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Delete core_esp8266_waveform.cpp
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/*
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esp8266_waveform - General purpose waveform generation and control,
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supporting outputs on all pins in parallel.
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Copyright (c) 2018 Earle F. Philhower, III. All rights reserved.
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The core idea is to have a programmable waveform generator with a unique
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high and low period (defined in microseconds or CPU clock cycles). TIMER1
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is set to 1-shot mode and is always loaded with the time until the next
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edge of any live waveforms.
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Up to one waveform generator per pin supported.
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Each waveform generator is synchronized to the ESP clock cycle counter, not
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the timer. This allows for removing interrupt jitter and delay as the
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counter always increments once per 80MHz clock. Changes to a waveform are
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contiguous and only take effect on the next waveform transition,
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allowing for smooth transitions.
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This replaces older tone(), analogWrite(), and the Servo classes.
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Everywhere in the code where "cycles" is used, it means ESP.getCycleCount()
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clock cycle count, or an interval measured in CPU clock cycles, but not
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TIMER1 cycles (which may be 2 CPU clock cycles @ 160MHz).
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifdef ESP8266
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#include <Arduino.h>
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#include "ets_sys.h"
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#include "core_esp8266_waveform.h"
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#include "user_interface.h"
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extern "C" {
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// Internal-only calls, not for applications
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extern void _setPWMFreq(uint32_t freq);
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extern bool _stopPWM(int pin);
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extern bool _setPWM(int pin, uint32_t val, uint32_t range);
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extern int startWaveformClockCycles(uint8_t pin, uint32_t timeHighCycles, uint32_t timeLowCycles, uint32_t runTimeCycles);
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// Maximum delay between IRQs
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#define MAXIRQUS (10000)
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// Waveform generator can create tones, PWM, and servos
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typedef struct {
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uint32_t nextServiceCycle; // ESP cycle timer when a transition required
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uint32_t expiryCycle; // For time-limited waveform, the cycle when this waveform must stop
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uint32_t timeHighCycles; // Actual running waveform period (adjusted using desiredCycles)
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uint32_t timeLowCycles; //
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uint32_t desiredHighCycles; // Ideal waveform period to drive the error signal
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uint32_t desiredLowCycles; //
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uint32_t lastEdge; // Cycle when this generator last changed
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} Waveform;
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class WVFState {
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public:
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Waveform waveform[17]; // State of all possible pins
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uint32_t waveformState = 0; // Is the pin high or low, updated in NMI so no access outside the NMI code
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uint32_t waveformEnabled = 0; // Is it actively running, updated in NMI so no access outside the NMI code
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// Enable lock-free by only allowing updates to waveformState and waveformEnabled from IRQ service routine
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uint32_t waveformToEnable = 0; // Message to the NMI handler to start a waveform on a inactive pin
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uint32_t waveformToDisable = 0; // Message to the NMI handler to disable a pin from waveform generation
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uint32_t waveformToChange = 0; // Mask of pin to change. One bit set in main app, cleared when effected in the NMI
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uint32_t waveformNewHigh = 0;
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uint32_t waveformNewLow = 0;
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uint32_t (*timer1CB)() = NULL;
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// Optimize the NMI inner loop by keeping track of the min and max GPIO that we
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// are generating. In the common case (1 PWM) these may be the same pin and
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// we can avoid looking at the other pins.
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uint16_t startPin = 0;
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uint16_t endPin = 0;
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};
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static WVFState wvfState;
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// Ensure everything is read/written to RAM
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#define MEMBARRIER() { __asm__ volatile("" ::: "memory"); }
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// Non-speed critical bits
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#pragma GCC optimize ("Os")
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// Interrupt on/off control
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static ICACHE_RAM_ATTR void timer1Interrupt();
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static bool timerRunning = false;
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static __attribute__((noinline)) void initTimer() {
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if (!timerRunning) {
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timer1_disable();
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ETS_FRC_TIMER1_INTR_ATTACH(NULL, NULL);
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ETS_FRC_TIMER1_NMI_INTR_ATTACH(timer1Interrupt);
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timer1_enable(TIM_DIV1, TIM_EDGE, TIM_SINGLE);
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timerRunning = true;
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timer1_write(microsecondsToClockCycles(10));
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}
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}
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static ICACHE_RAM_ATTR void forceTimerInterrupt() {
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if (T1L > microsecondsToClockCycles(10)) {
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T1L = microsecondsToClockCycles(10);
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}
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}
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// PWM implementation using special purpose state machine
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//
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// Keep an ordered list of pins with the delta in cycles between each
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// element, with a terminal entry making up the remainder of the PWM
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// period. With this method sum(all deltas) == PWM period clock cycles.
