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Add PWM_StepperControl example
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Credits of `Paul van Dinther` (https://github.com/dinther). Check khoih-prog/RP2040_PWM#16
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@khoih-prog
khoih-prog authored Jan 22, 2023
1 parent 20eb345 commit 7ebf1b9
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62 changes: 32 additions & 30 deletions examples/PWM_Multi/PWM_Multi.ino
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,6 @@
Built by Khoi Hoang https://github.com/khoih-prog/Portenta_H7_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 Portenta_H7 STM32 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.
*****************************************************************************************************************************/

#if !( defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4) )
Expand All @@ -28,7 +22,7 @@
// Can't use same TimerIndex again, e.g., the D1 and D2, using TIM1, can't be use concurrently
// That's why D0, D1, D3, D4 and D6 (using TimerIndex 8, 1, HRTIM and 3) are OK together

// Only OK for D0, D1, D2, D4 and D5, PA_0C(D15/A0), PA_1C(D16/A1),
// Only OK for D0, D1, D2, D4 and D5, PA_0C(D15/A0), PA_1C(D16/A1),
// D3, D6, D7, D8, D9, D10, D11, D12, D13, D14, D17(PC_2C/A2), D18(PC_3C/3), PC2(D19/A4) LEDG, LEDB not OK
#define pinD0 D0 // PH15 / TIM8_CH3N
#define pinD1 D1 // PK1 / TIM1_CH1, TIM8_CH3
Expand All @@ -39,10 +33,10 @@
#define pinD6 D6 // PA8 / HRTIM_CHB2 (TIM1_CH1, TIM8_BKIN2)

// See https://www.st.com/resource/en/datasheet/stm32h747xi.pdf, Table 7, page 53
// Can't use pins with same TIMx. For example,
// Can't use pins with same TIMx. For example,
// pinD1 and pinD2, using same TIM1, can't be used at the same time
// pinD4 and pinD5, using same TIM3, can't be used at the same time
// pinD3 and pinD6 are using HRTIM, can't be used at the same time and the minimum freq must be ~770Hz
// pinD3 and pinD6 are using HRTIM, can't be used at the same time and the minimum freq must be ~770Hz
uint32_t pins[] = { pinD0, pinD1, pinD3, pinD5 };

#define NUM_OF_PINS ( sizeof(pins) / sizeof(uint32_t) )
Expand All @@ -62,11 +56,12 @@ void startAllPWM()
digitalWrite(LEDG, LED_ON);
digitalWrite(LEDB, LED_OFF);
digitalWrite(LEDR, LED_OFF);

for (uint8_t index = 0; index < NUM_OF_PINS; index++)
{
PWM_LOGERROR7("Freq = ", freq[index], ", \tDutyCycle % = ", dutyCycle[index], ", \tDutyCycle = ", dutyCycle[index] / 100, ", \tPin = ", pins[index]);

PWM_LOGERROR7("Freq = ", freq[index], ", \tDutyCycle % = ", dutyCycle[index], ", \tDutyCycle = ",
dutyCycle[index] / 100, ", \tPin = ", pins[index]);

// setPWM(mbed::PwmOut* &pwm, pin_size_t pin, float frequency, float dutyCycle)
setPWM(pwm[index], pins[index], freq[index], dutyCycle[index]);
}
Expand All @@ -77,12 +72,12 @@ void restoreAllPWM()
digitalWrite(LEDG, LED_ON);
digitalWrite(LEDB, LED_OFF);
digitalWrite(LEDR, LED_OFF);

for (uint8_t index = 0; index < NUM_OF_PINS; index++)
{
curFreq[index] = freq[index];
curDutyCycle[index] = dutyCycle[index];

// setPWM(mbed::PwmOut* &pwm, pin_size_t pin, float frequency, float dutyCycle)
setPWM(pwm[index], pins[index], freq[index], dutyCycle[index]);
}
Expand All @@ -93,12 +88,12 @@ void changeAllPWM()
digitalWrite(LEDG, LED_OFF);
digitalWrite(LEDB, LED_ON);
digitalWrite(LEDR, LED_OFF);

for (uint8_t index = 0; index < NUM_OF_PINS; index++)
{
curFreq[index] = freq[index] * 2;
curDutyCycle[index] = dutyCycle[index] / 2;

