nRF52_Slow_PWM Library

Important Change from v1.2.0
Why do we need this nRF52_Slow_PWM library
- Features
- Why using ISR-based PWM is better
- Currently supported Boards
- Important Notes about ISR
Changelog
Prerequisites
Installation
- Use Arduino Library Manager
- Manual Install
- VS Code & PlatformIO
Packages' Patches
- 1. For Adafruit nRF52840 and nRF52832 boards
HOWTO Fix Multiple Definitions Linker Error
Usage
- 1. Init Hardware Timer
- 2. Set PWM Frequency, dutycycle, attach irqCallbackStartFunc and irqCallbackStopFunc functions
Examples
- 1. ISR_16_PWMs_Array
- 2. ISR_16_PWMs_Array_Complex
- 3. ISR_16_PWMs_Array_Simple
- 4. ISR_Changing_PWM
- 5. ISR_Modify_PWM
- 6. multiFileProject. New
Example ISR_16_PWMs_Array_Complex
Debug Terminal Output Samples
- 1. ISR_16_PWMs_Array_Complex on NRF52840_ITSYBITSY
- 2. ISR_16_PWMs_Array on NRF52840_ITSYBITSY
- 3. ISR_16_PWMs_Array_Simple on NRF52840_ITSYBITSY
- 4. ISR_Modify_PWM on NRF52840_ITSYBITSY
- 5. ISR_Changing_PWM on NRF52840_ITSYBITSY
Debug
Troubleshooting
Issues
TO DO
DONE
Contributions and Thanks
Contributing
License
Copyright

Important Change from v1.2.0

Please have a look at HOWTO Fix Multiple Definitions Linker Error

As more complex calculation and check inside ISR are introduced from v1.2.0, there is possibly some crash depending on use-case.

You can modify to use larger HW_TIMER_INTERVAL_US, (from current 10uS), according to your board and use-case if crash happens.

// Don't change these numbers to make higher Timer freq. System can hang
#define HW_TIMER_INTERVAL_US      10L

Why do we need this nRF52_Slow_PWM library

Features

This library enables you to use ISR-based PWM channels on an nRF52-based board, such as Itsy-Bitsy nRF52840, using Adafruit nRF52 core core to create and output PWM any GPIO pin. Because this library doesn't use the powerful purely hardware-controlled PWM with many 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 nRF52-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 (uint64_t microsecs / 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

AdaFruit Feather nRF52832, nRF52840 Express, BlueFruit Sense, Itsy-Bitsy nRF52840 Express, Metro nRF52840 Express, NINA_B302_ublox, NINA_B112_ublox etc.
Sparkfun Pro nRF52840 Mini
Seeeduino nRF52840-based boards such as SEEED_XIAO_NRF52840 and SEEED_XIAO_NRF52840_SENSE, etc. using Seeeduino nRF52 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.
Adafruit nRF52 v1.3.0+ for nRF52 boards such as Adafruit NRF52840_FEATHER, NRF52832_FEATHER, NRF52840_FEATHER_SENSE, NRF52840_ITSYBITSY, NRF52840_CIRCUITPLAY, NRF52840_CLUE, NRF52840_METRO, NRF52840_PCA10056, PARTICLE_XENON, NINA_B302_ublox, etc.
Seeeduino nRF52 core 1.0.0+ for Seeeduino nRF52840-based boards such as Seeed_XIAO_NRF52840 and Seeed_XIAO_NRF52840_SENSE.
To use with certain example

SimpleTimer library for ISR_16_PWMs_Array_Complex example.

Installation

Use Arduino Library Manager

The best and easiest way is to use Arduino Library Manager. Search for nRF52_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 nRF52_Slow_PWM page.
Download the latest release nRF52_Slow_PWM-main.zip.
Extract the zip file to nRF52_Slow_PWM-main directory
Copy whole nRF52_Slow_PWM-main folder to Arduino libraries' directory such as ~/Arduino/libraries/.

VS Code & PlatformIO

Install VS Code
Install PlatformIO
Install nRF52_Slow_PWM library by using Library Manager. Search for nRF52_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

Packages' Patches

1. For Adafruit nRF52840 and nRF52832 boards

To be able to compile, run and automatically detect and display BOARD_NAME on nRF52840/nRF52832 boards, you have to copy the whole nRF52 1.3.0 directory into Adafruit nRF52 directory (~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0).

