目录
本篇为乐鑫官方文档，地址：Motor Control Pulse Width Modulator (MCPWM) - ESP32 - — ESP-IDF 编程指南 latest 文档
前言
看下图可以非常清楚的看到ESP32 有两个 MCPWM 单元，分别是MCPWM_UNIT_0和MCPWM_UNIT_1。
每个 MCPWM 单元有三个定时器，分别是下图中的数字标号0，1，2。
每个定时器可以产生2路pwm，分别是下图中的A和B。
也就是说通过mcpwm最多可以产生2*3*2=12路（6对）pwm信号。可用于控制不同的电机。每个单元有三对 PWM 输出 。（从下图可以非常清晰的看到）
此外，在文章中，每个MCPWM单元的单个信号的输出标记为PWMxA/PWMxB。
例如MCPWM_UNIT_0的六路pwm输出，从上到下可以标记为PWM0A/PWM0B,PWM1A/PWM1B,PWM2A/PWM2B。MCPWM_UNIT_1同理。
MCPWM单元的更详细框图如下所示。每个A/B对可由三个定时器0、1和2中的任意一个定时器计时。同一定时器可用于对多对PWM输出进行计时。每个单元还能够收集同步信号等输入，检测电机过流或过压等故障信号，以及获取转子位置等捕捉信号的反馈。
本API的描述从配置MCPWM的定时器和发电机子模块开始，以提供基本的电机控制功能。然后讨论了故障处理器、信号捕获和载波的更高级子模块和功能。
目录
配置输出的基本功能
操作输出以驱动电机
调整电机的驱动方式
同步同步计时器以协同工作
捕获外部信号以提供对输出的额外控制
使用故障处理程序检测和管理故障
如果输出信号通过隔离变压器，则添加更高频率的载波
额外的分辨率配置
配置
配置范围取决于电机类型，特别是需要多少输出和输入，以及驱动电机的信号顺序。
在这种情况下，我们将描述一种简单的配置，用于控制仅使用部分可用MCPWM资源的有刷直流电机。下面显示了一个示例电路。它包括一个H桥，用于切换施加在电机（M）上的电压的极化，并提供足够的电流来驱动电机。
1.选择用于驱动电机的MCPWM装置。ESP32板上有两个可用单元，并在mcpwm_单元中列出。
2.通过调用mcpwm_gpio_init（）初始化两个gpio作为所选单元内的输出信号。这两个输出信号通常用于命令电机向右或向左旋转。mcpwm\u io\u signals\t中列出了所有可用的信号选项。要一次设置多个管脚，请将函数mcpwm_set_pin（）与mcpwm_pin_config_t一起使用。
3.定时器的选择。该装置内有三个定时器。定时器在mcpwm\u timer\t中列出。
4.在mcpwm配置结构内设置定时器频率和初始占空比。
5.如有必要，通过调用mcpwm_group_set_resolution（）和mcpwm_timer_set_resolution（）设置计时器分辨率
6.调用函数mcpwm_init()和上述参数，使配置生效
操作
例程1
#include "driver/mcpwm.h"
#include "soc/mcpwm_reg.h"
#include "soc/mcpwm_struct.h"
#define MOTO_GPIO1 18
#define MOTO_GPIO2 5
//步骤一：选择mcpwm_unit
#define MOTOR_MCPWM_UNIT MCPWM_UNIT_0
//初始化需要的四个gpio口
void setup(){
//步骤二：用选定的mcpwm_unit来初始化gpio口
mcpwm_gpio_init(MOTOR_MCPWM_UNIT, MCPWM0A, MOTO_GPIO1);
mcpwm_gpio_init(MOTOR_MCPWM_UNIT, MCPWM0B, MOTO_GPIO2);
//步骤三：用mcpwm_init()这个函数为这个mcpwm_unit选定一个定时器，
#define MOTO_TIMER MCPWM_TIMER_0
mcpwm_config_t pwm_config;
//步骤四：通过mcpwm_config_t结构体为定时器设置频率和初始值
pwm_config.frequency = 1000; //frequency = 500Hz,
pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 0
pwm_config.cmpr_b = 0; //duty cycle of PWMxb = 0
pwm_config.counter_mode = MCPWM_UP_COUNTER;
pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
//步骤五：调用mcpwm_init()函数使得配置生效
mcpwm_init(MOTOR_MCPWM_UNIT, MOTO_TIMER, &pwm_config); //Configure PWM0A & PWM0B with above settings
}
void loop(){
mcpwm_set_signal_low(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_A);
mcpwm_set_duty(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, 30);
mcpwm_set_duty_type(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
}
例程1解析
通过mcpwm_config_t结构体，我们可以新建一个mcpwm设置的结构体，进行相关设置，例如mcpwm的频率（frequency），
/**
* @brief MCPWM config structure
*/
typedef struct {
uint32_t frequency; /*!<Set frequency of MCPWM in Hz*/
float cmpr_a; /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
float cmpr_b; /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
mcpwm_duty_type_t duty_mode; /*!<设置占空比类型*/
mcpwm_counter_type_t counter_mode; /*!<设置MCPWM计数器类型*/
} mcpwm_config_t;接下来，就可以通过接口函数，设置对应的通道引脚为高、为低、或是有PWM波形。
通过调用 mcpwm _ set _ duty _ type ()可以改变 PWM 信号的相位，最后一个参数是表示mcpwm相位的，通过查看下面源码，我们可以看到这是个枚举类型。
typedef enum {
MCPWM_DUTY_MODE_0 = 0, /*!<Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM*/
MCPWM_DUTY_MODE_1, /*!<Active low duty, i.e. duty cycle proportional to low time for asymmetric MCPWM, out of phase(inverted) MCPWM*/
MCPWM_HAL_GENERATOR_MODE_FORCE_LOW,
MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH,
MCPWM_DUTY_MODE_MAX, /*!<占空比类型数*/
} mcpwm_duty_type_t;所以，需要注意的是mcpwm_set_duty和mcpwm_set_duty_type 这两个函数必须要同时调用来控制一个通道引脚上产生pwm波形 。毕竟想要控制波形不光要有占空比，还需要相位。
我们看上述例程中最后一行代码，其中MCPWM_DUTY_MODE_1代表高电平占空比，MCPWM_DUTY_MODE_0代表低电平占空比。
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, mcpwm_duty_type_t duty_type);我们来看看不同代码的效果：
mcpwm_set_duty(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, 30);
mcpwm_set_duty_type(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, MCPWM_DUTY_MODE_0);效果
mcpwm_set_duty(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, 30);
mcpwm_set_duty_type(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, MCPWM_DUTY_MODE_1);效果
MCPWM.h
/*
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#include "soc/soc_caps.h"
#if SOC_MCPWM_SUPPORTED
#include "esp_err.h"
#include "soc/soc.h"
#include "driver/gpio.h"
#include "esp_intr_alloc.h"
#include "hal/mcpwm_types.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief IO signals for the MCPWM
*
* - 6 MCPWM output pins that generate PWM signals
* - 3 MCPWM fault input pins to detect faults like overcurrent, overvoltage, etc.
