1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
|
/*
* ESP32PWM.h
*
* Created on: Sep 22, 2018
* Author: hephaestus
*/
#ifndef LIBRARIES_ESP32SERVO_SRC_ESP32PWM_H_
#define LIBRARIES_ESP32SERVO_SRC_ESP32PWM_H_
#include "esp32-hal-ledc.h"
#if defined(ARDUINO)
#include "Arduino.h"
#endif
#if defined(CONFIG_IDF_TARGET_ESP32C3)
#define NUM_PWM 6
#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
#define NUM_PWM 8
#else
#define NUM_PWM 16
#endif
#define PWM_BASE_INDEX 0
#define USABLE_ESP32_PWM (NUM_PWM-PWM_BASE_INDEX)
#include <cstdint>
class ESP32PWM {
private:
void attach(int pin);
int pwmChannel = 0; // channel number for this servo
bool attachedState = false;
int pin;
uint8_t resolutionBits;
double myFreq;
int allocatenext(double freq);
static double _ledcSetupTimerFreq(uint8_t pin, double freq,
uint8_t bit_num);
bool checkFrequencyForSideEffects(double freq);
void adjustFrequencyLocal(double freq, double dutyScaled);
static double mapf(double x, double in_min, double in_max, double out_min,
double out_max) {
if(x>in_max)
return out_max;
if(x<in_min)
return out_min;
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
double setup(double freq, uint8_t resolution_bits=10);
//channel 0-15 resolution 1-16bits freq limits depend on resolution9
void attachPin(uint8_t pin);
// pin allocation
void deallocate();
public:
// setup
ESP32PWM();
virtual ~ESP32PWM();
void detachPin(int pin);
void attachPin(uint8_t pin, double freq, uint8_t resolution_bits=10);
bool attached() {
return attachedState;
}
// write raw duty cycle
void write(uint32_t duty);
// Write a duty cycle to the PWM using a unit vector from 0.0-1.0
void writeScaled(double duty);
//Adjust frequency
double writeTone(double freq);
double writeNote(note_t note, uint8_t octave);
void adjustFrequency(double freq, double dutyScaled=-1);
// Read pwm data
uint32_t read();
double readFreq();
double getDutyScaled();
//Timer data
static int timerAndIndexToChannel(int timer, int index);
/**
* allocateTimer
* @param a timer number 0-3 indicating which timer to allocate in this library
* Switch to explicate allocation mode
*
*/
static void allocateTimer(int timerNumber);
static bool explicateAllocationMode;
int getTimer() {
return timerNum;
}
int timerNum = -1;
uint32_t myDuty = 0;
int getChannel();
static int PWMCount; // the total number of attached pwm
static int timerCount[4];
static ESP32PWM * ChannelUsed[NUM_PWM]; // used to track whether a channel is in service
static long timerFreqSet[4];
// Helper functions
int getPin() {
return pin;
}
static bool hasPwm(int pin) {
#if defined(CONFIG_IDF_TARGET_ESP32S2)
if ((pin >=1 && pin <= 21) || //21
(pin == 26) || //1
(pin >= 33 && pin <= 42)) //10
#elif defined(CONFIG_IDF_TARGET_ESP32S3)
if ((pin >=1 && pin <= 21) || //20
(pin >= 35 && pin <= 45) || //11
(pin == 47) || (pin == 48)) //2
#elif defined(CONFIG_IDF_TARGET_ESP32C3)
if ((pin >=0 && pin <= 10) || //11
(pin >= 18 && pin <= 21)) //4
#elif defined(CONFIG_IDF_TARGET_ESP32C6)
if ((pin >=0 && pin <= 9) || //10
(pin >= 12 && pin <= 23)) //12
#elif defined(CONFIG_IDF_TARGET_ESP32H2)
if ((pin >=0 && pin <= 5) || //6
(pin >= 8 && pin <= 14) || //7
(pin >= 22 && pin <= 27)) //6
#else
if ((pin == 2) || //1
(pin == 4) || //1
(pin == 5) || //1
((pin >= 12) && (pin <= 19)) || //8
((pin >= 21) && (pin <= 23)) || //3
((pin >= 25) && (pin <= 27)) || //3
(pin == 32) || (pin == 33)) //2
#endif
return true;
return false;
}
static int channelsRemaining() {
return NUM_PWM - PWMCount;
}
static boolean DISABLE_DAC;
};
ESP32PWM* pwmFactory(int pin);
#endif /* LIBRARIES_ESP32SERVO_SRC_ESP32PWM_H_ */
|