Supposing the Adafruit nRF52 version is 1.3.0. These files must be copied into the directory:

~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0/platform.txt
~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0/boards.txt
~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0/variants/NINA_B302_ublox/variant.h
~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0/variants/NINA_B302_ublox/variant.cpp
~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0/variants/NINA_B112_ublox/variant.h
~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0/variants/NINA_B112_ublox/variant.cpp
~/.arduino15/packages/adafruit/hardware/nrf52/1.3.0/cores/nRF5/Udp.h

Whenever a new version is installed, remember to copy these files into the new version directory. For example, new version is x.yy.z These files must be copied into the directory:

~/.arduino15/packages/adafruit/hardware/nrf52/x.yy.z/platform.txt
~/.arduino15/packages/adafruit/hardware/nrf52/x.yy.z/boards.txt
~/.arduino15/packages/adafruit/hardware/nrf52/x.yy.z/variants/NINA_B302_ublox/variant.h
~/.arduino15/packages/adafruit/hardware/nrf52/x.yy.z/variants/NINA_B302_ublox/variant.cpp
~/.arduino15/packages/adafruit/hardware/nrf52/x.yy.z/variants/NINA_B112_ublox/variant.h
~/.arduino15/packages/adafruit/hardware/nrf52/x.yy.z/variants/NINA_B112_ublox/variant.cpp
~/.arduino15/packages/adafruit/hardware/nrf52/x.yy.z/cores/nRF5/Udp.h

2. For Seeeduino nRF52840 boards

To be able to compile and run on Xiao nRF52840 boards, you have to copy the whole nRF52 1.0.0 directory into Seeeduino nRF52 directory (~/.arduino15/packages/Seeeduino/hardware/nrf52/1.0.0).

Supposing the Seeeduino nRF52 version is 1.0.0. These files must be copied into the directory:

~/.arduino15/packages/Seeeduino/hardware/nrf52/1.0.0/cores/nRF5/Print.h
~/.arduino15/packages/Seeeduino/hardware/nrf52/1.0.0/cores/nRF5/Print.cpp
~/.arduino15/packages/Seeeduino/hardware/nrf52/1.0.0/cores/nRF5/Udp.h

Whenever a new version is installed, remember to copy these files into the new version directory. For example, new version is x.yy.z These files must be copied into the directory:

~/.arduino15/packages/Seeeduino/hardware/nrf52/x.yy.z/cores/nRF5/Print.h
~/.arduino15/packages/Seeeduino/hardware/nrf52/x.yy.z/cores/nRF5/Print.cpp
~/.arduino15/packages/Seeeduino/hardware/nrf52/x.yy.z/cores/nRF5/Udp.h

To use Sparkfun Pro nRF52840 Mini, you must install Packages_Patches and use Adafruit nrf52 core v1.0.0+

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 "nRF52_Slow_PWM.hpp"    //https://github.com/khoih-prog/nRF52_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 "nRF52_Slow_PWM.h"      //https://github.com/khoih-prog/nRF52_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

Usage

Before using any Timer, you have to make sure the Timer has not been used by any other purpose. Depending on the board, you can select NRF52 Hardware Timer from NRF_TIMER_1-NRF_TIMER_4 (1 to 4)

1. Init Hardware Timer

// Depending on the board, you can select NRF52 Hardware Timer from NRF_TIMER_1-NRF_TIMER_4 (1 to 4)
// If you select the already-used NRF_TIMER_0, it'll be auto modified to use NRF_TIMER_1

// Init NRF52 timer NRF_TIMER2
NRF52Timer ITimer(NRF_TIMER_2);

// Init nRF52_Slow_PWM, each can service 16 different ISR-based PWM channels
NRF52_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

nRF52_Slow_PWM/examples/ISR_16_PWMs_Array_Complex/ISR_16_PWMs_Array_Complex.ino

Lines 16 to 595 in 2c86fbf

    
           // 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  
        
           // To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error 
        
           #include "nRF52_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_PIN 
        
             #if defined(LED_BLUE) 
        
