diff --git a/components/driver/include/driver/ledc.h b/components/driver/include/driver/ledc.h index 45909b5594..7b22f3d177 100644 --- a/components/driver/include/driver/ledc.h +++ b/components/driver/include/driver/ledc.h @@ -389,7 +389,8 @@ void ledc_fade_func_uninstall(void); * Other duty operations will have to wait until the fade operation has finished. * @param speed_mode Select the LEDC channel group with specified speed mode. Note that not all targets support high speed mode. * @param channel LEDC channel number - * @param fade_mode Whether to block until fading done. + * @param fade_mode Whether to block until fading done. See ledc_types.h ledc_fade_mode_t for more info. + * Note that this function will not return until fading to the target duty if LEDC_FADE_WAIT_DONE mode is selected. * * @return * - ESP_OK Success diff --git a/components/driver/ledc.c b/components/driver/ledc.c index 19df70092b..7e76fd2951 100644 --- a/components/driver/ledc.c +++ b/components/driver/ledc.c @@ -184,7 +184,7 @@ esp_err_t ledc_timer_set(ledc_mode_t speed_mode, ledc_timer_t timer_sel, uint32_ static IRAM_ATTR esp_err_t ledc_duty_config(ledc_mode_t speed_mode, ledc_channel_t channel, int hpoint_val, int duty_val, ledc_duty_direction_t duty_direction, uint32_t duty_num, uint32_t duty_cycle, uint32_t duty_scale) { - portENTER_CRITICAL(&ledc_spinlock); + portENTER_CRITICAL_SAFE(&ledc_spinlock); if (hpoint_val >= 0) { ledc_hal_set_hpoint(&(p_ledc_obj[speed_mode]->ledc_hal), channel, hpoint_val); } @@ -196,7 +196,7 @@ static IRAM_ATTR esp_err_t ledc_duty_config(ledc_mode_t speed_mode, ledc_channel ledc_hal_set_duty_cycle(&(p_ledc_obj[speed_mode]->ledc_hal), channel, duty_cycle); ledc_hal_set_duty_scale(&(p_ledc_obj[speed_mode]->ledc_hal), channel, duty_scale); ledc_ls_channel_update(speed_mode, channel); - portEXIT_CRITICAL(&ledc_spinlock); + portEXIT_CRITICAL_SAFE(&ledc_spinlock); return ESP_OK; } @@ -568,9 +568,9 @@ void IRAM_ATTR ledc_fade_isr(void* arg) ledc_calc_fade_end_channel(&intr_status, &channel); // clear interrupt - portENTER_CRITICAL(&ledc_spinlock); + portENTER_CRITICAL_ISR(&ledc_spinlock); ledc_hal_clear_fade_end_intr_status(&(p_ledc_obj[speed_mode]->ledc_hal), channel); - portEXIT_CRITICAL(&ledc_spinlock); + portEXIT_CRITICAL_ISR(&ledc_spinlock); if (s_ledc_fade_rec[speed_mode][channel] == NULL) { //fade object not initialized yet. @@ -620,9 +620,9 @@ void IRAM_ATTR ledc_fade_isr(void* arg) 1, 0); } - portENTER_CRITICAL(&ledc_spinlock); + portENTER_CRITICAL_ISR(&ledc_spinlock); ledc_hal_set_duty_start(&(p_ledc_obj[speed_mode]->ledc_hal), channel, true); - portEXIT_CRITICAL(&ledc_spinlock); + portEXIT_CRITICAL_ISR(&ledc_spinlock); } } if (HPTaskAwoken == pdTRUE || cb_yield) { @@ -765,7 +765,10 @@ static void _ledc_fade_start(ledc_mode_t speed_mode, ledc_channel_t channel, led ledc_enable_intr_type(speed_mode, channel, LEDC_INTR_FADE_END); ledc_update_duty(speed_mode, channel); if (fade_mode == LEDC_FADE_WAIT_DONE) { - xSemaphoreTake(s_ledc_fade_rec[speed_mode][channel]->ledc_fade_sem, portMAX_DELAY); + // Waiting for fade done + _ledc_fade_hw_acquire(speed_mode, channel); + // Release hardware to support next time fade configure + _ledc_fade_hw_release(speed_mode, channel); } } @@ -807,7 +810,6 @@ esp_err_t ledc_fade_start(ledc_mode_t speed_mode, ledc_channel_t channel, ledc_f LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); _ledc_fade_hw_acquire(speed_mode, channel); _ledc_fade_start(speed_mode, channel, fade_mode); - _ledc_fade_hw_release(speed_mode, channel); return