mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
bdc_motor: component moved to registry
This commit is contained in:
morris
parent
d8c2f67d63
commit
55458447fb
@ -4,11 +4,11 @@
|
||||
|
||||
(See the README.md file in the upper level 'examples' directory for more information about examples.)
|
||||
|
||||
This example mainly illustrates how to drive a brushed DC motor by generating two specific PWM signals. However the PWM signals from ESP chip can't drive motors directly as the motor usually consumes high current. So an H-bridge like [DRV8848](https://www.ti.com/product/DRV8848) should be used to provide the needed voltage and current for brushed DC motor. To simplify the DC motor control of MCPWM peripheral driver, there's a component called [bdc_motor](components/bdc_motor/README.md) which abstracts the common operations into a generic interface. The most useful operations are: `forward`, `reverse`, `coast` and `brake`.
|
||||
This example mainly illustrates how to drive a brushed DC motor by generating two specific PWM signals. However the PWM signals from ESP chip can't drive motors directly as the motor usually consumes high current. So an H-bridge like [DRV8848](https://www.ti.com/product/DRV8848) should be used to provide the needed voltage and current for brushed DC motor. To simplify the DC motor control of MCPWM peripheral driver, there's a component called [bdc_motor](https://components.espressif.com/component/espressif/bdc_motor) which abstracts the common operations into a generic interface. The most useful operations are: `forward`, `reverse`, `coast` and `brake`.
|
||||
|
||||
To measure the speed of motor, a photoelectric encoder is used to generate the "speed feedback" signals (e.g. a pair of quadrature signal). In the example, we use the PCNT peripheral to decode that quadrature signals. For more information, please refer to [rotary encoder example](../../pcnt/rotary_encoder/README.md) as well.
|
||||
|
||||
The example uses a simple PID algorithm to keep the motor spin in a stable speed. The PID component is fetched from the [IDF Component Registry](https://components.espressif.com/component/espressif/pid_ctrl).
|
||||
The example uses a simple PID algorithm to keep the motor spin in a stable speed. Like the [bdc_motor](https://components.espressif.com/component/espressif/bdc_motor), the [PID component](https://components.espressif.com/component/espressif/pid_ctrl) is also managed by the component manager. These components' dependencies are listed in the [manifest file](main/idf_component.yml).
|
||||
|
||||
## How to Use Example
|
||||
|
||||
|
||||
@ -1,9 +0,0 @@
|
||||
set(srcs "src/bdc_motor.c")
|
||||
|
||||
if(CONFIG_SOC_MCPWM_SUPPORTED)
|
||||
list(APPEND srcs "src/bdc_motor_mcpwm_impl.c")
|
||||
endif()
|
||||
|
||||
idf_component_register(SRCS ${srcs}
|
||||
INCLUDE_DIRS "include" "interface"
|
||||
PRIV_REQUIRES "driver")
|
||||
@ -1,7 +0,0 @@
|
||||
# Brushed DC Motor Component
|
||||
|
||||
This directory contains an implementation for Brushed DC Motor by different peripherals. Currently only MCPWM is supported as the BDC motor backend.
|
||||
|
||||
To learn more about how to use this component, please check API Documentation from header file [bdc_motor.h](./include/bdc_motor.h).
|
||||
|
||||
Please note that this component is not considered to be a part of ESP-IDF stable API. It may change and it may be removed in the future releases.
