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ISR_16_PWMs_Array_Complex.ino
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ISR_16_PWMs_Array_Complex.ino
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/****************************************************************************************************************************
ISR_16_PWMs_Array_Complex.ino
For MBED RP2040-based boards
Written by Khoi Hoang
Built by Khoi Hoang https://github.com/khoih-prog/MBED_RP2040_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 MBED RP2040-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.
*****************************************************************************************************************************/
#if ! ( ( defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \
defined(ARDUINO_GENERIC_RP2040) ) && defined(ARDUINO_ARCH_MBED) )
#error This code is intended to run on the MBED RP2040 mbed_nano or mbed_rp2040 platform! Please check your Tools->Board setting.
#endif
// These define's must be placed at the beginning before #include "ESP32_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_ 3
#define USING_MICROS_RESOLUTION true //false
// Default is true, uncomment to false
//#define CHANGING_PWM_END_OF_CYCLE false
// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "MBED_RP2040_Slow_PWM.h"
#include <SimpleTimer.h> // https://github.com/jfturcot/SimpleTimer
#define LED_OFF HIGH
#define LED_ON LOW
#ifndef LED_BUILTIN
#define LED_BUILTIN 25
#endif
#ifndef LED_BLUE
#define LED_BLUE 10
#endif
#ifndef LED_RED
#define LED_RED 11
#endif
#define HW_TIMER_INTERVAL_US 20L
volatile uint64_t startMicros = 0;
// Init MBED_RPI_PICO_Timer
MBED_RP2040_Timer ITimer(0);
// Init MBED_RP2040_Slow_PWM, each can service 16 different ISR-based PWM channels
MBED_RP2040_Slow_PWM ISR_PWM;
//////////////////////////////////////////////////////
void TimerHandler(uint alarm_num)
{
//////////////////////////////////////////////////////////
// Always call this for MBED RP2040 before processing ISR
TIMER_ISR_START(alarm_num);
///////////////////////////////////////////////////////////
ISR_PWM.run();
////////////////////////////////////////////////////////////
// Always call this for MBED RP2040 after processing ISR
TIMER_ISR_END(alarm_num);
////////////////////////////////////////////////////////////
}
/////////////////////////////////////////////////
#define NUMBER_ISR_PWMS 16
#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
#define PIN_D7 7
#define PIN_D8 8
#define PIN_D9 9
#define PIN_D10 10
#define PIN_D11 11
#define PIN_D12 12
typedef void (*irqCallback) ();
//////////////////////////////////////////////////////
#define USE_COMPLEX_STRUCT true
#define USING_PWM_FREQUENCY true
//////////////////////////////////////////////////////
#if USE_COMPLEX_STRUCT
typedef struct
{
uint32_t PWM_Pin;
irqCallback irqCallbackStartFunc;
irqCallback irqCallbackStopFunc;
#if USING_PWM_FREQUENCY
float PWM_Freq;
#else
uint32_t PWM_Period;
#endif
float PWM_DutyCycle;
uint64_t deltaMicrosStart;
uint64_t previousMicrosStart;
uint64_t deltaMicrosStop;
uint64_t previousMicrosStop;
} ISR_PWM_Data;
// In RP2040, avoid doing something fancy in ISR, for example Serial.print()
// The pure simple Serial.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 [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long previousMicrosStart [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long deltaMicrosStop [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long previousMicrosStop [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
// You can assign pins here. Be carefull to select good pin to use or crash, e.g pin 6-11
uint32_t PWM_Pin[NUMBER_ISR_PWMS] =
{
LED_BUILTIN, LED_BLUE, LED_RED, PIN_D0, PIN_D1, PIN_D2, PIN_D3, PIN_D4,
PIN_D5, PIN_D6, PIN_D7, PIN_D8, PIN_D9, PIN_D10, PIN_D11, PIN_D12
};
// You can assign any interval for any timer here, in microseconds
uint32_t PWM_Period[] =
{
