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v1.1.0 to modify PWM settings on-the-fly
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### Releases v1.1.0

1. Add functions to modify PWM settings on-the-fly
2. Add example to demo how to modify PWM settings on-the-fly
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@khoih-prog
khoih-prog authored Nov 11, 2021
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2 changes: 1 addition & 1 deletion CONTRIBUTING.md
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Expand Up @@ -31,7 +31,7 @@ Arduino IDE version: 1.8.16
Arduino SAMD Core Version 1.8.11
SAMD_NANO_33_IOT
OS: Ubuntu 20.04 LTS
Linux xy-Inspiron-3593 5.4.0-86-generic #97-Ubuntu SMP Fri Sep 17 19:19:40 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux
Linux xy-Inspiron-3593 5.4.0-90-generic #101-Ubuntu SMP Fri Oct 15 20:00:55 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux
Context:
I encountered a crash while using SAMD_Slow_PWM.
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145 changes: 127 additions & 18 deletions README.md
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Expand Up @@ -34,18 +34,26 @@
* [2. Set PWM Frequency, dutycycle, attach irqCallbackStartFunc and irqCallbackStopFunc functions](#2-Set-PWM-Frequency-dutycycle-attach-irqCallbackStartFunc-and-irqCallbackStopFunc-functions)
* [Examples](#examples)
* [For SAMD21](#For-SAMD21)
* [ 1. ISR_16_PWMs_Array](examples/SAMD21/ISR_16_PWMs_Array)
* [ 2. ISR_16_PWMs_Array_Complex](examples/SAMD21/ISR_16_PWMs_Array_Complex)
* [ 3. ISR_16_PWMs_Array_Simple](examples/SAMD21/ISR_16_PWMs_Array_Simple)
* [ 1. ISR_16_PWMs_Array](examples/SAMD21/ISR_16_PWMs_Array)
* [ 2. ISR_16_PWMs_Array_Complex](examples/SAMD21/ISR_16_PWMs_Array_Complex)
* [ 3. ISR_16_PWMs_Array_Simple](examples/SAMD21/ISR_16_PWMs_Array_Simple)
* [ 4. ISR_Changing_PWM](examples/SAMD21/ISR_Changing_PWM)
* [ 5. ISR_Modify_PWM](examples/SAMD21/ISR_Modify_PWM)
* [For SAMD51](#For-SAMD51)
* [ 1. ISR_16_PWMs_Array](examples/SAMD51/ISR_16_PWMs_Array)
* [ 2. ISR_16_PWMs_Array_Complex](examples/SAMD51/ISR_16_PWMs_Array_Complex)
* [ 3. ISR_16_PWMs_Array_Simple](examples/SAMD51/ISR_16_PWMs_Array_Simple)
* [ 1. ISR_16_PWMs_Array](examples/SAMD51/ISR_16_PWMs_Array)
* [ 2. ISR_16_PWMs_Array_Complex](examples/SAMD51/ISR_16_PWMs_Array_Complex)
* [ 3. ISR_16_PWMs_Array_Simple](examples/SAMD51/ISR_16_PWMs_Array_Simple)
* [ 4. ISR_Changing_PWM](examples/SAMD51/ISR_Changing_PWM)
* [ 5. ISR_Modify_PWM](examples/SAMD51/ISR_Modify_PWM)
* [Example SAMD51 ISR_16_PWMs_Array_Complex](#Example-SAMD51-ISR_16_PWMs_Array_Complex)
* [Debug Terminal Output Samples](#debug-terminal-output-samples)
* [1. ISR_16_PWMs_Array_Complex on SAMD_NANO_33_IOT](#1-ISR_16_PWMs_Array_Complex-on-SAMD_NANO_33_IOT)
* [2. ISR_16_PWMs_Array_Complex on ITSYBITSY_M4](#2-ISR_16_PWMs_Array_Complex-on-ITSYBITSY_M4)
* [3. ISR_16_PWMs_Array_Complex on SEEED_XIAO_M0](#3-ISR_16_PWMs_Array_Complex-on-SEEED_XIAO_M0)
* [4. ISR_Modify_PWM on SAMD_NANO_33_IOT](#4-ISR_Modify_PWM-on-SAMD_NANO_33_IOT)
* [5. ISR_Changing_PWM on SAMD_NANO_33_IOT](#5-ISR_Changing_PWM-on-SAMD_NANO_33_IOT)
* [6. ISR_Modify_PWM on ITSYBITSY_M4](#6-ISR_Modify_PWM-on-ITSYBITSY_M4)
* [7. ISR_Changing_PWM on ITSYBITSY_M4](#7-ISR_Changing_PWM-on-ITSYBITSY_M4)
* [Debug](#debug)
* [Troubleshooting](#troubleshooting)
* [Issues](#issues)
Expand Down Expand Up @@ -132,7 +140,7 @@ The catch is **your function is now part of an ISR (Interrupt Service Routine),
2. [`Arduino SAMD core 1.8.11+`](https://github.com/arduino/ArduinoCore-samd) for SAMD ARM Cortex-M0+ boards. [![GitHub release](https://img.shields.io/github/release/arduino/ArduinoCore-samd.svg)](https://github.com/arduino/ArduinoCore-samd/releases/latest)
3. [`Adafruit SAMD core 1.7.5+`](https://github.com/adafruit/ArduinoCore-samd) for SAMD ARM Cortex-M0+ and M4 boards (Nano 33 IoT, etc.). [![GitHub release](https://img.shields.io/github/release/adafruit/ArduinoCore-samd.svg)](https://github.com/adafruit/ArduinoCore-samd/releases/latest)
4. [`Seeeduino SAMD core 1.8.1+`](https://github.com/Seeed-Studio/ArduinoCore-samd) for SAMD21/SAMD51 boards (XIAO M0, Wio Terminal, etc.). [![Latest release](https://img.shields.io/github/release/Seeed-Studio/ArduinoCore-samd.svg)](https://github.com/Seeed-Studio/ArduinoCore-samd/releases/latest/)
5. [`Sparkfun SAMD core 1.8.1+`](https://github.com/sparkfun/Arduino_Boards) for SAMD21/SAMD51 boards (SparkFun_RedBoard_Turbo, SparkFun_SAMD51_Thing_Plus, etc.).
5. [`Sparkfun SAMD core 1.8.3+`](https://github.com/sparkfun/Arduino_Boards) for SAMD21/SAMD51 boards (SparkFun_RedBoard_Turbo, SparkFun_SAMD51_Thing_Plus, etc.).