|
||||
@ -1,145 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include "esp_err.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Brushed DC Motor handle
|
||||
*/
|
||||
typedef struct bdc_motor_t *bdc_motor_handle_t;
|
||||
|
||||
/**
|
||||
* @brief Enable BDC motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Enable motor successfully
|
||||
* - ESP_ERR_INVALID_ARG: Enable motor failed because of invalid parameters
|
||||
* - ESP_FAIL: Enable motor failed because other error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_enable(bdc_motor_handle_t motor);
|
||||
|
||||
/**
|
||||
* @brief Disable BDC motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Disable motor successfully
|
||||
* - ESP_ERR_INVALID_ARG: Disable motor failed because of invalid parameters
|
||||
* - ESP_FAIL: Disable motor failed because other error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_disable(bdc_motor_handle_t motor);
|
||||
|
||||
/**
|
||||
* @brief Set speed for bdc motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
* @param speed: BDC speed
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Set motor speed successfully
|
||||
* - ESP_ERR_INVALID_ARG: Set motor speed failed because of invalid parameters
|
||||
* - ESP_FAIL: Set motor speed failed because other error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed);
|
||||
|
||||
/**
|
||||
* @brief Forward BDC motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Forward motor successfully
|
||||
* - ESP_FAIL: Forward motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_forward(bdc_motor_handle_t motor);
|
||||
|
||||
/**
|
||||
* @brief Reverse BDC Motor
|
||||
*
|
||||
* @param strip: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Reverse motor successfully
|
||||
* - ESP_FAIL: Reverse motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_reverse(bdc_motor_handle_t motor);
|
||||
|
||||
/**
|
||||
* @brief Stop motor in a coast way (a.k.a Fast Decay)
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Stop motor successfully
|
||||
* - ESP_FAIL: Stop motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_coast(bdc_motor_handle_t motor);
|
||||
|
||||
/**
|
||||
* @brief Stop motor in a brake way (a.k.a Slow Decay)
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Stop motor successfully
|
||||
* - ESP_FAIL: Stop motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_brake(bdc_motor_handle_t motor);
|
||||
|
||||
/**
|
||||
* @brief Free BDC Motor resources
|
||||
*
|
||||
* @param strip: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Free resources successfully
|
||||
* - ESP_FAIL: Free resources failed because error occurred
|
||||
*/
|
||||
esp_err_t bdc_motor_del(bdc_motor_handle_t motor);
|
||||
|
||||
/**
|
||||
* @brief BDC Motor Configuration
|
||||
*/
|
||||
typedef struct {
|
||||
uint32_t pwma_gpio_num; /*!< BDC Motor PWM A gpio number */
|
||||
uint32_t pwmb_gpio_num; /*!< BDC Motor PWM B gpio number */
|
||||
uint32_t pwm_freq_hz; /*!< PWM frequency, in Hz */
|
||||
} bdc_motor_config_t;
|
||||
|
||||
/**
|
||||
* @brief BDC Motor MCPWM specific configuration
|
||||
*/
|
||||
typedef struct {
|
||||
int group_id; /*!< MCPWM group number */
|
||||
uint32_t resolution_hz; /*!< MCPWM timer resolution */
|
||||
} bdc_motor_mcpwm_config_t;
|
||||
|
||||
/**
|
||||
* @brief Create BDC Motor based on MCPWM peripheral
|
||||
*
|
||||
* @param motor_config: BDC Motor configuration
|
||||
* @param mcpwm_config: MCPWM specific configuration
|
||||
* @param ret_motor Returned BDC Motor handle
|
||||
* @return
|
||||
* - ESP_OK: Create BDC Motor handle successfully
|
||||
* - ESP_ERR_INVALID_ARG: Create BDC Motor handle failed because of invalid argument
|
||||
* - ESP_ERR_NO_MEM: Create BDC Motor handle failed because of out of memory
|
||||
* - ESP_FAIL: Create BDC Motor handle failed because some other error
|
||||
*/
|
||||
esp_err_t bdc_motor_new_mcpwm_device(const bdc_motor_config_t *motor_config, const bdc_motor_mcpwm_config_t *mcpwm_config, bdc_motor_handle_t *ret_motor);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -1,116 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include "esp_err.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
