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refactor(pwm): Refactor pwm driver for esp8266 idf.

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XiongYu
2018-07-05 15:26:17 +08:00
parent eb41007f83
commit 1cf8601373
8 changed files with 1011 additions and 13 deletions
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components/esp8266/driver/pwm.c Normal file
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// Copyright 2018-2025 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 <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "esp_err.h"
#include "esp_log.h"
#include "esp8266/eagle_soc.h"
#include "esp8266/gpio_register.h"
#include "esp8266/pin_mux_register.h"
#include "esp_heap_caps.h"
#include "driver/pwm.h"
#include "driver/gpio.h"
// Temporary use the FreeRTOS critical function
#include "FreeRTOS.h"
#define ENTER_CRITICAL() portENTER_CRITICAL()
#define EXIT_CRITICAL() portEXIT_CRITICAL()
static const char *TAG = "pwm";
#define PWM_CHECK(a, str, ret) if(!(a)) { \
ESP_LOGE(TAG,"%s:%d (%s):%s", __FILE__, __LINE__, __FUNCTION__, str); \
return (ret); \
}
#define MAX_PWM_CHANNEL (8)
#define US_TO_MAC_TICK(t) (t)
#define US_TO_TICKS(t) US_TO_MAC_TICK(t)
#define AHEAD_TICKS0 0
#define AHEAD_TICKS1 6
#define AHEAD_TICKS2 8
#define AHEAD_TICKS3 2
#define MAX_TICKS 10000000ul
#define WDEVTSF0_TIME_LO 0x3ff21004
#define WDEVTSF0_TIME_HI 0x3ff21008
#define WDEVTSFSW0_LO 0x3ff21018
#define WDEVTSFSW0_HI 0x3ff2101C
#define WDEVTSF0_TIMER_LO 0x3ff2109c
#define WDEVTSF0_TIMER_HI 0x3ff210a0
#define WDEVTSF0TIMER_ENA 0x3ff21098
#define WDEV_TSF0TIMER_ENA BIT(31)
#define PWM_VERSION "PWM v3.0"
typedef struct {
uint32_t duty; /*!< pwm duty for each channel */
int16_t phase; /*!< pwm phase for each channel */
uint8_t io_num; /*!< pwm io_num for each channel */
} pwm_info_t;
typedef struct {
uint16_t io_mask; /*!< gpio num for each channel */
uint32_t post_edg_time; /*!< positive edge time for each channel */
uint32_t neg_edg_time; /*!< negative edge time for each channel */
} pwm_channel_param_t;
typedef struct {
uint32_t edg_time; /*!< change the output level at this edge time */
uint16_t io_set_mask; /*!< which gpio needs to change high level at this edge time */
uint16_t io_clr_mask; /*!< which gpio needs to change low level at this edge time */
} pwm_param_t;
typedef struct {
uint8_t run_channel_num; /*!< pwm run channel num */
pwm_param_t *run_pwm_param; /*!< pwm param for each channel */
} run_pwm_single_t;
typedef struct {
uint32_t depth;
uint8_t start_flag;
uint8_t init_flag;
uint16_t channel_invert_bitmap;
pwm_channel_param_t *channel;
pwm_param_t *param;
pwm_info_t *pwm_info;
run_pwm_single_t run_pwm[2];
uint32_t period;
uint8_t channel_num;
uint8_t update_done;
uint8_t run_pwm_toggle;
uint8_t current_channel;
uint16_t start_set_mask;
uint16_t start_clr_mask;
uint16_t local_channel;
uint16_t gpio_bit_mask;
uint32_t this_target;
run_pwm_single_t *single;
} pwm_obj_t;
pwm_obj_t *pwm_obj = NULL;
int wDev_MacTimSetFunc(void (*handle)(void));
static void pwm_phase_init(void)
{
int16_t time_delay;
uint8_t i;
for (i = 0; i < pwm_obj->channel_num; i++) {
if (-180 < pwm_obj->pwm_info[i].phase && pwm_obj->pwm_info[i].phase < 0) {
time_delay = 0 - ((0 - pwm_obj->pwm_info[i].phase) * pwm_obj->depth / 180);
} else if (pwm_obj->pwm_info[i].phase == 0) {
continue;
