added the support for phase state for 6pwm in haredware-6pwm mode + returning error if no low-side

askuric · askuric · commit bbd801758a9c · 2024-06-20T08:26:11.000+02:00
diff --git a/src/current_sense/hardware_specific/generic_mcu.cpp b/src/current_sense/hardware_specific/generic_mcu.cpp
@@ -1,4 +1,5 @@
 #include "../hardware_api.h"
+#include "../../communication/SimpleFOCDebug.h"
 
 // function reading an ADC value and returning the read voltage
 __attribute__((weak))  float _readADCVoltageInline(const int pinA, const void* cs_params){
@@ -24,18 +25,23 @@ __attribute__((weak))  void* _configureADCInline(const void* driver_params, cons
 
 // function reading an ADC value and returning the read voltage
 __attribute__((weak))  float _readADCVoltageLowSide(const int pinA, const void* cs_params){
-  return _readADCVoltageInline(pinA, cs_params);
+  SIMPLEFOC_DEBUG("ERR: Low-side cs not supported!");
+  return 0.0;
 }
 
 // Configure low side for generic mcu
 // cannot do much but 
 __attribute__((weak))  void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){
-  return _configureADCInline(driver_params, pinA, pinB, pinC);
+  SIMPLEFOC_DEBUG("ERR: Low-side cs not supported!");
+  return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
 }
 
