Implement LEDC based on ESP-IDF API (#6045)

This PR is refactoring of LEDC HAL in order to use IDF instead of current Register manipulation approach.
Fixing duty -> if all bits in resolution are set -> FULL ON

Author: P-R-O-C-H-Y

Diff for: cores/esp32/esp32-hal-ledc.c

@@ -13,46 +13,25 @@
 // limitations under the License.
 
 #include "esp32-hal.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "freertos/semphr.h"
-#include "esp32-hal-matrix.h"
 #include "soc/soc_caps.h"
-#include "soc/ledc_reg.h"
-#include "soc/ledc_struct.h"
-#include "driver/periph_ctrl.h"
+#include "driver/ledc.h"
 
-#include "esp_system.h"
-#ifdef ESP_IDF_VERSION_MAJOR // IDF 4+
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
-#include "soc/dport_reg.h"
-#include "esp32/rom/ets_sys.h"
-#define LAST_CHAN (15)
-#elif CONFIG_IDF_TARGET_ESP32S2
-#include "soc/dport_reg.h"
-#include "esp32s2/rom/ets_sys.h"
-#define LAST_CHAN (7)
-#define LEDC_DIV_NUM_HSTIMER0_V LEDC_CLK_DIV_LSTIMER0_V
-#elif CONFIG_IDF_TARGET_ESP32C3
-#include "esp32c3/rom/ets_sys.h"
-#define LAST_CHAN (7)
-#define LEDC_DIV_NUM_HSTIMER0_V LEDC_CLK_DIV_LSTIMER0_V
-#else 
-#error Target CONFIG_IDF_TARGET is not supported
-#endif
-#else // ESP32 Before IDF 4.0
-#include "rom/ets_sys.h"
+#ifdef SOC_LEDC_SUPPORT_HS_MODE
+#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM<<1)
+#else
+#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM)
 #endif
 
-#if CONFIG_DISABLE_HAL_LOCKS
-#define LEDC_MUTEX_LOCK()
-#define LEDC_MUTEX_UNLOCK()
+//Use XTAL clock if possible to avoid timer frequency error when setting APB clock < 80 Mhz
+//Need to be fixed in ESP-IDF
+#ifdef SOC_LEDC_SUPPORT_XTAL_CLOCK
+#define LEDC_DEFAULT_CLK        LEDC_USE_XTAL_CLK
 #else
-#define LEDC_MUTEX_LOCK()    do {} while (xSemaphoreTake(_ledc_sys_lock, portMAX_DELAY) != pdPASS)
-#define LEDC_MUTEX_UNLOCK()  xSemaphoreGive(_ledc_sys_lock)
-xSemaphoreHandle _ledc_sys_lock = NULL;
+#define LEDC_DEFAULT_CLK        LEDC_AUTO_CLK
 #endif
 
+#define LEDC_MAX_BIT_WIDTH      SOC_LEDC_TIMER_BIT_WIDE_NUM
+
 /*
  * LEDC Chan to Group/Channel/Timer Mapping
 ** ledc: 0  => Group: 0, Channel: 0, Timer: 0
@@ -72,223 +51,89 @@ xSemaphoreHandle _ledc_sys_lock = NULL;
 ** ledc: 14 => Group: 1, Channel: 6, Timer: 3
 ** ledc: 15 => Group: 1, Channel: 7, Timer: 3
 */
-#define LEDC_CHAN(g,c) LEDC.channel_group[(g)].channel[(c)]
-#define LEDC_TIMER(g,t) LEDC.timer_group[(g)].timer[(t)]
 
