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components/esp_driver_mcpwm/include/driver/mcpwm_oper.h
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/*
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include "esp_err.h"
#include "driver/mcpwm_types.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief MCPWM operator configuration
*/
typedef struct {
int group_id; /*!< Specify from which group to allocate the MCPWM operator */
int intr_priority; /*!< MCPWM operator interrupt priority,
if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) */
struct {
uint32_t update_gen_action_on_tez: 1; /*!< Whether to update generator action when timer counts to zero */
uint32_t update_gen_action_on_tep: 1; /*!< Whether to update generator action when timer counts to peak */
uint32_t update_gen_action_on_sync: 1; /*!< Whether to update generator action on sync event */
uint32_t update_dead_time_on_tez: 1; /*!< Whether to update dead time when timer counts to zero */
uint32_t update_dead_time_on_tep: 1; /*!< Whether to update dead time when timer counts to peak */
uint32_t update_dead_time_on_sync: 1; /*!< Whether to update dead time on sync event */
} flags; /*!< Extra configuration flags for operator */
} mcpwm_operator_config_t;
/**
* @brief Create MCPWM operator
*
* @param[in] config MCPWM operator configuration
* @param[out] ret_oper Returned MCPWM operator handle
* @return
* - 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 can't find free resource
* - ESP_FAIL: Create MCPWM operator failed because of other error
*/
esp_err_t mcpwm_new_operator(const mcpwm_operator_config_t *config, mcpwm_oper_handle_t *ret_oper);
/**
* @brief Delete MCPWM operator
*
* @param[in] oper MCPWM operator, allocated by `mcpwm_new_operator()`
* @return
* - 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
*/
esp_err_t mcpwm_del_operator(mcpwm_oper_handle_t oper);
/**
* @brief Connect MCPWM operator and timer, so that the operator can be driven by the timer
*
* @param[in] oper MCPWM operator handle, allocated by `mcpwm_new_operator()`
* @param[in] timer MCPWM timer handle, allocated by `mcpwm_new_timer()`
* @return
* - ESP_OK: Connect MCPWM operator and timer successfully
* - ESP_ERR_INVALID_ARG: Connect MCPWM operator and timer failed because of invalid argument
* - ESP_FAIL: Connect MCPWM operator and timer failed because of other error
*/
esp_err_t mcpwm_operator_connect_timer(mcpwm_oper_handle_t oper, mcpwm_timer_handle_t timer);
/**
* @brief MCPWM brake configuration structure
*/
typedef struct {
mcpwm_fault_handle_t fault; /*!< Which fault causes the operator to brake */
mcpwm_operator_brake_mode_t brake_mode; /*!< Brake mode */
struct {
uint32_t cbc_recover_on_tez: 1; /*!< Recovery CBC brake state on tez event */
uint32_t cbc_recover_on_tep: 1; /*!< Recovery CBC brake state on tep event */
} flags; /*!< Extra flags for brake configuration */
} mcpwm_brake_config_t;
/**
* @brief Set brake method for MCPWM operator
*
* @param[in] oper MCPWM operator, allocated by `mcpwm_new_operator()`
* @param[in] config MCPWM brake configuration
* @return
* - ESP_OK: Set trip for operator successfully
* - ESP_ERR_INVALID_ARG: Set trip for operator failed because of invalid argument
* - ESP_FAIL: Set trip for operator failed because of other error
*/
esp_err_t mcpwm_operator_set_brake_on_fault(mcpwm_oper_handle_t oper, const mcpwm_brake_config_t *config);
/**
* @brief Try to make the operator recover from fault
*
* @note To recover from fault or escape from trip, you make sure the fault signal has disappeared already.
* Otherwise the recovery can't succeed.
*
* @param[in] oper MCPWM operator, allocated by `mcpwm_new_operator()`
* @param[in] fault MCPWM fault handle
* @return
* - ESP_OK: Recover from fault successfully
* - ESP_ERR_INVALID_ARG: Recover from fault failed because of invalid argument
* - ESP_ERR_INVALID_STATE: Recover from fault failed because the fault source is still active
* - ESP_FAIL: Recover from fault failed because of other error
*/
esp_err_t mcpwm_operator_recover_from_fault(mcpwm_oper_handle_t oper, mcpwm_fault_handle_t fault);
/**
* @brief Group of supported MCPWM operator event callbacks
* @note The callbacks are all running under ISR environment
*/
typedef struct {
mcpwm_brake_event_cb_t on_brake_cbc; /*!< callback function when mcpwm operator brakes in CBC */
mcpwm_brake_event_cb_t on_brake_ost; /*!< callback function when mcpwm operator brakes in OST */
} mcpwm_operator_event_callbacks_t;
/**
* @brief Set event callbacks for MCPWM operator
*
* @note User can deregister a previously registered callback by calling this function and setting the callback member in the `cbs` structure to NULL.
*
* @param[in] oper MCPWM operator handle, allocated by `mcpwm_new_operator()`
* @param[in] cbs Group of callback functions
* @param[in] user_data User data, which will be passed to callback functions directly
* @return
* - ESP_OK: Set event callbacks successfully
* - ESP_ERR_INVALID_ARG: Set event callbacks failed because of invalid argument
* - ESP_FAIL: Set event callbacks failed because of other error
*/
esp_err_t mcpwm_operator_register_event_callbacks(mcpwm_oper_handle_t oper, const mcpwm_operator_event_callbacks_t *cbs, void *user_data);
/**
* @brief MCPWM carrier configuration structure
*/
typedef struct {
mcpwm_carrier_clock_source_t clk_src; /*!< MCPWM carrier clock source */
uint32_t frequency_hz; /*!< Carrier frequency in Hz */
uint32_t first_pulse_duration_us; /*!< The duration of the first PWM pulse, in us */
float duty_cycle; /*!< Carrier duty cycle */
struct {
uint32_t invert_before_modulate: 1; /*!< Invert the raw signal */
uint32_t invert_after_modulate: 1; /*!< Invert the modulated signal */
} flags; /*!< Extra flags for carrier configuration */
} mcpwm_carrier_config_t;
/**
* @brief Apply carrier feature for MCPWM operator
*
* @param[in] oper MCPWM operator, allocated by `mcpwm_new_operator()`
* @param[in] config MCPWM carrier specific configuration
* @return
* - ESP_OK: Set carrier for operator successfully
* - ESP_ERR_INVALID_ARG: Set carrier for operator failed because of invalid argument
* - ESP_FAIL: Set carrier for operator failed because of other error
*/
esp_err_t mcpwm_operator_apply_carrier(mcpwm_oper_handle_t oper, const mcpwm_carrier_config_t *config);
#ifdef __cplusplus
}
#endif
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