               #define LED_BLUE_PIN          LED_BLUE 
        
             #else 
        
               #define LED_BLUE_PIN          7 
        
             #endif 
        
           #endif 
        
           #ifndef LED_GREEN_PIN 
        
             #if defined(LED_GREEN) 
        
               #define LED_GREEN_PIN           LED_GREEN 
        
             #else 
        
               #define LED_GREEN_PIN           8 
        
             #endif 
        
           #endif 
        
           #define HW_TIMER_INTERVAL_US      5L 
        
           volatile uint64_t startMicros = 0; 
        
           // Depending on the board, you can select NRF52 Hardware Timer from NRF_TIMER_1-NRF_TIMER_4 (1 to 4) 
        
           // If you select the already-used NRF_TIMER_0, it'll be auto modified to use NRF_TIMER_1 
        
           // Init NRF52 timer NRF_TIMER3 
        
           NRF52Timer ITimer(NRF_TIMER_3); 
        
           // Init nRF52_Slow_PWM, each can service 16 different ISR-based PWM channels 
        
           NRF52_Slow_PWM ISR_PWM; 
        
           ////////////////////////////////////////////////////// 
        
           void TimerHandler() 
        
           { 
        
             ISR_PWM.run(); 
        
           } 
        
           ///////////////////////////////////////////////// 
        
           #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 nRF52, 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 uint64_t deltaMicrosStart    [] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; 
        
           volatile uint64_t previousMicrosStart [] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; 
        
           volatile uint64_t deltaMicrosStop     [] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; 
        
           volatile uint64_t previousMicrosStop  [] = { 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[] = 
        
           { 
        
             LED_BUILTIN, LED_BLUE_PIN, LED_GREEN_PIN, 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) 
        
           { 
        
             uint64_t currentMicros  = micros(); 
        
             deltaMicrosStart[index]    = currentMicros - previousMicrosStart[index]; 
        
             previousMicrosStart[index] = currentMicros; 
        
           } 
        
           void doingSomethingStop(int index) 
        
           { 
        
             uint64_t 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[] = 
        
           { 
        
             // pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Freq, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop 
        
             { LED_BUILTIN,   doingSomethingStart0,    doingSomethingStop0,    1,   5, 0, 0, 0, 0 }, 
        
             { LED_BLUE_PIN,  doingSomethingStart1,    doingSomethingStop1,    2,  10, 0, 0, 0, 0 }, 
        
             { LED_GREEN_PIN, 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[] = 
        
           { 
        
             // pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Period, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop 
        
             { LED_BUILTIN,   doingSomethingStart0,     doingSomethingStop0,   1000000L,  5, 0, 0, 0, 0 }, 
        
             { LED_BLUE_PIN,  doingSomethingStart1,     doingSomethingStop1,    500000L, 10, 0, 0, 0, 0 }, 
        
             { LED_GREEN_PIN, 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) 
        
           { 
        
             uint64_t currentMicros  = micros(); 
        
             curISR_PWM_Data[index].deltaMicrosStart    = currentMicros - curISR_PWM_Data[index].previousMicrosStart; 
        
             curISR_PWM_Data[index].previousMicrosStart = currentMicros; 
        
           } 
        
           void doingSomethingStop(int index) 
        
           { 
        
             uint64_t 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[] = 
        
           { 
        
             doingSomethingStart0,  doingSomethingStart1,  doingSomethingStart2,  doingSomethingStart3, 
        
             doingSomethingStart4,  doingSomethingStart5,  doingSomethingStart6,  doingSomethingStart7, 
        
             doingSomethingStart8,  doingSomethingStart9,  doingSomethingStart10, doingSomethingStart11, 
        
             doingSomethingStart12, doingSomethingStart13, doingSomethingStart14, doingSomethingStart15 
        
           }; 
        
           irqCallback irqCallbackStopFunc[] = 
        
           { 
        
             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 uint64_t previousMicrosStart = startMicros; 
        
             uint64_t 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 && millis() < 5000); 
        
             delay(2000); 
        
             Serial.print(F("\nStarting ISR_16_PWMs_Array_Complex on ")); 
        
             Serial.println(BOARD_NAME); 
        
             Serial.println(NRF52_SLOW_PWM_VERSION); 
        
