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

### Releases v1.1.0

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

Author: khoih-prog

src/PWM_Generic_Debug.h

@@ -12,11 +12,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
  *****************************************************************************************************************************/
 
 #pragma once

src/Portenta_H7_Slow_PWM.h

@@ -12,11 +12,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
 *****************************************************************************************************************************/
 
 #pragma once
@@ -44,7 +45,7 @@
 #endif
 
 #ifndef PORTENTA_H7_SLOW_PWM_VERSION
-  #define PORTENTA_H7_SLOW_PWM_VERSION       "PORTENTA_H7_SLOW_PWM v1.0.0"
+  #define PORTENTA_H7_SLOW_PWM_VERSION       "PORTENTA_H7_SLOW_PWM v1.1.0"
 #endif
 
 ///////////////////////////////////////////

src/Portenta_H7_Slow_PWM_ISR.h

@@ -12,11 +12,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
 *****************************************************************************************************************************/
 
 #pragma once
@@ -44,7 +45,7 @@
 #endif
 
 #ifndef PORTENTA_H7_SLOW_PWM_VERSION
-  #define PORTENTA_H7_SLOW_PWM_VERSION       "PORTENTA_H7_SLOW_PWM v1.0.0"
+  #define PORTENTA_H7_SLOW_PWM_VERSION       "PORTENTA_H7_SLOW_PWM v1.1.0"
 #endif
 
 #ifndef _PWM_LOGLEVEL_
@@ -95,43 +96,74 @@ class Portenta_H7_Slow_PWM_ISR
 
     //////////////////////////////////////////////////////////////////
     // PWM
-    void setPWM(uint32_t pin, uint32_t frequency, uint32_t dutycycle, timer_callback StartCallback = nullptr,
+    // Return the channelNum if OK, -1 if error
+    int setPWM(uint32_t pin, double frequency, uint32_t dutycycle, timer_callback StartCallback = nullptr, 
                 timer_callback StopCallback = nullptr)
+    //void setPWM(uint32_t pin, uint32_t frequency, uint32_t dutycycle, timer_callback StartCallback = nullptr,
+    //            timer_callback StopCallback = nullptr)
     {
       uint32_t period = 0;
 
       if ( ( frequency != 0 ) && ( frequency <= 1000 ) )
       {
 #if USING_MICROS_RESOLUTION
       // period in us
-      period = 1000000 / frequency;
+      period = 1000000.0f / frequency;
 #else    
       // period in ms
-      period = 1000 / frequency;
+      period = 1000.0f / frequency;
 #endif
       }
       else
       {       
-        PWM_LOGERROR("Error: Invalid frequency, max is 500Hz");
+        PWM_LOGERROR("Error: Invalid frequency, max is 1000Hz");
+        
+        return -1;
       }
 
-      setupPWMChannel(pin, period, dutycycle, (void *) StartCallback, (void *) StopCallback);     
+      return setupPWMChannel(pin, period, dutycycle, (void *) StartCallback, (void *) StopCallback); 
     }
 
-#if USING_MICROS_RESOLUTION
-    //period in us
-    void setPWM_Period(uint32_t pin, uint32_t period, uint32_t dutycycle, timer_callback StartCallback = nullptr,
-                       timer_callback StopCallback = nullptr)
-#else    
-    // PWM
-    //period in ms
-    void setPWM_Period(uint32_t pin, uint32_t period, uint32_t dutycycle, timer_callback StartCallback = nullptr,
-                       timer_callback StopCallback = nullptr)
-#endif    
+    // period in us
+    // Return the channelNum if OK, -1 if error
+    int setPWM_Period(uint32_t pin, uint32_t period, uint32_t dutycycle, timer_callback StartCallback = nullptr,
+                       timer_callback StopCallback = nullptr)  
     {     
-      setupPWMChannel(pin, period, dutycycle, (void *) StartCallback, (void *) StopCallback);       
+      return setupPWMChannel(pin, period, dutycycle, (void *) StartCallback, (void *) StopCallback);      
     }    
 
+    //////////////////////////////////////////////////////////////////
+    
+    // low level function to modify a PWM channel
+    // returns the true on success or false on failure
+    bool modifyPWMChannel(unsigned channelNum, uint32_t pin, double frequency, uint32_t dutycycle)
+    {
+      uint32_t period = 0;
+      
+      if ( ( frequency > 0 ) && ( frequency <= 500 ) )
+      {
+#if USING_MICROS_RESOLUTION
+      // period in us
+      period = 1000000.0f / frequency;
+#else    
+      // period in ms
+      period = 1000.0f / frequency;
+#endif
+      }
+      else
+      {       
+        PWM_LOGERROR("Error: Invalid frequency, max is 500Hz");
+        return false;
+      }
+      
+      return modifyPWMChannel_Period(channelNum, pin, period, dutycycle);
+    }
+    
+    //////////////////////////////////////////////////////////////////
+    
+    //period in us
+    bool modifyPWMChannel_Period(unsigned channelNum, uint32_t pin, uint32_t period, uint32_t dutycycle);
+    
     //////////////////////////////////////////////////////////////////
 
