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⚡️ PWM for ESP32 I2S expander (#24193)

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This commit is contained in:
John Robertson 2022-06-04 07:26:08 +01:00 committed by Scott Lahteine
parent 7677368aaf
commit c34dd64469
14 changed files with 104 additions and 46 deletions
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5
Marlin/Configuration_adv.h
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@ -3592,7 +3592,10 @@
#if ENABLED(SPINDLE_LASER_USE_PWM) #if ENABLED(SPINDLE_LASER_USE_PWM)
#define SPINDLE_LASER_PWM_INVERT false // Set to "true" if the speed/power goes up when you want it to go slower #define SPINDLE_LASER_PWM_INVERT false // Set to "true" if the speed/power goes up when you want it to go slower
#define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR, ESP32, and LPC) #define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR, ESP32, and LPC)
#endif // ESP32: If SPINDLE_LASER_PWM_PIN is onboard then <=78125Hz. For I2S expander
// the frequency determines the PWM resolution. 2500Hz = 0-100, 977Hz = 0-255, ...
// (250000 / SPINDLE_LASER_FREQUENCY) = max value.
#endif
//#define AIR_EVACUATION // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11 //#define AIR_EVACUATION // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11
#if ENABLED(AIR_EVACUATION) #if ENABLED(AIR_EVACUATION)

2
Marlin/Makefile
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@ -109,7 +109,7 @@ LIQUID_TWI2 ?= 0
# This defines if Wire is needed # This defines if Wire is needed
WIRE ?= 0 WIRE ?= 0
# This defines if Tone is needed (i.e SPEAKER is defined in Configuration.h) # This defines if Tone is needed (i.e., SPEAKER is defined in Configuration.h)
# Disabling this (and SPEAKER) saves approximately 350 bytes of memory. # Disabling this (and SPEAKER) saves approximately 350 bytes of memory.
TONE ?= 1 TONE ?= 1

50
Marlin/src/HAL/ESP32/HAL.cpp
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@ -65,6 +65,7 @@ portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
// ------------------------ // ------------------------
uint16_t MarlinHAL::adc_result; uint16_t MarlinHAL::adc_result;
pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS];
// ------------------------ // ------------------------
// Private Variables // Private Variables
@ -330,21 +331,46 @@ int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res)
} }
void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) { void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION); #if ENABLED(I2S_STEPPER_STREAM)
if (cid >= 0) { if (pin > 127) {
uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1); const uint8_t pinlo = pin & 0x7F;
ledcWrite(cid, duty); pwm_pin_t &pindata = pwm_pin_data[pinlo];
} const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks);
if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off)
pindata.pwm_duty_ticks = 0; // turn off PWM for this pin
duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level
}
else
pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle
}
else
#endif
{
const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
if (cid >= 0) {
const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
ledcWrite(cid, duty);
}
}
} }
int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) { int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
const int8_t cid = channel_for_pin(pin); #if ENABLED(I2S_STEPPER_STREAM)
if (cid >= 0) { if (pin > 127) {
if (f_desired == ledcReadFreq(cid)) return cid; // no freq change pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle
ledcDetachPin(chan_pin[cid]); return 0;
chan_pin[cid] = 0; // remove old freq channel }
} else
return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one #endif
{
const int8_t cid = channel_for_pin(pin);
if (cid >= 0) {
if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
ledcDetachPin(chan_pin[cid]);
chan_pin[cid] = 0; // remove old freq channel
}
return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
}
} }
// use hardware PWM if avail, if not then ISR // use hardware PWM if avail, if not then ISR