1000000L, 500000L, 333333L, 250000L, 200000L, 166667L, 142857L, 125000L,
111111L, 100000L, 66667L, 50000L, 40000L, 33333L, 25000L, 20000L
};
// 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,
9.0f, 10.0f, 15.0f, 20.0f, 25.0f, 30.0f, 40.0f, 50.0f
};
// You can assign any interval for any timer here, in milliseconds
float PWM_DutyCycle[] =
{
5.0, 10.0, 20.0, 30.0, 40.0, 45.0, 50.0, 55.0,
60.0, 65.0, 70.0, 75.0, 80.0, 85.0, 90.0, 95.0
};
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 doingSomethingStart8()
{
doingSomethingStart(8);
}
void doingSomethingStart9()
{
doingSomethingStart(9);
}
void doingSomethingStart10()
{
doingSomethingStart(10);
}
void doingSomethingStart11()
{
doingSomethingStart(11);
}
void doingSomethingStart12()
{
doingSomethingStart(12);
}
void doingSomethingStart13()
{
doingSomethingStart(13);
}
void doingSomethingStart14()
{
doingSomethingStart(14);
}
void doingSomethingStart15()
{
doingSomethingStart(15);
}
//////////////////////////////////////////////////////
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);
}
void doingSomethingStop8()
{
doingSomethingStop(8);
}
void doingSomethingStop9()
{
doingSomethingStop(9);
}
void doingSomethingStop10()
{
doingSomethingStop(10);
}
void doingSomethingStop11()
{
doingSomethingStop(11);
}
void doingSomethingStop12()
{
doingSomethingStop(12);
}
void doingSomethingStop13()
{
doingSomethingStop(13);
}
void doingSomethingStop14()
{
doingSomethingStop(14);
}
void doingSomethingStop15()
{
doingSomethingStop(15);
}
//////////////////////////////////////////////////////
#if USE_COMPLEX_STRUCT
#if USING_PWM_FREQUENCY
ISR_PWM_Data curISR_PWM_Data[NUMBER_ISR_PWMS] =
{
// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Freq, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1, 5, 0, 0, 0, 0 },
{ LED_BLUE, doingSomethingStart1, doingSomethingStop1, 2, 10, 0, 0, 0, 0 },
{ LED_RED, doingSomethingStart2, doingSomethingStop2, 3, 20, 0, 0, 0, 0 },
{ PIN_D0, doingSomethingStart3, doingSomethingStop3, 4, 30, 0, 0, 0, 0 },
{ PIN_D1, doingSomethingStart4, doingSomethingStop4, 5, 40, 0, 0, 0, 0 },
{ PIN_D2, doingSomethingStart5, doingSomethingStop5, 6, 45, 0, 0, 0, 0 },
{ PIN_D3, doingSomethingStart6, doingSomethingStop6, 7, 50, 0, 0, 0, 0 },
{ PIN_D4, doingSomethingStart7, doingSomethingStop7, 8, 55, 0, 0, 0, 0 },
{ PIN_D5, doingSomethingStart8, doingSomethingStop8, 9, 60, 0, 0, 0, 0 },
{ PIN_D6, doingSomethingStart9, doingSomethingStop9, 10, 65, 0, 0, 0, 0 },
{ PIN_D7, doingSomethingStart10, doingSomethingStop10, 15, 70, 0, 0, 0, 0 },
{ PIN_D8, doingSomethingStart11, doingSomethingStop11, 20, 75, 0, 0, 0, 0 },
{ PIN_D9, doingSomethingStart12, doingSomethingStop12, 25, 80, 0, 0, 0, 0 },
{ PIN_D10, doingSomethingStart13, doingSomethingStop13, 30, 85, 0, 0, 0, 0 },
{ PIN_D11, doingSomethingStart14, doingSomethingStop14, 40, 90, 0, 0, 0, 0 },
{ PIN_D12, doingSomethingStart15, doingSomethingStop15, 50, 95, 0, 0, 0, 0 }
};
#else // #if USING_PWM_FREQUENCY
ISR_PWM_Data curISR_PWM_Data[NUMBER_ISR_PWMS] =
{
// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Period, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1000000L, 5, 0, 0, 0, 0 },
{ LED_BLUE, doingSomethingStart1, doingSomethingStop1, 500000L, 10, 0, 0, 0, 0 },
{ LED_RED, doingSomethingStart2, doingSomethingStop2, 333333L, 20, 0, 0, 0, 0 },
{ PIN_D0, doingSomethingStart3, doingSomethingStop3, 250000L, 30, 0, 0, 0, 0 },
{ PIN_D1, doingSomethingStart4, doingSomethingStop4, 200000L, 40, 0, 0, 0, 0 },
{ PIN_D2, doingSomethingStart5, doingSomethingStop5, 166667L, 45, 0, 0, 0, 0 },
{ PIN_D3, doingSomethingStart6, doingSomethingStop6, 142857L, 50, 0, 0, 0, 0 },
{ PIN_D4, doingSomethingStart7, doingSomethingStop7, 125000L, 55, 0, 0, 0, 0 },
{ PIN_D5, doingSomethingStart8, doingSomethingStop8, 111111L, 60, 0, 0, 0, 0 },
{ PIN_D6, doingSomethingStart9, doingSomethingStop9, 100000L, 65, 0, 0, 0, 0 },
{ PIN_D7, doingSomethingStart10, doingSomethingStop10, 66667L, 70, 0, 0, 0, 0 },
