/* * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ #include #include #include "freertos/FreeRTOS.h" #include "freertos/semphr.h" #include "esp_log.h" #include "esp_check.h" #include "soc/gpio_periph.h" #include "soc/ledc_periph.h" #include "soc/rtc.h" #include "soc/soc_caps.h" #include "hal/ledc_hal.h" #include "hal/gpio_hal.h" #include "driver/ledc.h" #include "esp_rom_gpio.h" #include "esp_rom_sys.h" #include "soc/clk_ctrl_os.h" static const char* LEDC_TAG = "ledc"; #define LEDC_CHECK(a, str, ret_val) ESP_RETURN_ON_FALSE(a, ret_val, LEDC_TAG, "%s", str); #define LEDC_ARG_CHECK(a, param) ESP_RETURN_ON_FALSE(a, ESP_ERR_INVALID_ARG, LEDC_TAG, param " argument is invalid"); typedef struct { ledc_mode_t speed_mode; ledc_duty_direction_t direction; uint32_t target_duty; int cycle_num; int scale; ledc_fade_mode_t mode; xSemaphoreHandle ledc_fade_sem; xSemaphoreHandle ledc_fade_mux; #if CONFIG_SPIRAM_USE_MALLOC StaticQueue_t ledc_fade_sem_storage; #endif } ledc_fade_t; typedef struct { ledc_hal_context_t ledc_hal; /*!< LEDC hal context*/ } ledc_obj_t; static ledc_obj_t *p_ledc_obj[LEDC_SPEED_MODE_MAX] = {0}; static ledc_fade_t *s_ledc_fade_rec[LEDC_SPEED_MODE_MAX][LEDC_CHANNEL_MAX]; static ledc_isr_handle_t s_ledc_fade_isr_handle = NULL; static portMUX_TYPE ledc_spinlock = portMUX_INITIALIZER_UNLOCKED; #define LEDC_VAL_NO_CHANGE (-1) #define LEDC_STEP_NUM_MAX (1023) #define LEDC_DUTY_DECIMAL_BIT_NUM (4) #define LEDC_TIMER_DIV_NUM_MAX (0x3FFFF) #define LEDC_DUTY_NUM_MAX (LEDC_DUTY_NUM_LSCH0_V) #define LEDC_DUTY_CYCLE_MAX (LEDC_DUTY_CYCLE_LSCH0_V) #define LEDC_DUTY_SCALE_MAX (LEDC_DUTY_SCALE_LSCH0_V) #define LEDC_HPOINT_VAL_MAX (LEDC_HPOINT_LSCH1_V) #define DELAY_CLK8M_CLK_SWITCH (5) #define SLOW_CLK_CYC_CALIBRATE (13) #define LEDC_FADE_TOO_SLOW_STR "LEDC FADE TOO SLOW" #define LEDC_FADE_TOO_FAST_STR "LEDC FADE TOO FAST" static const char *LEDC_NOT_INIT = "LEDC is not initialized"; static const char *LEDC_FADE_SERVICE_ERR_STR = "LEDC fade service not installed"; static const char *LEDC_FADE_INIT_ERROR_STR = "LEDC fade channel init error, not enough memory or service not installed"; //This value will be calibrated when in use. static uint32_t s_ledc_slow_clk_8M = 0; static void ledc_ls_timer_update(ledc_mode_t speed_mode, ledc_timer_t timer_sel) { if (speed_mode == LEDC_LOW_SPEED_MODE) { ledc_hal_ls_timer_update(&(p_ledc_obj[speed_mode]->ledc_hal), timer_sel); } } static IRAM_ATTR void ledc_ls_channel_update(ledc_mode_t speed_mode, ledc_channel_t channel) { if (speed_mode == LEDC_LOW_SPEED_MODE) { ledc_hal_ls_channel_update(&(p_ledc_obj[speed_mode]->ledc_hal), channel); } } //We know that CLK8M is about 8M, but don't know the actual value. So we need to do a calibration. static bool ledc_slow_clk_calibrate(void) { if (periph_rtc_dig_clk8m_enable()) { s_ledc_slow_clk_8M = periph_rtc_dig_clk8m_get_freq(); ESP_LOGD(LEDC_TAG, "Calibrate CLK8M_CLK : %d Hz", s_ledc_slow_clk_8M); return true; } ESP_LOGE(LEDC_TAG, "Calibrate CLK8M_CLK failed"); return false; } static uint32_t ledc_get_src_clk_freq(ledc_clk_cfg_t clk_cfg) { uint32_t src_clk_freq = 0; if (clk_cfg == LEDC_USE_APB_CLK) { src_clk_freq = LEDC_APB_CLK_HZ; } else if (clk_cfg == LEDC_USE_REF_TICK) { src_clk_freq = LEDC_REF_CLK_HZ; } else if (clk_cfg == LEDC_USE_RTC8M_CLK) { src_clk_freq = s_ledc_slow_clk_8M; #if SOC_LEDC_SUPPORT_XTAL_CLOCK } else if (clk_cfg == LEDC_USE_XTAL_CLK) { src_clk_freq = rtc_clk_xtal_freq_get() * 1000000; #endif } return src_clk_freq; } static esp_err_t ledc_enable_intr_type(ledc_mode_t speed_mode, ledc_channel_t channel, ledc_intr_type_t type) { portENTER_CRITICAL(&ledc_spinlock); if (type == LEDC_INTR_FADE_END) { ledc_hal_set_fade_end_intr(&(p_ledc_obj[speed_mode]->ledc_hal), channel, true); } else { ledc_hal_set_fade_end_intr(&(p_ledc_obj[speed_mode]->ledc_hal), channel, false); } portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } static void _ledc_fade_hw_acquire(ledc_mode_t mode, ledc_channel_t channel) { ledc_fade_t* fade = s_ledc_fade_rec[mode][channel]; if (fade) { xSemaphoreTake(fade->ledc_fade_sem, portMAX_DELAY); ledc_enable_intr_type(mode, channel, LEDC_INTR_DISABLE); } } static void _ledc_fade_hw_release(ledc_mode_t mode, ledc_channel_t channel) { ledc_fade_t* fade = s_ledc_fade_rec[mode][channel]; if (fade) { xSemaphoreGive(fade->ledc_fade_sem); } } static void _ledc_op_lock_acquire(ledc_mode_t mode, ledc_channel_t channel) { ledc_fade_t* fade = s_ledc_fade_rec[mode][channel]; if (fade) { xSemaphoreTake(fade->ledc_fade_mux, portMAX_DELAY); } } static void _ledc_op_lock_release(ledc_mode_t mode, ledc_channel_t channel) { ledc_fade_t* fade = s_ledc_fade_rec[mode][channel]; if (fade) { xSemaphoreGive(fade->ledc_fade_mux); } } static uint32_t ledc_get_max_duty(ledc_mode_t speed_mode, ledc_channel_t channel) { // The arguments are checked before internally calling this function. uint32_t max_duty; ledc_hal_get_max_duty(&(p_ledc_obj[speed_mode]->ledc_hal), channel, &max_duty); return max_duty; } esp_err_t ledc_timer_set(ledc_mode_t speed_mode, ledc_timer_t timer_sel, uint32_t clock_divider, uint32_t duty_resolution, ledc_clk_src_t clk_src) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); ledc_hal_set_clock_divider(&(p_ledc_obj[speed_mode]->ledc_hal), timer_sel, clock_divider); ledc_hal_set_clock_source(&(p_ledc_obj[speed_mode]->ledc_hal), timer_sel, clk_src); ledc_hal_set_duty_resolution(&(p_ledc_obj[speed_mode]->ledc_hal), timer_sel, duty_resolution); ledc_ls_timer_update(speed_mode, timer_sel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } static IRAM_ATTR esp_err_t ledc_duty_config(ledc_mode_t speed_mode, ledc_channel_t channel, int hpoint_val, int duty_val, ledc_duty_direction_t duty_direction, uint32_t duty_num, uint32_t duty_cycle, uint32_t duty_scale) { portENTER_CRITICAL(&ledc_spinlock); if (hpoint_val >= 0) { ledc_hal_set_hpoint(&(p_ledc_obj[speed_mode]->ledc_hal), channel, hpoint_val); } if (duty_val >= 0) { ledc_hal_set_duty_int_part(&(p_ledc_obj[speed_mode]->ledc_hal), channel, duty_val); } ledc_hal_set_duty_direction(&(p_ledc_obj[speed_mode]->ledc_hal), channel, duty_direction); ledc_hal_set_duty_num(&(p_ledc_obj[speed_mode]->ledc_hal), channel, duty_num); ledc_hal_set_duty_cycle(&(p_ledc_obj[speed_mode]->ledc_hal), channel, duty_cycle); ledc_hal_set_duty_scale(&(p_ledc_obj[speed_mode]->ledc_hal), channel, duty_scale); ledc_ls_channel_update(speed_mode, channel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_bind_channel_timer(ledc_mode_t speed_mode, ledc_channel_t channel, ledc_timer_t timer_sel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); ledc_hal_bind_channel_timer(&(p_ledc_obj[speed_mode]->ledc_hal), channel, timer_sel); ledc_ls_channel_update(speed_mode, channel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_timer_rst(ledc_mode_t speed_mode, ledc_timer_t timer_sel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); ledc_hal_timer_rst(&(p_ledc_obj[speed_mode]->ledc_hal), timer_sel); ledc_ls_timer_update(speed_mode, timer_sel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_timer_pause(ledc_mode_t speed_mode, ledc_timer_t timer_sel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); ledc_hal_timer_pause(&(p_ledc_obj[speed_mode]->ledc_hal), timer_sel); ledc_ls_timer_update(speed_mode, timer_sel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_timer_resume(ledc_mode_t speed_mode, ledc_timer_t timer_sel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); ledc_hal_timer_resume(&(p_ledc_obj[speed_mode]->ledc_hal), timer_sel); ledc_ls_timer_update(speed_mode, timer_sel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_isr_register(void (*fn)(void*), void * arg, int intr_alloc_flags, ledc_isr_handle_t *handle) { esp_err_t ret; LEDC_ARG_CHECK(fn, "fn"); portENTER_CRITICAL(&ledc_spinlock); ret = esp_intr_alloc(ETS_LEDC_INTR_SOURCE, intr_alloc_flags, fn, arg, handle); portEXIT_CRITICAL(&ledc_spinlock); return ret; } // Setting the LEDC timer divisor with the