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mcpwm: bdc control example also support usb serial jtag

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This commit is contained in:
morris 2022-12-05 16:17:12 +08:00
parent 6672ec0692
commit cb4fccb38a
3 changed files with 10 additions and 7 deletions
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3
examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/cmd_mcpwm_motor.c
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@ -282,6 +282,9 @@ void cmd_mcpwm_motor_init(mcpwm_motor_control_t *motor_ctrl)
#elif CONFIG_ESP_CONSOLE_USB_CDC
esp_console_dev_usb_cdc_config_t cdc_config = ESP_CONSOLE_DEV_CDC_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_console_new_repl_usb_cdc(&cdc_config, &repl_config, &repl));
#elif CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG
esp_console_dev_usb_serial_jtag_config_t usbjtag_config = ESP_CONSOLE_DEV_USB_SERIAL_JTAG_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_console_new_repl_usb_serial_jtag(&usbjtag_config, &repl_config, &repl));
#endif
register_motor_ctrl_config();

6
examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.c
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@ -118,9 +118,9 @@ static int pcnt_get_pulse_callback(void *args)
static void motor_ctrl_default_init(void)
{
motor_ctrl.cfg.pid_enable = true;
motor_ctrl.pid_param.kp = 0.8;
motor_ctrl.pid_param.ki = 0.0;
motor_ctrl.pid_param.kd = 0.1;
motor_ctrl.pid_param.kp = 0.6;
motor_ctrl.pid_param.ki = 0.4;
motor_ctrl.pid_param.kd = 0.2;
motor_ctrl.pid_param.cal_type = PID_CAL_TYPE_INCREMENTAL;
motor_ctrl.pid_param.max_output = 100;
motor_ctrl.pid_param.min_output = -100;

8
examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.h
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@ -17,10 +17,10 @@
extern "C" {
#endif
#define GPIO_PWM0A_OUT 15 //Set GPIO 15 as PWM0A
#define GPIO_PWM0B_OUT 16 //Set GPIO 16 as PWM0B
#define GPIO_PCNT_PINA 18 //Set GPIO 18 as phaseA/C1
#define GPIO_PCNT_PINB 19 //Set GPIO 19 as phaseB/C2
#define GPIO_PWM0A_OUT 7 //Set GPIO 15 as PWM0A
#define GPIO_PWM0B_OUT 15 //Set GPIO 16 as PWM0B
#define GPIO_PCNT_PINA 36 //Set GPIO 18 as phaseA/C1
#define GPIO_PCNT_PINB 35 //Set GPIO 19 as phaseB/C2
typedef enum {
MOTOR_CTRL_MODE_FIXED = 0,