MCPWM now working
This commit is contained in:
237
main/functions.c
237
main/functions.c
@@ -7,7 +7,7 @@ adc_cali_handle_t cali_handle= NULL;
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/*############################################*/
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void configure_GPIO_dir(const char *TAG)
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{
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/* reset every used GPIO-pin */
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/* reset every used GPIO-pin *
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gpio_reset_pin(CONFIG_HIN_U_GPIO);
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gpio_reset_pin(CONFIG_HIN_V_GPIO);
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gpio_reset_pin(CONFIG_HIN_W_GPIO);
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@@ -15,7 +15,7 @@ void configure_GPIO_dir(const char *TAG)
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gpio_reset_pin(CONFIG_LIN_U_GPIO);
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gpio_reset_pin(CONFIG_LIN_V_GPIO);
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gpio_reset_pin(CONFIG_LIN_W_GPIO);
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*/
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gpio_reset_pin(CONFIG_HALL_A_GPIO);
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gpio_reset_pin(CONFIG_HALL_B_GPIO);
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gpio_reset_pin(CONFIG_HALL_C_GPIO);
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@@ -30,7 +30,7 @@ void configure_GPIO_dir(const char *TAG)
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gpio_reset_pin(CONFIG_EXT_ENC_RIGHT_GPIO);
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gpio_reset_pin(CONFIG_RFE_GPIO);
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/* Set the GPIO as a push/pull output */
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/* Set the GPIO as a push/pull output
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gpio_set_direction(CONFIG_HIN_U_GPIO, GPIO_MODE_OUTPUT);
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gpio_set_direction(CONFIG_HIN_V_GPIO, GPIO_MODE_OUTPUT);
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gpio_set_direction(CONFIG_HIN_W_GPIO, GPIO_MODE_OUTPUT);
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@@ -38,7 +38,7 @@ void configure_GPIO_dir(const char *TAG)
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gpio_set_direction(CONFIG_LIN_U_GPIO, GPIO_MODE_OUTPUT);
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gpio_set_direction(CONFIG_LIN_V_GPIO, GPIO_MODE_OUTPUT);
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gpio_set_direction(CONFIG_LIN_W_GPIO, GPIO_MODE_OUTPUT);
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*/
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gpio_set_direction(CONFIG_HALL_A_GPIO, GPIO_MODE_INPUT);
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gpio_set_direction(CONFIG_HALL_B_GPIO, GPIO_MODE_INPUT);
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gpio_set_direction(CONFIG_HALL_C_GPIO, GPIO_MODE_INPUT);
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@@ -298,37 +298,212 @@ void W_V_start(int duty)
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/*############################################*/
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/*############### MCPWM-Setup ################*/
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/*############################################*/
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void set_mcpwm_U_V(){
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, CONFIG_HIN_U_GPIO);
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, CONFIG_LIN_U_GPIO);
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, CONFIG_HIN_V_GPIO);
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1B, CONFIG_LIN_V_GPIO);
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void conf_mcpwm_timers(){
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ESP_LOGI("MCPWM","started");
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mcpwm_timer_handle_t timer_U = NULL;
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mcpwm_timer_handle_t timer_V = NULL;
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mcpwm_timer_handle_t timer_W = NULL;
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//creating timer configs and linking them with the timers
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mcpwm_timer_config_t timer_U_config =
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{
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.group_id = 0,
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.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
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.resolution_hz = 40000000, // 1MHz Auflösung
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.period_ticks = 2000,
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.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
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};
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ESP_ERROR_CHECK(mcpwm_new_timer(&timer_U_config, &timer_U));
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mcpwm_config_t pwm_config_U = {
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.frequency = 20000,
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.cmpr_a = 50.0,
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.cmpr_b = 50.0,
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.counter_mode = MCPWM_UP_DOWN_COUNTER,
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.duty_mode = MCPWM_DUTY_MODE_0,
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mcpwm_timer_config_t timer_V_config =
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{
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.group_id = 0,
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.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
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.resolution_hz = 40000000, // 1MHz Auflösung
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.period_ticks = 2000,
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.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
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};
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//Initialisierung von Halbbrücke U (Timer 0)
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mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config_U);
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mcpwm_config_t pwm_config_V = {
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.frequency = 20000,
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.cmpr_a = 50.0,
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.cmpr_b = 50.0,
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.counter_mode = MCPWM_UP_DOWN_COUNTER,
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.duty_mode = MCPWM_DUTY_MODE_0,
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ESP_ERROR_CHECK(mcpwm_new_timer(&timer_V_config, &timer_V));
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mcpwm_timer_config_t timer_W_config =
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{
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.group_id = 0,
