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/*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "esp_log.h"
#include "esp_check.h"
#include "esp_svpwm.h"
static const char *TAG = "esp_svpwm";
// mcpwm handler type
typedef struct mcpwm_svpwm_ctx {
mcpwm_timer_handle_t timer;
mcpwm_oper_handle_t operators[3];
mcpwm_cmpr_handle_t comparators[3];
mcpwm_gen_handle_t generators[3][2];
} mcpwm_svpwm_ctx_t;
esp_err_t svpwm_new_inverter(const inverter_config_t *config, inverter_handle_t *ret_inverter)
{
esp_err_t ret;
ESP_RETURN_ON_FALSE(config && ret_inverter, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
mcpwm_svpwm_ctx_t *svpwm_dev = calloc(1, sizeof(mcpwm_svpwm_ctx_t));
if (!svpwm_dev) {
ESP_LOGE(TAG, "no memory");
return ESP_ERR_NO_MEM;
}
ESP_GOTO_ON_ERROR(mcpwm_new_timer(&config->timer_config, &svpwm_dev->timer), err, TAG, "Create MCPWM timer failed");
for (int i = 0; i < 3; i++) {
ESP_GOTO_ON_ERROR(mcpwm_new_operator(&config->operator_config, &svpwm_dev->operators[i]), err, TAG, "Create MCPWM operator failed");
ESP_GOTO_ON_ERROR(mcpwm_operator_connect_timer(svpwm_dev->operators[i], svpwm_dev->timer), err, TAG, "Connect operators to the same timer failed");
}
for (int i = 0; i < 3; i++) {
ESP_GOTO_ON_ERROR(mcpwm_new_comparator(svpwm_dev->operators[i], &config->compare_config, &svpwm_dev->comparators[i]), err, TAG, "Create comparators failed");
ESP_GOTO_ON_ERROR(mcpwm_comparator_set_compare_value(svpwm_dev->comparators[i], 0), err, TAG, "Set comparators failed");
}
mcpwm_generator_config_t gen_config = {};
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
gen_config.gen_gpio_num = config->gen_gpios[i][j];
ESP_GOTO_ON_ERROR(mcpwm_new_generator(svpwm_dev->operators[i], &gen_config, &svpwm_dev->generators[i][j]), err, TAG, "Create PWM generator pin %d failed", gen_config.gen_gpio_num);
}
}
for (int i = 0; i < 3; i++) {
ESP_GOTO_ON_ERROR(mcpwm_generator_set_actions_on_compare_event(svpwm_dev->generators[i][0],
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, svpwm_dev->comparators[i], MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, svpwm_dev->comparators[i], MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()), err, TAG, "Set generator actions failed");
}
for (int i = 0; i < 3; i++) {
ESP_GOTO_ON_ERROR(mcpwm_generator_set_dead_time(svpwm_dev->generators[i][0], svpwm_dev->generators[i][0], &config->dt_config), err, TAG, "Setup deadtime failed");
ESP_GOTO_ON_ERROR(mcpwm_generator_set_dead_time(svpwm_dev->generators[i][0], svpwm_dev->generators[i][1], &config->inv_dt_config), err, TAG, "Setup inv deadtime failed");
}
*ret_inverter = svpwm_dev;
return ESP_OK;
err:
free(svpwm_dev);
return ret;
}
esp_err_t svpwm_inverter_register_cbs(inverter_handle_t handle, const mcpwm_timer_event_callbacks_t *event, void *user_ctx)
{
ESP_RETURN_ON_FALSE(handle && event, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_ERROR(mcpwm_timer_register_event_callbacks(handle->timer, event, user_ctx), TAG, "register callbacks failed");
return ESP_OK;
}
esp_err_t svpwm_inverter_start(inverter_handle_t handle, mcpwm_timer_start_stop_cmd_t command)
{
ESP_RETURN_ON_FALSE(handle, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
if ((command != MCPWM_TIMER_STOP_EMPTY) && (command != MCPWM_TIMER_STOP_FULL)) {
ESP_RETURN_ON_ERROR(mcpwm_timer_enable(handle->timer), TAG, "mcpwm timer enable failed");
}
ESP_RETURN_ON_ERROR(mcpwm_timer_start_stop(handle->timer, command), TAG, "mcpwm timer start failed");
return ESP_OK;
}
esp_err_t svpwm_inverter_set_duty(inverter_handle_t handle, uint16_t u, uint16_t v, uint16_t w)
{
ESP_RETURN_ON_FALSE(handle, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(handle->comparators[0], u), TAG, "set duty failed");
ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(handle->comparators[1], v), TAG, "set duty failed");
ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(handle->comparators[2], w), TAG, "set duty failed");
return ESP_OK;
}
esp_err_t svpwm_del_inverter(inverter_handle_t handle)
{
ESP_RETURN_ON_FALSE(handle, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_ERROR(mcpwm_timer_disable(handle->timer), TAG, "mcpwm timer disable failed");
for (int i = 0; i < 3; i++) {
ESP_RETURN_ON_ERROR(mcpwm_del_generator(handle->generators[i][0]), TAG, "free mcpwm positive generator failed");
ESP_RETURN_ON_ERROR(mcpwm_del_generator(handle->generators[i][1]), TAG, "free mcpwm negative generator failed");
ESP_RETURN_ON_ERROR(mcpwm_del_comparator(handle->comparators[i]), TAG, "free mcpwm comparator failed");
ESP_RETURN_ON_ERROR(mcpwm_del_operator(handle->operators[i]), TAG, "free mcpwm operator failed");
}
ESP_RETURN_ON_ERROR(mcpwm_del_timer(handle->timer), TAG, "free mcpwm timer failed");
free(handle);
return ESP_OK;
}
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