given source clock, frequency and resolution. static esp_err_t ledc_set_timer_div(ledc_mode_t speed_mode, ledc_timer_t timer_num, ledc_clk_cfg_t clk_cfg, int freq_hz, int duty_resolution) { uint32_t div_param = 0; uint32_t precision = ( 0x1 << duty_resolution ); ledc_clk_src_t timer_clk_src = LEDC_APB_CLK; // Calculate the divisor // User specified source clock(RTC8M_CLK) for low speed channel if ((speed_mode == LEDC_LOW_SPEED_MODE) && (clk_cfg == LEDC_USE_RTC8M_CLK)) { if(s_ledc_slow_clk_8M == 0) { if (ledc_slow_clk_calibrate() == false) { goto error; } } div_param = ( (uint64_t) s_ledc_slow_clk_8M << 8 ) / freq_hz / precision; } else { // Automatically select APB or REF_TICK as the source clock. if (clk_cfg == LEDC_AUTO_CLK) { // Try calculating divisor based on LEDC_APB_CLK div_param = ( (uint64_t) LEDC_APB_CLK_HZ << 8 ) / freq_hz / precision; if (div_param > LEDC_TIMER_DIV_NUM_MAX) { // APB_CLK results in divisor which too high. Try using REF_TICK as clock source. timer_clk_src = LEDC_REF_TICK; div_param = ((uint64_t) LEDC_REF_CLK_HZ << 8) / freq_hz / precision; } else if (div_param < 256) { // divisor is too low goto error; } // User specified source clock(LEDC_APB_CLK_HZ or LEDC_REF_TICK) } else { timer_clk_src = (clk_cfg == LEDC_USE_REF_TICK) ? LEDC_REF_TICK : LEDC_APB_CLK; uint32_t src_clk_freq = ledc_get_src_clk_freq(clk_cfg); div_param = ( (uint64_t) src_clk_freq << 8 ) / freq_hz / precision; } } if (div_param < 256 || div_param > LEDC_TIMER_DIV_NUM_MAX) { goto error; } if (speed_mode == LEDC_LOW_SPEED_MODE) { portENTER_CRITICAL(&ledc_spinlock); ledc_hal_set_slow_clk(&(p_ledc_obj[speed_mode]->ledc_hal), clk_cfg); portEXIT_CRITICAL(&ledc_spinlock); } //Set the divisor ledc_timer_set(speed_mode, timer_num, div_param, duty_resolution, timer_clk_src); // reset the timer ledc_timer_rst(speed_mode, timer_num); return ESP_OK; error: ESP_LOGE(LEDC_TAG, "requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=%d", (uint32_t ) div_param); return ESP_FAIL; } esp_err_t ledc_timer_config(const ledc_timer_config_t* timer_conf) { LEDC_ARG_CHECK(timer_conf != NULL, "timer_conf"); uint32_t freq_hz = timer_conf->freq_hz; uint32_t duty_resolution = timer_conf->duty_resolution; uint32_t timer_num = timer_conf->timer_num; uint32_t speed_mode = timer_conf->speed_mode; LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(!((timer_conf->clk_cfg == LEDC_USE_RTC8M_CLK) && (speed_mode != LEDC_LOW_SPEED_MODE)), "Only low speed channel support RTC8M_CLK"); periph_module_enable(PERIPH_LEDC_MODULE); if (freq_hz == 0 || duty_resolution == 0 || duty_resolution >= LEDC_TIMER_BIT_MAX) { ESP_LOGE(LEDC_TAG, "freq_hz=%u duty_resolution=%u", freq_hz, duty_resolution); return ESP_ERR_INVALID_ARG; } if (timer_num > LEDC_TIMER_3) { ESP_LOGE(LEDC_TAG, "invalid timer #%u", timer_num); return ESP_ERR_INVALID_ARG; } if(p_ledc_obj[speed_mode] == NULL) { p_ledc_obj[speed_mode] = (ledc_obj_t *) heap_caps_calloc(1, sizeof(ledc_obj_t), MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT); if (p_ledc_obj[speed_mode] == NULL) { return ESP_ERR_NO_MEM; } ledc_hal_init(&(p_ledc_obj[speed_mode]->ledc_hal), speed_mode); } return ledc_set_timer_div(speed_mode, timer_num, timer_conf->clk_cfg, freq_hz, duty_resolution); } esp_err_t ledc_set_pin(int gpio_num, ledc_mode_t speed_mode, ledc_channel_t ledc_channel) { LEDC_ARG_CHECK(ledc_channel < LEDC_CHANNEL_MAX, "ledc_channel"); LEDC_ARG_CHECK(GPIO_IS_VALID_OUTPUT_GPIO(gpio_num), "gpio_num"); LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[gpio_num], PIN_FUNC_GPIO); gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT); esp_rom_gpio_connect_out_signal(gpio_num, ledc_periph_signal[speed_mode].sig_out0_idx + ledc_channel, 0, 0); return ESP_OK; } esp_err_t ledc_channel_config(const ledc_channel_config_t* ledc_conf) { LEDC_ARG_CHECK(ledc_conf, "ledc_conf"); uint32_t speed_mode = ledc_conf->speed_mode; uint32_t gpio_num = ledc_conf->gpio_num; uint32_t ledc_channel = ledc_conf->channel; uint32_t