This repository has been archived by the owner on Jan 29, 2023. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 0
/
ISR_8_PWMs_Array_Complex.ino
529 lines (399 loc) · 15.7 KB
/
ISR_8_PWMs_Array_Complex.ino
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
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
/****************************************************************************************************************************
ISR_8_PWMs_Array_Complex.ino
For Arduino AVRDx-based boards (AVR128Dx, AVR64Dx, AVR32Dx, etc.) using DxCore
Written by Khoi Hoang
Built by Khoi Hoang https://github.com/khoih-prog/Dx_Slow_PWM
Licensed under MIT license
Now even you use all these new 16 ISR-based timers,with their maximum interval practically unlimited (limited only by
unsigned long miliseconds), you just consume only one AVRDx-based timer and avoid conflicting with other cores' tasks.
The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
Therefore, their executions are not blocked by bad-behaving functions / tasks.
This important feature is absolutely necessary for mission-critical tasks.
*****************************************************************************************************************************/
// Important Note: To use drag-and-drop into CURIOSITY virtual drive if you can program via Arduino IDE
// For example, check https://ww1.microchip.com/downloads/en/DeviceDoc/AVR128DB48-Curiosity-Nano-HW-UserG-DS50003037A.pdf
#if !defined(DXCORE)
#error This is designed only for DXCORE megaAVR board! Please check your Tools->Board setting
#endif
// These define's must be placed at the beginning before #include "Dx_Slow_PWM.h"
// _PWM_LOGLEVEL_ from 0 to 4
// Don't define _PWM_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.
#define _PWM_LOGLEVEL_ 1
#if defined(__AVR_AVR128DA48__)
#define SerialDebug Serial1
#elif defined(__AVR_AVR128DB48__)
#define SerialDebug Serial3
#else
// standard Serial
#define SerialDebug Serial
#endif
#define PWM_GENERIC_DEBUG_PORT SerialDebug
// Be careful when using MAX_NUMBER_CHANNELS > 16. Max pemissible MAX_NUMBER_CHANNELS is 64
#define MAX_NUMBER_CHANNELS 16
// Select USING_FULL_CLOCK == true for 24/16MHz to Timer TCBx => shorter timer, but better accuracy
// Select USING_HALF_CLOCK == true for 12/ 8MHz to Timer TCBx => shorter timer, but better accuracy
// Select USING_250KHZ == true for 250KHz to Timer TCBx => longer timer, but worse accuracy
// Not select for default 250KHz to Timer TCBx => longer timer, but worse accuracy
#define USING_FULL_CLOCK true
#define USING_HALF_CLOCK false
#define USING_250KHZ false // Not supported now
#define USE_TIMER_0 false // Used by core. Don't use
#define USE_TIMER_1 true
#define USE_TIMER_2 false // Normally used by millis(). Don't use
#define USE_TIMER_3 false
#define USE_TIMER_4 false
#if USE_TIMER_0
#define CurrentTimer ITimer0
#elif USE_TIMER_1
#define CurrentTimer ITimer1
#elif USE_TIMER_2
#define CurrentTimer ITimer2
#elif USE_TIMER_3
#define CurrentTimer ITimer3
#elif USE_TIMER_4
#define CurrentTimer ITimer4
#else
#error You must select one Timer
#endif
#define USING_MICROS_RESOLUTION true //false
// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "Dx_Slow_PWM.h"
#include <SimpleTimer.h> // https://github.com/jfturcot/SimpleTimer
#define LED_OFF HIGH
#define LED_ON LOW
#ifdef LED_BUILTIN
#undef LED_BUILTIN
// To modify according to your board
// For Curiosity Nano AVR128DA48 => PIN_PC6
// For Curiosity Nano AVR128DB48 => PIN_PB3
#if defined(__AVR_AVR128DA48__)
#define LED_BUILTIN PIN_PC6 // PIN_PB3, 13
#elif defined(__AVR_AVR128DB48__)
#define LED_BUILTIN PIN_PB3 // PIN_PC6, 13
#else
// standard Arduino pin 13
#define LED_BUILTIN 13
#endif
#endif
#if defined(__AVR_AVR128DA48__)