ESP_OK; } @@ -857,13 +859,11 @@ esp_err_t ledc_set_duty_and_update(ledc_mode_t speed_mode, ledc_channel_t channe LEDC_ARG_CHECK(duty <= ledc_get_max_duty(speed_mode, channel), "target_duty"); LEDC_ARG_CHECK(hpoint <= LEDC_HPOINT_VAL_MAX, "hpoint"); LEDC_CHECK(p_ledc_obj[speed_mode] != NULL, LEDC_NOT_INIT, ESP_ERR_INVALID_STATE); - LEDC_CHECK(ledc_fade_channel_init_check(speed_mode, channel) == ESP_OK , LEDC_FADE_INIT_ERROR_STR, ESP_FAIL); - _ledc_op_lock_acquire(speed_mode, channel); + LEDC_CHECK(ledc_fade_channel_init_check(speed_mode, channel) == ESP_OK, LEDC_FADE_INIT_ERROR_STR, ESP_FAIL); _ledc_fade_hw_acquire(speed_mode, channel); ledc_duty_config(speed_mode, channel, hpoint, duty, 1, 0, 0, 0); ledc_update_duty(speed_mode, channel); _ledc_fade_hw_release(speed_mode, channel); - _ledc_op_lock_release(speed_mode, channel); return ESP_OK; } @@ -879,9 +879,6 @@ esp_err_t ledc_set_fade_time_and_start(ledc_mode_t speed_mode, ledc_channel_t ch _ledc_fade_hw_acquire(speed_mode, channel); _ledc_set_fade_with_time(speed_mode, channel, target_duty, max_fade_time_ms); _ledc_fade_start(speed_mode, channel, fade_mode); - if (fade_mode == LEDC_FADE_WAIT_DONE) { - _ledc_fade_hw_release(speed_mode, channel); - } _ledc_op_lock_release(speed_mode, channel); return ESP_OK; } @@ -900,9 +897,6 @@ esp_err_t ledc_set_fade_step_and_start(ledc_mode_t speed_mode, ledc_channel_t ch _ledc_fade_hw_acquire(speed_mode, channel); _ledc_set_fade_with_step(speed_mode, channel, target_duty, scale, cycle_num); _ledc_fade_start(speed_mode, channel, fade_mode); - if (fade_mode == LEDC_FADE_WAIT_DONE) { - _ledc_fade_hw_release(speed_mode, channel); - } _ledc_op_lock_release(speed_mode, channel); return ESP_OK; } diff --git a/components/driver/test/test_ledc.c b/components/driver/test/test_ledc.c index 0b6f4efb18..e001a88b39 100644 --- a/components/driver/test/test_ledc.c +++ b/components/driver/test/test_ledc.c @@ -70,12 +70,26 @@ static ledc_timer_config_t create_default_timer_config(void) return ledc_time_config; } +static void fade_setup(void) +{ + ledc_channel_config_t ledc_ch_config = initialize_channel_config(); + ledc_ch_config.duty = 0; + ledc_timer_config_t ledc_time_config = create_default_timer_config(); + + TEST_ESP_OK(ledc_channel_config(&ledc_ch_config)); + TEST_ESP_OK(ledc_timer_config(&ledc_time_config)); + vTaskDelay(5 / portTICK_PERIOD_MS); + + //initialize fade service + TEST_ESP_OK(ledc_fade_func_install(0)); +} + static void timer_duty_set_get(ledc_mode_t speed_mode, ledc_channel_t channel, uint32_t duty) { TEST_ESP_OK(ledc_set_duty(speed_mode, channel, duty)); TEST_ESP_OK(ledc_update_duty(speed_mode, channel)); - vTaskDelay(1000 / portTICK_RATE_MS); - TEST_ASSERT_EQUAL_INT32(ledc_get_duty(speed_mode, channel), duty); + vTaskDelay(100 / portTICK_RATE_MS); + TEST_ASSERT_EQUAL_INT32(duty, ledc_get_duty(speed_mode, channel)); } // use logic analyzer to view @@ -304,9 +318,9 @@ TEST_CASE("LEDC memory leak test", "[ledc]") TEST_ESP_OK(ledc_stop(ledc_time_config.speed_mode, LEDC_CHANNEL_0, 0)); } -// the duty need to be detected by waveform given by the logic analyzer -// can't get it directly, so set it "ignore" -TEST_CASE("LEDC set and get dut(with logic analyzer)", "[ledc][ignore]") +// duty should be manually checked from the waveform using a logic analyzer +// this test is enabled only for testting the settings +TEST_CASE("LEDC set and get duty", "[ledc]") { ledc_timer_t timer_list[4] = {LEDC_TIMER_0, LEDC_TIMER_1, LEDC_TIMER_2, LEDC_TIMER_3}; ledc_mode_t speed_mode_list[LEDC_SPEED_MODE_MAX] = SPEED_MODE_LIST; @@ -317,61 +331,111 @@ TEST_CASE("LEDC set and get dut(with logic analyzer)", "[ledc][ignore]") } } -TEST_CASE("LEDC fade with time(logic analyzer)", "[ledc][ignore]") +TEST_CASE("LEDC fade with time", "[ledc]") { const ledc_mode_t test_speed_mode = TEST_SPEED_MODE; - ledc_channel_config_t ledc_ch_config = initialize_channel_config(); - ledc_ch_config.duty = 0; - ledc_timer_config_t ledc_time_config = create_default_timer_config(); + fade_setup(); - TEST_ESP_OK(ledc_channel_config(&ledc_ch_config)); - TEST_ESP_OK(ledc_timer_config(&ledc_time_config)); - - //initialize fade service - TEST_ESP_OK(ledc_fade_func_install(0)); - - TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 4000, 1000)); + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 4000, 200)); TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_WAIT_DONE)); - // TODO: allows for 5% deviation here due to driver code (IDF-2099) - vTaskDelay(1050 / portTICK_RATE_MS); - TEST_ASSERT_EQUAL_INT32(ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0), 4000); + TEST_ASSERT_EQUAL_INT32(4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); - TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 0, 1000)); + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 0, 200)); TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_NO_WAIT)); - vTaskDelay(1050 / portTICK_RATE_MS); - TEST_ASSERT_EQUAL_INT32(ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0), 0); + // duty should not be too far from initial value + TEST_ASSERT_INT32_WITHIN(20, 4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + vTaskDelay(210 / portTICK_PERIOD_MS); + TEST_ASSERT_EQUAL_INT32(0, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); - //deinitial fade service + //deinitialize fade service ledc_fade_func_uninstall(); } -TEST_CASE("LEDC fade with step(logic analyzer)", "[ledc][ignore]") +TEST_CASE("LEDC fade with step", "[ledc]") { const ledc_mode_t test_speed_mode = TEST_SPEED_MODE; - ledc_channel_config_t ledc_ch_config = initialize_channel_config(); - ledc_ch_config.duty = 0; - ledc_timer_config_t ledc_time_config = create_default_timer_config(); + fade_setup(); - TEST_ESP_OK(ledc_channel_config(&ledc_ch_config)); - TEST_ESP_OK(ledc_timer_config(&ledc_time_config)); - - //initialize fade service. - TEST_ESP_OK(ledc_fade_func_install(0)); - - TEST_ESP_OK(ledc_set_fade_with_step(test_speed_mode, LEDC_CHANNEL_0, 4000, 2, 1)); + TEST_ESP_OK(ledc_set_fade_with_step(test_speed_mode, LEDC_CHANNEL_0, 4000, 4, 1)); TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_WAIT_DONE)); - vTaskDelay(1050 / portTICK_RATE_MS); - TEST_ASSERT_EQUAL_INT32(ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0), 4000); + TEST_ASSERT_EQUAL_INT32(4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); - TEST_ESP_OK(ledc_set_fade_with_step(test_speed_mode, LEDC_CHANNEL_0, 0, 4, 2)); + TEST_ESP_OK(ledc_set_fade_with_step(test_speed_mode, LEDC_CHANNEL_0, 0, 4, 1)); TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_NO_WAIT)); - vTaskDelay(1050 / portTICK_RATE_MS); - TEST_ASSERT_EQUAL_INT32(ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0), 0); + // duty should not be too far from initial value + TEST_ASSERT_INT32_WITHIN(20, 4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + vTaskDelay(525 / portTICK_PERIOD_MS); + TEST_ASSERT_EQUAL_INT32(0, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); //scaler=0 check TEST_ASSERT(ledc_set_fade_with_step(test_speed_mode, LEDC_CHANNEL_0, 4000, 0, 1) == ESP_ERR_INVALID_ARG); - //deinitial fade service + //deinitialize fade service + ledc_fade_func_uninstall(); +} + +TEST_CASE("LEDC fast switching duty with fade_wait_done", "[ledc]") +{ + const ledc_mode_t test_speed_mode = TEST_SPEED_MODE; + fade_setup(); + + // fade function will block until fading to the target duty + int64_t fade_start, fade_stop; + fade_start = esp_timer_get_time(); + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 4000, 200)); + TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_WAIT_DONE)); + TEST_ASSERT_EQUAL_INT32(4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 1000, 150)); + TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_WAIT_DONE)); + TEST_ASSERT_EQUAL_INT32(1000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + fade_stop = esp_timer_get_time(); + int time_ms = (fade_stop - fade_start) / 1000; + TEST_ASSERT_TRUE(fabs(time_ms - 350) < 20); + + // next duty update will not take place until last fade reaches its target duty + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 4000, 200)); + TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_WAIT_DONE)); + TEST_ASSERT_EQUAL_INT32(4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + TEST_ESP_OK(ledc_set_duty(test_speed_mode, LEDC_CHANNEL_0, 500)); + TEST_ESP_OK(ledc_update_duty(test_speed_mode, LEDC_CHANNEL_0)); + vTaskDelay(5 / portTICK_PERIOD_MS); + TEST_ASSERT_EQUAL_INT32(500, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + + //deinitialize fade service + ledc_fade_func_uninstall(); +} + +TEST_CASE("LEDC fast switching duty with fade_no_wait", "[ledc]") +{ + const ledc_mode_t test_speed_mode = TEST_SPEED_MODE; + fade_setup(); + + // fade function returns immediately, but next fade still needs to wait for last fade ends + int64_t fade_start, first_fade_complete; + fade_start = esp_timer_get_time(); + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 4000, 200)); + TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_NO_WAIT)); + TEST_ASSERT_LESS_THAN(4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 1000, 150)); + TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_NO_WAIT)); + first_fade_complete = esp_timer_get_time(); + // duty should not be too far from first fade target duty + TEST_ASSERT_INT32_WITHIN(20, 4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + int time_ms = (first_fade_complete - fade_start) / 1000; + TEST_ASSERT_TRUE(fabs(time_ms - 200) < 20); + vTaskDelay(158 / portTICK_PERIOD_MS); + TEST_ASSERT_EQUAL_INT32(1000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + + // next duty update will not take place until last fade reaches its target duty + TEST_ESP_OK(ledc_set_fade_with_time(test_speed_mode, LEDC_CHANNEL_0, 4000, 200)); + TEST_ESP_OK(ledc_fade_start(test_speed_mode, LEDC_CHANNEL_0, LEDC_FADE_NO_WAIT)); + TEST_ASSERT_LESS_THAN(4000, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + TEST_ESP_OK(ledc_set_duty(test_speed_mode, LEDC_CHANNEL_0, 500)); + TEST_ESP_OK(ledc_update_duty(test_speed_mode, LEDC_CHANNEL_0)); + vTaskDelay(5 / portTICK_PERIOD_MS); + TEST_ASSERT_EQUAL_INT32(500, ledc_get_duty(test_speed_mode, LEDC_CHANNEL_0)); + + //deinitialize fade service ledc_fade_func_uninstall(); }