* - 3 MCPWM sync input pins to synchronize MCPWM outputs signals
* - 3 MCPWM capture input pins to gather feedback from controlled motors, using e.g. hall sensors
*/
typedef enum {
MCPWM0A = 0, /*!<PWM0A output pin*/
MCPWM0B, /*!<PWM0B output pin*/
MCPWM1A, /*!<PWM1A output pin*/
MCPWM1B, /*!<PWM1B output pin*/
MCPWM2A, /*!<PWM2A output pin*/
MCPWM2B, /*!<PWM2B output pin*/
MCPWM_SYNC_0, /*!<SYNC0 input pin*/
MCPWM_SYNC_1, /*!<SYNC1 input pin*/
MCPWM_SYNC_2, /*!<SYNC2 input pin*/
MCPWM_FAULT_0, /*!<FAULT0 input pin*/
MCPWM_FAULT_1, /*!<FAULT1 input pin*/
MCPWM_FAULT_2, /*!<FAULT2 input pin*/
MCPWM_CAP_0 = 84, /*!<CAP0 input pin*/
MCPWM_CAP_1, /*!<CAP1 input pin*/
MCPWM_CAP_2, /*!<CAP2 input pin*/
} mcpwm_io_signals_t;
/**
* @brief pin number for MCPWM
*/
typedef struct {
int mcpwm0a_out_num; /*!<MCPWM0A out pin*/
int mcpwm0b_out_num; /*!<MCPWM0A out pin*/
int mcpwm1a_out_num; /*!<MCPWM0A out pin*/
int mcpwm1b_out_num; /*!<MCPWM0A out pin*/
int mcpwm2a_out_num; /*!<MCPWM0A out pin*/
int mcpwm2b_out_num; /*!<MCPWM0A out pin*/
int mcpwm_sync0_in_num; /*!<SYNC0 in pin*/
int mcpwm_sync1_in_num; /*!<SYNC1 in pin*/
int mcpwm_sync2_in_num; /*!<SYNC2 in pin*/
int mcpwm_fault0_in_num; /*!<FAULT0 in pin*/
int mcpwm_fault1_in_num; /*!<FAULT1 in pin*/
int mcpwm_fault2_in_num; /*!<FAULT2 in pin*/
int mcpwm_cap0_in_num; /*!<CAP0 in pin*/
int mcpwm_cap1_in_num; /*!<CAP1 in pin*/
int mcpwm_cap2_in_num; /*!<CAP2 in pin*/
} mcpwm_pin_config_t;
/**
* @brief Select MCPWM unit
*/
typedef enum {
MCPWM_UNIT_0, /*!<MCPWM unit0 selected*/
MCPWM_UNIT_1, /*!<MCPWM unit1 selected*/
MCPWM_UNIT_MAX, /*!<Max number of MCPWM units*/
} mcpwm_unit_t;
_Static_assert(MCPWM_UNIT_MAX == SOC_MCPWM_GROUPS, "MCPWM unit number not equal to chip capabilities");
/**
* @brief Select MCPWM timer
*/
typedef enum {
MCPWM_TIMER_0, /*!<Select MCPWM timer0*/
MCPWM_TIMER_1, /*!<Select MCPWM timer1*/
MCPWM_TIMER_2, /*!<Select MCPWM timer2*/
MCPWM_TIMER_MAX, /*!<Max number of timers in a unit*/
} mcpwm_timer_t;
/**
* @brief Select MCPWM operator
*/
typedef enum {
MCPWM_GEN_A, /*!<Select MCPWMXA, where 'X' is operator number*/
MCPWM_GEN_B, /*!<Select MCPWMXB, where 'X' is operator number*/
MCPWM_GEN_MAX, /*!<Num of generators to each operator of MCPWM*/
} mcpwm_generator_t;
//definitions and macros to be back-compatible before IDFv4.1
#define MCPWM_OPR_A MCPWM_GEN_A ///< @deprecated
#define MCPWM_OPR_B MCPWM_GEN_B ///< @deprecated
#define MCPWM_OPR_MAX MCPWM_GEN_MAX ///< @deprecated
typedef mcpwm_generator_t mcpwm_operator_t; ///< @deprecated
/**
* @brief MCPWM carrier oneshot mode, in this mode the width of the first pulse of carrier can be programmed
*/
typedef enum {
MCPWM_ONESHOT_MODE_DIS, /*!<Enable oneshot mode*/
MCPWM_ONESHOT_MODE_EN, /*!<Disable oneshot mode*/
} mcpwm_carrier_os_t;
/**
* @brief MCPWM carrier output inversion, high frequency carrier signal active with MCPWM signal is high
*/
typedef enum {
MCPWM_CARRIER_OUT_IVT_DIS, /*!<Enable carrier output inversion*/
MCPWM_CARRIER_OUT_IVT_EN, /*!<Disable carrier output inversion*/
} mcpwm_carrier_out_ivt_t;
/**
* @brief MCPWM select fault signal input
*/
typedef enum {
MCPWM_SELECT_F0, /*!<Select F0 as input*/
MCPWM_SELECT_F1, /*!<Select F1 as input*/
MCPWM_SELECT_F2, /*!<Select F2 as input*/
} mcpwm_fault_signal_t;
/**
* @brief MCPWM select sync signal input
*/
typedef enum {
MCPWM_SELECT_NO_INPUT, /*!<No sync input selected*/
MCPWM_SELECT_TIMER0_SYNC, /*!<Select software sync signal from timer0 as input*/
MCPWM_SELECT_TIMER1_SYNC, /*!<Select software sync signal from timer1 as input*/
MCPWM_SELECT_TIMER2_SYNC, /*!<Select software sync signal from timer2 as input*/
MCPWM_SELECT_GPIO_SYNC0, /*!<Select GPIO SYNC0 as input*/
MCPWM_SELECT_GPIO_SYNC1, /*!<Select GPIO SYNC1 as input*/
MCPWM_SELECT_GPIO_SYNC2, /*!<Select GPIO SYNC2 as input*/
} mcpwm_sync_signal_t;
// backward compatibility
#define MCPWM_SELCT_SYNC0 MCPWM_SELCT_GPIO_SYNC0
#define MCPWM_SELCT_SYNC1 MCPWM_SELCT_GPIO_SYNC1
#define MCPWM_SELCT_SYNC2 MCPWM_SELCT_GPIO_SYNC2
/**
* @brief MCPWM timer sync event trigger
*/
typedef enum {
MCPWM_SWSYNC_SOURCE_SYNCIN, /*!<the input sync signal will be routed to its sync output path*/
MCPWM_SWSYNC_SOURCE_TEZ, /*!<sync signal generated when timer counts to zero*/
MCPWM_SWSYNC_SOURCE_TEP, /*!<sync signal generated when timer counts to peak*/
MCPWM_SWSYNC_SOURCE_DISABLED, /*!<timer does not generate sync signals*/
} mcpwm_timer_sync_trigger_t;
/**
* @brief MCPWM select triggering level of fault signal
*/
typedef enum {
MCPWM_LOW_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes from high to low*/
MCPWM_HIGH_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes low to high*/
} mcpwm_fault_input_level_t;
/**
* @brief MCPWM select capture starts from which edge
*/
typedef enum {
MCPWM_NEG_EDGE = BIT(0), /*!<Capture the negative edge*/
MCPWM_POS_EDGE = BIT(1), /*!<Capture the positive edge*/
MCPWM_BOTH_EDGE = BIT(1) | BIT(0), /*!<Capture both edges*/
} mcpwm_capture_on_edge_t;
/**
* @brief Interrupt masks for MCPWM capture
*/
typedef enum {
MCPWM_LL_INTR_CAP0 = BIT(27), ///< Capture 0 happened
MCPWM_LL_INTR_CAP1 = BIT(28), ///< Capture 1 happened
MCPWM_LL_INTR_CAP2 = BIT(29), ///< Capture 2 happened
} mcpwm_intr_t;
/**
* @brief Select type of MCPWM counter
*/
typedef enum {
MCPWM_FREEZE_COUNTER, /*!<Counter freeze */
MCPWM_UP_COUNTER, /*!<For asymmetric MCPWM*/
MCPWM_DOWN_COUNTER, /*!<For asymmetric MCPWM*/
MCPWM_UP_DOWN_COUNTER, /*!<For symmetric MCPWM, frequency is half of MCPWM frequency set*/
MCPWM_COUNTER_MAX, /*!<Maximum counter mode*/
} mcpwm_counter_type_t;
/**
* @brief Select type of MCPWM duty cycle mode
*/
typedef enum {
MCPWM_DUTY_MODE_0 = 0, /*!<Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM*/
MCPWM_DUTY_MODE_1, /*!<Active low duty, i.e. duty cycle proportional to low time for asymmetric MCPWM, out of phase(inverted) MCPWM*/
MCPWM_HAL_GENERATOR_MODE_FORCE_LOW,
MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH,
MCPWM_DUTY_MODE_MAX, /*!<Num of duty cycle modes*/
} mcpwm_duty_type_t;
/**
* @brief MCPWM deadtime types, used to generate deadtime, RED refers to rising edge delay and FED refers to falling edge delay
*/
typedef enum {
MCPWM_DEADTIME_BYPASS = 0, /*!<Bypass the deadtime*/
MCPWM_BYPASS_RED, /*!<MCPWMXA Out = MCPWMXA In with no delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
