LEDC honors :low on output pin

Grbl_Esp32/src/Motors/RcServo.cpp

@@ -31,6 +31,7 @@
 #include "RcServo.h"
 
 #include "../Machine/MachineConfig.h"
+#include "../Pins/Ledc.h"
 #include "../Pin.h"
 #include "../Report.h"
 #include "../Limits.h"  // limitsMaxPosition
@@ -45,12 +46,9 @@ namespace Motors {
     void RcServo::init() {
         _axis_index = axis_index();
 
-        auto pwmNative = _pwm_pin.getNative(Pin::Capabilities::PWM);
-
         read_settings();
         _channel_num = sys_get_next_PWM_chan_num();
-        ledcSetup(_channel_num, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
+        ledcInit(_pwm_pin, _channel_num, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
-        ledcAttachPin(pwmNative, _channel_num);
         _current_pwm_duty = 0;
 
         _disabled = true;
@@ -74,7 +72,7 @@ namespace Motors {
         }
 
         _current_pwm_duty = duty;
-        ledcWrite(_channel_num, duty);
+        ledcSetDuty(_channel_num, duty);
     }
 
     // sets the PWM to zero. This allows most servos to be manually moved

Grbl_Esp32/src/PinUsers/PwmPin.cpp

@@ -18,6 +18,7 @@
 
 #include "PwmPin.h"
 
+#include "../Pins/Ledc.h"
 #include "../Pin.h"
 #include "../Assert.h"
 #include "LimitedResource.h"
@@ -107,9 +108,8 @@ namespace PinUsers {
 
             resolutionBits_ = calculatePwmPrecision(frequency);
 
-            ledcSetup(pwmChannel_, frequency, resolutionBits_);
+            ledcInit(pin, pwmChannel_, frequency, resolutionBits_);
-            ledcAttachPin(native, pwmChannel_);
+            ledcSetDuty(pwmChannel_, 0);
-            ledcWrite(pwmChannel_, 0);
 
             // info_serial("PWM Output:%d on Pin:%s Freq:%0.0fHz", _number, _pin.name().c_str(), _pwm_frequency);
 
@@ -129,13 +129,13 @@ namespace PinUsers {
             }
 
             auto duty = value * (uint32_t(1) << int(resolutionBits_));
-            ledcWrite(pwmChannel_, uint32_t(duty));
+            ledcSetDuty(pwmChannel_, uint32_t(duty));
         }
 
         ~NativePwm() override {
             auto native = pin_.getNative(Pin::Capabilities::PWM | Pin::Capabilities::Native);
 
-            ledcWrite(pwmChannel_, 0);
+            ledcSetDuty(pwmChannel_, 0);
             ledcDetachPin(native);
 
             // Release resource:

Grbl_Esp32/src/Spindles/10vSpindle.cpp

@@ -26,6 +26,7 @@
 */
 #include "10vSpindle.h"
 
+#include "../Pins/Ledc.h"
 #include "../Report.h"
 #include "../System.h"  // sys.spindle_speed
 
@@ -39,10 +40,7 @@ namespace Spindles {
             return;  // We cannot continue without the output pin
         }
 
-        auto outputPin = _output_pin.getNative(Pin::Capabilities::PWM);
+        ledcInit(_output_pin, _pwm_chan_num, (double)_pwm_freq, _pwm_precision);  // setup the channel
-
-        ledcSetup(_pwm_chan_num, (double)_pwm_freq, _pwm_precision);  // setup the channel
-        ledcAttachPin(outputPin, _pwm_chan_num);                      // attach the PWM to the pin
 
         _enable_pin.setAttr(Pin::Attr::Output);
         _direction_pin.setAttr(Pin::Attr::Output);

Grbl_Esp32/src/Spindles/BESCSpindle.cpp

@@ -32,6 +32,7 @@
 */
 #include "BESCSpindle.h"
 
+#include "../Pins/Ledc.h"
 #include "../Report.h"
 
 #include <soc/ledc_struct.h>
@@ -51,9 +52,7 @@ namespace Spindles {
         _pwm_precision = 16;
         _pwm_period    = (1 << _pwm_precision);
 
-        auto outputNative = _output_pin.getNative(Pin::Capabilities::PWM);
+        ledcInit(_output_pin, _pwm_chan_num, double(_pwm_freq), _pwm_precision);  // setup the channel
-        ledcSetup(_pwm_chan_num, double(_pwm_freq), _pwm_precision);  // setup the channel
-        ledcAttachPin(outputNative, _pwm_chan_num);                   // attach the PWM to the pin
 
         _enable_pin.setAttr(Pin::Attr::Output);
 
