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esp-idf/components/driver/mcpwm.c

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feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
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// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdio.h>
#include "esp_log.h"
#include "esp_err.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/xtensa_api.h"
#include "freertos/task.h"
all: Using xxx_periph.h Using xxx_periph.h in whole IDF instead of xxx_reg.h, xxx_struct.h, xxx_channel.h ... . Cleaned up header files from unnecessary headers (releated to soc/... headers).
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#include "soc/mcpwm_periph.h"
#include "soc/gpio_periph.h"
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
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#include "driver/mcpwm.h"
#include "driver/periph_ctrl.h"
build and link hello-world for esp32s2beta
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#include "sdkconfig.h"
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
2017-03-29 04:39:35 -04:00
static mcpwm_dev_t *MCPWM[2] = {&MCPWM0, &MCPWM1};
static const char *MCPWM_TAG = "MCPWM";
static portMUX_TYPE mcpwm_spinlock = portMUX_INITIALIZER_UNLOCKED;
#define MCPWM_CHECK(a, str, ret_val) if (!(a)) { \
ESP_LOGE(MCPWM_TAG,"%s:%d (%s):%s", __FILE__, __LINE__, __FUNCTION__, str); \
return (ret_val); \
}
#define MCPWM_UNIT_NUM_ERROR "MCPWM UNIT NUM ERROR"
#define MCPWM_TIMER_ERROR "MCPWM TIMER NUM ERROR"
#define MCPWM_PARAM_ADDR_ERROR "MCPWM PARAM ADDR ERROR"
#define MCPWM_DUTY_TYPE_ERROR "MCPWM DUTY TYPE ERROR"
#define MCPWM_GPIO_ERROR "MCPWM GPIO NUM ERROR"
#define MCPWM_OP_ERROR "MCPWM OPERATOR ERROR"
#define MCPWM_DB_ERROR "MCPWM DEADTIME TYPE ERROR"
#define MCPWM_BASE_CLK (2 * APB_CLK_FREQ) //2*APB_CLK_FREQ 160Mhz
build and link hello-world for esp32s2beta
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#define MCPWM_CLK_PRESCL 15 //MCPWM clock prescale
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
2017-03-29 04:39:35 -04:00
#define TIMER_CLK_PRESCALE 9 //MCPWM timer prescales
#define MCPWM_CLK (MCPWM_BASE_CLK/(MCPWM_CLK_PRESCL +1))
#define MCPWM_PIN_IGNORE (-1)
#define OFFSET_FOR_GPIO_IDX_1 6
#define OFFSET_FOR_GPIO_IDX_2 75
esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal, int gpio_num)
{
if (gpio_num == MCPWM_PIN_IGNORE) {
//IGNORE
return ESP_OK;
}
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK((GPIO_IS_VALID_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
periph_module_enable(PERIPH_PWM0_MODULE + mcpwm_num);
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio_num], PIN_FUNC_GPIO);
bool mcpwm_gpio_sig = (io_signal <= MCPWM2B);
if (mcpwm_num == MCPWM_UNIT_0) {
if (mcpwm_gpio_sig) {
MCPWM_CHECK((GPIO_IS_VALID_OUTPUT_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT);
gpio_matrix_out(gpio_num, PWM0_OUT0A_IDX + io_signal, 0, 0);
} else {
gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
gpio_matrix_in(gpio_num, PWM0_SYNC0_IN_IDX + io_signal - OFFSET_FOR_GPIO_IDX_1, 0);
}
} else { //MCPWM_UNIT_1
if (mcpwm_gpio_sig) {
MCPWM_CHECK((GPIO_IS_VALID_OUTPUT_GPIO(gpio_num)), MCPWM_GPIO_ERROR, ESP_ERR_INVALID_ARG);
gpio_set_direction(gpio_num, GPIO_MODE_OUTPUT);
gpio_matrix_out(gpio_num, PWM1_OUT0A_IDX + io_signal, 0, 0);
} else if (io_signal >= MCPWM_SYNC_0 && io_signal < MCPWM_FAULT_2) {
gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
gpio_matrix_in(gpio_num, PWM1_SYNC0_IN_IDX + io_signal - OFFSET_FOR_GPIO_IDX_1, 0);
} else {
gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
gpio_matrix_in(gpio_num, PWM1_SYNC0_IN_IDX + io_signal - OFFSET_FOR_GPIO_IDX_2, 0);
}
}
return ESP_OK;
}
esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_pin)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
mcpwm_gpio_init(mcpwm_num, MCPWM0A, mcpwm_pin->mcpwm0a_out_num); //MCPWM0A
mcpwm_gpio_init(mcpwm_num, MCPWM0B, mcpwm_pin->mcpwm0b_out_num); //MCPWM0B
mcpwm_gpio_init(mcpwm_num, MCPWM1A, mcpwm_pin->mcpwm1a_out_num); //MCPWM1A
mcpwm_gpio_init(mcpwm_num, MCPWM1B, mcpwm_pin->mcpwm1b_out_num); //MCPWM1B
mcpwm_gpio_init(mcpwm_num, MCPWM2A, mcpwm_pin->mcpwm2a_out_num); //MCPWM2A
mcpwm_gpio_init(mcpwm_num, MCPWM2B, mcpwm_pin->mcpwm2b_out_num); //MCPWM2B
mcpwm_gpio_init(mcpwm_num, MCPWM_SYNC_0, mcpwm_pin->mcpwm_sync0_in_num); //SYNC0
mcpwm_gpio_init(mcpwm_num, MCPWM_SYNC_1, mcpwm_pin->mcpwm_sync1_in_num); //SYNC1
mcpwm_gpio_init(mcpwm_num, MCPWM_SYNC_2, mcpwm_pin->mcpwm_sync2_in_num); //SYNC2
mcpwm_gpio_init(mcpwm_num, MCPWM_FAULT_0, mcpwm_pin->mcpwm_fault0_in_num); //FAULT0
mcpwm_gpio_init(mcpwm_num, MCPWM_FAULT_0, mcpwm_pin->mcpwm_fault1_in_num); //FAULT1
mcpwm_gpio_init(mcpwm_num, MCPWM_FAULT_0, mcpwm_pin->mcpwm_fault2_in_num); //FAULT2
mcpwm_gpio_init(mcpwm_num, MCPWM_CAP_0, mcpwm_pin->mcpwm_cap0_in_num); //CAP0
mcpwm_gpio_init(mcpwm_num, MCPWM_CAP_1, mcpwm_pin->mcpwm_cap1_in_num); //CAP1
mcpwm_gpio_init(mcpwm_num, MCPWM_CAP_2, mcpwm_pin->mcpwm_cap2_in_num); //CAP2
return ESP_OK;
}
esp_err_t mcpwm_start(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->timer[timer_num].mode.start = 2;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->timer[timer_num].mode.start = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint32_t frequency)
{
uint32_t mcpwm_num_of_pulse;
uint32_t previous_period;
uint32_t set_duty_a, set_duty_b;
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
mcpwm_num_of_pulse = MCPWM_CLK / (frequency * (TIMER_CLK_PRESCALE + 1));
previous_period = MCPWM[mcpwm_num]->timer[timer_num].period.period;
MCPWM[mcpwm_num]->timer[timer_num].period.prescale = TIMER_CLK_PRESCALE;
MCPWM[mcpwm_num]->timer[timer_num].period.period = mcpwm_num_of_pulse;
MCPWM[mcpwm_num]->timer[timer_num].period.upmethod = 0;
set_duty_a = (((MCPWM[mcpwm_num]->channel[timer_num].cmpr_value[0].cmpr_val) * mcpwm_num_of_pulse) / previous_period);
set_duty_b = (((MCPWM[mcpwm_num]->channel[timer_num].cmpr_value[1].cmpr_val) * mcpwm_num_of_pulse) / previous_period);
MCPWM[mcpwm_num]->channel[timer_num].cmpr_value[0].cmpr_val = set_duty_a;
MCPWM[mcpwm_num]->channel[timer_num].cmpr_value[1].cmpr_val = set_duty_b;
MCPWM[mcpwm_num]->channel[timer_num].cmpr_cfg.a_upmethod = 0;
MCPWM[mcpwm_num]->channel[timer_num].cmpr_cfg.b_upmethod = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, float duty)
{
uint32_t set_duty;
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(op_num < MCPWM_OPR_MAX, MCPWM_OP_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
set_duty = (MCPWM[mcpwm_num]->timer[timer_num].period.period) * (duty) / 100;
MCPWM[mcpwm_num]->channel[timer_num].cmpr_value[op_num].cmpr_val = set_duty;
MCPWM[mcpwm_num]->channel[timer_num].cmpr_cfg.a_upmethod = BIT(0);
MCPWM[mcpwm_num]->channel[timer_num].cmpr_cfg.b_upmethod = BIT(0);
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, uint32_t duty)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(op_num < MCPWM_OPR_MAX, MCPWM_OP_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].cmpr_value[op_num].cmpr_val = duty;
MCPWM[mcpwm_num]->channel[timer_num].cmpr_cfg.a_upmethod = BIT(0);
MCPWM[mcpwm_num]->channel[timer_num].cmpr_cfg.b_upmethod = BIT(0);
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num,
mcpwm_duty_type_t duty_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(op_num < MCPWM_OPR_MAX, MCPWM_OP_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(duty_num < MCPWM_DUTY_MODE_MAX, MCPWM_DUTY_TYPE_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
if (op_num == MCPWM_OPR_A) {
