zaske/BA_DIY_Power_PCB
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BA_DIY_Power_PCB/main/mcpwm.c

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#include "mcpwm.h"
#include "esp_timer.h"
#include "esp_log.h"
#include "math.h"
#include "parsed_pins.h"
#include "sdkconfig.h"
//create Timers
static mcpwm_timer_handle_t timer_U = NULL;
static mcpwm_timer_handle_t timer_V = NULL;
static mcpwm_timer_handle_t timer_W = NULL;
//create Operators
static mcpwm_oper_handle_t operator_U = NULL;
static mcpwm_oper_handle_t operator_V = NULL;
static mcpwm_oper_handle_t operator_W = NULL;
//create PWM-Signals
static mcpwm_cmpr_handle_t comperator_U = NULL;
static mcpwm_cmpr_handle_t comperator_V = NULL;
static mcpwm_cmpr_handle_t comperator_W = NULL;
//create generators for every pin
static mcpwm_gen_handle_t generator_U_HIN = NULL;
static mcpwm_gen_handle_t generator_V_HIN = NULL;
static mcpwm_gen_handle_t generator_W_HIN = NULL;
static mcpwm_gen_handle_t generator_U_LIN = NULL;
static mcpwm_gen_handle_t generator_V_LIN = NULL;
static mcpwm_gen_handle_t generator_W_LIN = NULL;
typedef enum {
Highside,
Lowside,
OFF
} Phase_state;
typedef struct {
Phase phase;
Phase_state state;
} PhaseConfiguration;
PhaseConfiguration phase_configurations[3] = {
{ PHASE_U, Highside },
{ PHASE_V, Lowside },
{ PHASE_W, OFF }
};
uint16_t mcpwm_frequency = CONFIG_FREQ_PWM;
uint32_t periode_ticks = CONFIG_TIMER_BASE_FREQ/CONFIG_FREQ_PWM;
float duty = CONFIG_DUTY_PWM;
/*############################################*/
/*############### MCPWM-Setup ################*/
/*############################################*/
static void conf_gens(){
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)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_U, MCPWM_GEN_ACTION_HIGH)));
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)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_U, MCPWM_GEN_ACTION_HIGH)));
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)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_V, MCPWM_GEN_ACTION_HIGH)));
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)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_V, MCPWM_GEN_ACTION_HIGH)));
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)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_W, MCPWM_GEN_ACTION_HIGH)));
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)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_W, MCPWM_GEN_ACTION_HIGH)));
}
esp_err_t set_mcpwm_duty(float new_duty){
if (timer_U == NULL) {
return ESP_ERR_INVALID_STATE; // Fehlerbehandlung, wenn mcpwm nicht initialisiert wurde
}
duty = new_duty;
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_U, (periode_ticks*duty/100)/2));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_V, (periode_ticks*duty/100)/2));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_W, (periode_ticks*duty/100)/2));
return ESP_OK;
}
void stop_mcpwm_output(){
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, 1,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, 1,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, 1,true));
}
void mcpwm_init(){
ESP_LOGI("MCPWM","started");
double tick_period_ns = 1e9 / CONFIG_TIMER_BASE_FREQ; // Zeit pro Tick in ns
uint32_t dead_time_ticks = (uint32_t)round(CONFIG_DEAD_TIME_PWM / tick_period_ns);
//creating timer configs and linking them with the timers
mcpwm_timer_config_t timer_config =
{
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = CONFIG_TIMER_BASE_FREQ, //40MHz
.period_ticks = periode_ticks, //40MHz/2KHz = 20KHz
.count_mode = MCPWM_TIMER_COUNT_MODE_UP_DOWN,
.flags ={
.update_period_on_empty = 1,
}
};
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_U));
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_V));
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_W));
ESP_ERROR_CHECK(mcpwm_timer_enable(timer_U));
ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_U,MCPWM_TIMER_START_NO_STOP));
ESP_ERROR_CHECK(mcpwm_timer_enable(timer_V));
ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_V,MCPWM_TIMER_START_NO_STOP));
ESP_ERROR_CHECK(mcpwm_timer_enable(timer_W));
ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_W,MCPWM_TIMER_START_NO_STOP));
//set Timer_U as an sync_signal
mcpwm_sync_handle_t sync_signal = NULL;
mcpwm_timer_sync_src_config_t sync_src_config =
{
.flags.propagate_input_sync = SOC_FLASH_ENCRYPTED_XTS_AES_BLOCK_MAX,
.timer_event = MCPWM_TIMER_EVENT_EMPTY,
};
ESP_ERROR_CHECK(mcpwm_new_timer_sync_src(timer_U,&sync_src_config, &sync_signal));
//set Timer_V as an Slave of Timer_U with another phase
mcpwm_timer_sync_phase_config_t sync_phase_V_config =
{
.sync_src = sync_signal,
.count_value = periode_ticks/6, //120 degree delayed
};
ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_V,&sync_phase_V_config));
//set Timer_W as an Slave of Timer_U with another phase
mcpwm_timer_sync_phase_config_t sync_phase_W_config =
{
.sync_src = sync_signal,
.count_value = periode_ticks*2/6, //240 degree delayed
};
ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_W,&sync_phase_W_config));
//Operator for Timer_U
mcpwm_operator_config_t operator_config =
{
.group_id=0,
};
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_U));
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_V));
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_W));
//connect PWM-Signals with Timers
ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_U, timer_U));
ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_V, timer_V));
ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_W, timer_W));
mcpwm_comparator_config_t comparator_config = {
.flags.update_cmp_on_tez = true,
};
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_U, &comparator_config,&comperator_U));
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_V, &comparator_config,&comperator_V));
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_W, &comparator_config,&comperator_W));
mcpwm_gen_handle_t *mcpwm_gens[] ={&generator_U_HIN,&generator_U_LIN,&generator_V_HIN,&generator_V_LIN,&generator_W_HIN,&generator_W_LIN};
//HIN Pins
//HIN_U
mcpwm_generator_config_t generator_U_HIN_config ={
.gen_gpio_num = CONFIG_HIN_U_GPIO,
.flags.pull_down = 1,
};
ESP_ERROR_CHECK(mcpwm_new_generator(operator_U, &generator_U_HIN_config, &generator_U_HIN));
//HIN_V
mcpwm_generator_config_t generator_V_HIN_config ={
.gen_gpio_num = CONFIG_HIN_V_GPIO,
.flags.pull_down = 1,
};
ESP_ERROR_CHECK(mcpwm_new_generator(operator_V, &generator_V_HIN_config, &generator_V_HIN));
//HIN_W
mcpwm_generator_config_t generator_W_HIN_config ={
.gen_gpio_num = CONFIG_HIN_W_GPIO,
.flags.pull_down = 1,
};
ESP_ERROR_CHECK(mcpwm_new_generator(operator_W, &generator_W_HIN_config, &generator_W_HIN));
//LIN_U
mcpwm_generator_config_t generator_U_LIN_config ={
.gen_gpio_num = CONFIG_LIN_U_GPIO,
.flags.invert_pwm = 1,
.flags.pull_down = 1,
};
ESP_ERROR_CHECK(mcpwm_new_generator(operator_U, &generator_U_LIN_config, &generator_U_LIN));
//LIN_V
mcpwm_generator_config_t generator_V_LIN_config ={
.gen_gpio_num = CONFIG_LIN_V_GPIO,
.flags.invert_pwm = 1,
.flags.pull_down = 1,
};
ESP_ERROR_CHECK(mcpwm_new_generator(operator_V, &generator_V_LIN_config, &generator_V_LIN));
//LIN_W
mcpwm_generator_config_t generator_W_LIN_config ={
.gen_gpio_num = CONFIG_LIN_W_GPIO,
.flags.invert_pwm = 1,
.flags.pull_down = 1,
};
ESP_ERROR_CHECK(mcpwm_new_generator(operator_W, &generator_W_LIN_config, &generator_W_LIN));
//set Dead times
mcpwm_dead_time_config_t deadtime_config = {
.posedge_delay_ticks = dead_time_ticks,
.negedge_delay_ticks = 0,
};
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_HIN,&deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_HIN,&deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_HIN,&deadtime_config));
deadtime_config.posedge_delay_ticks = 0;
deadtime_config.negedge_delay_ticks = dead_time_ticks;
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_LIN, &deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_LIN, &deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_LIN, &deadtime_config));
