FEAT eps32 6pwm implementation

Author: askuric

README.md

@@ -16,6 +16,7 @@ Therefore this is an attempt to:
   <ul>
     <li>Arduino UNO</li>
     <li>stm32 boards</li>
+    <li>esp32 boards</li>
   </ul>
 </li>
 <li>BLDC driver code separated

src/drivers/hardware_api.h

@@ -2,6 +2,7 @@
 #define HARDWARE_UTILS_H
 
 #include "../common/foc_utils.h"
+#include "../common/time_utils.h"
 
 /** 
  * Configuring PWM frequency, resolution and alignment

src/drivers/hardware_specific/esp32_mcu.cpp

@@ -8,6 +8,7 @@
 
 // empty motor slot 
 #define _EMPTY_SLOT -20
+#define _TAKEN_SLOT -21
 
 // structure containing motor slot configuration
 // this library supports up to 4 motors
@@ -19,7 +20,7 @@ typedef struct {
   mcpwm_io_signals_t mcpwm_a;
   mcpwm_io_signals_t mcpwm_b;
   mcpwm_io_signals_t mcpwm_c;
-} bldc_motor_slots_t;
+} bldc_3pwm_motor_slots_t;
 typedef struct {
   int pin1A;
   mcpwm_dev_t* mcpwm_num;
@@ -32,8 +33,22 @@ typedef struct {
   mcpwm_io_signals_t mcpwm_2b;
 } stepper_motor_slots_t;
 
+typedef struct {
+  int pinAH;
+  mcpwm_dev_t* mcpwm_num;
+  mcpwm_unit_t mcpwm_unit;
+  mcpwm_operator_t mcpwm_operator1;
+  mcpwm_operator_t mcpwm_operator2;
+  mcpwm_io_signals_t mcpwm_ah;
+  mcpwm_io_signals_t mcpwm_bh;
+  mcpwm_io_signals_t mcpwm_ch;
+  mcpwm_io_signals_t mcpwm_al;
+  mcpwm_io_signals_t mcpwm_bl;
+  mcpwm_io_signals_t mcpwm_cl;
+} bldc_6pwm_motor_slots_t;
+
 // define bldc motor slots array
-bldc_motor_slots_t esp32_bldc_motor_slots[4] =  { 
+bldc_3pwm_motor_slots_t esp32_bldc_3pwm_motor_slots[4] =  { 
   {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM0A, MCPWM1A, MCPWM2A}, // 1st motor will be MCPWM0 channel A
   {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_B, MCPWM0B, MCPWM1B, MCPWM2B}, // 2nd motor will be MCPWM0 channel B
   {_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_1, MCPWM_OPR_A, MCPWM0A, MCPWM1A, MCPWM2A}, // 3rd motor will be MCPWM1 channel A
@@ -42,8 +57,14 @@ bldc_motor_slots_t esp32_bldc_motor_slots[4] =  {
 
 // define stepper motor slots array
 stepper_motor_slots_t esp32_stepper_motor_slots[2] =  { 
-  {_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM0B, MCPWM1B}, // 1st motor will be on MCPWM1
   {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM0B, MCPWM1B}, // 1st motor will be on MCPWM0
+  {_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_1, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM0B, MCPWM1B}, // 1st motor will be on MCPWM1
+  };  
+
+// define stepper motor slots array
+bldc_6pwm_motor_slots_t esp32_bldc_6pwm_motor_slots[2] =  { 
+  {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM2A, MCPWM0B, MCPWM1B, MCPWM2B}, // 1st motor will be on MCPWM0
+  {_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_1, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM2A, MCPWM0B, MCPWM1B, MCPWM2B}, // 1st motor will be on MCPWM0
   };  
 
 // configuring high frequency pwm timer
@@ -102,18 +123,30 @@ void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int
   if(!pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = 40000; // default frequency 20khz - centered pwm has twice lower frequency
   else pwm_frequency = _constrain(2*pwm_frequency, 0, 60000); // constrain to 30kHz max - centered pwm has twice lower frequency
 
-  bldc_motor_slots_t m_slot = {};
+  bldc_3pwm_motor_slots_t m_slot = {};
 
