esp32 bldc motor control esp32 bldc motor control

Enough for a controller. The action configuration is defined in mcpwm_gen_brake_event_action_t: mcpwm_gen_brake_event_action_t::direction specific the timer direction. One generator can set multiple actions on different timer events, by calling mcpwm_generator_set_actions_on_timer_event() with variable number of action configurations. It is also possible to generate the required dead time by setting Generator Actions on Events, especially by controlling edge placement using different comparators. I'm trying to figure out how to control the speed of a 400-watt, 3000RPM, 48V BLDC with Hall sensors with a Raspberry Pi 3. The configuration structure is defined as: mcpwm_timer_config_t::group_id specifies the MCPWM group ID. 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. The action configuration is defined in mcpwm_gen_compare_event_action_t: mcpwm_gen_compare_event_action_t::direction specific the timer direction. So, these functions can also be executable when the cache is disabled. Theres a helper macro MCPWM_GEN_TIMER_EVENT_ACTION to simplify the construction of a timer event action entry. Therere a few points to note: New compare value might wont take effect immediately. Buy M5Stack Core2 ESP32 IoT Development Kit at the lowest price online in India at Robu.in. With a comprehensive range of BLDC motor controller IC products, Infineon offers a complete MOTIX BLDC motor system IC that is one of the first systems in the world to combine integrated power supply, CAN FD, and LIN functionality for both DC and BLDC motor controllers. The first call to this function needs to be before the call to mcpwm_capture_channel_enable, ESP_ERR_INVALID_STATE: Set event callbacks failed because the channel is not in init state, ESP_OK: Trigger software catch successfully, ESP_ERR_INVALID_ARG: Trigger software catch failed because of invalid argument, ESP_ERR_INVALID_STATE: Trigger software catch failed because the channel is not enabled yet, ESP_FAIL: Trigger software catch failed because of other error. Synchronization - describes how to synchronize the MCPWM timers and get a fixed phase difference between the generated PWM signals. The compare value shouldnt exceed timers count peak, otherwise, the compare event will never got triggered. Looking to make some money? 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. The MCPWM operator is able to sense external signals with information about failure of the motor, the power driver or any other device connected. Help macros to construct a mcpwm_gen_brake_event_action_t entry. Controlling DC Motor Speed and Direction using L293D Motor Driver IC Open your Arduino IDE and go to File > New. The callback function will provide event specific data of type mcpwm_compare_event_data_t to the user. The basic functionality of MCPWM capture is to record the time when any pulse edge of the capture signal turns active. The first pulse duration cant be zero, and it has to be at least one period of the carrier. Specify from which group to allocate the capture timer. Otherwise, it will return error code. The supported actions are listed in mcpwm_generator_action_t. It is for debugging purposes only. ESP_OK: Set MCPWM compare value successfully, ESP_ERR_INVALID_ARG: Set MCPWM compare value failed because of invalid argument (e.g. Otherwise, it will return error code. generator [in] MCPWM generator handle, allocated by mcpwm_new_generator(), ev_act [in] MCPWM compare event action, can be constructed by MCPWM_GEN_COMPARE_EVENT_ACTION helper macro. You can also set the compare action one by one by calling mcpwm_generator_set_action_on_compare_event() without varargs. Specifically, when there are no free capture channel left in the capture timer, this function will return ESP_ERR_NOT_FOUND error. mcpwm_capture_channel_config_t::io_loop_back sets whether to enable the loop back mode. The flip side of the three-level BLDC driver circuit is that it requires six MCU outputs. Internally, this function will: switch the timer state from init to enable. MCPWM Generator: One MCPWM generator can generate a pair of PWM waves, complementarily or independently, based on various events triggered from other submodules like MCPWM Timer, MCPWM Comparator. On one side the ESC has three wires that control the three phases of the motor and on the other side it has two wires, VCC and GND, for powering. Skills: Autodesk Inventor, Electronics, Mechatronics. 