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Merge branch 'feat/esp_simplefoc_support_6pwm_driver' into 'master'
feat: esp_simplefoc support 6pwm driver Closes AEGHB-889 See merge request ae_group/esp-iot-solution!1153
2 parents b7c99f5 + b4f0387 commit df435c4

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‎components/motor/esp_simplefoc/CHANGELOG.md‎

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# ChangeLog
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## v1.1.0 - 2024-11-26
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### Enhancements:
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* FOC:
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* Support 6PWM driver. Note that only chips that support ``MCPWM`` can use 6PWM driver.
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## v1.0.0 - 2024-9-20
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### Enhancements:
510
* FOC:

‎components/motor/esp_simplefoc/CMakeLists.txt‎

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@@ -9,8 +9,12 @@ set(SRC_FILES
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"port/angle_sensor/mt6701.cpp"
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"port/angle_sensor/as5048a.cpp")
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if(CONFIG_SOC_MCPWM_SUPPORTED)
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list(APPEND SRC_FILES "port/esp/esp_hal_bldc_6pwm.cpp")
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endif()
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set(INC_FILES "port/esp/include/" "port/angle_sensor")
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set(IGNORE_FILES "port/esp/esp_hal_adc.cpp" "port/esp/esp_hal_mcpwm.cpp"
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set(IGNORE_FILES "port/esp/esp_hal_adc.cpp" "port/esp/esp_hal_bldc_6pwm.cpp"
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"port/esp/esp_hal_bldc_3pwm.cpp" "port/angle_sensor/mt6701.cpp" "port/angle_sensor/as5048a.cpp")
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idf_component_register(

‎components/motor/esp_simplefoc/idf_component.yml‎

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version: 1.0.0
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version: 1.1.0
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targets:
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- esp32
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- esp32s2