} else if (180 > pwm_obj->pwm_info[i].phase && pwm_obj->pwm_info[i].phase > 0) {
time_delay = pwm_obj->pwm_info[i].phase * pwm_obj->depth / 180;
} else {
ESP_LOGE(TAG, "channel[%d] phase error %d, valid ramge from (-180,180)\n", i, pwm_obj->pwm_info[i].phase);
continue;
}
pwm_obj->channel[i].post_edg_time = (time_delay + pwm_obj->channel[i].post_edg_time + pwm_obj->depth) % pwm_obj->depth;
pwm_obj->channel[i].neg_edg_time = (time_delay + pwm_obj->channel[i].neg_edg_time + pwm_obj->depth) % pwm_obj->depth;
}
}
static void pwm_insert_sort(void)
{
uint8_t i;
pwm_param_t tmp;
for (i = 1; i < pwm_obj->channel_num * 2; i++) {
if (pwm_obj->param[i].edg_time < pwm_obj->param[i - 1].edg_time) {
int32_t j = i - 1;
memcpy((void *)&tmp, (void *)&pwm_obj->param[i], sizeof(pwm_param_t));
while (j >= 0 && pwm_obj->param[j].edg_time > tmp.edg_time) {
memcpy(&pwm_obj->param[j + 1], &pwm_obj->param[j], sizeof(pwm_param_t));
j--;
}
memcpy(&pwm_obj->param[j + 1], &tmp, sizeof(pwm_param_t));
}
}
}
esp_err_t pwm_set_period(uint32_t period)
{
PWM_CHECK(period >= 10, "period setting is too short", ESP_ERR_INVALID_ARG);
pwm_obj->period = period;
return ESP_OK;
}
esp_err_t pwm_get_period(uint32_t *period_p)
{
PWM_CHECK(NULL != period_p, "Pointer is empty", ESP_ERR_INVALID_ARG);
*period_p = pwm_obj->period;
return ESP_OK;
}
esp_err_t pwm_set_channel_invert(uint16_t channel_mask)
{
PWM_CHECK((channel_mask >> pwm_obj->channel_num) == 0, "invalid channel_mask", ESP_ERR_INVALID_ARG);
pwm_obj->channel_invert_bitmap = channel_mask;
return ESP_OK;
}
esp_err_t pwm_clear_channel_invert(uint16_t channel_mask)
{
PWM_CHECK((channel_mask >> pwm_obj->channel_num) == 0, "invalid channel_mask", ESP_ERR_INVALID_ARG);
pwm_obj->channel_invert_bitmap = pwm_obj->channel_invert_bitmap & (~channel_mask);
return ESP_OK;
}
esp_err_t pwm_set_duty(uint8_t channel_num, uint32_t duty)
{
PWM_CHECK(channel_num <= pwm_obj->channel_num, "Channel num error", ESP_ERR_INVALID_ARG);
pwm_obj->pwm_info[channel_num].duty = duty;
return ESP_OK;
}
esp_err_t pwm_set_duties(uint32_t *duties)
{
uint8_t i;
PWM_CHECK(NULL != duties, "Pointer is empty", ESP_ERR_INVALID_ARG);
for (i = 0; i < pwm_obj->channel_num; i++) {
pwm_obj->pwm_info[i].duty = duties[i];
}
return ESP_OK;
}
esp_err_t pwm_get_duty(uint8_t channel_num, uint32_t *duty_p)
{
PWM_CHECK(channel_num <= pwm_obj->channel_num, "Channel num error", ESP_ERR_INVALID_ARG);
PWM_CHECK(NULL != duty_p, "Pointer is empty", ESP_ERR_INVALID_ARG);
*duty_p = pwm_obj->pwm_info[channel_num].duty;
return ESP_OK;
}
esp_err_t pwm_set_period_duties(uint32_t period, uint32_t *duties)
{
PWM_CHECK(NULL != duties, "Pointer is empty", ESP_ERR_INVALID_ARG);
pwm_set_period(period);
pwm_set_duties(duties);
return ESP_OK;
}
esp_err_t pwm_set_phase(uint8_t channel_num, int16_t phase)
{
PWM_CHECK(channel_num <= pwm_obj->channel_num, "Channel num error", ESP_ERR_INVALID_ARG);
pwm_obj->pwm_info[channel_num].phase = phase;
return ESP_OK;
}
esp_err_t pwm_set_phases(int16_t *phases)
{
uint8_t i;
PWM_CHECK(NULL != phases, "Pointer is empty", ESP_ERR_INVALID_ARG);
for (i = 0; i < pwm_obj->channel_num; i++) {
pwm_obj->pwm_info[i].phase = phases[i];
}
return ESP_OK;
}
esp_err_t pwm_get_phase(uint8_t channel_num, uint16_t *phase_p)
{
PWM_CHECK(channel_num <= pwm_obj->channel_num, "Channel num error", ESP_ERR_INVALID_ARG);
PWM_CHECK(NULL != phase_p, "Pointer is empty", ESP_ERR_INVALID_ARG);
