MBED_RP2040_Slow_PWM Library

This library enables you to use Hardware Timers on RP2040-based boards to create and output PWM to pins. Because this library doesn't use the powerful hardware-controlled PWM with limitations, the maximum PWM frequency is currently limited at 1000Hz, which is still suitable for many real-life applications. Now you can also modify PWM settings on-the-fly.

This library enables you to use Interrupt from Hardware Timers on RP2040-based boards to create and output PWM to pins. It now supports 16 ISR-based synchronized PWM channels, while consuming only 1 Hardware Timer. PWM interval can be very long (uint32_t millisecs). The most important feature is they're ISR-based PWM channels. Therefore, their executions are not blocked by bad-behaving functions or tasks. This important feature is absolutely necessary for mission-critical tasks. These hardware PWM channels, using interrupt, still work even if other functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software PWM using millis() or micros(). That's necessary if you need to measure some data requiring better accuracy.

As Hardware Timers are rare, and very precious assets of any board, this library now enables you to use up to 16 ISR-based synchronized PWM channels, while consuming only 1 Hardware Timer. Timers' interval is very long (ulong millisecs).

Now with these new 16 ISR-based PWM-channels, the maximum interval is practically unlimited (limited only by unsigned long milliseconds) while the accuracy is nearly perfect compared to software PWM channels.

The most important feature is they're ISR-based PWM channels. Therefore, their executions are not blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.

The ISR_16_PWMs_Array_Complex example will demonstrate the nearly perfect accuracy, compared to software PWM, by printing the actual period / duty-cycle in microsecs of each of PWM-channels.

Being ISR-based PWM, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet or Blynk services. You can also have many (up to 16) PWM channels to use.

This non-being-blocked important feature is absolutely necessary for mission-critical tasks.

You'll see software-based SimpleTimer is blocked while system is connecting to WiFi / Internet / Blynk, as well as by blocking task in loop(), using delay() function as an example. The elapsed time then is very unaccurate

Why using ISR-based PWM is better

Imagine you have a system with a mission-critical function, measuring water level and control the sump pump or doing something much more important. You normally use a software timer to poll, or even place the function in loop(). But what if another function is blocking the loop() or setup().

So your function might not be executed, and the result would be disastrous.

You'd prefer to have your function called, no matter what happening with other functions (busy loop, bug, etc.).

The correct choice is to use a Hardware Timer with Interrupt to call your function.

These hardware PWM channels, using interrupt, still work even if other functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software PWM channels using millis() or micros(). That's necessary if you need to measure some data requiring better accuracy.

Functions using normal software PWM channels, relying on loop() and calling millis(), won't work if the loop() or setup() is blocked by certain operation. For example, certain function is blocking while it's connecting to WiFi or some services.

The catch is your function is now part of an ISR (Interrupt Service Routine), and must be lean / mean, and follow certain rules. More to read on:

HOWTO Attach Interrupt

Currently supported Boards

RP2040-based boards such as Nano_RP2040_Connect, RaspberryPi Pico, etc., using ArduinoCore-mbed mbed_nano or mbed_rp2040 core

Important Notes about ISR

Inside the attached function, delay() won’t work and the value returned by millis() will not increment. Serial data received while in the function may be lost. You should declare as volatile any variables that you modify within the attached function.
Typically global variables are used to pass data between an ISR and the main program. To make sure variables shared between an ISR and the main program are updated correctly, declare them as volatile.

Prerequisites

Arduino IDE 1.8.19+ for Arduino.
Arduino mbed_rp2040 core 3.4.1+ for Arduino (Use Arduino Board Manager) RP2040-based boards, such as Arduino Nano RP2040 Connect, RASPBERRY_PI_PICO, etc..
To use with certain example
- SimpleTimer library for ISR_Timers_Array_Simple and ISR_16_Timers_Array_Complex examples.

Installation

Use Arduino Library Manager

The best and easiest way is to use Arduino Library Manager. Search for MBED_RP2040_Slow_PWM, then select / install the latest version. You can also use this link for more detailed instructions.

Manual Install

Another way to install is to:

Navigate to MBED_RP2040_Slow_PWM page.
Download the latest release MBED_RP2040_Slow_PWM-main.zip.
Extract the zip file to MBED_RP2040_Slow_PWM-main directory
Copy whole MBED_RP2040_Slow_PWM-main folder to Arduino libraries' directory such as ~/Arduino/libraries/.

VS Code & PlatformIO

Install VS Code
Install PlatformIO
Install MBED_RP2040_Slow_PWM library by using Library Manager. Search for MBED_RP2040_Slow_PWM in Platform.io Author's Libraries
Use included platformio.ini file from examples to ensure that all dependent libraries will installed automatically. Please visit documentation for the other options and examples at Project Configuration File

HOWTO Fix `Multiple Definitions` Linker Error

The current library implementation, using xyz-Impl.h instead of standard xyz.cpp, possibly creates certain Multiple Definitions Linker error in certain use cases.

You can include this .hpp file

// Can be included as many times as necessary, without `Multiple Definitions` Linker Error #include "MBED_RP2040_Slow_PWM.hpp" //https://github.com/khoih-prog/MBED_RP2040_Slow_PWM

in many files. But be sure to use the following .h file in just 1 .h, .cpp or .ino file, which must not be included in any other file, to avoid Multiple Definitions Linker Error

// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error #include "MBED_RP2040_Slow_PWM.h" //https://github.com/khoih-prog/MBED_RP2040_Slow_PWM

Check the new multiFileProject example for a HOWTO demo.

Have a look at the discussion in Different behaviour using the src_cpp or src_h lib #80

More useful Information

The RP2040-based system timer peripheral provides a global microsecond timebase for the system, and generates interrupts based on this timebase. It supports the following features:

• A single 64-bit counter, incrementing once per microsecond • This counter can be read from a pair of latching registers, for race-free reads over a 32-bit bus. • Four alarms: match on the lower 32 bits of counter, IRQ on match: TIMER_IRQ_0-TIMER_IRQ_3

Now with these new 16 ISR-based PWM channels (while consuming only 1 hardware timer), the maximum interval is practically unlimited (limited only by unsigned long milliseconds). The accuracy is nearly perfect compared to software PWM channels. The most important feature is they're ISR-based PWM channels Therefore, their executions are not blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.

The ISR_16_PWMs_Array_Complex example will demonstrate the nearly perfect accuracy compared to software PWM channels by printing the actual elapsed microsecs / millisecs of each type of PWM channels.

Being ISR-based PWM channels, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services. You can also have many (up to 16) PWM channels to use. This non-being-blocked important feature is absolutely necessary for mission-critical tasks. You'll see blynkTimer Software is blocked while system is connecting to WiFi / Internet / Blynk, as well as by blocking task in loop(), using delay() function as an example. The elapsed time then is very unaccurate

Usage

Before using any Timer, you have to make sure the Timer has not been used by any other purpose. TIMER_IRQ_0, TIMER_IRQ_1, TIMER_IRQ_2 and TIMER_IRQ_3 are supported for RP2040-based boards.

1. Init Hardware Timer

// Init MBED_RPI_PICO_Timer MBED_RP2040_Timer ITimer(0);; // Init MBED_RP2040_Slow_PWM, each can service 16 different ISR-based PWM channels MBED_RP2040_Slow_PWM ISR_PWM;

2. Set PWM Frequency, dutycycle, attach irqCallbackStartFunc and irqCallbackStopFunc functions

void irqCallbackStartFunc() { } void irqCallbackStopFunc() { } void setup() { .... // You can use this with PWM_Freq in Hz ISR_PWM.setPWM(PWM_Pin, PWM_Freq, PWM_DutyCycle, irqCallbackStartFunc, irqCallbackStopFunc); .... }

Examples:

Example ISR_16_PWMs_Array_Complex

MBED_RP2040_Slow_PWM/examples/ISR_16_PWMs_Array_Complex/ISR_16_PWMs_Array_Complex.ino

Lines 16 to 588 in 57d1372

     #if ! ( ( defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \  
   defined(ARDUINO_GENERIC_RP2040) ) && defined(ARDUINO_ARCH_MBED) )  
   #error This code is intended to run on the MBED RP2040 mbed_nano or mbed_rp2040 platform! Please check your Tools->Board setting.  
   #endif  
    
   // These define's must be placed at the beginning before #include "ESP32_PWM.h"  
   // _PWM_LOGLEVEL_ from 0 to 4  
   // Don't define _PWM_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.  
   #define _PWM_LOGLEVEL_ 3  
    
