// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #include #include #include "esp_intr.h" #include "esp_intr_alloc.h" #include "freertos/FreeRTOS.h" #include "freertos/semphr.h" #include "freertos/xtensa_api.h" #include "soc/gpio_sig_map.h" #include "driver/ledc.h" #include "soc/ledc_reg.h" #include "soc/ledc_struct.h" #include "esp_log.h" static const char* LEDC_TAG = "ledc"; static portMUX_TYPE ledc_spinlock = portMUX_INITIALIZER_UNLOCKED; #define LEDC_CHECK(a, str, ret_val) \ if (!(a)) { \ ESP_LOGE(LEDC_TAG, "%s(%d): %s", __FUNCTION__, __LINE__, str); \ return (ret_val); \ } #define LEDC_ARG_CHECK(a, param) LEDC_CHECK(a, param " argument is invalid", ESP_ERR_INVALID_ARG) typedef struct { uint16_t speed_mode; uint16_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; 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; #define LEDC_VAL_NO_CHANGE (-1) #define LEDC_STEP_NUM_MAX (1023) #define LEDC_DUTY_DECIMAL_BIT_NUM (4) #define LEDC_HPOINT_VAL_MAX (LEDC_HPOINT_HSCH1_V) #define LEDC_FADE_TOO_SLOW_STR "LEDC FADE TOO SLOW" #define LEDC_FADE_TOO_FAST_STR "LEDC FADE TOO FAST" 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"; static void ledc_ls_timer_update(ledc_mode_t speed_mode, ledc_timer_t timer_sel) { if (speed_mode == LEDC_LOW_SPEED_MODE) { LEDC.timer_group[speed_mode].timer[timer_sel].conf.low_speed_update = 1; } } static IRAM_ATTR void ledc_ls_channel_update(ledc_mode_t speed_mode, ledc_channel_t channel_num) { if (speed_mode == LEDC_LOW_SPEED_MODE) { LEDC.channel_group[speed_mode].channel[channel_num].conf0.low_speed_update = 1; } } static esp_err_t ledc_enable_intr_type(ledc_mode_t speed_mode, uint32_t channel, ledc_intr_type_t type) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); uint32_t value; uint32_t intr_type = type; portENTER_CRITICAL(&ledc_spinlock); value = LEDC.int_ena.val; uint8_t int_en_base = LEDC_DUTY_CHNG_END_HSCH0_INT_ENA_S; if (speed_mode == LEDC_LOW_SPEED_MODE) { int_en_base = LEDC_DUTY_CHNG_END_LSCH0_INT_ENA_S; } if (intr_type == LEDC_INTR_FADE_END) { LEDC.int_ena.val = value | BIT(int_en_base + channel); } else { LEDC.int_ena.val = (value & (~(BIT(int_en_base + channel)))); } 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 int ledc_get_max_duty(ledc_mode_t speed_mode, ledc_channel_t channel) { // The arguments are checked before internally calling this function. int timer_sel = LEDC.channel_group[speed_mode].channel[channel].conf0.timer_sel; int max_duty = (1 << (LEDC.timer_group[speed_mode].timer[timer_sel].conf.duty_resolution)); 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"); portENTER_CRITICAL(&ledc_spinlock); LEDC.timer_group[speed_mode].timer[timer_sel].conf.clock_divider = clock_divider; LEDC.timer_group[speed_mode].timer[timer_sel].conf.tick_sel = clk_src; LEDC.timer_group[speed_mode].timer[timer_sel].conf.duty_resolution = 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_num, int hpoint_val, int duty_val, uint32_t duty_direction, uint32_t duty_num, uint32_t duty_cycle, uint32_t duty_scale) { portENTER_CRITICAL(&ledc_spinlock); if (hpoint_val >= 0) { LEDC.channel_group[speed_mode].channel[channel_num].hpoint.hpoint = hpoint_val & LEDC_HPOINT_HSCH1_V; } if (duty_val >= 0) { LEDC.channel_group[speed_mode].channel[channel_num].duty.duty = duty_val; } LEDC.channel_group[speed_mode].channel[channel_num].conf1.val = ((duty_direction & LEDC_DUTY_INC_HSCH0_V) << LEDC_DUTY_INC_HSCH0_S) | ((duty_num & LEDC_DUTY_NUM_HSCH0_V) << LEDC_DUTY_NUM_HSCH0_S) | ((duty_cycle & LEDC_DUTY_CYCLE_HSCH0_V) << LEDC_DUTY_CYCLE_HSCH0_S) | ((duty_scale & LEDC_DUTY_SCALE_HSCH0_V) << LEDC_DUTY_SCALE_HSCH0_S); ledc_ls_channel_update(speed_mode, channel_num); portEXIT_CRITICAL(&ledc_spinlock); return ESP_OK; } esp_err_t ledc_bind_channel_timer(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t timer_idx) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_idx < LEDC_TIMER_MAX, "timer_select"); portENTER_CRITICAL(&ledc_spinlock); LEDC.channel_group[speed_mode].channel[channel].conf0.timer_sel = timer_idx; 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, uint32_t timer_sel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); portENTER_CRITICAL(&ledc_spinlock); LEDC.timer_group[speed_mode].timer[timer_sel].conf.rst = 1; LEDC.timer_group[speed_mode].timer[timer_sel].conf.rst = 0; 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, uint32_t timer_sel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); portENTER_CRITICAL(&ledc_spinlock); LEDC.timer_group[speed_mode].timer[timer_sel].conf.pause = 1; 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, uint32_t timer_sel) { LEDC_ARG_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "speed_mode"); LEDC_ARG_CHECK(timer_sel < LEDC_TIMER_MAX, "timer_select"); portENTER_CRITICAL(&ledc_spinlock); LEDC.timer_group[speed_mode].timer[timer_sel].conf.pause = 0; 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; } 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"); 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; } esp_err_t ret = ESP_OK; uint32_t precision = ( 0x1 << duty_resolution ); // 2**depth // Try calculating divisor based on LEDC_APB_CLK ledc_clk_src_t timer_clk_src = LEDC_APB_CLK; // div_param is a Q10.8 fixed point value uint64_t div_param = ( (uint64_t) LEDC_APB_CLK_HZ << 8 ) / freq_hz / precision; if (div_param < 256) { // divisor is too low 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); ret = ESP_FAIL; } if (div_param > LEDC_DIV_NUM_HSTIMER0_V) { // 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; if (div_param < 256 || div_param > LEDC_DIV_NUM_HSTIMER0_V) { ESP_LOGE(LEDC_TAG, "requested frequency and duty resolution can not be achieved, try increasing freq_hz or duty_resolution. div_param=%d", (uint32_t ) div_param); ret = ESP_FAIL; } } else { if (speed_mode == LEDC_LOW_SPEED_MODE) { //for now, we only select 80mhz for slow clk of LEDC low speed channels. LEDC.conf.slow_clk_sel = 1; } } // set timer parameters ledc_timer_set(speed_mode, timer_num, div_param, duty_resolution, timer_clk_src); // reset timer ledc_timer_rst(speed_mode, timer_num); return ret; } 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"); PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio_num], PIN_FUNC_GPIO); gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT); if (speed_mode == LEDC_HIGH_SPEED_MODE) { gpio_matrix_out(gpio_num, LEDC_HS_SIG_OUT0_IDX + ledc_channel, 0, 0); } else { gpio_matrix_out(gpio_num, LEDC_LS_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; 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"); periph_module_enable(PERIPH_LEDC_MODULE); esp_err_t ret = ESP_OK; /*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*/ PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio_num], PIN_FUNC_GPIO); gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT); if (speed_mode == LEDC_HIGH_SPEED_MODE) { gpio_matrix_out(gpio_num, LEDC_HS_SIG_OUT0_IDX + ledc_channel, 0, 0); } else { gpio_matrix_out(gpio_num, LEDC_LS_SIG_OUT0_IDX + ledc_channel, 0, 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"); portENTER_CRITICAL(&ledc_spinlock); LEDC.channel_group[speed_mode].channel[channel].conf0.sig_out_en = 1; LEDC.channel_group[speed_mode].channel[channel].conf1.duty_start = 1; 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"); portENTER_CRITICAL(&ledc_spinlock); LEDC.channel_group[speed_mode].channel[channel].conf0.idle_lv = idle_level & 0x1; LEDC.channel_group[speed_mode].channel[channel].conf0.sig_out_en = 0; LEDC.channel_group[speed_mode].channel[channel].conf1.duty_start = 0; 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_HSCH0_V, "step_num"); LEDC_ARG_CHECK(duty_cyle_num <= LEDC_DUTY_CYCLE_HSCH0_V, "duty_cycle_num"); LEDC_ARG_CHECK(duty_scale <= LEDC_DUTY_SCALE_HSCH0_V, "duty_scale"); _ledc_fade_hw_acquire(speed_mode, channel); ledc_duty_config(speed_mode, channel, //uint32_t chan_num, LEDC_VAL_NO_CHANGE, duty << 4, //uint32_t duty_val,the least 4 bits are decimal part 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"); /* 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 << 4, //uint32_t duty_val,the least 4 bits are decimal part 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"); /* 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 << 4, //uint32_t duty_val,the least 4 bits are decimal part 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"); uint32_t duty = (LEDC.channel_group[speed_mode].channel[channel].duty_rd.duty_read >> 4); 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); uint32_t hpoint = LEDC.channel_group[speed_mode].channel[channel].hpoint.