*phase_p = pwm_obj->pwm_info[channel_num].phase;
return ESP_OK;
}
static void pwm_timer_enable(uint8_t enable)
{
if (0 == enable) {
ENTER_CRITICAL();
REG_WRITE(WDEVTSF0TIMER_ENA, REG_READ(WDEVTSF0TIMER_ENA) & (~WDEV_TSF0TIMER_ENA));
EXIT_CRITICAL();
} else {
REG_WRITE(WDEVTSF0TIMER_ENA, WDEV_TSF0TIMER_ENA);
}
}
static void IRAM_ATTR pwm_timer_intr_handler(void)
{
//process continous event
uint32_t mask = REG_READ(PERIPHS_GPIO_BASEADDR + GPIO_OUT_ADDRESS);
// In the interrupt handler, first check for data updates, then switch to the updated array at the end of a cycle, start outputting new PWM waveforms, and clear the update flag.
while (1) {
if (REG_READ(WDEVTSF0_TIME_LO) + AHEAD_TICKS2 < pwm_obj->this_target) {
break;
} else {
//wait timer comes
while ((REG_READ(WDEVTSF0_TIME_LO) + AHEAD_TICKS0) < pwm_obj->this_target && (pwm_obj->this_target < MAX_TICKS));
if (pwm_obj->current_channel == 0) {
if (pwm_obj->update_done == 1) {
pwm_obj->single = &pwm_obj->run_pwm[pwm_obj->run_pwm_toggle];
pwm_obj->run_pwm_toggle = (pwm_obj->run_pwm_toggle ^ 0x1);
pwm_obj->update_done = 0;
}
mask = mask & (~pwm_obj->single->run_pwm_param[pwm_obj->single->run_channel_num - 1].io_clr_mask);
mask = mask | pwm_obj->single->run_pwm_param[pwm_obj->single->run_channel_num - 1].io_set_mask;
REG_WRITE(PERIPHS_GPIO_BASEADDR + GPIO_OUT_ADDRESS, mask);
} else {
mask = mask & (~(pwm_obj->single->run_pwm_param[pwm_obj->current_channel - 1].io_clr_mask));
mask = mask | (pwm_obj->single->run_pwm_param[pwm_obj->current_channel - 1].io_set_mask);
REG_WRITE(PERIPHS_GPIO_BASEADDR + GPIO_OUT_ADDRESS, mask);
}
pwm_obj->this_target += pwm_obj->single->run_pwm_param[pwm_obj->current_channel].edg_time;
pwm_obj->current_channel++;
if (pwm_obj->current_channel >= pwm_obj->single->run_channel_num) {
pwm_obj->current_channel = 0;
}
}
}
pwm_obj->this_target -= REG_READ(WDEVTSF0_TIME_LO);
if (pwm_obj->this_target >= MAX_TICKS || pwm_obj->this_target < AHEAD_TICKS1 + AHEAD_TICKS3) {
pwm_obj->this_target = AHEAD_TICKS1 + AHEAD_TICKS3;
}
REG_WRITE(WDEVTSFSW0_LO, 0);
//WARNING, pwm_obj->this_target - AHEAD_TICKS1 should be bigger than zero
REG_WRITE(WDEVTSF0_TIMER_LO, pwm_obj->this_target - AHEAD_TICKS1);
REG_WRITE(WDEVTSF0TIMER_ENA, WDEV_TSF0TIMER_ENA);
}
static void pwm_timer_start(uint32_t period)
{
// suspend all task to void timer interrupt missed
// TODO, do we need lock interrupt here, I think interrupt context will not take 1ms long
// time low field to 0
REG_WRITE(WDEVTSFSW0_LO, 0);
// time high field to 0
REG_WRITE(WDEVTSFSW0_HI, 0);
// time low field to 0 again
REG_WRITE(WDEVTSFSW0_LO, 0);
// target timer low field to 0
REG_WRITE(WDEVTSF0_TIMER_LO, 0);
// target timer high field to 0
REG_WRITE(WDEVTSF0_TIMER_HI, 0);
// target low to the target value, with ahead time AHEAD_TICKS1
pwm_obj->this_target = US_TO_TICKS(period);
// WARNING: pwm_obj->this_target should bigger than AHEAD_TICKS1
REG_WRITE(WDEVTSF0_TIMER_LO, pwm_obj->this_target - AHEAD_TICKS1);
// enable timer
pwm_timer_enable(1);
}
static void pwm_timer_register(void (*handle)(void))
{
wDev_MacTimSetFunc(handle);
}
esp_err_t pwm_start(void)
{
uint8_t i, j;
PWM_CHECK((pwm_obj != NULL), "PWM has not been initialized yet.", ESP_FAIL);
pwm_obj->start_set_mask = 0;
pwm_obj->start_clr_mask = 0;
// Each PWM waveform has two edges in a cycle, rising edge and falling edge.
