Skip to content

Commit

Permalink
added the 6wpm driver
Browse files Browse the repository at this point in the history
  • Loading branch information
@askuric
askuric committed Jun 8, 2024
1 parent ae4df18 commit 26d111d
Showing 1 changed file with 127 additions and 34 deletions.
161 changes: 127 additions & 34 deletions src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,12 @@ bool _ledcAttachChannelAdvanced(uint8_t pin, int _channel, int _group, uint32_t
ledc_timer.freq_hz = freq;
ledc_timer.clk_cfg = LEDC_AUTO_CLK;
if (ledc_timer_config(&ledc_timer) != ESP_OK) {
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure the timer:", LEDC_TIMER_0);
return false;
}

// if active high is false invert
int pin_high_level = SIMPLEFOC_PWM_ACTIVE_HIGH ? 1 : 0;
int pin_high_level = SIMPLEFOC_PWM_ACTIVE_HIGH ? 0 : 1;
if (inverted) pin_high_level = !pin_high_level;

uint32_t duty = ledc_get_duty(group, channel);
Expand All @@ -91,28 +92,31 @@ bool _ledcAttachChannelAdvanced(uint8_t pin, int _channel, int _group, uint32_t
ledc_channel.gpio_num = pin;
ledc_channel.duty = duty;
ledc_channel.hpoint = 0;
ledc_channel.flags.output_invert = pin_high_level;
ledc_channel.flags.output_invert = pin_high_level; // 0 is active high, 1 is active low
if (ledc_channel_config(&ledc_channel)!= ESP_OK) {
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to attach channel:", _channel);
return false;
}

return true;
}


// returns the number of available channels in the group
int _availableGroupChannels(int group){
if(group == 0) return LEDC_CHANNELS_GROUP0 - group_channels_used[0];
else if(group == 1) return LEDC_CHANNELS_GROUP1 - group_channels_used[1];
return 0;
}

// returns the number of the group that has enough channels available
// returns -1 if no group has enough channels
//
// NOT IMPLEMENTED BUT COULD BE USEFUL
// returns 2 if no group has enough channels but combined they do
int _findGroupWithChannelsAvailable(int no_channels){
if (group_channels_used[0] + no_channels < LEDC_CHANNELS_GROUP0){
return 0;
}else if (group_channels_used[1] + no_channels < LEDC_CHANNELS_GROUP1){
return 1;
}
// else if (group_channels_used[0] + group_channels_used[1] + no_channels < LEDC_CHANNELS){
// return 2;
// }
if(no_channels <= _availableGroupChannels(0)) return 0;
if(no_channels <= _availableGroupChannels(1)) return 1;
return -1;
}

Expand All @@ -132,11 +136,12 @@ void* _configure1PWM(long pwm_frequency, const int pinA) {

// configure the channel
group_channels_used[group] += 1;
if(!_ledcAttachChannelAdvanced(pinA, group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)) {
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to attach channel:", group_channels_used[group]);
if(!_ledcAttachChannelAdvanced(pinA, group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pinA);
return SIMPLEFOC_DRIVER_INIT_FAILED;
}



ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
.channels = { static_cast<ledc_channel_t>(group_channels_used[group]) },
.groups = { (ledc_mode_t)group },
Expand Down Expand Up @@ -177,9 +182,10 @@ void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
for(int i = 0; i < 2; i++){
group_channels_used[group]++;
if(!_ledcAttachChannelAdvanced(pins[i], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to attach channel:", group_channels_used[group]);
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pins[i]);
return SIMPLEFOC_DRIVER_INIT_FAILED;
}

params->channels[i] = static_cast<ledc_channel_t>(group_channels_used[group]);
params->groups[i] = (ledc_mode_t)group;
}
Expand Down Expand Up @@ -213,9 +219,10 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
for(int i = 0; i < 3; i++){
group_channels_used[group]++;
if(!_ledcAttachChannelAdvanced(pins[i], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to attach channel:", group_channels_used[group]);
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pins[i]);
return SIMPLEFOC_DRIVER_INIT_FAILED;
}

params->channels[i] = static_cast<ledc_channel_t>(group_channels_used[group]);
params->groups[i] = (ledc_mode_t)group;
}
Expand All @@ -229,31 +236,49 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max

SIMPLEFOC_DEBUG("EP32-DRV: Configuring 4PWM");
// check if enough channels available
int group = _findGroupWithChannelsAvailable(4);
if (group < 0){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough channels available!");
return SIMPLEFOC_DRIVER_INIT_FAILED;
}
SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup in group: ", (group));

ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
.channels = { static_cast<ledc_channel_t>(0)},
.groups = { (ledc_mode_t)0 },
.pwm_frequency = pwm_frequency
};

