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IhorNehrutsaIhorNehrutsa
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esp32/MCPWM: Add complementary PWMs.
Signed-off-by: Ihor Nehrutsa <Ihor.Nehrutsa@gmail.com>
1 parent 246ff81 commit eab9827

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‎ports/esp32/esp32_mcpwm.c

Lines changed: 157 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@
4040
#include "mphalport.h"
4141
#include "esp_err.h"
4242

43-
#if SOC_MCPWM_SUPPORTED | 1
43+
#if SOC_MCPWM_SUPPORTED
4444

4545
// #if SOC_TEMP_SENSOR_SUPPORTED
4646

@@ -190,7 +190,7 @@ STATIC void gen_action_config7(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb,
190190
STATIC void dead_time_config7(esp32_mcpwm_obj_t *self, mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb) {
191191
mcpwm_dead_time_config_t dead_time_config = {
192192
.posedge_delay_ticks = self->deadtime_ticks,
193-
.negedge_delay_ticks = 0
193+
.negedge_delay_ticks = 0,
194194
};
195195
check_esp_err(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
196196
dead_time_config.posedge_delay_ticks = 0;
@@ -212,7 +212,7 @@ STATIC void dead_time_config8(esp32_mcpwm_obj_t *self, mcpwm_gen_handle_t gena,
212212
mcpwm_dead_time_config_t dead_time_config = {
213213
.posedge_delay_ticks = self->deadtime_ticks,
214214
.negedge_delay_ticks = 0,
215-
.flags.invert_output = true
215+
.flags.invert_output = true,
216216
};
217217
check_esp_err(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
218218
dead_time_config.posedge_delay_ticks = 0;
@@ -254,7 +254,7 @@ STATIC void dead_time_config10(esp32_mcpwm_obj_t *self, mcpwm_gen_handle_t gena,
254254
mcpwm_dead_time_config_t dead_time_config = {
255255
.posedge_delay_ticks = self->deadtime_ticks,
256256
.negedge_delay_ticks = 0,
257-
.flags.invert_output = true
257+
.flags.invert_output = true,
258258
};
259259
check_esp_err(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
260260
dead_time_config.posedge_delay_ticks = 0;
@@ -339,6 +339,140 @@ STATIC void dead_time_config13(esp32_mcpwm_obj_t *self, mcpwm_gen_handle_t gena,
339339
check_esp_err(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
340340
}
341341