if (MCPWM[mcpwm_num]->timer[timer_num].mode.mode == MCPWM_UP_COUNTER) {
if (duty_num == MCPWM_DUTY_MODE_1) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utea = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 0;
} else { //MCPWM_DUTY_MODE_0
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utea = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 0;
}
} else if (MCPWM[mcpwm_num]->timer[timer_num].mode.mode == MCPWM_DOWN_COUNTER) {
if (duty_num == MCPWM_DUTY_MODE_1) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtea = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 0;
} else { //MCPWM_DUTY_MODE_0
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtea = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 0;
}
} else { //Timer count up-down
if (duty_num == MCPWM_DUTY_MODE_1) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utea = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtea = 1;
} else { //MCPWM_DUTY_MODE_0
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utea = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtea = 2;
}
}
}
if (op_num == MCPWM_OPR_B) {
if (MCPWM[mcpwm_num]->timer[timer_num].mode.mode == MCPWM_UP_COUNTER) {
if (duty_num == MCPWM_DUTY_MODE_1) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].uteb = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 0;
} else { //MCPWM_DUTY_MODE_0
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].uteb = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 0;
}
} else if (MCPWM[mcpwm_num]->timer[timer_num].mode.mode == MCPWM_DOWN_COUNTER) {
if (duty_num == MCPWM_DUTY_MODE_1) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dteb = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 0;
} else { //MCPWM_DUTY_MODE_0
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dteb = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 0;
}
} else { //Timer count up-down
if (duty_num == MCPWM_DUTY_MODE_1) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].uteb = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dteb = 1;
} else { //MCPWM_DUTY_MODE_0
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].uteb = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dteb = 2;
}
}
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_config_t *mcpwm_conf)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
periph_module_enable(PERIPH_PWM0_MODULE + mcpwm_num);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->clk_cfg.prescale = MCPWM_CLK_PRESCL;
mcpwm_set_frequency(mcpwm_num, timer_num, mcpwm_conf->frequency);
MCPWM[mcpwm_num]->timer[timer_num].mode.mode = mcpwm_conf ->counter_mode;
mcpwm_set_duty(mcpwm_num, timer_num, 0, mcpwm_conf->cmpr_a);
mcpwm_set_duty(mcpwm_num, timer_num, 1, mcpwm_conf->cmpr_b);
mcpwm_set_duty_type(mcpwm_num, timer_num, 0, mcpwm_conf->duty_mode);
mcpwm_set_duty_type(mcpwm_num, timer_num, 1, mcpwm_conf->duty_mode);
mcpwm_start(mcpwm_num, timer_num);
MCPWM[mcpwm_num]->timer_sel.operator0_sel = 0;
MCPWM[mcpwm_num]->timer_sel.operator1_sel = 1;
MCPWM[mcpwm_num]->timer_sel.operator2_sel = 2;
MCPWM[mcpwm_num]->update_cfg.global_up_en = 1;
MCPWM[mcpwm_num]->update_cfg.global_force_up = 1;
MCPWM[mcpwm_num]->update_cfg.global_force_up = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
{
uint32_t frequency;
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
frequency = MCPWM_CLK / ((MCPWM[mcpwm_num]->timer[timer_num].period.period) * (TIMER_CLK_PRESCALE + 1));
return frequency;
}
float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num)
{
float duty;
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(op_num < MCPWM_OPR_MAX, MCPWM_OP_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
driver(mcpwm): Fix mcpwm api in mcpwm.c mismatch with mcpwm.h bug.