// setPWM(mbed::PwmOut* &pwm, pin_size_t pin, float frequency, float dutyCycle)
setPWM(pwm[index], pins[index], curFreq[index], curDutyCycle[index]);
}
Expand All @@ -109,20 +104,21 @@ void stopAllPWM()
digitalWrite(LEDG, LED_OFF);
digitalWrite(LEDB, LED_OFF);
digitalWrite(LEDR, LED_ON);

for (uint8_t index = 0; index < NUM_OF_PINS; index++)
{
curFreq[index] = 1000.0f;
curDutyCycle[index] = 0.0f;

//stopPWM(mbed::PwmOut* &pwm, pin_size_t pin)
stopPWM(pwm[index], pins[index]);
}
}

void printLine()
{
Serial.println(F("\n=========================================================================================================="));
Serial.println(
F("\n=========================================================================================================="));
}

void printPulseWidth()
Expand All @@ -132,15 +128,17 @@ void printPulseWidth()
if (num++ % 50 == 0)
{
printLine();

for (uint8_t index = 0; index < NUM_OF_PINS; index++)
{
Serial.print(F("PW (us) ")); Serial.print(index); Serial.print(F("\t"));
Serial.print(F("PW (us) "));
Serial.print(index);
Serial.print(F("\t"));
}

printLine();
}

if (num > 1)
{
for (uint8_t index = 0; index < NUM_OF_PINS; index++)
Expand All @@ -150,11 +148,13 @@ void printPulseWidth()
if ( (pins[index] == pinD3) || (pins[index] == pinD6) )
{
// Using HRTIM => fake by calculating PW
Serial.print( (10000 * curDutyCycle[index]) / curFreq[index] ); Serial.print(F("\t\t"));
Serial.print( (10000 * curDutyCycle[index]) / curFreq[index] );
Serial.print(F("\t\t"));
}
else
{
Serial.print((float) pwm[index]->read_pulsewitdth_us()); Serial.print(F("\t\t"));
Serial.print((float) pwm[index]->read_pulsewitdth_us());
Serial.print(F("\t\t"));
}
}
}
Expand Down Expand Up @@ -183,18 +183,18 @@ void check_status()

if ( (millis() > changePWM_timeout) && (millis() > CHANGE_INTERVAL) )
{

if (PWM_orig)
{
if (count++ %2 == 0)
if (count++ % 2 == 0)
{
Serial.println("Stop all PWM");
stopAllPWM();
}
else
{
Serial.println("Change all PWM");

changeAllPWM();

PWM_orig = !PWM_orig;
Expand All @@ -203,12 +203,12 @@ void check_status()
else
{
Serial.println("Restore all PWM");

restoreAllPWM();

PWM_orig = !PWM_orig;
}

changePWM_timeout = millis() + CHANGE_INTERVAL;
}
}
Expand All @@ -230,11 +230,13 @@ void setup()
}

Serial.begin(115200);

while (!Serial);

delay(100);

Serial.print(F("\nStarting PWM_Multi on ")); Serial.println(BOARD_NAME);
Serial.print(F("\nStarting PWM_Multi on "));
Serial.println(BOARD_NAME);
Serial.println(PORTENTA_H7_PWM_VERSION);

// Automatically retrieve TIM instance and channel associated to pin
Expand Down
48 changes: 23 additions & 25 deletions examples/PWM_Single/PWM_Single.ino
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,6 @@
Built by Khoi Hoang https://github.com/khoih-prog/Portenta_H7_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 Portenta_H7 STM32 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.
*****************************************************************************************************************************/

#if !( defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4) )
Expand All @@ -28,7 +22,7 @@
// Can't use same TimerIndex again, e.g., the D1 and D2, using TIM1, can't be use concurrently
// That's why D0, D1, D3, D4 and D6 (using TimerIndex 8, 1, HRTIM and 3) are OK together

// Only OK for D0, D1, D2, D4 and D5, PA_0C(D15/A0), PA_1C(D16/A1),
// Only OK for D0, D1, D2, D4 and D5, PA_0C(D15/A0), PA_1C(D16/A1),
// D3, D6, D7, D8, D9, D10, D11, D12, D13, D14, D17(PC_2C/A2), D18(PC_3C/3), PC2(D19/A4) LEDG, LEDB not OK
#define pinD0 D0 // PH15 / TIM8_CH3N
#define pinD1 D1 // PK1 / TIM1_CH1, TIM8_CH3
Expand All @@ -39,10 +33,10 @@
#define pinD6 D6 // PA8 / HRTIM_CHB2 (TIM1_CH1, TIM8_BKIN2)