timer_select = ledc_conf->timer_sel; uint32_t intr_type = ledc_conf->intr_type; uint32_t duty = ledc_conf->duty; uint32_t hpoint = ledc_conf->hpoint; bool output_invert = ledc_conf->flags.output_invert; LEDC_ARG_CHECK(ledc_channel < LEDC_CHANNEL_MAX, "ledc_channel"); LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(GPIO_IS_VALID_OUTPUT_GPIO(gpio_num), "gpio_num"); LEDC_ARG_CHECK(timer_select < LEDC_TIMER_MAX, "timer_select"); LEDC_ARG_CHECK(intr_type < LEDC_INTR_MAX, "intr_type"); periph_module_enable(PERIPH_LEDC_MODULE); esp_err_t ret = ESP_OK; if(p_ledc_obj[speed_mode] == NULL) { p_ledc_obj[speed_mode] = (ledc_obj_t *) heap_caps_calloc(1, sizeof(ledc_obj_t), MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT); if (p_ledc_obj[speed_mode] == NULL) { return ESP_ERR_NO_MEM; } ledc_hal_init(&(p_ledc_obj[speed_mode]->ledc_hal), speed_mode); } /*set channel parameters*/ /* channel parameters decide how the waveform looks like in one period*/ /* set channel duty and hpoint value, duty range is (0 ~ ((2 ** duty_resolution) - 1)), max hpoint value is 0xfffff*/ ledc_set_duty_with_hpoint(speed_mode, ledc_channel, duty, hpoint); /*update duty settings*/ ledc_update_duty(speed_mode, ledc_channel); /*bind the channel with the timer*/ ledc_bind_channel_timer(speed_mode, ledc_channel, timer_select); /*set interrupt type*/ ledc_enable_intr_type(speed_mode, ledc_channel, intr_type); ESP_LOGD(LEDC_TAG, "LEDC_PWM CHANNEL %1u|GPIO %02u|Duty %04u|Time %01u", ledc_channel, gpio_num, duty, timer_select ); /*set LEDC signal in gpio matrix*/ gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[gpio_num], PIN_FUNC_GPIO); gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT); esp_rom_gpio_connect_out_signal(gpio_num, ledc_periph_signal[speed_mode].sig_out0_idx + ledc_channel, output_invert, 0); return ret; } esp_err_t ledc_update_duty(ledc_mode_t speed_mode, ledc_channel_t channel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); ledc_hal_set_sig_out_en(&(p_ledc_obj[speed_mode]->ledc_hal), channel, true); ledc_hal_set_duty_start(&(p_ledc_obj[speed_mode]->ledc_hal), channel, true); ledc_ls_channel_update(speed_mode, channel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_stop(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t idle_level) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); ledc_hal_set_idle_level(&(p_ledc_obj[speed_mode]->ledc_hal), channel, idle_level); ledc_hal_set_sig_out_en(&(p_ledc_obj[speed_mode]->ledc_hal), channel, false); ledc_hal_set_duty_start(&(p_ledc_obj[speed_mode]->ledc_hal), channel, false); ledc_ls_channel_update(speed_mode, channel); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_set_fade(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t duty, ledc_duty_direction_t fade_direction, uint32_t step_num, uint32_t duty_cyle_num, uint32_t duty_scale) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK(fade_direction < LEDC_DUTY_DIR_MAX, "fade_direction"); LEDC_ARG_CHECK(step_num <= LEDC_DUTY_NUM_MAX, "step_num"); LEDC_ARG_CHECK(duty_cyle_num <= LEDC_DUTY_CYCLE_MAX, "duty_cycle_num"); LEDC_ARG_CHECK(duty_scale <= LEDC_DUTY_SCALE_MAX, "duty_scale"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); _ledc_fade_hw_acquire(speed_mode, channel); ledc_duty_config(speed_mode, channel, //uint32_t chan_num, LEDC_VAL_NO_CHANGE, duty, //uint32_t duty_val, fade_direction, //uint32_t increase, step_num, //uint32_t duty_num, duty_cyle_num, //uint32_t duty_cycle, duty_scale //uint32_t duty_scale ); _ledc_fade_hw_release(speed_mode, channel); return ESP_OK; } esp_err_t ledc_set_duty_with_hpoint(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t duty, uint32_t hpoint) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK(hpoint <= LEDC_HPOINT_VAL_MAX, "hpoint"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); /* The channel configuration should not be changed before the fade operation is done. */ _ledc_fade_hw_acquire(speed_mode, channel); ledc_duty_config(speed_mode, channel, //uint32_t