399d2d2605
Using xxx_periph.h in whole IDF instead of xxx_reg.h, xxx_struct.h, xxx_channel.h ... . Cleaned up header files from unnecessary headers (releated to soc/... headers).
96 lines
3.3 KiB
C
96 lines
3.3 KiB
C
/* brushed dc motor control example
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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/*
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* This example will show you how to use MCPWM module to control brushed dc motor.
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* This code is tested with L298 motor driver.
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* User may need to make changes according to the motor driver they use.
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*/
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_attr.h"
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#include "driver/mcpwm.h"
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#include "soc/mcpwm_periph.h"
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#define GPIO_PWM0A_OUT 15 //Set GPIO 15 as PWM0A
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#define GPIO_PWM0B_OUT 16 //Set GPIO 16 as PWM0B
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static void mcpwm_example_gpio_initialize()
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{
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printf("initializing mcpwm gpio...\n");
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_PWM0A_OUT);
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, GPIO_PWM0B_OUT);
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}
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/**
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* @brief motor moves in forward direction, with duty cycle = duty %
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*/
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static void brushed_motor_forward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)
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{
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_B);
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mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_A, duty_cycle);
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_A, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
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}
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/**
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* @brief motor moves in backward direction, with duty cycle = duty %
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*/
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static void brushed_motor_backward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)
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{
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_A);
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mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_B, duty_cycle);
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_B, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
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}
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/**
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* @brief motor stop
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*/
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static void brushed_motor_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
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{
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_A);
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_B);
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}
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/**
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* @brief Configure MCPWM module for brushed dc motor
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*/
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static void mcpwm_example_brushed_motor_control(void *arg)
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{
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//1. mcpwm gpio initialization
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mcpwm_example_gpio_initialize();
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//2. initial mcpwm configuration
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printf("Configuring Initial Parameters of mcpwm...\n");
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mcpwm_config_t pwm_config;
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pwm_config.frequency = 1000; //frequency = 500Hz,
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pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 0
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pwm_config.cmpr_b = 0; //duty cycle of PWMxb = 0
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pwm_config.counter_mode = MCPWM_UP_COUNTER;
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pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
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mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings
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while (1) {
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brushed_motor_forward(MCPWM_UNIT_0, MCPWM_TIMER_0, 50.0);
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vTaskDelay(2000 / portTICK_RATE_MS);
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brushed_motor_backward(MCPWM_UNIT_0, MCPWM_TIMER_0, 30.0);
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vTaskDelay(2000 / portTICK_RATE_MS);
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brushed_motor_stop(MCPWM_UNIT_0, MCPWM_TIMER_0);
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vTaskDelay(2000 / portTICK_RATE_MS);
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}
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}
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void app_main()
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{
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printf("Testing brushed motor...\n");
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xTaskCreate(mcpwm_example_brushed_motor_control, "mcpwm_examlpe_brushed_motor_control", 4096, NULL, 5, NULL);
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}
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