// See https://www.st.com/resource/en/datasheet/stm32h747xi.pdf, Table 7, page 53
// Can't use pins with same TIMx. For example,
// Can't use pins with same TIMx. For example,
// pinD1 and pinD2, using same TIM1, can't be used at the same time
// pinD4 and pinD5, using same TIM3, can't be used at the same time
// pinD3 and pinD6 are using HRTIM, can't be used at the same time and the minimum freq must be ~770Hz
// pinD3 and pinD6 are using HRTIM, can't be used at the same time and the minimum freq must be ~770Hz
uint32_t myPin = pinD5;

float dutyCycle = 50.0f;
Expand Down Expand Up @@ -70,10 +64,10 @@ void restorePWM()
digitalWrite(LEDG, LED_ON);
digitalWrite(LEDB, LED_OFF);
digitalWrite(LEDR, LED_OFF);

curFreq = freq;
curDutyCycle = dutyCycle;

// setPWM(mbed::PwmOut* &pwm, pin_size_t pin, float frequency, float dutyCycle)
setPWM(pwm, myPin, freq, dutyCycle);
}
Expand All @@ -83,10 +77,10 @@ void changePWM()
digitalWrite(LEDG, LED_OFF);
digitalWrite(LEDB, LED_ON);
digitalWrite(LEDR, LED_OFF);

curFreq = freq * 2;
curDutyCycle = dutyCycle / 2;

// setPWM(mbed::PwmOut* &pwm, pin_size_t pin, float frequency, float dutyCycle)
setPWM(pwm, myPin, curFreq, curDutyCycle);
}
Expand All @@ -96,10 +90,10 @@ void stopMyPWM()
digitalWrite(LEDG, LED_OFF);
digitalWrite(LEDB, LED_OFF);
digitalWrite(LEDR, LED_ON);

curFreq = 1000.0f;
curDutyCycle = 0.0f;

//stopPWM(mbed::PwmOut* &pwm, pin_size_t pin)
stopPWM(pwm, myPin);
}
Expand All @@ -116,24 +110,26 @@ void printPulseWidth()
if (num++ % 50 == 0)
{
printLine();

Serial.print(F("PW (us)"));

printLine();
}

if (num > 1)
{
if (pwm)
{
if ( (myPin == pinD3) || (myPin == pinD6) )
{
// Using HRTIM => fake by calculating PW
Serial.print( (10000 * curDutyCycle) / curFreq ); Serial.print(F("\t\t"));
Serial.print( (10000 * curDutyCycle) / curFreq );
Serial.print(F("\t\t"));
}
else
{
Serial.print((float) pwm->read_pulsewitdth_us()); Serial.print(F("\t\t"));
Serial.print((float) pwm->read_pulsewitdth_us());
Serial.print(F("\t\t"));
}
}

Expand Down Expand Up @@ -161,18 +157,18 @@ void check_status()

if ( (millis() > changePWM_timeout) && (millis() > CHANGE_INTERVAL) )
{

if (PWM_orig)
{
if (count++ %2 == 0)
if (count++ % 2 == 0)
{
Serial.println("Stop PWM");
stopMyPWM();
}
else
{
Serial.println("Change PWM");

changePWM();

PWM_orig = !PWM_orig;
Expand All @@ -181,12 +177,12 @@ void check_status()
else
{
Serial.println("Restore PWM");

restorePWM();

PWM_orig = !PWM_orig;
}

changePWM_timeout = millis() + CHANGE_INTERVAL;
}
}
Expand All @@ -205,11 +201,13 @@ void setup()
digitalWrite(myPin, LOW);

Serial.begin(115200);

while (!Serial);

delay(100);

Serial.print(F("\nStarting PWM_Single on ")); Serial.println(BOARD_NAME);
Serial.print(F("\nStarting PWM_Single on "));
Serial.println(BOARD_NAME);
Serial.println(PORTENTA_H7_PWM_VERSION);

// Automatically retrieve TIM instance and channel associated to pin
Expand Down
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