mirror of
https://github.com/m5stack/M5Stack_MicroPython.git
synced 2026-05-20 10:14:44 -07:00
418 lines
14 KiB
C
418 lines
14 KiB
C
/*
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* This file is part of the MicroPython ESP32 project, https://github.com/loboris/MicroPython_ESP32_psRAM_LoBo
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2016 Damien P. George
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* Copyright (c) 2018 LoBo (https://github.com/loboris)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdio.h>
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#include "driver/ledc.h"
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#include "esp_err.h"
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#include "py/nlr.h"
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#include "py/runtime.h"
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#include "modmachine.h"
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#include "modmachine.h"
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#include "mphalport.h"
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// High speed mode
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#define PWMODE (LEDC_HIGH_SPEED_MODE)
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// Forward dec'l
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extern const mp_obj_type_t machine_pwm_type;
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// typedef struct _esp32_pwm_obj_t {
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// mp_obj_base_t base;
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// gpio_num_t pin;
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// uint8_t active;
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// uint8_t channel;
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// uint8_t timer;
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// } esp32_pwm_obj_t;
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STATIC esp32_pwm_obj_t *pwm_channels[LEDC_CHANNEL_MAX];
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STATIC ledc_timer_config_t pwm_timers[LEDC_CHANNEL_MAX/2];
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STATIC uint8_t pwm_is_init = 0;
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//-----------------------------------------------------
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STATIC float duty2perc(esp32_pwm_obj_t *self, int duty)
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{
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return (float)((duty * 10000) / (1 << pwm_timers[self->timer].duty_resolution)) / 100.0;
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}
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//------------------------------------------------------
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STATIC int perc2duty(esp32_pwm_obj_t *self, float dperc)
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{
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return ((int)(dperc * 100.0) * (1 << pwm_timers[self->timer].duty_resolution)) / 10000;
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}
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//----------------------------------------------------
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STATIC int set_freq(esp32_pwm_obj_t *self, int newval)
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{
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if (newval == pwm_timers[self->timer].freq_hz) return 1;
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// Adjust duty resolution for new frequency if needed
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int dres = 15;
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while (newval > (80000000 / (1 << dres))) {
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dres--;
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if (dres == 0) break;
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}
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if (dres == 0) return 0; // can't set duty resolution for the requested frequency
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int n;
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float dperc[LEDC_CHANNEL_MAX];
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// get duty percentage for all channels using the same timer
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for (n=0; n<LEDC_CHANNEL_MAX; n++) {
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dperc[n] = -1;
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if (pwm_channels[n]) {
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if (pwm_channels[n]->timer == self->timer) {
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int old_duty = ledc_get_duty(PWMODE, pwm_channels[n]->channel);
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dperc[n] = duty2perc(pwm_channels[n], old_duty);
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}
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}
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}
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// Get old frequency and duty resolution
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int old_freq = pwm_timers[self->timer].freq_hz;
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int old_dres = pwm_timers[self->timer].duty_resolution;
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pwm_timers[self->timer].duty_resolution = dres;
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pwm_timers[self->timer].freq_hz = newval;
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if (ledc_timer_config(&(pwm_timers[self->timer])) != ESP_OK) {
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pwm_timers[self->timer].freq_hz = old_freq;
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pwm_timers[self->timer].duty_resolution = old_dres;
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return 0;
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}
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if (dres != old_dres) {
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// Adjust duty cycle if duty resolution was changed
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for (n=0; n<LEDC_CHANNEL_MAX; n++) {
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if (dperc[n] >= 0) {
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int duty = perc2duty(pwm_channels[n], dperc[n]);
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ledc_set_duty(PWMODE, pwm_channels[n]->channel, duty);
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ledc_update_duty(PWMODE, pwm_channels[n]->channel);
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}
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}
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}
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return 1;
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}
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//------------------------------------------------
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STATIC void pwm_initChannel(esp32_pwm_obj_t *self)
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{
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// Initialize the pwm timer
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if (ledc_timer_config(&(pwm_timers[self->timer])) != ESP_OK) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Error configuring pwm timer %d", self->timer));
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}
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ledc_channel_config_t cfg = {
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.channel = self->channel,
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.duty = perc2duty(self, 50.0),
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.gpio_num = self->pin,
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.intr_type = LEDC_INTR_DISABLE,
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.speed_mode = PWMODE,
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.timer_sel = pwm_timers[self->timer].timer_num,
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};
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if (ledc_channel_config(&cfg) != ESP_OK) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Error configuring channel for pin %d", self->pin));
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}
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}
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/******************************************************************************/
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// MicroPython bindings for PWM
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//------------------------------------------------------------------------------------------
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STATIC void esp32_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
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{
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esp32_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
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mp_printf(print, "PWM(pin: %u", self->pin);
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if (self->active) {
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int duty = ledc_get_duty(PWMODE, self->channel);
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float dperc = duty2perc(self, duty);
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mp_printf(print, ", freq=%u Hz, duty=%.2f%% [%d], duty resolution=%d bits, channel=%d, timer=%d",
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ledc_get_freq(PWMODE, pwm_timers[self->timer].timer_num), dperc, duty,
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pwm_timers[self->timer].duty_resolution, self->channel, pwm_timers[self->timer].timer_num);
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}
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else mp_printf(print, ", not active");
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mp_printf(print, ")");
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}