6. To use with certain example
- [`SimpleTimer library`](https://github.com/jfturcot/SimpleTimer) for [ISR_16_Timers_Array example](examples/ISR_16_Timers_Array).
Expand Down Expand Up @@ -319,12 +327,16 @@ void setup()
1. [ISR_16_PWMs_Array](examples/SAMD21/ISR_16_PWMs_Array)
2. [ISR_16_PWMs_Array_Complex](examples/SAMD21/ISR_16_PWMs_Array_Complex)
3. [ISR_16_PWMs_Array_Simple](examples/SAMD21/ISR_16_PWMs_Array_Simple)
4. [ISR_Changing_PWM](examples/SAMD21/ISR_Changing_PWM)
5. [ISR_Modify_PWM](examples/SAMD21/ISR_Modify_PWM)

#### For SAMD51

1. [ISR_16_PWMs_Array](examples/SAMD51/ISR_16_PWMs_Array)
2. [ISR_16_PWMs_Array_Complex](examples/SAMD51/ISR_16_PWMs_Array_Complex)
3. [ISR_16_PWMs_Array_Simple](examples/SAMD51/ISR_16_PWMs_Array_Simple)
3. [ISR_16_PWMs_Array_Simple](examples/SAMD51/ISR_16_PWMs_Array_Simple)
4. [ISR_Changing_PWM](examples/SAMD51/ISR_Changing_PWM)
5. [ISR_Modify_PWM](examples/SAMD51/ISR_Modify_PWM)