‎components/motor/esp_simplefoc/port/esp/esp_hal_bldc_6pwm.cpp‎

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/*
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* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "esp_hal_bldc_6pwm.h"
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#include "esp_log.h"
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#include "esp_check.h"
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#define _PWM_FREQUENCY 20000 /*!< default frequency of MCPWM */
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#define _PWM_FREQUENCY_MAX 50000 /*!< Max frequency of MCPWM */
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#define _PWM_TIMEBASE_RESOLUTION_HZ (10 * 1000 * 1000) /*!< Resolution of MCPWM */
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static const char* TAG = "esp_hal_bldc_6pwm";
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BLDCDriver6PWM::BLDCDriver6PWM(int phA_h, int phA_l, int phB_h, int phB_l, int phC_h, int phC_l, int en, int mcpwm_group_id)
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{
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pwmA_h = phA_h;
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pwmB_h = phB_h;
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pwmC_h = phC_h;
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pwmA_l = phA_l;
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pwmB_l = phB_l;
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pwmC_l = phC_l;
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// enable_pin pin
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enable_pin = en;
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// default power-supply value
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voltage_power_supply = DEF_POWER_SUPPLY;
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voltage_limit = NOT_SET;
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pwm_frequency = NOT_SET;
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// dead zone initial - 2%
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dead_zone = 0.02f;
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this->mcpwm_group_id = mcpwm_group_id;
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}
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void BLDCDriver6PWM::enable()
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{
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// enable_pin the driver - if enable_pin pin available
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if (_isset(enable_pin)) {
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digitalWrite(enable_pin, enable_active_high);
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}
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// set phase state enabled
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setPhaseState(PhaseState::PHASE_ON, PhaseState::PHASE_ON, PhaseState::PHASE_ON);
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// set zero to PWM
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setPwm(0, 0, 0);
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}
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void BLDCDriver6PWM::disable()
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{
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// set phase state to disabled
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setPhaseState(PhaseState::PHASE_OFF, PhaseState::PHASE_OFF, PhaseState::PHASE_OFF);
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// set zero to PWM
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setPwm(0, 0, 0);
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// disable the driver - if enable_pin pin available
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if (_isset(enable_pin)) {
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digitalWrite(enable_pin, !enable_active_high);
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}
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}
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int BLDCDriver6PWM::init()
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{
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// PWM pins
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pinMode(pwmA_h, OUTPUT);
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pinMode(pwmB_h, OUTPUT);
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pinMode(pwmC_h, OUTPUT);
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pinMode(pwmA_l, OUTPUT);
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pinMode(pwmB_l, OUTPUT);
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pinMode(pwmC_l, OUTPUT);
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if (_isset(enable_pin)) {
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pinMode(enable_pin, OUTPUT);
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}
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// sanity check for the voltage limit configuration
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if (!_isset(voltage_limit) || voltage_limit > voltage_power_supply) {
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voltage_limit = voltage_power_supply;
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}
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// set phase state to disabled
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phase_state[0] = PhaseState::PHASE_OFF;
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phase_state[1] = PhaseState::PHASE_OFF;
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phase_state[2] = PhaseState::PHASE_OFF;
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// set zero to PWM
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dc_a = dc_b = dc_c = 0;
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// configure 6pwm
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// hardware specific function - depending on driver and mcu
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if (mcpwm_group_id < 0 || mcpwm_group_id >= SOC_MCPWM_GROUPS) {
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ESP_LOGE(TAG, "MCPWM group id: %d is not available\n", mcpwm_group_id);
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return 0;
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}
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// Init mcpwm driver
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mcpwm_timer_config_t timer_config = {
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.group_id = mcpwm_group_id,
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.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
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.resolution_hz = _PWM_TIMEBASE_RESOLUTION_HZ,
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.count_mode = MCPWM_TIMER_COUNT_MODE_UP_DOWN,
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.period_ticks = (uint32_t)(1 * _PWM_TIMEBASE_RESOLUTION_HZ / _PWM_FREQUENCY),
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};
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ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer));
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mcpwm_operator_config_t operator_config = {
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.group_id = mcpwm_group_id,
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};
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for (int i = 0; i < 3; i++) {
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ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config, &oper[i]));
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ESP_ERROR_CHECK(mcpwm_operator_connect_timer(oper[i], timer));
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}
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mcpwm_comparator_config_t comparator_config = {0};
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comparator_config.flags.update_cmp_on_tez = true;
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comparator_config.flags.update_cmp_on_tep = false;
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comparator_config.flags.update_cmp_on_sync = false;
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for (int i = 0; i < 3; i++) {
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ESP_ERROR_CHECK(mcpwm_new_comparator(oper[i], &comparator_config, &comparator[i]));
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ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator[i], (0)));
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}
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mcpwm_generator_config_t generator_config = {};
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int gen_gpios[3][2] = {
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{pwmA_h, pwmA_l},
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{pwmB_h, pwmB_l},
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{pwmC_h, pwmC_l},
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};
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 2; j++) {
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generator_config.gen_gpio_num = gen_gpios[i][j];
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ESP_ERROR_CHECK(mcpwm_new_generator(oper[i], &generator_config, &generator[i][j]));
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}
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}
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for (int i = 0; i < 3; i++) {
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ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(generator[i][0],
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator[i], MCPWM_GEN_ACTION_LOW),
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MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comparator[i], MCPWM_GEN_ACTION_HIGH),
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MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
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}
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mcpwm_dead_time_config_t dt_config = {
148+
.posedge_delay_ticks = (uint32_t)(dead_zone * timer_config.period_ticks),
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};
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151+
mcpwm_dead_time_config_t inv_dt_config = {
152+
.negedge_delay_ticks = (uint32_t)(dead_zone * timer_config.period_ticks),
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};
154+
inv_dt_config.flags.invert_output = true;
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156+
for (int i = 0; i < 3; i++) {
157+
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator[i][0], generator[i][0], &dt_config));
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ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator[i][0], generator[i][1], &inv_dt_config));
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}
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// enable mcpwm
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ESP_ERROR_CHECK(mcpwm_timer_enable(timer));
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ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
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// save timer period
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mcpwm_period = timer_config.period_ticks / 2;
167+
initialized = 1;
168+
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return 1;
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}
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int BLDCDriver6PWM::deinit()
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{
174+
if (initialized) {
175+
ESP_ERROR_CHECK(mcpwm_timer_disable(timer));
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for (int i = 0; i < 3; i++) {
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ESP_ERROR_CHECK(mcpwm_del_generator(generator[i][0]));
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ESP_ERROR_CHECK(mcpwm_del_generator(generator[i][1]));
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ESP_ERROR_CHECK(mcpwm_del_comparator(comparator[i]));
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ESP_ERROR_CHECK(mcpwm_del_operator(oper[i]));
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}
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ESP_ERROR_CHECK(mcpwm_del_timer(timer));
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initialized = 0;
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return 1;
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}
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return 0;
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}
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void BLDCDriver6PWM::setPwm(float Ua, float Ub, float Uc)
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{
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// limit the voltage in driver
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Ua = _constrain(Ua, 0, voltage_limit);
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Ub = _constrain(Ub, 0, voltage_limit);
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Uc = _constrain(Uc, 0, voltage_limit);
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// calculate duty cycle
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// limited in [0,1]
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dc_a = _constrain(Ua / voltage_power_supply, 0.0f, 1.0f);
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dc_b = _constrain(Ub / voltage_power_supply, 0.0f, 1.0f);
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dc_c = _constrain(Uc / voltage_power_supply, 0.0f, 1.0f);
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// hardware specific writing
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// hardware specific function - depending on driver and mcu
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halPwmWrite();
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}
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void BLDCDriver6PWM::setPhaseState(PhaseState sa, PhaseState sb, PhaseState sc)
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{
209+
phase_state[0] = sa;
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phase_state[1] = sb;
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phase_state[2] = sc;
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}
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void BLDCDriver6PWM::halPwmWrite()
215+
{
216+
if (!initialized) {
217+
return;
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}
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ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator[0], (uint32_t)((mcpwm_period * dc_a))));
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ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator[1], (uint32_t)((mcpwm_period * dc_b))));
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ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator[2], (uint32_t)((mcpwm_period * dc_c))));
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}