SIMPLEFOC_DEBUG("EP32-DRV: Configuring 4PWM");
// check if enough channels available
int group = _findGroupWithChannelsAvailable(4);
if (group < 0){
// not enough channels available on any individual group
// check if their combined number is enough (two channels per group)
if(_availableGroupChannels(0) >=2 && _availableGroupChannels(1) >=2){
group = 2;
SIMPLEFOC_DEBUG("EP32-DRV: WARNING: Not enough available ledc channels for 4pwm in a single group! Using two groups!");
SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup in groups: 0 and 1!");
params->groups[2] = (ledc_mode_t)1;
params->groups[3] = (ledc_mode_t)1;
}else{
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough available ledc channels for 4pwm!");
return SIMPLEFOC_DRIVER_INIT_FAILED;
}
}else{
SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup in group: ", (group));
params->groups[0] = (ledc_mode_t)group;
params->groups[1] = (ledc_mode_t)group;
params->groups[2] = (ledc_mode_t)group;
params->groups[3] = (ledc_mode_t)group;
}



int pins[4] = {pinA, pinB, pinC, pinD};
for(int i = 0; i < 4; i++){
group_channels_used[group]++;
if(!_ledcAttachChannelAdvanced(pins[i], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to attach channel:", group_channels_used[group]);
group_channels_used[params->groups[i]]++;
if(!_ledcAttachChannelAdvanced(pins[i], group_channels_used[params->groups[i]], params->groups[i], pwm_frequency, _PWM_RES_BIT, false)){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pins[i]);
return SIMPLEFOC_DRIVER_INIT_FAILED;
}
params->channels[i] = static_cast<ledc_channel_t>(group_channels_used[group]);
params->groups[i] = (ledc_mode_t)group;
params->channels[i] = static_cast<ledc_channel_t>(group_channels_used[params->groups[i]]);
}
SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup successful in group: ", (group));
SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup successful!");
return params;
}

Expand Down Expand Up @@ -292,13 +317,81 @@ void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, vo
}


// TODO - implement 6PWM
void* _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){
SIMPLEFOC_DEBUG("EP32-DRV: 6PWM not supported!");
return SIMPLEFOC_DRIVER_INIT_FAILED;
if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max

SIMPLEFOC_DEBUG("EP32-DRV: Configuring 6PWM");
SIMPLEFOC_DEBUG("EP32-DRV: WARNING - 6PWM on LEDC is poorly supported and not tested, consider using MCPWM driver instead!");
// check if enough channels available
int group = _findGroupWithChannelsAvailable(6);
if (group < 0){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough channels available!");
return SIMPLEFOC_DRIVER_INIT_FAILED;
}
SIMPLEFOC_DEBUG("EP32-DRV: 6PWM setup in group: ", (group));
ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
.channels = { static_cast<ledc_channel_t>(0)},
.groups = { (ledc_mode_t)group },
.pwm_frequency = pwm_frequency,
.dead_zone = dead_zone
};

int high_side_invert = SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH ? false : true;
int low_side_invert = SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH ? true : false;

int pin_pairs[6][2] = {
{pinA_h, pinA_l},
{pinB_h, pinB_l},
{pinC_h, pinC_l}
};

for(int i = 0; i < 3; i++){
group_channels_used[group]++;
if(!_ledcAttachChannelAdvanced(pin_pairs[i][0], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, high_side_invert)){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pin_pairs[i][0]);
return SIMPLEFOC_DRIVER_INIT_FAILED;
}

params->channels[2*i] = static_cast<ledc_channel_t>(group_channels_used[group]);
params->groups[2*i] = (ledc_mode_t)group;

group_channels_used[group]++;
if(!_ledcAttachChannelAdvanced(pin_pairs[i][1], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, low_side_invert)){
SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pin_pairs[i][0]);
return SIMPLEFOC_DRIVER_INIT_FAILED;
}

params->channels[2*i+1] = static_cast<ledc_channel_t>(group_channels_used[group]);
params->groups[2*i+1] = (ledc_mode_t)group;
}

SIMPLEFOC_DEBUG("EP32-DRV: 6PWM setup successful in group: ", (group));
return params;
}
void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, void* params) {
SIMPLEFOC_DEBUG("EP32-DRV: 6PWM not supported");

void _setPwmPairDutyCycle( void* params, int ind_h, int ind_l, float val, float dead_time, PhaseState ps){
float pwm_h = _constrain(val - dead_time/2.0, 0, 1.0);
float pwm_l = _constrain(val + dead_time/2.0, 0, 1.0);

// determine the phase state and set the pwm accordingly
// deactivate phases if needed
if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_LO)){
_writeDutyCycle(0, params, ind_h);
}else{
_writeDutyCycle(pwm_h, params, ind_h);
}
if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_HI)){
_writeDutyCycle(0, params, ind_l);
}else{
_writeDutyCycle(pwm_l, params, ind_l);
}
}

void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){
_setPwmPairDutyCycle(params, 0, 1, dc_a, ((ESP32LEDCDriverParams*)params)->dead_zone, phase_state[0]);
_setPwmPairDutyCycle(params, 2, 3, dc_b, ((ESP32LEDCDriverParams*)params)->dead_zone, phase_state[1]);
_setPwmPairDutyCycle(params, 4, 5, dc_c, ((ESP32LEDCDriverParams*)params)->dead_zone, phase_state[2]);
}

#endif

0 comments on commit 26d111d

Please sign in to comment.