199 lines
9.1 KiB
C
199 lines
9.1 KiB
C
/*
|
||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||
*
|
||
* SPDX-License-Identifier: Apache-2.0
|
||
*/
|
||
#include <stdlib.h>
|
||
#include <string.h>
|
||
#include <sys/cdefs.h>
|
||
#include "esp_log.h"
|
||
#include "esp_check.h"
|
||
#include "driver/mcpwm_prelude.h"
|
||
#include "bdc_motor.h"
|
||
#include "bdc_motor_interface.h"
|
||
|
||
static const char *TAG = "bdc_motor_mcpwm";
|
||
|
||
typedef struct {
|
||
bdc_motor_t base;
|
||
mcpwm_timer_handle_t timer;
|
||
mcpwm_oper_handle_t operator;
|
||
mcpwm_cmpr_handle_t cmpa;
|
||
mcpwm_cmpr_handle_t cmpb;
|
||
mcpwm_gen_handle_t gena;
|
||
mcpwm_gen_handle_t genb;
|
||
} bdc_motor_mcpwm_obj;
|
||
|
||
static esp_err_t bdc_motor_mcpwm_set_speed(bdc_motor_t *motor, uint32_t speed)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(mcpwm_motor->cmpa, speed), TAG, "set compare value failed");
|
||
ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(mcpwm_motor->cmpb, speed), TAG, "set compare value failed");
|
||
return ESP_OK;
|
||
}
|
||
|
||
static esp_err_t bdc_motor_mcpwm_enable(bdc_motor_t *motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
ESP_RETURN_ON_ERROR(mcpwm_timer_enable(mcpwm_motor->timer), TAG, "enable timer failed");
|
||
ESP_RETURN_ON_ERROR(mcpwm_timer_start_stop(mcpwm_motor->timer, MCPWM_TIMER_START_NO_STOP), TAG, "start timer failed");
|
||
return ESP_OK;
|
||
}
|
||
|
||
static esp_err_t bdc_motor_mcpwm_disable(bdc_motor_t *motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
ESP_RETURN_ON_ERROR(mcpwm_timer_start_stop(mcpwm_motor->timer, MCPWM_TIMER_STOP_EMPTY), TAG, "stop timer failed");
|
||
ESP_RETURN_ON_ERROR(mcpwm_timer_disable(mcpwm_motor->timer), TAG, "disable timer failed");
|
||
return ESP_OK;
|
||
}
|
||
|
||
static esp_err_t bdc_motor_mcpwm_forward(bdc_motor_t *motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, -1, true), TAG, "disable force level for gena failed");
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 0, true), TAG, "set force level for genb failed");
|
||
return ESP_OK;
|
||
}
|
||
|
||
static esp_err_t bdc_motor_mcpwm_reverse(bdc_motor_t *motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, -1, true), TAG, "disable force level for genb failed");
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 0, true), TAG, "set force level for gena failed");
|
||
return ESP_OK;
|
||
}
|
||
|
||
static esp_err_t bdc_motor_mcpwm_coast(bdc_motor_t *motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 1, true), TAG, "set force level for gena failed");
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 1, true), TAG, "set force level for genb failed");
|
||
return ESP_OK;
|
||
}
|
||
|
||
static esp_err_t bdc_motor_mcpwm_brake(bdc_motor_t *motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 0, true), TAG, "set force level for gena failed");
|
||
ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 0, true), TAG, "set force level for genb failed");
|
||
return ESP_OK;
|
||
}
|
||
|
||
static esp_err_t bdc_motor_mcpwm_del(bdc_motor_t *motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base);
|
||
mcpwm_del_generator(mcpwm_motor->gena);
|
||
mcpwm_del_generator(mcpwm_motor->genb);
|
||
mcpwm_del_comparator(mcpwm_motor->cmpa);
|
||
mcpwm_del_comparator(mcpwm_motor->cmpb);
|
||
mcpwm_del_operator(mcpwm_motor->operator);
|
||
mcpwm_del_timer(mcpwm_motor->timer);
|
||
free(mcpwm_motor);
|
||
return ESP_OK;
|
||
}
|
||
|
||
esp_err_t bdc_motor_new_mcpwm_device(const bdc_motor_config_t *motor_config, const bdc_motor_mcpwm_config_t *mcpwm_config, bdc_motor_handle_t *ret_motor)
|
||
{
|
||
bdc_motor_mcpwm_obj *mcpwm_motor = NULL;
|
||
esp_err_t ret = ESP_OK;
|
||
ESP_GOTO_ON_FALSE(motor_config && mcpwm_config && ret_motor, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
|
||
mcpwm_motor = calloc(1, sizeof(bdc_motor_mcpwm_obj));
|
||
ESP_GOTO_ON_FALSE(mcpwm_motor, ESP_ERR_NO_MEM, err, TAG, "no mem for rmt motor");
|
||
|
||
/* mcpwm 定时器 */
|
||
mcpwm_timer_config_t timer_config = {
|
||
.group_id = mcpwm_config->group_id,
|
||
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
|
||
.resolution_hz = mcpwm_config->resolution_hz, /* 分辨率，即定时器计数频率 */
|
||