342+
// https://github.com/espressif/esp-idf/blob/3b748a6cb76c2db7c6368a0dea32a88bc58bc44d/examples/peripherals/mcpwm/mcpwm_bldc_hall_control/main/mcpwm_bldc_hall_control_example_main.c#L263
343+
STATIC void gen_action_config14(mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb, mcpwm_cmpr_handle_t cmpa, mcpwm_cmpr_handle_t cmpb) {
344+
check_esp_err(mcpwm_generator_set_action_on_timer_event(gena,
345+
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
346+
check_esp_err(mcpwm_generator_set_action_on_compare_event(gena,
347+
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW)));
348+
check_esp_err(mcpwm_generator_set_action_on_brake_event(gena,
349+
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
350+
check_esp_err(mcpwm_generator_set_action_on_brake_event(gena,
351+
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
352+
353+
check_esp_err(mcpwm_generator_set_action_on_timer_event(genb,
354+
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
355+
check_esp_err(mcpwm_generator_set_action_on_compare_event(genb,
356+
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpb, MCPWM_GEN_ACTION_LOW)));
357+
check_esp_err(mcpwm_generator_set_action_on_brake_event(genb,
358+
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
359+
check_esp_err(mcpwm_generator_set_action_on_brake_event(genb,
360+
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
361+
}
362+
// +
363+
STATIC void dead_time_config14(esp32_mcpwm_obj_t *self, mcpwm_gen_handle_t gena, mcpwm_gen_handle_t genb) {
364+
mcpwm_dead_time_config_t dead_time_config = {
365+
.posedge_delay_ticks = self->deadtime_ticks,
366+
.negedge_delay_ticks = 0,
367+
.flags.invert_output = false,
368+
};
369+
check_esp_err(mcpwm_generator_set_dead_time(gena, gena, &dead_time_config));
370+
dead_time_config.posedge_delay_ticks = 0;
371+
dead_time_config.negedge_delay_ticks = self->deadtime_ticks;
372+
dead_time_config.flags.invert_output = true;
373+
check_esp_err(mcpwm_generator_set_dead_time(genb, genb, &dead_time_config));
374+
}
375+
376+
STATIC void esp32_mcpwm_motor_force_10(esp32_mcpwm_obj_t *self)
377+
{
378+
// because gen_low is inverted by dead time module, so we need to set force level to 1 and get 0
379+
check_esp_err(mcpwm_generator_set_force_level(self->genb, 1, true));
380+
check_esp_err(mcpwm_generator_set_force_level(self->gena, -1, true));
381+
}
382+
383+
STATIC void esp32_mcpwm_motor_force0_1(esp32_mcpwm_obj_t *self)
384+
{
385+
check_esp_err(mcpwm_generator_set_force_level(self->gena, 0, true));
386+
check_esp_err(mcpwm_generator_set_force_level(self->genb, -1, true));
387+
}
388+
/*
389+
STATIC void esp32_mcpwm_motor_coast(esp32_mcpwm_obj_t *self)
390+
{
391+
check_esp_err(mcpwm_generator_set_force_level(self->gena, 0, true));
392+
check_esp_err(mcpwm_generator_set_force_level(self->genb, 0, true));
393+
}
394+
395+
STATIC void esp32_mcpwm_motor_brake(esp32_mcpwm_obj_t *self)
396+
{
397+
check_esp_err(mcpwm_generator_set_force_level(self->gena, 1, true));
398+
check_esp_err(mcpwm_generator_set_force_level(self->genb, 1, true));
399+
}
400+
*/
401+
STATIC void esp32_mcpwm_motor_force00(esp32_mcpwm_obj_t *self)
402+
{
403+
check_esp_err(mcpwm_generator_set_force_level(self->gena, 0, true));
404+
// because gen_low is inverted by dead time module, so we need to set force level to 1 and get 0
405+
check_esp_err(mcpwm_generator_set_force_level(self->genb, 1, true));
406+
}
407+
408+
STATIC void esp32_mcpwm_motor_force10(esp32_mcpwm_obj_t *self)
409+
{
410+
check_esp_err(mcpwm_generator_set_force_level(self->gena, 1, true));
411+
// because gen_low is inverted by dead time module, so we need to set force level to 1 and get 0
412+
check_esp_err(mcpwm_generator_set_force_level(self->genb, 1, true));
413+
}
414+
415+
STATIC void esp32_mcpwm_motor_force01(esp32_mcpwm_obj_t *self)
416+
{
417+
check_esp_err(mcpwm_generator_set_force_level(self->gena, 0, true));
418+
// because gen_low is inverted by dead time module, so we need to set force level to 0 and get 1
419+
check_esp_err(mcpwm_generator_set_force_level(self->genb, 0, true));
420+
}
421+
422+
STATIC void esp32_mcpwm_motor_force_1_1(esp32_mcpwm_obj_t *self)
423+
{
424+
check_esp_err(mcpwm_generator_set_force_level(self->gena, -1, true));
425+
check_esp_err(mcpwm_generator_set_force_level(self->genb, -1, true));
426+
}
427+
428+
STATIC mp_obj_t mcpwm_force00(mp_obj_t self) {
429+
esp32_mcpwm_motor_force00(self);
430+
return mp_const_none;
431+
}
432+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_force00_obj, mcpwm_force00);
433+
434+
STATIC mp_obj_t mcpwm_force10(mp_obj_t self) {
435+
esp32_mcpwm_motor_force10(self);
436+
return mp_const_none;
437+
}
438+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_force10_obj, mcpwm_force10);
439+
440+
STATIC mp_obj_t mcpwm_force01(mp_obj_t self) {
441+
esp32_mcpwm_motor_force01(self);
442+
return mp_const_none;
443+
}
444+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_force01_obj, mcpwm_force01);
445+
446+
STATIC mp_obj_t mcpwm_force_1_1(mp_obj_t self) {
447+
esp32_mcpwm_motor_force_1_1(self);
448+
return mp_const_none;
449+
}
450+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_force_1_1_obj, mcpwm_force_1_1);
451+
452+
STATIC mp_obj_t mcpwm_force_10(mp_obj_t self) {
453+
esp32_mcpwm_motor_force_10(self);
454+
return mp_const_none;
455+
}
456+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_force_10_obj, mcpwm_force_10);
457+
458+
STATIC mp_obj_t mcpwm_force0_1(mp_obj_t self) {
459+
esp32_mcpwm_motor_force0_1(self);
460+
return mp_const_none;
461+
}
462+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_force0_1_obj, mcpwm_force0_1);
463+
/*
464+
STATIC mp_obj_t mcpwm_coast(mp_obj_t self) {
465+
esp32_mcpwm_motor_coast(self);
466+
return mp_const_none;
467+
}
468+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_coast_obj, mcpwm_coast);
469+
470+
STATIC mp_obj_t mcpwm_brake(mp_obj_t self) {
471+
esp32_mcpwm_motor_brake(self);
472+
return mp_const_none;
473+
}
474+
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_brake_obj, mcpwm_brake);
475+
*/
342476
STATIC void esp32_mcpwm_set_compare_value(esp32_mcpwm_obj_t *self, uint32_t compare_value) {
343477
check_esp_err(mcpwm_comparator_set_compare_value(self->cmpa, compare_value));
344478
check_esp_err(mcpwm_comparator_set_compare_value(self->cmpb, compare_value));
@@ -354,14 +488,14 @@ STATIC void esp32_mcpwm_disable(esp32_mcpwm_obj_t *self) {
354488
check_esp_err(mcpwm_timer_disable(self->timer));
355489
}
356490