// Each PWM waveform has a level change at the edge time.
// Therefore, the duty cycle and phase can be adjusted as long as the corresponding edge is generated on the corresponding channel at each edge time.
// What the program needs to do is to establish the relationship between the edge time and the corresponding GPIO level changes.
// Then the edge time is sorted from small to large and the same edge time is merged. The time difference between two adjacent edge times
for (i = 0; i < pwm_obj->channel_num; i++) {
pwm_obj->channel[i].io_mask = (0x1 << pwm_obj->pwm_info[i].io_num);
if (pwm_obj->channel_invert_bitmap & (0x1 << i)) {
if (pwm_obj->pwm_info[i].duty == 0) {
pwm_obj->start_set_mask |= pwm_obj->channel[i].io_mask;
pwm_obj->channel[i].io_mask = 0;
pwm_obj->channel[i].post_edg_time = 0;
pwm_obj->channel[i].neg_edg_time = 0;
} else if (pwm_obj->pwm_info[i].duty == pwm_obj->depth) {
pwm_obj->start_clr_mask |= pwm_obj->channel[i].io_mask;
pwm_obj->channel[i].io_mask = 0;
pwm_obj->channel[i].post_edg_time = 0;
pwm_obj->channel[i].neg_edg_time = 0;
} else {
pwm_obj->channel[i].neg_edg_time = 0;
pwm_obj->channel[i].post_edg_time = US_TO_TICKS(pwm_obj->period) * ((float)pwm_obj->pwm_info[i].duty / pwm_obj->depth);
}
} else {
if (pwm_obj->pwm_info[i].duty == 0) {
pwm_obj->start_clr_mask |= pwm_obj->channel[i].io_mask;
pwm_obj->channel[i].io_mask = 0;
pwm_obj->channel[i].post_edg_time = 0;
pwm_obj->channel[i].neg_edg_time = 0;
} else if (pwm_obj->pwm_info[i].duty == pwm_obj->depth) {
pwm_obj->start_set_mask |= pwm_obj->channel[i].io_mask;
pwm_obj->channel[i].io_mask = 0;
pwm_obj->channel[i].post_edg_time = 0;
pwm_obj->channel[i].neg_edg_time = 0;
} else {
pwm_obj->channel[i].post_edg_time = 0;
pwm_obj->channel[i].neg_edg_time = US_TO_TICKS(pwm_obj->period) * ((float)pwm_obj->pwm_info[i].duty / pwm_obj->depth);
}
}
}
pwm_phase_init();
for (i = 0; i < pwm_obj->channel_num; i++) {
if (pwm_obj->channel[i].post_edg_time < pwm_obj->channel[i].neg_edg_time) {
if (pwm_obj->channel[i].post_edg_time == 0) {
pwm_obj->start_set_mask |= pwm_obj->channel[i].io_mask;
} else {
pwm_obj->start_clr_mask |= pwm_obj->channel[i].io_mask;
}
} else if (pwm_obj->channel[i].post_edg_time > pwm_obj->channel[i].neg_edg_time) {
if (pwm_obj->channel[i].neg_edg_time == 0) {
pwm_obj->start_clr_mask |= pwm_obj->channel[i].io_mask;
} else {
pwm_obj->start_set_mask |= pwm_obj->channel[i].io_mask;
}
}
}
for (i = 0; i < pwm_obj->channel_num * 2; i += 2) {
pwm_obj->param[i].edg_time = pwm_obj->channel[i >> 1].post_edg_time;
pwm_obj->param[i].io_set_mask = pwm_obj->channel[i >> 1].io_mask;
pwm_obj->param[i].io_clr_mask = 0;
pwm_obj->param[i + 1].edg_time = pwm_obj->channel[i >> 1].neg_edg_time;
pwm_obj->param[i + 1].io_set_mask = 0;
pwm_obj->param[i + 1].io_clr_mask = pwm_obj->channel[i >> 1].io_mask;
}
pwm_obj->local_channel = pwm_obj->channel_num * 2 + 1;
pwm_obj->param[pwm_obj->local_channel - 1].edg_time = pwm_obj->depth;
// All edges are sorted from small to large.