   #define USING_MICROS_RESOLUTION true //false  
    
   // Default is true, uncomment to false  
   //#define CHANGING_PWM_END_OF_CYCLE false  
    
   // To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error  
   #include "MBED_RP2040_Slow_PWM.h"  
    
   #include <SimpleTimer.h> // https://github.com/jfturcot/SimpleTimer  
    
   #define LED_OFF HIGH  
   #define LED_ON LOW  
    
   #ifndef LED_BUILTIN  
   #define LED_BUILTIN 25  
   #endif  
    
   #ifndef LED_BLUE  
   #define LED_BLUE 10  
   #endif  
    
   #ifndef LED_RED  
   #define LED_RED 11  
   #endif  
    
   #define HW_TIMER_INTERVAL_US 20L  
    
   volatile uint64_t startMicros = 0;  
    
   // Init MBED_RPI_PICO_Timer  
   MBED_RP2040_Timer ITimer(0);  
    
   // Init MBED_RP2040_Slow_PWM, each can service 16 different ISR-based PWM channels  
   MBED_RP2040_Slow_PWM ISR_PWM;  
    
   //////////////////////////////////////////////////////  
    
   void TimerHandler(uint alarm_num)  
   {  
   //////////////////////////////////////////////////////////  
   // Always call this for MBED RP2040 before processing ISR  
   TIMER_ISR_START(alarm_num);  
   ///////////////////////////////////////////////////////////  
    
   ISR_PWM.run();  
    
   ////////////////////////////////////////////////////////////  
   // Always call this for MBED RP2040 after processing ISR  
   TIMER_ISR_END(alarm_num);  
   ////////////////////////////////////////////////////////////  
   }  
    
   /////////////////////////////////////////////////  
    
   #define NUMBER_ISR_PWMS 16  
    
   #define PIN_D0 0  
   #define PIN_D1 1  
   #define PIN_D2 2  
   #define PIN_D3 3  
   #define PIN_D4 4  
   #define PIN_D5 5  
   #define PIN_D6 6  
   #define PIN_D7 7  
   #define PIN_D8 8  
   #define PIN_D9 9  
   #define PIN_D10 10  
   #define PIN_D11 11  
   #define PIN_D12 12  
    
   typedef void (*irqCallback) ();  
    
   //////////////////////////////////////////////////////  
    
   #define USE_COMPLEX_STRUCT true  
    
   #define USING_PWM_FREQUENCY true  
    
   //////////////////////////////////////////////////////  
    
   #if USE_COMPLEX_STRUCT  
    
   typedef struct  
   {  
   uint32_t PWM_Pin;  
   irqCallback irqCallbackStartFunc;  
   irqCallback irqCallbackStopFunc;  
    
   #if USING_PWM_FREQUENCY  
   float PWM_Freq;  
   #else  
   uint32_t PWM_Period;  
   #endif  
    
   float PWM_DutyCycle;  
    
   uint64_t deltaMicrosStart;  
   uint64_t previousMicrosStart;  
    
   uint64_t deltaMicrosStop;  
   uint64_t previousMicrosStop;  
    
   } ISR_PWM_Data;  
    
   // In RP2040, avoid doing something fancy in ISR, for example Serial.print()  
   // The pure simple Serial.prints here are just for demonstration and testing. Must be eliminate in working environment  
   // Or you can get this run-time error / crash  
    
   void doingSomethingStart(int index);  
    
   void doingSomethingStop(int index);  
    
   #else // #if USE_COMPLEX_STRUCT  
    
   volatile unsigned long deltaMicrosStart [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };  
   volatile unsigned long previousMicrosStart [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };  
    
   volatile unsigned long deltaMicrosStop [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };  
   volatile unsigned long previousMicrosStop [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };  
    
   // You can assign pins here. Be carefull to select good pin to use or crash, e.g pin 6-11  
   uint32_t PWM_Pin[NUMBER_ISR_PWMS] =  
   {  
   LED_BUILTIN, LED_BLUE, LED_RED, PIN_D0, PIN_D1, PIN_D2, PIN_D3, PIN_D4,  
   PIN_D5, PIN_D6, PIN_D7, PIN_D8, PIN_D9, PIN_D10, PIN_D11, PIN_D12  
   };  
    
   // You can assign any interval for any timer here, in microseconds  
   uint32_t PWM_Period[] =  
   {  
   1000000L, 500000L, 333333L, 250000L, 200000L, 166667L, 142857L, 125000L,  
   111111L, 100000L, 66667L, 50000L, 40000L, 33333L, 25000L, 20000L  
   };  
    
   // You can assign any interval for any timer here, in Hz  
   float PWM_Freq[] =  
   {  
   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  
   float PWM_DutyCycle[] =  
   {  
   5.0, 10.0, 20.0, 30.0, 40.0, 45.0, 50.0, 55.0,  
   60.0, 65.0, 70.0, 75.0, 80.0, 85.0, 90.0, 95.0  
   };  
    
   void doingSomethingStart(int index)  
   {  
   unsigned long currentMicros = micros();  
    
   deltaMicrosStart[index] = currentMicros - previousMicrosStart[index];  
   previousMicrosStart[index] = currentMicros;  
   }  
    
   void doingSomethingStop(int index)  
   {  
   unsigned long currentMicros = micros();  
    
   // Count from start to stop PWM pulse  
   deltaMicrosStop[index] = currentMicros - previousMicrosStart[index];  
   previousMicrosStop[index] = currentMicros;  
   }  
    
   #endif // #if USE_COMPLEX_STRUCT  
    
   ////////////////////////////////////  
   // Shared  
   ////////////////////////////////////  
    
