Update esp32_mcpwm.c

IhorNehrutsa · IhorNehrutsa · commit a368f673535a · 2023-08-31T16:58:18.000+03:00
diff --git a/ports/esp32/esp32_mcpwm.c b/ports/esp32/esp32_mcpwm.c
@@ -4,23 +4,52 @@
 #include "py/binary.h"
 
 #include <stdio.h>
-#include "driver/mcpwm.h"
+//#include "driver/mcpwm.h"
+#include "driver/mcpwm_prelude.h"
 #include "mphalport.h"
 #include "esp_err.h"
+#include "esp_check.h"
+
+#if SOC_MCPWM_SUPPORTED | 1
+
+// static const char *TAG = "ESP32_mcpwm";
+
+#define MCPWM_TIMER_MAX SOC_MCPWM_TIMERS_PER_GROUP
+#define MCPWM_UNIT_MAX SOC_MCPWM_GROUPS
 
 #define MCPWM_CHANNEL_MAX (MCPWM_TIMER_MAX * MCPWM_UNIT_MAX)
 
 typedef struct _mcpwm_obj_t {
     mp_obj_base_t base;
     uint8_t id;
     gpio_num_t pin_a;
-    gpio_num_t pin_b;
+    gpio_num_t pin_a_; // complementary PWM pin
 
     // Derived values for easier IDF API calls.
-    mcpwm_unit_t unit;
-    mcpwm_timer_t timer;
+    //mcpwm_unit_t unit;
+    int8_t unit; // is group_id
+    //int8_t group_id;
+
+    //mcpwm_timer_t timer;
+    int8_t timer;
+
+    uint32_t pwm_freq_hz;
+/*
+        .pwm_freq_hz = BDC_MCPWM_FREQ_HZ,
+        .pwma_gpio_num = BDC_MCPWM_GPIO_A,
+        .pwmb_gpio_num = BDC_MCPWM_GPIO_B,
+*/
+
+    mcpwm_timer_handle_t timer_;
+    mcpwm_oper_handle_t oper;
+    mcpwm_cmpr_handle_t cmpa;
+    mcpwm_cmpr_handle_t cmpb;
+    mcpwm_gen_handle_t gena;
+    mcpwm_gen_handle_t genb;
+/*
     mcpwm_io_signals_t sig_a;
     mcpwm_io_signals_t sig_b;
+*/
 } mcpwm_obj_t;
 
 // Forward dec'l
@@ -29,6 +58,75 @@ STATIC mp_obj_t _mcpwm_deinit(mp_obj_t self_in);
 STATIC mp_obj_t _mcpwm_duty(size_t n_args, const mp_obj_t *args);
 STATIC mp_obj_t _mcpwm_freq(size_t n_args, const mp_obj_t *args);
 
+esp_err_t mcpwm_set_frequency(int8_t mcpwm_num, int8_t timer_num, uint32_t frequency) {
+
+    return ESP_OK;
+}
+
+esp_err_t mcpwm_set_duty(int8_t mcpwm_num, int8_t timer_num, mcpwm_gen_handle_t gen, float duty) {
+
+    return ESP_OK;
+}
+
+uint32_t mcpwm_get_frequency(int8_t mcpwm_num, int8_t timer_num) {
+    return 0;
+}
+
+float mcpwm_get_duty(int8_t mcpwm_num, int8_t timer_num, mcpwm_gen_handle_t gen) {
+    return 0;
+}
+
+/*
+// Dual Edge Symmetric Waveform - Complementary
+static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
+{
+    check_esp_err(mcpwm_generator_set_actions_on_compare_event(gena,
+                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
+                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
+                    MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+    check_esp_err(mcpwm_generator_set_actions_on_compare_event(genb,
+                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW),
+                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpb, MCPWM_GEN_ACTION_HIGH),
+                    MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
+}
+*/
+static void gen_action_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb)
+{
+    check_esp_err(mcpwm_generator_set_action_on_timer_event(gena,
+                    MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+    check_esp_err(mcpwm_generator_set_action_on_compare_event(gena,
+                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
+}
+
+// Active High Complementary
+static void dead_time_config(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
+{
+    mcpwm_dead_time_config_t dead_time_config = {
+        .posedge_delay_ticks = 50,
+        .negedge_delay_ticks = 0
+    };
+    check_esp_err(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
+    dead_time_config.posedge_delay_ticks = 0;
+    dead_time_config.negedge_delay_ticks = 150;
+    dead_time_config.flags.invert_output = true;
+    check_esp_err(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
+}
+/*
+// Active Low, Complementary
+static void dead_time_config_low(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb)
+{
+    mcpwm_dead_time_config_t dead_time_config = {
+        .posedge_delay_ticks = 50,
+        .negedge_delay_ticks = 0,
+        .flags.invert_output = true
+    };
+    check_esp_err(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
+    dead_time_config.posedge_delay_ticks = 0;
+    dead_time_config.negedge_delay_ticks = 150;
+    dead_time_config.flags.invert_output = false;
+    check_esp_err(mcpwm_generator_set_dead_time(gena, genb, &dead_time_config));
+}
+*/
 STATIC mp_obj_t mcpwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
     mp_arg_check_num(n_args, n_kw, 1, 3, true);
 