MCPWM_BYPASS_FED, /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB Out = MCPWMXB In with no delay*/
MCPWM_ACTIVE_HIGH_MODE, /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
MCPWM_ACTIVE_LOW_MODE, /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay, MCPWMXB Out = MCPWMXA In with compliment of falling edge delay*/
MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB = MCPWMXA In with compliment of falling edge delay*/
MCPWM_ACTIVE_LOW_COMPLIMENT_MODE, /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
MCPWM_ACTIVE_RED_FED_FROM_PWMXA, /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXA In with rising edge delay as well as falling edge delay*/
MCPWM_ACTIVE_RED_FED_FROM_PWMXB, /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXB In with rising edge delay as well as falling edge delay*/
MCPWM_DEADTIME_TYPE_MAX, /*!<Maximum number of supported dead time modes*/
} mcpwm_deadtime_type_t;
/**
* @brief MCPWM select action to be taken on the output when event happens
*/
typedef enum {
MCPWM_ACTION_NO_CHANGE = 0, /*!<No change in the output*/
MCPWM_ACTION_FORCE_LOW, /*!<Make output low*/
MCPWM_ACTION_FORCE_HIGH, /*!<Make output high*/
MCPWM_ACTION_TOGGLE, /*!<Make output toggle*/
} mcpwm_output_action_t;
/// @deprecated MCPWM select action to be taken on MCPWMXA when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxa_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXA MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXA output*/
#define MCPWM_FORCE_MCPWMXA_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXA output low*/
#define MCPWM_FORCE_MCPWMXA_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXA output high*/
#define MCPWM_TOG_MCPWMXA MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXA output toggle*/
/// @deprecated MCPWM select action to be taken on MCPWMXB when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxb_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXB MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXB output*/
#define MCPWM_FORCE_MCPWMXB_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXB output low*/
#define MCPWM_FORCE_MCPWMXB_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXB output high*/
#define MCPWM_TOG_MCPWMXB MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXB output toggle*/
/**
* @brief MCPWM select capture signal input
*/
typedef enum {
MCPWM_SELECT_CAP0, /*!<Select CAP0 as input*/
MCPWM_SELECT_CAP1, /*!<Select CAP1 as input*/
MCPWM_SELECT_CAP2, /*!<Select CAP2 as input*/
} mcpwm_capture_signal_t;
/**
* @brief MCPWM capture channel ID alias
*/
typedef mcpwm_capture_signal_t mcpwm_capture_channel_id_t;
/**
* @brief event data that will be passed into ISR callback
*/
typedef struct {
mcpwm_capture_on_edge_t cap_edge; /*!<Which signal edge is detected*/
uint32_t cap_value; /*!<Corresponding timestamp when event occurs. Clock rate = APB(usually 80M)*/
} cap_event_data_t;
/**
* @brief Type of capture event callback
* @param mcpwm MCPWM unit(0-1)
* @param cap_channel capture channel ID
* @param edata Capture event data, contains capture edge and capture value, fed by the driver
* @param user_data User registered data, passed from `mcpwm_capture_config_t`
*
* @note Since this an ISR callback so do not do anything that may block and call APIs that is designed to be used within ISR(usually has '_ISR' postfix)
*
* @return Whether a task switch is needed after the callback function returns,
* this is usually due to the callback wakes up some high priority task.
*
*/
typedef bool (*cap_isr_cb_t)(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_channel, const cap_event_data_t *edata,
void *user_data);
/**
* @brief MCPWM config structure
*/
typedef struct {
uint32_t frequency; /*!<Set frequency of MCPWM in Hz*/
float cmpr_a; /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
float cmpr_b; /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
mcpwm_duty_type_t duty_mode; /*!<Set type of duty cycle*/
mcpwm_counter_type_t counter_mode; /*!<Set type of MCPWM counter*/
} mcpwm_config_t;
/**
* @brief MCPWM carrier configuration structure
*/
typedef struct {
uint8_t carrier_period; /*!<Set carrier period = (carrier_period + 1)*800ns, carrier_period should be < 16*/
uint8_t carrier_duty; /*!<Set carrier duty cycle, carrier_duty should be less than 8 (increment every 12.5%)*/
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*/
mcpwm_carrier_os_t carrier_os_mode; /*!<Enable or disable carrier oneshot mode*/
mcpwm_carrier_out_ivt_t carrier_ivt_mode; /*!<Invert output of carrier*/
} mcpwm_carrier_config_t;
/**
* @brief MCPWM config capture structure
*/
typedef struct {
mcpwm_capture_on_edge_t cap_edge; /*!<Set capture edge*/
uint32_t cap_prescale; /*!<Prescale of capture signal, ranging from 1 to 256*/
cap_isr_cb_t capture_cb; /*!<User defined capture event callback, running under interrupt context */
void *user_data; /*!<User defined ISR callback function args*/
} mcpwm_capture_config_t;
/**
* @brief MCPWM config sync structure
*/
typedef struct {
mcpwm_sync_signal_t sync_sig; /*!<Set sync input signal that will cause timer to sync*/
uint32_t timer_val; /*!<Counter value to be set after sync, in 0 ~ 999, unit: 1 / 1000 * peak*/
mcpwm_timer_direction_t count_direction; /*!<Counting direction to be set after sync */
} mcpwm_sync_config_t;
/**
* @brief This function initializes each gpio signal for MCPWM
*
* @note This function initializes one gpio at a time.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param io_signal set MCPWM signals, each MCPWM unit has 6 output(MCPWMXA, MCPWMXB) and 9 input(SYNC_X, FAULT_X, CAP_X)
* 'X' is timer_num(0-2)
* @param gpio_num set this to configure gpio for MCPWM, if you want to use gpio16, gpio_num = 16
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal, int gpio_num);
/**
* @brief Initialize MCPWM gpio structure
*
* @note This function initialize a group of MCPWM GPIOs at a time.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param mcpwm_pin MCPWM pin structure
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_pin);
/**
* @brief Initialize MCPWM parameters
* @note
* The default resolution configured for MCPWM group and timer are 160M / 16 = 10M and 10M / 10 = 1M
* The default resolution can be changed by calling mcpwm_group_set_resolution() and mcpwm_timer_set_resolution(),
* before calling this function.