-static void _on_apb_change(void * arg, apb_change_ev_t ev_type, uint32_t old_apb, uint32_t new_apb){
-    if(ev_type == APB_AFTER_CHANGE && old_apb != new_apb){
-        uint16_t iarg = *(uint16_t*)arg;
-        uint8_t chan = 0;
-        old_apb /= 1000000;
-        new_apb /= 1000000;
-        while(iarg){ // run though all active channels, adjusting timing configurations
-            if(iarg & 1) {// this channel is active
-                uint8_t group=(chan/8), timer=((chan/2)%4);
-                if(LEDC_TIMER(group, timer).conf.tick_sel){
-                    LEDC_MUTEX_LOCK();
-                    uint32_t old_div = LEDC_TIMER(group, timer).conf.clock_divider;
-                    uint32_t div_num = (new_apb * old_div) / old_apb;
-                    if(div_num > LEDC_DIV_NUM_HSTIMER0_V){
-                        div_num = ((REF_CLK_FREQ /1000000) * old_div) / old_apb;
-                        if(div_num > LEDC_DIV_NUM_HSTIMER0_V) {
-                            div_num = LEDC_DIV_NUM_HSTIMER0_V;//lowest clock possible
-                        }
-                        LEDC_TIMER(group, timer).conf.tick_sel = 0;
-                    } else if(div_num < 256) {
-                        div_num = 256;//highest clock possible
-                    }
-                    LEDC_TIMER(group, timer).conf.clock_divider = div_num;
-                    LEDC_MUTEX_UNLOCK();
-                }
-                else {
-                    log_d("using REF_CLK chan=%d",chan);
-                }
-            }
-            iarg = iarg >> 1;
-            chan++;
-        }
-    }
-}
+uint8_t channels_resolution[LEDC_CHANNELS] = {0};
 
-//uint32_t frequency = (80MHz or 1MHz)/((div_num / 256.0)*(1 << bit_num));
-static void _ledcSetupTimer(uint8_t chan, uint32_t div_num, uint8_t bit_num, bool apb_clk)
-{
-    uint8_t group=(chan/8), timer=((chan/2)%4);
-    static bool tHasStarted = false;
-    static uint16_t _activeChannels = 0;
-#if CONFIG_IDF_TARGET_ESP32S2
-// ESP32-S2 TRM v1.0 on Page 789 -> BIT LEDC_TICK_SEL_TIMERx is 0 for LEDC_PWM_CLK and 1 for REF_TICK
-    apb_clk = 0;        
-#endif
-    if(!tHasStarted) {
-        tHasStarted = true;
-        periph_module_enable(PERIPH_LEDC_MODULE);
-        LEDC.conf.apb_clk_sel = 1;//LS use apb clock
-        addApbChangeCallback((void*)&_activeChannels, _on_apb_change);
-
-#if !CONFIG_DISABLE_HAL_LOCKS
-        _ledc_sys_lock = xSemaphoreCreateMutex();
-#endif
-    }
-    LEDC_MUTEX_LOCK();
-    LEDC_TIMER(group, timer).conf.clock_divider = div_num;//18 bit (10.8) This register is used to configure parameter for divider in timer the least significant eight bits represent the decimal part.
-    LEDC_TIMER(group, timer).conf.duty_resolution = bit_num;//5 bit This register controls the range of the counter in timer. the counter range is [0 2**bit_num] the max bit width for counter is 20.
-    LEDC_TIMER(group, timer).conf.tick_sel = apb_clk;//apb clock
-#if CONFIG_IDF_TARGET_ESP32
-    if(group) {
-#endif
-        LEDC_TIMER(group, timer).conf.low_speed_update = 1;//This bit is only useful for low speed timer channels, reserved for high speed timers
-#if CONFIG_IDF_TARGET_ESP32
-    }
-#endif
-    LEDC_TIMER(group, timer).conf.pause = 0;
-    LEDC_TIMER(group, timer).conf.rst = 1;//This bit is used to reset timer the counter will be 0 after reset.
-    LEDC_TIMER(group, timer).conf.rst = 0;
-    LEDC_MUTEX_UNLOCK();
-    _activeChannels |= (1 << chan); // mark as active for APB callback
-}
-
-//max div_num 0x3FFFF (262143)
-//max bit_num 0x1F (31)
-static double _ledcSetupTimerFreq(uint8_t chan, double freq, uint8_t bit_num)
+double ledcSetup(uint8_t chan, double freq, uint8_t bit_num)
 {
-    uint64_t clk_freq = getApbFrequency();
-    clk_freq <<= 8;//div_num is 8 bit decimal
-    uint32_t div_num = (clk_freq >> bit_num) / freq;
-    bool apb_clk = true;
-    if(div_num > LEDC_DIV_NUM_HSTIMER0_V) {
-        clk_freq /= 80;
-        div_num = (clk_freq >> bit_num) / freq;
-        if(div_num > LEDC_DIV_NUM_HSTIMER0_V) {
-            div_num = LEDC_DIV_NUM_HSTIMER0_V;//lowest clock possible
-        }
-        apb_clk = false;
-    } else if(div_num < 256) {
-        div_num = 256;//highest clock possible
+    if(chan >= LEDC_CHANNELS){
+        log_e("No more LEDC channels available! You can have maximum %u", LEDC_CHANNELS);
+        return 0;
     }
-    _ledcSetupTimer(chan, div_num, bit_num, apb_clk);
-    //log_i("Fin: %f, Fclk: %uMhz, bits: %u, DIV: %u, Fout: %f",
-    //        freq, apb_clk?80:1, bit_num, div_num, (clk_freq >> bit_num) / (double)div_num);
-    return (clk_freq >> bit_num) / (double)div_num;
-}
-
-static double _ledcTimerRead(uint8_t chan)
-{
-    uint32_t div_num;
-    uint8_t bit_num;
-    bool apb_clk;
     uint8_t group=(chan/8), timer=((chan/2)%4);
-    LEDC_MUTEX_LOCK();
-    div_num = LEDC_TIMER(group, timer).conf.clock_divider;//18 bit (10.8) This register is used to configure parameter for divider in timer the least significant eight bits represent the decimal part.
-    bit_num = LEDC_TIMER(group, timer).conf.duty_resolution;//5 bit This register controls the range of the counter in timer. the counter range is [0 2**bit_num] the max bit width for counter is 20.
-    apb_clk = LEDC_TIMER(group, timer).conf.tick_sel;//apb clock
-    LEDC_MUTEX_UNLOCK();
-    uint64_t clk_freq = 1000000;
-    if(apb_clk) {
-        clk_freq = getApbFrequency();
-    }
-    clk_freq <<= 8;//div_num is 8 bit decimal
-    return (clk_freq >> bit_num) / (double)div_num;
-}
 