   void doingSomethingStart0()  
   {  
   doingSomethingStart(0);  
   }  
    
   void doingSomethingStart1()  
   {  
   doingSomethingStart(1);  
   }  
    
   void doingSomethingStart2()  
   {  
   doingSomethingStart(2);  
   }  
    
   void doingSomethingStart3()  
   {  
   doingSomethingStart(3);  
   }  
    
   void doingSomethingStart4()  
   {  
   doingSomethingStart(4);  
   }  
    
   void doingSomethingStart5()  
   {  
   doingSomethingStart(5);  
   }  
    
   void doingSomethingStart6()  
   {  
   doingSomethingStart(6);  
   }  
    
   void doingSomethingStart7()  
   {  
   doingSomethingStart(7);  
   }  
    
   void doingSomethingStart8()  
   {  
   doingSomethingStart(8);  
   }  
    
   void doingSomethingStart9()  
   {  
   doingSomethingStart(9);  
   }  
    
   void doingSomethingStart10()  
   {  
   doingSomethingStart(10);  
   }  
    
   void doingSomethingStart11()  
   {  
   doingSomethingStart(11);  
   }  
    
   void doingSomethingStart12()  
   {  
   doingSomethingStart(12);  
   }  
    
   void doingSomethingStart13()  
   {  
   doingSomethingStart(13);  
   }  
    
   void doingSomethingStart14()  
   {  
   doingSomethingStart(14);  
   }  
    
   void doingSomethingStart15()  
   {  
   doingSomethingStart(15);  
   }  
    
   //////////////////////////////////////////////////////  
    
   void doingSomethingStop0()  
   {  
   doingSomethingStop(0);  
   }  
    
   void doingSomethingStop1()  
   {  
   doingSomethingStop(1);  
   }  
    
   void doingSomethingStop2()  
   {  
   doingSomethingStop(2);  
   }  
    
   void doingSomethingStop3()  
   {  
   doingSomethingStop(3);  
   }  
    
   void doingSomethingStop4()  
   {  
   doingSomethingStop(4);  
   }  
    
   void doingSomethingStop5()  
   {  
   doingSomethingStop(5);  
   }  
    
   void doingSomethingStop6()  
   {  
   doingSomethingStop(6);  
   }  
    
   void doingSomethingStop7()  
   {  
   doingSomethingStop(7);  
   }  
    
   void doingSomethingStop8()  
   {  
   doingSomethingStop(8);  
   }  
    
   void doingSomethingStop9()  
   {  
   doingSomethingStop(9);  
   }  
    
   void doingSomethingStop10()  
   {  
   doingSomethingStop(10);  
   }  
    
   void doingSomethingStop11()  
   {  
   doingSomethingStop(11);  
   }  
    
   void doingSomethingStop12()  
   {  
   doingSomethingStop(12);  
   }  
    
   void doingSomethingStop13()  
   {  
   doingSomethingStop(13);  
   }  
    
   void doingSomethingStop14()  
   {  
   doingSomethingStop(14);  
   }  
    
   void doingSomethingStop15()  
   {  
   doingSomethingStop(15);  
   }  
    
   //////////////////////////////////////////////////////  
    
   #if USE_COMPLEX_STRUCT  
    
   #if USING_PWM_FREQUENCY  
    
   ISR_PWM_Data curISR_PWM_Data[NUMBER_ISR_PWMS] =  
   {  
   // pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Freq, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop  
   { LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1, 5, 0, 0, 0, 0 },  
   { LED_BLUE, doingSomethingStart1, doingSomethingStop1, 2, 10, 0, 0, 0, 0 },  
   { LED_RED, doingSomethingStart2, doingSomethingStop2, 3, 20, 0, 0, 0, 0 },  
   { PIN_D0, doingSomethingStart3, doingSomethingStop3, 4, 30, 0, 0, 0, 0 },  
   { PIN_D1, doingSomethingStart4, doingSomethingStop4, 5, 40, 0, 0, 0, 0 },  
   { PIN_D2, doingSomethingStart5, doingSomethingStop5, 6, 45, 0, 0, 0, 0 },  
   { PIN_D3, doingSomethingStart6, doingSomethingStop6, 7, 50, 0, 0, 0, 0 },  
   { PIN_D4, doingSomethingStart7, doingSomethingStop7, 8, 55, 0, 0, 0, 0 },  
   { PIN_D5, doingSomethingStart8, doingSomethingStop8, 9, 60, 0, 0, 0, 0 },  
   { PIN_D6, doingSomethingStart9, doingSomethingStop9, 10, 65, 0, 0, 0, 0 },  
   { PIN_D7, doingSomethingStart10, doingSomethingStop10, 15, 70, 0, 0, 0, 0 },  
   { PIN_D8, doingSomethingStart11, doingSomethingStop11, 20, 75, 0, 0, 0, 0 },  
   { PIN_D9, doingSomethingStart12, doingSomethingStop12, 25, 80, 0, 0, 0, 0 },  
   { PIN_D10, doingSomethingStart13, doingSomethingStop13, 30, 85, 0, 0, 0, 0 },  
   { PIN_D11, doingSomethingStart14, doingSomethingStop14, 40, 90, 0, 0, 0, 0 },  
   { PIN_D12, doingSomethingStart15, doingSomethingStop15, 50, 95, 0, 0, 0, 0 }  
   };  
    
   #else // #if USING_PWM_FREQUENCY  
    
   ISR_PWM_Data curISR_PWM_Data[NUMBER_ISR_PWMS] =  
   {  
   // pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Period, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop  
   { LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1000000L, 5, 0, 0, 0, 0 },  
   { LED_BLUE, doingSomethingStart1, doingSomethingStop1, 500000L, 10, 0, 0, 0, 0 },  
   { LED_RED, doingSomethingStart2, doingSomethingStop2, 333333L, 20, 0, 0, 0, 0 },  
   { PIN_D0, doingSomethingStart3, doingSomethingStop3, 250000L, 30, 0, 0, 0, 0 },  
   { PIN_D1, doingSomethingStart4, doingSomethingStop4, 200000L, 40, 0, 0, 0, 0 },  
   { PIN_D2, doingSomethingStart5, doingSomethingStop5, 166667L, 45, 0, 0, 0, 0 },  
   { PIN_D3, doingSomethingStart6, doingSomethingStop6, 142857L, 50, 0, 0, 0, 0 },  
   { PIN_D4, doingSomethingStart7, doingSomethingStop7, 125000L, 55, 0, 0, 0, 0 },  
   { PIN_D5, doingSomethingStart8, doingSomethingStop8, 111111L, 60, 0, 0, 0, 0 },  
   { PIN_D6, doingSomethingStart9, doingSomethingStop9, 100000L, 65, 0, 0, 0, 0 },  
   { PIN_D7, doingSomethingStart10, doingSomethingStop10, 66667L, 70, 0, 0, 0, 0 },  
   { PIN_D8, doingSomethingStart11, doingSomethingStop11, 50000L, 75, 0, 0, 0, 0 },  
   { PIN_D9, doingSomethingStart12, doingSomethingStop12, 40000L, 80, 0, 0, 0, 0 },  
   { PIN_D10, doingSomethingStart13, doingSomethingStop13, 33333L, 85, 0, 0, 0, 0 },  
   { PIN_D11, doingSomethingStart14, doingSomethingStop14, 25000L, 90, 0, 0, 0, 0 },  
   { PIN_D12, doingSomethingStart15, doingSomethingStop15, 20000L, 95, 0, 0, 0, 0 }  
   };  
    
   #endif // #if USING_PWM_FREQUENCY  
    
   void doingSomethingStart(int index)  
   {  
   unsigned long currentMicros = micros();  
    
   curISR_PWM_Data[index].deltaMicrosStart = currentMicros - curISR_PWM_Data[index].previousMicrosStart;  
   curISR_PWM_Data[index].previousMicrosStart = currentMicros;  
   }  
    
   void doingSomethingStop(int index)  
   {  
   unsigned long currentMicros = micros();  
    
   //curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStop;  
   // Count from start to stop PWM pulse  
   curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStart;  
   curISR_PWM_Data[index].previousMicrosStop = currentMicros;  
   }  
    
   #else // #if USE_COMPLEX_STRUCT  
    
   irqCallback irqCallbackStartFunc[NUMBER_ISR_PWMS] =  
   {  
   doingSomethingStart0, doingSomethingStart1, doingSomethingStart2, doingSomethingStart3,  
   doingSomethingStart4, doingSomethingStart5, doingSomethingStart6, doingSomethingStart7,  
   doingSomethingStart8, doingSomethingStart9, doingSomethingStart10, doingSomethingStart11,  
   doingSomethingStart12, doingSomethingStart13, doingSomethingStart14, doingSomethingStart15  
   };  
    
   irqCallback irqCallbackStopFunc[NUMBER_ISR_PWMS] =  
   {  
   doingSomethingStop0, doingSomethingStop1, doingSomethingStop2, doingSomethingStop3,  
   doingSomethingStop4, doingSomethingStop5, doingSomethingStop6, doingSomethingStop7,  
   doingSomethingStop8, doingSomethingStop9, doingSomethingStop10, doingSomethingStop11,  
   doingSomethingStop12, doingSomethingStop13, doingSomethingStop14, doingSomethingStop15  
   };  
    
   #endif // #if USE_COMPLEX_STRUCT  
    
   //////////////////////////////////////////////////////  
    
   #define SIMPLE_TIMER_MS 2000L  
    
   // Init SimpleTimer  
   SimpleTimer simpleTimer;  
    
   // Here is software Timer, you can do somewhat fancy stuffs without many issues.  
   // But always avoid  
   // 1. Long delay() it just doing nothing and pain-without-gain wasting CPU power.Plan and design your code / strategy ahead  
   // 2. Very long "do", "while", "for" loops without predetermined exit time.  
   void simpleTimerDoingSomething2s()  
   {  
   static unsigned long previousMicrosStart = startMicros;  
    
   unsigned long currMicros = micros();  
    
   Serial.print(F("SimpleTimer (ms): ")); Serial.print(SIMPLE_TIMER_MS);  
   Serial.print(F(", us : ")); Serial.print(currMicros);  
   Serial.print(F(", Dus : ")); Serial.println(currMicros - previousMicrosStart);  
    
   for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)  
   {  
   #if USE_COMPLEX_STRUCT  
   Serial.print(F("PWM Channel : ")); Serial.print(i);  
   Serial.print(F(", programmed Period (us): "));  
    
   #if USING_PWM_FREQUENCY  
   Serial.print(1000000 / curISR_PWM_Data[i].PWM_Freq);  
   #else  
   Serial.print(curISR_PWM_Data[i].PWM_Period);  
   #endif  
    
   Serial.print(F(", actual : ")); Serial.print(curISR_PWM_Data[i].deltaMicrosStart);  
    
   Serial.print(F(", programmed DutyCycle : "));  
    
   Serial.print(curISR_PWM_Data[i].PWM_DutyCycle);  
    
   Serial.print(F(", actual : ")); Serial.println((float) curISR_PWM_Data[i].deltaMicrosStop * 100.0f / curISR_PWM_Data[i].deltaMicrosStart);  
    
   #else  
    
   Serial.print(F("PWM Channel : ")); Serial.print(i);  
    
   #if USING_PWM_FREQUENCY  
   Serial.print(1000000 / PWM_Freq[i]);  
   #else  
   Serial.print(PWM_Period[i]);  
   #endif  
    