conf_gens();
stop_mcpwm_output();
set_mcpwm_duty(duty);
}
static void set_lowside(Phase lowside){
switch (lowside){
case PHASE_U:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, 0,true));
break;
case PHASE_V:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, 0,true));
break;
case PHASE_W:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, 0,true));
break;
default:
printf("Invalid phase selection\n");
break;
}
}
static void set_highside(Phase highside){
switch (highside){
case PHASE_U:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, -1,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, -1,true));
break;
case PHASE_V:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, -1,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, -1,true));
break;
case PHASE_W:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, -1,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, -1,true));
break;
default:
printf("Invalid phase selection\n");
break;
}
}
static void set_inactive(Phase inactive){
switch (inactive){
case PHASE_U:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, 1,true));
break;
case PHASE_V:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, 1,true));
break;
case PHASE_W:
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, 0,true));
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, 1,true));
break;
default:
printf("Invalid phase selection\n");
break;
}
}
esp_err_t start_mcpwm_output(){
if (timer_U == NULL) {
return ESP_ERR_INVALID_STATE; // Fehlerbehandlung, wenn mcpwm nicht initialisiert wurde
}
for (int i = 0; i < 3; i++) {
switch (phase_configurations[i].state) {
case Highside:
set_highside(phase_configurations[i].phase);
break;
case Lowside:
set_lowside(phase_configurations[i].phase);
break;
case OFF:
set_inactive(phase_configurations[i].phase);
break;
}
}
return ESP_OK;
}
void configure_mcpwm_output(OutCombis out_combi) {
switch (out_combi) {
case OUT_U_V:
phase_configurations[0].state = Highside;
phase_configurations[1].state = Lowside;
phase_configurations[2].state = OFF;
break;
case OUT_U_W:
phase_configurations[0].state = Highside;
phase_configurations[1].state = OFF;
phase_configurations[2].state = Lowside;
break;
case OUT_V_W:
phase_configurations[0].state = OFF;
phase_configurations[1].state = Highside;
phase_configurations[2].state = Lowside;
break;
case OUT_V_U:
phase_configurations[0].state = Lowside;
phase_configurations[1].state = Highside;
phase_configurations[2].state = OFF;
break;
case OUT_W_U:
phase_configurations[0].state = Lowside;
phase_configurations[1].state = OFF;
phase_configurations[2].state = Highside;
break;
case OUT_W_V:
phase_configurations[0].state = OFF;
phase_configurations[1].state = Lowside;
phase_configurations[2].state = Highside;
break;
case OUT_U:
phase_configurations[0].state = Highside;
phase_configurations[1].state = OFF;
phase_configurations[2].state = OFF;
break;
case OUT_V:
phase_configurations[0].state = OFF;
phase_configurations[1].state = Highside;
phase_configurations[2].state = OFF;
break;
case OUT_W:
phase_configurations[0].state = OFF;
phase_configurations[1].state = OFF;
phase_configurations[2].state = Highside;
break;
default:
break;
}
}
esp_err_t set_mcpwm_frequency(uint16_t frequency_new){
if (timer_U == NULL) {
return ESP_ERR_INVALID_STATE; // Fehlerbehandlung, wenn mcpwm nicht initialisiert wurde
}
periode_ticks = CONFIG_TIMER_BASE_FREQ/frequency_new;
mcpwm_frequency = frequency_new;
// Neue Konfiguration anwenden
ESP_ERROR_CHECK(mcpwm_timer_set_period(timer_U, periode_ticks));
ESP_ERROR_CHECK(mcpwm_timer_set_period(timer_V, periode_ticks));
ESP_ERROR_CHECK(mcpwm_timer_set_period(timer_W, periode_ticks));
// dutycycle an neue Frequenz anpassen
set_mcpwm_duty(duty);
return ESP_OK;
}
void get_comps(mcpwm_cmpr_handle_t comps[3]) {
comps[0] = comperator_U;
comps[1] = comperator_V;
comps[2] = comperator_W;
}
float get_duty() {
return duty;
}
uint16_t get_frequency(){
return mcpwm_frequency;
}
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