11
Marlin/src/HAL/ESP32/HAL.h
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@ -68,6 +68,9 @@
#define PWM_RESOLUTION 10u // Default PWM bit resolution #define PWM_RESOLUTION 10u // Default PWM bit resolution
#define CHANNEL_MAX_NUM 15u // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high) #define CHANNEL_MAX_NUM 15u // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
#define MAX_PWM_IOPIN 33u // hardware pwm pins < 34 #define MAX_PWM_IOPIN 33u // hardware pwm pins < 34
#ifndef MAX_EXPANDER_BITS
#define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
#endif
// ------------------------ // ------------------------
// Types // Types
@ -76,6 +79,12 @@
typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs. typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs.
typedef int16_t pin_t; typedef int16_t pin_t;
typedef struct pwm_pin {
uint32_t pwm_cycle_ticks = 1000000UL / (PWM_FREQUENCY) / 4; // # ticks per pwm cycle
uint32_t pwm_tick_count = 0; // current tick count
uint32_t pwm_duty_ticks = 0; // # of ticks for current duty cycle
} pwm_pin_t;
class Servo; class Servo;
typedef Servo hal_servo_t; typedef Servo hal_servo_t;
@ -197,6 +206,8 @@ public:
// Free SRAM // Free SRAM
static int freeMemory(); static int freeMemory();
static pwm_pin_t pwm_pin_data[MAX_EXPANDER_BITS];
// //
// ADC Methods // ADC Methods
// //

20
Marlin/src/HAL/ESP32/i2s.cpp
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@ -337,6 +337,26 @@ uint8_t i2s_state(uint8_t pin) {
} }
void i2s_push_sample() { void i2s_push_sample() {
// Every 4µs (when space in DMA buffer) toggle each expander PWM output using
// the current duty cycle/frequency so they sync with any steps (once
// through the DMA/FIFO buffers). PWM signal inversion handled by other functions
LOOP_L_N(p, MAX_EXPANDER_BITS) {
if (hal.pwm_pin_data[p].pwm_duty_ticks > 0) { // pin has active pwm?
if (hal.pwm_pin_data[p].pwm_tick_count == 0) {
if (TEST32(i2s_port_data, p)) { // hi->lo
CBI32(i2s_port_data, p);
hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_cycle_ticks - hal.pwm_pin_data[p].pwm_duty_ticks;
}
else { // lo->hi
SBI32(i2s_port_data, p);
hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_duty_ticks;
}
}
else
hal.pwm_pin_data[p].pwm_tick_count--;
}
}
dma.current[dma.rw_pos++] = i2s_port_data; dma.current[dma.rw_pos++] = i2s_port_data;
} }

7
Marlin/src/HAL/ESP32/inc/Conditionals_adv.h
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@ -20,3 +20,10 @@
* *
*/ */
#pragma once #pragma once
//
// Board-specific options need to be defined before HAL.h
//
#if MB(MKS_TINYBEE)
#define MAX_EXPANDER_BITS 24 // TinyBee has 3 x HC595
#endif

4
Marlin/src/HAL/ESP32/inc/SanityCheck.h
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@ -48,3 +48,7 @@
#if USING_PULLDOWNS #if USING_PULLDOWNS
#error "PULLDOWN pin mode is not available on ESP32 boards." #error "PULLDOWN pin mode is not available on ESP32 boards."
#endif #endif
#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE)
#error "I2S stream is currently incompatible with LIN_ADVANCE."
#endif

4
Marlin/src/module/stepper.cpp
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@ -1898,9 +1898,7 @@ void Stepper::pulse_phase_isr() {
#endif #endif
#endif #endif
#if ENABLED(I2S_STEPPER_STREAM) TERN_(I2S_STEPPER_STREAM, i2s_push_sample());
i2s_push_sample();
#endif
// TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s // TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s
#if ISR_MULTI_STEPS #if ISR_MULTI_STEPS