   Serial.print(F(", programmed Period (us): ")); Serial.print(PWM_Period[i]);  
   Serial.print(F(", actual : ")); Serial.print(deltaMicrosStart[i]);  
    
   Serial.print(F(", programmed DutyCycle : "));  
    
   Serial.print(PWM_DutyCycle[i]);  
    
   Serial.print(F(", actual : ")); Serial.println( (float) deltaMicrosStop[i] * 100.0f / deltaMicrosStart[i]);  
   #endif  
   }  
    
   previousMicrosStart = currMicros;  
   }  
    
   void setup()  
   {  
   Serial.begin(115200);  
   while (!Serial);  
    
   delay(2000);  
    
   Serial.print(F("\nStarting ISR_16_PWMs_Array_Complex on ")); Serial.println(BOARD_NAME);  
   Serial.println(MBED_RP2040_SLOW_PWM_VERSION);  
    
   // Interval in microsecs  
   if (ITimer.attachInterruptInterval(HW_TIMER_INTERVAL_US, TimerHandler))  
   {  
   startMicros = micros();  
   Serial.print(F("Starting ITimer OK, micros() = ")); Serial.println(startMicros);  
   }  
   else  
   Serial.println(F("Can't set ITimer. Select another freq. or timer"));  
    
   startMicros = micros();  
    
   // Just to demonstrate, don't use too many ISR Timers if not absolutely necessary  
   // You can use up to 16 timer for each ISR_PWM  
    
   for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)  
   {  
   #if USE_COMPLEX_STRUCT  
   curISR_PWM_Data[i].previousMicrosStart = startMicros;  
   //ISR_PWM.setInterval(curISR_PWM_Data[i].PWM_Period, curISR_PWM_Data[i].irqCallbackStartFunc);  
    
   //void setPWM(uint32_t pin, float frequency, float dutycycle  
   // , timer_callback_p StartCallback = nullptr, timer_callback_p StopCallback = nullptr)  
    
   #if USING_PWM_FREQUENCY  
   // You can use this with PWM_Freq in Hz  
   ISR_PWM.setPWM(curISR_PWM_Data[i].PWM_Pin, curISR_PWM_Data[i].PWM_Freq, curISR_PWM_Data[i].PWM_DutyCycle,  
   curISR_PWM_Data[i].irqCallbackStartFunc, curISR_PWM_Data[i].irqCallbackStopFunc);  
   #else  
   // Or You can use this with PWM_Period in us  
   ISR_PWM.setPWM_Period(curISR_PWM_Data[i].PWM_Pin, curISR_PWM_Data[i].PWM_Period, curISR_PWM_Data[i].PWM_DutyCycle,  
   curISR_PWM_Data[i].irqCallbackStartFunc, curISR_PWM_Data[i].irqCallbackStopFunc);  
   #endif  
    
   #else  
   previousMicrosStart[i] = micros();  
    
   #if USING_PWM_FREQUENCY  
   // You can use this with PWM_Freq in Hz  
   ISR_PWM.setPWM(PWM_Pin[i], PWM_Freq[i], PWM_DutyCycle[i], irqCallbackStartFunc[i], irqCallbackStopFunc[i]);  
   #else  
   // Or You can use this with PWM_Period in us  
   ISR_PWM.setPWM_Period(PWM_Pin[i], PWM_Period[i], PWM_DutyCycle[i], irqCallbackStartFunc[i], irqCallbackStopFunc[i]);  
   #endif  
    
   #endif  
   }  
    
   // You need this timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary.  
   simpleTimer.setInterval(SIMPLE_TIMER_MS, simpleTimerDoingSomething2s);  
   }  
    
   #define BLOCKING_TIME_MS 10000L  
    
   void loop()  
   {  
   // This unadvised blocking task is used to demonstrate the blocking effects onto the execution and accuracy to Software timer  
   // You see the time elapse of ISR_PWM still accurate, whereas very unaccurate for Software Timer  
   // The time elapse for 2000ms software timer now becomes 3000ms (BLOCKING_TIME_MS)  
   // While that of ISR_PWM is still prefect.  
   delay(BLOCKING_TIME_MS);  
    
   // You need this Software timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary  
   // You don't need to and never call ISR_PWM.run() here in the loop(). It's already handled by ISR timer.  
   simpleTimer.run();  
   }  
 