2018-06-05 09:19:57 -04:00
duty = 100.0 * (MCPWM[mcpwm_num]->channel[timer_num].cmpr_value[op_num].cmpr_val) / (MCPWM[mcpwm_num]->timer[timer_num].period.period);
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
2017-03-29 04:39:35 -04:00
portEXIT_CRITICAL(&mcpwm_spinlock);
return duty;
}
esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(op_num < MCPWM_OPR_MAX, MCPWM_OP_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
if (op_num == MCPWM_OPR_A) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utea = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtea = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 2;
} else { //MCPWM_OPR_B
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].uteb = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dteb = 2;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 2;
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(op_num < MCPWM_OPR_MAX, MCPWM_OP_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
if (op_num == 0) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utea = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtea = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 1;
} if (op_num == 1) {
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].uteb = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].utep = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtez = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dteb = 1;
MCPWM[mcpwm_num]->channel[timer_num].generator[op_num].dtep = 1;
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_carrier_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.en = 1;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_carrier_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.en = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_carrier_set_period(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_period)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.prescale = carrier_period;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_carrier_set_duty_cycle(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_duty)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.duty = carrier_duty;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
driver(mcpwm): Fix mcpwm api in mcpwm.c mismatch with mcpwm.h bug.
2018-06-05 09:19:57 -04:00
esp_err_t mcpwm_carrier_oneshot_mode_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t pulse_width)
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
2017-03-29 04:39:35 -04:00
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.oshtwth = pulse_width;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
driver(mcpwm): Fix mcpwm api in mcpwm.c mismatch with mcpwm.h bug.
2018-06-05 09:19:57 -04:00
esp_err_t mcpwm_carrier_oneshot_mode_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
2017-03-29 04:39:35 -04:00
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.oshtwth = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_carrier_output_invert(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num,
mcpwm_carrier_out_ivt_t carrier_ivt_mode)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.out_invert = carrier_ivt_mode;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_carrier_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_carrier_config_t *carrier_conf)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
mcpwm_carrier_enable(mcpwm_num, timer_num);
mcpwm_carrier_set_period(mcpwm_num, timer_num, carrier_conf->carrier_period);
mcpwm_carrier_set_duty_cycle(mcpwm_num, timer_num, carrier_conf->carrier_duty);
if (carrier_conf->carrier_os_mode == MCPWM_ONESHOT_MODE_EN) {
driver(mcpwm): Fix mcpwm api in mcpwm.c mismatch with mcpwm.h bug.
2018-06-05 09:19:57 -04:00
mcpwm_carrier_oneshot_mode_enable(mcpwm_num, timer_num, carrier_conf->pulse_width_in_os);
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
2017-03-29 04:39:35 -04:00
} else {
driver(mcpwm): Fix mcpwm api in mcpwm.c mismatch with mcpwm.h bug.
