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runger1101001runger1101001
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Merge pull request #305 from mcells/esp32-phasestate
Add ESP32 Phasestate with sw-deadtime
2 parents 4690e16 + b54827b commit 5029fc7

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-18
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2 files changed

+50
-18
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‎src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -88,6 +88,7 @@ typedef struct ESP32MCPWMDriverParams {
8888
mcpwm_unit_t mcpwm_unit;
8989
mcpwm_operator_t mcpwm_operator1;
9090
mcpwm_operator_t mcpwm_operator2;
91+
float deadtime;
9192
} ESP32MCPWMDriverParams;
9293

9394

‎src/drivers/hardware_specific/esp32/esp32_mcu.cpp

Lines changed: 49 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,10 @@
22

33
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
44

5+
#ifndef SIMPLEFOC_ESP32_HW_DEADTIME
6+
#define SIMPLEFOC_ESP32_HW_DEADTIME true // TODO: Change to false when sw-deadtime & phase_state is approved ready for general use.
7+
#endif
8+
59
// define bldc motor slots array
610
bldc_3pwm_motor_slots_t esp32_bldc_3pwm_motor_slots[4] = {
711
{_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM0A, MCPWM1A, MCPWM2A}, // 1st motor will be MCPWM0 channel A
@@ -49,15 +53,28 @@ void _configureTimerFrequency(long pwm_frequency, mcpwm_dev_t* mcpwm_num, mcpwm
4953

5054
if (_isset(dead_zone)){
5155
// dead zone is configured
52-
float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
53-
mcpwm_deadtime_type_t pwm_mode;
54-
if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;} // Normal, noninverting driver
55-
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;} // Inverted lowside driver
56-
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;} // Inverted highside driver
57-
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!
58-
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
59-
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
60-
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
56+
57+
// When using hardware deadtime, setting the phase_state parameter is not supported.
58+
#if SIMPLEFOC_ESP32_HW_DEADTIME == true
59+
float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
60+
mcpwm_deadtime_type_t pwm_mode;
61+
if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;} // Normal, noninverting driver
62+
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;} // Inverted lowside driver
63+
else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;} // Inverted highside driver
64+
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!
65+
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
66+
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
67+
mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
68+
#else // Software deadtime
69+
for (int i = 0; i < 3; i++){
70+
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
71+
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
72+
73+
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
74+
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
75+
}
76+
#endif
77+
6178
}
6279
_delay(100);
6380

@@ -374,7 +391,10 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
374391
ESP32MCPWMDriverParams* params = new ESP32MCPWMDriverParams {
375392
.pwm_frequency = pwm_frequency,
376393
.mcpwm_dev = m_slot.mcpwm_num,
377-
.mcpwm_unit = m_slot.mcpwm_unit
394+
.mcpwm_unit = m_slot.mcpwm_unit,
395+
.mcpwm_operator1 = m_slot.mcpwm_operator1,
396+
.mcpwm_operator2 = m_slot.mcpwm_operator2,
397+
.deadtime = _isset(dead_zone) ? dead_zone : 0
378398
};
379399
return params;
380400
}
@@ -386,15 +406,26 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
386406
// - BLDC driver - 6PWM setting
387407
// - hardware specific
388408
void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){
389-
// se the PWM on the slot timers
409+
// set the PWM on the slot timers
390410
// transform duty cycle from [0,1] to [0,100.0]
391-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0);
392-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0);
393-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0);
394-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0);
395-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0);
396-
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0);
397-
_UNUSED(phase_state);
411+
#if SIMPLEFOC_ESP32_HW_DEADTIME == true
412+
// Hardware deadtime does deadtime insertion internally
413+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0f);
414+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0f);
415+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0f);
416+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0f);
417+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0f);
418+
mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0f);
419+
_UNUSED(phase_state);
420+
#else
421+
float deadtime = 0.5f*((ESP32MCPWMDriverParams*)params)->deadtime;
422+
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);
423+
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);
424+
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);
425+
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);
426+
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);
427+
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);
428+
#endif
398429
}
399430

400431
#endif

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