*
* @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 mcpwm_conf configure structure mcpwm_config_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_init( mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_config_t *mcpwm_conf);
/**
* @brief Set resolution of the MCPWM group
* @note
* This will override default resolution of group(=10,000,000).
* This WILL NOT automatically update frequency and duty. Call mcpwm_set_frequency() and mcpwm_set_duty() manually
* to set them back.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param resolution set expected frequency resolution
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_group_set_resolution(mcpwm_unit_t mcpwm_num, unsigned long int resolution);
/**
* @brief Set resolution of each timer
* @note
* This WILL override default resolution of timer(=1,000,000).
* This WILL NOT automatically update frequency and duty. Call mcpwm_set_frequency() and mcpwm_set_duty() manually
* to set them back.
*
* @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 resolution set expected frequency resolution
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_timer_set_resolution(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, unsigned long int resolution);
/**
* @brief Set frequency(in Hz) of 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 frequency set the frequency in Hz of each timer
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint32_t frequency);
/**
* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB)
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'X' is operator number selected
* @param duty set duty cycle in %(i.e for 62.3% duty cycle, duty = 62.3) of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, float duty);
/**
* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB) in us
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_in_us set duty value in microseconds of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, uint32_t duty_in_us);
/**
* @brief Set duty either active high or active low(out of phase/inverted)
* @note
* Call this function every time after mcpwm_set_signal_high or mcpwm_set_signal_low to resume with previously set duty cycle
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_type set active low or active high duty type
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, mcpwm_duty_type_t duty_type);
/**
* @brief Get frequency of 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
* - frequency of timer
*/
uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Get duty cycle of each operator
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
*
* @return
* - duty cycle in % of each operator(56.7 means duty is 56.7%)
*/
float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen);
/**
* @brief Get duty cycle of each operator in us
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
*
* @return
* - duty cycle in us of each operator
*/
uint32_t mcpwm_get_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen);
/**
* @brief Use this function to set MCPWM signal high
*
* @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 gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Use this function to set MCPWM signal low
*
* @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 gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Start MCPWM signal on timer 'x'
*
* @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_start(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Start MCPWM signal on timer 'x'
*
* @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_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Initialize carrier configuration
*
* @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_conf configure structure mcpwm_carrier_config_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_carrier_config_t *carrier_conf);
/**
* @brief Enable 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
*/
esp_err_t mcpwm_carrier_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @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
*/
esp_err_t mcpwm_carrier_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @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);
/**
* @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);
/**
* @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_output_action_t action_on_pwmxa, mcpwm_output_action_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_output_action_t action_on_pwmxa, mcpwm_output_action_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
*
* @note Enabling capture feature would also enable the capture interrupt event,
* users have to register an interrupt handler by `mcpwm_isr_register`, and in there, query the capture data.
* @note The capture timer uses APB_CLK (typically 80MHz) as the count source.
*
* @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 Input capture signal prescaling, ranges from 0 to 255, representing prescaling from 1 to 256.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
__attribute__((deprecated("please use mcpwm_capture_enable_channel instead")))
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
*/
__attribute__((deprecated("please use mcpwm_capture_disable_channel instead")))
esp_err_t mcpwm_capture_disable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
/**
* @brief Enable capture channel
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_channel capture channel, which needs to be enabled
* @param cap_conf capture channel configuration
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_capture_enable_channel(mcpwm_unit_t mcpwm_num, mcpwm_capture_channel_id_t cap_channel, const mcpwm_capture_config_t *cap_conf);
/**
* @brief Disable capture channel
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_channel capture channel, which needs to be disabled
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_capture_disable_channel(mcpwm_unit_t mcpwm_num, mcpwm_capture_channel_id_t cap_channel);
/**
* @brief Get capture value
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_sig capture channel 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 channel 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 and sets the signal that will cause the timer be loaded with pre-defined value
*
* @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 input signal
* @param phase_val phase value in 1/1000 (for 86.7%, phase_val = 867) which timer moves to on sync signal
*
* @note Count direction is undefined within this API
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
__attribute__((deprecated("please use mcpwm_sync_configure() instead")))
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 Initialize sync submodule and sets the signal that will cause the timer be loaded with pre-defined value
*
* @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_conf sync configuration on this timer
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_sync_configure(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_sync_config_t *sync_conf);
/**
* @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 Set sync output on given timer
* Configures what event triggers MCPWM timer to output a sync signal.
*
* @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 trigger set the trigger that will cause the timer to generate a software sync signal.
* Specifically, `MCPWM_SWSYNC_SOURCE_DISABLED` will disable the timer from generating sync signal.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_timer_sync_output(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_timer_sync_trigger_t trigger);
/**
* @brief Trigger a software sync event and sends it to a specific 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
*
* @note This software sync event will have the same effect as hw one, except that:
* - On esp32s3 the soft sync event can be routed to its output if `MCPWM_SWSYNC_SOURCE_SYNCIN` is selected via `mcpwm_set_timer_sync_output()`
* - On esp32 there is no such behavior and soft sync event will only take effect on this timer and can not be propagated to others.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Function pointer error.
*/
esp_err_t mcpwm_timer_trigger_soft_sync(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Set external GPIO sync input inverter
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param sync_sig set sync signal of MCPWM, only supports GPIO sync signal
* @param invert whether GPIO sync source input is inverted (to get negative edge trigger)
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Function pointer error.