@@ -44,9 +142,11 @@ STATIC mp_obj_t mcpwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t
 
     self->timer = self->id % MCPWM_TIMER_MAX;
     self->unit = self->id / MCPWM_TIMER_MAX;
+/*
     self->sig_a = self->timer * 2;  // even numbers -> A operators
     self->sig_b = self->timer * 2 + 1;  // odd numbers -> B operators
-
+*/
+/*
     mcpwm_config_t config = {
         .frequency = 1000,  // frequency = 1kHz
         .cmpr_a = 50,       // duty A = 50%
@@ -57,15 +157,39 @@ STATIC mp_obj_t mcpwm_make_new(const mp_obj_type_t *type, size_t n_args, size_t
 
     mcpwm_init(self->unit, self->timer, &config);
     mp_obj_t self_out = MP_OBJ_FROM_PTR(self);
+*/
+
+
+    // 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");
+
 
-    return self_out;
+
+    return MP_OBJ_FROM_PTR(self);
 }
 
 
 STATIC void mcpwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
     mcpwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    mp_printf(print, "MCPWM(ID=%u. ", self->id);
+    mp_printf(print, "MCPWM(ID=%u, ", self->id);
     mp_printf(print, "pin=%u, ", self->pin_a);
+    if (self->pin_a_ >= 0) {
+        mp_printf(print, "complementary_pin=%u, ", self->pin_a_);
+    }
     float duty = mcpwm_get_duty(self->unit, self->timer, MCPWM_OPR_A);
     int freq = mcpwm_get_frequency(self->unit, self->timer);
     mp_printf(print, "freq=%uHz, duty=%.1f%%", freq, duty);
@@ -74,25 +198,42 @@ STATIC void mcpwm_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind
 
 
 // BIND
-STATIC mp_obj_t _mcpwm_bind(mp_obj_t self_in, mp_obj_t pin) {
-    mcpwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    gpio_num_t pin_id = machine_pin_get_id(pin);
-    mcpwm_gpio_init(self->unit, self->sig_a, pin_id);
+//STATIC mp_obj_t _mcpwm_bind(mp_obj_t self_in, mp_obj_t pin) {
+STATIC mp_obj_t _mcpwm_bind(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    enum { ARG_complementary_pin };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_pin_complementary, MP_ARG_INT, {.u_int = -1} },
+    };
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args,
+        MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+
+    mcpwm_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
+    gpio_num_t pin_id = machine_pin_get_id(pos_args[1]);
+    self->pin_a = pin_id;
+    self->pin_a_ = args[ARG_complementary_pin].u_int;
+
+    // mcpwm_gpio_init(self->unit, self->sig_a, pin_id);
+
+    dead_time_config(self->gena, self->genb);
+    gen_action_config(self->gena, self->genb, self->cmpa, self->cmpb);
     return mp_const_none;
 }
-STATIC MP_DEFINE_CONST_FUN_OBJ_2(mcpwm_bind_obj,  _mcpwm_bind);
-
+//STATIC MP_DEFINE_CONST_FUN_OBJ_2(mcpwm_bind_obj,  _mcpwm_bind);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(mcpwm_bind_obj, 1, _mcpwm_bind);
 
 // DEINIT
 STATIC mp_obj_t _mcpwm_deinit(mp_obj_t self_in) {
     mcpwm_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    mcpwm_stop(self->unit, self->timer);
+    // mcpwm_stop(self->unit, self->timer);
+    mcpwm_timer_start_stop(self->timer_, MCPWM_TIMER_STOP_EMPTY);
     // mcpwm_set_signal_low(self->unit, self->timer, MCPWM_OPR_A);
+    check_esp_err(mcpwm_generator_set_force_level(self->gena, 0, true));//, TAG, "set force level for gena failed");
+    check_esp_err(mcpwm_generator_set_force_level(self->genb, 0, true));//, TAG, "set force level for genb failed");
     return mp_const_none;
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_deinit_obj, _mcpwm_deinit);
 
-
 // FREQ
 STATIC mp_obj_t _mcpwm_freq(size_t n_args, const mp_obj_t *args) {
     mcpwm_obj_t *self = MP_OBJ_TO_PTR(args[0]);
@@ -145,3 +286,5 @@ MP_DEFINE_CONST_OBJ_TYPE(
     make_new, mcpwm_make_new,
     locals_dict, &mcpwm_locals_dict
     );
+
+#endif