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//
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// At t=0 set all pins high and set the timeout for the 1st edge.
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// On interrupt, if we're at the last element reset to t=0 state
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// Otherwise, clear that pin down and set delay for next element
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// and so forth.
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constexpr int maxPWMs = 8;
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// PWM machine state
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typedef struct PWMState {
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uint32_t mask = 0; // Bitmask of active pins
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uint32_t cnt = 0; // How many entries
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uint32_t idx = 0; // Where the state machine is along the list
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uint8_t pin[maxPWMs + 1];
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uint32_t delta[maxPWMs + 1];
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uint32_t nextServiceCycle; // Clock cycle for next step
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struct PWMState *pwmUpdate; // Set by main code, cleared by ISR
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} PWMState;
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static PWMState pwmState;
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static uint32_t _pwmPeriod = microsecondsToClockCycles(1000000UL) / 1000;
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// If there are no more scheduled activities, shut down Timer 1.
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// Otherwise, do nothing.
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static ICACHE_RAM_ATTR void disableIdleTimer() {
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if (timerRunning && !wvfState.waveformEnabled && !pwmState.cnt && !wvfState.timer1CB) {
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ETS_FRC_TIMER1_NMI_INTR_ATTACH(NULL);
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timer1_disable();
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timer1_isr_init();
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timerRunning = false;
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}
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}
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// Notify the NMI that a new PWM state is available through the mailbox.
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// Wait for mailbox to be emptied (either busy or delay() as needed)
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static ICACHE_RAM_ATTR void _notifyPWM(PWMState *p, bool idle) {
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p->pwmUpdate = nullptr;
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pwmState.pwmUpdate = p;
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MEMBARRIER();
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forceTimerInterrupt();
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while (pwmState.pwmUpdate) {
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if (idle) {
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delay(0);
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}
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MEMBARRIER();
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}
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}
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static void _addPWMtoList(PWMState &p, int pin, uint32_t val, uint32_t range);
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// Called when analogWriteFreq() changed to update the PWM total period
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void _setPWMFreq(uint32_t freq) {
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// Convert frequency into clock cycles
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uint32_t cc = microsecondsToClockCycles(1000000UL) / freq;
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// Simple static adjustment to bring period closer to requested due to overhead
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#if F_CPU == 80000000
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cc -= microsecondsToClockCycles(2);
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#else
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cc -= microsecondsToClockCycles(1);
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#endif
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if (cc == _pwmPeriod) {
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return; // No change
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}
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_pwmPeriod = cc;
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if (pwmState.cnt) {
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PWMState p; // The working copy since we can't edit the one in use
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p.cnt = 0;
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for (uint32_t i = 0; i < pwmState.cnt; i++) {
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auto pin = pwmState.pin[i];
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_addPWMtoList(p, pin, wvfState.waveform[pin].desiredHighCycles, wvfState.waveform[pin].desiredLowCycles);
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}
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// Update and wait for mailbox to be emptied
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initTimer();
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_notifyPWM(&p, true);
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disableIdleTimer();
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}
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}
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// Helper routine to remove an entry from the state machine
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// and clean up any marked-off entries
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static void _cleanAndRemovePWM(PWMState *p, int pin) {
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uint32_t leftover = 0;
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uint32_t in, out;
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for (in = 0, out = 0; in < p->cnt; in++) {
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if ((p->pin[in] != pin) && (p->mask & (1<<p->pin[in]))) {
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p->pin[out] = p->pin[in];
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p->delta[out] = p->delta[in] + leftover;
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leftover = 0;
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out++;
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} else {
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leftover += p->delta[in];
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p->mask &= ~(1<<p->pin[in]);
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}
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}
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p->cnt = out;
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// Final pin is never used: p->pin[out] = 0xff;
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p->delta[out] = p->delta[in] + leftover;
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}
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// Disable PWM on a specific pin (i.e. when a digitalWrite or analogWrite(0%/100%))
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ICACHE_RAM_ATTR bool _stopPWM(int pin) {
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if (!((1<<pin) & pwmState.mask)) {
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return false; // Pin not actually active
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}
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PWMState p; // The working copy since we can't edit the one in use
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p = pwmState;
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// In _stopPWM we just clear the mask but keep everything else
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// untouched to save IRAM. The main startPWM will handle cleanup.