*/
esp_err_t mcpwm_sync_invert_gpio_synchro(mcpwm_unit_t mcpwm_num, mcpwm_sync_signal_t sync_sig, bool invert);
/**
* @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 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 //SOC_MCPWM_SUPPORTED
版权声明：本文为CSDN博主「Allen953」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/qqliuzhitong/article/details/121510050
目录
本篇为乐鑫官方文档，地址：Motor Control Pulse Width Modulator (MCPWM) - ESP32 - — ESP-IDF 编程指南 latest 文档
前言
看下图可以非常清楚的看到ESP32 有两个 MCPWM 单元，分别是MCPWM_UNIT_0和MCPWM_UNIT_1。
每个 MCPWM 单元有三个定时器，分别是下图中的数字标号0，1，2。
每个定时器可以产生2路pwm，分别是下图中的A和B。
也就是说通过mcpwm最多可以产生2*3*2=12路（6对）pwm信号。可用于控制不同的电机。每个单元有三对 PWM 输出 。（从下图可以非常清晰的看到）
此外，在文章中，每个MCPWM单元的单个信号的输出标记为PWMxA/PWMxB。
例如MCPWM_UNIT_0的六路pwm输出，从上到下可以标记为PWM0A/PWM0B,PWM1A/PWM1B,PWM2A/PWM2B。MCPWM_UNIT_1同理。
MCPWM单元的更详细框图如下所示。每个A/B对可由三个定时器0、1和2中的任意一个定时器计时。同一定时器可用于对多对PWM输出进行计时。每个单元还能够收集同步信号等输入，检测电机过流或过压等故障信号，以及获取转子位置等捕捉信号的反馈。
本API的描述从配置MCPWM的定时器和发电机子模块开始，以提供基本的电机控制功能。然后讨论了故障处理器、信号捕获和载波的更高级子模块和功能。
目录
配置输出的基本功能
操作输出以驱动电机
调整电机的驱动方式
同步同步计时器以协同工作
捕获外部信号以提供对输出的额外控制
使用故障处理程序检测和管理故障
如果输出信号通过隔离变压器，则添加更高频率的载波
额外的分辨率配置
配置
配置范围取决于电机类型，特别是需要多少输出和输入，以及驱动电机的信号顺序。
在这种情况下，我们将描述一种简单的配置，用于控制仅使用部分可用MCPWM资源的有刷直流电机。下面显示了一个示例电路。它包括一个H桥，用于切换施加在电机（M）上的电压的极化，并提供足够的电流来驱动电机。
1.选择用于驱动电机的MCPWM装置。ESP32板上有两个可用单元，并在mcpwm_单元中列出。
2.通过调用mcpwm_gpio_init（）初始化两个gpio作为所选单元内的输出信号。这两个输出信号通常用于命令电机向右或向左旋转。mcpwm\u io\u signals\t中列出了所有可用的信号选项。要一次设置多个管脚，请将函数mcpwm_set_pin（）与mcpwm_pin_config_t一起使用。
3.定时器的选择。该装置内有三个定时器。定时器在mcpwm\u timer\t中列出。
4.在mcpwm配置结构内设置定时器频率和初始占空比。
5.如有必要，通过调用mcpwm_group_set_resolution（）和mcpwm_timer_set_resolution（）设置计时器分辨率
6.调用函数mcpwm_init()和上述参数，使配置生效
操作
例程1
#include "driver/mcpwm.h"
#include "soc/mcpwm_reg.h"
#include "soc/mcpwm_struct.h"
#define MOTO_GPIO1 18
#define MOTO_GPIO2 5
//步骤一：选择mcpwm_unit
#define MOTOR_MCPWM_UNIT MCPWM_UNIT_0
//初始化需要的四个gpio口
void setup(){
//步骤二：用选定的mcpwm_unit来初始化gpio口
mcpwm_gpio_init(MOTOR_MCPWM_UNIT, MCPWM0A, MOTO_GPIO1);
mcpwm_gpio_init(MOTOR_MCPWM_UNIT, MCPWM0B, MOTO_GPIO2);
//步骤三：用mcpwm_init()这个函数为这个mcpwm_unit选定一个定时器，
#define MOTO_TIMER MCPWM_TIMER_0
mcpwm_config_t pwm_config;
//步骤四：通过mcpwm_config_t结构体为定时器设置频率和初始值
pwm_config.frequency = 1000; //frequency = 500Hz,
pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 0
pwm_config.cmpr_b = 0; //duty cycle of PWMxb = 0
pwm_config.counter_mode = MCPWM_UP_COUNTER;
pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
//步骤五：调用mcpwm_init()函数使得配置生效
mcpwm_init(MOTOR_MCPWM_UNIT, MOTO_TIMER, &pwm_config); //Configure PWM0A & PWM0B with above settings
}
void loop(){
mcpwm_set_signal_low(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_A);
mcpwm_set_duty(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, 30);
mcpwm_set_duty_type(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
}
例程1解析
通过mcpwm_config_t结构体，我们可以新建一个mcpwm设置的结构体，进行相关设置，例如mcpwm的频率（frequency），
/**
* @brief MCPWM config structure
*/
typedef struct {
uint32_t frequency; /*!<Set frequency of MCPWM in Hz*/
float cmpr_a; /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
float cmpr_b; /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
mcpwm_duty_type_t duty_mode; /*!<设置占空比类型*/
mcpwm_counter_type_t counter_mode; /*!<设置MCPWM计数器类型*/
} mcpwm_config_t;接下来，就可以通过接口函数，设置对应的通道引脚为高、为低、或是有PWM波形。
通过调用 mcpwm _ set _ duty _ type ()可以改变 PWM 信号的相位，最后一个参数是表示mcpwm相位的，通过查看下面源码，我们可以看到这是个枚举类型。
typedef enum {
MCPWM_DUTY_MODE_0 = 0, /*!<Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM*/
MCPWM_DUTY_MODE_1, /*!<Active low duty, i.e. duty cycle proportional to low time for asymmetric MCPWM, out of phase(inverted) MCPWM*/
MCPWM_HAL_GENERATOR_MODE_FORCE_LOW,
MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH,
MCPWM_DUTY_MODE_MAX, /*!<占空比类型数*/
} mcpwm_duty_type_t;所以，需要注意的是mcpwm_set_duty和mcpwm_set_duty_type 这两个函数必须要同时调用来控制一个通道引脚上产生pwm波形 。毕竟想要控制波形不光要有占空比，还需要相位。
我们看上述例程中最后一行代码，其中MCPWM_DUTY_MODE_1代表高电平占空比，MCPWM_DUTY_MODE_0代表低电平占空比。
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, mcpwm_duty_type_t duty_type);我们来看看不同代码的效果：
mcpwm_set_duty(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, 30);
mcpwm_set_duty_type(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, MCPWM_DUTY_MODE_0);效果
mcpwm_set_duty(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, 30);
mcpwm_set_duty_type(MOTOR_MCPWM_UNIT, MOTO_TIMER, MCPWM_OPR_B, MCPWM_DUTY_MODE_1);效果
MCPWM.h
/*
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#include "soc/soc_caps.h"
#if SOC_MCPWM_SUPPORTED
#include "esp_err.h"
#include "soc/soc.h"
#include "driver/gpio.h"
#include "esp_intr_alloc.h"
#include "hal/mcpwm_types.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief IO signals for the MCPWM
*
* - 6 MCPWM output pins that generate PWM signals
* - 3 MCPWM fault input pins to detect faults like overcurrent, overvoltage, etc.