 // sync driver and the adc
 __attribute__((weak)) void* _driverSyncLowSide(void* driver_params, void* cs_params){
   _UNUSED(driver_params);
   return cs_params;
 }
+
+// function starting the ADC conversion for the high side current sensing
+// only necessary for certain types of MCUs 
 __attribute__((weak)) void _startADC3PinConversionLowSide(){ }
diff --git a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp
@@ -1,57 +1,101 @@
+
 /*
- * MCPWM in Espressif v5.x has
- * - 2x groups (units)
- *   each one has
- *   - 3 timers
- *   - 3 operators (that can be associated with any timer)
- *     which control a 2xPWM signals
- *     - 1x comparator + 1x generator per PWM signal for independent mode
- *     - 1x comparator + 2x generator per pair or PWM signals for complementary mode
- *  
- * Independent mode:
- * ------------------
- *  6 PWM independent signals per unit
- *  unit(0/1) > timer(0-2) > operator(0-2) > comparator(0-1) > generator(0-1) > pwm(A/B)
- *  
- * group    |  timer  |  operator   | comparator            |  generator    |  pwm
- * --------------------------------------------------------------------------------
- *   0-1    |  0-2    |  0          |  0                    |  0            |  A
- *   0-1    |  0-2    |  0          |  1(0 complementary)   |  1            |  B
- *   0-1    |  0-2    |  1          |  0                    |  0            |  A
- *   0-1    |  0-2    |  1          |  1(0 complementary)   |  1            |  B
- *   0-1    |  0-2    |  2          |  0                    |  0            |  A
- *   0-1    |  0-2    |  2          |  1(0 complementary)   |  1            |  B
- *
- * Complementary mode
- * ------------------
- *  - : 3 pairs of complementary PWM signals per unit
- *  unit(0/1) > timer(0) > operator(0-2) > comparator(0) > generator(0-1) > pwm(A-B pair)
- *  
- * group    |  timer  |  operator   | comparator  |  generator    |  pwm
- * ------------------------------------------------------------------------
- *   0-1    |  0      |  0          |  0          |  0            |  A
- *   0-1    |  0      |  0          |  0          |  1            |  B
- *   0-1    |  0      |  1          |  0          |  0            |  A
- *   0-1    |  0      |  1          |  0          |  1            |  B
- *   0-1    |  0      |  2          |  0          |  0            |  A
- *   0-1    |  0      |  2          |  0          |  1            |  B
- *
- * More info
- * ----------
- * - timers can be associated with any operator, and multiple operators can be associated with the same timer
- * - comparators can be associated with any operator 
- *   - two comparators per operator for independent mode
- *   - one comparator per operator for complementary mode
- * - generators can be associated with any comparator
- *   - one generator per PWM signal for independent mode
- *   - two generators per pair of PWM signals for complementary mode
- * - dead-time can be set for each generator pair in complementary mode
- *
- * Docs
- * -------
- * More info here: https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf#mcpwm
- * and here: // https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/migration-guides/release-5.x/5.0/peripherals.html
+* MCPWM in espressif v5.x has
+* - 2x groups (units)
+*   each one has
+*   - 3 timers
+*   - 3 operators (that can be associated with any timer)
+*     which control a 2xPWM signals
+*     - 1x comparator + 1x generator per PWM signal
+
+
+* Independent mode:
+* ------------------
+*  6 PWM independent signals per unit
+*  unit(0/1) > timer(0-2) > operator(0-2) > comparator(0-1) > generator(0-1) > pwm(A/B)
+*
+* -------------------------------------- Table View ----------------------------- 
+*
+* group    |  timer  |  operator   | comparator            |  generator    |  pwm
+* --------------------------------------------------------------------------------
+*   0-1    |  0-2    |  0          |  0                    |  0            |  A
+*   0-1    |  0-2    |  0          |  1                    |  1            |  B
+*   0-1    |  0-2    |  1          |  0                    |  0            |  A
+*   0-1    |  0-2    |  1          |  1                    |  1            |  B
+*   0-1    |  0-2    |  2          |  0                    |  0            |  A
+*   0-1    |  0-2    |  2          |  1                    |  1            |  B
+*
+* ------------------------------------- Example 3PWM ------------------------------
+*                                      ┌─ comparator 0 - generator 0 -> pwm A
+*                       ┌─ operator 0 -|
+*                       |              └─ comparator 1 - generator 1 -> pmw B  
+*    unit  - timer 0-2 -|
+*    0-1                └─ operator 1 - comparator 0 - generator 0 - pwm C
+*    
+* ------------------------------------- Example 2PWM ------------------------------
+*                                   ┌─ comparator 0 - generator 0 -> pwm A
+*    unit - timer 0-2 - operator 0 -|
+*    0-1                            └─ comparator 1 - generator 1 -> pmw B  
+*
+* -------------------------------------- Example 4PWM ----------------------------- 
+*                                     ┌─ comparator 0 - generator 0 -> pwm A
+*                      ┌─ operator 0 -|
+*                      |              └─ comparator 1 - generator 1 -> pmw B  
+*    unit - timer 0-2 -| 
+*    0-1               |              ┌─ comparator 0 - generator 0 -> pwm C
+*                      └─ operator 1 -|
+*                                     └─ comparator 0 - generator 0 -> pwm D   
+
+
+* Complementary mode
+* ------------------
+*  - : 3 pairs of complementary PWM signals per unit
+*  unit(0/1) > timer(0) > operator(0-2) > comparator(0-1) > generator(0-1) > pwm(high/low pair)
+* 
+* -------------------------------------- Table View ----------------------------- 
+*
+* group    |  timer  |  operator   | comparator  |  generator    |  pwm
+* ------------------------------------------------------------------------
+*   0-1    |  0      |  0          |  0          |  0            |  A
+*   0-1    |  0      |  0          |  1          |  1            |  B
+*   0-1    |  0      |  1          |  0          |  0            |  A
+*   0-1    |  0      |  1          |  1          |  1            |  B
+*   0-1    |  0      |  2          |  0          |  0            |  A
+*   0-1    |  0      |  2          |  1          |  1            |  B
+*
+* -------------------------------------- Example 6PWM ----------------------------- 
+*     
+*                                        ┌─ comparator 0 - generator 0 -> pwm A_h
+*                         ┌─ operator 0 -| 
+*                         |              └─ comparator 1 - generator 1 -> pmw A_l
+*                         | 
+*     unit                |              ┌─ comparator 0 - generator 0 -> pwm B_h
+*    (group)  -  timer 0 -|- operator 1 -|
+*      0-1                |              └─ comparator 1 - generator 1 -> pmw B_l
+*                         |
+*                         |              ┌─ comparator 0 - generator 0 -> pwm C_h
+*                         └─ operator 2 -|
+*                                        └─ comparator 1 - generator 1 -> pmw C_l
+*   
+
+
+* More info
+* ----------
+* - timers can be associated with any operator, and multiple operators can be associated with the same timer
+* - comparators can be associated with any operator 
+*   - two comparators per operator for independent mode
+*   - one comparator per operator for complementary mode
+* - generators can be associated with any comparator
+*   - one generator per PWM signal for independent mode
+*   - two generators per pair of PWM signals for complementary mode (not used in simplefoc)
+* - dead-time can be set for each generator pair in complementary mode
+*
+* Docs
+* -------
+* More info here: https:*www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf#mcpwm
+* and here: // https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/migration-guides/release-5.x/5.0/peripherals.html
 */
+
 #include "../../hardware_api.h"
 
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
@@ -195,14 +239,14 @@ int _findBestGroup(int no_pins, long pwm_freq, int* group, int* timer){
 