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p.mask &= ~(1<<pin);
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if (!p.mask) {
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// If all have been stopped, then turn PWM off completely
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p.cnt = 0;
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}
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// Update and wait for mailbox to be emptied, no delay (could be in ISR)
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_notifyPWM(&p, false);
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// Possibly shut down the timer completely if we're done
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disableIdleTimer();
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return true;
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}
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static void _addPWMtoList(PWMState &p, int pin, uint32_t val, uint32_t range) {
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// Stash the val and range so we can re-evaluate the fraction
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// should the user change PWM frequency. This allows us to
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// give as great a precision as possible. We know by construction
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// that the waveform for this pin will be inactive so we can borrow
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// memory from that structure.
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wvfState.waveform[pin].desiredHighCycles = val; // Numerator == high
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wvfState.waveform[pin].desiredLowCycles = range; // Denominator == low
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uint32_t cc = (_pwmPeriod * val) / range;
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if (cc == 0) {
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_stopPWM(pin);
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digitalWrite(pin, LOW);
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return;
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} else if (cc >= _pwmPeriod) {
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_stopPWM(pin);
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digitalWrite(pin, HIGH);
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return;
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}
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if (p.cnt == 0) {
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// Starting up from scratch, special case 1st element and PWM period
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p.pin[0] = pin;
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p.delta[0] = cc;
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// Final pin is never used: p.pin[1] = 0xff;
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p.delta[1] = _pwmPeriod - cc;
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} else {
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uint32_t ttl = 0;
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uint32_t i;
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// Skip along until we're at the spot to insert
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for (i=0; (i <= p.cnt) && (ttl + p.delta[i] < cc); i++) {
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ttl += p.delta[i];
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}
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// Shift everything out by one to make space for new edge
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for (int32_t j = p.cnt; j >= (int)i; j--) {
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p.pin[j + 1] = p.pin[j];
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p.delta[j + 1] = p.delta[j];
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}
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int off = cc - ttl; // The delta from the last edge to the one we're inserting
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p.pin[i] = pin;
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p.delta[i] = off; // Add the delta to this new pin
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p.delta[i + 1] -= off; // And subtract it from the follower to keep sum(deltas) constant
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}
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p.cnt++;
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p.mask |= 1<<pin;
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}
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// Called by analogWrite(1...99%) to set the PWM duty in clock cycles
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bool _setPWM(int pin, uint32_t val, uint32_t range) {
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stopWaveform(pin);
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PWMState p; // Working copy
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p = pwmState;
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// Get rid of any entries for this pin
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_cleanAndRemovePWM(&p, pin);
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// And add it to the list, in order
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if (p.cnt >= maxPWMs) {
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return false; // No space left
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}
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_addPWMtoList(p, pin, val, range);
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// Set mailbox and wait for ISR to copy it over
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initTimer();
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_notifyPWM(&p, true);
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disableIdleTimer();
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return true;
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}
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// Start up a waveform on a pin, or change the current one. Will change to the new
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// waveform smoothly on next low->high transition. For immediate change, stopWaveform()
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// first, then it will immediately begin.