pwm_insert_sort();
// Merge the same edges.
for (i = pwm_obj->channel_num * 2; i > 0; i--) {
if (pwm_obj->param[i].edg_time == pwm_obj->param[i - 1].edg_time) {
pwm_obj->param[i - 1].io_set_mask |= pwm_obj->param[i].io_set_mask;
pwm_obj->param[i - 1].io_clr_mask |= pwm_obj->param[i].io_clr_mask;
for (j = i + 1; j <= pwm_obj->channel_num * 2; j++) {
memcpy(&pwm_obj->param[j - 1], &pwm_obj->param[j], sizeof(pwm_param_t));
}
pwm_obj->local_channel--;
}
}
for (i = pwm_obj->local_channel - 1; i > 0; i--) {
pwm_obj->param[i].edg_time = pwm_obj->param[i].edg_time - pwm_obj->param[i - 1].edg_time;
}
if (pwm_obj->param[0].edg_time == 0) {
pwm_obj->start_set_mask |= pwm_obj->param[0].io_set_mask;
pwm_obj->start_clr_mask |= pwm_obj->param[0].io_clr_mask;
for (i = 1; i < pwm_obj->local_channel; i++) {
memcpy(&pwm_obj->param[i - 1], &pwm_obj->param[i], sizeof(pwm_param_t));
}
pwm_obj->local_channel--;
}
pwm_obj->param[pwm_obj->local_channel - 1].io_set_mask = pwm_obj->start_set_mask;
pwm_obj->param[pwm_obj->local_channel - 1].io_clr_mask = pwm_obj->start_clr_mask;
if (pwm_obj->start_flag != 1) {
pwm_obj->start_flag = 1;
pwm_obj->run_pwm_toggle = 0;
pwm_obj->single = &pwm_obj->run_pwm[0];
pwm_obj->current_channel = 0;
memcpy(pwm_obj->run_pwm[0].run_pwm_param, pwm_obj->param, sizeof(pwm_param_t) * pwm_obj->local_channel);
pwm_obj->run_pwm[pwm_obj->run_pwm_toggle].run_channel_num = pwm_obj->local_channel;
pwm_obj->update_done = 1;
pwm_timer_start(pwm_obj->period);
} else {
if (pwm_obj->update_done != 1) {
memcpy(pwm_obj->run_pwm[pwm_obj->run_pwm_toggle].run_pwm_param, pwm_obj->param, sizeof(pwm_param_t) * pwm_obj->local_channel);
pwm_obj->run_pwm[pwm_obj->run_pwm_toggle].run_channel_num = pwm_obj->local_channel;
pwm_obj->update_done = 1;
}
}
return ESP_OK;
}
static esp_err_t pwm_obj_free(void)
{
PWM_CHECK((pwm_obj != NULL), "PWM has not been initialized yet.", ESP_FAIL);
if (pwm_obj->run_pwm[1].run_pwm_param) {
heap_caps_free(pwm_obj->run_pwm[1].run_pwm_param);
}
if (pwm_obj->run_pwm[0].run_pwm_param) {
heap_caps_free(pwm_obj->run_pwm[0].run_pwm_param);
}
if (pwm_obj->pwm_info) {
heap_caps_free(pwm_obj->pwm_info);
}
if (pwm_obj->param) {
heap_caps_free(pwm_obj->param);
}
if (pwm_obj->channel) {
heap_caps_free(pwm_obj->channel);
}
heap_caps_free(pwm_obj);
pwm_obj = NULL;
return ESP_OK;
}
static esp_err_t pwm_obj_malloc(uint32_t channel_num)
{
pwm_obj = (pwm_obj_t *)heap_caps_malloc(sizeof(pwm_obj_t), MALLOC_CAP_8BIT);
if (NULL == pwm_obj) {
return ESP_ERR_NO_MEM;
} else {
memset(pwm_obj, 0, sizeof(pwm_obj_t));
pwm_obj->channel = (pwm_channel_param_t *)heap_caps_malloc(sizeof(pwm_channel_param_t) * channel_num, MALLOC_CAP_8BIT);
pwm_obj->param = (pwm_param_t *)heap_caps_malloc(sizeof(pwm_param_t) * channel_num * 2 + sizeof(pwm_param_t), MALLOC_CAP_8BIT);