357-
STATIC mp_obj_t mcpwm_resume(mp_obj_t self_in) {
358-
esp32_mcpwm_enable(self_in);
491+
STATIC mp_obj_t mcpwm_resume(mp_obj_t self) {
492+
esp32_mcpwm_enable(self);
359493
return mp_const_none;
360494
}
361495
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_resume_obj, mcpwm_resume);
362496

363-
STATIC mp_obj_t mcpwm_pause(mp_obj_t self_in) {
364-
esp32_mcpwm_disable(self_in);
497+
STATIC mp_obj_t mcpwm_pause(mp_obj_t self) {
498+
esp32_mcpwm_disable(self);
365499
return mp_const_none;
366500
}
367501
STATIC MP_DEFINE_CONST_FUN_OBJ_1(mcpwm_pause_obj, mcpwm_pause);
@@ -519,6 +653,10 @@ STATIC void configure_mcpwm(esp32_mcpwm_obj_t *self) {
519653
gen_action_config13(self->gena, self->genb, self->cmpa, self->cmpb);
520654
dead_time_config13(self, self->gena, self->genb);
521655
break;
656+
case 14:
657+
gen_action_config14(self->gena, self->genb, self->cmpa, self->cmpb);
658+
dead_time_config14(self, self->gena, self->genb);
659+
break;
522660
default:
523661
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("out of MCPWM action range [1-13]:%d"), self->action);
524662
break;
@@ -542,7 +680,7 @@ STATIC void mp_esp32_mcpwm_init_helper(esp32_mcpwm_obj_t *self,
542680
{ MP_QSTR_sync, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
543681
{ MP_QSTR_xor, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
544682
{ MP_QSTR_deadtime, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
545-
{ MP_QSTR_waveform, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 7}},
683+
{ MP_QSTR_waveform, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 14}},
546684
};
547685
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
548686
mp_arg_parse_all(n_args, pos_args, kw_args,
@@ -733,6 +871,16 @@ STATIC const mp_rom_map_elem_t mcpwm_locals_dict_table[] = {
733871
{ MP_ROM_QSTR(MP_QSTR_freq), MP_ROM_PTR(&mcpwm_freq_obj) },
734872
{ MP_ROM_QSTR(MP_QSTR_pause), MP_ROM_PTR(&mcpwm_pause_obj) },
735873
{ MP_ROM_QSTR(MP_QSTR_resume), MP_ROM_PTR(&mcpwm_resume_obj) },
874+
{ MP_ROM_QSTR(MP_QSTR_force_10), MP_ROM_PTR(&mcpwm_force_10_obj) },
875+
{ MP_ROM_QSTR(MP_QSTR_force0_1), MP_ROM_PTR(&mcpwm_force0_1_obj) },
876+
/*
877+
{ MP_ROM_QSTR(MP_QSTR_coast), MP_ROM_PTR(&mcpwm_coast_obj) },
878+
{ MP_ROM_QSTR(MP_QSTR_brake), MP_ROM_PTR(&mcpwm_brake_obj) },
879+
*/
880+
{ MP_ROM_QSTR(MP_QSTR_force00), MP_ROM_PTR(&mcpwm_force00_obj) },
881+
{ MP_ROM_QSTR(MP_QSTR_force10), MP_ROM_PTR(&mcpwm_force10_obj) },
882+
{ MP_ROM_QSTR(MP_QSTR_force01), MP_ROM_PTR(&mcpwm_force01_obj) },
883+
{ MP_ROM_QSTR(MP_QSTR_force_1_1), MP_ROM_PTR(&mcpwm_force_1_1_obj) },
736884
};
737885
STATIC MP_DEFINE_CONST_DICT(mcpwm_locals_dict, mcpwm_locals_dict_table);
738886

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