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Merge pull request #305 from mcells/esp32-phasestate
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Add ESP32 Phasestate with sw-deadtime
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@runger1101001
runger1101001 authored Sep 10, 2023
2 parents 4690e16 + b54827b commit 5029fc7
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Showing 2 changed files with 50 additions and 18 deletions.
1 change: 1 addition & 0 deletions src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ typedef struct ESP32MCPWMDriverParams {
mcpwm_unit_t mcpwm_unit;
mcpwm_operator_t mcpwm_operator1;
mcpwm_operator_t mcpwm_operator2;
float deadtime;
} ESP32MCPWMDriverParams;


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67 changes: 49 additions & 18 deletions src/drivers/hardware_specific/esp32/esp32_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,10 @@

#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)

#ifndef SIMPLEFOC_ESP32_HW_DEADTIME
#define SIMPLEFOC_ESP32_HW_DEADTIME true // TODO: Change to false when sw-deadtime & phase_state is approved ready for general use.
#endif

// define bldc motor slots array
bldc_3pwm_motor_slots_t esp32_bldc_3pwm_motor_slots[4] = {
{_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM0A, MCPWM1A, MCPWM2A}, // 1st motor will be MCPWM0 channel A
Expand Down Expand Up @@ -49,15 +53,28 @@ void _configureTimerFrequency(long pwm_frequency, mcpwm_dev_t* mcpwm_num, mcpwm

if (_isset(dead_zone)){
// dead zone is configured
float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
mcpwm_deadtime_type_t pwm_mode;
if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;} // Normal, noninverting driver
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;} // Inverted lowside driver
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;} // Inverted highside driver
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_LOW_COMPLIMENT_MODE;} // Inverted low- & highside driver. Caution: This may short the FETs on reset of the ESP32, as both pins get pulled low!
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);

// When using hardware deadtime, setting the phase_state parameter is not supported.
#if SIMPLEFOC_ESP32_HW_DEADTIME == true
float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
mcpwm_deadtime_type_t pwm_mode;
if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;} // Normal, noninverting driver
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;} // Inverted lowside driver
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;} // Inverted highside driver
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_LOW_COMPLIMENT_MODE;} // Inverted low- & highside driver. Caution: This may short the FETs on reset of the ESP32, as both pins get pulled low!
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
#else // Software deadtime
for (int i = 0; i < 3; i++){
if (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_0);} // Normal, noninverted highside
else if (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_1);} // Inverted highside driver

if (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_1);} // Normal, complementary lowside
else if (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_0);} // Inverted lowside driver
}
#endif

}
_delay(100);

Expand Down Expand Up @@ -374,7 +391,10 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
ESP32MCPWMDriverParams* params = new ESP32MCPWMDriverParams {
.pwm_frequency = pwm_frequency,
.mcpwm_dev = m_slot.mcpwm_num,
.mcpwm_unit = m_slot.mcpwm_unit
.mcpwm_unit = m_slot.mcpwm_unit,
.mcpwm_operator1 = m_slot.mcpwm_operator1,
.mcpwm_operator2 = m_slot.mcpwm_operator2,
.deadtime = _isset(dead_zone) ? dead_zone : 0
};
return params;
}
Expand All @@ -386,15 +406,26 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
// - BLDC driver - 6PWM setting
// - hardware specific
void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){
// se the PWM on the slot timers
// set the PWM on the slot timers
// transform duty cycle from [0,1] to [0,100.0]
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0);
_UNUSED(phase_state);
#if SIMPLEFOC_ESP32_HW_DEADTIME == true
// Hardware deadtime does deadtime insertion internally
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0f);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0f);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0f);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0f);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0f);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0f);
_UNUSED(phase_state);
#else
float deadtime = 0.5f*((ESP32MCPWMDriverParams*)params)->deadtime;
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_HI) ? _constrain(dc_a-deadtime, 0.0f, 1.0f) * 100.0f : 0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_LO) ? _constrain(dc_a+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_HI) ? _constrain(dc_b-deadtime, 0.0f, 1.0f) * 100.0f : 0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_LO) ? _constrain(dc_b+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_HI) ? _constrain(dc_c-deadtime, 0.0f, 1.0f) * 100.0f : 0);
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_LO) ? _constrain(dc_c+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
#endif
}

#endif

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