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(). Please note, GPIO sync source located in different groups are totally independent, i.e. It is very similar to a servo motor. The mcpwm_new_comparator() will return a pointer to the allocated comparator object if the allocation succeeds. Group of supported MCPWM timer event callbacks. It is for debugging purposes only. Specifically, when there are no more free generators in the MCPWM operator, this function will return ESP_ERR_NOT_FOUND error. Once the fault signal is active, MCPWM Operator will force all the generators into a predefined state, to protect the system from damage. A typical control circuit with a 3-phase winding connection is shown in Figure 1. V1, V3, V5 and V2, V4, V6 make a 3-phase voltage source inverter connected across the power supply. It enables both the GPIOs input and output ability through the GPIO matrix peripheral. The mcpwm_capture_channel_trigger_soft_catch() is provided for that purpose. Brushed DC motor speed control by PID algorithm: peripherals/mcpwm/mcpwm_bdc_speed_control, BLDC motor control with hall sensor feedback: peripherals/mcpwm/mcpwm_bldc_hall_control, Ultrasonic sensor (HC-SR04) distance measurement: peripherals/mcpwm/mcpwm_capture_hc_sr04, Servo motor angle control: peripherals/mcpwm/mcpwm_servo_control, MCPWM synchronization between timers: peripherals/mcpwm/mcpwm_sync, components/driver/mcpwm/include/driver/mcpwm_timer.h, config [in] MCPWM timer configuration, ret_timer [out] Returned MCPWM timer handle, ESP_ERR_INVALID_ARG: Create MCPWM timer failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM timer failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM timer failed because all hardware timers are used up and no more free one, ESP_FAIL: Create MCPWM timer failed because of other error, timer [in] MCPWM timer handle, allocated by mcpwm_new_timer(), ESP_ERR_INVALID_ARG: Delete MCPWM timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Delete MCPWM timer failed because timer is not in init state, ESP_FAIL: Delete MCPWM timer failed because of other error, ESP_ERR_INVALID_ARG: Enable MCPWM timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Enable MCPWM timer failed because timer is enabled already, ESP_FAIL: Enable MCPWM timer failed because of other error, ESP_ERR_INVALID_ARG: Disable MCPWM timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Disable MCPWM timer failed because timer is disabled already, ESP_FAIL: Disable MCPWM timer failed because of other error. 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(). CONFIG_MCPWM_ISR_IRAM_SAFE controls whether the default ISR handler can work when cache is disabled, see IRAM Safe for more information. 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. It enables both the GPIOs input and output ability through the GPIO matrix peripheral. Free shipping. The way that MCPWM operator reacts to the fault is called Brake. See also Power management for more information. mcpwm_operator_config_t::update_dead_time_on_tez sets whether to update the dead time when the timer counts to zero. 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. MCPWM capture channel configuration structure. Report this item. ESP32MotorControl Motor control using ESP32 MCPWM A library to ESP32 control motors using MCPWM Works only with ESP32. MCPWM Operator: The key module that is responsible for generating the PWM waveforms. Activate the software sync, trigger the sync event for once. It is for debugging purposes only. To recover from fault or escape from trip, you make sure the fault signal has dissappeared already. Set generator action on MCPWM timer event. The configuration structure is defined as: mcpwm_generator_config_t::gen_gpio_num sets the GPIO number used by the generator. Then you can get the pulse width and convert it into other physical quantity like distance or speed in the capture callback function. It is only allowed to be called before mcpwm_timer_enable(), otherwise the ESP_ERR_INVALID_STATE error will be returned. mcpwm_capture_channel_config_t::pos_edge and mcpwm_capture_channel_config_t::neg_edge set whether to capture on the positive and/or negative edge of the input signal. Callback function that would be invoked when capture event occurred, components/driver/mcpwm/include/driver/mcpwm_types.h, [in] MCPWM timer event data, fed by driver, [in] User data, set in mcpwm_timer_register_event_callbacks(), Whether a high priority task has been waken up by this function. The mcpwm_new_capture_channel() will return a pointer to the allocated capture channel object if the allocation succeeds. Try to make the operator recover from fault. Additionally this bldc driver class enables the user to provide enable signal for each phase if available. Thus, you should avoid calling them in different tasks without mutex protection. Power Management - describes how different source clock will affect power consumption. The MCPWM operator can be configured to perform different brake modes for each fault object by calling mcpwm_operator_set_brake_on_fault(). The parameter user_data of mcpwm_comparator_register_event_callbacks() function is used to save users own context, it will be passed to the callback function directly. 