 // configuring center aligned pwm
 // More info here: https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/api-reference/peripherals/mcpwm.html#symmetric-dual-edge-active-low
-void _configureCenterAlign(mcpwm_gen_handle_t gena, mcpwm_cmpr_handle_t cmpa, bool inverted = false){
+int _configureCenterAlign(mcpwm_gen_handle_t gena, mcpwm_cmpr_handle_t cmpa, bool inverted = false){
     if(inverted)
-      mcpwm_generator_set_actions_on_compare_event(gena,
+      return mcpwm_generator_set_actions_on_compare_event(gena,
                       MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH),
                       MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW),
                       MCPWM_GEN_COMPARE_EVENT_ACTION_END());
    else
-      mcpwm_generator_set_actions_on_compare_event(gena,
+      return mcpwm_generator_set_actions_on_compare_event(gena,
                       MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW),
                       MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_HIGH),
                       MCPWM_GEN_COMPARE_EVENT_ACTION_END());
@@ -247,6 +291,9 @@ void* _configure6PWMPinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no,
   uint8_t no_operators = 3; // use 3 comparators one per pair of pwms
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_operators) + " operators."); 
   mcpwm_operator_config_t operator_config = { .group_id = mcpwm_group };
+  operator_config.intr_priority = 0;
+  operator_config.flags.update_gen_action_on_tep = true;
+  operator_config.flags.update_gen_action_on_tez = true;
   for (int i = 0; i < no_operators; i++) {
     CHECK_ERR(mcpwm_new_operator(&operator_config, &params->oper[i]),"Could not create operator "+String(i));
     CHECK_ERR(mcpwm_operator_connect_timer(params->oper[i], params->timers[0]),"Could not connect timer to operator: " + String(i));
@@ -263,6 +310,21 @@ void* _configure6PWMPinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no,
     CHECK_ERR(mcpwm_new_comparator(params->oper[i], &comparator_config, &params->comparator[i]),"Could not create comparator: " + String(i));
     CHECK_ERR(mcpwm_comparator_set_compare_value(params->comparator[i], (0)), "Could not set duty on comparator: " + String(i));
   }
+  
+#else // software dead-time (software 6pwm)
+// software dead-time (software 6pwm)
+  SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 6PWM with software dead-time");
+
+  int no_pins = 6;
+  SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_pins) + " comparators.");
+  // Create and configure comparators
+  mcpwm_comparator_config_t comparator_config = {0};
+  for (int i = 0; i < no_pins; i++) {
+    int oper_index = (int)floor(i / 2);
+    CHECK_ERR(mcpwm_new_comparator(params->oper[oper_index], &comparator_config, &params->comparator[i]),"Could not create comparator: " + String(i));
+    CHECK_ERR(mcpwm_comparator_set_compare_value(params->comparator[i], (0)), "Could not set duty on comparator: " + String(i));
+  }
+#endif 
 
