MCPWM Fault: The fault module is used to detect the fault condition from outside, mainly via GPIO matrix. The callback function prototype is declared in mcpwm_fault_event_cb_t. It is a successor of the famous ESP8266 board, upgraded with more significant features such as built-in WiFi and Bluetooth, runs 32 bits programs, its clock frequency goes up to 240 MHz with 520 KB RAM, has 30-36 pins on each row, multiple number of GPIOs which can be configured to serve as inputs or outputs. mcpwm_dead_time_config_t::invert_output: Whether to invert the signal after applying the dead-time, which can be used to control the delay edge polarity. mcpwm_brake_config_t::brake_mode set the brake mode that should be used for the fault. mcpwm_comparator_config_t::update_cmp_on_tep sets whether to update the compare threshold when the timer counts to peak. mcpwm_capture_channel_config_t::prescale sets the prescaler of the input signal. Set the level to -1 means to disable the force action, and the generators output level will be controlled by the event actions again. On the contrary, calling mcpwm_del_operator()() function will free the allocated operator object. ev_act [in] MCPWM timer event action list, must be terminated by MCPWM_GEN_TIMER_EVENT_ACTION_END(), ESP_OK: Set generator actions successfully, ESP_ERR_INVALID_ARG: Set generator actions failed because of invalid argument, ESP_ERR_INVALID_STATE: Set generator actions failed because of timer is not connected to operator, ESP_FAIL: Set generator actions failed because of other error. The callback function will provide event specific data of type mcpwm_capture_event_data_t, so that you can get the edge of the capture signal in mcpwm_capture_event_data_t::cap_edge and the count value of that moment in mcpwm_capture_event_data_t::cap_value. acquire a proper power management lock if a specific clock source (e.g. MCPWM operator brake event callback function. Currently this configuration structure is left for future purpose. For MCPWM_OPER_BRAKE_MODE_OST mode, the operator cant recover even though the fault disappears. 1. mcpwm_gen_compare_event_action_t::comparator specifies the comparator handle. Speed Control of DC Motor using Arduino. Scribd is the world's largest social reading and publishing site. 1. Integrated bootstrap diodes are used to supply the . Other functions that are not related to Resource Allocation, are not thread safe. There is another Kconfig option CONFIG_MCPWM_CTRL_FUNC_IN_IRAM that can put commonly used IO control functions into IRAM as well. Group of supported MCPWM operator event callbacks. The ESP32 microcontroller is an advanced system on a chip that combines WiFi and Bluetooth capabilities with a powerful microcontroller and processing unit. Figure 1 - Electric diagram for controlling a DC motor with the ESP32 and a ULN2803A IC. The controller can run the motor in the tow rotation directions (cw & ccw) and the speed can be controlled using a potentiometer connected to A0. It is friendly to use no need of any expert person. In which MCPWM group that the GPIO fault belongs to, On which level the fault signal is treated as active. Some general summary: The Symmetric or Asymmetric of the waveforms are determined by the count mode of the MCPWM timer. mcpwm_new_soft_sync_src() will return a pointer to the allocated sync source object if the allocation succeeds. Dead Time - describes how to set dead time for MCPWM generators. Enable this option will increase the firmware binary size. Internally, this function will: switch the timer state from init to enable. Group of supported MCPWM fault event callbacks. Apply carrier feature for MCPWM operator. Set event callbacks for MCPWM capture channel. Software can override generator output level at runtime, by calling mcpwm_generator_set_force_level(). The driver wont forbid you from applying for more MCPWM resources, but it will return error when theres no hardware resources available. Theres a helper macro MCPWM_GEN_COMPARE_EVENT_ACTION to simplify the construction of a compare event action entry. \$\begingroup\$ esp32 SoC has a BLDC/DC Motor Control PWM (MCPWM) controller which has rather low level API, including dead time setting and other goodies . Likewise, Whenever the driver creates a MCPWM capture timer instance that has selected MCPWM_CAPTURE_CLK_SRC_APB as its clock source, the driver will guarantee that the power management lock is acquired when enable the timer by mcpwm_capture_timer_enable(). We can shut down the PWM output immediately or regulate the PWM output cycle by cycle, depends on how critical the fault is. The software force level always has a higher priority than other event actions set in e.g. On the contrary, calling mcpwm_del_fault() function will free the allocated fault object, this function works for both software and GPIO fault. The parameter user_data of mcpwm_timer_register_event_callbacks() function is used to save users own context, it