             // Interval in microsecs 
        
             if (ITimer.attachInterruptInterval(HW_TIMER_INTERVAL_US, TimerHandler)) 
        
             { 
        
               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 NRF52840_ITSYBITSY

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 NRF52840_ITSYBITSY
NRF52_Slow_PWM v1.2.2
[PWM] NRF52TimerInterrupt: Timer =  NRF_TIMER3 , Timer Clock (Hz) =  16000000.00
[PWM] Frequency =  200000.00 , _count =  80
Starting ITimer OK, micros() = 
Channel : 0	    Period : 1000000		OnTime : 49999	Start_Time : 2647460
Channel : 1	    Period : 500000		OnTime : 49999	Start_Time : 2648437
Channel : 2	    Period : 333333		OnTime : 66666	Start_Time : 2649414
Channel : 3	    Period : 250000		OnTime : 74999	Start_Time : 2650390
Channel : 4	    Period : 200000		OnTime : 79999	Start_Time : 2651367
Channel : 5	    Period : 166666		OnTime : 74999	Start_Time : 2652343
Channel : 6	    Period : 142857		OnTime : 71428	Start_Time : 2653320
Channel : 7	    Period : 125000		OnTime : 68750	Start_Time : 2654296
Channel : 8	    Period : 111111		OnTime : 66666	Start_Time : 2655273
Channel : 9	    Period : 100000		OnTime : 64999	Start_Time : 2656250
Channel : 10	    Period : 66666		OnTime : 46666	Start_Time : 2657226
Channel : 11	    Period : 50000		OnTime : 37500	Start_Time : 2658203
Channel : 12	    Period : 40000		OnTime : 31999	Start_Time : 2659179
Channel : 13	    Period : 33333		OnTime : 28333	Start_Time : 2660156
Channel : 14	    Period : 25000		OnTime : 22500	Start_Time : 2661132
Channel : 15	    Period : 20000		OnTime : 19000	Start_Time : 2663085
SimpleTimer (ms): 2000, us : 12805664, Dus : 10159180
PWM Channel : 0, programmed Period (us): 1000000.00, actual : 1000000, programmed DutyCycle : 5.00, actual : 5.18
PWM Channel : 1, programmed Period (us): 500000.00, actual : 496094, programmed DutyCycle : 10.00, actual : 10.24
PWM Channel : 2, programmed Period (us): 333333.34, actual : 340820, programmed DutyCycle : 20.00, actual : 19.20
PWM Channel : 3, programmed Period (us): 250000.00, actual : 250000, programmed DutyCycle : 30.00, actual : 31.25
PWM Channel : 4, programmed Period (us): 200000.00, actual : 205078, programmed DutyCycle : 40.00, actual : 37.14
PWM Channel : 5, programmed Period (us): 166666.67, actual : 171875, programmed DutyCycle : 45.00, actual : 42.05
PWM Channel : 6, programmed Period (us): 142857.14, actual : 147461, programmed DutyCycle : 50.00, actual : 47.02
PWM Channel : 7, programmed Period (us): 125000.00, actual : 122070, programmed DutyCycle : 55.00, actual : 56.80
PWM Channel : 8, programmed Period (us): 111111.11, actual : 107422, programmed DutyCycle : 60.00, actual : 60.91
PWM Channel : 9, programmed Period (us): 100000.00, actual : 106446, programmed DutyCycle : 65.00, actual : 58.72
PWM Channel : 10, programmed Period (us): 66666.66, actual : 64453, programmed DutyCycle : 70.00, actual : 69.70
PWM Channel : 11, programmed Period (us): 50000.00, actual : 47851, programmed DutyCycle : 75.00, actual : 73.47
PWM Channel : 12, programmed Period (us): 40000.00, actual : 37110, programmed DutyCycle : 80.00, actual : 78.95
PWM Channel : 13, programmed Period (us): 33333.33, actual : 30273, programmed DutyCycle : 85.00, actual : 96.78
PWM Channel : 14, programmed Period (us): 25000.00, actual : 25390, programmed DutyCycle : 90.00, actual : 92.31
PWM Channel : 15, programmed Period (us): 20000.00, actual : 20508, programmed DutyCycle : 95.00, actual : 95.24
SimpleTimer (ms): 2000, us : 22888671, Dus : 10083007
PWM Channel : 0, programmed Period (us): 1000000.00, actual : 1002929, programmed DutyCycle : 5.00, actual : 4.77
PWM Channel : 1, programmed Period (us): 500000.00, actual : 505859, programmed DutyCycle : 10.00, actual : 9.46
