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mcellsmcells
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Add ESP32 Phasestate with sw-deadtime
1 parent 451be63 commit 574ce63

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2 files changed

+46
-18
lines changed

2 files changed

+46
-18
lines changed

‎src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -81,6 +81,7 @@ typedef struct ESP32MCPWMDriverParams {
8181
mcpwm_unit_t mcpwm_unit;
8282
mcpwm_operator_t mcpwm_operator1;
8383
mcpwm_operator_t mcpwm_operator2;
84+
float deadtime;
8485
} ESP32MCPWMDriverParams;
8586

8687

‎src/drivers/hardware_specific/esp32/esp32_mcu.cpp‎

Lines changed: 45 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -49,15 +49,28 @@ void _configureTimerFrequency(long pwm_frequency, mcpwm_dev_t* mcpwm_num, mcpwm
4949

5050
if (_isset(dead_zone)){
5151
// dead zone is configured
52-
float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
53-
mcpwm_deadtime_type_t pwm_mode;
54-
if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;} // Normal, noninverting driver
55-
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;} // Inverted lowside driver
56-
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;} // Inverted highside driver
57-
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_LOW_COMPLIMENT_MODE;} // Inverted low- & highside driver. Caution: This may short the FETs on reset of the ESP32, as both pins get pulled low!
58-
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
59-
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
60-
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
52+
53+
// When using hardware deadtime, setting the phase_state parameter is not supported.
54+
#if SIMPLEFOC_ESP32_HW_DEADTIME == true
55+
float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
56+
mcpwm_deadtime_type_t pwm_mode;
57+
if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;} // Normal, noninverting driver
58+
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;} // Inverted lowside driver
59+
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;} // Inverted highside driver
60+
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_LOW_COMPLIMENT_MODE;} // Inverted low- & highside driver. Caution: This may short the FETs on reset of the ESP32, as both pins get pulled low!
61+
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
62+
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
63+
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
64+
#else // Software deadtime
65+
for (int i = 0; i < 3; i++){
66+
if (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_0);} // Normal, noninverted highside
67+
else if (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_1);} // Inverted highside driver
68+
69+
if (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_1);} // Normal, complementary lowside
70+
else if (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_0);} // Inverted lowside driver
71+
}
72+
#endif
73+
6174
}
6275
_delay(100);
6376

@@ -374,7 +387,10 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
374387
ESP32MCPWMDriverParams* params = new ESP32MCPWMDriverParams {
375388
.pwm_frequency = pwm_frequency,
376389
.mcpwm_dev = m_slot.mcpwm_num,
377-
.mcpwm_unit = m_slot.mcpwm_unit
390+
.mcpwm_unit = m_slot.mcpwm_unit,
391+
.mcpwm_operator1 = m_slot.mcpwm_operator1,
392+
.mcpwm_operator2 = m_slot.mcpwm_operator2,
393+
.deadtime = _isset(dead_zone) ? dead_zone : 0
378394
};
379395
return params;
380396
}
@@ -386,15 +402,26 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
386402
// - BLDC driver - 6PWM setting
387403
// - hardware specific
388404
void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){
389-
// se the PWM on the slot timers
405+
// set the PWM on the slot timers
390406
// transform duty cycle from [0,1] to [0,100.0]
391-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0);
392-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0);
393-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0);
394-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0);
395-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0);
396-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0);
397-
_UNUSED(phase_state);
407+
#if SIMPLEFOC_ESP32_HW_DEADTIME == true
408+
// Hardware deadtime does deadtime insertion internally
409+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0f);
410+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0f);
411+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0f);
412+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0f);
413+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0f);
414+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0f);
415+
_UNUSED(phase_state);
416+
#else
417+
float deadtime = 0.5f*((ESP32MCPWMDriverParams*)params)->deadtime;
418+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_HI) ? _constrain(dc_a-deadtime, 0.0f, 1.0f) * 100.0f : 0);
419+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_LO) ? _constrain(dc_a+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
420+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_HI) ? _constrain(dc_b-deadtime, 0.0f, 1.0f) * 100.0f : 0);
421+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_LO) ? _constrain(dc_b+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
422+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_HI) ? _constrain(dc_c-deadtime, 0.0f, 1.0f) * 100.0f : 0);
423+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_LO) ? _constrain(dc_c+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
424+
#endif
398425
}
399426

400427
#endif

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