@@ -84,7 +83,7 @@ namespace Spindles {
             return;
         }
 
-        // to prevent excessive calls to ledcWrite, make sure duty has changed
+        // to prevent excessive calls to ledcSetDuty, make sure duty has changed
         if (duty == _current_pwm_duty) {
             return;
         }
@@ -97,15 +96,7 @@ namespace Spindles {
         // full on value is a 2ms pulse.
         uint32_t pulse_counts = _min_pulse_counts + ((duty * _pulse_span_counts) >> _pwm_precision);
 
-        // This was ledcWrite, but this is called from an ISR
+        ledcSetDuty(_pwm_chan_num, pulse_counts);
-        // and ledcWrite uses RTOS features not compatible with ISRs
-        LEDC.channel_group[0].channel[0].duty.duty = pulse_counts << 4;
-
-        // bool on = !!duty;
-        bool on = true;  // Never turn off the pulse train
-
-        LEDC.channel_group[0].channel[0].conf0.sig_out_en = on;
-        LEDC.channel_group[0].channel[0].conf1.duty_start = on;
     }
 
     // prints the startup message of the spindle config

Grbl_Esp32/src/Spindles/PWMSpindle.cpp

@@ -21,14 +21,10 @@
 */
 #include "PWMSpindle.h"
 
-#include <soc/ledc_struct.h>
-#include <driver/ledc.h>
-
 #include "../System.h"  // sys.report_ovr_counter
 #include "../GCode.h"   // gc_state.modal
 #include "../Logging.h"
-
+#include "../Pins/Ledc.h"
-extern "C" void __pinMode(uint8_t pin, uint8_t mode);
 
 // ======================= PWM ==============================
 /*
@@ -63,15 +59,7 @@ namespace Spindles {
 
         auto outputNative = _output_pin.getNative(Pin::Capabilities::PWM);
 
-        ledcSetup(_pwm_chan_num, (double)_pwm_freq, _pwm_precision);  // setup the channel
+        ledcInit(_output_pin, _pwm_chan_num, (double)_pwm_freq, _pwm_precision);
-
-        // This is equivalent to ledcAttachPin with the addition of
-        // using the hardware inversion function in the GPIO matrix.
-        // We use that to apply the active low function in hardware.
-        __pinMode(outputNative, OUTPUT);
-        uint8_t function    = ((_pwm_chan_num / 8) ? LEDC_LS_SIG_OUT0_IDX : LEDC_HS_SIG_OUT0_IDX) + (_pwm_chan_num % 8);
-        bool    isActiveLow = _output_pin.getAttr().has(Pin::Attr::ActiveLow);
-        pinMatrixOutAttach(outputNative, function, isActiveLow, false);
 
         _enable_pin.setAttr(Pin::Attr::Output);
         _direction_pin.setAttr(Pin::Attr::Output);
@@ -142,25 +130,14 @@ namespace Spindles {
             return;
         }
 
-        // to prevent excessive calls to ledcWrite, make sure duty has changed
+        // to prevent excessive calls to ledcSetDuty, make sure duty has changed
         if (duty == _current_pwm_duty) {
             return;
         }
 
         _current_pwm_duty = duty;
 
-        if (_invert_pwm) {
+        ledcSetDuty(_pwm_chan_num, duty);
-            duty = (1 << _pwm_precision) - duty;
-        }
-
-        //ledcWrite(_pwm_chan_num, duty);
-
-        // This was ledcWrite, but this is called from an ISR
-        // and ledcWrite uses RTOS features not compatible with ISRs
-        LEDC.channel_group[0].channel[0].duty.duty        = duty << 4;
-        bool on                                           = !!duty;
-        LEDC.channel_group[0].channel[0].conf0.sig_out_en = on;
-        LEDC.channel_group[0].channel[0].conf1.duty_start = on;
     }
 
     /*

Grbl_Esp32/src/Spindles/PWMSpindle.h

@@ -49,7 +49,6 @@ namespace Spindles {
 
         void group(Configuration::HandlerBase& handler) override {
             handler.item("pwm_freq", _pwm_freq);
-            handler.item("invert_pwm", _invert_pwm);
 
             OnOff::group(handler);
         }
@@ -62,10 +61,11 @@ namespace Spindles {
     protected:
         int32_t  _current_pwm_duty;
         uint8_t  _pwm_chan_num;
-        uint32_t _pwm_freq = 5000;
         uint32_t _pwm_period;     // how many counts in 1 period
         uint8_t  _pwm_precision;  // auto calculated
-        bool     _invert_pwm = false;
+
+        // Configurable
+        uint32_t _pwm_freq = 5000;
 
         virtual void set_output(uint32_t duty) override;
         virtual void deinit();