---
Expand Down Expand Up @@ -468,12 +480,11 @@ uint32_t PWM_Period[] =
111111L, 100000L, 66667L, 50000L, 40000L, 33333L, 25000L, 20000L
};
// You can assign any interval for any timer here, in Hz
uint32_t PWM_Freq[] =
double PWM_Freq[NUMBER_ISR_PWMS] =
{
1, 2, 3, 4, 5, 6, 7, 8,
9, 10, 15, 20, 25, 30, 40, 50
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
Expand Down Expand Up @@ -906,12 +917,12 @@ void loop()

### 1. ISR_16_PWMs_Array_Complex on SAMD_NANO_33_IOT

The following is the sample terminal output when running example [ISR_16_PWMs_Array_Complex](examples/ISR_16_PWMs_Array_Complex) on SAMD_NANO_33_IOT to demonstrate how to use multiple PWM channels with complex callback functions, the accuracy of ISR Hardware PWM-channels, **especially when system is very busy**. The ISR PWM-channels is **running exactly according to corresponding programmed periods and duty-cycles**
The following is the sample terminal output when running example [ISR_16_PWMs_Array_Complex](examples/SAMD21/ISR_16_PWMs_Array_Complex) on SAMD_NANO_33_IOT to demonstrate how to use multiple PWM channels with complex callback functions, the accuracy of ISR Hardware PWM-channels, **especially when system is very busy**. The ISR PWM-channels is **running exactly according to corresponding programmed periods and duty-cycles**


```
Starting ISR_16_PWMs_Array_Complex on SAMD_NANO_33_IOT
SAMD_Slow_PWM v1.0.0
SAMD_Slow_PWM v1.1.0
[PWM] _period = 20 , frequency = 50000.00
[PWM] SAMDTimerInterrupt: F_CPU (MHz) = 48 , TIMER_HZ = 48
[PWM] TC3_Timer::startTimer _Timer = 0x 42002c00 , TC3 = 0x 42002c00
Expand Down Expand Up @@ -959,12 +970,12 @@ PWM Channel : 7, programmed Period (us): 20000, actual : 20006, programmed DutyC

### 2. ISR_16_PWMs_Array_Complex on ITSYBITSY_M4

The following is the sample terminal output when running example [ISR_16_PWMs_Array_Complex](examples/ISR_16_PWMs_Array_Complex) on ITSYBITSY_M4 to demonstrate how to use multiple PWM channels with complex callback functions, the accuracy of ISR Hardware PWM-channels, **especially when system is very busy**. The ISR PWM-channels is **running exactly according to corresponding programmed periods and duty-cycles**
The following is the sample terminal output when running example [ISR_16_PWMs_Array_Complex](examples/SAMD51/ISR_16_PWMs_Array_Complex) on ITSYBITSY_M4 to demonstrate how to use multiple PWM channels with complex callback functions, the accuracy of ISR Hardware PWM-channels, **especially when system is very busy**. The ISR PWM-channels is **running exactly according to corresponding programmed periods and duty-cycles**


```
Starting ISR_16_PWMs_Array_Complex on ITSYBITSY_M4
SAMD_Slow_PWM v1.0.0
SAMD_Slow_PWM v1.1.0
[PWM] SAMDTimerInterrupt: F_CPU (MHz) = 120 , TIMER_HZ = 48
[PWM] TC_Timer::startTimer _Timer = 0x 4101c000 , TC3 = 0x 4101c000
[PWM] SAMD51 TC3 period = 20 , _prescaler = 1
Expand Down Expand Up @@ -1027,12 +1038,12 @@ PWM Channel : 15, programmed Period (us): 20000, actual : 19989, programmed Duty

