711 lines
26 KiB
C
711 lines
26 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef _DRIVER_MCPWM_H_
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#define _DRIVER_MCPWM_H_
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#include "esp_err.h"
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#include "soc/soc.h"
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#include "driver/gpio.h"
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#include "driver/periph_ctrl.h"
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#include "esp_intr.h"
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#include "esp_intr_alloc.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief IO signals for the MCPWM
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*
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* - 6 MCPWM output pins that generate PWM signals
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* - 3 MCPWM fault input pins to detect faults like overcurrent, overvoltage, etc.
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* - 3 MCPWM sync input pins to synchronize MCPWM outputs signals
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* - 3 MCPWM capture input pins to gather feedback from controlled motors, using e.g. hall sensors
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*/
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typedef enum {
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MCPWM0A = 0, /*!<PWM0A output pin*/
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MCPWM0B, /*!<PWM0B output pin*/
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MCPWM1A, /*!<PWM1A output pin*/
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MCPWM1B, /*!<PWM1B output pin*/
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MCPWM2A, /*!<PWM2A output pin*/
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MCPWM2B, /*!<PWM2B output pin*/
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MCPWM_SYNC_0, /*!<SYNC0 input pin*/
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MCPWM_SYNC_1, /*!<SYNC1 input pin*/
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MCPWM_SYNC_2, /*!<SYNC2 input pin*/
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MCPWM_FAULT_0, /*!<FAULT0 input pin*/
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MCPWM_FAULT_1, /*!<FAULT1 input pin*/
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MCPWM_FAULT_2, /*!<FAULT2 input pin*/
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MCPWM_CAP_0 = 84, /*!<CAP0 input pin*/
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MCPWM_CAP_1, /*!<CAP1 input pin*/
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MCPWM_CAP_2, /*!<CAP2 input pin*/
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} mcpwm_io_signals_t;
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/**
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* @brief MCPWM pin number for
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*
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*/
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typedef struct {
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int mcpwm0a_out_num; /*!<MCPWM0A out pin*/
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int mcpwm0b_out_num; /*!<MCPWM0A out pin*/
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int mcpwm1a_out_num; /*!<MCPWM0A out pin*/
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int mcpwm1b_out_num; /*!<MCPWM0A out pin*/
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int mcpwm2a_out_num; /*!<MCPWM0A out pin*/
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int mcpwm2b_out_num; /*!<MCPWM0A out pin*/
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int mcpwm_sync0_in_num; /*!<SYNC0 in pin*/
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int mcpwm_sync1_in_num; /*!<SYNC1 in pin*/
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int mcpwm_sync2_in_num; /*!<SYNC2 in pin*/
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int mcpwm_fault0_in_num; /*!<FAULT0 in pin*/
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int mcpwm_fault1_in_num; /*!<FAULT1 in pin*/
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int mcpwm_fault2_in_num; /*!<FAULT2 in pin*/
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int mcpwm_cap0_in_num; /*!<CAP0 in pin*/
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int mcpwm_cap1_in_num; /*!<CAP1 in pin*/
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int mcpwm_cap2_in_num; /*!<CAP2 in pin*/
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} mcpwm_pin_config_t;
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/**
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* @brief Select MCPWM unit
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*/
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typedef enum {
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MCPWM_UNIT_0 = 0, /*!<MCPWM unit0 selected*/
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MCPWM_UNIT_1, /*!<MCPWM unit1 selected*/
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MCPWM_UNIT_MAX, /*!<Num of MCPWM units on ESP32*/
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} mcpwm_unit_t;
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/**
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* @brief Select MCPWM timer
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*/
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typedef enum {
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MCPWM_TIMER_0 = 0, /*!<Select MCPWM timer0*/
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MCPWM_TIMER_1, /*!<Select MCPWM timer1*/
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MCPWM_TIMER_2, /*!<Select MCPWM timer2*/
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MCPWM_TIMER_MAX, /*!<Num of MCPWM timers on ESP32*/
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} mcpwm_timer_t;
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/**
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* @brief Select MCPWM operator
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*/
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typedef enum {
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MCPWM_OPR_A = 0, /*!<Select MCPWMXA, where 'X' is timer number*/
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MCPWM_OPR_B, /*!<Select MCPWMXB, where 'X' is timer number*/