2018-06-05 09:19:57 -04:00
mcpwm_carrier_oneshot_mode_disable(mcpwm_num, timer_num);
feature: add Motor Control PWM(mcpwm) driver 1. Name change from chopper to carrier, block diagram update, minor changes to example codes 2. mcpwm_reg.h changed, brought uniformity in comments, worked on suggestions, duty to accept float. Some name changes! 3. Minor readme changes and Indetation 4. Minor change: move mcpwm_reg.h and mcpwm_struct.h to new path 5. Minor change: addition of BLDC example code and Readme 6. Name changed from epwm to mcpwm 7. Improve the reg name in mcpwm_struct.h 8. Name change chopper>carrier, deadband>deadtime
2017-03-29 04:39:35 -04:00
}
mcpwm_carrier_output_invert(mcpwm_num, timer_num, carrier_conf->carrier_ivt_mode);
MCPWM[mcpwm_num]->channel[timer_num].carrier_cfg.in_invert = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_deadtime_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_deadtime_type_t dt_mode,
uint32_t red, uint32_t fed)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(dt_mode < MCPWM_DEADTIME_TYPE_MAX, MCPWM_DB_ERROR, ESP_ERR_INVALID_ARG );
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_upmethod = BIT(0);
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_upmethod = BIT(0);
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.clk_sel = 0;
MCPWM[mcpwm_num]->channel[timer_num].db_red_cfg.red = red;
MCPWM[mcpwm_num]->channel[timer_num].db_fed_cfg.fed = fed;
switch (dt_mode) {
case MCPWM_BYPASS_RED:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 0; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outbypass = 1; //S1
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_outinvert = 0; //S2
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 0; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 0; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_insel = 1; //S5
break;
case MCPWM_BYPASS_FED:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 1; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outbypass = 0; //S1
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_outinvert = 0; //S2
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 0; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 0; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_insel = 0; //S5
break;
case MCPWM_ACTIVE_HIGH_MODE:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 0; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outbypass = 0; //S1
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_outinvert = 0; //S2
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 0; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 0; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_insel = 1; //S5
break;
case MCPWM_ACTIVE_LOW_MODE:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 0; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outbypass = 0; //S1
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_outinvert = 1; //S2
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 1; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 0; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_insel = 1; //S5
break;
case MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 0; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outbypass = 0; //S1
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_outinvert = 0; //S2
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 1; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 0; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_insel = 1; //S5
break;
case MCPWM_ACTIVE_LOW_COMPLIMENT_MODE:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 0; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outbypass = 0; //S1
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_outinvert = 1; //S2
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 0; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 1; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_insel = 0; //S5
break;
case MCPWM_ACTIVE_RED_FED_FROM_PWMXA:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 0; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 0; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 1; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outswap = 1; //S6
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outswap = 0; //S7
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.deb_mode = 1; //S8
break;
case MCPWM_ACTIVE_RED_FED_FROM_PWMXB:
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 0; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 0; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 0; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outswap = 1; //S6
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outswap = 0; //S7
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.deb_mode = 1; //S8
break;
default :
break;
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_deadtime_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outbypass = 1; //S0
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outbypass = 1; //S1
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_outinvert = 0; //S2
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_outinvert = 0; //S3
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.red_insel = 0; //S4
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.fed_insel = 0; //S5
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.a_outswap = 0; //S6
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.b_outswap = 0; //S7
MCPWM[mcpwm_num]->channel[timer_num].db_cfg.deb_mode = 0; //S8
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_fault_init(mcpwm_unit_t mcpwm_num, mcpwm_fault_input_level_t intput_level, mcpwm_fault_signal_t fault_sig)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
switch (fault_sig) {
case MCPWM_SELECT_F0:
MCPWM[mcpwm_num]->fault_detect.f0_en = 1;
MCPWM[mcpwm_num]->fault_detect.f0_pole = intput_level;
break;
case MCPWM_SELECT_F1:
MCPWM[mcpwm_num]->fault_detect.f1_en = 1;
MCPWM[mcpwm_num]->fault_detect.f1_pole = intput_level;
break;
