Espressif ESP32 Technical Reference Manual page 435

16 Motor Control PWM (PWM)
Figure 16-17. Count-Up, Pulse Placement Asymmetric Waveform with Independent Modulation on PWMxA
Pulses may be generated anywhere within the PWM cycle (zero – period).
PWMxA's high time duty is proportional to (B – A).
P eriod = (P W M _T IM ERx_P ERIOD + 1) × T
P T _clk
Espressif Systems 435 ESP32 TRM (Version 5.2)
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