-static void _ledcSetupChannel(uint8_t chan, uint8_t idle_level)
-{
-    uint8_t group=(chan/8), channel=(chan%8), timer=((chan/2)%4);
-    LEDC_MUTEX_LOCK();
-    LEDC_CHAN(group, channel).conf0.timer_sel = timer;//2 bit Selects the timer to attach 0-3
-    LEDC_CHAN(group, channel).conf0.idle_lv = idle_level;//1 bit This bit is used to control the output value when channel is off.
-    LEDC_CHAN(group, channel).hpoint.hpoint = 0;//20 bit The output value changes to high when timer selected by channel has reached hpoint
-    LEDC_CHAN(group, channel).conf1.duty_inc = 1;//1 bit This register is used to increase the duty of output signal or decrease the duty of output signal for high speed channel
-    LEDC_CHAN(group, channel).conf1.duty_num = 1;//10 bit This register is used to control the number of increased or decreased times for channel
-    LEDC_CHAN(group, channel).conf1.duty_cycle = 1;//10 bit This register is used to increase or decrease the duty every duty_cycle cycles for channel
-    LEDC_CHAN(group, channel).conf1.duty_scale = 0;//10 bit This register controls the increase or decrease step scale for channel.
-    LEDC_CHAN(group, channel).duty.duty = 0;
-    LEDC_CHAN(group, channel).conf0.sig_out_en = 0;//This is the output enable control bit for channel
-    LEDC_CHAN(group, channel).conf1.duty_start = 0;//When duty_num duty_cycle and duty_scale has been configured. these register won't take effect until set duty_start. this bit is automatically cleared by hardware.
-#if CONFIG_IDF_TARGET_ESP32
-    if(group) {
-#endif
-        LEDC_CHAN(group, channel).conf0.low_speed_update = 1;
-#if CONFIG_IDF_TARGET_ESP32
-    } else {
-        LEDC_CHAN(group, channel).conf0.clk_en = 0;
-    }
-#endif
-    LEDC_MUTEX_UNLOCK();
-}
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode       = group,
+        .timer_num        = timer,
+        .duty_resolution  = bit_num,
+        .freq_hz          = freq,
+        .clk_cfg          = LEDC_DEFAULT_CLK
+    };
+    ledc_timer_config(&ledc_timer);
+    channels_resolution[chan] = bit_num;
 