* - 3 MCPWM sync input pins to synchronize MCPWM outputs signals
* - 3 MCPWM capture input pins to gather feedback from controlled motors, using e.g. hall sensors
*/
typedef enum {
MCPWM0A = 0, /*!<PWM0A output pin*/
MCPWM0B, /*!<PWM0B output pin*/
MCPWM1A, /*!<PWM1A output pin*/
MCPWM1B, /*!<PWM1B output pin*/
MCPWM2A, /*!<PWM2A output pin*/
MCPWM2B, /*!<PWM2B output pin*/
MCPWM_SYNC_0, /*!<SYNC0 input pin*/
MCPWM_SYNC_1, /*!<SYNC1 input pin*/
MCPWM_SYNC_2, /*!<SYNC2 input pin*/
MCPWM_FAULT_0, /*!<FAULT0 input pin*/
MCPWM_FAULT_1, /*!<FAULT1 input pin*/
MCPWM_FAULT_2, /*!<FAULT2 input pin*/
MCPWM_CAP_0 = 84, /*!<CAP0 input pin*/
MCPWM_CAP_1, /*!<CAP1 input pin*/
MCPWM_CAP_2, /*!<CAP2 input pin*/
} mcpwm_io_signals_t;
/**
* @brief pin number for MCPWM
*/
typedef struct {
int mcpwm0a_out_num; /*!<MCPWM0A out pin*/
int mcpwm0b_out_num; /*!<MCPWM0A out pin*/
int mcpwm1a_out_num; /*!<MCPWM0A out pin*/
int mcpwm1b_out_num; /*!<MCPWM0A out pin*/
int mcpwm2a_out_num; /*!<MCPWM0A out pin*/
int mcpwm2b_out_num; /*!<MCPWM0A out pin*/
int mcpwm_sync0_in_num; /*!<SYNC0 in pin*/
int mcpwm_sync1_in_num; /*!<SYNC1 in pin*/
int mcpwm_sync2_in_num; /*!<SYNC2 in pin*/
int mcpwm_fault0_in_num; /*!<FAULT0 in pin*/
int mcpwm_fault1_in_num; /*!<FAULT1 in pin*/
int mcpwm_fault2_in_num; /*!<FAULT2 in pin*/
int mcpwm_cap0_in_num; /*!<CAP0 in pin*/
int mcpwm_cap1_in_num; /*!<CAP1 in pin*/
int mcpwm_cap2_in_num; /*!<CAP2 in pin*/
} mcpwm_pin_config_t;
/**
* @brief Select MCPWM unit
*/
typedef enum {
MCPWM_UNIT_0, /*!<MCPWM unit0 selected*/
MCPWM_UNIT_1, /*!<MCPWM unit1 selected*/
MCPWM_UNIT_MAX, /*!<Max number of MCPWM units*/
} mcpwm_unit_t;
_Static_assert(MCPWM_UNIT_MAX == SOC_MCPWM_GROUPS, "MCPWM unit number not equal to chip capabilities");
/**
* @brief Select MCPWM timer
*/
typedef enum {
MCPWM_TIMER_0, /*!<Select MCPWM timer0*/
MCPWM_TIMER_1, /*!<Select MCPWM timer1*/
MCPWM_TIMER_2, /*!<Select MCPWM timer2*/
MCPWM_TIMER_MAX, /*!<Max number of timers in a unit*/
} mcpwm_timer_t;
/**
* @brief Select MCPWM operator
*/
typedef enum {
MCPWM_GEN_A, /*!<Select MCPWMXA, where 'X' is operator number*/
MCPWM_GEN_B, /*!<Select MCPWMXB, where 'X' is operator number*/
MCPWM_GEN_MAX, /*!<Num of generators to each operator of MCPWM*/
} mcpwm_generator_t;
//definitions and macros to be back-compatible before IDFv4.1
#define MCPWM_OPR_A MCPWM_GEN_A ///< @deprecated
#define MCPWM_OPR_B MCPWM_GEN_B ///< @deprecated
#define MCPWM_OPR_MAX MCPWM_GEN_MAX ///< @deprecated
typedef mcpwm_generator_t mcpwm_operator_t; ///< @deprecated
/**
* @brief MCPWM carrier oneshot mode, in this mode the width of the first pulse of carrier can be programmed
*/
typedef enum {
MCPWM_ONESHOT_MODE_DIS, /*!<Enable oneshot mode*/
MCPWM_ONESHOT_MODE_EN, /*!<Disable oneshot mode*/
} mcpwm_carrier_os_t;
/**
* @brief MCPWM carrier output inversion, high frequency carrier signal active with MCPWM signal is high
*/
typedef enum {
MCPWM_CARRIER_OUT_IVT_DIS, /*!<Enable carrier output inversion*/
MCPWM_CARRIER_OUT_IVT_EN, /*!<Disable carrier output inversion*/
} mcpwm_carrier_out_ivt_t;
/**
* @brief MCPWM select fault signal input
*/
typedef enum {
MCPWM_SELECT_F0, /*!<Select F0 as input*/
MCPWM_SELECT_F1, /*!<Select F1 as input*/
MCPWM_SELECT_F2, /*!<Select F2 as input*/
} mcpwm_fault_signal_t;
/**
* @brief MCPWM select sync signal input
*/
typedef enum {
MCPWM_SELECT_NO_INPUT, /*!<No sync input selected*/
MCPWM_SELECT_TIMER0_SYNC, /*!<Select software sync signal from timer0 as input*/
MCPWM_SELECT_TIMER1_SYNC, /*!<Select software sync signal from timer1 as input*/
MCPWM_SELECT_TIMER2_SYNC, /*!<Select software sync signal from timer2 as input*/
MCPWM_SELECT_GPIO_SYNC0, /*!<Select GPIO SYNC0 as input*/
MCPWM_SELECT_GPIO_SYNC1, /*!<Select GPIO SYNC1 as input*/
MCPWM_SELECT_GPIO_SYNC2, /*!<Select GPIO SYNC2 as input*/
} mcpwm_sync_signal_t;
// backward compatibility
#define MCPWM_SELCT_SYNC0 MCPWM_SELCT_GPIO_SYNC0
#define MCPWM_SELCT_SYNC1 MCPWM_SELCT_GPIO_SYNC1
#define MCPWM_SELCT_SYNC2 MCPWM_SELCT_GPIO_SYNC2
/**
* @brief MCPWM timer sync event trigger
*/
typedef enum {
MCPWM_SWSYNC_SOURCE_SYNCIN, /*!<the input sync signal will be routed to its sync output path*/
MCPWM_SWSYNC_SOURCE_TEZ, /*!<sync signal generated when timer counts to zero*/
MCPWM_SWSYNC_SOURCE_TEP, /*!<sync signal generated when timer counts to peak*/
MCPWM_SWSYNC_SOURCE_DISABLED, /*!<timer does not generate sync signals*/
} mcpwm_timer_sync_trigger_t;
/**
* @brief MCPWM select triggering level of fault signal
*/
typedef enum {
MCPWM_LOW_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes from high to low*/
MCPWM_HIGH_LEVEL_TGR, /*!<Fault condition occurs when fault input signal goes low to high*/
} mcpwm_fault_input_level_t;
/**
* @brief MCPWM select capture starts from which edge
*/
typedef enum {
MCPWM_NEG_EDGE = BIT(0), /*!<Capture the negative edge*/
MCPWM_POS_EDGE = BIT(1), /*!<Capture the positive edge*/
MCPWM_BOTH_EDGE = BIT(1) | BIT(0), /*!<Capture both edges*/
} mcpwm_capture_on_edge_t;
/**
* @brief Interrupt masks for MCPWM capture
*/
typedef enum {
MCPWM_LL_INTR_CAP0 = BIT(27), ///< Capture 0 happened
MCPWM_LL_INTR_CAP1 = BIT(28), ///< Capture 1 happened
MCPWM_LL_INTR_CAP2 = BIT(29), ///< Capture 2 happened
} mcpwm_intr_t;
/**
* @brief Select type of MCPWM counter
*/
typedef enum {
MCPWM_FREEZE_COUNTER, /*!<Counter freeze */
MCPWM_UP_COUNTER, /*!<For asymmetric MCPWM*/
MCPWM_DOWN_COUNTER, /*!<For asymmetric MCPWM*/
MCPWM_UP_DOWN_COUNTER, /*!<For symmetric MCPWM, frequency is half of MCPWM frequency set*/
MCPWM_COUNTER_MAX, /*!<Maximum counter mode*/
} mcpwm_counter_type_t;
/**
* @brief Select type of MCPWM duty cycle mode
*/
typedef enum {
MCPWM_DUTY_MODE_0 = 0, /*!<Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM*/
MCPWM_DUTY_MODE_1, /*!<Active low duty, i.e. duty cycle proportional to low time for asymmetric MCPWM, out of phase(inverted) MCPWM*/
MCPWM_HAL_GENERATOR_MODE_FORCE_LOW,
MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH,
MCPWM_DUTY_MODE_MAX, /*!<Num of duty cycle modes*/
} mcpwm_duty_type_t;
/**
* @brief MCPWM deadtime types, used to generate deadtime, RED refers to rising edge delay and FED refers to falling edge delay
*/
typedef enum {
MCPWM_DEADTIME_BYPASS = 0, /*!<Bypass the deadtime*/
MCPWM_BYPASS_RED, /*!<MCPWMXA Out = MCPWMXA In with no delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
MCPWM_BYPASS_FED, /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB Out = MCPWMXB In with no delay*/