‎components/motor/esp_simplefoc/port/esp/include/esp_hal_bldc_6pwm.h‎

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/*
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* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include "BLDCDriver.h"
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#include "foc_utils.h"
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#include "time_utils.h"
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#include "defaults.h"
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#include "drivers/hardware_api.h"
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#include "driver/mcpwm_prelude.h"
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class BLDCDriver6PWM : public BLDCDriver {
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public:
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/**
18+
* @brief Construct a new BLDCDriver6PWM object
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*
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* @param phA_h High-side PWM pin for phase A
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* @param phA_l Low-side PWM pin for phase A
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* @param phB_h High-side PWM pin for phase B
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* @param phB_l Low-side PWM pin for phase B
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* @param phC_h High-side PWM pin for phase C
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* @param phC_l Low-side PWM pin for phase C
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* @param en Optional enable pin (default: NOT_SET)
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* @param mcpwm_group_id The MCPWM group ID to be used (default: 0)
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*/
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BLDCDriver6PWM(int phA_h, int phA_l, int phB_h, int phB_l, int phC_h, int phC_l, int en = NOT_SET, int mcpwm_group_id = 0);
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/**
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* @brief Motor hardware init function
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*
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* @return
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* - 0 Failed
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* - 1 Success
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*/
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int init() override;
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/**
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* @brief Motor hardware deinit function
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*
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* @return
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* - 0 Failed
45+
* - 1 Success
46+
*/
47+
int deinit();
48+
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/**
50+
* @brief Motor disable function
51+
*
52+
*/
53+
void disable() override;
54+
55+
/**
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* @brief Motor enable function
57+
*
58+
*/
59+
void enable() override;
60+
61+
// hardware variables
62+
int pwmA_h, pwmA_l; /*!< phase A pwm pin number */
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int pwmB_h, pwmB_l; /*!< phase B pwm pin number */
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int pwmC_h, pwmC_l; /*!< phase C pwm pin number */
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int enable_pin; /*!< enable pin number */
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int mcpwm_group_id; /*!< mcpwm group id */
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bool enable_active_high = true;
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float dead_zone; /*!< a percentage of dead-time(zone) (both high and low side in low) for each pwm cycle [0,1] */
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PhaseState phase_state[3]; /*!< phase state (active / disabled) */
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/**
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* @brief Set voltage to the pwm pin
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*
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* @param Ua phase A voltage
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* @param Ub phase B voltage
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* @param Uc phase C voltage
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*/
78+
void setPwm(float Ua, float Ub, float Uc) override;
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/**
81+
* @brief Set the phase state
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*
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* @param sa phase A state
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* @param sb phase B state
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* @param sc phase C state
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*/
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virtual void setPhaseState(PhaseState sa, PhaseState sb, PhaseState sc) override;
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/**
90+
* @brief PWM generating function
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*
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*/
93+
void halPwmWrite();
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private:
96+
uint32_t mcpwm_period;
97+
mcpwm_timer_handle_t timer = NULL;
98+
mcpwm_oper_handle_t oper[3];
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mcpwm_cmpr_handle_t comparator[3];
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mcpwm_gen_handle_t generator[3][2];
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};

‎components/motor/esp_simplefoc/port/esp/include/esp_simplefoc.h‎

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#include "esp_platform.h"
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#include "BLDCMotor.h"
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#include "esp_hal_bldc_3pwm.h"
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#include "esp_hal_bldc_6pwm.h"
1112
#include "communication/SimpleFOCDebug.h"
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#include "communication/Commander.h"
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#include "sensors/GenericSensor.h"

‎components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp‎

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as5048a.deinit();
7979
}
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81+
#if CONFIG_SOC_MCPWM_SUPPORTED
82+
TEST_CASE("test 6pwm driver", "[driver][6pwm]")
83+
{
84+
BLDCDriver6PWM driver = BLDCDriver6PWM(1, 2, 3, 4, 5, 6);
85+
TEST_ASSERT_EQUAL(driver.init(), 1);
86+
driver.dc_a = 0.2;
87+
driver.dc_b = 0.4;
88+
driver.dc_c = 0.8;
89+
90+
driver.halPwmWrite();
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vTaskDelay(2000 / portTICK_PERIOD_MS);
92+
driver.deinit();
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}
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#endif
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8196
TEST_CASE("test esp_simplefoc openloop control", "[single motor][openloop][14pp][ledc][drv8313][c3]")
8297
{
8398
BLDCMotor motor = BLDCMotor(14);

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