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esp3s3 & esp32c3 PWM implements (#5215)
* esp3s3 pwm * esp32s3-pwm: added spi alias for esp32s3 for tests * esp32s3-pwm: fix linters * esp32s3-pwm: fix rename * esp32s3-pwm: replace if to switch * esp32s3-pwm: chip specific registry * esp32s3-pwm: fix linters
This commit is contained in:
Dima
deadprogram
@@ -0,0 +1,179 @@
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//go:build esp32c3 || esp32s3
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// PWM on ESP32-C3/S3 uses the LEDC (LED Control) peripheral, low-speed mode only.
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// One timer drives multiple channels; each channel has its own duty, shared frequency.
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// Pin routing is via GPIO matrix (SigOutBase + channel index).
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//
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// Channel config (chanOp) follows the hardware contract from:
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// - ESP-IDF: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/ledc.html
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// (timer config → channel config → duty + update_duty).
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// - SVD (e.g. lib/cmsis-svd/data/Espressif/esp32s3.svd): CONF0.PARA_UP "updates
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// HPOINT, DUTY_START, SIG_OUT_EN, TIMER_SEL, DUTY_NUM, DUTY_CYCLE, DUTY_SCALE,
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// DUTY_INC for channel and is auto-cleared by hardware"; CONF1.DUTY_START "other
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// CONF1 fields take effect when this bit is set to 1".
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package machine
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import (
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"device/esp"
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"errors"
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)
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const ledcApbClock = 80_000000
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const ledcDutyFracBits = 4 // DUTY register has 4 fractional bits; write value<<4
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const ledcDividerFracBits = 8 // Clock divider register = actual_divider * 256
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var errPWMNoChannel = errors.New("pwm: no free channel")
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type LEDCPWM struct {
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SigOutBase uint32 // GPIO matrix signal index for channel 0 (e.g. 73 on S3, 45 on C3)
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NumChannels uint8
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timerNum uint8 // 0–3: which LEDC timer (frequency) this PWM uses
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dutyRes uint8
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configured bool
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channelPin [8]Pin
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}
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type ledcChanOp uint8
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const (
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ledcChanOpInit ledcChanOp = iota // initial per-channel setup (timer, enable, HPOINT/DUTY/CONF1, PARA_UP)
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ledcChanOpSetDuty // update duty and latch it (DUTY + CONF1 + PARA_UP)
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ledcChanOpSetInvert // change idle level (IDLE_LV)
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)
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func (pwm *LEDCPWM) Configure(config PWMConfig) error {
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// Enable LEDC clock and release reset (SYSTEM perip_clk_en0 / perip_rst_en0).
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esp.SYSTEM.SetPERIP_RST_EN0_LEDC_RST(1)
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esp.SYSTEM.SetPERIP_CLK_EN0_LEDC_CLK_EN(1)
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esp.SYSTEM.SetPERIP_RST_EN0_LEDC_RST(0)
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// LEDC global: APB clock source, enable internal clock.
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esp.LEDC.SetCONF_APB_CLK_SEL(1)
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esp.LEDC.SetCONF_CLK_EN(1)
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period := config.Period
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if period == 0 {
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period = 1_000_000
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}
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freq := uint64(1e9) / period
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dutyRes := uint8(10)
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switch {
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case freq < 100:
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dutyRes = 14
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case freq < 1000:
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dutyRes = 12
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case freq > 100_000:
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dutyRes = 8
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}
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// Timer divider: period_ns = (2^dutyRes * divActual/256) / 80MHz * 1e9 => divReg = divActual<<8.
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divActual := ledcApbClock / (uint32(freq) * (1 << dutyRes))
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if divActual == 0 {
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divActual = 1
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}
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divReg := divActual << ledcDividerFracBits
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if divReg > 0x3ffff {
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return ErrPWMPeriodTooLong
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}
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// Selected timer: resolution, divider, no pause, reset then latch config with PARA_UP.
