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mcpwm: fix bldc example force output level inverted

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set_force_level can only set the generator level before the deadtime module.
if the deadtime module enables the inverter, then the real output level is inverted accordingly
This commit is contained in:
morris 2023-05-09 17:18:36 +08:00
parent 190e9e7212
commit a7021c3e44
3 changed files with 102 additions and 38 deletions
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1
components/driver/mcpwm/include/driver/mcpwm_gen.h
View File

@ -59,6 +59,7 @@ esp_err_t mcpwm_del_generator(mcpwm_gen_handle_t gen);
* @note The force level will be applied to the generator immediately, regardless any other events that would change the generator's behaviour.
* @note If the `hold_on` is true, the force level will retain forever, until user removes the force level by setting the force level to `-1`.
* @note If the `hold_on` is false, the force level can be overridden by the next event action.
* @note The force level set by this function can be inverted by GPIO matrix or dead-time module. So the level set here doesn't equal to the final output level.
*
* @param[in] gen MCPWM generator handle, allocated by `mcpwm_new_generator()`
* @param[in] level GPIO level to be applied to MCPWM generator, specially, -1 means to remove the force level

50
components/driver/test_apps/mcpwm/main/test_mcpwm_gen.c
View File

@ -77,6 +77,56 @@ TEST_CASE("mcpwm_generator_force_level_hold_on", "[mcpwm]")
TEST_ESP_OK(mcpwm_del_operator(oper));
}
// mcpwm_generator_set_force_level acts before the dead time module
// so the value output on the generator is a combined result
TEST_CASE("mcpwm_force_level_and_dead_time", "[mcpwm]")
{
printf("create operator and generators\r\n");
mcpwm_oper_handle_t oper = NULL;
mcpwm_operator_config_t operator_config = {
.group_id = 0,
};
TEST_ESP_OK(mcpwm_new_operator(&operator_config, &oper));
mcpwm_gen_handle_t gen_a = NULL;
mcpwm_gen_handle_t gen_b = NULL;
const int gen_a_gpio = 0;
const int gen_b_gpio = 2;
mcpwm_generator_config_t generator_config = {
.gen_gpio_num = gen_a_gpio,
.flags.io_loop_back = true, // loop back for test
};
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &gen_a));
generator_config.gen_gpio_num = gen_b_gpio;
generator_config.flags.invert_pwm = true; // Inversion add to the GPIO matrix
TEST_ESP_OK(mcpwm_new_generator(oper, &generator_config, &gen_b));
mcpwm_dead_time_config_t dt_config = {
.posedge_delay_ticks = 5,
};
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(gen_a, gen_a, &dt_config));
dt_config = (mcpwm_dead_time_config_t) {
.negedge_delay_ticks = 5,
.flags.invert_output = true, // Inversion applied by the dead time module
};
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(gen_b, gen_b, &dt_config));
printf("add force level to the generator, hold on");
for (int i = 0; i < 10; i++) {
TEST_ESP_OK(mcpwm_generator_set_force_level(gen_b, 0, true));
vTaskDelay(pdMS_TO_TICKS(10));
TEST_ASSERT_EQUAL(0, gpio_get_level(gen_b_gpio));
TEST_ESP_OK(mcpwm_generator_set_force_level(gen_b, 1, true));
vTaskDelay(pdMS_TO_TICKS(10));
TEST_ASSERT_EQUAL(1, gpio_get_level(gen_b_gpio));
}
printf("delete generator and operator\r\n");
TEST_ESP_OK(mcpwm_del_generator(gen_a));
TEST_ESP_OK(mcpwm_del_generator(gen_b));
TEST_ESP_OK(mcpwm_del_operator(oper));
}
TEST_CASE("mcpwm_generator_force_level_recovery", "[mcpwm]")
{
printf("create mcpwm timer\r\n");

89
examples/peripherals/mcpwm/mcpwm_bldc_hall_control/main/mcpwm_bldc_hall_control_example_main.c
View File

@ -61,24 +61,26 @@ static void bldc_set_phase_up_vm(mcpwm_gen_handle_t (*gens)[2])
// U+ = PWM, U- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// V+ = 0, V- = 1
// V+ = 0, V- = 1 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
// W+ = 0, W- = 0 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
}
// W+U-
static void bldc_set_phase_wp_um(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 1
// U+ = 0, U- = 1 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
// V+ = 0, V- = 0
// V+ = 0, V- = 0 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// W+ = PWM, W- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
@ -88,13 +90,13 @@ static void bldc_set_phase_wp_um(mcpwm_gen_handle_t (*gens)[2])
// W+V-
static void bldc_set_phase_wp_vm(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 0
// U+ = 0, U- = 0 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// V+ = 0, V- = 1
// V+ = 0, V- = 1 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
// W+ = PWM, W- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
@ -104,23 +106,7 @@ static void bldc_set_phase_wp_vm(mcpwm_gen_handle_t (*gens)[2])
// V+U-
static void bldc_set_phase_vp_um(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// V+ = PWM, V- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
}
// V+W-
static void bldc_set_phase_vp_wm(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 0
// U+ = 0, U- = 1 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
@ -128,11 +114,27 @@ static void bldc_set_phase_vp_wm(mcpwm_gen_handle_t (*gens)[2])
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// W+ = 0, W- = 1
// W+ = 0, W- = 0 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
}
// V+W-
static void bldc_set_phase_vp_wm(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 0 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// V+ = PWM, V- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// W+ = 0, W- = 1 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
}
// U+W- / A+C-
static void bldc_set_phase_up_wm(mcpwm_gen_handle_t (*gens)[2])
{
@ -140,13 +142,13 @@ static void bldc_set_phase_up_wm(mcpwm_gen_handle_t (*gens)[2])
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// V+ = 0, V- = 0
// V+ = 0, V- = 0 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// W+ = 0, W- = 1
// W+ = 0, W- = 1 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
}
static const bldc_hall_phase_action_t s_hall_actions[] = {
@ -255,6 +257,8 @@ void app_main(void)
}
ESP_LOGI(TAG, "Set generator actions");
// gen_high and gen_low output the same waveform after the following configuration
// we will use the dead time module to add edge delay, also make gen_high and gen_low complementary
for (int i = 0; i < 3; i++) {
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH],
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
@ -264,6 +268,15 @@ void app_main(void)
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH],
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generators[i][BLDC_MCPWM_GEN_INDEX_LOW],
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generators[i][BLDC_MCPWM_GEN_INDEX_LOW],
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparators[i], MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(generators[i][BLDC_MCPWM_GEN_INDEX_LOW],
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(generators[i][BLDC_MCPWM_GEN_INDEX_LOW],
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
}
ESP_LOGI(TAG, "Setup deadtime");
@ -278,14 +291,14 @@ void app_main(void)
.flags.invert_output = true,
};
for (int i = 0; i < 3; i++) {
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH], generators[i][BLDC_MCPWM_GEN_INDEX_LOW], &dt_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generators[i][BLDC_MCPWM_GEN_INDEX_LOW], generators[i][BLDC_MCPWM_GEN_INDEX_LOW], &dt_config));
}
ESP_LOGI(TAG, "Turn off all the gates");
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i][j], 0, true));
}
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true));
// because gen_low is inverted by dead time module, so we need to set force level to 1
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i][BLDC_MCPWM_GEN_INDEX_LOW], 1, true));
}
ESP_LOGI(TAG, "Create Hall sensor capture channels");