MCPWM_ACTIVE_HIGH_MODE, /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
MCPWM_ACTIVE_LOW_MODE, /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay, MCPWMXB Out = MCPWMXA In with compliment of falling edge delay*/
MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, /*!<MCPWMXA Out = MCPWMXA In with rising edge delay, MCPWMXB = MCPWMXA In with compliment of falling edge delay*/
MCPWM_ACTIVE_LOW_COMPLIMENT_MODE, /*!<MCPWMXA Out = MCPWMXA In with compliment of rising edge delay, MCPWMXB Out = MCPWMXA In with falling edge delay*/
MCPWM_ACTIVE_RED_FED_FROM_PWMXA, /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXA In with rising edge delay as well as falling edge delay*/
MCPWM_ACTIVE_RED_FED_FROM_PWMXB, /*!<MCPWMXA Out = MCPWMXB Out = MCPWMXB In with rising edge delay as well as falling edge delay*/
MCPWM_DEADTIME_TYPE_MAX, /*!<Maximum number of supported dead time modes*/
} mcpwm_deadtime_type_t;
/**
* @brief MCPWM select action to be taken on the output when event happens
*/
typedef enum {
MCPWM_ACTION_NO_CHANGE = 0, /*!<No change in the output*/
MCPWM_ACTION_FORCE_LOW, /*!<Make output low*/
MCPWM_ACTION_FORCE_HIGH, /*!<Make output high*/
MCPWM_ACTION_TOGGLE, /*!<Make output toggle*/
} mcpwm_output_action_t;
/// @deprecated MCPWM select action to be taken on MCPWMXA when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxa_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXA MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXA output*/
#define MCPWM_FORCE_MCPWMXA_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXA output low*/
#define MCPWM_FORCE_MCPWMXA_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXA output high*/
#define MCPWM_TOG_MCPWMXA MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXA output toggle*/
/// @deprecated MCPWM select action to be taken on MCPWMXB when fault occurs
typedef mcpwm_output_action_t mcpwm_action_on_pwmxb_t;
#define MCPWM_NO_CHANGE_IN_MCPWMXB MCPWM_ACTION_NO_CHANGE /*!< @deprecated No change in MCPWMXB output*/
#define MCPWM_FORCE_MCPWMXB_LOW MCPWM_ACTION_FORCE_LOW /*!< @deprecated Make MCPWMXB output low*/
#define MCPWM_FORCE_MCPWMXB_HIGH MCPWM_ACTION_FORCE_HIGH /*!< @deprecated Make MCPWMXB output high*/
#define MCPWM_TOG_MCPWMXB MCPWM_ACTION_TOGGLE /*!< @deprecated Make MCPWMXB output toggle*/
/**
* @brief MCPWM select capture signal input
*/
typedef enum {
MCPWM_SELECT_CAP0, /*!<Select CAP0 as input*/
MCPWM_SELECT_CAP1, /*!<Select CAP1 as input*/
MCPWM_SELECT_CAP2, /*!<Select CAP2 as input*/
} mcpwm_capture_signal_t;
/**
* @brief MCPWM capture channel ID alias
*/
typedef mcpwm_capture_signal_t mcpwm_capture_channel_id_t;
/**
* @brief event data that will be passed into ISR callback
*/
typedef struct {
mcpwm_capture_on_edge_t cap_edge; /*!<Which signal edge is detected*/
uint32_t cap_value; /*!<Corresponding timestamp when event occurs. Clock rate = APB(usually 80M)*/
} cap_event_data_t;
/**
* @brief Type of capture event callback
* @param mcpwm MCPWM unit(0-1)
* @param cap_channel capture channel ID
* @param edata Capture event data, contains capture edge and capture value, fed by the driver
* @param user_data User registered data, passed from `mcpwm_capture_config_t`
*
* @note Since this an ISR callback so do not do anything that may block and call APIs that is designed to be used within ISR(usually has '_ISR' postfix)
*
* @return Whether a task switch is needed after the callback function returns,
* this is usually due to the callback wakes up some high priority task.
*
*/
typedef bool (*cap_isr_cb_t)(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_channel, const cap_event_data_t *edata,
void *user_data);
/**
* @brief MCPWM config structure
*/
typedef struct {
uint32_t frequency; /*!<Set frequency of MCPWM in Hz*/
float cmpr_a; /*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
float cmpr_b; /*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
mcpwm_duty_type_t duty_mode; /*!<Set type of duty cycle*/
mcpwm_counter_type_t counter_mode; /*!<Set type of MCPWM counter*/
} mcpwm_config_t;
/**
* @brief MCPWM carrier configuration structure
*/
typedef struct {
uint8_t carrier_period; /*!<Set carrier period = (carrier_period + 1)*800ns, carrier_period should be < 16*/
uint8_t carrier_duty; /*!<Set carrier duty cycle, carrier_duty should be less than 8 (increment every 12.5%)*/
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*/
mcpwm_carrier_os_t carrier_os_mode; /*!<Enable or disable carrier oneshot mode*/
mcpwm_carrier_out_ivt_t carrier_ivt_mode; /*!<Invert output of carrier*/
} mcpwm_carrier_config_t;
/**
* @brief MCPWM config capture structure
*/
typedef struct {
mcpwm_capture_on_edge_t cap_edge; /*!<Set capture edge*/
uint32_t cap_prescale; /*!<Prescale of capture signal, ranging from 1 to 256*/
cap_isr_cb_t capture_cb; /*!<User defined capture event callback, running under interrupt context */
void *user_data; /*!<User defined ISR callback function args*/
} mcpwm_capture_config_t;
/**
* @brief MCPWM config sync structure
*/
typedef struct {
mcpwm_sync_signal_t sync_sig; /*!<Set sync input signal that will cause timer to sync*/
uint32_t timer_val; /*!<Counter value to be set after sync, in 0 ~ 999, unit: 1 / 1000 * peak*/
mcpwm_timer_direction_t count_direction; /*!<Counting direction to be set after sync */
} mcpwm_sync_config_t;
/**
* @brief This function initializes each gpio signal for MCPWM
*
* @note This function initializes one gpio at a time.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param io_signal set MCPWM signals, each MCPWM unit has 6 output(MCPWMXA, MCPWMXB) and 9 input(SYNC_X, FAULT_X, CAP_X)
* 'X' is timer_num(0-2)
* @param gpio_num set this to configure gpio for MCPWM, if you want to use gpio16, gpio_num = 16
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal, int gpio_num);
/**
* @brief Initialize MCPWM gpio structure
*
* @note This function initialize a group of MCPWM GPIOs at a time.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param mcpwm_pin MCPWM pin structure
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_pin);
/**
* @brief Initialize MCPWM parameters
* @note
* The default resolution configured for MCPWM group and timer are 160M / 16 = 10M and 10M / 10 = 1M
* The default resolution can be changed by calling mcpwm_group_set_resolution() and mcpwm_timer_set_resolution(),
* before calling this function.