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MCPWM_OPR_MAX, /*!<Num of operators to each timer of MCPWM*/
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} mcpwm_operator_t;
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/**
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* @brief Select type of MCPWM counter
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*/
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typedef enum {
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MCPWM_UP_COUNTER = 1, /*!<For asymmetric MCPWM*/
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MCPWM_DOWN_COUNTER, /*!<For asymmetric MCPWM*/
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MCPWM_UP_DOWN_COUNTER, /*!<For symmetric MCPWM, frequency is half of MCPWM frequency set*/
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MCPWM_COUNTER_MAX, /*!<Maximum counter mode*/
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} mcpwm_counter_type_t;
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/**
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* @brief Select type of MCPWM duty cycle mode
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*/
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typedef enum {
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MCPWM_DUTY_MODE_0 = 0, /*!<Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM*/
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MCPWM_DUTY_MODE_1, /*!<Active low duty, i.e. duty cycle proportional to low time for asymmetric MCPWM, out of phase(inverted) MCPWM*/
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MCPWM_DUTY_MODE_MAX, /*!<Num of duty cycle modes*/
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} mcpwm_duty_type_t;
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/**
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* @brief MCPWM carrier oneshot mode, in this mode the width of the first pulse of carrier can be programmed
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*/
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typedef enum {
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MCPWM_ONESHOT_MODE_DIS = 0, /*!<Enable oneshot mode*/
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MCPWM_ONESHOT_MODE_EN, /*!<Disable oneshot mode*/
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} mcpwm_carrier_os_t;
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/**
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* @brief MCPWM carrier output inversion, high frequency carrier signal active with MCPWM signal is high
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*/
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typedef enum {
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MCPWM_CARRIER_OUT_IVT_DIS = 0, /*!<Enable carrier output inversion*/
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MCPWM_CARRIER_OUT_IVT_EN, /*!<Disable carrier output inversion*/
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} mcpwm_carrier_out_ivt_t;
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/**
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* @brief MCPWM select sync signal input
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*/
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typedef enum {
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MCPWM_SELECT_SYNC0 = 4, /*!<Select SYNC0 as input*/
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MCPWM_SELECT_SYNC1, /*!<Select SYNC1 as input*/
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MCPWM_SELECT_SYNC2, /*!<Select SYNC2 as input*/
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} mcpwm_sync_signal_t;
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/**
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* @brief MCPWM select fault signal input
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*/
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typedef enum {
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MCPWM_SELECT_F0 = 0, /*!<Select F0 as input*/
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MCPWM_SELECT_F1, /*!<Select F1 as input*/
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MCPWM_SELECT_F2, /*!<Select F2 as input*/
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} mcpwm_fault_signal_t;
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/**
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* @brief MCPWM select triggering level of fault signal
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*/
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typedef enum {
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MCPWM_LOW_LEVEL_TGR = 0, /*!<Fault condition occurs when fault input signal goes from high to low, currently not supported*/
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MCPWM_HIGH_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes low to high*/
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} mcpwm_fault_input_level_t;
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/**
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* @brief MCPWM select action to be taken on MCPWMXA when fault occurs
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*/
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typedef enum {
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MCPWM_NO_CHANGE_IN_MCPWMXA = 0, /*!<No change in MCPWMXA output*/
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MCPWM_FORCE_MCPWMXA_LOW, /*!<Make MCPWMXA output low*/
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MCPWM_FORCE_MCPWMXA_HIGH, /*!<Make MCPWMXA output high*/
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MCPWM_TOG_MCPWMXA, /*!<Make MCPWMXA output toggle*/
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} mcpwm_action_on_pwmxa_t;
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/**
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* @brief MCPWM select action to be taken on MCPWMxB when fault occurs
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*/
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typedef enum {
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MCPWM_NO_CHANGE_IN_MCPWMXB = 0, /*!<No change in MCPWMXB output*/
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MCPWM_FORCE_MCPWMXB_LOW, /*!<Make MCPWMXB output low*/
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MCPWM_FORCE_MCPWMXB_HIGH, /*!<Make MCPWMXB output high*/