{ PIN_D8, doingSomethingStart11, doingSomethingStop11, 50000L, 75, 0, 0, 0, 0 },
{ PIN_D9, doingSomethingStart12, doingSomethingStop12, 40000L, 80, 0, 0, 0, 0 },
{ PIN_D10, doingSomethingStart13, doingSomethingStop13, 33333L, 85, 0, 0, 0, 0 },
{ PIN_D11, doingSomethingStart14, doingSomethingStop14, 25000L, 90, 0, 0, 0, 0 },
{ PIN_D12, doingSomethingStart15, doingSomethingStop15, 20000L, 95, 0, 0, 0, 0 }
};
#endif // #if USING_PWM_FREQUENCY
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[NUMBER_ISR_PWMS] =
{
doingSomethingStart0, doingSomethingStart1, doingSomethingStart2, doingSomethingStart3,
doingSomethingStart4, doingSomethingStart5, doingSomethingStart6, doingSomethingStart7,
doingSomethingStart8, doingSomethingStart9, doingSomethingStart10, doingSomethingStart11,
doingSomethingStart12, doingSomethingStart13, doingSomethingStart14, doingSomethingStart15
};
irqCallback irqCallbackStopFunc[NUMBER_ISR_PWMS] =
{
doingSomethingStop0, doingSomethingStop1, doingSomethingStop2, doingSomethingStop3,
doingSomethingStop4, doingSomethingStop5, doingSomethingStop6, doingSomethingStop7,
doingSomethingStop8, doingSomethingStop9, doingSomethingStop10, doingSomethingStop11,
doingSomethingStop12, doingSomethingStop13, doingSomethingStop14, doingSomethingStop15
};
#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();
Serial.print(F("SimpleTimer (ms): ")); Serial.print(SIMPLE_TIMER_MS);
Serial.print(F(", us : ")); Serial.print(currMicros);
Serial.print(F(", Dus : ")); Serial.println(currMicros - previousMicrosStart);
for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)
{
#if USE_COMPLEX_STRUCT
Serial.print(F("PWM Channel : ")); Serial.print(i);
Serial.print(F(", programmed Period (us): "));
#if USING_PWM_FREQUENCY
Serial.print(1000000 / curISR_PWM_Data[i].PWM_Freq);
#else
Serial.print(curISR_PWM_Data[i].PWM_Period);
#endif
Serial.print(F(", actual : ")); Serial.print(curISR_PWM_Data[i].deltaMicrosStart);
Serial.print(F(", programmed DutyCycle : "));
Serial.print(curISR_PWM_Data[i].PWM_DutyCycle);
Serial.print(F(", actual : ")); Serial.println((float) curISR_PWM_Data[i].deltaMicrosStop * 100.0f / curISR_PWM_Data[i].deltaMicrosStart);
#else
Serial.print(F("PWM Channel : ")); Serial.print(i);
#if USING_PWM_FREQUENCY
Serial.print(1000000 / PWM_Freq[i]);
#else
Serial.print(PWM_Period[i]);
#endif
Serial.print(F(", programmed Period (us): ")); Serial.print(PWM_Period[i]);
Serial.print(F(", actual : ")); Serial.print(deltaMicrosStart[i]);
Serial.print(F(", programmed DutyCycle : "));
Serial.print(PWM_DutyCycle[i]);
Serial.print(F(", actual : ")); Serial.println( (float) deltaMicrosStop[i] * 100.0f / deltaMicrosStart[i]);
#endif
}
previousMicrosStart = currMicros;
}
void setup()
{
Serial.begin(115200);
while (!Serial);
delay(2000);
Serial.print(F("\nStarting ISR_16_PWMs_Array_Complex on ")); Serial.println(BOARD_NAME);
Serial.println(MBED_RP2040_SLOW_PWM_VERSION);
// Interval in microsecs
if (ITimer.attachInterruptInterval(HW_TIMER_INTERVAL_US, TimerHandler))
{
startMicros = micros();
Serial.print(F("Starting ITimer OK, micros() = ")); Serial.println(startMicros);
}
else
Serial.println(F("Can't set ITimer. Select another freq. or timer"));
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)
#if USING_PWM_FREQUENCY
// 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
// Or You can use this with PWM_Period in us
ISR_PWM.setPWM_Period(curISR_PWM_Data[i].PWM_Pin, curISR_PWM_Data[i].PWM_Period, curISR_PWM_Data[i].PWM_DutyCycle,
curISR_PWM_Data[i].irqCallbackStartFunc, curISR_PWM_Data[i].irqCallbackStopFunc);
#endif
#else
previousMicrosStart[i] = micros();
#if USING_PWM_FREQUENCY
// 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]);
#else
// Or You can use this with PWM_Period in us
ISR_PWM.setPWM_Period(PWM_Pin[i], PWM_Period[i], PWM_DutyCycle[i], irqCallbackStartFunc[i], irqCallbackStopFunc[i]);
#endif
#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();
}