PWM Channel : 2, programmed Period (us): 333333.34, actual : 333985, programmed DutyCycle : 20.00, actual : 20.18
PWM Channel : 3, programmed Period (us): 250000.00, actual : 254883, programmed DutyCycle : 30.00, actual : 28.35
PWM Channel : 4, programmed Period (us): 200000.00, actual : 200195, programmed DutyCycle : 40.00, actual : 40.00
PWM Channel : 5, programmed Period (us): 166666.67, actual : 166992, programmed DutyCycle : 45.00, actual : 45.03
PWM Channel : 6, programmed Period (us): 142857.14, actual : 140625, programmed DutyCycle : 50.00, actual : 52.08
PWM Channel : 7, programmed Period (us): 125000.00, actual : 130859, programmed DutyCycle : 55.00, actual : 52.99
PWM Channel : 8, programmed Period (us): 111111.11, actual : 116211, programmed DutyCycle : 60.00, actual : 57.98
PWM Channel : 9, programmed Period (us): 100000.00, actual : 100586, programmed DutyCycle : 65.00, actual : 65.05
PWM Channel : 10, programmed Period (us): 66666.66, actual : 71289, programmed DutyCycle : 70.00, actual : 60.27
PWM Channel : 11, programmed Period (us): 50000.00, actual : 47851, programmed DutyCycle : 75.00, actual : 77.55
PWM Channel : 12, programmed Period (us): 40000.00, actual : 36133, programmed DutyCycle : 80.00, actual : 81.08
PWM Channel : 13, programmed Period (us): 33333.33, actual : 31250, programmed DutyCycle : 85.00, actual : 84.37
PWM Channel : 14, programmed Period (us): 25000.00, actual : 76172, programmed DutyCycle : 90.00, actual : 97.43
PWM Channel : 15, programmed Period (us): 20000.00, actual : 20508, programmed DutyCycle : 95.00, actual : 95.24
SimpleTimer (ms): 2000, us : 32927734, Dus : 10039063
PWM Channel : 0, programmed Period (us): 1000000.00, actual : 1000000, programmed DutyCycle : 5.00, actual : 5.08
PWM Channel : 1, programmed Period (us): 500000.00, actual : 496094, programmed DutyCycle : 10.00, actual : 10.24
PWM Channel : 2, programmed Period (us): 333333.34, actual : 337891, programmed DutyCycle : 20.00, actual : 18.79
PWM Channel : 3, programmed Period (us): 250000.00, actual : 250000, programmed DutyCycle : 30.00, actual : 30.47
PWM Channel : 4, programmed Period (us): 200000.00, actual : 196289, programmed DutyCycle : 40.00, actual : 39.80
PWM Channel : 5, programmed Period (us): 166666.67, actual : 171875, programmed DutyCycle : 45.00, actual : 42.05
PWM Channel : 6, programmed Period (us): 142857.14, actual : 148438, programmed DutyCycle : 50.00, actual : 46.71
PWM Channel : 7, programmed Period (us): 125000.00, actual : 125000, programmed DutyCycle : 55.00, actual : 53.12
PWM Channel : 8, programmed Period (us): 111111.11, actual : 107422, programmed DutyCycle : 60.00, actual : 59.09
PWM Channel : 9, programmed Period (us): 100000.00, actual : 97656, programmed DutyCycle : 65.00, actual : 64.00
PWM Channel : 10, programmed Period (us): 66666.66, actual : 63477, programmed DutyCycle : 70.00, actual : 69.23
PWM Channel : 11, programmed Period (us): 50000.00, actual : 46875, programmed DutyCycle : 75.00, actual : 72.92
PWM Channel : 12, programmed Period (us): 40000.00, actual : 40039, programmed DutyCycle : 80.00, actual : 80.49
PWM Channel : 13, programmed Period (us): 33333.33, actual : 33204, programmed DutyCycle : 85.00, actual : 88.23
PWM Channel : 14, programmed Period (us): 25000.00, actual : 25391, programmed DutyCycle : 90.00, actual : 92.31
PWM Channel : 15, programmed Period (us): 20000.00, actual : 20507, programmed DutyCycle : 95.00, actual : 95.24

2. ISR_16_PWMs_Array on NRF52840_ITSYBITSY

The following is the sample terminal output when running example ISR_16_PWMs_Array on nRF52-based NRF52840_ITSYBITSY to demonstrate how to use multiple PWM channels with simple callback functions.