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int startWaveform(uint8_t pin, uint32_t timeHighUS, uint32_t timeLowUS, uint32_t runTimeUS) {
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return startWaveformClockCycles(pin, microsecondsToClockCycles(timeHighUS), microsecondsToClockCycles(timeLowUS), microsecondsToClockCycles(runTimeUS));
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}
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int startWaveformClockCycles(uint8_t pin, uint32_t timeHighCycles, uint32_t timeLowCycles, uint32_t runTimeCycles) {
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if ((pin > 16) || isFlashInterfacePin(pin)) {
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return false;
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}
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Waveform *wave = &wvfState.waveform[pin];
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wave->expiryCycle = runTimeCycles ? ESP.getCycleCount() + runTimeCycles : 0;
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if (runTimeCycles && !wave->expiryCycle) {
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wave->expiryCycle = 1; // expiryCycle==0 means no timeout, so avoid setting it
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}
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_stopPWM(pin); // Make sure there's no PWM live here
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uint32_t mask = 1<<pin;
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MEMBARRIER();
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if (wvfState.waveformEnabled & mask) {
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// Make sure no waveform changes are waiting to be applied
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while (wvfState.waveformToChange) {
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delay(0); // Wait for waveform to update
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// No mem barrier here, the call to a global function implies global state updated
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}
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wvfState.waveformNewHigh = timeHighCycles;
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wvfState.waveformNewLow = timeLowCycles;
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MEMBARRIER();
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wvfState.waveformToChange = mask;
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// The waveform will be updated some time in the future on the next period for the signal
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} else { // if (!(wvfState.waveformEnabled & mask)) {
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wave->timeHighCycles = timeHighCycles;
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wave->desiredHighCycles = timeHighCycles;
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wave->timeLowCycles = timeLowCycles;
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wave->desiredLowCycles = timeLowCycles;
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wave->lastEdge = 0;
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wave->nextServiceCycle = ESP.getCycleCount() + microsecondsToClockCycles(1);
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wvfState.waveformToEnable |= mask;
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MEMBARRIER();
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initTimer();
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forceTimerInterrupt();
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while (wvfState.waveformToEnable) {
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delay(0); // Wait for waveform to update
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// No mem barrier here, the call to a global function implies global state updated
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}
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}
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return true;
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}
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// Set a callback. Pass in NULL to stop it
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void setTimer1Callback(uint32_t (*fn)()) {
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wvfState.timer1CB = fn;
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if (fn) {
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initTimer();
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forceTimerInterrupt();
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}
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disableIdleTimer();
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}
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// Speed critical bits
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#pragma GCC optimize ("O2")
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// Normally would not want two copies like this, but due to different
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// optimization levels the inline attribute gets lost if we try the
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// other version.
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static inline ICACHE_RAM_ATTR uint32_t GetCycleCountIRQ() {
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uint32_t ccount;
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__asm__ __volatile__("rsr %0,ccount":"=a"(ccount));
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return ccount;
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}
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static inline ICACHE_RAM_ATTR uint32_t min_u32(uint32_t a, uint32_t b) {
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if (a < b) {
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return a;
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}
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return b;
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}
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// Stops a waveform on a pin
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int ICACHE_RAM_ATTR stopWaveform(uint8_t pin) {
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// Can't possibly need to stop anything if there is no timer active
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if (!timerRunning) {
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return false;
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}
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// If user sends in a pin >16 but <32, this will always point to a 0 bit
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// If they send >=32, then the shift will result in 0 and it will also return false
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uint32_t mask = 1<<pin;
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if (wvfState.waveformEnabled & mask) {
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wvfState.waveformToDisable = mask;
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// Cancel any pending updates for this waveform, too.
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if (wvfState.waveformToChange & mask) {
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wvfState.waveformToChange = 0;
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}
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forceTimerInterrupt();
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while (wvfState.waveformToDisable) {
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MEMBARRIER(); // If it wasn't written yet, it has to be by now
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/* no-op */ // Can't delay() since stopWaveform may be called from an IRQ
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}
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}
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disableIdleTimer();
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return true;
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}
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// The SDK and hardware take some time to actually get to our NMI code, so
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// decrement the next IRQ's timer value by a bit so we can actually catch the
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// real CPU cycle counter we want for the waveforms.
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// The SDK also sometimes is running at a different speed the the Arduino core
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// so the ESP cycle counter is actually running at a variable speed.
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// adjust(x) takes care of adjusting a delta clock cycle amount accordingly.