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. ev_act [in] MCPWM timer event action, can be constructed by MCPWM_GEN_TIMER_EVENT_ACTION helper macro, ESP_OK: Set generator action successfully, ESP_ERR_INVALID_ARG: Set generator action failed because of invalid argument, ESP_ERR_INVALID_STATE: Set generator action failed because of timer is not connected to operator, ESP_FAIL: Set generator action failed because of other error. You can allocate a MCPWM operator object by calling mcpwm_new_operator()() function, with a configuration structure mcpwm_operator_config_t as the parameter. A software fault object can be allocated by calling mcpwm_new_soft_fault() function, with configuration structure mcpwm_soft_fault_config_t as the parameter. mcpwm_operator_config_t::update_dead_time_on_tep sets whether to update the dead time when the timer counts to peak. The force level will be applied to the generator immediately, regardless any other events that would change the generators behaviour. Here using a motor driver L293D. mcpwm_gpio_sync_src_config_t::io_loop_back sets whether to enable the loop back mode. The duty cycle of the PWM waveform is determined by the generators various action combinations. The capture channel is not enabled after allocation by mcpwm_new_capture_channel(). The ID should belong to [0, SOC_MCPWM_GROUPS - 1] range. 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. Dead Time: This submodule is used to insert extra delay to the existing PWM edges that generated in the previous steps. The callback function prototype is declared in mcpwm_capture_event_cb_t. mcpwm_gpio_sync_src_config_t::pull_up and mcpwm_gpio_sync_src_config_t::pull_down set whether to pull up and/or pull down the GPIO internally. When a sync signal is taken by the MCPWM timer, the timer will be forced into a predefined phase, where the phase is determined by count value and count direction. 1. This module allows us to control the speed and direction of the motors. Any of PWM output signals may be at 100% duty and not changing whenever motor is required to run steady at the full load. When the time-base counter is equal to any of the threshold value, an compare event will be generated and the MCPWM generator can update its level accordingly. MCPWM Capture: This is a standalone submodule which can work even without the above MCPWM operators. This capability is mandatory if you need pulse transformer-based gate drivers to control the power switching elements. MCPWM operator brake event callback function. config [in] MCPWM generator configuration, ret_gen [out] Returned MCPWM generator, ESP_OK: Create MCPWM generator successfully, ESP_ERR_INVALID_ARG: Create MCPWM generator failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM generator failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM generator failed because cant find free resource, ESP_FAIL: Create MCPWM generator failed because of other error, gen [in] MCPWM generator handle, allocated by mcpwm_new_generator(), ESP_OK: Delete MCPWM generator successfully, ESP_ERR_INVALID_ARG: Delete MCPWM generator failed because of invalid argument, ESP_FAIL: Delete MCPWM generator failed because of other error. The callback function is called within the ISR context, so is should not attempt to block (e.g., make sure that only FreeRTOS APIs with ISR suffix is called within the function). The period of the PWM waveform is determined by the timers period and count mode. Servo Motor A servo motor consists of a DC motor, reduction gearbox, positional feedback device and some form of error correction. The configuration structure is defined as: mcpwm_gpio_sync_src_config_t::group_id sets the MCPWM group ID. mcpwm_comparator_config_t::update_cmp_on_tep sets whether to update the compare threshold when the timer counts to peak. The earlier DC motor tutorials were focused on the Arduino UNO, while this tutorial is focused on the ESP32 development board. The MOTIX 6ED2742S01Q is a 160 V SOI based gate driver designed for three phase BLDC motor drive applications. mcpwm_new_soft_fault() function will return a pointer to the allocated fault object if the allocation succeeds. Group of supported MCPWM compare event callbacks. ESP_OK: Enable MCPWM capture channel successfully, ESP_ERR_INVALID_ARG: Enable MCPWM capture channel failed because of invalid argument, ESP_ERR_INVALID_STATE: Enable MCPWM capture channel failed because the channel is already enabled, ESP_FAIL: Enable MCPWM capture channel failed because of other error, ESP_OK: Disable MCPWM capture channel successfully, ESP_ERR_INVALID_ARG: Disable MCPWM capture channel failed because of invalid argument, ESP_ERR_INVALID_STATE: Disable MCPWM capture channel failed because the channel is not enabled yet, ESP_FAIL: Disable MCPWM capture channel failed because of other error. Connect MCPWM operator and timer, so that the operator can be driven by the timer. 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. mcpwm_capture_channel_config_t::prescale sets the prescaler of the input signal. The supported brake modes are listed in the mcpwm_operator_brake_mode_t. 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. mcpwm_comparator_config_t::update_cmp_on_sync sets whether to update the compare threshold when the timer takes a sync signal. By default, the MCPWM interrupt will be deferred when the Cache is disabled for reasons like writing/erasing Flash. Before doing IO control to the capture timer, user needs to enable the timer first, by calling mcpwm_capture_timer_enable(). This function will lazy install interrupt service for the MCPWM timer without enabling it. On the contrary, calling mcpwm_del_fault() function will free the allocated fault object, this function works for both software and GPIO fault.