.period_ticks = mcpwm_config->resolution_hz / motor_config->pwm_freq_hz, /* 计数周期ticks数，由定时器计数频率和pwm频率计算而来 */
|
||
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
|
||
};
|
||
ESP_GOTO_ON_ERROR(mcpwm_new_timer(&timer_config, &mcpwm_motor->timer), err, TAG, "create MCPWM timer failed");
|
||
|
||
/* mcpwm操作器 */
|
||
mcpwm_operator_config_t operator_config = {
|
||
.group_id = mcpwm_config->group_id,
|
||
};
|
||
ESP_GOTO_ON_ERROR(mcpwm_new_operator(&operator_config, &mcpwm_motor->operator), err, TAG, "create MCPWM operator failed");
|
||
ESP_GOTO_ON_ERROR(mcpwm_operator_connect_timer(mcpwm_motor->operator, mcpwm_motor->timer), err, TAG, "connect timer and operator failed");
|
||
|
||
/* mcpwm比较器，2个 */
|
||
mcpwm_comparator_config_t comparator_config = {
|
||
.flags.update_cmp_on_tez = true, /* 计数到0更新比较值 */
|
||
};
|
||
ESP_GOTO_ON_ERROR(mcpwm_new_comparator(mcpwm_motor->operator, &comparator_config, &mcpwm_motor->cmpa), err, TAG, "create comparator failed");
|
||
ESP_GOTO_ON_ERROR(mcpwm_new_comparator(mcpwm_motor->operator, &comparator_config, &mcpwm_motor->cmpb), err, TAG, "create comparator failed");
|
||
mcpwm_comparator_set_compare_value(mcpwm_motor->cmpa, 0);
|
||
mcpwm_comparator_set_compare_value(mcpwm_motor->cmpb, 0);
|
||
|
||
/* mcpwm生成器，用于生成最终的波形，2个 */
|
||
mcpwm_generator_config_t generator_config = {
|
||
.gen_gpio_num = motor_config->pwma_gpio_num,
|
||
};
|
||
ESP_GOTO_ON_ERROR(mcpwm_new_generator(mcpwm_motor->operator, &generator_config, &mcpwm_motor->gena), err, TAG, "create generator failed");
|
||
generator_config.gen_gpio_num = motor_config->pwmb_gpio_num;
|
||
ESP_GOTO_ON_ERROR(mcpwm_new_generator(mcpwm_motor->operator, &generator_config, &mcpwm_motor->genb), err, TAG, "create generator failed");
|
||
|
||
/* 设置生成器生成波形的规则：在什么事件触发下改变输出电平为什么 */
|
||
/* 这里设置a，b生成器都是普通的PWM，先高后低 */
|
||
mcpwm_generator_set_actions_on_timer_event(mcpwm_motor->gena,
|
||
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH),
|
||
MCPWM_GEN_TIMER_EVENT_ACTION_END());
|
||
mcpwm_generator_set_actions_on_compare_event(mcpwm_motor->gena,
|
||
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, mcpwm_motor->cmpa, MCPWM_GEN_ACTION_LOW),
|
||
MCPWM_GEN_COMPARE_EVENT_ACTION_END());
|
||
mcpwm_generator_set_actions_on_timer_event(mcpwm_motor->genb,
|
||
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH),
|
||
MCPWM_GEN_TIMER_EVENT_ACTION_END());
|
||
mcpwm_generator_set_actions_on_compare_event(mcpwm_motor->genb,
|
||
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, mcpwm_motor->cmpb, MCPWM_GEN_ACTION_LOW),
|
||
MCPWM_GEN_COMPARE_EVENT_ACTION_END());
|
||
|
||
// /* 上升沿的死区设置 */
|
||
// mcpwm_dead_time_config_t dead_time_config = {
|
||
// .posedge_delay_ticks = 10,
|
||
// .negedge_delay_ticks = 0
|
||
// };
|
||
// ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(mcpwm_motor->gena, mcpwm_motor->gena, &dead_time_config));
|
||
// dead_time_config.posedge_delay_ticks = 10;
|
||
// dead_time_config.negedge_delay_ticks = 0;
|
||
// ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(mcpwm_motor->gena, mcpwm_motor->genb, &dead_time_config));
|
||
|
||
/* 设置bdc_motor操作的各种回调函数 */
|
||
mcpwm_motor->base.enable = bdc_motor_mcpwm_enable;
|
||
mcpwm_motor->base.disable = bdc_motor_mcpwm_disable;
|
||
mcpwm_motor->base.forward = bdc_motor_mcpwm_forward;
|
||
mcpwm_motor->base.reverse = bdc_motor_mcpwm_reverse;
|
||
mcpwm_motor->base.coast = bdc_motor_mcpwm_coast;
|
||
mcpwm_motor->base.brake = bdc_motor_mcpwm_brake;
|
||
mcpwm_motor->base.set_speed = bdc_motor_mcpwm_set_speed;
|
||
mcpwm_motor->base.del = bdc_motor_mcpwm_del;
|
||
*ret_motor = &mcpwm_motor->base;
|
||
return ESP_OK;
|
||
|
||
err:
|
||
if (mcpwm_motor) {
|
||
if (mcpwm_motor->gena) {
|
||
mcpwm_del_generator(mcpwm_motor->gena);
|
||
}
|
||
if (mcpwm_motor->genb) {
|
||
mcpwm_del_generator(mcpwm_motor->genb);
|
||
}
|
||
if (mcpwm_motor->cmpa) {
|
||
mcpwm_del_comparator(mcpwm_motor->cmpa);
|
||
}
|
||
if (mcpwm_motor->cmpb) {
|
||
mcpwm_del_comparator(mcpwm_motor->cmpb);
|
||
}
|
||
if (mcpwm_motor->operator) {
|
||
mcpwm_del_operator(mcpwm_motor->operator);
|
||
}
|
||
if (mcpwm_motor->timer) {
|
||
mcpwm_del_timer(mcpwm_motor->timer);
|
||
}
|
||
free(mcpwm_motor);
|
||
}
|
||
return ret;
|
||
}
|