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//------------------------------------------------------------------------------------------------------------------
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STATIC void esp32_pwm_init_helper(esp32_pwm_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args)
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{
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enum { ARG_freq, ARG_duty, ARG_timer };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_freq, MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_duty, MP_ARG_OBJ, {.u_obj = mp_const_none} },
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{ MP_QSTR_timer, MP_ARG_INT, {.u_int = -1} },
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};
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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int timer = args[ARG_timer].u_int;
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if (self->channel >= LEDC_CHANNEL_MAX) {
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// === New PWM assignment
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if (timer < 0) timer = 1;
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if (timer > 3) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "wrong timer requested: %d (0~3 allowed)", timer));
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}
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self->timer = timer;
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int channel;
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// Find a free PWM channel ===
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for (channel = 0; channel < LEDC_CHANNEL_MAX; ++channel) {
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if (pwm_channels[channel] == NULL) break;
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}
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if (channel >= LEDC_CHANNEL_MAX) {
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mp_raise_ValueError("out of PWM channels");
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}
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// Check if the requested pin already used by other PWM
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for (int chan = 0; chan < LEDC_CHANNEL_MAX; ++chan) {
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if (pwm_channels[channel]) {
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if (pwm_channels[chan]->pin == self->pin) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "pin %d already used for pwm", self->pin));
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}
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}
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}
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self->channel = channel;
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pwm_initChannel(self);
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pwm_channels[channel] = self;
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self->active = 1;
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}
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// Check if pwm timer has to be changed
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if ((timer >= 0) && (timer < 4)) {
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if (timer != pwm_timers[self->timer].timer_num) {
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int old_duty = ledc_get_duty(PWMODE, self->channel);
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float old_dperc = duty2perc(self, old_duty);
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int old_freq = pwm_timers[self->timer].freq_hz;
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ledc_stop(PWMODE, self->channel, 0);
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self->timer = timer;
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pwm_initChannel(self);
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if (old_freq != pwm_timers[self->timer].freq_hz) {
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if (!set_freq(self, old_freq)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Error setting frequency %d for new timer", old_freq));
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}
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}
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int new_duty = ledc_get_duty(PWMODE, self->channel);
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if (old_duty != new_duty) {
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ledc_set_duty(PWMODE, self->channel, perc2duty(self, old_dperc));
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ledc_update_duty(PWMODE, self->channel);
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}
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}
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}
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// Check if the frequency has to be changed
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int fqval = args[ARG_freq].u_int;
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if (fqval != -1) {
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if (fqval != pwm_timers[self->timer].freq_hz) {
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if (!set_freq(self, fqval)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Bad frequency %d", fqval));
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}
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}
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}
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// Check if the duty cycle has to be changed
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if (args[ARG_duty].u_obj != mp_const_none) {
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float dperc = mp_obj_get_float(args[ARG_duty].u_obj);
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if ((dperc < 0) || (dperc > 100-0)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Bad duty %.2f, use 0 ~ 100 (%%)", dperc));
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}
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// Calculate duty value
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ledc_set_duty(PWMODE, self->channel, perc2duty(self, dperc));
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ledc_update_duty(PWMODE, self->channel);
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}
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}
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//-------------------------------------------------------------------------------------------------------------
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STATIC mp_obj_t esp32_pwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args)
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{
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
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gpio_num_t pin_id = machine_pin_get_gpio(args[0]);
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// create PWM object from the given pin
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esp32_pwm_obj_t *self = m_new_obj(esp32_pwm_obj_t);
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self->base.type = &machine_pwm_type;
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self->pin = pin_id;
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self->active = 0;
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self->channel = LEDC_CHANNEL_MAX;
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if (!pwm_is_init) {
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int n;
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// Set default timers configuration
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for (n=0; n<(LEDC_CHANNEL_MAX/2); n++) {
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pwm_timers[n].duty_resolution = LEDC_TIMER_12_BIT; // 12 bits duty resolution
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pwm_timers[n].freq_hz = 5000; // 5 kHz frequency
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pwm_timers[n].speed_mode = PWMODE;
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pwm_timers[n].timer_num = n;
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}
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// Init channels
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for (n=0; n<(LEDC_CHANNEL_MAX); n++) {
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pwm_channels[n] = NULL;
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}
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pwm_is_init = 1;
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}
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// start the PWM running for this channel
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mp_map_t kw_args;
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mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
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esp32_pwm_init_helper(self, n_args - 1, args + 1, &kw_args);
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return MP_OBJ_FROM_PTR(self);
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}
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//------------------------------------------------------------------------------------
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STATIC mp_obj_t esp32_pwm_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args)
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{
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esp32_pwm_init_helper(args[0], n_args - 1, args + 1, kw_args);
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_KW(esp32_pwm_init_obj, 1, esp32_pwm_init);
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//------------------------------------------------
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STATIC mp_obj_t esp32_pwm_deinit(mp_obj_t self_in)
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{
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esp32_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
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int chan = self->channel;
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// Valid channel?