Debug Terminal Output Samples

1. ISR_16_PWMs_Array_Complex on RaspberryPi Pico

The following is the sample terminal output when running example ISR_16_PWMs_Array_Complex 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 RaspberryPi Pico MBED_RP2040_Slow_PWM v1.3.0 [PWM] _timerNo = 0 , Clock (Hz) = 1000000.00 , _fre (Hz) = 50000.00 [PWM] _count = 0 - 20 [PWM] hardware_alarm_set_target, uS = 20 Starting ITimer OK, micros() = 3320077 Channel : 0 Period : 1000000OnTime : 50000Start_Time : 3321325 Channel : 1 Period : 500000OnTime : 50000Start_Time : 3322698 Channel : 2 Period : 333333OnTime : 66666Start_Time : 3323943 Channel : 3 Period : 250000OnTime : 75000Start_Time : 3325097 Channel : 4 Period : 200000OnTime : 80000Start_Time : 3326457 Channel : 5 Period : 166666OnTime : 74999Start_Time : 3327632 Channel : 6 Period : 142857OnTime : 71428Start_Time : 3328874 Channel : 7 Period : 125000OnTime : 68750Start_Time : 3330002 Channel : 8 Period : 111111OnTime : 66666Start_Time : 3331139 Channel : 9 Period : 100000OnTime : 65000Start_Time : 3332396 Channel : 10 Period : 66666OnTime : 46666Start_Time : 3333625 Channel : 11 Period : 50000OnTime : 37500Start_Time : 3334912 Channel : 12 Period : 40000OnTime : 32000Start_Time : 3336165 Channel : 13 Period : 33333OnTime : 28333Start_Time : 3337497 Channel : 14 Period : 25000OnTime : 22500Start_Time : 3338945 Channel : 15 Period : 20000OnTime : 19000Start_Time : 3340266 SimpleTimer (ms): 2000, us : 13341250, Dus : 10020493 PWM Channel : 0, programmed Period (us): 1000000.00, actual : 1000000, programmed DutyCycle : 5.00, actual : 5.00 PWM Channel : 1, programmed Period (us): 500000.00, actual : 499999, programmed DutyCycle : 10.00, actual : 10.00 PWM Channel : 2, programmed Period (us): 333333.34, actual : 333339, programmed DutyCycle : 20.00, actual : 20.00 PWM Channel : 3, programmed Period (us): 250000.00, actual : 250000, programmed DutyCycle : 30.00, actual : 30.00 PWM Channel : 4, programmed Period (us): 200000.00, actual : 200000, programmed DutyCycle : 40.00, actual : 40.00 PWM Channel : 5, programmed Period (us): 166666.67, actual : 166680, programmed DutyCycle : 45.00, actual : 44.99 PWM Channel : 6, programmed Period (us): 142857.14, actual : 142859, programmed DutyCycle : 50.00, actual : 49.99 PWM Channel : 7, programmed Period (us): 125000.00, actual : 124999, programmed DutyCycle : 55.00, actual : 54.99 PWM Channel : 8, programmed Period (us): 111111.11, actual : 111120, programmed DutyCycle : 60.00, actual : 59.99 PWM Channel : 9, programmed Period (us): 100000.00, actual : 100000, programmed DutyCycle : 65.00, actual : 65.00 PWM Channel : 10, programmed Period (us): 66666.66, actual : 66680, programmed DutyCycle : 70.00, actual : 69.98 PWM Channel : 11, programmed Period (us): 50000.00, actual : 49999, programmed DutyCycle : 75.00, actual : 75.00 PWM Channel : 12, programmed Period (us): 40000.00, actual : 39999, programmed DutyCycle : 80.00, actual : 79.97 PWM Channel : 13, programmed Period (us): 33333.33, actual : 33340, programmed DutyCycle : 85.00, actual : 84.98 PWM Channel : 14, programmed Period (us): 25000.00, actual : 25012, programmed DutyCycle : 90.00, actual : 89.93 PWM Channel : 15, programmed Period (us): 20000.00, actual : 20034, programmed DutyCycle : 95.00, actual : 94.76 SimpleTimer (ms): 2000, us : 23380221, Dus : 10038971 PWM Channel : 0, programmed Period (us): 1000000.00, actual : 1000002, programmed DutyCycle : 5.00, actual : 5.00 PWM Channel : 1, programmed Period (us): 500000.00, actual : 500001, programmed DutyCycle : 10.00, actual : 10.00 PWM Channel : 2, programmed Period (us): 333333.34, actual : 333340, programmed DutyCycle : 20.00, actual : 20.00 PWM Channel : 3, programmed Period (us): 250000.00, actual : 250001, programmed DutyCycle : 30.00, actual : 29.99 PWM Channel : 4, programmed Period (us): 200000.00, actual : 200001, programmed DutyCycle : 40.00, actual : 39.99 PWM Channel : 5, programmed Period (us): 166666.67, actual : 166680, programmed DutyCycle : 45.00, actual : 44.98 PWM Channel : 6, programmed Period (us): 142857.14, actual : 142860, programmed DutyCycle : 50.00, actual : 49.99 PWM Channel : 7, programmed Period (us): 125000.00, actual : 125001, programmed DutyCycle : 55.00, actual : 55.00 PWM Channel : 8, programmed Period (us): 111111.11, actual : 111120, programmed DutyCycle : 60.00, actual : 59.99 PWM Channel : 9, programmed Period (us): 100000.00, actual : 99999, programmed DutyCycle : 65.00, actual : 64.99 PWM Channel : 10, programmed Period (us): 66666.66, actual : 66670, programmed DutyCycle : 70.00, actual : 69.99 PWM Channel : 11, programmed Period (us): 50000.00, actual : 50029, programmed DutyCycle : 75.00, actual : 74.96 PWM Channel : 12, programmed Period (us): 40000.00, actual : 40001, programmed DutyCycle : 80.00, actual : 80.02 PWM Channel : 13, programmed Period (us): 33333.33, actual : 33341, programmed DutyCycle : 85.00, actual : 84.98 PWM Channel : 14, programmed Period (us): 25000.00, actual : 25009, programmed DutyCycle : 90.00, actual : 89.90 PWM Channel : 15, programmed Period (us): 20000.00, actual : 19994, programmed DutyCycle : 95.00, actual : 94.93 SimpleTimer (ms): 2000, us : 33419214, Dus : 10038993 PWM Channel : 0, programmed Period (us): 1000000.00, actual : 1000001, programmed DutyCycle : 5.00, actual : 5.00 PWM Channel : 1, programmed Period (us): 500000.00, actual : 500000, programmed DutyCycle : 10.00, actual : 10.00 PWM Channel : 2, programmed Period (us): 333333.34, actual : 333341, programmed DutyCycle : 20.00, actual : 20.00 PWM Channel : 3, programmed Period (us): 250000.00, actual : 249999, programmed DutyCycle : 30.00, actual : 30.00 PWM Channel : 4, programmed Period (us): 200000.00, actual : 200000, programmed DutyCycle : 40.00, actual : 40.00 PWM Channel : 5, programmed Period (us): 166666.67, actual : 166679, programmed DutyCycle : 45.00, actual : 44.99 PWM Channel : 6, programmed Period (us): 142857.14, actual : 142860, programmed DutyCycle : 50.00, actual : 49.99 PWM Channel : 7, programmed Period (us): 125000.00, actual : 125000, programmed DutyCycle : 55.00, actual : 54.99 PWM Channel : 8, programmed Period (us): 111111.11, actual : 111120, programmed DutyCycle : 60.00, actual : 59.99 PWM Channel : 9, programmed Period (us): 100000.00, actual : 100014, programmed DutyCycle : 65.00, actual : 64.99 PWM Channel : 10, programmed Period (us): 66666.66, actual : 66681, programmed DutyCycle : 70.00, actual : 69.97 PWM Channel : 11, programmed Period (us): 50000.00, actual : 50028, programmed DutyCycle : 75.00, actual : 74.94 PWM Channel : 12, programmed Period (us): 40000.00, actual : 40000, programmed DutyCycle : 80.00, actual : 79.97 PWM Channel : 13, programmed Period (us): 33333.33, actual : 33343, programmed DutyCycle : 85.00, actual : 84.94 PWM Channel : 14, programmed Period (us): 25000.00, actual : 25021, programmed DutyCycle : 90.00, actual : 89.90 PWM Channel : 15, programmed Period (us): 20000.00, actual : 20003, programmed DutyCycle : 95.00, actual : 94.94

2. ISR_16_PWMs_Array on RaspberryPi Pico

The following is the sample terminal output when running example ISR_16_PWMs_Array on RP2040-based RaspberryPi Pico to demonstrate how to use multiple PWM channels with simple callback functions.

Starting ISR_16_PWMs_Array on RaspberryPi Pico MBED_RP2040_Slow_PWM v1.3.0 [PWM] _timerNo = 0 , Clock (Hz) = 1000000.00 , _fre (Hz) = 50000.00 [PWM] _count = 0 - 20 [PWM] hardware_alarm_set_target, uS = 20 Starting ITimer OK, micros() = 3736634 Channel : 0 Period : 1000000OnTime : 50000Start_Time : 3737939 Channel : 1 Period : 500000OnTime : 50000Start_Time : 3739363 Channel : 2 Period : 333333OnTime : 66666Start_Time : 3740718 Channel : 3 Period : 250000OnTime : 75000Start_Time : 3741877 Channel : 4 Period : 200000OnTime : 80000Start_Time : 3743177 Channel : 5 Period : 166666OnTime : 74999Start_Time : 3744513 Channel : 6 Period : 142857OnTime : 71428Start_Time : 3745811 Channel : 7 Period : 125000OnTime : 68750Start_Time : 3747053 Channel : 8 Period : 111111OnTime : 66666Start_Time : 3748263 Channel : 9 Period : 100000OnTime : 65000Start_Time : 3749498 Channel : 10 Period : 66666OnTime : 46666Start_Time : 3750692 Channel : 11 Period : 50000OnTime : 37500Start_Time : 3752055 Channel : 12 Period : 40000OnTime : 32000Start_Time : 3753313 Channel : 13 Period : 33333OnTime : 28333Start_Time : 3754675 Channel : 14 Period : 25000OnTime : 22500Start_Time : 3756047 Channel : 15 Period : 20000OnTime : 19000Start_Time : 3757332

3. ISR_16_PWMs_Array_Simple on RaspberryPi Pico

The following is the sample terminal output when running example ISR_16_PWMs_Array_Simple on RP2040-based RaspberryPi Pico to demonstrate how to use multiple PWM channels.

Starting ISR_16_PWMs_Array_Simple on RaspberryPi Pico MBED_RP2040_Slow_PWM v1.3.0 [PWM] _timerNo = 0 , Clock (Hz) = 1000000.00 , _fre (Hz) = 50000.00 [PWM] _count = 0 - 20 [PWM] hardware_alarm_set_target, uS = 20 Starting ITimer OK, micros() = 3635936 Channel : 0 Period : 1000000OnTime : 50000Start_Time : 3637221 Channel : 1 Period : 500000OnTime : 50000Start_Time : 3638549 Channel : 2 Period : 333333OnTime : 66666Start_Time : 3639819 Channel : 3 Period : 250000OnTime : 75000Start_Time : 3641096 Channel : 4 Period : 200000OnTime : 80000Start_Time : 3642434 Channel : 5 Period : 166666OnTime : 74999Start_Time : 3643793 Channel : 6 Period : 142857OnTime : 71428Start_Time : 3645252 Channel : 7 Period : 125000OnTime : 68750Start_Time : 3646599 Channel : 8 Period : 111111OnTime : 66666Start_Time : 3647898 Channel : 9 Period : 100000OnTime : 65000Start_Time : 3649115 Channel : 10 Period : 66666OnTime : 46666Start_Time : 3650427 Channel : 11 Period : 50000OnTime : 37500Start_Time : 3651688 Channel : 12 Period : 40000OnTime : 32000Start_Time : 3652992 Channel : 13 Period : 33333OnTime : 28333Start_Time : 3654391 Channel : 14 Period : 25000OnTime : 22500Start_Time : 3655707 Channel : 15 Period : 20000OnTime : 19000Start_Time : 3657122

4. ISR_Modify_PWM on RaspberryPi Pico

The following is the sample terminal output when running example ISR_Modify_PWM on RP2040-based RaspberryPi Pico to demonstrate how to modify PWM settings on-the-fly without deleting the PWM channel