pwm_obj->pwm_info = (pwm_info_t *)heap_caps_malloc(sizeof(pwm_info_t) * channel_num, MALLOC_CAP_8BIT);
pwm_obj->run_pwm[0].run_pwm_param = (pwm_param_t *)heap_caps_malloc(sizeof(pwm_param_t) * channel_num * 2 + sizeof(pwm_param_t), MALLOC_CAP_8BIT);
pwm_obj->run_pwm[1].run_pwm_param = (pwm_param_t *)heap_caps_malloc(sizeof(pwm_param_t) * channel_num * 2 + sizeof(pwm_param_t), MALLOC_CAP_8BIT);
}
if (pwm_obj->channel && pwm_obj->param && pwm_obj->pwm_info && pwm_obj->run_pwm[0].run_pwm_param && pwm_obj->run_pwm[1].run_pwm_param) {
return ESP_OK;
} else {
pwm_obj_free();
return ESP_ERR_NO_MEM;
}
return ESP_OK;
}
esp_err_t pwm_init(uint32_t period, uint32_t *duties, uint32_t channel_num, const uint32_t *pin_mum)
{
PWM_CHECK(pwm_obj == NULL, "pwm has been initialized", ESP_FAIL);
PWM_CHECK(channel_num <= MAX_PWM_CHANNEL, "Channel num out of range", ESP_ERR_INVALID_ARG);
PWM_CHECK(NULL != duties, "duties pointer is empty", ESP_ERR_INVALID_ARG);
PWM_CHECK(NULL != pin_mum, "Pointer is empty", ESP_ERR_INVALID_ARG);
PWM_CHECK(period >= 10, "period setting is too short", ESP_ERR_INVALID_ARG);
uint8_t i;
if (ESP_ERR_NO_MEM == pwm_obj_malloc(channel_num)) {
pwm_obj_free();
return ESP_ERR_NO_MEM;
}
pwm_obj->depth = period;
pwm_obj->channel_num = channel_num;
for (i = 0; i < channel_num; i++) {
pwm_obj->pwm_info[i].io_num = pin_mum[i];
pwm_obj->gpio_bit_mask |= (0x1 << pin_mum[i]);
}
gpio_config_t io_conf;
io_conf.intr_type = GPIO_INTR_DISABLE;
io_conf.mode = GPIO_MODE_OUTPUT;
io_conf.pin_bit_mask = pwm_obj->gpio_bit_mask;
io_conf.pull_down_en = 0;
io_conf.pull_up_en = 0;
gpio_config(&io_conf);
GPIO_REG_WRITE(GPIO_ENABLE_W1TS_ADDRESS, pwm_obj->gpio_bit_mask);
pwm_set_period_duties(period, duties);
pwm_timer_register(pwm_timer_intr_handler);
ESP_LOGI(TAG, "--- %s\n", PWM_VERSION);
pwm_obj->init_flag = 1;
return ESP_OK;
}
esp_err_t pwm_stop(uint32_t stop_level_mask)
{
int16_t i = 0;
pwm_timer_enable(0);
uint32_t level_set = REG_READ(PERIPHS_GPIO_BASEADDR + GPIO_OUT_ADDRESS);
for (i = 0; i < pwm_obj->channel_num; i++) {
if (stop_level_mask & (0x1 << i)) {
level_set |= 0x1 << pwm_obj->pwm_info[i].io_num;
} else {
level_set &= (~(0x1 << pwm_obj->pwm_info[i].io_num));
}
}
REG_WRITE(PERIPHS_GPIO_BASEADDR + GPIO_OUT_ADDRESS, level_set);
pwm_obj->start_flag = 0;
return ESP_OK;
}
esp_err_t pwm_deinit(void)
{
PWM_CHECK((pwm_obj != NULL), "PWM has not been initialized yet.", ESP_FAIL);
PWM_CHECK((pwm_obj->init_flag), "PWM has been deleted.", ESP_FAIL);
pwm_obj->init_flag = 0;
pwm_stop(0xFF); // stop all channel
pwm_timer_register(NULL);
pwm_obj_free();
return ESP_OK;
}

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// Copyright 2018-2025 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.