-double ledcSetup(uint8_t chan, double freq, uint8_t bit_num)
-{
-    if(chan > LAST_CHAN) {
-        return 0;
-    }
-    double res_freq = _ledcSetupTimerFreq(chan, freq, bit_num);
-    _ledcSetupChannel(chan, LOW);
-    return res_freq;
+    return ledc_get_freq(group,timer);
 }
 
 void ledcWrite(uint8_t chan, uint32_t duty)
 {
-    if(chan > LAST_CHAN) {
+    if(chan >= LEDC_CHANNELS){
         return;
     }
     uint8_t group=(chan/8), channel=(chan%8);
-    LEDC_MUTEX_LOCK();
-    LEDC_CHAN(group, channel).duty.duty = duty << 4;//25 bit (21.4)
-    if(duty) {
-        LEDC_CHAN(group, channel).conf0.sig_out_en = 1;//This is the output enable control bit for channel
-        LEDC_CHAN(group, channel).conf1.duty_start = 1;//When duty_num duty_cycle and duty_scale has been configured. these register won't take effect until set duty_start. this bit is automatically cleared by hardware.
-#if CONFIG_IDF_TARGET_ESP32
-        if(group) {
-#endif
-            LEDC_CHAN(group, channel).conf0.low_speed_update = 1;
-#if CONFIG_IDF_TARGET_ESP32
-        } else {
-            LEDC_CHAN(group, channel).conf0.clk_en = 1;
-        }
-#endif
-    } else {
-        LEDC_CHAN(group, channel).conf0.sig_out_en = 0;//This is the output enable control bit for channel
-        LEDC_CHAN(group, channel).conf1.duty_start = 0;//When duty_num duty_cycle and duty_scale has been configured. these register won't take effect until set duty_start. this bit is automatically cleared by hardware.
-#if CONFIG_IDF_TARGET_ESP32
-        if(group) {
-#endif
-            LEDC_CHAN(group, channel).conf0.low_speed_update = 1;
-#if CONFIG_IDF_TARGET_ESP32
-        } else {
-            LEDC_CHAN(group, channel).conf0.clk_en = 0;
-        }
-#endif
+
+    //Fixing if all bits in resolution is set = LEDC FULL ON
+    uint32_t max_duty = (1 << channels_resolution[chan]) - 1;
+
+    if(duty == max_duty){
+        duty = max_duty + 1;
     }
-    LEDC_MUTEX_UNLOCK();
+
+    ledc_set_duty(group, channel, duty);
+    ledc_update_duty(group, channel);
 }
 
 uint32_t ledcRead(uint8_t chan)
 {
-    if(chan > LAST_CHAN) {
+     if(chan >= LEDC_CHANNELS){
         return 0;
     }
-    return LEDC.channel_group[chan/8].channel[chan%8].duty.duty >> 4;
+    uint8_t group=(chan/8), channel=(chan%8);
+    return ledc_get_duty(group,channel);
 }
 