typedef struct bdc_motor_t bdc_motor_t; /*!< Type of BDC motor */
|
||||
|
||||
/**
|
||||
* @brief BDC motor interface definition
|
||||
*/
|
||||
struct bdc_motor_t {
|
||||
/**
|
||||
* @brief Enable BDC motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Enable motor successfully
|
||||
* - ESP_ERR_INVALID_ARG: Enable motor failed because of invalid parameters
|
||||
* - ESP_FAIL: Enable motor failed because other error occurred
|
||||
*/
|
||||
esp_err_t (*enable)(bdc_motor_t *motor);
|
||||
|
||||
/**
|
||||
* @brief Disable BDC motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Disable motor successfully
|
||||
* - ESP_ERR_INVALID_ARG: Disable motor failed because of invalid parameters
|
||||
* - ESP_FAIL: Disable motor failed because other error occurred
|
||||
*/
|
||||
esp_err_t (*disable)(bdc_motor_t *motor);
|
||||
|
||||
/**
|
||||
* @brief Set speed for bdc motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
* @param speed: BDC speed
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Set motor speed successfully
|
||||
* - ESP_ERR_INVALID_ARG: Set motor speed failed because of invalid parameters
|
||||
* - ESP_FAIL: Set motor speed failed because other error occurred
|
||||
*/
|
||||
esp_err_t (*set_speed)(bdc_motor_t *motor, uint32_t speed);
|
||||
|
||||
/**
|
||||
* @brief Forward BDC motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Forward motor successfully
|
||||
* - ESP_FAIL: Forward motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t (*forward)(bdc_motor_t *motor);
|
||||
|
||||
/**
|
||||
* @brief Reverse BDC Motor
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Reverse motor successfully
|
||||
* - ESP_FAIL: Reverse motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t (*reverse)(bdc_motor_t *motor);
|
||||
|
||||
/**
|
||||
* @brief Stop motor in a coast way (a.k.a Fast Decay)
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Stop motor successfully
|
||||
* - ESP_FAIL: Stop motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t (*coast)(bdc_motor_t *motor);
|
||||
|
||||
/**
|
||||
* @brief Stop motor in a brake way (a.k.a Slow Decay)
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Stop motor successfully
|
||||
* - ESP_FAIL: Stop motor failed because some other error occurred
|
||||
*/
|
||||
esp_err_t (*brake)(bdc_motor_t *motor);
|
||||
|
||||
/**
|
||||
* @brief Free BDC Motor handle resources
|
||||
*
|
||||
* @param motor: BDC Motor handle
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: Free resources successfully
|
||||
* - ESP_FAIL: Free resources failed because error occurred
|
||||
*/
|
||||
esp_err_t (*del)(bdc_motor_t *motor);
|
||||
};
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -1,62 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/cdefs.h>
|
||||
#include "esp_log.h"
|
||||
#include "esp_check.h"
|
||||
#include "bdc_motor.h"
|
||||
#include "bdc_motor_interface.h"
|
||||
|
||||
static const char *TAG = "bdc_motor";
|
||||
|
||||
esp_err_t bdc_motor_enable(bdc_motor_handle_t motor)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->enable(motor);
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_disable(bdc_motor_handle_t motor)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->disable(motor);
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->set_speed(motor, speed);
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_forward(bdc_motor_handle_t motor)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->forward(motor);
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_reverse(bdc_motor_handle_t motor)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->reverse(motor);
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_coast(bdc_motor_handle_t motor)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->coast(motor);
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_brake(bdc_motor_handle_t motor)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->brake(motor);