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.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
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.resolution_hz = 40000000, // 1MHz Auflösung
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.period_ticks = 2000,
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.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
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};
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//Initialisierung von Halbbrücke V (Timer 1)
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mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config_V);
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mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_SELECT_TIMER0_SYNC, 13);
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ESP_ERROR_CHECK(mcpwm_new_timer(&timer_W_config, &timer_W));
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ESP_ERROR_CHECK(mcpwm_timer_enable(timer_U));
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ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_U,MCPWM_TIMER_START_NO_STOP));
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ESP_ERROR_CHECK(mcpwm_timer_enable(timer_V));
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ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_V,MCPWM_TIMER_START_NO_STOP));
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ESP_ERROR_CHECK(mcpwm_timer_enable(timer_W));
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ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_W,MCPWM_TIMER_START_NO_STOP));
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//set Timer_U as an sync_signal
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mcpwm_sync_handle_t sync_signal = NULL;
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mcpwm_timer_sync_src_config_t sync_src_config =
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{
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.flags.propagate_input_sync = false,
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.timer_event = MCPWM_TIMER_EVENT_EMPTY,
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};
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ESP_ERROR_CHECK(mcpwm_new_timer_sync_src(timer_U,&sync_src_config, &sync_signal));
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//set Timer_V as an Slave of Timer_U with another phase
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mcpwm_timer_sync_phase_config_t sync_phase_V_config =
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{
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.sync_src = sync_signal,
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.count_value = 667, //120 degree delayed
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};
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ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_V,&sync_phase_V_config));
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//set Timer_W as an Slave of Timer_U with another phase
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mcpwm_timer_sync_phase_config_t sync_phase_W_config =
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{
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.sync_src = sync_signal,
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.count_value = 1333, //240 degree delayed
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};
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ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_W,&sync_phase_W_config));
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//create Operators
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mcpwm_oper_handle_t operator_U = NULL;
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mcpwm_oper_handle_t operator_V = NULL;
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mcpwm_oper_handle_t operator_W = NULL;
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//Operator for Timer_U
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mcpwm_operator_config_t operator_U_config =
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{
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.group_id=0,
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};
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ESP_ERROR_CHECK(mcpwm_new_operator(&operator_U_config,&operator_U));
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//Operator for Timer_V
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mcpwm_operator_config_t operator_V_config =
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{
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.group_id=0,
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};
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ESP_ERROR_CHECK(mcpwm_new_operator(&operator_V_config,&operator_V));
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//Operator for Timer_W
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mcpwm_operator_config_t operator_W_config =
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{
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.group_id=0,
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};
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ESP_ERROR_CHECK(mcpwm_new_operator(&operator_W_config,&operator_W));
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//Totzeit für Halbbrücke U
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mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 50, 50);//50ns steigende Flanke, 50ns fallende Flanke
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//Totzeit für Halbbrücke V
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mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 50, 50);
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}
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//connect PWM-Signals with Timers
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ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_U, timer_U));
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ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_V, timer_V));
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ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_W, timer_W));
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//create PWM-Signals
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mcpwm_cmpr_handle_t comperator_U = NULL;
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mcpwm_cmpr_handle_t comperator_V = NULL;
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mcpwm_cmpr_handle_t comperator_W = NULL;
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mcpwm_comparator_config_t comparator_U_config = {
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.flags.update_cmp_on_tez = true,
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};
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ESP_ERROR_CHECK(mcpwm_new_comparator(operator_U, &comparator_U_config,&comperator_U));
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ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_U, 1000));//=50% Duty cycle
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mcpwm_comparator_config_t comparator_V_config = {
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.flags.update_cmp_on_tez = true,
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};
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ESP_ERROR_CHECK(mcpwm_new_comparator(operator_V, &comparator_V_config,&comperator_V));