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MCPWM_TOG_MCPWMXB, /*!<Make MCPWMXB output toggle*/
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} mcpwm_action_on_pwmxb_t;
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/**
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* @brief MCPWM select capture signal input
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*/
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typedef enum {
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MCPWM_SELECT_CAP0 = 0, /*!<Select CAP0 as input*/
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MCPWM_SELECT_CAP1, /*!<Select CAP1 as input*/
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MCPWM_SELECT_CAP2, /*!<Select CAP2 as input*/
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} mcpwm_capture_signal_t;
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/**
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* @brief MCPWM select capture starts from which edge
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*/
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typedef enum {
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MCPWM_NEG_EDGE = 0, /*!<Capture starts from negative edge*/
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MCPWM_POS_EDGE, /*!<Capture starts from positive edge*/
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} mcpwm_capture_on_edge_t;
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/**
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* @brief MCPWM deadtime types, used to generate deadtime, RED refers to rising edge delay and FED refers to falling edge delay
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*/
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typedef enum {
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MCPWM_BYPASS_RED = 0, /*!<MCPWMXA = no change, MCPWMXB = falling edge delay*/
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MCPWM_BYPASS_FED, /*!<MCPWMXA = rising edge delay, MCPWMXB = no change*/
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MCPWM_ACTIVE_HIGH_MODE, /*!<MCPWMXA = rising edge delay, MCPWMXB = falling edge delay*/
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MCPWM_ACTIVE_LOW_MODE, /*!<MCPWMXA = compliment of rising edge delay, MCPWMXB = compliment of falling edge delay*/
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MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, /*!<MCPWMXA = rising edge delay, MCPWMXB = compliment of falling edge delay*/
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MCPWM_ACTIVE_LOW_COMPLIMENT_MODE, /*!<MCPWMXA = compliment of rising edge delay, MCPWMXB = falling edge delay*/
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MCPWM_ACTIVE_RED_FED_FROM_PWMXA, /*!<MCPWMXA = MCPWMXB = rising edge delay as well as falling edge delay, generated from MCPWMXA*/
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MCPWM_ACTIVE_RED_FED_FROM_PWMXB, /*!<MCPWMXA = MCPWMXB = rising edge delay as well as falling edge delay, generated from MCPWMXB*/
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MCPWM_DEADTIME_TYPE_MAX,
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} mcpwm_deadtime_type_t;
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/**
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* @brief MCPWM config structure
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*/
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typedef struct {
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uint32_t frequency; /*!<Set frequency of MCPWM in Hz*/
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float cmpr_a; /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
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float cmpr_b; /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
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mcpwm_duty_type_t duty_mode; /*!<Set type of duty cycle*/
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mcpwm_counter_type_t counter_mode; /*!<Set type of MCPWM counter*/
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} mcpwm_config_t;
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/**
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* @brief MCPWM config carrier structure
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*/
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typedef struct {
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uint8_t carrier_period; /*!<Set carrier period = (carrier_period + 1)*800ns, carrier_period should be < 16*/
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uint8_t carrier_duty; /*!<Set carrier duty cycle, carrier_duty should be less than 8 (increment every 12.5%)*/
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uint8_t pulse_width_in_os; /*!<Set pulse width of first pulse in one shot mode = (carrier period)*(pulse_width_in_os + 1), should be less then 16*/
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mcpwm_carrier_os_t carrier_os_mode; /*!<Enable or disable carrier oneshot mode*/
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mcpwm_carrier_out_ivt_t carrier_ivt_mode; /*!<Invert output of carrier*/
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} mcpwm_carrier_config_t;
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/**
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* @brief This function initializes each gpio signal for MCPWM
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* @note
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* This function initializes one gpio at a time.
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param io_signal set MCPWM signals, each MCPWM unit has 6 output(MCPWMXA, MCPWMXB) and 9 input(SYNC_X, FAULT_X, CAP_X)
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* 'X' is timer_num(0-2)
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* @param gpio_num set this to configure gpio for MCPWM, if you want to use gpio16, gpio_num = 16
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal, int gpio_num);
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/**
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* @brief Initialize MCPWM gpio structure
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* @note
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* This function can be used to initialize more then one gpio at a time.