#pragma once
#include <stdint.h>
#include "esp_err.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief PWM function initialization, including GPIO, frequency and duty cycle.
*
* @param period PWM period, unit: us.
* e.g. For 1KHz PWM, period is 1000 us. Do not set the period below 20us.
* @param duties duty cycle of each channels.
* @param pwm_channel_num PWM channel number, maximum is 8
* @param pin_mum GPIO number of PWM channel
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
* - ESP_FAIL Init error
*/
esp_err_t pwm_init(uint32_t period, uint32_t *duties, uint32_t pwm_channel_num, const uint32_t *pin_mum);
/**
* @brief PWM function uninstall
*
* @return
* - ESP_OK Success
* - ESP_FAIL Init error
*/
esp_err_t pwm_deinit(void);
/**
* @brief Set the duty cycle of a PWM channel.
* Set the time that high level or low(if you invert the output of this channel)
* signal will last, the duty cycle cannot exceed the period.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param channel_num PWM channel number
* the channel_num cannot exceed the value initialized by pwm_init.
* @param duty duty cycle
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_set_duty(uint8_t channel_num, uint32_t duty);
/**
* @brief Get the duty cycle of a PWM channel.
*
* @param channel_num PWM channel number
* the channel_num cannot exceed the value initialized by pwm_init.
* @param duty_p pointer saves the address of the specified channel duty cycle
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_get_duty(uint8_t channel_num, uint32_t *duty_p);
/**
* @brief Set PWM period, unit: us.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param period PWM period, unit: us
* For example, for 1KHz PWM, period is 1000. Do not set the period below 20us.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_set_period(uint32_t period);
/**
* @brief Get PWM period, unit: us.
*
* @param period_p pointer saves the address of the period
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_get_period(uint32_t *period_p);
/**
* @brief Starts PWM.
*
* @note This function needs to be called after PWM configuration is changed.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_start(void);
/**
* @brief Stop all PWM channel.
* Stop PWM and set the output of each channel to the specified level.
* Calling pwm_start can re-start PWM output.
*
* @param stop_level_mask Out put level after PWM is stoped
* e.g. We initialize 8 channels, if stop_level_mask = 0x0f,
* channel 0,1,2 and 3 will output high level, and channel 4,5,6 and 7 will output low level.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_stop(uint32_t stop_level_mask);
/**
* @brief Set the duty cycle of all channels.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param duties An array that store the duty cycle of each channel,
* the array elements number needs to be the same as the number of channels.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_set_duties(uint32_t *duties);
/**
* @brief Set the phase of a PWM channel.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param channel_num PWM channel number
* the channel_num cannot exceed the value initialized by pwm_init.
* @param phase The phase of this PWM channel, the phase range is (-180 ~ 180).
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_set_phase(uint8_t channel_num, int16_t phase);
/**
* @brief Set the phase of all channels.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param phases An array that store the phase of each channel,
* the array elements number needs to be the same as the number of channels.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_set_phases(int16_t *phases);
/**
* @brief Get the phase of a PWM channel.
*
* @param channel_num PWM channel number
* the channel_num cannot exceed the value initialized by pwm_init.
* @param phase_p pointer saves the address of the specified channel phase
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_get_phase(uint8_t channel_num, uint16_t *phase_p);
/**
* @brief Set PWM period and duty of each PWM channel.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param period PWM period, unit: us
* For example, for 1KHz PWM, period is 1000.
* @param duties An array that store the duty cycle of each channel,
* the array elements number needs to be the same as the number of channels.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_set_period_duties(uint32_t period, uint32_t *duties);
/**
* @brief Set the inverting output PWM channel.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param channel_mask The channel bitmask that used to invert the output
* e.g. We initialize 8 channels, if channel_mask = 0x0f, channels 0, 1, 2 and 3 will invert the output.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_set_channel_invert(uint16_t channel_mask);
/**
* @brief Clear the inverting output PWM channel.
