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| Supported Targets | ESP32 | ESP32-C6 | ESP32-S3 |
| ----------------- | ----- | -------- | -------- |
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# MCPWM BLDC Motor Control with HALL Sensor Example
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(See the README.md file in the upper level 'examples' directory for more information about examples.)
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The MCPWM peripheral can generate three pairs of complementary PWMs by the internal dead time submodule, which is suitable for a BLDC motor application. This example demonstrates how to use the MCPWM peripheral to control a BLDC motor in a six-step commutation scheme.
We will change the on/off state of the six MOSFETs in a predefined order when the Hall sensor detects a change of the motor phase, so that the motor can spin in a predefined direction.
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## How to Use Example
### Hardware Required
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1. A ESP board with MCPWM peripheral supported (e.g. ESP32-S3-Motor-DevKit)
2. A BLDC motor whose commutation table is `6-->4-->5-->1-->3-->2-->6`
3. A three-phase gate driver, for example, the [DRV8302 ](https://www.ti.com.cn/product/zh-cn/DRV8302 )
4. Six N-MOSFETs, for example, the [IRF540NS ](https://www.infineon.com/cms/en/product/power/mosfet/12v-300v-n-channel-power-mosfet/irf540ns/ )
5. A USB cable for Power supply and programming
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Connection :
```
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+---------------------------------------------------------------------------------+
| |
| +---------------------------------------------+ | VM
| | | | ^
| | +---------------------------+ | | |
| | | | | | |
+-------------+-----------------------------+---------+-----------+ +--------+-------+-----+---++
| GND BLDC_DRV_FAULT_GPIO BLDC_DRV_EN_GPIO | | EN FAULT GND |
| BLDC_PWM_UH_GPIO +------+PWM_UH | +------------+
| BLDC_PWM_UL_GPIO +------+PWM_UL U+--------+ |
| | | | | |
| ESP Board BLDC_PWM_VH_GPIO +------+PWM_VH V+--------+ BLDC |
| BLDC_PWM_VL_GPIO +------+PWM_VL 3-Phase Bridge | | |
| | | + W+--------+ |
| BLDC_PWM_WH_GPIO +------+PWM_WH MOSFET | +-+---+---+--+
| BLDC_PWM_WL_GPIO +------+PWM_WL | | | |
| HALL_CAP_W_GPIO HALL_CAP_V_GPIO HALL_CAP_U_GPIO | | | | | |
+-----------+------------------+------------------+---------------+ +---------------------------+ | | |
| | | Hall U | | |
| | +-------------------------------------------------------------+ | |
| | Hall V | |
| +------------------------------------------------------------------------------------+ |
| Hall W |
+-----------------------------------------------------------------------------------------------------------+
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```
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You can change the GPIO number in the [example code ](main/mcpwm_bldc_hall_control_example_main.c ) according to your board. You can define the spin direction in the code as well by the `BLDC_SPIN_DIRECTION_CCW` macro.
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### Build and Flash
Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
(To exit the serial monitor, type ``Ctrl-]``.)
See the [Getting Started Guide ](https://docs.espressif.com/projects/esp-idf/en/latest/get-started/index.html ) for full steps to configure and use ESP-IDF to build projects.
## Example Output
Run the example, you will see the following output log:
```
...
I (0) cpu_start: Starting scheduler on APP CPU.
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I (307) example: Disable MOSFET gate
I (307) gpio: GPIO[46]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (317) example: Create MCPWM timer
I (317) example: Create MCPWM operator
I (327) example: Connect operators to the same timer
I (327) example: Create comparators
I (337) example: Create over current fault detector
I (337) gpio: GPIO[10]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (347) example: Set brake mode on the fault event
I (357) example: Create PWM generators
I (357) gpio: GPIO[47]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (367) gpio: GPIO[21]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (377) gpio: GPIO[14]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (387) gpio: GPIO[13]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (397) gpio: GPIO[12]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (407) gpio: GPIO[11]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (417) example: Set generator actions
I (417) example: Setup deadtime
I (427) example: Turn off all the gates by default
I (427) example: Create Hall sensor capture channels
I (437) gpio: GPIO[4]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (447) gpio: GPIO[5]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (457) gpio: GPIO[6]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (457) example: Register event callback for capture channels
I (467) example: Start a timer to adjust motor speed periodically
I (477) example: Enable MOSFET gate
I (477) example: Start the MCPWM timer
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...
```
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The BLDC motor will update the speed periodically.
## Troubleshooting
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* Make sure your ESP board and H-bridge module have been connected to the same GND panel.
* Check the fault signal polarity, otherwise the motor will not spin if the MCPWM detector treats the normal level as a fault one.
* Don't use the PC USB as the power source of the BLDC motor (see the `VM` in the above connection diagram), it might damage your UAB port.
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For any technical queries, please open an [issue ](https://github.com/espressif/esp-idf/issues ) on GitHub. We will get back to you soon.