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if ((chan >= 0) && (chan < LEDC_CHANNEL_MAX)) {
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// Mark it unused, and tell the hardware to stop routing
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pwm_channels[chan] = NULL;
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ledc_stop(PWMODE, chan, 0);
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self->active = 0;
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self->channel = -1;
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(esp32_pwm_deinit_obj, esp32_pwm_deinit);
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//-----------------------------------------------------------------
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STATIC mp_obj_t esp32_pwm_freq(size_t n_args, const mp_obj_t *args)
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{
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esp32_pwm_obj_t *self = MP_OBJ_TO_PTR(args[0]);
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int curr_freq = pwm_timers[self->timer].freq_hz;
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if (n_args == 1) {
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// get and return frequency
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return MP_OBJ_NEW_SMALL_INT(curr_freq);
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}
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// set the frequency
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int new_freq = mp_obj_get_int(args[1]);
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if (new_freq != curr_freq) {
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if (!set_freq(self, new_freq)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Bad frequency %d", new_freq));
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}
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(esp32_pwm_freq_obj, 1, 2, esp32_pwm_freq);
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//-----------------------------------------------------------------
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STATIC mp_obj_t esp32_pwm_duty(size_t n_args, const mp_obj_t *args)
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{
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esp32_pwm_obj_t *self = MP_OBJ_TO_PTR(args[0]);
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if (n_args == 1) {
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// get and return duty cycle
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int duty = ledc_get_duty(PWMODE, self->channel);
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return mp_obj_new_float(duty2perc(self, duty));
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}
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// set the new duty cycle
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float dperc = mp_obj_get_float(args[1]);
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if ((dperc < 0) || (dperc > 100.0)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Bad duty %d, use 0 ~ 100 (%%)", dperc));
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}
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ledc_set_duty(PWMODE, self->channel, perc2duty(self, dperc));
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ledc_update_duty(PWMODE, self->channel);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(esp32_pwm_duty_obj, 1, 2, esp32_pwm_duty);
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//-----------------------------------------------
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STATIC mp_obj_t esp32_pwm_pause(mp_obj_t self_in)
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{
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esp32_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
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ledc_timer_pause(PWMODE, pwm_timers[self->timer].timer_num);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(esp32_pwm_pause_obj, esp32_pwm_pause);
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//------------------------------------------------
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STATIC mp_obj_t esp32_pwm_resume(mp_obj_t self_in)
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{
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esp32_pwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
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ledc_timer_resume(PWMODE, pwm_timers[self->timer].timer_num);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(esp32_pwm_resume_obj, esp32_pwm_resume);
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//------------------------------
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STATIC mp_obj_t esp32_pwm_list()
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{
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for (int n=0; n<LEDC_CHANNEL_MAX; n++) {
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if (pwm_channels[n]) {
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esp32_pwm_print(&mp_plat_print, (mp_obj_t)pwm_channels[n], 0);
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mp_printf(&mp_plat_print, "\n");
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}
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_0(esp32_pwm_list_obj, esp32_pwm_list);
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//==============================================================
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STATIC const mp_rom_map_elem_t esp32_pwm_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&esp32_pwm_init_obj) },
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{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&esp32_pwm_deinit_obj) },
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{ MP_ROM_QSTR(MP_QSTR_freq), MP_ROM_PTR(&esp32_pwm_freq_obj) },
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{ MP_ROM_QSTR(MP_QSTR_duty), MP_ROM_PTR(&esp32_pwm_duty_obj) },
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{ MP_ROM_QSTR(MP_QSTR_pause), MP_ROM_PTR(&esp32_pwm_pause_obj) },
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{ MP_ROM_QSTR(MP_QSTR_resume), MP_ROM_PTR(&esp32_pwm_resume_obj) },
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{ MP_ROM_QSTR(MP_QSTR_list), MP_ROM_PTR(&esp32_pwm_list_obj) },
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};
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STATIC MP_DEFINE_CONST_DICT(esp32_pwm_locals_dict, esp32_pwm_locals_dict_table);
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//======================================
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const mp_obj_type_t machine_pwm_type = {
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{ &mp_type_type },
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.name = MP_QSTR_PWM,
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.print = esp32_pwm_print,
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.make_new = esp32_pwm_make_new,
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.locals_dict = (mp_obj_dict_t*)&esp32_pwm_locals_dict,
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};
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