   // determine which motor are we connecting
   // and set the appropriate configuration parameters 
-  for(int i = 0; i < 4; i++){
-    if(esp32_bldc_motor_slots[i].pinA == _EMPTY_SLOT){ // put the new motor in the first empty slot
-      esp32_bldc_motor_slots[i].pinA = pinA;
-      m_slot = esp32_bldc_motor_slots[i];
+  int slot_num;
+  for(slot_num = 0; slot_num < 4; slot_num++){
+    if(esp32_bldc_3pwm_motor_slots[slot_num].pinA == _EMPTY_SLOT){ // put the new motor in the first empty slot
+      esp32_bldc_3pwm_motor_slots[slot_num].pinA = pinA;
+      m_slot = esp32_bldc_3pwm_motor_slots[slot_num];
       break;
     }
   }
-        
+  // disable all the slots with the same MCPWM 
+  if( slot_num < 2 ){
+    // slot 0 of the stepper
+    esp32_stepper_motor_slots[0].pin1A = _TAKEN_SLOT;
+    // slot 0 of the 6pwm bldc
+    esp32_bldc_6pwm_motor_slots[0].pinAH = _TAKEN_SLOT;
+  }else{
+    // slot 1 of the stepper
+    esp32_stepper_motor_slots[1].pin1A = _TAKEN_SLOT;
+    // slot 1 of the 6pwm bldc
+    esp32_bldc_6pwm_motor_slots[1].pinAH = _TAKEN_SLOT;
+  }
   // configure pins
   mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_a, pinA);
   mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_b, pinB);
@@ -135,14 +168,29 @@ void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int
   stepper_motor_slots_t m_slot = {};
   // determine which motor are we connecting
   // and set the appropriate configuration parameters 
-  for(int i = 0; i < 2; i++){
-    if(esp32_stepper_motor_slots[i].pin1A == _EMPTY_SLOT){ // put the new motor in the first empty slot
-      esp32_stepper_motor_slots[i].pin1A = pinA;
-      m_slot = esp32_stepper_motor_slots[i];
+  int slot_num;
+  for(slot_num = 0; slot_num < 2; slot_num++){
+    if(esp32_stepper_motor_slots[slot_num].pin1A == _EMPTY_SLOT){ // put the new motor in the first empty slot
+      esp32_stepper_motor_slots[slot_num].pin1A = pinA;
+      m_slot = esp32_stepper_motor_slots[slot_num];
       break;
     }
   }
-        
+  // disable all the slots with the same MCPWM 
+  if( slot_num == 0 ){
+    // slots 0 and 1 of the 3pwm bldc
+    esp32_bldc_3pwm_motor_slots[0].pinA = _TAKEN_SLOT;
+    esp32_bldc_3pwm_motor_slots[1].pinA = _TAKEN_SLOT;
+    // slot 0 of the 6pwm bldc
+    esp32_bldc_6pwm_motor_slots[0].pinAH = _TAKEN_SLOT;
+  }else{
+    // slots 2 and 3 of the 3pwm bldc
+    esp32_bldc_3pwm_motor_slots[2].pinA = _TAKEN_SLOT;
+    esp32_bldc_3pwm_motor_slots[3].pinA = _TAKEN_SLOT;
+    // slot 1 of the 6pwm bldc
+    esp32_bldc_6pwm_motor_slots[1].pinAH = _TAKEN_SLOT;
+  } 
+
   // configure pins
   mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_1a, pinA);
   mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_1b, pinB);
@@ -153,20 +201,19 @@ void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int
   _configureTimerFrequency(pwm_frequency, m_slot.mcpwm_num,  m_slot.mcpwm_unit);
 }
 