#define SerialDebug Serial1
#elif defined(__AVR_AVR128DB48__)
#define SerialDebug Serial3
#else
// standard Serial
#define SerialDebug Serial
#endif
#define USING_HW_TIMER_INTERVAL_MS false //true
// Don't change these numbers to make higher Timer freq. System can hang
#define HW_TIMER_INTERVAL_MS 0.0333f
#define HW_TIMER_INTERVAL_FREQ 30000L
volatile uint32_t startMicros = 0;
// Init DX_SLOW_PWM, each can service max 48 different ISR-based PWM channels
DX_SLOW_PWM_ISR ISR_PWM;
//////////////////////////////////////////////////////
void TimerHandler()
{
ISR_PWM.run();
}
/////////////////////////////////////////////////
#define PIN_D0 0
#define PIN_D1 1
#define PIN_D2 2
#define PIN_D3 3
#define PIN_D4 4
#define PIN_D5 5
#define PIN_D6 6
// You can assign pins here. Be careful to select good pin to use or crash, e.g pin 6-11
uint32_t PWM_Pin[] =
{
LED_BUILTIN, PIN_D0, PIN_D1, PIN_D2, PIN_D3, PIN_D4, PIN_D5, PIN_D6
};
#define NUMBER_ISR_PWMS ( sizeof(PWM_Pin) / sizeof(uint32_t) )
typedef void (*irqCallback) ();
//////////////////////////////////////////////////////
#define USE_COMPLEX_STRUCT true
//////////////////////////////////////////////////////
#if USE_COMPLEX_STRUCT
typedef struct
{
uint32_t PWM_Pin;
irqCallback irqCallbackStartFunc;
irqCallback irqCallbackStopFunc;
uint32_t PWM_Freq;
uint32_t PWM_DutyCycle;
uint32_t deltaMicrosStart;
uint32_t previousMicrosStart;
uint32_t deltaMicrosStop;
uint32_t previousMicrosStop;
} ISR_PWM_Data;
// In AVRDx, avoid doing something fancy in ISR, for example SerialDebug.print()
// The pure simple SerialDebug.prints here are just for demonstration and testing. Must be eliminate in working environment
// Or you can get this run-time error / crash
void doingSomethingStart(int index);
void doingSomethingStop(int index);
#else // #if USE_COMPLEX_STRUCT
volatile unsigned long deltaMicrosStart [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long previousMicrosStart [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long deltaMicrosStop [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long previousMicrosStop [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
// You can assign any interval for any timer here, in Microseconds
uint32_t PWM_Period[] =
{
1000L, 500L, 333L, 250L, 200L, 166L, 142L, 125L
};
// You can assign any interval for any timer here, in Hz
float PWM_Freq[] =
{
1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f,
};
// You can assign any interval for any timer here, in Microseconds
float PWM_DutyCycle[] =
{
5.0, 10.0, 20.0, 30.0, 40.0, 45.0, 50.0, 55.0
};
void doingSomethingStart(int index)
{
unsigned long currentMicros = micros();
deltaMicrosStart[index] = currentMicros - previousMicrosStart[index];
previousMicrosStart[index] = currentMicros;
}
void doingSomethingStop(int index)
{
unsigned long currentMicros = micros();
// Count from start to stop PWM pulse
deltaMicrosStop[index] = currentMicros - previousMicrosStart[index];
previousMicrosStop[index] = currentMicros;
}
#endif // #if USE_COMPLEX_STRUCT
////////////////////////////////////
// Shared
////////////////////////////////////
void doingSomethingStart0()
{
doingSomethingStart(0);
}
void doingSomethingStart1()
{
doingSomethingStart(1);
}
void doingSomethingStart2()
{
doingSomethingStart(2);
}
void doingSomethingStart3()
{
doingSomethingStart(3);
}
void doingSomethingStart4()
{
doingSomethingStart(4);
}
void doingSomethingStart5()
{
doingSomethingStart(5);
}
void doingSomethingStart6()
{
doingSomethingStart(6);
}
void doingSomethingStart7()
{
doingSomethingStart(7);
}
//////////////////////////////////////////////////////
void doingSomethingStop0()
{
doingSomethingStop(0);
}
void doingSomethingStop1()
{
doingSomethingStop(1);
}
void doingSomethingStop2()
{
doingSomethingStop(2);