     // destroy the specified PWM channel

src/Portenta_H7_Slow_PWM_ISR.hpp

@@ -12,11 +12,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
 *****************************************************************************************************************************/
 
 #pragma once
@@ -170,6 +171,8 @@ int Portenta_H7_Slow_PWM_ISR::setupPWMChannel(uint32_t pin, uint32_t period, uin
   digitalWrite(pin, HIGH);
   PWM[channelNum].pinHigh       = true;
 
+  PWM[channelNum].prevTime      = timeNow();
+  
   PWM[channelNum].callbackStart = cbStartFunc;
   PWM[channelNum].callbackStop  = cbStopFunc;
 
@@ -183,6 +186,44 @@ int Portenta_H7_Slow_PWM_ISR::setupPWMChannel(uint32_t pin, uint32_t period, uin
   return channelNum;
 }
 
+///////////////////////////////////////////////////
+
+bool Portenta_H7_Slow_PWM_ISR::modifyPWMChannel_Period(unsigned channelNum, uint32_t pin, uint32_t period, uint32_t dutycycle)
+{
+  // Invalid input, such as period = 0, etc
+  if ( (period == 0) || (dutycycle > 100) )
+  {
+    PWM_LOGERROR("Error: Invalid period or dutycycle");
+    return false;
+  }
+
+  if (channelNum > MAX_NUMBER_CHANNELS) 
+  {
+    PWM_LOGERROR("Error: channelNum > MAX_NUMBER_CHANNELS");
+    return false;
+  }
+  
+  if (PWM[channelNum].pin != pin) 
+  {
+    PWM_LOGERROR("Error: channelNum and pin mismatched");
+    return false;
+  }
+   
+  PWM[channelNum].period        = period;
+  PWM[channelNum].onTime        = ( period * dutycycle ) / 100;
+  
+  digitalWrite(pin, HIGH);
+  PWM[channelNum].pinHigh       = true;
+  
+  PWM[channelNum].prevTime      = timeNow();
+     
+  PWM_LOGDEBUG0("Channel : "); PWM_LOGDEBUG0(channelNum); PWM_LOGDEBUG0("\tPeriod : "); PWM_LOGDEBUG0(PWM[channelNum].period);
+  PWM_LOGDEBUG0("\t\tOnTime : "); PWM_LOGDEBUG0(PWM[channelNum].onTime); PWM_LOGDEBUG0("\tStart_Time : "); PWM_LOGDEBUGLN0(PWM[channelNum].prevTime);
+  
+  return true;
+}
+
+
 ///////////////////////////////////////////////////
 
 void Portenta_H7_Slow_PWM_ISR::deleteChannel(unsigned channelNum) 

src/stm32/HardwareTimer.cpp

@@ -13,11 +13,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
  *****************************************************************************************************************************/
 
 // Modified from stm32 core v2.0.0

src/stm32/HardwareTimer.h

@@ -13,11 +13,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
  *****************************************************************************************************************************/
 
 // Modified from stm32 core v2.0.0

src/stm32/timer.c

@@ -13,11 +13,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
  *****************************************************************************************************************************/
 
 // Modified from stm32 core v2.0.0

src/stm32/timer.h

@@ -13,11 +13,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
  *****************************************************************************************************************************/
 
 // Modified from stm32 core v2.0.0

src_cpp/PWM_Generic_Debug.h

@@ -12,11 +12,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
  *****************************************************************************************************************************/
 
 #pragma once

src_cpp/Portenta_H7_Slow_PWM.h

@@ -12,11 +12,12 @@
   Therefore, their executions are not blocked by bad-behaving functions / tasks.
   This important feature is absolutely necessary for mission-critical tasks.
 
-  Version: 1.0.0
+  Version: 1.1.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K.Hoang      22/09/2021 Initial coding for Portenta_H7
+  1.1.0   K Hoang      10/11/2021 Add functions to modify PWM settings on-the-fly
 *****************************************************************************************************************************/
 
 #pragma once
@@ -44,7 +45,7 @@
 #endif
 
 #ifndef PORTENTA_H7_SLOW_PWM_VERSION
-  #define PORTENTA_H7_SLOW_PWM_VERSION       "PORTENTA_H7_SLOW_PWM v1.0.0"
+  #define PORTENTA_H7_SLOW_PWM_VERSION       "PORTENTA_H7_SLOW_PWM v1.1.0"
 #endif
 
 ///////////////////////////////////////////