9
Marlin/src/pins/esp32/pins_E4D.h
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@ -40,19 +40,14 @@
#define BOARD_WEBSITE_URL "github.com/Exilaus/E4d@box" #define BOARD_WEBSITE_URL "github.com/Exilaus/E4d@box"
#define DEFAULT_MACHINE_NAME BOARD_INFO_NAME #define DEFAULT_MACHINE_NAME BOARD_INFO_NAME
//
// Disable I2S stepper stream
//
#undef I2S_STEPPER_STREAM
// //
// Redefine I2S for ESP32 // Redefine I2S for ESP32
// //
#undef I2S_WS #undef I2S_WS
#define I2S_WS 23
#undef I2S_BCK #undef I2S_BCK
#define I2S_BCK 22
#undef I2S_DATA #undef I2S_DATA
#define I2S_WS 23
#define I2S_BCK 22
#define I2S_DATA 21 #define I2S_DATA 21
// //

8
Marlin/src/pins/esp32/pins_ENWI_ESPNP.h
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@ -35,9 +35,11 @@
// I2S (steppers & other output-only pins) // I2S (steppers & other output-only pins)
// //
#define I2S_STEPPER_STREAM #define I2S_STEPPER_STREAM
#define I2S_WS 17 #if ENABLED(I2S_STEPPER_STREAM)
#define I2S_BCK 22 #define I2S_WS 17
#define I2S_DATA 21 #define I2S_BCK 22
#define I2S_DATA 21
#endif
// //
// Servos // Servos

8
Marlin/src/pins/esp32/pins_ESP32.h
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@ -33,9 +33,11 @@
// I2S (steppers & other output-only pins) // I2S (steppers & other output-only pins)
// //
#define I2S_STEPPER_STREAM #define I2S_STEPPER_STREAM
#define I2S_WS 25 #if ENABLED(I2S_STEPPER_STREAM)
#define I2S_BCK 26 #define I2S_WS 25
#define I2S_DATA 27 #define I2S_BCK 26
#define I2S_DATA 27
#endif
// //
// Limit Switches // Limit Switches

8
Marlin/src/pins/esp32/pins_ESPA_common.h
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@ -32,14 +32,6 @@
#define DEFAULT_MACHINE_NAME BOARD_INFO_NAME #define DEFAULT_MACHINE_NAME BOARD_INFO_NAME
#endif #endif
//
// Disable I2S stepper stream, by default
//
#undef I2S_STEPPER_STREAM
#undef I2S_WS
#undef I2S_BCK
#undef I2S_DATA
// //
// Limit Switches // Limit Switches
// //

5
Marlin/src/pins/esp32/pins_MKS_TINYBEE.h
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@ -40,6 +40,8 @@
#define BOARD_WEBSITE_URL "https://github.com/makerbase-mks" #define BOARD_WEBSITE_URL "https://github.com/makerbase-mks"
#define DEFAULT_MACHINE_NAME BOARD_INFO_NAME #define DEFAULT_MACHINE_NAME BOARD_INFO_NAME
// MAX_EXPANDER_BITS is defined for MKS TinyBee in HAL/ESP32/inc/Conditionals_adv.h
// //
// Servos // Servos
// //
@ -61,9 +63,6 @@
#define I2S_WS 26 #define I2S_WS 26
#define I2S_BCK 25 #define I2S_BCK 25
#define I2S_DATA 27 #define I2S_DATA 27
#if ENABLED(LIN_ADVANCE)
#error "I2S stream is currently incompatible with LIN_ADVANCE."
#endif
#endif #endif
// //

9
Marlin/src/pins/esp32/pins_MRR_ESPE.h
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@ -52,11 +52,10 @@
// Enable I2S stepper stream // Enable I2S stepper stream
// //
#define I2S_STEPPER_STREAM #define I2S_STEPPER_STREAM
#define I2S_WS 26 #if ENABLED(I2S_STEPPER_STREAM)
#define I2S_BCK 25 #define I2S_WS 26
#define I2S_DATA 27 #define I2S_BCK 25
#if ENABLED(LIN_ADVANCE) #define I2S_DATA 27
#error "I2S stream is currently incompatible with LIN_ADVANCE."
#endif #endif
// //