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askuricaskuric
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Revert "FIX deaditme"
This reverts commit 33c5a19.
1 parent 47ba167 commit 9f984c2

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+58
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‎src/drivers/hardware_specific/esp32_mcu.cpp

Lines changed: 58 additions & 105 deletions
Original file line numberDiff line numberDiff line change
@@ -64,7 +64,7 @@ stepper_motor_slots_t esp32_stepper_motor_slots[2] = {
6464
// define stepper motor slots array
6565
bldc_6pwm_motor_slots_t esp32_bldc_6pwm_motor_slots[2] = {
6666
{_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM2A, MCPWM0B, MCPWM1B, MCPWM2B}, // 1st motor will be on MCPWM0
67-
{_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_1, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM2A, MCPWM0B, MCPWM1B, MCPWM2B}, // 1st motor will be on MCPWM1
67+
{_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_1, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM2A, MCPWM0B, MCPWM1B, MCPWM2B}, // 1st motor will be on MCPWM0
6868
};
6969

7070
// configuring high frequency pwm timer
@@ -238,126 +238,79 @@ void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, in
238238
}
239239
}
240240

241-
// configuring high frequency pwm timer
242-
// https://hackaday.io/project/169905-esp-32-bldc-robot-actuator-controller/log/184464-mcpwm-with-deadband
243-
void _configureTimerFrequency6PWM(long pwm_frequency, mcpwm_dev_t* mcpwm_num, mcpwm_unit_t mcpwm_unit){
244-
245-
mcpwm_config_t pwm_config;
246-
pwm_config.frequency = 4000; // frequency = 20000Hz
247-
pwm_config.cmpr_a = 50.0; // duty cycle of PWMxA = 50.0%
248-
pwm_config.cmpr_b = 50.0; // duty cycle of PWMxB = 50.0%
249-
pwm_config.counter_mode = MCPWM_UP_COUNTER; // Up-down counter (triangle wave)
250-
pwm_config.duty_mode = MCPWM_DUTY_MODE_0; // Active HIGH
251-
mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); // Configure PWM0A & PWM0B with above settings
252-
mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config); // Configure PWM0A & PWM0B with above settings
253-
mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_2, &pwm_config); // Configure PWM0A & PWM0B with above settings
254-
255-
mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40);
256-
mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40);
257-
mcpwm_deadtime_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, 40, 40);
258-
259-
mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_SELECT_SYNC_INT0, 0);
260-
mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_SELECT_SYNC_INT0, 0);
261-
mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_SELECT_SYNC_INT0, 0);
262-
263-
MCPWM0.timer[0].sync.out_sel = 1;
264-
delayMicroseconds(1000);
265-
MCPWM0.timer[0].sync.out_sel = 0;
266-
267-
mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 50);
268-
mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, 50);
269-
mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, 50);
270-
mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_B, 50);
271-
mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_A, 50);
272-
mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_B, 50);
273-
}
274-
275-
276241
// Configuring PWM frequency, resolution and alignment
277242
// - BLDC driver - 6PWM setting
278243
// - hardware specific
279244
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){
280245