will be passed to each callback function directly. Please note, GPIO fault located in different groups are totally independent, i.e. Set to NULL will disable the timer being synced by others, The count value that should lock to upon sync event, The count direction that should lock to upon sync event, components/driver/mcpwm/include/driver/mcpwm_oper.h, config [in] MCPWM operator configuration, ret_oper [out] Returned MCPWM operator handle, ESP_OK: Create MCPWM operator successfully, ESP_ERR_INVALID_ARG: Create MCPWM operator failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM operator failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM operator failed because cant find free resource, ESP_FAIL: Create MCPWM operator failed because of other error, oper [in] MCPWM operator, allocated by mcpwm_new_operator(), ESP_OK: Delete MCPWM operator successfully, ESP_ERR_INVALID_ARG: Delete MCPWM operator failed because of invalid argument, ESP_FAIL: Delete MCPWM operator failed because of other error. Shipping, returns & payments. mcpwm_generator_config_t::io_loop_back sets whether to enable the loop back mode. Otherwise, it will return error code. Specifically, if this is set to NULL, the driver will disable the sync feature for the MCPWM timer. Last but not least, to allocate a software sync source, you can call mcpwm_new_soft_sync_src() function, with configuration structure mcpwm_soft_sync_config_t as the parameter. The configuration structure is defined as: mcpwm_gpio_fault_config_t::group_id sets the MCPWM group ID. ev_act [in] MCPWM compare event action list, must be terminated by MCPWM_GEN_COMPARE_EVENT_ACTION_END(). As result of this action the motor should be put into a safe state to reduce likelihood of a damage caused by the fault. The sync signal can be routed from GPIO matrix or from MCPWM Timer event. BLDC Motor Control with Hall Effect Sensors Using the 9S08MP, Rev. Next, to allocate a capture channel, you can call mcpwm_new_capture_channel() function, with a capture timer handle and configuration structure mcpwm_capture_channel_config_t as the parameter. You can allocate a MCPWM operator object by calling mcpwm_new_operator()() function, with a configuration structure mcpwm_operator_config_t as the parameter. On the contrary, calling mcpwm_del_comparator() function will free the allocated comparator object. brushed/brushless DC motor, RC servo motor, Switch mode based digital power conversion, Power DAC, where the duty cycle is equivalent to a DAC analog value, Calculate external pulse width, and convert it into other analog value like speed, distance, Generate Space Vector PWM (SVPWM) signals for Field Oriented Control (FOC). Controlling a bldc motor with vesc using esp32 and ESP-IDF Show more VESC + Arduino == 1kW Robotics Projects! Otherwise, it will return error code. The configuration structure is defined as: mcpwm_comparator_config_t::update_cmp_on_tez sets whether to update the compare threshold when the timer counts to zero. You have to register a callback function to get the timer count value of the capture moment, by calling mcpwm_capture_channel_register_event_callbacks(). mcpwm_operator_config_t::update_gen_action_on_sync sets whether to update the generator action when the timer takes a sync signal. The callback functions above are called within the ISR context, so they should not attempt to block (e.g., make sure that only FreeRTOS APIs with ISR suffix is called within the function). enable the interrupt service if it has been lazy installed by mcpwm_timer_register_event_callbacks(). Generator action on specific comparator event. Dead Time: This submodule is used to insert extra delay to the existing PWM edges that generated in the previous steps. Additionally this bldc driver class enables the user to provide enable signal for each phase if available. So, these functions can also be executable when the cache is disabled. Author: Kevin Harrington,John K. Bennett Maintainer: Kevin Harrington Read the documentation Go to repository mcpwm_gpio_fault_config_t::active_level sets the active level of the fault signal. I'm trying to figure out how to control the speed of a 400-watt, 3000RPM, 48V BLDC with Hall sensors with a Raspberry Pi 3. Classical PWM Waveforms and Generator Configurations - demonstrates some classical PWM waveforms that can be achieved by configuring generator actions. 