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#if F_CPU == 80000000
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#define DELTAIRQ (microsecondsToClockCycles(3))
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#define adjust(x) ((x) << (turbo ? 1 : 0))
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#else
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#define DELTAIRQ (microsecondsToClockCycles(2))
|
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#define adjust(x) ((x) >> (turbo ? 0 : 1))
|
||||
#endif
|
||||
|
||||
|
||||
static ICACHE_RAM_ATTR void timer1Interrupt() {
|
||||
// Flag if the core is at 160 MHz, for use by adjust()
|
||||
bool turbo = (*(uint32_t*)0x3FF00014) & 1 ? true : false;
|
||||
|
||||
uint32_t nextEventCycles = microsecondsToClockCycles(MAXIRQUS);
|
||||
uint32_t timeoutCycle = GetCycleCountIRQ() + microsecondsToClockCycles(14);
|
||||
|
||||
if (wvfState.waveformToEnable || wvfState.waveformToDisable) {
|
||||
// Handle enable/disable requests from main app
|
||||
wvfState.waveformEnabled = (wvfState.waveformEnabled & ~wvfState.waveformToDisable) | wvfState.waveformToEnable; // Set the requested waveforms on/off
|
||||
wvfState.waveformState &= ~wvfState.waveformToEnable; // And clear the state of any just started
|
||||
wvfState.waveformToEnable = 0;
|
||||
wvfState.waveformToDisable = 0;
|
||||
// No mem barrier. Globals must be written to RAM on ISR exit.
|
||||
// Find the first GPIO being generated by checking GCC's find-first-set (returns 1 + the bit of the first 1 in an int32_t)
|
||||
wvfState.startPin = __builtin_ffs(wvfState.waveformEnabled) - 1;
|
||||
// Find the last bit by subtracting off GCC's count-leading-zeros (no offset in this one)
|
||||
wvfState.endPin = 32 - __builtin_clz(wvfState.waveformEnabled);
|
||||
} else if (!pwmState.cnt && pwmState.pwmUpdate) {
|
||||
// Start up the PWM generator by copying from the mailbox
|
||||
pwmState.cnt = 1;
|
||||
pwmState.idx = 1; // Ensure copy this cycle, cause it to start at t=0
|
||||
pwmState.nextServiceCycle = GetCycleCountIRQ(); // Do it this loop!
|
||||
// No need for mem barrier here. Global must be written by IRQ exit
|
||||
}
|
||||
|
||||
bool done = false;
|
||||
if (wvfState.waveformEnabled || pwmState.cnt) {
|
||||
do {
|
||||
nextEventCycles = microsecondsToClockCycles(MAXIRQUS);
|
||||
|
||||
// PWM state machine implementation
|
||||
if (pwmState.cnt) {
|
||||
int32_t cyclesToGo = pwmState.nextServiceCycle - GetCycleCountIRQ();
|
||||
if (cyclesToGo < 0) {
|
||||
if (pwmState.idx == pwmState.cnt) { // Start of pulses, possibly copy new
|
||||
if (pwmState.pwmUpdate) {
|
||||
// Do the memory copy from temp to global and clear mailbox
|
||||
pwmState = *(PWMState*)pwmState.pwmUpdate;
|
||||
}
|
||||
GPOS = pwmState.mask; // Set all active pins high
|
||||
if (pwmState.mask & (1<<16)) {
|
||||
GP16O = 1;
|
||||
}
|
||||
pwmState.idx = 0;
|
||||
} else {
|
||||
do {
|
||||
// Drop the pin at this edge
|
||||
if (pwmState.mask & (1<<pwmState.pin[pwmState.idx])) {
|
||||
GPOC = 1<<pwmState.pin[pwmState.idx];
|
||||
if (pwmState.pin[pwmState.idx] == 16) {
|
||||
GP16O = 0;
|
||||
}
|
||||
}
|
||||
pwmState.idx++;
|
||||
// Any other pins at this same PWM value will have delta==0, drop them too.
|
||||
} while (pwmState.delta[pwmState.idx] == 0);
|
||||
}
|
||||
// Preserve duty cycle over PWM period by using now+xxx instead of += delta
|
||||
cyclesToGo = adjust(pwmState.delta[pwmState.idx]);
|
||||
pwmState.nextServiceCycle = GetCycleCountIRQ() + cyclesToGo;
|
||||
}
|
||||
nextEventCycles = min_u32(nextEventCycles, cyclesToGo);
|
||||
}
|
||||
|
||||
for (auto i = wvfState.startPin; i <= wvfState.endPin; i++) {
|
||||
uint32_t mask = 1<<i;
|
||||
|
||||
// If it's not on, ignore!
