |
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@ -281,7 +344,7 @@ void analogWrite(pin_t pin, int value) { |
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// Take new slot for pin
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idx = numPWMUsed; |
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pwmPins[idx] = pin; |
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pwmState[idx].pin = pin; |
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// Start timer on first use
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if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY); |
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@ -289,7 +352,7 @@ void analogWrite(pin_t pin, int value) { |
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} |
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// Use 7bit internal value - add 1 to have 100% high at 255
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pwmValues[idx] = (value + 1) / 2; |
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pwmState[idx].value = (value + 1) / 2; |
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} |
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// Handle PWM timer interrupt
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@ -300,9 +363,9 @@ HAL_PWM_TIMER_ISR() { |
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for (int i = 0; i < numPWMUsed; ++i) { |
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if (count == 0) // Start of interval
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WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW); |
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else if (pwmValues[i] == count) // End of duration
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WRITE(pwmPins[i], LOW); |
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digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW); |
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else if (pwmState[i].value == count) // End of duration
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digitalWrite(pwmState[i].pin, LOW); |
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} |
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// 128 for 7 Bit resolution
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John Robertson
3 years ago
Scott Lahteine