   int no_generators = 6; // one per pwm
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_generators) + " generators.");
@@ -273,10 +335,14 @@ void* _configure6PWMPinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no,
     int oper_index = (int)floor(i / 2);
     CHECK_ERR(mcpwm_new_generator(params->oper[oper_index], &generator_config, &params->generator[i]), "Could not create generator " + String(i));
   }
-  
+
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring Center-Aligned 6 pwm.");
-  for (int i = 0; i < 3; i++) {
-    _configureCenterAlign(params->generator[2*i],params->comparator[i]); 
+
+#if SIMPLEFOC_ESP32_HW_DEADTIME == true // hardware dead-time (hardware 6pwm)
+  for (int i = 0; i < no_operators; i++) {
+    CHECK_ERR(_configureCenterAlign(params->generator[2*i],params->comparator[i]), "Failed to configure high-side center align pwm: " + String(2*i));  
+    CHECK_ERR(_configureCenterAlign(params->generator[2*i+1],params->comparator[i]), "Failed to configure low-side center align pwm: " + String(2*i+1));  
+  
   }
   // only available for 6pwm
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring dead-time.");
@@ -289,37 +355,17 @@ void* _configure6PWMPinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no,
   dt_config_low.posedge_delay_ticks = 0;
   dt_config_low.negedge_delay_ticks = dead_time;
   dt_config_low.flags.invert_output = SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH; 
-  for (int i = 0; i < 3; i++) {
+  for (int i = 0; i < no_operators; i++) {
       CHECK_ERR(mcpwm_generator_set_dead_time(params->generator[2*i], params->generator[2*i], &dt_config_high),"Could not set dead time for generator: " + String(i));
-      CHECK_ERR(mcpwm_generator_set_dead_time(params->generator[2*i], params->generator[2*i+1], &dt_config_low),"Could not set dead time for generator: " + String(i+1));
+      CHECK_ERR(mcpwm_generator_set_dead_time(params->generator[2*i+1], params->generator[2*i+1], &dt_config_low),"Could not set dead time for generator: " + String(i+1));
   }
 #else // software dead-time (software 6pwm)
-  SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 6PWM with software dead-time");
-  int no_pins = 6;
-  SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_pins) + " comparators.");
-  // Create and configure comparators
-  mcpwm_comparator_config_t comparator_config = {0};
-  for (int i = 0; i < no_pins; i++) {
-    int oper_index = (int)floor(i / 2);
-    CHECK_ERR(mcpwm_new_comparator(params->oper[oper_index], &comparator_config, &params->comparator[i]),"Could not create comparator: " + String(i));
-    CHECK_ERR(mcpwm_comparator_set_compare_value(params->comparator[i], (0)), "Could not set duty on comparator: " + String(i));
-  }
-
-  SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_pins) + " generators.");
-  // Create and configure generators;
-  mcpwm_generator_config_t generator_config = {};
-  for (int i = 0; i < no_pins; i++) {
-    generator_config.gen_gpio_num = pins[i];
-    int oper_index = (int)floor(i / 2);
-    CHECK_ERR(mcpwm_new_generator(params->oper[oper_index], &generator_config, &params->generator[i]), "Could not create generator " + String(i));
-  }
-
-  SIMPLEFOC_ESP32_DRV_DEBUG("Configuring center-aligned pwm.");
   for (int i = 0; i < 3; i++) {
-    _configureCenterAlign(params->generator[2*i],params->comparator[2*i], !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH); 
-    _configureCenterAlign(params->generator[2*i+1],params->comparator[2*i+1], SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH); 
+    CHECK_ERR(_configureCenterAlign(params->generator[2*i],params->comparator[2*i], !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH), "Failed to configure high-side center align pwm: " + String(2*i));  
+    CHECK_ERR(_configureCenterAlign(params->generator[2*i+1],params->comparator[2*i+1], SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH) , "Failed to configure low-side center align pwm: " + String(2*i+1)); 
   }
 #endif
+
   SIMPLEFOC_ESP32_DRV_DEBUG("Enabling timer: "+String(timer_no));
   // Enable and start timer
   CHECK_ERR(mcpwm_timer_enable(params->timers[0]), "Failed to enable timer!");
@@ -389,6 +435,9 @@ void* _configurePinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, int
   uint8_t no_operators = ceil(no_pins / 2.0);
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_operators) + " operators.");
   mcpwm_operator_config_t operator_config = { .group_id = mcpwm_group };
+  operator_config.intr_priority = 0;
+  operator_config.flags.update_gen_action_on_tep = true;
+  operator_config.flags.update_gen_action_on_tez = true;
   for (int i = 0; i < no_operators; i++) {
     if (shared_timer && i == 0) { // first operator already configured
         params->oper[0] = last_operator[mcpwm_group];
@@ -421,7 +470,7 @@ void* _configurePinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, int
 
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring center-aligned pwm.");
   for (int i = 0; i < no_pins; i++) {
-    _configureCenterAlign(params->generator[i],params->comparator[i], !SIMPLEFOC_PWM_ACTIVE_HIGH);
+    CHECK_ERR(_configureCenterAlign(params->generator[i],params->comparator[i], !SIMPLEFOC_PWM_ACTIVE_HIGH), "Failed to configure center align pwm: " + String(i));
   }
 
   SIMPLEFOC_ESP32_DRV_DEBUG("Enabling timer: "+String(timer_no));
@@ -446,9 +495,9 @@ void _setDutyCycle(mcpwm_cmpr_handle_t cmpr, uint32_t mcpwm_period, float duty_c
 
 // function setting the duty cycle to the MCPWM pin
 void _forcePhaseState(mcpwm_gen_handle_t generator_high, mcpwm_gen_handle_t generator_low, PhaseState phase_state){
-  // phase state can be forced
-  //  https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/api-reference/peripherals/mcpwm.html#generator-force-actions 
-  // TODO verify with ACTIVE_HIGH/ACTIVE_LOW flags
+  // phase state is forced in hardware pwm mode
+  // esp-idf docs:  https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/api-reference/peripherals/mcpwm.html#generator-force-actions 
+  // github issue: https://github.com/espressif/esp-idf/issues/12237
   mcpwm_generator_set_force_level(generator_high, (phase_state == PHASE_ON || phase_state == PHASE_HI) ? -1 : 0, true);
   mcpwm_generator_set_force_level(generator_low, (phase_state == PHASE_ON || phase_state == PHASE_LO) ? -1 : 1, true);
 }
diff --git a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
@@ -103,7 +103,7 @@ int _findBestGroup(int no_pins, long pwm_freq, int* group, int* timer);
  * @param cmpa - mcpwm comparator handle
  * @param inverted - true if the signal is inverted, false otherwise
  */
-void _configureCenterAlign(mcpwm_gen_handle_t gena, mcpwm_cmpr_handle_t cmpa, bool inverted);
+int _configureCenterAlign(mcpwm_gen_handle_t gena, mcpwm_cmpr_handle_t cmpa, bool inverted);
 
 /**
  * function calculating the pwm period