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_del(bdc_motor_handle_t motor)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
return motor->del(motor);
|
||||
}
|
||||
@ -1,185 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/cdefs.h>
|
||||
#include "esp_log.h"
|
||||
#include "esp_check.h"
|
||||
#include "driver/mcpwm_prelude.h"
|
||||
#include "bdc_motor.h"
|
||||
#include "bdc_motor_interface.h"
|
||||
|
||||
static const char *TAG = "bdc_motor_mcpwm";
|
||||
|
||||
typedef struct {
|
||||
bdc_motor_t base;
|
||||
mcpwm_timer_handle_t timer;
|
||||
mcpwm_oper_handle_t operator;
|
||||
mcpwm_cmpr_handle_t cmpa;
|
||||
mcpwm_cmpr_handle_t cmpb;
|
||||
mcpwm_gen_handle_t gena;
|
||||
mcpwm_gen_handle_t genb;
|
||||
} bdc_motor_mcpwm_obj;
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_set_speed(bdc_motor_t *motor, uint32_t speed)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(mcpwm_motor->cmpa, speed), TAG, "set compare value failed");
|
||||
ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(mcpwm_motor->cmpb, speed), TAG, "set compare value failed");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_enable(bdc_motor_t *motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
ESP_RETURN_ON_ERROR(mcpwm_timer_enable(mcpwm_motor->timer), TAG, "enable timer failed");
|
||||
ESP_RETURN_ON_ERROR(mcpwm_timer_start_stop(mcpwm_motor->timer, MCPWM_TIMER_START_NO_STOP), TAG, "start timer failed");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_disable(bdc_motor_t *motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
ESP_RETURN_ON_ERROR(mcpwm_timer_start_stop(mcpwm_motor->timer, MCPWM_TIMER_STOP_EMPTY), TAG, "stop timer failed");
|
||||
ESP_RETURN_ON_ERROR(mcpwm_timer_disable(mcpwm_motor->timer), TAG, "disable timer failed");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_forward(bdc_motor_t *motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, -1, true), TAG, "disable force level for gena failed");
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 0, true), TAG, "set force level for genb failed");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_reverse(bdc_motor_t *motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, -1, true), TAG, "disable force level for genb failed");
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 0, true), TAG, "set force level for gena failed");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_coast(bdc_motor_t *motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 0, true), TAG, "set force level for gena failed");
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 0, true), TAG, "set force level for genb failed");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_brake(bdc_motor_t *motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 1, true), TAG, "set force level for gena failed");
|
||||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 1, true), TAG, "set force level for genb failed");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static esp_err_t bdc_motor_mcpwm_del(bdc_motor_t *motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||||
mcpwm_del_generator(mcpwm_motor->gena);
|
||||
mcpwm_del_generator(mcpwm_motor->genb);
|
||||
mcpwm_del_comparator(mcpwm_motor->cmpa);
|
||||
mcpwm_del_comparator(mcpwm_motor->cmpb);
|
||||
mcpwm_del_operator(mcpwm_motor->operator);
|
||||
mcpwm_del_timer(mcpwm_motor->timer);
|
||||
free(mcpwm_motor);
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t bdc_motor_new_mcpwm_device(const bdc_motor_config_t *motor_config, const bdc_motor_mcpwm_config_t *mcpwm_config, bdc_motor_handle_t *ret_motor)
|
||||
{
|
||||
bdc_motor_mcpwm_obj *mcpwm_motor = NULL;
|
||||
esp_err_t ret = ESP_OK;
|
||||
ESP_GOTO_ON_FALSE(motor_config && mcpwm_config && ret_motor, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
|
||||
mcpwm_motor = calloc(1, sizeof(bdc_motor_mcpwm_obj));
|
||||
ESP_GOTO_ON_FALSE(mcpwm_motor, ESP_ERR_NO_MEM, err, TAG, "no mem for rmt motor");
|
||||
|
||||
// mcpwm timer
|
||||