-
 // function setting the pwm duty cycle to the hardware
 // - BLDC motor - 3PWM setting
 // - hardware speciffic
 //  ESP32 uses MCPWM
 void _writeDutyCycle3PWM(float dc_a,  float dc_b, float dc_c, int pinA, int pinB, int pinC){
   // determine which motor slot is the motor connected to 
   for(int i = 0; i < 4; i++){
-    if(esp32_bldc_motor_slots[i].pinA == pinA){ // if motor slot found
+    if(esp32_bldc_3pwm_motor_slots[i].pinA == pinA){ // if motor slot found
       // se the PWM on the slot timers
       // transform duty cycle from [0,1] to [0,2047]
-      esp32_bldc_motor_slots[i].mcpwm_num->channel[0].cmpr_value[esp32_bldc_motor_slots[i].mcpwm_operator].cmpr_val = dc_a*2047;
-      esp32_bldc_motor_slots[i].mcpwm_num->channel[1].cmpr_value[esp32_bldc_motor_slots[i].mcpwm_operator].cmpr_val = dc_b*2047;
-      esp32_bldc_motor_slots[i].mcpwm_num->channel[2].cmpr_value[esp32_bldc_motor_slots[i].mcpwm_operator].cmpr_val = dc_c*2047;
+      esp32_bldc_3pwm_motor_slots[i].mcpwm_num->channel[0].cmpr_value[esp32_bldc_3pwm_motor_slots[i].mcpwm_operator].cmpr_val = dc_a*2047;
+      esp32_bldc_3pwm_motor_slots[i].mcpwm_num->channel[1].cmpr_value[esp32_bldc_3pwm_motor_slots[i].mcpwm_operator].cmpr_val = dc_b*2047;
+      esp32_bldc_3pwm_motor_slots[i].mcpwm_num->channel[2].cmpr_value[esp32_bldc_3pwm_motor_slots[i].mcpwm_operator].cmpr_val = dc_c*2047;
       break;
     }
   }
@@ -195,13 +242,75 @@ void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, in
 // - BLDC driver - 6PWM setting
 // - hardware specific
 int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){
-  return -1;
+  
+  if(!pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = 40000; // default frequency 20khz - centered pwm has twice lower frequency
+  else pwm_frequency = _constrain(2*pwm_frequency, 0, 60000); // constrain to 30kHz max - centered pwm has twice lower frequency
+  bldc_6pwm_motor_slots_t m_slot = {};
+  // determine which motor are we connecting
+  // and set the appropriate configuration parameters 
+  int slot_num;
+  for(slot_num = 0; slot_num < 2; slot_num++){
+    if(esp32_bldc_6pwm_motor_slots[slot_num].pinAH == _EMPTY_SLOT){ // put the new motor in the first empty slot
+      esp32_bldc_6pwm_motor_slots[slot_num].pinAH = pinA_h;
+      m_slot = esp32_bldc_6pwm_motor_slots[slot_num];
+      break;
+    }
+  }
+  // if no slots available
+  if(!m_slot.mcpwm_unit) return -1;
+
+  // disable all the slots with the same MCPWM 
+  if( slot_num == 0 ){
+    // slots 0 and 1 of the 3pwm bldc
+    esp32_bldc_3pwm_motor_slots[0].pinA = _TAKEN_SLOT;
+    esp32_bldc_3pwm_motor_slots[1].pinA = _TAKEN_SLOT;
+    // slot 0 of the 6pwm bldc
+    esp32_stepper_motor_slots[0].pin1A = _TAKEN_SLOT;
+  }else{
+    // slots 2 and 3 of the 3pwm bldc
+    esp32_bldc_3pwm_motor_slots[2].pinA = _TAKEN_SLOT;
+    esp32_bldc_3pwm_motor_slots[3].pinA = _TAKEN_SLOT;
+    // slot 1 of the 6pwm bldc
+    esp32_stepper_motor_slots[1].pin1A = _TAKEN_SLOT;
+  } 
+
+  // configure pins
+  mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_ah, pinA_h);
+  mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_al, pinA_l);
+  mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_bh, pinB_h);
+  mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_bl, pinB_l);
+  mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_ch, pinC_h);
+  mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_cl, pinC_l);
+
+  // configure the timer
+  _configureTimerFrequency(pwm_frequency, m_slot.mcpwm_num,  m_slot.mcpwm_unit);
+  // return 
+  return 0;
 }
 
 // Function setting the duty cycle to the pwm pin (ex. analogWrite())
 // - BLDC driver - 6PWM setting
 // - hardware specific
 void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, float dead_zone, int pinA_h, int pinA_l, int pinB_h, int pinB_l, int pinC_h, int pinC_l){
-  return;
+  // determine which motor slot is the motor connected to 
+  for(int i = 0; i < 2; i++){
+    if(esp32_bldc_6pwm_motor_slots[i].pinAH == pinA_h){ // if motor slot found
+      // se the PWM on the slot timers
+      // transform duty cycle from [0,1] to [0,100.0]
+      float dc_ah = _constrain(dc_a - dead_zone/2.0 , 0, 1)*100.0;
+      float dc_bh = _constrain(dc_b - dead_zone/2.0 , 0, 1)*100.0;
+      float dc_ch = _constrain(dc_c - dead_zone/2.0 , 0, 1)*100.0;
+      float dc_al = _constrain(dc_a + dead_zone/2.0 , 0, 1)*100.0;
+      float dc_bl = _constrain(dc_b + dead_zone/2.0 , 0, 1)*100.0;
+      float dc_cl = _constrain(dc_c + dead_zone/2.0 , 0, 1)*100.0;
+      mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_ah);
+      mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_al);
+      mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_bh);
+      mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_bl);
+      mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_ch);
+      mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_cl);
+      break;
+    }
+  }
 }
 #endif