case MCPWM_SELECT_F2:
MCPWM[mcpwm_num]->fault_detect.f2_en = 1;
MCPWM[mcpwm_num]->fault_detect.f2_pole = intput_level;
break;
default :
break;
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_fault_deinit(mcpwm_unit_t mcpwm_num, mcpwm_fault_signal_t fault_sig)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
if (fault_sig == MCPWM_SELECT_F0) {
MCPWM[mcpwm_num]->fault_detect.f0_en = 0;
} else if (fault_sig == MCPWM_SELECT_F1) {
MCPWM[mcpwm_num]->fault_detect.f1_en = 0;
} else { //MCPWM_SELECT_F2
MCPWM[mcpwm_num]->fault_detect.f2_en = 0;
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_fault_set_cyc_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg1.cbcpulse = BIT(0);
if (fault_sig == MCPWM_SELECT_F0) {
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f0_cbc = 1;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f0_ost = 0;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_cbc_d = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_cbc_u = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_cbc_d = action_on_pwmxb;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_cbc_u = action_on_pwmxb;
} else if (fault_sig == MCPWM_SELECT_F1) {
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f1_cbc = 1;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f1_ost = 0;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_cbc_d = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_cbc_u = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_cbc_d = action_on_pwmxb;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_cbc_u = action_on_pwmxb;
} else { //MCPWM_SELECT_F2
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f2_cbc = 1;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f2_ost = 0;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_cbc_d = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_cbc_u = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_cbc_d = action_on_pwmxb;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_cbc_u = action_on_pwmxb;
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
if (fault_sig == MCPWM_SELECT_F0) {
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f0_ost = 1;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f0_cbc = 0;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_ost_d = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_ost_u = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_ost_d = action_on_pwmxb;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_ost_u = action_on_pwmxb;
} else if (fault_sig == MCPWM_SELECT_F1) {
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f1_ost = 1;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f1_cbc = 0;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_ost_d = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_ost_u = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_ost_d = action_on_pwmxb;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_ost_u = action_on_pwmxb;
} else { //MCPWM_SELECT_F2
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f2_ost = 1;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.f2_cbc = 0;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_ost_d = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.a_ost_u = action_on_pwmxa;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_ost_d = action_on_pwmxb;
MCPWM[mcpwm_num]->channel[timer_num].tz_cfg0.b_ost_u = action_on_pwmxb;
}
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge,
uint32_t num_of_pulse)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->cap_timer_cfg.timer_en = 1;
MCPWM[mcpwm_num]->cap_cfg_ch[cap_sig].en = 1;
MCPWM[mcpwm_num]->cap_cfg_ch[cap_sig].mode = (1 << cap_edge);
MCPWM[mcpwm_num]->cap_cfg_ch[cap_sig].prescale = num_of_pulse;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_capture_disable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->cap_cfg_ch[cap_sig].en = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
uint32_t mcpwm_capture_signal_get_value(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
return MCPWM[mcpwm_num]->cap_val_ch[cap_sig];
}
uint32_t mcpwm_capture_signal_get_edge(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
if (cap_sig == MCPWM_SELECT_CAP0) {
return ( MCPWM[mcpwm_num]->cap_status.cap0_edge + 1);
} else if (cap_sig == MCPWM_SELECT_CAP1) {
return (MCPWM[mcpwm_num]->cap_status.cap1_edge + 1);
} else { //MCPWM_SELECT_CAP2
return (MCPWM[mcpwm_num]->cap_status.cap2_edge + 1);
}
return 0;
}
esp_err_t mcpwm_sync_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_sync_signal_t sync_sig,
uint32_t phase_val)
{
uint32_t set_phase;
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
set_phase = (MCPWM[mcpwm_num]->timer[timer_num].period.period) * (phase_val) / 1000;
MCPWM[mcpwm_num]->timer[timer_num].sync.timer_phase = set_phase;
if (timer_num == MCPWM_TIMER_0) {
MCPWM[mcpwm_num]->timer_synci_cfg.t0_in_sel = sync_sig;
} else if (timer_num == MCPWM_TIMER_1) {
MCPWM[mcpwm_num]->timer_synci_cfg.t1_in_sel = sync_sig;
} else { //MCPWM_TIMER_2
MCPWM[mcpwm_num]->timer_synci_cfg.t2_in_sel = sync_sig;
}
MCPWM[mcpwm_num]->timer[timer_num].sync.out_sel = 0;
MCPWM[mcpwm_num]->timer[timer_num].sync.in_en = 1;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_sync_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
{
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(timer_num < MCPWM_TIMER_MAX, MCPWM_TIMER_ERROR, ESP_ERR_INVALID_ARG);
portENTER_CRITICAL(&mcpwm_spinlock);
MCPWM[mcpwm_num]->timer[timer_num].sync.in_en = 0;
portEXIT_CRITICAL(&mcpwm_spinlock);
return ESP_OK;
}
esp_err_t mcpwm_isr_register(mcpwm_unit_t mcpwm_num, void (*fn)(void *), void *arg, int intr_alloc_flags, intr_handle_t *handle)
{
esp_err_t ret;
MCPWM_CHECK(mcpwm_num < MCPWM_UNIT_MAX, MCPWM_UNIT_NUM_ERROR, ESP_ERR_INVALID_ARG);
MCPWM_CHECK(fn != NULL, MCPWM_PARAM_ADDR_ERROR, ESP_ERR_INVALID_ARG);
ret = esp_intr_alloc((ETS_PWM0_INTR_SOURCE + mcpwm_num), intr_alloc_flags, fn, arg, handle);
return ret;
}
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