### 3. ISR_16_PWMs_Array_Complex on SEEED_XIAO_M0

The following is the sample terminal output when running example [ISR_16_PWMs_Array_Complex](examples/ISR_16_PWMs_Array_Complex) on SEEED_XIAO_M0 to demonstrate how to use multiple PWM channels with complex callback functions, the accuracy of ISR Hardware PWM-channels, **especially when system is very busy**. The ISR PWM-channels is **running exactly according to corresponding programmed periods and duty-cycles**
The following is the sample terminal output when running example [ISR_16_PWMs_Array_Complex](examples/SAMD21/ISR_16_PWMs_Array_Complex) on SEEED_XIAO_M0 to demonstrate how to use multiple PWM channels with complex callback functions, the accuracy of ISR Hardware PWM-channels, **especially when system is very busy**. The ISR PWM-channels is **running exactly according to corresponding programmed periods and duty-cycles**


```
Starting ISR_16_PWMs_Array_Complex on SEEED_XIAO_M0
SAMD_Slow_PWM v1.0.0
SAMD_Slow_PWM v1.1.0
[PWM] _period = 20 , frequency = 50000.00
[PWM] SAMDTimerInterrupt: F_CPU (MHz) = 48 , TIMER_HZ = 48
[PWM] TC3_Timer::startTimer _Timer = 0x 42002c00 , TC3 = 0x 42002c00
Expand Down Expand Up @@ -1067,6 +1078,103 @@ PWM Channel : 6, programmed Period (us): 25000, actual : 24994, programmed DutyC
PWM Channel : 7, programmed Period (us): 20000, actual : 20000, programmed DutyCycle : 70, actual : 70.00
```

---

### 4. ISR_Modify_PWM on SAMD_NANO_33_IOT

The following is the sample terminal output when running example [ISR_Modify_PWM](examples/SAMD21/ISR_Modify_PWM) on **SAMD_NANO_33_IOT** to demonstrate how to modify PWM settings on-the-fly without deleting the PWM channel

```
Starting ISR_Modify_PWM on SAMD_NANO_33_IOT
SAMD_Slow_PWM v1.1.0
[PWM] _period = 20 , frequency = 50000.00
[PWM] SAMDTimerInterrupt: F_CPU (MHz) = 48 , TIMER_HZ = 48
[PWM] TC3_Timer::startTimer _Timer = 0x 42002c00 , TC3 = 0x 42002c00
[PWM] SAMD21 TC3 period = 20 , _prescaler = 1
[PWM] _compareValue = 959
Starting ITimer OK, micros() = 2821686
Using PWM Freq = 1.00, PWM DutyCycle = 10
Channel : 0 Period : 1000000 OnTime : 100000 Start_Time : 2822762
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 12824098
Channel : 0 Period : 1000000 OnTime : 100000 Start_Time : 22825080
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 32826081
```

---

### 5. ISR_Changing_PWM on SAMD_NANO_33_IOT

The following is the sample terminal output when running example [ISR_Changing_PWM](examples/SAMD21/ISR_Changing_PWM) on **SAMD_NANO_33_IOT** to demonstrate how to modify PWM settings on-the-fly by deleting the PWM channel and reinit the PWM channel

```
Starting ISR_Changing_PWM on SAMD_NANO_33_IOT
SAMD_Slow_PWM v1.1.0
[PWM] _period = 20 , frequency = 50000.00
[PWM] SAMDTimerInterrupt: F_CPU (MHz) = 48 , TIMER_HZ = 48
[PWM] TC3_Timer::startTimer _Timer = 0x 42002c00 , TC3 = 0x 42002c00
[PWM] SAMD21 TC3 period = 20 , _prescaler = 1
[PWM] _compareValue = 959
Starting ITimer OK, micros() = 2921757
Using PWM Freq = 1.00, PWM DutyCycle = 50
Channel : 0 Period : 1000000 OnTime : 500000 Start_Time : 2922855
Using PWM Freq = 2.00, PWM DutyCycle = 90
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 12924175
Using PWM Freq = 1.00, PWM DutyCycle = 50
Channel : 0 Period : 1000000 OnTime : 500000 Start_Time : 22925508
Using PWM Freq = 2.00, PWM DutyCycle = 90
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 32926654
```