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ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_V, 1000));//=50% Duty cycle
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mcpwm_comparator_config_t comparator_W_config = {
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.flags.update_cmp_on_tez = true,
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};
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ESP_ERROR_CHECK(mcpwm_new_comparator(operator_W, &comparator_W_config,&comperator_W));
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ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_W, 1000));//=50% Duty cycle
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//create generators for every pin
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mcpwm_gen_handle_t generator_U_HIN = NULL;
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mcpwm_gen_handle_t generator_V_HIN = NULL;
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mcpwm_gen_handle_t generator_W_HIN = NULL;
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mcpwm_gen_handle_t generator_U_LIN = NULL;
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mcpwm_gen_handle_t generator_V_LIN = NULL;
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mcpwm_gen_handle_t generator_W_LIN = NULL;
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//HIN Pins
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//HIN_U
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mcpwm_generator_config_t generator_U_HIN_config ={
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.gen_gpio_num = CONFIG_HIN_U_GPIO,
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.flags.pull_down = 1,
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};
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ESP_ERROR_CHECK(mcpwm_new_generator(operator_U, &generator_U_HIN_config, &generator_U_HIN));
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//HIN_V
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mcpwm_generator_config_t generator_V_HIN_config ={
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.gen_gpio_num = CONFIG_HIN_V_GPIO,
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.flags.pull_down = 1,
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};
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ESP_ERROR_CHECK(mcpwm_new_generator(operator_V, &generator_V_HIN_config, &generator_V_HIN));
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//HIN_W
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mcpwm_generator_config_t generator_W_HIN_config ={
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.gen_gpio_num = CONFIG_HIN_W_GPIO,
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.flags.pull_down = 1,
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};
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ESP_ERROR_CHECK(mcpwm_new_generator(operator_W, &generator_W_HIN_config, &generator_W_HIN));
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//LIN_U
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mcpwm_generator_config_t generator_U_LIN_config ={
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.gen_gpio_num = CONFIG_LIN_U_GPIO,
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.flags.invert_pwm = 1,
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.flags.pull_down = 1,
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};
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ESP_ERROR_CHECK(mcpwm_new_generator(operator_U, &generator_U_LIN_config, &generator_U_LIN));
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//LIN_V
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mcpwm_generator_config_t generator_V_LIN_config ={
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.gen_gpio_num = CONFIG_LIN_V_GPIO,
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.flags.invert_pwm = 1,
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.flags.pull_down = 1,
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};
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ESP_ERROR_CHECK(mcpwm_new_generator(operator_V, &generator_V_LIN_config, &generator_V_LIN));
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//LIN_W
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mcpwm_generator_config_t generator_W_LIN_config ={
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.gen_gpio_num = CONFIG_LIN_W_GPIO,
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.flags.invert_pwm = 1,
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.flags.pull_down = 1,
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};
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ESP_ERROR_CHECK(mcpwm_new_generator(operator_W, &generator_W_LIN_config, &generator_W_LIN));
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/*ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_LIN, generator_V_HIN,&deadtime_config));
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_LIN, generator_W_HIN,&deadtime_config));*/
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_U_HIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_U, MCPWM_GEN_ACTION_LOW)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_U_LIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_U, MCPWM_GEN_ACTION_LOW)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_V_HIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_V, MCPWM_GEN_ACTION_LOW)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_V_LIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_V, MCPWM_GEN_ACTION_LOW)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_W_HIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_W, MCPWM_GEN_ACTION_LOW)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_W_LIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
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ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_W, MCPWM_GEN_ACTION_LOW)));
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mcpwm_dead_time_config_t deadtime_config = {
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.posedge_delay_ticks = 20,
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.negedge_delay_ticks = 0,
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};
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_HIN,&deadtime_config));
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_HIN,&deadtime_config));
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_HIN,&deadtime_config));
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deadtime_config.posedge_delay_ticks = 0;
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deadtime_config.negedge_delay_ticks = 20;
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_LIN, &deadtime_config));
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_LIN, &deadtime_config));
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_LIN, &deadtime_config));
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}
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/*############################################*/
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/*################## MISC ####################*/
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/*############################################*/
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Reference in New Issue
Block a user