chan_num, hpoint, //uint32_t hpoint_val, duty, //uint32_t duty_val, 1, //uint32_t increase, 1, //uint32_t duty_num, 1, //uint32_t duty_cycle, 0 //uint32_t duty_scale ); _ledc_fade_hw_release(speed_mode, channel); return ESP_OK; } esp_err_t ledc_set_duty(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t duty) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); /* The channel configuration should not be changed before the fade operation is done. */ _ledc_fade_hw_acquire(speed_mode, channel); ledc_duty_config(speed_mode, channel, //uint32_t chan_num, LEDC_VAL_NO_CHANGE, duty, //uint32_t duty_val, 1, //uint32_t increase, 1, //uint32_t duty_num, 1, //uint32_t duty_cycle, 0 //uint32_t duty_scale ); _ledc_fade_hw_release(speed_mode, channel); return ESP_OK; } uint32_t ledc_get_duty(ledc_mode_t speed_mode, ledc_channel_t channel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); uint32_t duty = 0; ledc_hal_get_duty(&(p_ledc_obj[speed_mode]->ledc_hal), channel, &duty); return duty; } int ledc_get_hpoint(ledc_mode_t speed_mode, ledc_channel_t channel) { LEDC_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode argument is invalid", LEDC_ERR_VAL); LEDC_CHECK(channel < LEDC_CHANNEL_MAX, "channel argument is invalid", LEDC_ERR_VAL); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); uint32_t hpoint = 0; ledc_hal_get_hpoint(&(p_ledc_obj[speed_mode]->ledc_hal), channel, &hpoint); return hpoint; } esp_err_t ledc_set_freq(ledc_mode_t speed_mode, ledc_timer_t timer_num, uint32_t freq_hz) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_num < LEDC_TIMER_MAX, "timer_num"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); ledc_clk_cfg_t clk_cfg = LEDC_USE_APB_CLK; uint32_t duty_resolution = 0; ledc_hal_get_clk_cfg(&(p_ledc_obj[speed_mode]->ledc_hal), timer_num, &clk_cfg); ledc_hal_get_duty_resolution(&(p_ledc_obj[speed_mode]->ledc_hal), timer_num, &duty_resolution); return ledc_set_timer_div(speed_mode, timer_num, clk_cfg, freq_hz, duty_resolution); } uint32_t ledc_get_freq(ledc_mode_t speed_mode, ledc_timer_t timer_num) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_num < LEDC_TIMER_MAX, "timer_num"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); portENTER_CRITICAL(&ledc_spinlock); uint32_t clock_divider = 0; uint32_t duty_resolution = 0; ledc_clk_cfg_t clk_cfg = LEDC_USE_APB_CLK; ledc_hal_get_clock_divider(&(p_ledc_obj[speed_mode]->ledc_hal), timer_num, &clock_divider); ledc_hal_get_duty_resolution(&(p_ledc_obj[speed_mode]->ledc_hal), timer_num, &duty_resolution); ledc_hal_get_clk_cfg(&(p_ledc_obj[speed_mode]->ledc_hal), timer_num, &clk_cfg); uint32_t precision = (0x1 << duty_resolution); uint32_t src_clk_freq = ledc_get_src_clk_freq(clk_cfg); portEXIT_CRITICAL(&ledc_spinlock); return ((uint64_t) src_clk_freq << 8) / precision / clock_divider; } static inline void ledc_calc_fade_end_channel(uint32_t *fade_end_status, uint32_t *channel) { uint32_t i = __builtin_ffs((*fade_end_status)) - 1; (*fade_end_status) &= ~(1 << i); *channel = i; } void IRAM_ATTR ledc_fade_isr(void* arg) { portBASE_TYPE HPTaskAwoken = pdFALSE; uint32_t speed_mode = 0; uint32_t channel = 0; uint32_t intr_status = 0; for (speed_mode = 0; speed_mode < LEDC_SPEED_MODE_MAX; speed_mode++) { if (p_ledc_obj[speed_mode] == NULL) { continue; } ledc_hal_get_fade_end_intr_status(&(p_ledc_obj[speed_mode]->ledc_hal), &intr_status); while(intr_status) { ledc_calc_fade_end_channel(&intr_status, &channel); // clear interrupt portENTER_CRITICAL(&ledc_spinlock); ledc_hal_clear_fade_end_intr_status(&(p_ledc_obj[speed_mode]->ledc_hal), channel); portEXIT_CRITICAL(&ledc_spinlock); if (s_ledc_fade_rec[speed_mode][channel] == NULL) { //fade object not initialized yet. continue; } uint32_t duty_cur = 0; ledc_hal_get_duty(&(p_ledc_obj[speed_mode]->ledc_hal), channel, &duty_cur); if (duty_cur == s_ledc_fade_rec[speed_mode][channel]->target_duty) { xSemaphoreGiveFromISR(s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem, &HPTaskAwoken); if (HPTaskAwoken == pdTRUE) { portYIELD_FROM_ISR(); } continue; } uint32_t duty_tar = s_ledc_fade_rec[speed_mode][channel]->target_duty; int scale = s_ledc_fade_rec[speed_mode][channel]->scale; if (scale == 0) { xSemaphoreGiveFromISR(s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem, &HPTaskAwoken); continue; } int cycle = s_ledc_fade_rec[speed_mode][channel]->cycle_num; int delta = s_ledc_fade_rec[speed_mode][channel]->direction == LEDC_DUTY_DIR_DECREASE ? duty_cur - duty_tar : duty_tar - duty_cur; int step = delta / scale > LEDC_STEP_NUM_MAX ? LEDC_STEP_NUM_MAX : delta / scale; if (delta > scale) { ledc_duty_config( speed_mode, channel, LEDC_VAL_NO_CHANGE, duty_cur, s_ledc_fade_rec[speed_mode][channel]->direction, step, cycle, scale); } else { ledc_duty_config( speed_mode, channel, LEDC_VAL_NO_CHANGE, duty_tar, s_ledc_fade_rec[speed_mode][channel]->direction, 1, 1, 0); } portENTER_CRITICAL(&ledc_spinlock); ledc_hal_set_duty_start(&(p_ledc_obj[speed_mode]->ledc_hal), channel, true); portEXIT_CRITICAL(&ledc_spinlock); } } } static esp_err_t ledc_fade_channel_deinit(ledc_mode_t speed_mode, ledc_channel_t channel) { if (s_ledc_fade_rec[speed_mode][channel]) { if (s_ledc_fade_rec[speed_mode][channel]->ledc_fade_mux) { vSemaphoreDelete(s_ledc_fade_rec[speed_mode][channel]->ledc_fade_mux); s_ledc_fade_rec[speed_mode][channel]->ledc_fade_mux = NULL; } if (s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem) { vSemaphoreDelete(s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem); s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem = NULL; } free(s_ledc_fade_rec[speed_mode][channel]); s_ledc_fade_rec[speed_mode][channel] = NULL; } return ESP_OK; } static esp_err_t ledc_fade_channel_init_check(ledc_mode_t speed_mode, ledc_channel_t channel) { if (s_ledc_fade_isr_handle == NULL) { ESP_LOGE(LEDC_TAG, "Fade service not installed, call ledc_fade_func_install"); return ESP_FAIL; } if (s_ledc_fade_rec[speed_mode][channel] == NULL) { #if CONFIG_SPIRAM_USE_MALLOC s_ledc_fade_rec[speed_mode][channel] = (ledc_fade_t *) heap_caps_calloc(1, sizeof(ledc_fade_t), MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT); if (!s_ledc_fade_rec[speed_mode][channel]) { ledc_fade_channel_deinit(speed_mode, channel); return ESP_FAIL; } memset(&s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem_storage, 0, sizeof(StaticQueue_t)); s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem = xSemaphoreCreateBinaryStatic(&s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem_storage); #else s_ledc_fade_rec[speed_mode][channel] = (ledc_fade_t *) calloc(1, sizeof(ledc_fade_t)); s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem = xSemaphoreCreateBinary(); #endif s_ledc_fade_rec[speed_mode][channel]->ledc_fade_mux = xSemaphoreCreateMutex(); xSemaphoreGive(s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem); } if (s_ledc_fade_rec[speed_mode][channel] && s_ledc_fade_rec[speed_mode][channel]->ledc_fade_mux && s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem) { return ESP_OK; } else { ledc_fade_channel_deinit(speed_mode, channel); return ESP_FAIL; } } static esp_err_t _ledc_set_fade_with_step(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t target_duty, int scale, int cycle_num) { portENTER_CRITICAL(&ledc_spinlock); uint32_t duty_cur = 0; ledc_hal_get_duty(&(p_ledc_obj[speed_mode]->ledc_hal), channel, &duty_cur); // When duty == max_duty, meanwhile, if scale == 1 and fade_down == 1, counter would overflow. if (duty_cur == ledc_get_max_duty(speed_mode, channel)) { duty_cur -= 1; } s_ledc_fade_rec[speed_mode][channel]->speed_mode = speed_mode; s_ledc_fade_rec[speed_mode][channel]->target_duty = target_duty; s_ledc_fade_rec[speed_mode][channel]->cycle_num = cycle_num; s_ledc_fade_rec[speed_mode][channel]->scale = scale; int step_num = 0; int dir = LEDC_DUTY_DIR_DECREASE; if (scale > 0) { if (duty_cur > target_duty) { s_ledc_fade_rec[speed_mode][channel]->direction = LEDC_DUTY_DIR_DECREASE; step_num = (duty_cur - target_duty) / scale; step_num = step_num > LEDC_STEP_NUM_MAX ? LEDC_STEP_NUM_MAX : step_num; } else { s_ledc_fade_rec[speed_mode][channel]->direction = LEDC_DUTY_DIR_INCREASE; dir = LEDC_DUTY_DIR_INCREASE; step_num = (target_duty - duty_cur) / scale; step_num = step_num > LEDC_STEP_NUM_MAX ? LEDC_STEP_NUM_MAX : step_num; } } portEXIT_CRITICAL(&ledc_spinlock); if (scale > 0 && step_num > 0) { ledc_duty_config(speed_mode, channel, LEDC_VAL_NO_CHANGE, duty_cur, dir, step_num, cycle_num, scale); ESP_LOGD(LEDC_TAG, "cur duty: %d; target: %d, step: %d, cycle: %d; scale: %d; dir: %d\n", duty_cur, target_duty, step_num, cycle_num, scale, dir); } else { ledc_duty_config(speed_mode, channel, LEDC_VAL_NO_CHANGE, target_duty, dir, 0, 1, 0); ESP_LOGD(LEDC_TAG, "Set to target duty: %d", target_duty); } return ESP_OK; } static esp_err_t _ledc_set_fade_with_time(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t target_duty, int max_fade_time_ms) { ledc_timer_t timer_sel; uint32_t duty_cur = 0; ledc_hal_get_channel_timer(&(p_ledc_obj[speed_mode]->ledc_hal), channel, &timer_sel); ledc_hal_get_duty(&(p_ledc_obj[speed_mode]->ledc_hal), channel, &duty_cur); uint32_t freq = ledc_get_freq(speed_mode, timer_sel); uint32_t duty_delta = target_duty > duty_cur ? target_duty - duty_cur : duty_cur - target_duty; if (duty_delta == 0) { return _ledc_set_fade_with_step(speed_mode, channel, target_duty, 0, 0); } uint32_t total_cycles = max_fade_time_ms * freq / 1000; if (total_cycles == 0) { ESP_LOGW(LEDC_TAG, LEDC_FADE_TOO_FAST_STR); return _ledc_set_fade_with_step(speed_mode, channel, target_duty, 0, 0); } int scale, cycle_num; if (total_cycles > duty_delta) { scale = 1; cycle_num = total_cycles / duty_delta; if (cycle_num > LEDC_DUTY_NUM_MAX) { ESP_LOGW(LEDC_TAG, LEDC_FADE_TOO_SLOW_STR); cycle_num = LEDC_DUTY_NUM_MAX; } } else { cycle_num = 1; scale = duty_delta / total_cycles; if (scale > LEDC_DUTY_SCALE_MAX) { ESP_LOGW(LEDC_TAG, LEDC_FADE_TOO_FAST_STR); scale = LEDC_DUTY_SCALE_MAX; } } return _ledc_set_fade_with_step(speed_mode, channel, target_duty, scale, cycle_num); } static void _ledc_fade_start(ledc_mode_t speed_mode, ledc_channel_t channel, ledc_fade_mode_t fade_mode) { s_ledc_fade_rec[speed_mode][channel]->mode = fade_mode; // Clear interrupt status of channel ledc_hal_clear_fade_end_intr_status(&(p_ledc_obj[speed_mode]->ledc_hal), channel); // Enable interrupt for channel ledc_enable_intr_type(speed_mode, channel, LEDC_INTR_FADE_END); ledc_update_duty(speed_mode, channel); if (fade_mode == LEDC_FADE_WAIT_DONE) { xSemaphoreTake(s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem, portMAX_DELAY); } } esp_err_t ledc_set_fade_with_time(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t target_duty, int max_fade_time_ms) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK(target_duty <= ledc_get_max_duty(speed_mode, channel), "target_duty"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); LEDC_CHECK(ledc_fade_channel_init_check(speed_mode, channel) == ESP_OK , LEDC_FADE_INIT_ERROR_STR, ESP_FAIL); _ledc_fade_hw_acquire(speed_mode, channel); _ledc_set_fade_with_time(speed_mode, channel, target_duty, max_fade_time_ms); _ledc_fade_hw_release(speed_mode, channel); return ESP_OK; } esp_err_t ledc_set_fade_with_step(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t target_duty, uint32_t scale, uint32_t cycle_num) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK((scale > 0) && (scale <= LEDC_DUTY_SCALE_MAX), "fade scale"); LEDC_ARG_CHECK((cycle_num > 0) && (cycle_num <= LEDC_DUTY_CYCLE_MAX), "cycle_num"); LEDC_ARG_CHECK(target_duty <= ledc_get_max_duty(speed_mode, channel), "target_duty"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); LEDC_CHECK(ledc_fade_channel_init_check(speed_mode, channel) == ESP_OK , LEDC_FADE_INIT_ERROR_STR, ESP_FAIL); _ledc_fade_hw_acquire(speed_mode, channel); _ledc_set_fade_with_step(speed_mode, channel, target_duty, scale, cycle_num); _ledc_fade_hw_release(speed_mode, channel); return