Starting ISR_16_PWMs_Array on NRF52840_ITSYBITSY
NRF52_Slow_PWM v1.2.2
[PWM] NRF52TimerInterrupt: Timer =  NRF_TIMER2 , Timer Clock (Hz) =  16000000.00
[PWM] Frequency =  50000.00 , _count =  320
Starting ITimer OK, micros() = 2889648
Channel : 0	    Period : 1000000		OnTime : 49999	Start_Time : 2890625
Channel : 1	    Period : 500000		OnTime : 49999	Start_Time : 2890625
Channel : 2	    Period : 333333		OnTime : 66666	Start_Time : 2891601
Channel : 3	    Period : 250000		OnTime : 74999	Start_Time : 2891601
Channel : 4	    Period : 200000		OnTime : 79999	Start_Time : 2892578
Channel : 5	    Period : 166666		OnTime : 74999	Start_Time : 2893554
Channel : 6	    Period : 142857		OnTime : 71428	Start_Time : 2893554
Channel : 7	    Period : 125000		OnTime : 68750	Start_Time : 2894531
Channel : 8	    Period : 111111		OnTime : 66666	Start_Time : 2894531
Channel : 9	    Period : 100000		OnTime : 64999	Start_Time : 2895507
Channel : 10	    Period : 66666		OnTime : 46666	Start_Time : 2895507
Channel : 11	    Period : 50000		OnTime : 37500	Start_Time : 2896484
Channel : 12	    Period : 40000		OnTime : 31999	Start_Time : 2897460
Channel : 13	    Period : 33333		OnTime : 28333	Start_Time : 2897460
Channel : 14	    Period : 25000		OnTime : 22500	Start_Time : 2898437
Channel : 15	    Period : 20000		OnTime : 19000	Start_Time : 2898437

3. ISR_16_PWMs_Array_Simple on NRF52840_ITSYBITSY

The following is the sample terminal output when running example ISR_16_PWMs_Array_Simple on nRF52-based NRF52840_ITSYBITSY to demonstrate how to use multiple PWM channels.

Starting ISR_16_PWMs_Array_Simple on NRF52840_ITSYBITSY
NRF52_Slow_PWM v1.2.2
[PWM] NRF52TimerInterrupt: Timer =  NRF_TIMER2 , Timer Clock (Hz) =  16000000.00
[PWM] Frequency =  50000.00 , _count =  320
Starting ITimer OK, micros() = 2924804
Channel : 0	    Period : 1000000		OnTime : 49999	Start_Time : 2925781
Channel : 1	    Period : 500000		OnTime : 49999	Start_Time : 2925781
Channel : 2	    Period : 333333		OnTime : 66666	Start_Time : 2926757
Channel : 3	    Period : 250000		OnTime : 74999	Start_Time : 2927734
Channel : 4	    Period : 200000		OnTime : 79999	Start_Time : 2927734
Channel : 5	    Period : 166666		OnTime : 74999	Start_Time : 2928710
Channel : 6	    Period : 142857		OnTime : 71428	Start_Time : 2928710
Channel : 7	    Period : 125000		OnTime : 68750	Start_Time : 2929687
Channel : 8	    Period : 111111		OnTime : 66666	Start_Time : 2929687
Channel : 9	    Period : 100000		OnTime : 64999	Start_Time : 2930664
Channel : 10	    Period : 66666		OnTime : 46666	Start_Time : 2930664
Channel : 11	    Period : 50000		OnTime : 37500	Start_Time : 2931640
Channel : 12	    Period : 40000		OnTime : 31999	Start_Time : 2931640
Channel : 13	    Period : 33333		OnTime : 28333	Start_Time : 2932617
Channel : 14	    Period : 25000		OnTime : 22500	Start_Time : 2933593
Channel : 15	    Period : 20000		OnTime : 19000	Start_Time : 2933593

