Esp32 HAL - fixed i2s stream, added PWM to extended pins

Marlin/src/HAL/HAL_ESP32/HAL.cpp

@@ -23,6 +23,7 @@
 #ifdef ARDUINO_ARCH_ESP32
 
 #include "HAL.h"
+#include "HAL_timers_ESP32.h"
 #include <rom/rtc.h>
 #include <driver/adc.h>
 #include <esp_adc_cal.h>
@@ -67,6 +68,9 @@ uint16_t HAL_adc_result;
 // ------------------------
 
 esp_adc_cal_characteristics_t characteristics;
+volatile int numPWMUsed = 0,
+             pwmPins[MAX_PWM_PINS],
+             pwmValues[MAX_PWM_PINS];
 
 // ------------------------
 // Public functions
@@ -168,25 +172,64 @@ void HAL_adc_init() {
 void HAL_adc_start_conversion(uint8_t adc_pin) {
   uint32_t mv;
   esp_adc_cal_get_voltage((adc_channel_t)get_channel(adc_pin), &characteristics, &mv);
-
-  HAL_adc_result = mv*1023.0/3300.0;
+  HAL_adc_result = mv * 1023.0 / 3300.0;
 }
 
 void analogWrite(pin_t pin, int value) {
+  // Use ledc hardware for internal pins
+  if (pin < 34) {
+    static int cnt_channel = 1, pin_to_channel[40] = { 0 };
+    if (pin_to_channel[pin] == 0) {
+      ledcAttachPin(pin, cnt_channel);
+      ledcSetup(cnt_channel, 490, 8);
+      ledcWrite(cnt_channel, value);
+      pin_to_channel[pin] = cnt_channel++;
+    }
+    ledcWrite(pin_to_channel[pin], value);
+    return;
+  }
+
+  int idx = -1;
 
-  if (!PWM_PIN(pin)) return;
+  // Search Pin
+  for (int i = 0; i < numPWMUsed; ++i)
+    if (pwmPins[i] == pin) { idx = i; break; }
 
-  static int cnt_channel = 1,
-             pin_to_channel[40] = {};
-  if (pin_to_channel[pin] == 0) {
-    ledcAttachPin(pin, cnt_channel);
-    ledcSetup(cnt_channel, 490, 8);
-    ledcWrite(cnt_channel, value);
+  // not found ?
+  if (idx < 0) {
+    // No slots remaining
+    if (numPWMUsed >= MAX_PWM_PINS) return;
 
-    pin_to_channel[pin] = cnt_channel++;
+    // Take new slot for pin
+    idx = numPWMUsed;
+    pwmPins[idx] = pin;
+    // Start timer on first use
+    if (idx == 0) HAL_timer_start(PWM_TIMER_NUM, PWM_TIMER_FREQUENCY);
+
+    ++numPWMUsed;
   }
 
-  ledcWrite(pin_to_channel[pin], value);
+  // Use 7bit internal value - add 1 to have 100% high at 255
+  pwmValues[idx] = (value + 1) / 2;
+}
+
+// Handle PWM timer interrupt
+HAL_PWM_TIMER_ISR() {
+  HAL_timer_isr_prologue(PWM_TIMER_NUM);
+
+  static uint8_t count = 0;
+
+  for (int i = 0; i < numPWMUsed; ++i) {
+    if (count == 0)                   // Start of interval
+      WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW);
+    else if (pwmValues[i] == count)   // End of duration
+      WRITE(pwmPins[i], LOW);
+  }
+
+  // 128 for 7 Bit resolution
+  count = (count + 1) & 0x7F;
+
+  HAL_timer_isr_epilogue(PWM_TIMER_NUM);
 }
 
 #endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp

@@ -47,36 +47,36 @@ static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
 const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
   { TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
   { TIMER_GROUP_0, TIMER_1,    TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
-  { TIMER_GROUP_1, TIMER_0,                      1, nullptr }, // 2
+  { TIMER_GROUP_1, TIMER_0,     PWM_TIMER_PRESCALE, pwmTC_Handler  }, // 2 - PWM
   { TIMER_GROUP_1, TIMER_1,                      1, nullptr }, // 3
 };
 
 // ------------------------
 // Public functions
 // ------------------------
 
-void IRAM_ATTR timer_group0_isr(void *para) {
-  const int timer_idx = (int)para;
+void IRAM_ATTR timer_isr(void *para) {
+  const tTimerConfig& timer = TimerConfig[(int)para];
 
   // Retrieve the interrupt status and the counter value
   // from the timer that reported the interrupt
-  uint32_t intr_status = TIMERG0.int_st_timers.val;
-  TIMERG0.hw_timer[timer_idx].update = 1;
+  uint32_t intr_status = TG[timer.group]->int_st_timers.val;
+  TG[timer.group]->hw_timer[timer.idx].update = 1;
 
   // Clear the interrupt
-  if (intr_status & BIT(timer_idx)) {
-    switch (timer_idx) {
-      case TIMER_0: TIMERG0.int_clr_timers.t0 = 1; break;
-      case TIMER_1: TIMERG0.int_clr_timers.t1 = 1; break;
+  if (intr_status & BIT(timer.idx)) {
+    switch (timer.idx) {
+      case TIMER_0: TG[timer.group]->int_clr_timers.t0 = 1; break;
+      case TIMER_1: TG[timer.group]->int_clr_timers.t1 = 1; break;
+      case TIMER_MAX: break;
     }
   }
 