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"); portENTER_CRITICAL(&ledc_spinlock); esp_err_t ret = ESP_OK; uint32_t clock_divider = 0; uint32_t duty_resolution = LEDC.timer_group[speed_mode].timer[timer_num].conf.duty_resolution; uint32_t timer_source_clk = LEDC.timer_group[speed_mode].timer[timer_num].conf.tick_sel; uint32_t precision = (0x1 << duty_resolution); if (timer_source_clk == LEDC_APB_CLK) { clock_divider = ((uint64_t) LEDC_APB_CLK_HZ << 8) / freq_hz / precision; } else { clock_divider = ((uint64_t) LEDC_REF_CLK_HZ << 8) / freq_hz / precision; } if (clock_divider <= 256 || clock_divider > LEDC_DIV_NUM_HSTIMER0) { ESP_LOGE(LEDC_TAG, "div param err,div_param=%u", clock_divider); ret = ESP_FAIL; } LEDC.timer_group[speed_mode].timer[timer_num].conf.clock_divider = clock_divider; ledc_ls_timer_update(speed_mode, timer_num); portEXIT_CRITICAL(&ledc_spinlock); return ret; } 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"); portENTER_CRITICAL(&ledc_spinlock); uint32_t freq = 0; uint32_t timer_source_clk = LEDC.timer_group[speed_mode].timer[timer_num].conf.tick_sel; uint32_t duty_resolution = LEDC.timer_group[speed_mode].timer[timer_num].conf.duty_resolution; uint32_t clock_divider = LEDC.timer_group[speed_mode].timer[timer_num].conf.clock_divider; uint32_t precision = (0x1 << duty_resolution); if (timer_source_clk == LEDC_APB_CLK) { freq = ((uint64_t) LEDC_APB_CLK_HZ << 8) / precision / clock_divider; } else { freq = ((uint64_t) LEDC_REF_CLK_HZ << 8) / precision / clock_divider; } portEXIT_CRITICAL(&ledc_spinlock); return freq; } void IRAM_ATTR ledc_fade_isr(void* arg) { int channel; portBASE_TYPE HPTaskAwoken = pdFALSE; uint32_t intr_status = LEDC.int_st.val; //read LEDC interrupt status. LEDC.int_clr.val = intr_status; //clear LEDC interrupt status. int speed_mode = LEDC_HIGH_SPEED_MODE; for (channel = 0; channel < LEDC_CHANNEL_MAX; channel++) { if (intr_status & (BIT(LEDC_DUTY_CHNG_END_HSCH0_INT_ST_S + channel) | BIT(LEDC_DUTY_CHNG_END_LSCH0_INT_ST_S + channel))) { if (intr_status & BIT(LEDC_DUTY_CHNG_END_HSCH0_INT_ST_S + channel)) { speed_mode = LEDC_HIGH_SPEED_MODE; } else { speed_mode = LEDC_LOW_SPEED_MODE; } if (s_ledc_fade_rec[speed_mode][channel] == NULL) { //fade object not initialized yet. continue; } uint32_t duty_cur = LEDC.channel_group[speed_mode].channel[channel].duty_rd.duty_read >> LEDC_DUTY_DECIMAL_BIT_NUM; 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 << LEDC_DUTY_DECIMAL_BIT_NUM, s_ledc_fade_rec[speed_mode][channel]->direction, step, cycle, scale); } else { ledc_duty_config( speed_mode, channel, LEDC_VAL_NO_CHANGE, duty_tar << LEDC_DUTY_DECIMAL_BIT_NUM, s_ledc_fade_rec[speed_mode][channel]->direction, 1, 1, 0); } LEDC.channel_group[speed_mode].channel[channel].conf1.duty_start = 1; } } LEDC.int_clr.val = intr_status; //clear LEDC interrupt status. } 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 = LEDC.channel_group[speed_mode].channel[channel].duty_rd.duty_read >> LEDC_DUTY_DECIMAL_BIT_NUM; // 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 << 4, 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 << 4, 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) { int timer_sel = LEDC.channel_group[speed_mode].channel[channel].conf0.timer_sel; uint32_t freq = ledc_get_freq(speed_mode, timer_sel); uint32_t duty_cur = LEDC.channel_group[speed_mode].channel[channel].duty_rd.duty_read >> LEDC_DUTY_DECIMAL_BIT_NUM; 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); } int 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_HSCH0_V) { ESP_LOGW(LEDC_TAG, LEDC_FADE_TOO_SLOW_STR); cycle_num = LEDC_DUTY_NUM_HSCH0_V; } } else { cycle_num = 1; scale = duty_delta / total_cycles; if (scale > LEDC_DUTY_SCALE_HSCH0_V) { ESP_LOGW(LEDC_TAG, LEDC_FADE_TOO_FAST_STR); scale = LEDC_DUTY_SCALE_HSCH0_V; } } 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 int duty_resolution_ch0 = (speed_mode == LEDC_HIGH_SPEED_MODE) ? LEDC_DUTY_CHNG_END_HSCH0_INT_ENA_S : LEDC_DUTY_CHNG_END_LSCH0_INT_ENA_S; LEDC.int_clr.val |= BIT(duty_resolution_ch0 + 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(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_HSCH0_V), "fade scale"); LEDC_ARG_CHECK((cycle_num > 0) && (cycle_num <= LEDC_DUTY_CYCLE_HSCH0_V), "cycle_num"); LEDC_ARG_CHECK(target_duty <= ledc_get_max_duty(speed_mode, channel), "target_duty"); 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(fade_mode < LEDC_FADE_MAX, "fade_mode"); _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() { 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(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(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(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_HSCH0_V), "fade scale"); LEDC_ARG_CHECK((cycle_num > 0) && (cycle_num <= LEDC_DUTY_CYCLE_HSCH0_V), "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; }