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/*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdio.h>
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "driver/gpio.h"
#include "foc/esp_foc.h"
#include "svpwm/esp_svpwm.h"
static const char *TAG = "example_foc";
//////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////// Please update the following configuration according to your HardWare spec /////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////
#define EXAMPLE_FOC_DRV_EN_GPIO 46
#define EXAMPLE_FOC_DRV_FAULT_GPIO 10
#define EXAMPLE_FOC_PWM_UH_GPIO 47
#define EXAMPLE_FOC_PWM_UL_GPIO 21
#define EXAMPLE_FOC_PWM_VH_GPIO 14
#define EXAMPLE_FOC_PWM_VL_GPIO 13
#define EXAMPLE_FOC_PWM_WH_GPIO 12
#define EXAMPLE_FOC_PWM_WL_GPIO 11
#define EXAMPLE_FOC_MCPWM_TIMER_RESOLUTION_HZ 10000000 // 10MHz, 1 tick = 0.1us
#define EXAMPLE_FOC_MCPWM_PERIOD 1000 // 1000 * 0.1us = 100us, 10KHz
#define EXAMPLE_FOC_WAVE_FREQ 10 // 50Hz 3 phase AC wave
#define EXAMPLE_FOC_WAVE_AMPL 100 // Wave amplitude, Use up-down timer mode, max value should be (EXAMPLE_FOC_MCPWM_PERIOD/2)
void bsp_bridge_driver_init(void)
{
gpio_config_t drv_en_config = {
.mode = GPIO_MODE_OUTPUT,
.pin_bit_mask = 1ULL << EXAMPLE_FOC_DRV_EN_GPIO,
};
ESP_ERROR_CHECK(gpio_config(&drv_en_config));
}
void bsp_bridge_driver_enable(bool enable)
{
ESP_LOGI(TAG, "%s MOSFET gate", enable ? "Enable" : "Disable");
gpio_set_level(EXAMPLE_FOC_DRV_EN_GPIO, enable);
}
bool inverter_update_cb(mcpwm_timer_handle_t timer, const mcpwm_timer_event_data_t *edata, void *user_ctx)
{
BaseType_t task_yield = pdFALSE;
xSemaphoreGiveFromISR(*((SemaphoreHandle_t *)user_ctx), &task_yield);
return task_yield;
}
void app_main(void)
{
ESP_LOGI(TAG, "Hello FOC");
// counting semaphore used to sync update foc calculation when mcpwm timer updated
SemaphoreHandle_t update_semaphore = xSemaphoreCreateCounting(1, 0);
foc_dq_coord_t dq_out = {_IQ(0), _IQ(0)};
foc_ab_coord_t ab_out;
foc_uvw_coord_t uvw_out;
int uvw_duty[3];
float elec_theta_deg = 0;
_iq elec_theta_rad;
inverter_config_t cfg = {
.timer_config = {
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = EXAMPLE_FOC_MCPWM_TIMER_RESOLUTION_HZ,
.count_mode = MCPWM_TIMER_COUNT_MODE_UP_DOWN, //UP_DOWN mode will generate center align pwm wave, which can reduce MOSFET switch times on same effect, extend life
.period_ticks = EXAMPLE_FOC_MCPWM_PERIOD,
},
.operator_config = {
.group_id = 0,
},
.compare_config = {
.flags.update_cmp_on_tez = true,
},
.gen_gpios = {
{EXAMPLE_FOC_PWM_UH_GPIO, EXAMPLE_FOC_PWM_UL_GPIO},
{EXAMPLE_FOC_PWM_VH_GPIO, EXAMPLE_FOC_PWM_VL_GPIO},
{EXAMPLE_FOC_PWM_WH_GPIO, EXAMPLE_FOC_PWM_WL_GPIO},
},
.dt_config = {
.posedge_delay_ticks = 5,
},
.inv_dt_config = {
.negedge_delay_ticks = 5,
.flags.invert_output = true,
},
};
inverter_handle_t inverter1;
ESP_ERROR_CHECK(svpwm_new_inverter(&cfg, &inverter1));
ESP_LOGI(TAG, "Inverter init OK");
mcpwm_timer_event_callbacks_t cbs = {
.on_full = inverter_update_cb,
};
ESP_ERROR_CHECK(svpwm_inverter_register_cbs(inverter1, &cbs, &update_semaphore));
ESP_ERROR_CHECK(svpwm_inverter_start(inverter1, MCPWM_TIMER_START_NO_STOP));
ESP_LOGI(TAG, "Inverter start OK");
// Enable gate driver chip
bsp_bridge_driver_init();
bsp_bridge_driver_enable(true);
ESP_LOGI(TAG, "Start FOC");
while (true) {
xSemaphoreTake(update_semaphore, portMAX_DELAY);
// Calculate elec_theta_deg increase step of 50Hz output on 10000Hz call
elec_theta_deg += (EXAMPLE_FOC_WAVE_AMPL * 360.f) / (EXAMPLE_FOC_MCPWM_TIMER_RESOLUTION_HZ / EXAMPLE_FOC_WAVE_FREQ);
if (elec_theta_deg > 360) {
elec_theta_deg -= 360;
}
elec_theta_rad = _IQmpy(_IQ(elec_theta_deg), _IQ(M_PI / 180.f));
// In FOC motor control, we usually set Vd for alignment or weak-meg control, and set Vq for torque control.
// As here is open loop output, use Vd is enough, and coord aligned
dq_out.d = _IQ(EXAMPLE_FOC_WAVE_AMPL);
foc_inverse_park_transform(elec_theta_rad, &dq_out, &ab_out);
#if CONFIG_ESP_FOC_USE_SVPWM
foc_svpwm_duty_calculate(&ab_out, &uvw_out);
#else // Use spwm (sin pwm) instead. (see menuconfig help to know difference between SVPWM and SPWM)
foc_inverse_clarke_transform(&ab_out, &uvw_out);
#endif
// Regular uvw data to (0 ~ (EXAMPLE_FOC_MCPWM_PERIOD/2))
uvw_duty[0] = _IQtoF(_IQdiv2(uvw_out.u)) + (EXAMPLE_FOC_MCPWM_PERIOD / 4);
uvw_duty[1] = _IQtoF(_IQdiv2(uvw_out.v)) + (EXAMPLE_FOC_MCPWM_PERIOD / 4);
uvw_duty[2] = _IQtoF(_IQdiv2(uvw_out.w)) + (EXAMPLE_FOC_MCPWM_PERIOD / 4);
// output pwm duty
ESP_ERROR_CHECK(svpwm_inverter_set_duty(inverter1, uvw_duty[0], uvw_duty[1], uvw_duty[2]));
}
bsp_bridge_driver_enable(false);
ESP_ERROR_CHECK(svpwm_inverter_start(inverter1, MCPWM_TIMER_STOP_EMPTY));
ESP_ERROR_CHECK(svpwm_del_inverter(inverter1));
}
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