|
||||
if (!(wvfState.waveformEnabled & mask)) {
|
||||
continue;
|
||||
}
|
||||
|
||||
Waveform *wave = &wvfState.waveform[i];
|
||||
uint32_t now = GetCycleCountIRQ();
|
||||
|
||||
// Disable any waveforms that are done
|
||||
if (wave->expiryCycle) {
|
||||
int32_t expiryToGo = wave->expiryCycle - now;
|
||||
if (expiryToGo < 0) {
|
||||
// Done, remove!
|
||||
if (i == 16) {
|
||||
GP16O = 0;
|
||||
}
|
||||
GPOC = mask;
|
||||
wvfState.waveformEnabled &= ~mask;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
// Check for toggles
|
||||
int32_t cyclesToGo = wave->nextServiceCycle - now;
|
||||
if (cyclesToGo < 0) {
|
||||
uint32_t nextEdgeCycles;
|
||||
uint32_t desired = 0;
|
||||
uint32_t *timeToUpdate;
|
||||
wvfState.waveformState ^= mask;
|
||||
if (wvfState.waveformState & mask) {
|
||||
if (i == 16) {
|
||||
GP16O = 1;
|
||||
}
|
||||
GPOS = mask;
|
||||
|
||||
if (wvfState.waveformToChange & mask) {
|
||||
// Copy over next full-cycle timings
|
||||
wave->timeHighCycles = wvfState.waveformNewHigh;
|
||||
wave->desiredHighCycles = wvfState.waveformNewHigh;
|
||||
wave->timeLowCycles = wvfState.waveformNewLow;
|
||||
wave->desiredLowCycles = wvfState.waveformNewLow;
|
||||
wave->lastEdge = 0;
|
||||
wvfState.waveformToChange = 0;
|
||||
}
|
||||
if (wave->lastEdge) {
|
||||
desired = wave->desiredLowCycles;
|
||||
timeToUpdate = &wave->timeLowCycles;
|
||||
}
|
||||
nextEdgeCycles = wave->timeHighCycles;
|
||||
} else {
|
||||
if (i == 16) {
|
||||
GP16O = 0;
|
||||
}
|
||||
GPOC = mask;
|
||||
desired = wave->desiredHighCycles;
|
||||
timeToUpdate = &wave->timeHighCycles;
|
||||
nextEdgeCycles = wave->timeLowCycles;
|
||||
}
|
||||
if (desired) {
|
||||
desired = adjust(desired);
|
||||
int32_t err = desired - (now - wave->lastEdge);
|
||||
if (abs(err) < desired) { // If we've lost > the entire phase, ignore this error signal
|
||||
err /= 2;
|
||||
*timeToUpdate += err;
|
||||
}
|
||||
}
|
||||
nextEdgeCycles = adjust(nextEdgeCycles);
|
||||
wave->nextServiceCycle = now + nextEdgeCycles;
|
||||
nextEventCycles = min_u32(nextEventCycles, nextEdgeCycles);
|
||||
wave->lastEdge = now;
|
||||
} else {
|
||||
uint32_t deltaCycles = wave->nextServiceCycle - now;
|
||||
nextEventCycles = min_u32(nextEventCycles, deltaCycles);
|
||||
}
|
||||
}
|
||||
|
||||
// Exit the loop if we've hit the fixed runtime limit or the next event is known to be after that timeout would occur
|
||||
uint32_t now = GetCycleCountIRQ();
|
||||
int32_t cycleDeltaNextEvent = timeoutCycle - (now + nextEventCycles);
|
||||
int32_t cyclesLeftTimeout = timeoutCycle - now;
|
||||
done = (cycleDeltaNextEvent < 0) || (cyclesLeftTimeout < 0);
|
||||
} while (!done);
|
||||
} // if (wvfState.waveformEnabled)
|
||||
|
||||
if (wvfState.timer1CB) {
|
||||
nextEventCycles = min_u32(nextEventCycles, wvfState.timer1CB());
|
||||
}
|
||||
|
||||
if (nextEventCycles < microsecondsToClockCycles(5)) {
|
||||
nextEventCycles = microsecondsToClockCycles(5);
|
||||
}
|
||||
nextEventCycles -= DELTAIRQ;
|
||||
|
||||
// Do it here instead of global function to save time and because we know it's edge-IRQ
|
||||
T1L = nextEventCycles >> (turbo ? 1 : 0);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif // ESP8266
|
||||
Loading…
Reference in New Issue