4. ISR_Modify_PWM on NRF52840_ITSYBITSY

The following is the sample terminal output when running example ISR_Modify_PWM on nRF52-based NRF52840_ITSYBITSY to demonstrate how to modify PWM settings on-the-fly without deleting the PWM channel

Starting ISR_Modify_PWM on NRF52840_ITSYBITSY
NRF52_Slow_PWM v1.2.2
[PWM] NRF52TimerInterrupt: Timer =  NRF_TIMER2 , Timer Clock (Hz) =  16000000.00
[PWM] Frequency =  50000.00 , _count =  320
Starting ITimer OK, micros() = 3310546
Using PWM Freq = 200.00, PWM DutyCycle = 1.00
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 3311523
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 13313476
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 23309570
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 33310546
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 43306640
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 53313476
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 63309570
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 73316406
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 83312500
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 93319335
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 103315429
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 113322265
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 123318359
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 133325195
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 143326171
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 153322265
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 163318359
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 173325195
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 183321289
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 193328125
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 203324218
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 213331054
Channel : 0	    Period : 5000		OnTime : 50	Start_Time : 223327148
Channel : 0	    Period : 10000		OnTime : 555	Start_Time : 233333984

5. ISR_Changing_PWM on NRF52840_ITSYBITSY

The following is the sample terminal output when running example ISR_Changing_PWM on nRF52-based NRF52840_ITSYBITSY 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 NRF52840_ITSYBITSY
NRF52_Slow_PWM v1.2.2
[PWM] NRF52TimerInterrupt: Timer =  NRF_TIMER2 , Timer Clock (Hz) =  16000000.00
[PWM] Frequency =  50000.00 , _count =  320
Starting ITimer OK, micros() = 2925781
Using PWM Freq = 1.00, PWM DutyCycle = 50.00
Channel : 0	    Period : 1000000		OnTime : 500000	Start_Time : 2926757
Using PWM Freq = 2.00, PWM DutyCycle = 90.00
Channel : 0	    Period : 500000		OnTime : 450000	Start_Time : 18140625
Using PWM Freq = 1.00, PWM DutyCycle = 50.00
Channel : 0	    Period : 1000000		OnTime : 500000	Start_Time : 33396484
Using PWM Freq = 2.00, PWM DutyCycle = 90.00
Channel : 0	    Period : 500000		OnTime : 450000	Start_Time : 48607421
Using PWM Freq = 1.00, PWM DutyCycle = 50.00
Channel : 0	    Period : 1000000		OnTime : 500000	Start_Time : 63864257
Using PWM Freq = 2.00, PWM DutyCycle = 90.00
Channel : 0	    Period : 500000		OnTime : 450000	Start_Time : 79079101
Using PWM Freq = 1.00, PWM DutyCycle = 50.00
Channel : 0	    Period : 1000000		OnTime : 500000	Start_Time : 94331054
Using PWM Freq = 2.00, PWM DutyCycle = 90.00
Channel : 0	    Period : 500000		OnTime : 450000	Start_Time : 109539062

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: nRF52_Slow_PWM issues

TO DO

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

DONE

Basic hardware multi-channel PWM for nRF52-based AdaFruit Itsy-Bitsy nRF52840, Feather nRF52840 Express, etc. using Adafruit nRF52 core
Add Table of Contents
Add functions to modify PWM settings on-the-fly
Fix multiple-definitions linker error
Optimize library code by using reference-passing instead of value-passing
Improve accuracy by using float, instead of uint32_t for dutycycle
DutyCycle to be optionally updated at the end current PWM period instead of immediately.
Display informational warning only when _PWM_LOGLEVEL_ > 3
Add support to Sparkfun Pro nRF52840 Mini
Add support to Seeeduino nRF52840-based boards such as SEEED_XIAO_NRF52840 and SEEED_XIAO_NRF52840_SENSE, etc. using Seeeduino nRF52 core
Add astyle using allman style. Restyle the library
Add Packages' Patches to add Seeeduino nRF52 core

Contributions and Thanks

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

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 42 Commits
.github		.github
Packages_Patches		Packages_Patches
examples		examples
platformio		platformio
src		src
utils		utils
.codespellrc		.codespellrc
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