Starting ISR_Modify_PWM on RaspberryPi Pico MBED_RP2040_Slow_PWM v1.3.0 [PWM] _timerNo = 0 , Clock (Hz) = 1000000.00 , _fre (Hz) = 50000.00 [PWM] _count = 0 - 20 [PWM] hardware_alarm_set_target, uS = 20 Starting ITimer OK, micros() = 12754395 Using PWM Freq = 200.00, PWM DutyCycle = 1.00 Channel : 0 Period : 5000OnTime : 50Start_Time : 12756541 Channel : 0 Period : 10000OnTime : 555Start_Time : 22754527 Channel : 0 Period : 5000OnTime : 50Start_Time : 32750968 Channel : 0 Period : 10000OnTime : 555Start_Time : 42758860 Channel : 0 Period : 5000OnTime : 50Start_Time : 52755360 Channel : 0 Period : 10000OnTime : 555Start_Time : 62758443

5. ISR_Changing_PWM on RaspberryPi Pico

The following is the sample terminal output when running example ISR_Changing_PWM on RP2040-based RaspberryPi Pico 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 RaspberryPi Pico MBED_RP2040_Slow_PWM v1.3.0 [PWM] _timerNo = 0 , Clock (Hz) = 1000000.00 , _fre (Hz) = 50000.00 [PWM] _count = 0 - 20 [PWM] hardware_alarm_set_target, uS = 20 Starting ITimer OK, micros() = 3336281 Using PWM Freq = 1.00, PWM DutyCycle = 50.00 Channel : 0 Period : 1000000OnTime : 500000Start_Time : 3338285 Using PWM Freq = 2.00, PWM DutyCycle = 90.00 Channel : 0 Period : 500000OnTime : 450000Start_Time : 12940431 Using PWM Freq = 1.00, PWM DutyCycle = 50.00 Channel : 0 Period : 1000000OnTime : 500000Start_Time : 22543196 Using PWM Freq = 2.00, PWM DutyCycle = 90.00 Channel : 0 Period : 500000OnTime : 450000Start_Time : 32146094 Using PWM Freq = 1.00, PWM DutyCycle = 50.00 Channel : 0 Period : 1000000OnTime : 500000Start_Time : 41747971

Debug

Debug is enabled by default on Serial.

You can also change the debugging level _PWM_LOGLEVEL_ from 0 to 4

// Don't define _PWM_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system. #define _PWM_LOGLEVEL_ 0

Troubleshooting

If you get compilation errors, more often than not, you may need to install a newer version of the core for Arduino boards.

Sometimes, the library will only work if you update the board core to the latest version because I am using newly added functions.

Issues

Submit issues to: MBED_RP2040_Slow_PWM issues

TO DO

Search for bug and improvement.
Similar features for remaining Arduino boards

DONE

Basic hardware multi-channel PWM for RP2040-based RaspberryPi Pico, Nano_RP2040_Connect, etc.
Add Table of Contents
Add functions to modify PWM settings on-the-fly
Improve accuracy by using float, instead of uint32_t for dutycycle
Optimize library code by using reference-passing instead of value-passing
DutyCycle to be optionally updated at the end current PWM period instead of immediately.
Fix multiple-definitions linker error. Drop src_cpp and src_h directories
Display informational warning only when _PWM_LOGLEVEL_ > 3
Fix poor-timer-accuracy bug

Contributions and Thanks

Many thanks for everyone for bug reporting, new feature suggesting, testing and contributing to the development of this library.

Neil Baylis to report relating issue Poor accuracy on timer interrupt frequency or interval. #4, leading to version v1.3.0 to fix poor-timer-accuracy bug

_{Neil Baylis}

Contributing

If you want to contribute to this project:

Report bugs and errors
Ask for enhancements
Create issues and pull requests
Tell other people about this library

License

The library is licensed under MIT

Name		Name	Last commit message	Last commit date
Latest commit History 39 Commits
.github		.github
examples		examples
platformio		platformio
src		src
utils		utils
.codespellrc		.codespellrc
.gitignore		.gitignore
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
README.md		README.md
changelog.md		changelog.md
keywords.txt		keywords.txt
library.json		library.json
library.properties		library.properties

	#if ! ( ( defined(ARDUINO_NANO_RP2040_CONNECT) \|\| defined(ARDUINO_RASPBERRY_PI_PICO) \|\| defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) \|\| \
	defined(ARDUINO_GENERIC_RP2040) ) && defined(ARDUINO_ARCH_MBED) )
	#error This code is intended to run on the MBED RP2040 mbed_nano or mbed_rp2040 platform! Please check your Tools->Board setting.
	#endif

	// These define's must be placed at the beginning before #include "ESP32_PWM.h"
	// _PWM_LOGLEVEL_ from 0 to 4
	// Don't define _PWM_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.
	#define _PWM_LOGLEVEL_ 3

	#define USING_MICROS_RESOLUTION true //false

	// Default is true, uncomment to false
	//#define CHANGING_PWM_END_OF_CYCLE false

	// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
	#include "MBED_RP2040_Slow_PWM.h"

	#include <SimpleTimer.h> // https://github.com/jfturcot/SimpleTimer

	#define LED_OFF HIGH
	#define LED_ON LOW

	#ifndef LED_BUILTIN
	#define LED_BUILTIN 25
	#endif

	#ifndef LED_BLUE
	#define LED_BLUE 10
	#endif

	#ifndef LED_RED
	#define LED_RED 11
	#endif

	#define HW_TIMER_INTERVAL_US 20L

	volatile uint64_t startMicros = 0;

	// Init MBED_RPI_PICO_Timer
	MBED_RP2040_Timer ITimer(0);

	// Init MBED_RP2040_Slow_PWM, each can service 16 different ISR-based PWM channels
	MBED_RP2040_Slow_PWM ISR_PWM;

	//////////////////////////////////////////////////////

	void TimerHandler(uint alarm_num)
	{
	//////////////////////////////////////////////////////////
	// Always call this for MBED RP2040 before processing ISR
	TIMER_ISR_START(alarm_num);
	///////////////////////////////////////////////////////////

	ISR_PWM.run();

	////////////////////////////////////////////////////////////
	// Always call this for MBED RP2040 after processing ISR
	TIMER_ISR_END(alarm_num);
	////////////////////////////////////////////////////////////
	}

	/////////////////////////////////////////////////

	#define NUMBER_ISR_PWMS 16

	#define PIN_D0 0
	#define PIN_D1 1
	#define PIN_D2 2
	#define PIN_D3 3
	#define PIN_D4 4
	#define PIN_D5 5
	#define PIN_D6 6
	#define PIN_D7 7
	#define PIN_D8 8
	#define PIN_D9 9
	#define PIN_D10 10
	#define PIN_D11 11
	#define PIN_D12 12

	typedef void (*irqCallback) ();

	//////////////////////////////////////////////////////

	#define USE_COMPLEX_STRUCT true

	#define USING_PWM_FREQUENCY true

	//////////////////////////////////////////////////////

	#if USE_COMPLEX_STRUCT

	typedef struct
	{
	uint32_t PWM_Pin;
	irqCallback irqCallbackStartFunc;
	irqCallback irqCallbackStopFunc;

	#if USING_PWM_FREQUENCY
	float PWM_Freq;
	#else
	uint32_t PWM_Period;
	#endif

	float PWM_DutyCycle;

	uint64_t deltaMicrosStart;
	uint64_t previousMicrosStart;

	uint64_t deltaMicrosStop;
	uint64_t previousMicrosStop;

	} ISR_PWM_Data;

	// In RP2040, avoid doing something fancy in ISR, for example Serial.print()
	// The pure simple Serial.prints here are just for demonstration and testing. Must be eliminate in working environment
	// Or you can get this run-time error / crash

	void doingSomethingStart(int index);

	void doingSomethingStop(int index);

	#else // #if USE_COMPLEX_STRUCT

	volatile unsigned long deltaMicrosStart [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
	volatile unsigned long previousMicrosStart [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };

	volatile unsigned long deltaMicrosStop [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
	volatile unsigned long previousMicrosStop [NUMBER_ISR_PWMS] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };

	// You can assign pins here. Be carefull to select good pin to use or crash, e.g pin 6-11
	uint32_t PWM_Pin[NUMBER_ISR_PWMS] =
	{
	LED_BUILTIN, LED_BLUE, LED_RED, PIN_D0, PIN_D1, PIN_D2, PIN_D3, PIN_D4,
	PIN_D5, PIN_D6, PIN_D7, PIN_D8, PIN_D9, PIN_D10, PIN_D11, PIN_D12
	};