1. mcpwm_carrier_config_t::first_pulse_duration_us: The duration of the first pulse in microseconds. It is for debugging purposes only. ev_act [in] MCPWM brake event action list, must be terminated by MCPWM_GEN_BRAKE_EVENT_ACTION_END(), in_generator [in] MCPWM generator, before adding the dead time, out_generator [in] MCPWM generator, after adding the dead time, config [in] MCPWM dead time configuration, ESP_OK: Set dead time for MCPWM generator successfully, ESP_ERR_INVALID_ARG: Set dead time for MCPWM generator failed because of invalid argument, ESP_FAIL: Set dead time for MCPWM generator failed because of other error, The GPIO number used to output the PWM signal, Whether to invert the PWM signal (done by GPIO matrix), For debug/test, the signal output from the GPIO will be fed to the input path as well. The MCPWM capture channel can inform the user when theres a valid edge detected on the signal. How to control speed and direction of DC motor using ESP32 Firstly, The DC motor works with high voltage that can burn ESP32 We cannot connects DC motor directly to ESP32. Kconfig Options - lists the supported Kconfig options that can bring different effects to the driver. MCPWM Capture timer sync phase configuration. Prescale of input signal, effective frequency = cap_input_clk/prescale. Evaluation board. Classical PWM Waveforms and Dead Time Configurations - demonstrates some classical PWM waveforms that can be achieved by configuring dead time. Different ESP chip series might have different number of MCPWM resources (e.g. The ID should belong to [0, SOC_MCPWM_GROUPS - 1] range. config [in] MCPWM carrier specific configuration, ESP_OK: Set carrier for operator successfully, ESP_ERR_INVALID_ARG: Set carrier for operator failed because of invalid argument, ESP_FAIL: Set carrier for operator failed because of other error, Specify from which group to allocate the MCPWM operator, Whether to update generator action when timer counts to zero, Whether to update generator action when timer counts to peak, Whether to update generator action on sync event, Whether to update dead time when timer counts to zero, Whether to update dead time when timer counts to peak, Whether to update dead time on sync event. components/driver/mcpwm/include/driver/mcpwm_cap.h, config [in] MCPWM capture timer configuration, ret_cap_timer [out] Returned MCPWM capture timer handle, ESP_OK: Create MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Create MCPWM capture timer failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM capture timer failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM capture timer failed because cant find free resource, ESP_FAIL: Create MCPWM capture timer failed because of other error, cap_timer [in] MCPWM capture timer, allocated by mcpwm_new_capture_timer(), ESP_OK: Delete MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Delete MCPWM capture timer failed because of invalid argument, ESP_FAIL: Delete MCPWM capture timer failed because of other error, cap_timer [in] MCPWM capture timer handle, allocated by mcpwm_new_capture_timer(), ESP_OK: Enable MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Enable MCPWM capture timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Enable MCPWM capture timer failed because timer is enabled already, ESP_FAIL: Enable MCPWM capture timer failed because of other error, ESP_OK: Disable MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Disable MCPWM capture timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Disable MCPWM capture timer failed because timer is disabled already, ESP_FAIL: Disable MCPWM capture timer failed because of other error, ESP_OK: Start MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Start MCPWM capture timer failed because of invalid argument, ESP_FAIL: Start MCPWM capture timer failed because of other error, ESP_OK: Stop MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Stop MCPWM capture timer failed because of invalid argument, ESP_FAIL: Stop MCPWM capture timer failed because of other error. The following functions are allowed to run under ISR context, as the driver uses a critical section to prevent them being called concurrently in the task and ISR. You can set the sync phase by calling mcpwm_timer_set_phase_on_sync(). Set generator action on MCPWM compare event. Set generator action on MCPWM brake event. When power management is enabled (i.e. DRV8316 + ESP32: FOC BLDC motor controller - YouTube 0:00 / 1:07 DRV8316 + ESP32: FOC BLDC motor controller Gadget Workbench 2.69K subscribers Subscribe 95 6.4K views 1 year ago. For debug/test, whether to keep the GPIO configuration when capture channel is deleted. Connect MCPWM operator and timer, so that the operator can be driven by the timer. I'll introduce you to an H-bridge speed control using MOSFET, and then we'll apply that control to an engine to evaluate its behavior. Copy the code given below in that file and save it. user_data [in] User data, which will be passed to callback functions directly, ESP_ERR_INVALID_ARG: Set event callbacks failed because of invalid argument, ESP_ERR_INVALID_STATE: Set event callbacks failed because timer is not in init state, ESP_FAIL: Set event callbacks failed because of other error, config [in] MCPWM timer sync phase configuration, ESP_OK: Set sync phase for MCPWM timer successfully, ESP_ERR_INVALID_ARG: Set sync phase for MCPWM timer failed because of invalid argument, ESP_FAIL: Set sync phase for MCPWM timer failed because of other error.