*
* @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 mcpwm_conf configure structure mcpwm_config_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_init( mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_config_t *mcpwm_conf);
/**
* @brief Set resolution of the MCPWM group
* @note
* This will override default resolution of group(=10,000,000).
* This WILL NOT automatically update frequency and duty. Call mcpwm_set_frequency() and mcpwm_set_duty() manually
* to set them back.
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param resolution set expected frequency resolution
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_group_set_resolution(mcpwm_unit_t mcpwm_num, unsigned long int resolution);
/**
* @brief Set resolution of each timer
* @note
* This WILL override default resolution of timer(=1,000,000).
* This WILL NOT automatically update frequency and duty. Call mcpwm_set_frequency() and mcpwm_set_duty() manually
* to set them back.
*
* @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 resolution set expected frequency resolution
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_timer_set_resolution(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, unsigned long int resolution);
/**
* @brief Set frequency(in Hz) of 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 frequency set the frequency in Hz of each timer
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint32_t frequency);
/**
* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB)
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'X' is operator number selected
* @param duty set duty cycle in %(i.e for 62.3% duty cycle, duty = 62.3) of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, float duty);
/**
* @brief Set duty cycle of each operator(MCPWMXA/MCPWMXB) in us
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_in_us set duty value in microseconds of each operator
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, uint32_t duty_in_us);
/**
* @brief Set duty either active high or active low(out of phase/inverted)
* @note
* Call this function every time after mcpwm_set_signal_high or mcpwm_set_signal_low to resume with previously set duty cycle
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
* @param duty_type set active low or active high duty type
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen, mcpwm_duty_type_t duty_type);
/**
* @brief Get frequency of 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
* - frequency of timer
*/
uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Get duty cycle of each operator
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
*
* @return
* - duty cycle in % of each operator(56.7 means duty is 56.7%)
*/
float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen);
/**
* @brief Get duty cycle of each operator in us
*
* @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 gen set the generator(MCPWMXA/MCPWMXB), 'x' is operator number selected
*
* @return
* - duty cycle in us of each operator
*/
uint32_t mcpwm_get_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t gen);
/**
* @brief Use this function to set MCPWM signal high
*
* @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 gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Use this function to set MCPWM signal low
*
* @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 gen set the operator(MCPWMXA/MCPWMXB), 'x' is timer number selected
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_generator_t gen);
/**
* @brief Start MCPWM signal on timer 'x'
*
* @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_start(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Start MCPWM signal on timer 'x'
*
* @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_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Initialize carrier configuration
*
* @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_conf configure structure mcpwm_carrier_config_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_carrier_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_carrier_config_t *carrier_conf);
/**
* @brief Enable 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
*/
esp_err_t mcpwm_carrier_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @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
*/
esp_err_t mcpwm_carrier_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @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);
/**
* @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);
/**
* @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_output_action_t action_on_pwmxa, mcpwm_output_action_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_output_action_t action_on_pwmxa, mcpwm_output_action_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
*
* @note Enabling capture feature would also enable the capture interrupt event,
* users have to register an interrupt handler by `mcpwm_isr_register`, and in there, query the capture data.
* @note The capture timer uses APB_CLK (typically 80MHz) as the count source.
*
* @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 Input capture signal prescaling, ranges from 0 to 255, representing prescaling from 1 to 256.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
__attribute__((deprecated("please use mcpwm_capture_enable_channel instead")))
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
*/
__attribute__((deprecated("please use mcpwm_capture_disable_channel instead")))
esp_err_t mcpwm_capture_disable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig);
/**
* @brief Enable capture channel
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_channel capture channel, which needs to be enabled
* @param cap_conf capture channel configuration
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_capture_enable_channel(mcpwm_unit_t mcpwm_num, mcpwm_capture_channel_id_t cap_channel, const mcpwm_capture_config_t *cap_conf);
/**
* @brief Disable capture channel
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_channel capture channel, which needs to be disabled
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_capture_disable_channel(mcpwm_unit_t mcpwm_num, mcpwm_capture_channel_id_t cap_channel);
/**
* @brief Get capture value
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param cap_sig capture channel 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 channel 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 and sets the signal that will cause the timer be loaded with pre-defined value
*
* @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 input signal
* @param phase_val phase value in 1/1000 (for 86.7%, phase_val = 867) which timer moves to on sync signal
*
* @note Count direction is undefined within this API
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
__attribute__((deprecated("please use mcpwm_sync_configure() instead")))
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 Initialize sync submodule and sets the signal that will cause the timer be loaded with pre-defined value
*
* @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_conf sync configuration on this timer
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_sync_configure(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_sync_config_t *sync_conf);
/**
* @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 Set sync output on given timer
* Configures what event triggers MCPWM timer to output a sync signal.
*
* @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 trigger set the trigger that will cause the timer to generate a software sync signal.
* Specifically, `MCPWM_SWSYNC_SOURCE_DISABLED` will disable the timer from generating sync signal.
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t mcpwm_set_timer_sync_output(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_timer_sync_trigger_t trigger);
/**
* @brief Trigger a software sync event and sends it to a specific 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
*
* @note This software sync event will have the same effect as hw one, except that:
* - On esp32s3 the soft sync event can be routed to its output if `MCPWM_SWSYNC_SOURCE_SYNCIN` is selected via `mcpwm_set_timer_sync_output()`
* - On esp32 there is no such behavior and soft sync event will only take effect on this timer and can not be propagated to others.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Function pointer error.
*/
esp_err_t mcpwm_timer_trigger_soft_sync(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num);
/**
* @brief Set external GPIO sync input inverter
*
* @param mcpwm_num set MCPWM unit(0-1)
* @param sync_sig set sync signal of MCPWM, only supports GPIO sync signal
* @param invert whether GPIO sync source input is inverted (to get negative edge trigger)
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_ARG Function pointer error.
*/
esp_err_t mcpwm_sync_invert_gpio_synchro(mcpwm_unit_t mcpwm_num, mcpwm_sync_signal_t sync_sig, bool invert);
/**
* @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 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 //SOC_MCPWM_SUPPORTED
版权声明：本文为CSDN博主「Allen953」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/qqliuzhitong/article/details/121510050
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