}
void doingSomethingStop3()
{
doingSomethingStop(3);
}
void doingSomethingStop4()
{
doingSomethingStop(4);
}
void doingSomethingStop5()
{
doingSomethingStop(5);
}
void doingSomethingStop6()
{
doingSomethingStop(6);
}
void doingSomethingStop7()
{
doingSomethingStop(7);
}
//////////////////////////////////////////////////////
#if USE_COMPLEX_STRUCT
ISR_PWM_Data curISR_PWM_Data[] =
{
// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Freq, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1, 5, 0, 0, 0, 0 },
{ PIN_D0, doingSomethingStart1, doingSomethingStop1, 2, 10, 0, 0, 0, 0 },
{ PIN_D1, doingSomethingStart2, doingSomethingStop2, 3, 20, 0, 0, 0, 0 },
{ PIN_D2, doingSomethingStart3, doingSomethingStop3, 4, 30, 0, 0, 0, 0 },
{ PIN_D3, doingSomethingStart4, doingSomethingStop4, 5, 40, 0, 0, 0, 0 },
{ PIN_D4, doingSomethingStart5, doingSomethingStop5, 6, 45, 0, 0, 0, 0 },
{ PIN_D5, doingSomethingStart6, doingSomethingStop6, 7, 50, 0, 0, 0, 0 },
{ PIN_D6, doingSomethingStart7, doingSomethingStop7, 8, 55, 0, 0, 0, 0 },
};
void doingSomethingStart(int index)
{
unsigned long currentMicros = micros();
curISR_PWM_Data[index].deltaMicrosStart = currentMicros - curISR_PWM_Data[index].previousMicrosStart;
curISR_PWM_Data[index].previousMicrosStart = currentMicros;
}
void doingSomethingStop(int index)
{
unsigned long currentMicros = micros();
//curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStop;
// Count from start to stop PWM pulse
curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStart;
curISR_PWM_Data[index].previousMicrosStop = currentMicros;
}
#else // #if USE_COMPLEX_STRUCT
irqCallback irqCallbackStartFunc[] =
{
doingSomethingStart0, doingSomethingStart1, doingSomethingStart2, doingSomethingStart3,
doingSomethingStart4, doingSomethingStart5, doingSomethingStart6, doingSomethingStart7
};
irqCallback irqCallbackStopFunc[] =
{
doingSomethingStop0, doingSomethingStop1, doingSomethingStop2, doingSomethingStop3,
doingSomethingStop4, doingSomethingStop5, doingSomethingStop6, doingSomethingStop7
};
#endif // #if USE_COMPLEX_STRUCT
//////////////////////////////////////////////////////
#define SIMPLE_TIMER_MS 2000L
// Init SimpleTimer
SimpleTimer simpleTimer;
// Here is software Timer, you can do somewhat fancy stuffs without many issues.
// But always avoid
// 1. Long delay() it just doing nothing and pain-without-gain wasting CPU power.Plan and design your code / strategy ahead
// 2. Very long "do", "while", "for" loops without predetermined exit time.
void simpleTimerDoingSomething2s()
{
static unsigned long previousMicrosStart = startMicros;
unsigned long currMicros = micros();
SerialDebug.print(F("SimpleTimer (us): "));
SerialDebug.print(SIMPLE_TIMER_MS);
SerialDebug.print(F(", us : "));
SerialDebug.print(currMicros);
SerialDebug.print(F(", Dus : "));
SerialDebug.println(currMicros - previousMicrosStart);
for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)
{
#if USE_COMPLEX_STRUCT
SerialDebug.print(F("PWM Channel : "));
SerialDebug.print(i);
SerialDebug.print(F(", prog Period (ms): "));
SerialDebug.print(1000.f / curISR_PWM_Data[i].PWM_Freq);
SerialDebug.print(F(", actual : "));
SerialDebug.print((uint32_t) curISR_PWM_Data[i].deltaMicrosStart);
SerialDebug.print(F(", prog DutyCycle : "));
SerialDebug.print(curISR_PWM_Data[i].PWM_DutyCycle);
SerialDebug.print(F(", actual : "));
SerialDebug.println((float) curISR_PWM_Data[i].deltaMicrosStop * 100.0f / curISR_PWM_Data[i].deltaMicrosStart);
//SerialDebug.print(F(", actual deltaMicrosStop : ")); SerialDebug.println(curISR_PWM_Data[i].deltaMicrosStop);
//SerialDebug.print(F(", actual deltaMicrosStart : ")); SerialDebug.println(curISR_PWM_Data[i].deltaMicrosStart);
#else
SerialDebug.print(F("PWM Channel : "));
SerialDebug.print(i);