mcpwm_timer_config_t timer_config = {
|
||||
.group_id = mcpwm_config->group_id,
|
||||
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
||||
.resolution_hz = mcpwm_config->resolution_hz,
|
||||
.period_ticks = mcpwm_config->resolution_hz / motor_config->pwm_freq_hz,
|
||||
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
||||
};
|
||||
ESP_GOTO_ON_ERROR(mcpwm_new_timer(&timer_config, &mcpwm_motor->timer), err, TAG, "create MCPWM timer failed");
|
||||
|
||||
mcpwm_operator_config_t operator_config = {
|
||||
.group_id = mcpwm_config->group_id,
|
||||
};
|
||||
ESP_GOTO_ON_ERROR(mcpwm_new_operator(&operator_config, &mcpwm_motor->operator), err, TAG, "create MCPWM operator failed");
|
||||
|
||||
ESP_GOTO_ON_ERROR(mcpwm_operator_connect_timer(mcpwm_motor->operator, mcpwm_motor->timer), err, TAG, "connect timer and operator failed");
|
||||
|
||||
mcpwm_comparator_config_t comparator_config = {
|
||||
.flags.update_cmp_on_tez = true,
|
||||
};
|
||||
ESP_GOTO_ON_ERROR(mcpwm_new_comparator(mcpwm_motor->operator, &comparator_config, &mcpwm_motor->cmpa), err, TAG, "create comparator failed");
|
||||
ESP_GOTO_ON_ERROR(mcpwm_new_comparator(mcpwm_motor->operator, &comparator_config, &mcpwm_motor->cmpb), err, TAG, "create comparator failed");
|
||||
|
||||
// set the initial compare value for both comparators
|
||||
mcpwm_comparator_set_compare_value(mcpwm_motor->cmpa, 0);
|
||||
mcpwm_comparator_set_compare_value(mcpwm_motor->cmpb, 0);
|
||||
|
||||
mcpwm_generator_config_t generator_config = {
|
||||
.gen_gpio_num = motor_config->pwma_gpio_num,
|
||||
};
|
||||
ESP_GOTO_ON_ERROR(mcpwm_new_generator(mcpwm_motor->operator, &generator_config, &mcpwm_motor->gena), err, TAG, "create generator failed");
|
||||
generator_config.gen_gpio_num = motor_config->pwmb_gpio_num;
|
||||
ESP_GOTO_ON_ERROR(mcpwm_new_generator(mcpwm_motor->operator, &generator_config, &mcpwm_motor->genb), err, TAG, "create generator failed");
|
||||
|
||||
mcpwm_generator_set_actions_on_timer_event(mcpwm_motor->gena,
|
||||
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH),
|
||||
MCPWM_GEN_TIMER_EVENT_ACTION_END());
|
||||
mcpwm_generator_set_actions_on_compare_event(mcpwm_motor->gena,
|
||||
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, mcpwm_motor->cmpa, MCPWM_GEN_ACTION_LOW),
|
||||
MCPWM_GEN_COMPARE_EVENT_ACTION_END());
|
||||
mcpwm_generator_set_actions_on_timer_event(mcpwm_motor->genb,
|
||||
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH),
|
||||
MCPWM_GEN_TIMER_EVENT_ACTION_END());
|
||||
mcpwm_generator_set_actions_on_compare_event(mcpwm_motor->genb,
|
||||
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, mcpwm_motor->cmpb, MCPWM_GEN_ACTION_LOW),
|
||||
MCPWM_GEN_COMPARE_EVENT_ACTION_END());
|
||||
|
||||
mcpwm_motor->base.enable = bdc_motor_mcpwm_enable;
|
||||
mcpwm_motor->base.disable = bdc_motor_mcpwm_disable;
|
||||
mcpwm_motor->base.forward = bdc_motor_mcpwm_forward;
|
||||
mcpwm_motor->base.reverse = bdc_motor_mcpwm_reverse;
|
||||
mcpwm_motor->base.coast = bdc_motor_mcpwm_coast;
|
||||
mcpwm_motor->base.brake = bdc_motor_mcpwm_brake;
|
||||
mcpwm_motor->base.set_speed = bdc_motor_mcpwm_set_speed;
|
||||
mcpwm_motor->base.del = bdc_motor_mcpwm_del;
|
||||
*ret_motor = &mcpwm_motor->base;
|
||||
return ESP_OK;
|
||||
|
||||
err:
|
||||
if (mcpwm_motor) {
|
||||
if (mcpwm_motor->gena) {
|
||||
mcpwm_del_generator(mcpwm_motor->gena);
|
||||
}
|
||||
if (mcpwm_motor->genb) {
|
||||
mcpwm_del_generator(mcpwm_motor->genb);
|
||||
}
|
||||
if (mcpwm_motor->cmpa) {
|
||||
mcpwm_del_comparator(mcpwm_motor->cmpa);
|
||||
}
|
||||
if (mcpwm_motor->cmpb) {
|
||||
mcpwm_del_comparator(mcpwm_motor->cmpb);
|
||||
}
|
||||
if (mcpwm_motor->operator) {
|
||||
mcpwm_del_operator(mcpwm_motor->operator);
|
||||
}
|
||||
if (mcpwm_motor->timer) {
|
||||
mcpwm_del_timer(mcpwm_motor->timer);
|
||||
}
|
||||
free(mcpwm_motor);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
@ -1,2 +1,3 @@
|
||||
dependencies:
|
||||
pid_ctrl: "^0.1.1"
|
||||
bdc_motor: "^0.1.0"
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user