* This function only works for the PWM channel that is already in the inverted output states.
*
* @note After set configuration, pwm_start needs to be called to take effect.
*
* @param channel_mask The channel bitmask that need to clear
* e.g. The outputs of channels 0, 1, 2 and 3 are already in inverted state. If channel_mask = 0x07,
* the output of channel 0, 1, and 2 will return to normal, the channel 3 will keep inverting output.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pwm_clear_channel_invert(uint16_t channel_mask);
#ifdef __cplusplus
}
#endif

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examples/peripherals/gpio/main/user_main.c
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// Copyright 2018-2025 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.
/* gpio example
This example code is in the Public Domain (or CC0 licensed, at your option.)
Unless required by applicable law or agreed to in writing, this
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
CONDITIONS OF ANY KIND, either express or implied.
*/
#include <stdio.h>
#include <string.h>

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#
# This is a project Makefile. It is assumed the directory this Makefile resides in is a
# project subdirectory.
#
PROJECT_NAME := pwm
include $(IDF_PATH)/make/project.mk

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# _PWM Example_
* This example will show you how to use PWM module by running four channels:
* Observe PWM signal with logic analyzer or oscilloscope.
## Pin assignment
* GPIO12 is assigned as the PWM channel 0.
* GPIO13 is assigned as the PWM channel 1.
* GPIO14 is assigned as the PWM channel 2.
* GPIO15 is assigned as the PWM channel 3.
## How to use example
### Hardware Required
* Connection:
* Connect the PWM channel to a logic analyzer or oscilloscope.
### Configure the project
```
make menuconfig
```
* Set serial port under Serial Flasher Options.
### Build and Flash
Build the project and flash it to the board, then run monitor tool to view serial output:
```
make -j4 flash monitor
```
(To exit the serial monitor, type ``Ctrl-]``.)
See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
## Example Output
* LOG:
```
I (220) gpio: GPIO[12]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (225) gpio: GPIO[13]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (247) gpio: GPIO[14]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (251) gpio: GPIO[15]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (265) pwm: --- PWM v3.0
I (20276) main: PWM stop
I (30276) main: PWM re-start
I (50276) main: PWM stop
I (60279) main: PWM re-start
I (80279) main: PWM stop
I (90279) main: PWM re-start
I (110272) main: PWM stop
I (120272) main: PWM re-start
```
* WAVE FORM:
![wave](wave.png)

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#
# Main Makefile. This is basically the same as a component makefile.
#

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/* pwm example
This example code is in the Public Domain (or CC0 licensed, at your option.)
Unless required by applicable law or agreed to in writing, this
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
CONDITIONS OF ANY KIND, either express or implied.
*/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "esp_log.h"
#include "esp_system.h"
#include "esp_err.h"
#include "esp8266/gpio_register.h"
#include "esp8266/pin_mux_register.h"
#include "driver/pwm.h"
#define PWM_0_OUT_IO_NUM 12
#define PWM_1_OUT_IO_NUM 13
#define PWM_2_OUT_IO_NUM 14
#define PWM_3_OUT_IO_NUM 15
// PWM period 500us(2Khz), same as depth
#define PWM_PERIOD (500)
static const char *TAG = "pwm_example";
// pwm pin number
const uint32_t pin_num[4] = {
PWM_0_OUT_IO_NUM,
PWM_1_OUT_IO_NUM,
PWM_2_OUT_IO_NUM,
PWM_3_OUT_IO_NUM
};
// dutys table, (duty/PERIOD)*depth
uint32_t duties[4] = {
250, 250, 250, 250,
};
// phase table, (phase/180)*depth
int16_t phase[4] = {
0, 0, 50, -50,
};
void app_main()
{
pwm_init(PWM_PERIOD, duties, 4, pin_num);
pwm_set_channel_invert(0x1 << 0);
pwm_set_phases(phase);
pwm_start();
int16_t count = 0;
while (1) {
if (count == 20) {
//channel0, 1 output hight level.
//channel2, 3 output low level.
pwm_stop(0x3);
ESP_LOGI(TAG, "PWM stop\n");
} else if (count == 30) {
pwm_start();
ESP_LOGI(TAG, "PWM re-start\n");
count = 0;
}
count++;
vTaskDelay(1000 / portTICK_RATE_MS);
}
}

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