 double ledcReadFreq(uint8_t chan)
 {
     if(!ledcRead(chan)){
         return 0;
     }
-    return _ledcTimerRead(chan);
+    uint8_t group=(chan/8), timer=((chan/2)%4);
+    return ledc_get_freq(group,timer);
 }
 
 double ledcWriteTone(uint8_t chan, double freq)
 {
-    if(chan > LAST_CHAN) {
+    if(chan >= LEDC_CHANNELS){
         return 0;
     }
-    if(!freq) {
+    if(!freq){
         ledcWrite(chan, 0);
         return 0;
     }
-    double res_freq = _ledcSetupTimerFreq(chan, freq, 10);
+
+    uint8_t group=(chan/8), timer=((chan/2)%4);
+
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode       = group,
+        .timer_num        = timer,
+        .duty_resolution  = 10,
+        .freq_hz          = freq, 
+        .clk_cfg          = LEDC_DEFAULT_CLK
+    };
+    ledc_timer_config(&ledc_timer);
+    channels_resolution[chan] = 10;
+
+    double res_freq = ledc_get_freq(group,timer);
     ledcWrite(chan, 0x1FF);
     return res_freq;
 }
@@ -308,15 +153,21 @@ double ledcWriteNote(uint8_t chan, note_t note, uint8_t octave){
 
 void ledcAttachPin(uint8_t pin, uint8_t chan)
 {
-    if(chan > LAST_CHAN) {
+     if(chan >= LEDC_CHANNELS){
         return;
     }
-    pinMode(pin, OUTPUT);
-#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32C3
-    pinMatrixOutAttach(pin, LEDC_LS_SIG_OUT0_IDX + chan, false, false);
-#else
-    pinMatrixOutAttach(pin, ((chan/8)?LEDC_LS_SIG_OUT0_IDX:LEDC_HS_SIG_OUT0_IDX) + (chan%8), false, false);
-#endif
+    uint8_t group=(chan/8), channel=(chan%8), timer=((chan/2)%4);
+    
+    ledc_channel_config_t ledc_channel = {
+        .speed_mode     = group,
+        .channel        = channel,
+        .timer_sel      = timer,
+        .intr_type      = LEDC_INTR_DISABLE,
+        .gpio_num       = pin,
+        .duty           = 0,
+        .hpoint         = 0
+    };
+    ledc_channel_config(&ledc_channel);
 }
 
 void ledcDetachPin(uint8_t pin)
@@ -326,21 +177,32 @@ void ledcDetachPin(uint8_t pin)
 
 double ledcChangeFrequency(uint8_t chan, double freq, uint8_t bit_num)
 {
-    if (chan > 15) {
+     if(chan >= LEDC_CHANNELS){
         return 0;
     }
-    double res_freq = _ledcSetupTimerFreq(chan, freq, bit_num);
-    return res_freq;
+    uint8_t group=(chan/8), timer=((chan/2)%4);
+
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode       = group,
+        .timer_num        = timer,
+        .duty_resolution  = bit_num,
+        .freq_hz          = freq, 
+        .clk_cfg          = LEDC_DEFAULT_CLK
+    };
+    ledc_timer_config(&ledc_timer);
+    channels_resolution[chan] = bit_num;
+
+    return ledc_get_freq(group,timer);
 }
 
 static int8_t pin_to_channel[SOC_GPIO_PIN_COUNT] = { 0 };
-static int cnt_channel = SOC_LEDC_CHANNEL_NUM;
+static int cnt_channel = LEDC_CHANNELS;
 void analogWrite(uint8_t pin, int value) {
   // Use ledc hardware for internal pins
   if (pin < SOC_GPIO_PIN_COUNT) {
     if (pin_to_channel[pin] == 0) {
       if (!cnt_channel) {
-          log_e("No more analogWrite channels available! You can have maximum %u", SOC_LEDC_CHANNEL_NUM);
+          log_e("No more analogWrite channels available! You can have maximum %u", LEDC_CHANNELS);
           return;
       }
       pin_to_channel[pin] = cnt_channel--;