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The configuration structure is defined as: mcpwm_comparator_config_t::update_cmp_on_tez sets whether to update the compare threshold when the timer counts to zero. drive all outputs low for a brushed motor, or lock current state for a stepper motor, etc. mcpwm_timer_event_callbacks_t::on_stop sets callback function for timer when it is stopped. BLDC Controller using STM32 and DRV8301 | All About Circuits Home Forums Embedded & Programming Microcontrollers BLDC Controller using STM32 and DRV8301 KranthiKumarR May 7, 2021 Search Forums New Posts K Thread Starter KranthiKumarR Joined Aug 27, 2017 18 May 7, 2021 #1 Hello everyone, I have built a hardware similar to VESC by Benjamin Vedder. Currently this configuration structure is left for future purpose. Pulses must be received every 25 ms or so or the servo will turn off. Set event callbacks for MCPWM capture channel. MCPWM software sync configuration structure. V1, V3, V5 and V2, V4, V6 make a 3-phase voltage source inverter connected across the power supply. The action configuration is defined in mcpwm_gen_brake_event_action_t: mcpwm_gen_brake_event_action_t::direction specific the timer direction. This module allows us to control the speed and direction of the motors. This closed loop control for BLDC motor system could be used in drilling machines, lath machines, spinning machines, elevators and electric bikes. The allocated MCPWM Timer should be connected with a MCPWM operator by calling mcpwm_operator_connect_timer(), so that the operator can take that timer as its time base, and generate the required PWM waves. It is for debugging purposes only. My idea is to utilise the additional "dead-time" that you get with 6xPWM to hopefully better control the motor. See MCPWM Sync Sources for how to create a sync source object. This system controls the BLDC motor speed more efficiently and precisely as compared to other systems. All supported capture callbacks are listed in the mcpwm_capture_event_callbacks_t: mcpwm_capture_event_callbacks_t::on_cap sets callback function for the capture channel when a valid edge is detected. BLDC motor rotates continuously. There are two types of faults: A fault signal reflected from the GPIO and a fault generated by software. The basic IO operation of a timer is to start and stop. In which MCPWM group that the GPIO fault belongs to, On which level the fault signal is treated as active. Generator action on specific comparator event. mcpwm_timer_config_t::update_period_on_sync sets whether to update the period value when the timer takes a sync signal. You can allocate a MCPWM timer object by calling mcpwm_new_timer() function, with a configuration structure mcpwm_timer_config_t as the parameter. Enable this option will increase the firmware binary size. The motor we'll control is connected to the motor A output pins, so we need to wire the ENABLEA, INPUT1 and INPUT2 pins of the motor driver to the ESP32. The mcpwm_new_timer() will return a pointer to the allocated timer object if the allocation succeeds. If you have some function that should be called when particular event happens, you should hook your function to the interrupt service routine by calling mcpwm_timer_register_event_callbacks(). GPIO fault in group 0 can not be detected by the operator in group 1. mcpwm_gpio_fault_config_t::gpio_num sets the GPIO number used by the fault. In turn, if the out_generator and in_generator are different, it means were deriving a new PWM waveform from the existing in_generator. out_resolution [out] Returned capture timer resolution, in Hz, ESP_OK: Get capture timer resolution successfully, ESP_ERR_INVALID_ARG: Get capture timer resolution failed because of invalid argument, ESP_FAIL: Get capture timer resolution failed because of other error, config [in] MCPWM capture timer sync phase configuration, ESP_OK: Set sync phase for MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Set sync phase for MCPWM capture timer failed because of invalid argument, ESP_FAIL: Set sync phase for MCPWM capture timer failed because of other error, The created capture channel wont be enabled until calling mcpwm_capture_channel_enable, cap_timer [in] MCPWM capture timer, allocated by mcpwm_new_capture_timer(), will be connected to the new capture channel, config [in] MCPWM capture channel configuration, ret_cap_channel [out] Returned MCPWM capture channel, ESP_OK: Create MCPWM capture channel successfully, ESP_ERR_INVALID_ARG: Create MCPWM capture channel failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM capture channel failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM capture channel failed because cant find free resource, ESP_FAIL: Create MCPWM capture channel failed because of other error, cap_channel [in] MCPWM capture channel handle, allocated by mcpwm_new_capture_channel(), ESP_OK: Delete MCPWM capture channel successfully, ESP_ERR_INVALID_ARG: Delete MCPWM capture channel failed because of invalid argument, ESP_FAIL: Delete MCPWM capture channel failed because of other error. To allocate a capture timer, you can call mcpwm_new_capture_timer() function, with configuration structure mcpwm_capture_timer_config_t