-  const tTimerConfig timer = TimerConfig[timer_idx];
   timer.fn();
 
   // After the alarm has been triggered
   // Enable it again so it gets triggered the next time
-  TIMERG0.hw_timer[timer_idx].config.alarm_en = TIMER_ALARM_EN;
+  TG[timer.group]->hw_timer[timer.idx].config.alarm_en = TIMER_ALARM_EN;
 }
 
 /**
@@ -106,8 +106,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
 
   timer_enable_intr(timer.group, timer.idx);
 
-  // TODO need to deal with timer_group1_isr
-  timer_isr_register(timer.group, timer.idx, timer_group0_isr, (void*)timer.idx, 0, nullptr);
+  timer_isr_register(timer.group, timer.idx, timer_isr, (void*)timer_num, 0, nullptr);
 
   timer_start(timer.group, timer.idx);
 }

Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h

@@ -40,6 +40,7 @@ typedef uint64_t hal_timer_t;
 
 #define STEP_TIMER_NUM 0  // index of timer to use for stepper
 #define TEMP_TIMER_NUM 1  // index of timer to use for temperature
+#define PWM_TIMER_NUM  2  // index of timer to use for PWM outputs
 #define PULSE_TIMER_NUM STEP_TIMER_NUM
 
 #define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
@@ -59,6 +60,14 @@ typedef uint64_t hal_timer_t;
 #define TEMP_TIMER_PRESCALE    1000 // prescaler for setting Temp timer, 72Khz
 #define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
 
+#define PWM_TIMER_PRESCALE       10
+#if ENABLED(FAST_PWM_FAN)
+  #define PWM_TIMER_FREQUENCY  FAST_PWM_FAN_FREQUENCY
+#else
+  #define PWM_TIMER_FREQUENCY  (50*128) // 50Hz and 7bit resolution
+#endif
+#define MAX_PWM_PINS             32 // Number of PWM pin-slots
+
 #define PULSE_TIMER_RATE         STEPPER_TIMER_RATE   // frequency of pulse timer
 #define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
@@ -72,10 +81,11 @@ typedef uint64_t hal_timer_t;
 
 #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler(void)
 #define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler(void)
+#define HAL_PWM_TIMER_ISR() extern "C" void pwmTC_Handler(void)
 
 extern "C" void tempTC_Handler(void);
 extern "C" void stepTC_Handler(void);
-
+extern "C" void pwmTC_Handler(void);
 
 // ------------------------
 // Types

Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h

@@ -66,7 +66,7 @@
 #define extDigitalWrite(IO,V)   digitalWrite(IO,V)
 
 // PWM outputs
-#define PWM_PIN(P)              (P < 34) // NOTE Pins >= 34 are input only on ESP32, so they can't be used for output.
+#define PWM_PIN(P)              (P < 34 || P > 127) // NOTE Pins >= 34 are input only on ESP32, so they can't be used for output.
 
 // Toggle pin value
 #define TOGGLE(IO)              WRITE(IO, !READ(IO))

Marlin/src/HAL/HAL_ESP32/i2s.cpp

@@ -56,7 +56,7 @@ static i2s_dev_t* I2S[I2S_NUM_MAX] = {&I2S0, &I2S1};
 static i2s_dma_t dma;
 
 // output value
-uint32_t i2s_port_data;
+uint32_t i2s_port_data = 0;
 
 #define I2S_ENTER_CRITICAL()  portENTER_CRITICAL(&i2s_spinlock[i2s_num])
 #define I2S_EXIT_CRITICAL()   portEXIT_CRITICAL(&i2s_spinlock[i2s_num])
@@ -140,13 +140,13 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
 }
 
 void stepperTask(void* parameter) {
-  uint32_t i, remaining = 0;
+  uint32_t remaining = 0;
 
   while (1) {
     xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
     dma.rw_pos = 0;
 
-    for (i = 0; i < DMA_SAMPLE_COUNT; i++) {
+    while (dma.rw_pos < DMA_SAMPLE_COUNT) {
       // Fill with the port data post pulse_phase until the next step
       if (remaining) {
         i2s_push_sample();
@@ -254,7 +254,13 @@ int i2s_init() {
 
   I2S0.fifo_conf.dscr_en = 0;
 
-  I2S0.conf_chan.tx_chan_mod = 0;
+  I2S0.conf_chan.tx_chan_mod = (
+    #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
+      4
+    #else
+      0
+    #endif
+  );
   I2S0.fifo_conf.tx_fifo_mod = 0;
   I2S0.conf.tx_mono = 0;
 
@@ -314,10 +320,19 @@ int i2s_init() {
 }
 
 void i2s_write(uint8_t pin, uint8_t val) {
+  #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
+    if (pin >= 16) {
+      SET_BIT_TO(I2S0.conf_single_data, pin, val);
+      return;
+    }
+  #endif
   SET_BIT_TO(i2s_port_data, pin, val);
 }
 
 uint8_t i2s_state(uint8_t pin) {
+  #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
+    if (pin >= 16) return TEST(I2S0.conf_single_data, pin);
+  #endif
   return TEST(i2s_port_data, pin);
 }