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param mcpwm_pin MCPWM pin structure
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_pin);
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/**
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* @brief Initialize MCPWM parameters
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param mcpwm_conf configure structure mcpwm_config_t
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_init( mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_config_t *mcpwm_conf);
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/**
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* @brief Set frequency(in Hz) of MCPWM timer
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param frequency set the frequency in Hz of each timer
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint32_t frequency);
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/**
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* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB)
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param op_num set the operator(MCPWMXA/MCPWMXB), 'X' is timer number selected
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* @param duty set duty cycle in %(i.e for 62.3% duty cycle, duty = 62.3) of each operator
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, float duty);
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/**
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* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB) in us
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
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* @param duty set duty value in microseconds of each operator
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, uint32_t duty);
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/**
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* @brief Set duty either active high or active low(out of phase/inverted)
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* @note
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* Call this function every time after mcpwm_set_signal_high or mcpwm_set_signal_low to resume with previously set duty cycle
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
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* @param duty_num set active low or active high duty type
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, mcpwm_duty_type_t duty_num);
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/**
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* @brief Get frequency of timer
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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*
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* @return
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* - frequency of timer
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*/
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uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
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/**
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* @brief Get duty cycle of each operator
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
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*
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* @return
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* - duty cycle in % of each operator(56.7 means duty is 56.7%)
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*/
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float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num);
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/**
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* @brief Use this function to set MCPWM signal high
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num);
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/**
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* @brief Use this function to set MCPWM signal low
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param op_num set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num);
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/**
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* @brief Start MCPWM signal on timer 'x'
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_start(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
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/**
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* @brief Start MCPWM signal on timer 'x'
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t mcpwm_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
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/**
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* @brief Initialize carrier configuration
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*
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* @param mcpwm_num set MCPWM unit(0-1)
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* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
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* @param carrier_conf configure structure mcpwm_carrier_config_t
|
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*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
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esp_err_t mcpwm_carrier_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_carrier_config_t *carrier_conf);
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/**
|
|
* @brief Enable MCPWM carrier submodule, for respective timer
|
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*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
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esp_err_t mcpwm_carrier_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
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|
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/**
|
|
* @brief Disable MCPWM carrier submodule, for respective timer
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
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|
esp_err_t mcpwm_carrier_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
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|
|
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/**
|
|
* @brief Set period of carrier
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param carrier_period set the carrier period of each timer, carrier period = (carrier_period + 1)*800ns
|
|
* (carrier_period <= 15)
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_carrier_set_period(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_period);
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|
/**
|
|
* @brief Set duty_cycle of carrier
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param carrier_duty set duty_cycle of carrier , carrier duty cycle = carrier_duty*12.5%
|
|
* (chop_duty <= 7)
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_carrier_set_duty_cycle(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_duty);