	// 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

	// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
	#include "nRF52_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_PIN
	#if defined(LED_BLUE)
	#define LED_BLUE_PIN LED_BLUE
	#else
	#define LED_BLUE_PIN 7
	#endif
	#endif

	#ifndef LED_GREEN_PIN
	#if defined(LED_GREEN)
	#define LED_GREEN_PIN LED_GREEN
	#else
	#define LED_GREEN_PIN 8
	#endif
	#endif


	#define HW_TIMER_INTERVAL_US 5L

	volatile uint64_t startMicros = 0;

	// Depending on the board, you can select NRF52 Hardware Timer from NRF_TIMER_1-NRF_TIMER_4 (1 to 4)
	// If you select the already-used NRF_TIMER_0, it'll be auto modified to use NRF_TIMER_1

	// Init NRF52 timer NRF_TIMER3
	NRF52Timer ITimer(NRF_TIMER_3);

	// Init nRF52_Slow_PWM, each can service 16 different ISR-based PWM channels
	NRF52_Slow_PWM ISR_PWM;

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

	void TimerHandler()
	{
	ISR_PWM.run();
	}

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

	#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 nRF52, 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 uint64_t deltaMicrosStart [] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
	volatile uint64_t previousMicrosStart [] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };

	volatile uint64_t deltaMicrosStop [] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
	volatile uint64_t previousMicrosStop [] = { 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[] =
	{
	LED_BUILTIN, LED_BLUE_PIN, LED_GREEN_PIN, 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)
	{
	uint64_t currentMicros = micros();

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

	void doingSomethingStop(int index)
	{
	uint64_t 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[] =
	{
	// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Freq, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
	{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1, 5, 0, 0, 0, 0 },
	{ LED_BLUE_PIN, doingSomethingStart1, doingSomethingStop1, 2, 10, 0, 0, 0, 0 },
	{ LED_GREEN_PIN, 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[] =
	{
	// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Period, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
	{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1000000L, 5, 0, 0, 0, 0 },
	{ LED_BLUE_PIN, doingSomethingStart1, doingSomethingStop1, 500000L, 10, 0, 0, 0, 0 },
	{ LED_GREEN_PIN, 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)
	{
	uint64_t currentMicros = micros();

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

	void doingSomethingStop(int index)
	{
	uint64_t 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[] =
	{
	doingSomethingStart0, doingSomethingStart1, doingSomethingStart2, doingSomethingStart3,
	doingSomethingStart4, doingSomethingStart5, doingSomethingStart6, doingSomethingStart7,
	doingSomethingStart8, doingSomethingStart9, doingSomethingStart10, doingSomethingStart11,
	doingSomethingStart12, doingSomethingStart13, doingSomethingStart14, doingSomethingStart15
	};

	irqCallback irqCallbackStopFunc[] =
	{
	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 uint64_t previousMicrosStart = startMicros;

	uint64_t 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 && millis() < 5000);

	delay(2000);

	Serial.print(F("\nStarting ISR_16_PWMs_Array_Complex on "));
	Serial.println(BOARD_NAME);
	Serial.println(NRF52_SLOW_PWM_VERSION);

	// Interval in microsecs
	if (ITimer.attachInterruptInterval(HW_TIMER_INTERVAL_US, TimerHandler))
	{
	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/nRF52_Slow_PWM

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nRF52_Slow_PWM Library

Table of Contents

Important Change from v1.2.0

Why do we need this nRF52_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

Packages' Patches

1. For Adafruit nRF52840 and nRF52832 boards

2. For Seeeduino nRF52840 boards

HOWTO Fix Multiple Definitions Linker Error

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 NRF52840_ITSYBITSY

2. ISR_16_PWMs_Array on NRF52840_ITSYBITSY

3. ISR_16_PWMs_Array_Simple on NRF52840_ITSYBITSY

4. ISR_Modify_PWM on NRF52840_ITSYBITSY

5. ISR_Changing_PWM on NRF52840_ITSYBITSY

Debug

Troubleshooting

Issues

TO DO

DONE

Contributions and Thanks

Contributing

License

Copyright

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HOWTO Fix `Multiple Definitions` Linker Error

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