ESP_OK; } esp_err_t ledc_fade_start(ledc_mode_t speed_mode, ledc_channel_t channel, ledc_fade_mode_t fade_mode) { LEDC_CHECK(s_ledc_fade_rec != NULL, LEDC_FADE_SERVICE_ERR_STR, ESP_ERR_INVALID_STATE); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK(fade_mode < LEDC_FADE_MAX, "fade_mode"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); _ledc_fade_hw_acquire(speed_mode, channel); _ledc_fade_start(speed_mode, channel, fade_mode); _ledc_fade_hw_release(speed_mode, channel); return ESP_OK; } esp_err_t ledc_fade_func_install(int intr_alloc_flags) { //OR intr_alloc_flags with ESP_INTR_FLAG_IRAM because the fade isr is in IRAM return ledc_isr_register(ledc_fade_isr, NULL, intr_alloc_flags | ESP_INTR_FLAG_IRAM, &s_ledc_fade_isr_handle); } void ledc_fade_func_uninstall(void) { if (s_ledc_fade_rec == NULL) { return; } if (s_ledc_fade_isr_handle) { esp_intr_free(s_ledc_fade_isr_handle); s_ledc_fade_isr_handle = NULL; } int channel, mode; for (mode = 0; mode < LEDC_SPEED_MODE_MAX; mode++) { for (channel = 0; channel < LEDC_CHANNEL_MAX; channel++) { ledc_fade_channel_deinit(mode, channel); } } return; } /* * The functions below are thread-safe version of APIs for duty and fade control. * These APIs can be called from different tasks. */ esp_err_t ledc_set_duty_and_update(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t duty, uint32_t hpoint) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK(duty <= ledc_get_max_duty(speed_mode, channel), "target_duty"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); LEDC_CHECK(ledc_fade_channel_init_check(speed_mode, channel) == ESP_OK , LEDC_FADE_INIT_ERROR_STR, ESP_FAIL); _ledc_op_lock_acquire(speed_mode, channel); _ledc_fade_hw_acquire(speed_mode, channel); _ledc_set_fade_with_step(speed_mode, channel, duty, 0, 1); _ledc_fade_start(speed_mode, channel, LEDC_FADE_WAIT_DONE); _ledc_fade_hw_release(speed_mode, channel); _ledc_op_lock_release(speed_mode, channel); return ESP_OK; } esp_err_t ledc_set_fade_time_and_start(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t target_duty, uint32_t max_fade_time_ms, ledc_fade_mode_t fade_mode) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK(fade_mode < LEDC_FADE_MAX, "fade_mode"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); LEDC_CHECK(ledc_fade_channel_init_check(speed_mode, channel) == ESP_OK , LEDC_FADE_INIT_ERROR_STR, ESP_FAIL); LEDC_ARG_CHECK(target_duty <= ledc_get_max_duty(speed_mode, channel), "target_duty"); _ledc_op_lock_acquire(speed_mode, channel); _ledc_fade_hw_acquire(speed_mode, channel); _ledc_set_fade_with_time(speed_mode, channel, target_duty, max_fade_time_ms); _ledc_fade_start(speed_mode, channel, fade_mode); if (fade_mode == LEDC_FADE_WAIT_DONE) { _ledc_fade_hw_release(speed_mode, channel); } _ledc_op_lock_release(speed_mode, channel); return ESP_OK; } esp_err_t ledc_set_fade_step_and_start(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t target_duty, uint32_t scale, uint32_t cycle_num, ledc_fade_mode_t fade_mode) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(channel < LEDC_CHANNEL_MAX, "channel"); LEDC_ARG_CHECK(fade_mode < LEDC_FADE_MAX, "fade_mode"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); LEDC_CHECK(ledc_fade_channel_init_check(speed_mode, channel) == ESP_OK , LEDC_FADE_INIT_ERROR_STR, ESP_FAIL); LEDC_ARG_CHECK((scale > 0) && (scale <= LEDC_DUTY_SCALE_MAX), "fade scale"); LEDC_ARG_CHECK((cycle_num > 0) && (cycle_num <= LEDC_DUTY_CYCLE_MAX), "cycle_num"); LEDC_ARG_CHECK(target_duty <= ledc_get_max_duty(speed_mode, channel), "target_duty"); _ledc_op_lock_acquire(speed_mode, channel); _ledc_fade_hw_acquire(speed_mode, channel); _ledc_set_fade_with_step(speed_mode, channel, target_duty, scale, cycle_num); _ledc_fade_start(speed_mode, channel, fade_mode); if (fade_mode == LEDC_FADE_WAIT_DONE) { _ledc_fade_hw_release(speed_mode, channel); } _ledc_op_lock_release(speed_mode, channel); return ESP_OK; }