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|
|
|
/**
|
|
* @brief Enable and set width of first pulse in carrier oneshot mode
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param pulse_width set pulse width of first pulse in oneshot mode, width = (carrier period)*(pulse_width +1)
|
|
* (pulse_width <= 15)
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_carrier_oneshot_mode_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t pulse_width);
|
|
|
|
/**
|
|
* @brief Disable oneshot mode, width of first pulse = carrier period
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_carrier_oneshot_mode_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
|
|
|
|
/**
|
|
* @brief Enable or disable carrier output inversion
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param carrier_ivt_mode enable or disable carrier output inversion
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_carrier_output_invert(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num,
|
|
mcpwm_carrier_out_ivt_t carrier_ivt_mode);
|
|
|
|
/**
|
|
* @brief Enable and initialize deadtime for each MCPWM timer
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param dt_mode set deadtime mode
|
|
* @param red set rising edge delay = red*100ns
|
|
* @param fed set rising edge delay = fed*100ns
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_deadtime_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_deadtime_type_t dt_mode,
|
|
uint32_t red, uint32_t fed);
|
|
|
|
/**
|
|
* @brief Disable deadtime on MCPWM timer
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_deadtime_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
|
|
|
|
/**
|
|
* @brief Initialize fault submodule, currently low level triggering is not supported
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param intput_level set fault signal level, which will cause fault to occur
|
|
* @param fault_sig set the fault pin, which needs to be enabled
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_fault_init(mcpwm_unit_t mcpwm_num, mcpwm_fault_input_level_t intput_level, mcpwm_fault_signal_t fault_sig);
|
|
|
|
/**
|
|
* @brief Set oneshot mode on fault detection, once fault occur in oneshot mode reset is required to resume MCPWM signals
|
|
* @note
|
|
* currently low level triggering is not supported
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param fault_sig set the fault pin, which needs to be enabled for oneshot mode
|
|
* @param action_on_pwmxa action to be taken on MCPWMXA when fault occurs, either no change or high or low or toggle
|
|
* @param action_on_pwmxb action to be taken on MCPWMXB when fault occurs, either no change or high or low or toggle
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
|
|
mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb);
|
|
|
|
/**
|
|
* @brief Set cycle-by-cycle mode on fault detection, once fault occur in cyc mode MCPWM signal resumes as soon as fault signal becomes inactive
|
|
* @note
|
|
* currently low level triggering is not supported
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param fault_sig set the fault pin, which needs to be enabled for cyc mode
|
|
* @param action_on_pwmxa action to be taken on MCPWMXA when fault occurs, either no change or high or low or toggle
|
|
* @param action_on_pwmxb action to be taken on MCPWMXB when fault occurs, either no change or high or low or toggle
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_fault_set_cyc_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig,
|
|
mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb);
|
|
|
|
/**
|
|
* @brief Disable fault signal
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param fault_sig fault pin, which needs to be disabled
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_fault_deinit(mcpwm_unit_t mcpwm_num, mcpwm_fault_signal_t fault_sig);
|
|
|
|
/**
|
|
* @brief Initialize capture submodule
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param cap_edge set capture edge, BIT(0) - negative edge, BIT(1) - positive edge
|
|
* @param cap_sig capture pin, which needs to be enabled
|
|
* @param num_of_pulse count time between rising/falling edge between 2 *(pulses mentioned), counter uses APB_CLK
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
|
|
esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge,
|
|
uint32_t num_of_pulse);
|
|
|
|
/**
|
|
* @brief Disable capture signal
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param cap_sig capture pin, which needs to be disabled
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_capture_disable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
|
|
|
|
/**
|
|
* @brief Get capture value
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param cap_sig capture pin on which value is to be measured
|
|
*
|
|
* @return
|
|
* Captured value
|
|
*/
|
|
uint32_t mcpwm_capture_signal_get_value(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
|
|
|
|
/**
|
|
* @brief Get edge of capture signal
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param cap_sig capture pin of whose edge is to be determined
|
|
*
|
|
* @return
|
|
* Capture signal edge: 1 - positive edge, 2 - negtive edge
|
|
*/
|
|
uint32_t mcpwm_capture_signal_get_edge(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
|
|
|
|
/**
|
|
* @brief Initialize sync submodule
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
* @param sync_sig set the synchronization pin, which needs to be enabled
|
|
* @param phase_val phase value in 1/1000 (for 86.7%, phase_val = 867) which timer moves to on sync signal
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_sync_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_sync_signal_t sync_sig,
|
|
uint32_t phase_val);
|
|
|
|
/**
|
|
* @brief Disable sync submodule on given timer
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param timer_num set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Parameter error
|
|
*/
|
|
esp_err_t mcpwm_sync_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
|
|
|
|
/**
|
|
* @brief Register MCPWM interrupt handler, the handler is an ISR.
|
|
* the handler will be attached to the same CPU core that this function is running on.
|
|
*
|
|
* @param mcpwm_num set MCPWM unit(0-1)
|
|
* @param fn interrupt handler function.
|
|
* @param arg user-supplied argument passed to the handler function.
|
|
* @param intr_alloc_flags flags used to allocate the interrupt. One or multiple (ORred)
|
|
* ESP_INTR_FLAG_* values. see esp_intr_alloc.h for more info.
|
|
* @param arg parameter for handler function
|
|
* @param handle pointer to return handle. If non-NULL, a handle for the interrupt will
|
|
* be returned here.
|
|
*
|
|
* @return
|
|
* - ESP_OK Success
|
|
* - ESP_ERR_INVALID_ARG Function pointer error.
|
|
*/
|
|
esp_err_t mcpwm_isr_register(mcpwm_unit_t mcpwm_num, void (*fn)(void *), void *arg, int intr_alloc_flags, intr_handle_t *handle);
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /*_DRIVER_MCPWM_H_*/
|