SerialDebug.print(1000 / PWM_Freq[i]);
SerialDebug.print(F(", prog. Period (us): "));
SerialDebug.print(PWM_Period[i]);
SerialDebug.print(F(", actual : "));
SerialDebug.print(deltaMicrosStart[i]);
SerialDebug.print(F(", prog DutyCycle : "));
SerialDebug.print(PWM_DutyCycle[i]);
SerialDebug.print(F(", actual : "));
SerialDebug.println( (float) deltaMicrosStop[i] * 100.0f / deltaMicrosStart[i]);
//SerialDebug.print(F(", actual deltaMicrosStop : ")); SerialDebug.println(deltaMicrosStop[i]);
//SerialDebug.print(F(", actual deltaMicrosStart : ")); SerialDebug.println(deltaMicrosStart[i]);
#endif
}
previousMicrosStart = currMicros;
}
void setup()
{
SerialDebug.begin(115200);
while (!SerialDebug && millis() < 5000);
SerialDebug.print(F("\nStarting ISR_8_PWMs_Array_Complex on "));
SerialDebug.println(BOARD_NAME);
SerialDebug.println(DX_SLOW_PWM_VERSION);
SerialDebug.print(F("CPU Frequency = "));
SerialDebug.print(F_CPU / 1000000);
SerialDebug.println(F(" MHz"));
SerialDebug.print(F("Max number PWM channels = "));
SerialDebug.println(MAX_NUMBER_CHANNELS);
SerialDebug.print(F("TCB Clock Frequency = "));
#if USING_FULL_CLOCK
SerialDebug.println(F("Full clock (24/16MHz, etc) for highest accuracy"));
#elif USING_HALF_CLOCK
SerialDebug.println(F("Half clock (12/8MHz, etc.) for high accuracy"));
#else
SerialDebug.println(F("250KHz for lower accuracy but longer time"));
#endif
#if USING_HW_TIMER_INTERVAL_MS
CurrentTimer.init();
if (CurrentTimer.attachInterruptInterval(HW_TIMER_INTERVAL_MS, TimerHandler))
{
SerialDebug.print(F("Starting ITimer1 OK, micros() = "));
SerialDebug.println(micros());
}
else
SerialDebug.println(F("Can't set CurrentTimer. Select another freq. or timer"));
#else
CurrentTimer.init();
if (CurrentTimer.attachInterrupt(HW_TIMER_INTERVAL_FREQ, TimerHandler))
{
SerialDebug.print(F("Starting ITimer1 OK, micros() = "));
SerialDebug.println(micros());
}
else
SerialDebug.println(F("Can't set CurrentTimer. Select another freq. or timer"));
#endif // USING_HW_TIMER_INTERVAL_MS
startMicros = micros();
// Just to demonstrate, don't use too many ISR Timers if not absolutely necessary
// You can use up to 16 timer for each ISR_PWM
for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)
{
#if USE_COMPLEX_STRUCT
curISR_PWM_Data[i].previousMicrosStart = startMicros;
//ISR_PWM.setInterval(curISR_PWM_Data[i].PWM_Period, curISR_PWM_Data[i].irqCallbackStartFunc);
//void setPWM(uint32_t pin, float frequency, float dutycycle
// , timer_callback_p StartCallback = nullptr, timer_callback_p StopCallback = nullptr)
// You can use this with PWM_Freq in Hz
ISR_PWM.setPWM(curISR_PWM_Data[i].PWM_Pin, curISR_PWM_Data[i].PWM_Freq, curISR_PWM_Data[i].PWM_DutyCycle,
curISR_PWM_Data[i].irqCallbackStartFunc, curISR_PWM_Data[i].irqCallbackStopFunc);
#else
previousMicrosStart[i] = micros();
// You can use this with PWM_Freq in Hz
ISR_PWM.setPWM(PWM_Pin[i], PWM_Freq[i], PWM_DutyCycle[i], irqCallbackStartFunc[i], irqCallbackStopFunc[i]);
#endif
}
// You need this timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary.
simpleTimer.setInterval(SIMPLE_TIMER_MS, simpleTimerDoingSomething2s);
}
#define BLOCKING_TIME_MS 10000L
void loop()
{
// This unadvised blocking task is used to demonstrate the blocking effects onto the execution and accuracy to Software timer
// You see the time elapse of ISR_PWM still accurate, whereas very unaccurate for Software Timer
// The time elapse for 2000ms software timer now becomes 3000ms (BLOCKING_TIME_MS)
// While that of ISR_PWM is still prefect.
delay(BLOCKING_TIME_MS);
// You need this Software timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary
// You don't need to and never call ISR_PWM.run() here in the loop(). It's already handled by ISR timer.
simpleTimer.run();
}