---

### 6. ISR_Modify_PWM on ITSYBITSY_M4

The following is the sample terminal output when running example [ISR_Modify_PWM](examples/SAMD51/ISR_Modify_PWM) on **ITSYBITSY_M4** to demonstrate how to modify PWM settings on-the-fly without deleting the PWM channel

```
Starting ISR_Modify_PWM on ITSYBITSY_M4
SAMD_Slow_PWM v1.1.0
[PWM] SAMDTimerInterrupt: F_CPU (MHz) = 120 , TIMER_HZ = 48
[PWM] TC_Timer::startTimer _Timer = 0x 4101c000 , TC3 = 0x 4101c000
[PWM] SAMD51 TC3 period = 20 , _prescaler = 1
[PWM] _compareValue = 959
Starting ITimer OK, micros() = 3821127
Using PWM Freq = 1.00, PWM DutyCycle = 10
Channel : 0 Period : 1000000 OnTime : 100000 Start_Time : 3821615
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 13823005
Channel : 0 Period : 1000000 OnTime : 100000 Start_Time : 23824004
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 33825004
Channel : 0 Period : 1000000 OnTime : 100000 Start_Time : 43826004
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 53827004
Channel : 0 Period : 1000000 OnTime : 100000 Start_Time : 63828004
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 73829003
Channel : 0 Period : 1000000 OnTime : 100000 Start_Time : 83830004
```

---

### 7. ISR_Changing_PWM on ITSYBITSY_M4

The following is the sample terminal output when running example [ISR_Changing_PWM](examples/SAMD51/ISR_Changing_PWM) on **ITSYBITSY_M4** to demonstrate how to modify PWM settings on-the-fly by deleting the PWM channel and reinit the PWM channel

```
Starting ISR_Changing_PWM on ITSYBITSY_M4
SAMD_Slow_PWM v1.1.0
[PWM] SAMDTimerInterrupt: F_CPU (MHz) = 120 , TIMER_HZ = 48
[PWM] TC_Timer::startTimer _Timer = 0x 4101c000 , TC3 = 0x 4101c000
[PWM] SAMD51 TC3 period = 20 , _prescaler = 1
[PWM] _compareValue = 959
Starting ITimer OK, micros() = 2721076
Using PWM Freq = 1.00, PWM DutyCycle = 50
Channel : 0 Period : 1000000 OnTime : 500000 Start_Time : 2721574
Using PWM Freq = 2.00, PWM DutyCycle = 90
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 12722174
Using PWM Freq = 1.00, PWM DutyCycle = 50
Channel : 0 Period : 1000000 OnTime : 500000 Start_Time : 22722759
Using PWM Freq = 2.00, PWM DutyCycle = 90
Channel : 0 Period : 500000 OnTime : 450000 Start_Time : 32723417
```

---
---

Expand Down Expand Up @@ -1110,6 +1218,7 @@ Submit issues to: [SAMD_Slow_PWM issues](https://github.com/khoih-prog/SAMD_Slow

1. Basic hardware multi-channel PWM for **SAMD21/SAMD51 boards** such as NANO_33_IOT, ITSYBITSY_M4, SEEED_XIAO_M0, SparkFun_SAMD51_Thing_Plus, etc. using Arduino, Adafruit or Sparkfun core
2. Add Table of Contents
3. Add functions to modify PWM settings on-the-fly

---
---
Expand Down
6 changes: 6 additions & 0 deletions changelog.md
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Expand Up @@ -12,13 +12,19 @@
## Table of Contents

* [Changelog](#changelog)
* [Releases v1.1.0](#releases-v110)
* [Initial Releases v1.0.0](#Initial-Releases-v100)

