FIX latest

Author: askuric

src/drivers/hardware_specific/esp32_mcu.cpp

@@ -238,6 +238,41 @@ void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, in
   }
 }
 
+// configuring high frequency pwm timer
+// https://hackaday.io/project/169905-esp-32-bldc-robot-actuator-controller/log/184464-mcpwm-with-deadband
+void _configureTimerFrequency6PWM(long pwm_frequency, mcpwm_dev_t* mcpwm_num,  mcpwm_unit_t mcpwm_unit){
+  
+  mcpwm_config_t pwm_config;
+  pwm_config.frequency = 4000;  // frequency = 20000Hz
+  pwm_config.cmpr_a = 50.0; // duty cycle of PWMxA = 50.0%
+  pwm_config.cmpr_b = 50.0; // duty cycle of PWMxB = 50.0%
+  pwm_config.counter_mode = MCPWM_UP_COUNTER; // Up-down counter (triangle wave)
+  pwm_config.duty_mode = MCPWM_DUTY_MODE_0; // Active HIGH
+  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); // Configure PWM0A & PWM0B with above settings
+  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config); // Configure PWM0A & PWM0B with above settings
+  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_2, &pwm_config); // Configure PWM0A & PWM0B with above settings
+  
+  mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40); 
+  mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40);   
+  mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40);
+
+  mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_SELECT_SYNC_INT0, 0);
+  mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_SELECT_SYNC_INT0, 0);
+  mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_SELECT_SYNC_INT0, 0);
+
+  MCPWM0.timer[0].sync.out_sel = 1;
+  delayMicroseconds(1000);
+  MCPWM0.timer[0].sync.out_sel = 0;
+
+  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 50);
+  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, 50);
+  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, 50);
+  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_B, 50);
+  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_A, 50);
+  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_B, 50);
+}
+
+
 // Configuring PWM frequency, resolution and alignment
 // - BLDC driver - 6PWM setting
 // - hardware specific
@@ -294,40 +329,6 @@ int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const
 }
 
 
-// configuring high frequency pwm timer
-// https://hackaday.io/project/169905-esp-32-bldc-robot-actuator-controller
-void _configureTimerFrequency6PWM(long pwm_frequency, mcpwm_dev_t* mcpwm_num,  mcpwm_unit_t mcpwm_unit){
-  
-  mcpwm_config_t pwm_config;
-  
-  pwm_config.frequency = 4000;  //frequency = 20000Hz
-  pwm_config.cmpr_a = 50.0;      //duty cycle of PWMxA = 50.0%
-  pwm_config.cmpr_b = 50.0;      //duty cycle of PWMxB = 50.0%
-  pwm_config.counter_mode = MCPWM_UP_COUNTER; //MCPWM_UP_DOWN_COUNTER; // Up-down counter (triangle wave)
-  pwm_config.duty_mode = MCPWM_DUTY_MODE_0; // Active HIGH
-  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);    //Configure PWM0A & PWM0B with above settings
-  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config);    //Configure PWM0A & PWM0B with above settings
-  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_2, &pwm_config);    //Configure PWM0A & PWM0B with above settings
-  mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40); 
-  mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40);   
-  mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40);
-
-  mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_SELECT_SYNC_INT0, 0);
-  mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_SELECT_SYNC_INT0, 0);
-  mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_SELECT_SYNC_INT0, 0);
-
-  MCPWM0.timer[0].sync.out_sel = 1;
-  delayMicroseconds(1000);
-  MCPWM0.timer[0].sync.out_sel = 0;
-  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 50);
-  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, 50);
-  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, 50);
-  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_B, 50);
-  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_A, 50);
-  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_B, 50);
-}
-
-
 // Function setting the duty cycle to the pwm pin (ex. analogWrite())
 // - BLDC driver - 6PWM setting
 // - hardware specific