as the parameter. Otherwise, it will return error code. Theres a helper macro MCPWM_GEN_COMPARE_EVENT_ACTION to simplify the construction of a compare event action entry. Internally, this function will: switch the capture timer state from init to enable. ISR callback function that would be invoked when fault signal becomes active, ISR callback function that would be invoked when fault signal becomes inactive, components/driver/mcpwm/include/driver/mcpwm_sync.h, config [in] MCPWM timer sync source configuration, ret_sync [out] Returned MCPWM sync handle, ESP_OK: Create MCPWM timer sync source successfully, ESP_ERR_INVALID_ARG: Create MCPWM timer sync source failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM timer sync source failed because out of memory, ESP_ERR_INVALID_STATE: Create MCPWM timer sync source failed because the timer has created a sync source before, ESP_FAIL: Create MCPWM timer sync source failed because of other error, config [in] MCPWM GPIO sync source configuration, ret_sync [out] Returned MCPWM GPIO sync handle, ESP_OK: Create MCPWM GPIO sync source successfully, ESP_ERR_INVALID_ARG: Create MCPWM GPIO sync source failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM GPIO sync source failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM GPIO sync source failed because cant find free resource, ESP_FAIL: Create MCPWM GPIO sync source failed because of other error, config [in] MCPWM software sync source configuration, ret_sync [out] Returned software sync handle, ESP_OK: Create MCPWM software sync successfully, ESP_ERR_INVALID_ARG: Create MCPWM software sync failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM software sync failed because out of memory, ESP_FAIL: Create MCPWM software sync failed because of other error, sync [in] MCPWM sync handle, allocated by mcpwm_new_timer_sync_src() or mcpwm_new_gpio_sync_src() or mcpwm_new_soft_sync_src(), ESP_OK: Delete MCPWM sync source successfully, ESP_ERR_INVALID_ARG: Delete MCPWM sync source failed because of invalid argument, ESP_FAIL: Delete MCPWM sync source failed because of other error. We use an IRLZ44 NPN MOSFET as low-side switch to control the DC motor. mcpwm_carrier_config_t::duty_cycle: The duty cycle of the carrier. CONFIG_MCPWM_CTRL_FUNC_IN_IRAM controls where to place the MCPWM control functions (IRAM or flash), see IRAM Safe for more information. Whenever the driver creates a MCPWM timer instance that has selected MCPWM_TIMER_CLK_SRC_PLL160M as its clock source, the driver will guarantee that the power management lock is acquired when enable the timer by mcpwm_timer_enable(). Sometime, the software also wants to trigger a fake capture event. command [in] Supported command list for MCPWM timer, ESP_OK: Start or stop MCPWM timer successfully, ESP_ERR_INVALID_ARG: Start or stop MCPWM timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Start or stop MCPWM timer failed because timer is not enabled, ESP_FAIL: Start or stop MCPWM timer failed because of other error, The first call to this function needs to be before the call to mcpwm_timer_enable. On the contrary, calling mcpwm_del_capture_channel() and mcpwm_del_capture_timer() function will free the allocated capture channel and timer object accordingly. Most brushless motors use two or three-phase power systems. The mcpwm_new_capture_timer() will return a pointer to the allocated capture timer object if the allocation succeeds. Please note, if the out_generator and in_generator are the same, it means were adding the time delay to the PWM waveform in a in-place fashion. As displayed in the diagram above, the MCPWM peripheral consists of several submodules. once it moved for 7 turns. Paul Gould Back to overview Files 1 Components 0 logs 14 Instructions 0 Discussion 25 Back to project details Sort by: Oldest Project Notes 02/11/2020 at 17:11 0 comments As result of this action the motor should be put into a safe state to reduce likelihood of a damage caused by the fault. One generator can set multiple actions on different brake events, by calling mcpwm_generator_set_actions_on_brake_event() with variable number of action configurations. To convert the capture count into timestamp, you need to know the resolution of the capture timer by calling mcpwm_capture_timer_get_resolution(). Arduino Sketch This basic sketch will show us how to control a DC motor's speed and direction of rotation using the L293D motor driver IC. Therere three types of sync sources: A sync source reflected from the GPIO, a sync source generated by software and a sync source generated by MCPWM timer event. ESP32 ESP-WROOM-32 ESP-32S Development Board Arduino 2.4GHz WiFi & Bluetooth. acquire a proper power management lock if a specific clock source (e.g. mcpwm_carrier_config_t::first_pulse_duration_us: The duration of the first pulse in microseconds. Set to NULL will disable the timer being synced by others, The count value that should lock to upon sync event, The count direction that should lock to upon sync event, components/driver/mcpwm/include/driver/mcpwm_oper.h, config [in] MCPWM operator configuration, ret_oper [out] Returned MCPWM operator handle, ESP_OK: Create MCPWM operator successfully, ESP_ERR_INVALID_ARG: Create MCPWM operator failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM operator failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM operator failed because cant find free resource, ESP_FAIL: Create MCPWM operator failed because of other error, oper [in] MCPWM operator, allocated by mcpwm_new_operator(), ESP_OK: Delete MCPWM operator successfully, ESP_ERR_INVALID_ARG: Delete MCPWM operator failed because of invalid argument, ESP_FAIL: Delete MCPWM operator failed because of other error. Make sure the MCPWM timer and operator are in the same group, otherwise, this function will return ESP_ERR_INVALID_ARG error. The callback function prototype is declared in mcpwm_timer_event_cb_t. MCPWM operator brake event callback function. BLDC_COMPRESSOR_TCC_DA_HORIZONTAL_r1.0 (1) - Read online for free. DRV8316 + ESP32: FOC BLDC motor controller - YouTube 0:00 / 1:07 DRV8316 + ESP32: FOC BLDC motor controller Gadget Workbench 2.69K subscribers Subscribe 95 6.4K views 1 year ago. Set generator action on MCPWM compare event. Follow the next schematic diagram to wire the DC motor and the L298N motor driver to the ESP32. Specifically, when there are no free capture timer left in the MCPWM group, this function will return ESP_ERR_NOT_FOUND error. In the code there are tow functions fwd () and bwd () each function is for the rotation direction selected by switches on pins 10 & 11, the switch on pin 12 is to stop the motor. Otherwise, it will return error code. The Arduino, ESP8266 or ESP32 microcontroller provide the power supply for the DC motor. level [in] GPIO level to be applied to MCPWM generator, specially, -1 means to remove the force level, hold_on [in] Whether the forced PWM level should retain (i.e. The supported brake modes are listed in the mcpwm_operator_brake_mode_t. Copyright 2016 - 2023, Espressif Systems (Shanghai) Co., Ltd. mcpwm_timer_config_t::update_period_on_empty, mcpwm_timer_config_t::update_period_on_sync, mcpwm_operator_config_t::update_gen_action_on_tez, mcpwm_operator_config_t::update_gen_action_on_tep, mcpwm_operator_config_t::update_gen_action_on_sync, mcpwm_operator_config_t::update_dead_time_on_tez, mcpwm_operator_config_t::update_dead_time_on_tep, mcpwm_operator_config_t::update_dead_time_on_sync, mcpwm_comparator_config_t::update_cmp_on_tez, mcpwm_comparator_config_t::update_cmp_on_tep, mcpwm_comparator_config_t::update_cmp_on_sync, mcpwm_gpio_sync_src_config_t::io_loop_back, mcpwm_timer_sync_src_config_t::timer_event, mcpwm_timer_sync_src_config_t::propagate_input_sync, mcpwm_capture_channel_config_t::pull_down, mcpwm_capture_channel_config_t::invert_cap_signal, mcpwm_capture_channel_config_t::io_loop_back, mcpwm_comparator_register_event_callbacks(), mcpwm_comparator_event_callbacks_t::on_reach, mcpwm_generator_set_actions_on_timer_event(), mcpwm_gen_timer_event_action_t::direction, mcpwm_generator_set_action_on_timer_event(), mcpwm_generator_set_actions_on_compare_event(), mcpwm_gen_compare_event_action_t::direction, mcpwm_gen_compare_event_action_t::comparator, mcpwm_generator_set_action_on_compare_event(), mcpwm_generator_set_action_on_timer_event, mcpwm_generator_set_action_on_compare_event, mcpwm_generator_set_actions_on_compare_event, mcpwm_generator_set_actions_on_timer_event, mcpwm_dead_time_config_t::posedge_delay_ticks, mcpwm_dead_time_config_t::negedge_delay_ticks, // bypass deadtime module for generator_b, // generator_a bypass the deadtime module (no delay), // apply dead time on both edge for generator_b, mcpwm_carrier_config_t::first_pulse_duration_us, mcpwm_carrier_config_t::invert_before_modulate, mcpwm_carrier_config_t::invert_after_modulate, mcpwm_generator_set_actions_on_brake_event(), mcpwm_gen_brake_event_action_t::direction, mcpwm_gen_brake_event_action_t::brake_mode, mcpwm_generator_set_action_on_brake_event(), mcpwm_fault_event_callbacks_t::on_fault_enter, mcpwm_fault_event_callbacks_t::on_fault_exit, mcpwm_operator_register_event_callbacks(), mcpwm_operator_event_callbacks_t::on_brake_cbc, mcpwm_operator_event_callbacks_t::on_brake_ost, mcpwm_timer_sync_phase_config_t::sync_src, mcpwm_timer_sync_phase_config_t::count_value, mcpwm_timer_sync_phase_config_t::direction, mcpwm_capture_timer_sync_phase_config_t::sync_src, mcpwm_capture_timer_sync_phase_config_t::count_value, mcpwm_capture_timer_sync_phase_config_t::direction, // GPIO fault should be in the same group of the above timers, // by default, a posedge pulse can trigger a sync event, mcpwm_capture_channel_register_event_callbacks(), mcpwm_capture_channel_trigger_soft_catch(), mcpwm_comparator_register_event_callbacks, mcpwm_generator_set_action_on_brake_event, mcpwm_generator_set_actions_on_brake_event, mcpwm_capture_channel_register_event_callbacks, Analog to Digital Converter (ADC) Oneshot Mode Driver, Analog to Digital Converter (ADC) Continuous Mode Driver, Analog to Digital Converter (ADC) Calibration Driver, Motor Control Pulse Width Modulator (MCPWM), Universal Asynchronous Receiver/Transmitter (UART), Classical PWM Waveforms and Generator Configurations, Classical PWM Waveforms and Dead Time Configurations, peripherals/mcpwm/mcpwm_bdc_speed_control, peripherals/mcpwm/mcpwm_bldc_hall_control.