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esp32: pwm register updates correctly on change (#25653)

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- removed the bug where some overflow would occur on the PWM signal when
  changing the duty cycle of the signal after power up. (PWM_MAIN_DIS,
PWM_MAIN_MIN or PWM_MAIN_MAX)

removed commented code

cleanup of previous cherry-pick

Co-authored-by: henrykotze <henry@autonosky.com>
This commit is contained in:
Henry Kotzé 2025-09-30 21:15:06 +02:00 committed by GitHub
parent f3b2599d33
commit dbd13070e5
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GPG Key ID: B5690EEEBB952194
1 changed files with 17 additions and 4 deletions
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21
platforms/nuttx/src/px4/espressif/esp32/io_pins/pwm_servo.c
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@ -78,7 +78,6 @@
#define LEDC_LSCH0_DUTY_REG (DR_REG_LEDC_BASE + 0x00A8)
#define LEDC_CONF_REG (DR_REG_LEDC_BASE + 0x0190)
#define LEDC_SIG_OUT_EN_LSCH0 1 << 2
#define LEDC_PARA_UP_LSCH0 1 << 4
#define DPORT_LEDC_CLK_EN 1 << 11
@ -129,7 +128,8 @@ void get_optimal_timer_setup(uint32_t desired_freq)
uint32_t shifted = 1;
timer_rate = desired_freq;
reload = (20480000000 / desired_freq + LEDC_CLKDIV_MAX) / LEDC_CLKDIV_MAX;
uint64_t pwm_clk = 80000000;
reload = (pwm_clk * 256 / desired_freq + LEDC_CLKDIV_MAX) / LEDC_CLKDIV_MAX;
if (reload == 0) {
reload = 1;
@ -148,7 +148,7 @@ void get_optimal_timer_setup(uint32_t desired_freq)
}
shift = shifted;
prescaler = (20480000000 / reload) / desired_freq;
prescaler = (pwm_clk * 256 / reload) / desired_freq;
}
int up_pwm_servo_set(unsigned channel, uint16_t value)
@ -157,10 +157,23 @@ int up_pwm_servo_set(unsigned channel, uint16_t value)
uint32_t regval = b16toi(duty * reload + b16HALF);
irqstate_t flags;
flags = px4_enter_critical_section();
SET_CHAN_REG(channel, LEDC_LSCH0_CONF0_REG, 0);
SET_CHAN_REG(channel, LEDC_LSCH0_CONF1_REG, 0);
/* Set pulse phase 0 */
SET_CHAN_REG(channel, LEDC_LSCH0_HPOINT_REG, 0);
SET_CHAN_REG(channel, LEDC_LSCH0_DUTY_REG, regval << 4);
SET_CHAN_BITS(channel, LEDC_LSCH0_CONF0_REG, LEDC_SIG_OUT_EN_LSCH0);
/* Start Duty counter */
SET_CHAN_BITS(channel, LEDC_LSCH0_CONF1_REG, LEDC_DUTY_START_LSCH0);
/* Update duty and phase to hardware */
SET_CHAN_BITS(channel, LEDC_LSCH0_CONF0_REG, LEDC_PARA_UP_LSCH0);
px4_leave_critical_section(flags);
return OK;