	// You can assign any interval for any timer here, in microseconds
	uint32_t PWM_Period[] =
	{
	1000000L, 500000L, 333333L, 250000L, 200000L, 166667L, 142857L, 125000L,
	111111L, 100000L, 66667L, 50000L, 40000L, 33333L, 25000L, 20000L
	};

	// You can assign any interval for any timer here, in Hz
	float PWM_Freq[] =
	{
	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
	float PWM_DutyCycle[] =
	{
	5.0, 10.0, 20.0, 30.0, 40.0, 45.0, 50.0, 55.0,
	60.0, 65.0, 70.0, 75.0, 80.0, 85.0, 90.0, 95.0
	};

	void doingSomethingStart(int index)
	{
	unsigned long currentMicros = micros();

	deltaMicrosStart[index] = currentMicros - previousMicrosStart[index];
	previousMicrosStart[index] = currentMicros;
	}

	void doingSomethingStop(int index)
	{
	unsigned long currentMicros = micros();

	// Count from start to stop PWM pulse
	deltaMicrosStop[index] = currentMicros - previousMicrosStart[index];
	previousMicrosStop[index] = currentMicros;
	}

	#endif // #if USE_COMPLEX_STRUCT

	////////////////////////////////////
	// Shared
	////////////////////////////////////

	void doingSomethingStart0()
	{
	doingSomethingStart(0);
	}

	void doingSomethingStart1()
	{
	doingSomethingStart(1);
	}

	void doingSomethingStart2()
	{
	doingSomethingStart(2);
	}

	void doingSomethingStart3()
	{
	doingSomethingStart(3);
	}

	void doingSomethingStart4()
	{
	doingSomethingStart(4);
	}

	void doingSomethingStart5()
	{
	doingSomethingStart(5);
	}

	void doingSomethingStart6()
	{
	doingSomethingStart(6);
	}

	void doingSomethingStart7()
	{
	doingSomethingStart(7);
	}

	void doingSomethingStart8()
	{
	doingSomethingStart(8);
	}

	void doingSomethingStart9()
	{
	doingSomethingStart(9);
	}

	void doingSomethingStart10()
	{
	doingSomethingStart(10);
	}

	void doingSomethingStart11()
	{
	doingSomethingStart(11);
	}

	void doingSomethingStart12()
	{
	doingSomethingStart(12);
	}

	void doingSomethingStart13()
	{
	doingSomethingStart(13);
	}

	void doingSomethingStart14()
	{
	doingSomethingStart(14);
	}

	void doingSomethingStart15()
	{
	doingSomethingStart(15);
	}

	//////////////////////////////////////////////////////

	void doingSomethingStop0()
	{
	doingSomethingStop(0);
	}

	void doingSomethingStop1()
	{
	doingSomethingStop(1);
	}

	void doingSomethingStop2()
	{
	doingSomethingStop(2);
	}

	void doingSomethingStop3()
	{
	doingSomethingStop(3);
	}

	void doingSomethingStop4()
	{
	doingSomethingStop(4);
	}

	void doingSomethingStop5()
	{
	doingSomethingStop(5);
	}

	void doingSomethingStop6()
	{
	doingSomethingStop(6);
	}

	void doingSomethingStop7()
	{
	doingSomethingStop(7);
	}

	void doingSomethingStop8()
	{
	doingSomethingStop(8);
	}

	void doingSomethingStop9()
	{
	doingSomethingStop(9);
	}

	void doingSomethingStop10()
	{
	doingSomethingStop(10);
	}

	void doingSomethingStop11()
	{
	doingSomethingStop(11);
	}

	void doingSomethingStop12()
	{
	doingSomethingStop(12);
	}

	void doingSomethingStop13()
	{
	doingSomethingStop(13);
	}

	void doingSomethingStop14()
	{
	doingSomethingStop(14);
	}

	void doingSomethingStop15()
	{
	doingSomethingStop(15);
	}

	//////////////////////////////////////////////////////

	#if USE_COMPLEX_STRUCT

	#if USING_PWM_FREQUENCY

	ISR_PWM_Data curISR_PWM_Data[NUMBER_ISR_PWMS] =
	{
	// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Freq, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
	{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1, 5, 0, 0, 0, 0 },
	{ LED_BLUE, doingSomethingStart1, doingSomethingStop1, 2, 10, 0, 0, 0, 0 },
	{ LED_RED, doingSomethingStart2, doingSomethingStop2, 3, 20, 0, 0, 0, 0 },
	{ PIN_D0, doingSomethingStart3, doingSomethingStop3, 4, 30, 0, 0, 0, 0 },
	{ PIN_D1, doingSomethingStart4, doingSomethingStop4, 5, 40, 0, 0, 0, 0 },
	{ PIN_D2, doingSomethingStart5, doingSomethingStop5, 6, 45, 0, 0, 0, 0 },
	{ PIN_D3, doingSomethingStart6, doingSomethingStop6, 7, 50, 0, 0, 0, 0 },
	{ PIN_D4, doingSomethingStart7, doingSomethingStop7, 8, 55, 0, 0, 0, 0 },
	{ PIN_D5, doingSomethingStart8, doingSomethingStop8, 9, 60, 0, 0, 0, 0 },
	{ PIN_D6, doingSomethingStart9, doingSomethingStop9, 10, 65, 0, 0, 0, 0 },
	{ PIN_D7, doingSomethingStart10, doingSomethingStop10, 15, 70, 0, 0, 0, 0 },
	{ PIN_D8, doingSomethingStart11, doingSomethingStop11, 20, 75, 0, 0, 0, 0 },
	{ PIN_D9, doingSomethingStart12, doingSomethingStop12, 25, 80, 0, 0, 0, 0 },
	{ PIN_D10, doingSomethingStart13, doingSomethingStop13, 30, 85, 0, 0, 0, 0 },
	{ PIN_D11, doingSomethingStart14, doingSomethingStop14, 40, 90, 0, 0, 0, 0 },
	{ PIN_D12, doingSomethingStart15, doingSomethingStop15, 50, 95, 0, 0, 0, 0 }
	};

	#else // #if USING_PWM_FREQUENCY

	ISR_PWM_Data curISR_PWM_Data[NUMBER_ISR_PWMS] =
	{
	// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Period, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
	{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1000000L, 5, 0, 0, 0, 0 },
	{ LED_BLUE, doingSomethingStart1, doingSomethingStop1, 500000L, 10, 0, 0, 0, 0 },
	{ LED_RED, doingSomethingStart2, doingSomethingStop2, 333333L, 20, 0, 0, 0, 0 },
	{ PIN_D0, doingSomethingStart3, doingSomethingStop3, 250000L, 30, 0, 0, 0, 0 },
	{ PIN_D1, doingSomethingStart4, doingSomethingStop4, 200000L, 40, 0, 0, 0, 0 },
	{ PIN_D2, doingSomethingStart5, doingSomethingStop5, 166667L, 45, 0, 0, 0, 0 },
	{ PIN_D3, doingSomethingStart6, doingSomethingStop6, 142857L, 50, 0, 0, 0, 0 },
	{ PIN_D4, doingSomethingStart7, doingSomethingStop7, 125000L, 55, 0, 0, 0, 0 },
	{ PIN_D5, doingSomethingStart8, doingSomethingStop8, 111111L, 60, 0, 0, 0, 0 },
	{ PIN_D6, doingSomethingStart9, doingSomethingStop9, 100000L, 65, 0, 0, 0, 0 },
	{ PIN_D7, doingSomethingStart10, doingSomethingStop10, 66667L, 70, 0, 0, 0, 0 },
	{ PIN_D8, doingSomethingStart11, doingSomethingStop11, 50000L, 75, 0, 0, 0, 0 },
	{ PIN_D9, doingSomethingStart12, doingSomethingStop12, 40000L, 80, 0, 0, 0, 0 },
	{ PIN_D10, doingSomethingStart13, doingSomethingStop13, 33333L, 85, 0, 0, 0, 0 },
	{ PIN_D11, doingSomethingStart14, doingSomethingStop14, 25000L, 90, 0, 0, 0, 0 },
	{ PIN_D12, doingSomethingStart15, doingSomethingStop15, 20000L, 95, 0, 0, 0, 0 }
	};

	#endif // #if USING_PWM_FREQUENCY

	void doingSomethingStart(int index)
	{
	unsigned long currentMicros = micros();

	curISR_PWM_Data[index].deltaMicrosStart = currentMicros - curISR_PWM_Data[index].previousMicrosStart;
	curISR_PWM_Data[index].previousMicrosStart = currentMicros;
	}

	void doingSomethingStop(int index)
	{
	unsigned long currentMicros = micros();