---
---

## Changelog

### Releases v1.1.0

1. Add functions to modify PWM settings on-the-fly
2. Add example to demo how to modify PWM settings on-the-fly

### Initial Releases v1.0.0

1. Initial coding to support **SAMD21/SAMD51 boards** such as NANO_33_IOT, ITSYBITSY_M4, SEEED_XIAO_M0, SparkFun_SAMD51_Thing_Plus, etc. using Arduino, Adafruit or Sparkfun core
Expand Down
11 changes: 2 additions & 9 deletions examples/SAMD21/ISR_16_PWMs_Array/ISR_16_PWMs_Array.ino
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Expand Up @@ -11,12 +11,6 @@
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.
Version: 1.0.0
Version Modified By Date Comments
------- ----------- ---------- -----------
1.0.0 K.Hoang 01/10/2021 Initial coding for SAMD21/SAMD51 boards
*****************************************************************************************************************************/

#if !( defined(ARDUINO_SAMD_ZERO) || defined(ARDUINO_SAMD_MKR1000) || defined(ARDUINO_SAMD_MKRWIFI1010) \
Expand Down Expand Up @@ -94,11 +88,10 @@ uint32_t PWM_Period[] =
1000000L, 500000L, 66667L, 50000L, 40000L, 33333L, 25000L, 20000L
};


// You can assign any interval for any timer here, in Hz
uint32_t PWM_Freq[] =
double PWM_Freq[NUMBER_ISR_PWMS] =
{
1, 2, 15, 20, 25, 30, 40, 50
1.0f, 2.0f, 15.0f, 20.0f, 25.0f, 30.0f, 40.0f, 50.0f,
};

// You can assign any interval for any timer here, in milliseconds
Expand Down
11 changes: 2 additions & 9 deletions examples/SAMD21/ISR_16_PWMs_Array_Complex/ISR_16_PWMs_Array_Complex.ino
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Expand Up @@ -11,12 +11,6 @@
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.
Version: 1.0.0
Version Modified By Date Comments
------- ----------- ---------- -----------
1.0.0 K.Hoang 01/10/2021 Initial coding for SAMD21/SAMD51 boards
*****************************************************************************************************************************/

#if !( defined(ARDUINO_SAMD_ZERO) || defined(ARDUINO_SAMD_MKR1000) || defined(ARDUINO_SAMD_MKRWIFI1010) \
Expand Down Expand Up @@ -149,11 +143,10 @@ uint32_t PWM_Period[] =
1000000L, 500000L, 66667L, 50000L, 40000L, 33333L, 25000L, 20000L
};


// You can assign any interval for any timer here, in Hz
uint32_t PWM_Freq[] =
double PWM_Freq[NUMBER_ISR_PWMS] =
{
1, 2, 15, 20, 25, 30, 40, 50
1.0f, 2.0f, 15.0f, 20.0f, 25.0f, 30.0f, 40.0f, 50.0f,
};

// You can assign any interval for any timer here, in milliseconds
Expand Down
11 changes: 2 additions & 9 deletions examples/SAMD21/ISR_16_PWMs_Array_Simple/ISR_16_PWMs_Array_Simple.ino
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Expand Up @@ -11,12 +11,6 @@
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.
Version: 1.0.0
Version Modified By Date Comments
------- ----------- ---------- -----------
1.0.0 K.Hoang 01/10/2021 Initial coding for SAMD21/SAMD51 boards
*****************************************************************************************************************************/

#if !( defined(ARDUINO_SAMD_ZERO) || defined(ARDUINO_SAMD_MKR1000) || defined(ARDUINO_SAMD_MKRWIFI1010) \
Expand Down Expand Up @@ -103,11 +97,10 @@ uint32_t PWM_Period[] =
1000000L, 500000L, 66667L, 50000L, 40000L, 33333L, 25000L, 20000L
};


// You can assign any interval for any timer here, in Hz
uint32_t PWM_Freq[] =
double PWM_Freq[NUMBER_ISR_PWMS] =
{
1, 2, 15, 20, 25, 30, 40, 50
1.0f, 2.0f, 15.0f, 20.0f, 25.0f, 30.0f, 40.0f, 50.0f,
};

// You can assign any interval for any timer here, in milliseconds
Expand Down
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