281-
// if(!pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = 40000; // default frequency 20khz - centered pwm has twice lower frequency
282-
// else pwm_frequency = _constrain(2*pwm_frequency, 0, 60000); // constrain to 30kHz max - centered pwm has twice lower frequency
283-
// bldc_6pwm_motor_slots_t m_slot = {};
284-
// // determine which motor are we connecting
285-
// // and set the appropriate configuration parameters
286-
// int slot_num;
287-
// for(slot_num = 0; slot_num < 2; slot_num++){
288-
// if(esp32_bldc_6pwm_motor_slots[slot_num].pinAH == _EMPTY_SLOT){ // put the new motor in the first empty slot
289-
// esp32_bldc_6pwm_motor_slots[slot_num].pinAH = pinA_h;
290-
// m_slot = esp32_bldc_6pwm_motor_slots[slot_num];
291-
// break;
292-
// }
293-
// }
294-
// // if no slots available
295-
// if(!m_slot.mcpwm_unit) return -1;
296-
297-
// // disable all the slots with the same MCPWM
298-
// if( slot_num == 0 ){
299-
// // slots 0 and 1 of the 3pwm bldc
300-
// esp32_bldc_3pwm_motor_slots[0].pinA = _TAKEN_SLOT;
301-
// esp32_bldc_3pwm_motor_slots[1].pinA = _TAKEN_SLOT;
302-
// // slot 0 of the 6pwm bldc
303-
// esp32_stepper_motor_slots[0].pin1A = _TAKEN_SLOT;
304-
// }else{
305-
// // slots 2 and 3 of the 3pwm bldc
306-
// esp32_bldc_3pwm_motor_slots[2].pinA = _TAKEN_SLOT;
307-
// esp32_bldc_3pwm_motor_slots[3].pinA = _TAKEN_SLOT;
308-
// // slot 1 of the 6pwm bldc
309-
// esp32_stepper_motor_slots[1].pin1A = _TAKEN_SLOT;
310-
// }
311-
312-
// // configure pins
313-
// mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_ah, pinA_h);
314-
// mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_al, pinA_l);
315-
// mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_bh, pinB_h);
316-
// mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_bl, pinB_l);
317-
// mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_ch, pinC_h);
318-
// mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_cl, pinC_l);
319-
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, pinA_h);
320-
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, pinA_l);
321-
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, pinB_h);
322-
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1B, pinB_l);
323-
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM2A, pinC_h);
324-
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM2B, pinC_l);
246+
if(!pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = 40000; // default frequency 20khz - centered pwm has twice lower frequency
247+
else pwm_frequency = _constrain(2*pwm_frequency, 0, 60000); // constrain to 30kHz max - centered pwm has twice lower frequency
248+
bldc_6pwm_motor_slots_t m_slot = {};
249+
// determine which motor are we connecting
250+
// and set the appropriate configuration parameters
251+
int slot_num;
252+
for(slot_num = 0; slot_num < 2; slot_num++){
253+
if(esp32_bldc_6pwm_motor_slots[slot_num].pinAH == _EMPTY_SLOT){ // put the new motor in the first empty slot
254+
esp32_bldc_6pwm_motor_slots[slot_num].pinAH = pinA_h;
255+
m_slot = esp32_bldc_6pwm_motor_slots[slot_num];
256+
break;
257+
}
258+
}
259+
// if no slots available
260+
if(!m_slot.mcpwm_unit) return -1;
261+
262+
// disable all the slots with the same MCPWM
263+
if( slot_num == 0 ){
264+
// slots 0 and 1 of the 3pwm bldc
265+
esp32_bldc_3pwm_motor_slots[0].pinA = _TAKEN_SLOT;
266+
esp32_bldc_3pwm_motor_slots[1].pinA = _TAKEN_SLOT;
267+
// slot 0 of the 6pwm bldc
268+
esp32_stepper_motor_slots[0].pin1A = _TAKEN_SLOT;
269+
}else{
270+
// slots 2 and 3 of the 3pwm bldc
271+
esp32_bldc_3pwm_motor_slots[2].pinA = _TAKEN_SLOT;
272+
esp32_bldc_3pwm_motor_slots[3].pinA = _TAKEN_SLOT;
273+
// slot 1 of the 6pwm bldc
274+
esp32_stepper_motor_slots[1].pin1A = _TAKEN_SLOT;
275+
}
276+
277+
// configure pins
278+
mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_ah, pinA_h);
279+
mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_al, pinA_l);
280+
mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_bh, pinB_h);
281+
mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_bl, pinB_l);
282+
mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_ch, pinC_h);
283+
mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_cl, pinC_l);
284+
325285
// configure the timer
326-
_configureTimerFrequency6PWM(pwm_frequency, 0, 0);
286+
_configureTimerFrequency(pwm_frequency, m_slot.mcpwm_num, m_slot.mcpwm_unit);
327287
// return
328288
return 0;
329289
}
330290

331-
332291
// Function setting the duty cycle to the pwm pin (ex. analogWrite())
333292
// - BLDC driver - 6PWM setting
334293
// - hardware specific
335294
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){
336295
// determine which motor slot is the motor connected to
337-
// for(int i = 0; i < 2; i++){
338-
// if(esp32_bldc_6pwm_motor_slots[i].pinAH == pinA_h){ // if motor slot found
296+
for(int i = 0; i < 2; i++){
297+
if(esp32_bldc_6pwm_motor_slots[i].pinAH == pinA_h){ // if motor slot found
339298
// se the PWM on the slot timers
340299
// transform duty cycle from [0,1] to [0,100.0]
341-
// float dc_ah = _constrain(dc_a - dead_zone/2.0 , 0, 1)*100.0;
342-
// float dc_bh = _constrain(dc_b - dead_zone/2.0 , 0, 1)*100.0;
343-
// float dc_ch = _constrain(dc_c - dead_zone/2.0 , 0, 1)*100.0;
344-
// float dc_al = _constrain(dc_a + dead_zone/2.0 , 0, 1)*100.0;
345-
// float dc_bl = _constrain(dc_b + dead_zone/2.0 , 0, 1)*100.0;
346-
// float dc_cl = _constrain(dc_c + dead_zone/2.0 , 0, 1)*100.0;
347-
// mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0);
348-
// mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0);
349-
// mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0);
350-
// mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0);
351-
// mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0);
352-
// mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0);
353-
// mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 50);
354-
// mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, 50);
355-
// mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, 50);
356-
// mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_B, 50);
357-
// mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_A, 50);
358-
// mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_B, 50);
359-
// break;
360-
// }
361-
// }
300+
float dc_ah = _constrain(dc_a - dead_zone/2.0 , 0, 1)*100.0;
301+
float dc_bh = _constrain(dc_b - dead_zone/2.0 , 0, 1)*100.0;
302+
float dc_ch = _constrain(dc_c - dead_zone/2.0 , 0, 1)*100.0;
303+
float dc_al = _constrain(dc_a + dead_zone/2.0 , 0, 1)*100.0;
304+
float dc_bl = _constrain(dc_b + dead_zone/2.0 , 0, 1)*100.0;
305+
float dc_cl = _constrain(dc_c + dead_zone/2.0 , 0, 1)*100.0;
306+
mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_ah);
307+
mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_al);
308+
mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_bh);
309+
mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_bl);
310+
mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_ch);
311+
mcpwm_set_duty(esp32_bldc_6pwm_motor_slots[i].mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_cl);
312+
break;
313+
}
314+
}
362315
}
363316
#endif

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