	//curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStop;
	// Count from start to stop PWM pulse
	curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStart;
	curISR_PWM_Data[index].previousMicrosStop = currentMicros;
	}

	#else // #if USE_COMPLEX_STRUCT

	irqCallback irqCallbackStartFunc[NUMBER_ISR_PWMS] =
	{
	doingSomethingStart0, doingSomethingStart1, doingSomethingStart2, doingSomethingStart3,
	doingSomethingStart4, doingSomethingStart5, doingSomethingStart6, doingSomethingStart7,
	doingSomethingStart8, doingSomethingStart9, doingSomethingStart10, doingSomethingStart11,
	doingSomethingStart12, doingSomethingStart13, doingSomethingStart14, doingSomethingStart15
	};

	irqCallback irqCallbackStopFunc[NUMBER_ISR_PWMS] =
	{
	doingSomethingStop0, doingSomethingStop1, doingSomethingStop2, doingSomethingStop3,
	doingSomethingStop4, doingSomethingStop5, doingSomethingStop6, doingSomethingStop7,
	doingSomethingStop8, doingSomethingStop9, doingSomethingStop10, doingSomethingStop11,
	doingSomethingStop12, doingSomethingStop13, doingSomethingStop14, doingSomethingStop15
	};

	#endif // #if USE_COMPLEX_STRUCT

	//////////////////////////////////////////////////////

	#define SIMPLE_TIMER_MS 2000L

	// Init SimpleTimer
	SimpleTimer simpleTimer;

	// Here is software Timer, you can do somewhat fancy stuffs without many issues.
	// But always avoid
	// 1. Long delay() it just doing nothing and pain-without-gain wasting CPU power.Plan and design your code / strategy ahead
	// 2. Very long "do", "while", "for" loops without predetermined exit time.
	void simpleTimerDoingSomething2s()
	{
	static unsigned long previousMicrosStart = startMicros;

	unsigned long currMicros = micros();

	Serial.print(F("SimpleTimer (ms): ")); Serial.print(SIMPLE_TIMER_MS);
	Serial.print(F(", us : ")); Serial.print(currMicros);
	Serial.print(F(", Dus : ")); Serial.println(currMicros - previousMicrosStart);

	for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)
	{
	#if USE_COMPLEX_STRUCT
	Serial.print(F("PWM Channel : ")); Serial.print(i);
	Serial.print(F(", programmed Period (us): "));

	#if USING_PWM_FREQUENCY
	Serial.print(1000000 / curISR_PWM_Data[i].PWM_Freq);
	#else
	Serial.print(curISR_PWM_Data[i].PWM_Period);
	#endif

	Serial.print(F(", actual : ")); Serial.print(curISR_PWM_Data[i].deltaMicrosStart);

	Serial.print(F(", programmed DutyCycle : "));

	Serial.print(curISR_PWM_Data[i].PWM_DutyCycle);

	Serial.print(F(", actual : ")); Serial.println((float) curISR_PWM_Data[i].deltaMicrosStop * 100.0f / curISR_PWM_Data[i].deltaMicrosStart);

	#else

	Serial.print(F("PWM Channel : ")); Serial.print(i);

	#if USING_PWM_FREQUENCY
	Serial.print(1000000 / PWM_Freq[i]);
	#else
	Serial.print(PWM_Period[i]);
	#endif

	Serial.print(F(", programmed Period (us): ")); Serial.print(PWM_Period[i]);
	Serial.print(F(", actual : ")); Serial.print(deltaMicrosStart[i]);

	Serial.print(F(", programmed DutyCycle : "));

	Serial.print(PWM_DutyCycle[i]);

	Serial.print(F(", actual : ")); Serial.println( (float) deltaMicrosStop[i] * 100.0f / deltaMicrosStart[i]);
	#endif
	}

	previousMicrosStart = currMicros;
	}

	void setup()
	{
	Serial.begin(115200);
	while (!Serial);

	delay(2000);

	Serial.print(F("\nStarting ISR_16_PWMs_Array_Complex on ")); Serial.println(BOARD_NAME);
	Serial.println(MBED_RP2040_SLOW_PWM_VERSION);

	// Interval in microsecs
	if (ITimer.attachInterruptInterval(HW_TIMER_INTERVAL_US, TimerHandler))
	{
	startMicros = micros();
	Serial.print(F("Starting ITimer OK, micros() = ")); Serial.println(startMicros);
	}
	else
	Serial.println(F("Can't set ITimer. Select another freq. or timer"));

	startMicros = micros();

	// Just to demonstrate, don't use too many ISR Timers if not absolutely necessary
	// You can use up to 16 timer for each ISR_PWM

	for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)
	{
	#if USE_COMPLEX_STRUCT
	curISR_PWM_Data[i].previousMicrosStart = startMicros;
	//ISR_PWM.setInterval(curISR_PWM_Data[i].PWM_Period, curISR_PWM_Data[i].irqCallbackStartFunc);

	//void setPWM(uint32_t pin, float frequency, float dutycycle
	// , timer_callback_p StartCallback = nullptr, timer_callback_p StopCallback = nullptr)

	#if USING_PWM_FREQUENCY
	// You can use this with PWM_Freq in Hz
	ISR_PWM.setPWM(curISR_PWM_Data[i].PWM_Pin, curISR_PWM_Data[i].PWM_Freq, curISR_PWM_Data[i].PWM_DutyCycle,
	curISR_PWM_Data[i].irqCallbackStartFunc, curISR_PWM_Data[i].irqCallbackStopFunc);
	#else
	// Or You can use this with PWM_Period in us
	ISR_PWM.setPWM_Period(curISR_PWM_Data[i].PWM_Pin, curISR_PWM_Data[i].PWM_Period, curISR_PWM_Data[i].PWM_DutyCycle,
	curISR_PWM_Data[i].irqCallbackStartFunc, curISR_PWM_Data[i].irqCallbackStopFunc);
	#endif

	#else
	previousMicrosStart[i] = micros();

	#if USING_PWM_FREQUENCY
	// You can use this with PWM_Freq in Hz
	ISR_PWM.setPWM(PWM_Pin[i], PWM_Freq[i], PWM_DutyCycle[i], irqCallbackStartFunc[i], irqCallbackStopFunc[i]);
	#else
	// Or You can use this with PWM_Period in us
	ISR_PWM.setPWM_Period(PWM_Pin[i], PWM_Period[i], PWM_DutyCycle[i], irqCallbackStartFunc[i], irqCallbackStopFunc[i]);
	#endif

	#endif
	}

	// You need this timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary.
	simpleTimer.setInterval(SIMPLE_TIMER_MS, simpleTimerDoingSomething2s);
	}

	#define BLOCKING_TIME_MS 10000L

	void loop()
	{
	// This unadvised blocking task is used to demonstrate the blocking effects onto the execution and accuracy to Software timer
	// You see the time elapse of ISR_PWM still accurate, whereas very unaccurate for Software Timer
	// The time elapse for 2000ms software timer now becomes 3000ms (BLOCKING_TIME_MS)
	// While that of ISR_PWM is still prefect.
	delay(BLOCKING_TIME_MS);

	// You need this Software timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary
	// You don't need to and never call ISR_PWM.run() here in the loop(). It's already handled by ISR timer.
	simpleTimer.run();
	}

License

khoih-prog/MBED_RP2040_Slow_PWM

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MBED_RP2040_Slow_PWM Library

Table of Contents

Important Change from v1.2.0

Why do we need this MBED_RP2040_Slow_PWM library

Features

Why using ISR-based PWM is better

Currently supported Boards

Important Notes about ISR

Prerequisites

Installation

Use Arduino Library Manager

Manual Install

VS Code & PlatformIO

HOWTO Fix Multiple Definitions Linker Error

More useful Information

Usage

1. Init Hardware Timer

2. Set PWM Frequency, dutycycle, attach irqCallbackStartFunc and irqCallbackStopFunc functions

Examples:

Example ISR_16_PWMs_Array_Complex

Debug Terminal Output Samples

1. ISR_16_PWMs_Array_Complex on RaspberryPi Pico

2. ISR_16_PWMs_Array on RaspberryPi Pico

3. ISR_16_PWMs_Array_Simple on RaspberryPi Pico

4. ISR_Modify_PWM on RaspberryPi Pico

5. ISR_Changing_PWM on RaspberryPi Pico

Debug

Troubleshooting

Issues

TO DO

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HOWTO Fix `Multiple Definitions` Linker Error

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