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pwm.setTimerConf(dutyRes, divReg)
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pwm.dutyRes = dutyRes
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pwm.configured = true
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for i := range pwm.channelPin {
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pwm.channelPin[i] = NoPin
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}
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return nil
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}
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func (pwm *LEDCPWM) setTimerConf(dutyRes uint8, divReg uint32) {
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t := pwm.timerNum
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switch t {
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case 0:
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esp.LEDC.SetTIMER0_CONF_DUTY_RES(uint32(dutyRes))
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esp.LEDC.SetTIMER0_CONF_CLK_DIV(divReg)
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esp.LEDC.SetTIMER0_CONF_TICK_SEL(0)
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esp.LEDC.SetTIMER0_CONF_PAUSE(0)
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esp.LEDC.SetTIMER0_CONF_RST(1)
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esp.LEDC.SetTIMER0_CONF_RST(0)
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esp.LEDC.SetTIMER0_CONF_PARA_UP(1)
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case 1:
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esp.LEDC.SetTIMER1_CONF_DUTY_RES(uint32(dutyRes))
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esp.LEDC.SetTIMER1_CONF_CLK_DIV(divReg)
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esp.LEDC.SetTIMER1_CONF_TICK_SEL(0)
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esp.LEDC.SetTIMER1_CONF_PAUSE(0)
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esp.LEDC.SetTIMER1_CONF_RST(1)
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esp.LEDC.SetTIMER1_CONF_RST(0)
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esp.LEDC.SetTIMER1_CONF_PARA_UP(1)
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case 2:
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esp.LEDC.SetTIMER2_CONF_DUTY_RES(uint32(dutyRes))
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esp.LEDC.SetTIMER2_CONF_CLK_DIV(divReg)
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esp.LEDC.SetTIMER2_CONF_TICK_SEL(0)
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esp.LEDC.SetTIMER2_CONF_PAUSE(0)
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esp.LEDC.SetTIMER2_CONF_RST(1)
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esp.LEDC.SetTIMER2_CONF_RST(0)
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esp.LEDC.SetTIMER2_CONF_PARA_UP(1)
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case 3:
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esp.LEDC.SetTIMER3_CONF_DUTY_RES(uint32(dutyRes))
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esp.LEDC.SetTIMER3_CONF_CLK_DIV(divReg)
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esp.LEDC.SetTIMER3_CONF_TICK_SEL(0)
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esp.LEDC.SetTIMER3_CONF_PAUSE(0)
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esp.LEDC.SetTIMER3_CONF_RST(1)
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esp.LEDC.SetTIMER3_CONF_RST(0)
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esp.LEDC.SetTIMER3_CONF_PARA_UP(1)
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}
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}
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func (pwm *LEDCPWM) Channel(pin Pin) (uint8, error) {
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if !pwm.configured {
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return 0, errors.New("pwm: not configured")
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}
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if pin == NoPin {
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return 0, ErrInvalidOutputPin
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}
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var ch uint8
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for ch = 0; ch < pwm.NumChannels; ch++ {
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if pwm.channelPin[ch] == NoPin {
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break
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}
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}
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if ch >= pwm.NumChannels {
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return 0, errPWMNoChannel
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}
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pwm.channelPin[ch] = pin
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signal := pwm.SigOutBase + uint32(ch)
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pin.configure(PinConfig{Mode: PinOutput}, signal) // GPIO matrix: pin <- LEDC_LS_SIG_OUTn
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pwm.chanOp(ch, ledcChanOpInit, 0, false)
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return ch, nil
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}
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func (pwm *LEDCPWM) Set(channel uint8, value uint32) {
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if channel >= pwm.NumChannels {
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return
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}
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top := uint32(1<<pwm.dutyRes) - 1
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if value > top {
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value = top
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}
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dutyVal := value << ledcDutyFracBits
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pwm.chanOp(channel, ledcChanOpSetDuty, dutyVal, false)
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}
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func (pwm *LEDCPWM) Top() uint32 {
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if !pwm.configured {
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return 0
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}
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return uint32(1<<pwm.dutyRes) - 1
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}
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func (pwm *LEDCPWM) SetInverting(channel uint8, inverting bool) {
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if channel >= pwm.NumChannels {
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return
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}
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pwm.chanOp(channel, ledcChanOpSetInvert, 0, inverting)
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}
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