mcpwm_sync sample
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Outline
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "driver/mcpwm_prelude.h"
#include "driver/gpio.h"
TAG
#define EXAMPLE_TIMER_RESOLUTION_HZ
#define EXAMPLE_TIMER_PERIOD
#define EXAMPLE_GEN_GPIO0
#define EXAMPLE_GEN_GPIO1
#define EXAMPLE_GEN_GPIO2
#define EXAMPLE_SYNC_GPIO
example_setup_sync_strategy(mcpwm_timer_handle_t *)
app_main()
Files
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SourceVuESP-IDF Framework and Examplesmcpwm_sync samplemain/mcpwm_sync_example_main.c
 
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/* * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Unlicense OR CC0-1.0 *//* ... */ #include "sdkconfig.h" #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "esp_log.h" #include "driver/mcpwm_prelude.h" #include "driver/gpio.h"6 includes const static char *TAG = "example"; #define EXAMPLE_TIMER_RESOLUTION_HZ 1000000 // 1MHz, 1us per tick #define EXAMPLE_TIMER_PERIOD 1000 // 1000 ticks, 1ms #define EXAMPLE_GEN_GPIO0 0 #define EXAMPLE_GEN_GPIO1 2 #define EXAMPLE_GEN_GPIO2 4 #define EXAMPLE_SYNC_GPIO 56 defines #if CONFIG_EXAMPLE_SYNC_FROM_GPIO static void example_setup_sync_strategy(mcpwm_timer_handle_t timers[]) { // +----GPIO----+ // | | | // | | | // v v v // timer0 timer1 timer2 gpio_config_t sync_gpio_conf = { .mode = GPIO_MODE_OUTPUT, .pin_bit_mask = BIT(EXAMPLE_SYNC_GPIO), }{...}; ESP_ERROR_CHECK(gpio_config(&sync_gpio_conf)); ESP_LOGI(TAG, "Create GPIO sync source"); mcpwm_sync_handle_t gpio_sync_source = NULL; mcpwm_gpio_sync_src_config_t gpio_sync_config = { .group_id = 0, // GPIO fault should be in the same group of the above timers .gpio_num = EXAMPLE_SYNC_GPIO, .flags.pull_down = true, .flags.active_neg = false, // by default, a posedge pulse can trigger a sync event }{...}; ESP_ERROR_CHECK(mcpwm_new_gpio_sync_src(&gpio_sync_config, &gpio_sync_source)); ESP_LOGI(TAG, "Set timers to sync on the GPIO"); mcpwm_timer_sync_phase_config_t sync_phase_config = { .count_value = 0, .direction = MCPWM_TIMER_DIRECTION_UP, .sync_src = gpio_sync_source, }{...}; for (int i = 0; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timers[i], &sync_phase_config)); }{...} ESP_LOGI(TAG, "Trigger a pulse on the GPIO as a sync event"); ESP_ERROR_CHECK(gpio_set_level(EXAMPLE_SYNC_GPIO, 0)); ESP_ERROR_CHECK(gpio_set_level(EXAMPLE_SYNC_GPIO, 1)); ESP_ERROR_CHECK(gpio_reset_pin(EXAMPLE_SYNC_GPIO)); }{ ... } /* ... */#endif // CONFIG_EXAMPLE_SYNC_FROM_GPIO #if CONFIG_EXAMPLE_SYNC_FROM_TEZ static void example_setup_sync_strategy(mcpwm_timer_handle_t timers[]) { // +->timer1 // (TEZ) | // timer0---+ // | // +->timer2 ESP_LOGI(TAG, "Create TEZ sync source from timer0"); mcpwm_sync_handle_t timer_sync_source = NULL; mcpwm_timer_sync_src_config_t timer_sync_config = { .timer_event = MCPWM_TIMER_EVENT_EMPTY, // generate sync event on timer empty }{...}; ESP_ERROR_CHECK(mcpwm_new_timer_sync_src(timers[0], &timer_sync_config, &timer_sync_source)); ESP_LOGI(TAG, "Set other timers sync to the first timer"); mcpwm_timer_sync_phase_config_t sync_phase_config = { .count_value = 0, .direction = MCPWM_TIMER_DIRECTION_UP, .sync_src = timer_sync_source, }{...}; for (int i = 1; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timers[i], &sync_phase_config)); }{...} ESP_LOGI(TAG, "Wait some time for the timer TEZ event"); vTaskDelay(pdMS_TO_TICKS(10)); }{...} /* ... */#endif // CONFIG_EXAMPLE_SYNC_FROM_TEZ #if CONFIG_EXAMPLE_SYNC_FROM_SOFT static void example_setup_sync_strategy(mcpwm_timer_handle_t timers[]) { // soft // | // v // +-timer0--+ // | | // v v // timer1 timer2 ESP_LOGI(TAG, "Create software sync source"); mcpwm_sync_handle_t soft_sync_source = NULL; mcpwm_soft_sync_config_t soft_sync_config = {}; ESP_ERROR_CHECK(mcpwm_new_soft_sync_src(&soft_sync_config, &soft_sync_source)); ESP_LOGI(TAG, "Create timer sync source to propagate the sync event"); mcpwm_sync_handle_t timer_sync_source; mcpwm_timer_sync_src_config_t timer_sync_config = { .flags.propagate_input_sync = true, }{...}; ESP_ERROR_CHECK(mcpwm_new_timer_sync_src(timers[0], &timer_sync_config, &timer_sync_source)); ESP_LOGI(TAG, "Set sync phase for timers"); mcpwm_timer_sync_phase_config_t sync_phase_config = { .count_value = 0, .direction = MCPWM_TIMER_DIRECTION_UP, .sync_src = soft_sync_source, }{...}; ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timers[0], &sync_phase_config)); sync_phase_config.sync_src = timer_sync_source; for (int i = 1; i < 3; ++i) { ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timers[i], &sync_phase_config)); }{...} ESP_LOGI(TAG, "Trigger the software sync event"); ESP_ERROR_CHECK(mcpwm_soft_sync_activate(soft_sync_source)); }{...} /* ... */#endif // CONFIG_EXAMPLE_SYNC_FROM_SOFT void app_main(void) { ESP_LOGI(TAG, "Create timers"); mcpwm_timer_handle_t timers[3]; mcpwm_timer_config_t timer_config = { .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT, .group_id = 0, .resolution_hz = EXAMPLE_TIMER_RESOLUTION_HZ, .period_ticks = EXAMPLE_TIMER_PERIOD, .count_mode = MCPWM_TIMER_COUNT_MODE_UP, }{...}; for (int i = 0; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timers[i])); }{...} ESP_LOGI(TAG, "Create operators"); mcpwm_oper_handle_t operators[3]; mcpwm_operator_config_t operator_config = { .group_id = 0, // operator should be in the same group of the above timers }{...}; for (int i = 0; i < 3; ++i) { ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config, &operators[i])); }{...} ESP_LOGI(TAG, "Connect timers and operators with each other"); for (int i = 0; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operators[i], timers[i])); }{...} ESP_LOGI(TAG, "Create comparators"); mcpwm_cmpr_handle_t comparators[3]; mcpwm_comparator_config_t compare_config = { .flags.update_cmp_on_tez = true, }{...}; for (int i = 0; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_new_comparator(operators[i], &compare_config, &comparators[i])); // init compare for each comparator ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparators[i], 200)); }{...} ESP_LOGI(TAG, "Create generators"); mcpwm_gen_handle_t generators[3]; const int gen_gpios[3] = {EXAMPLE_GEN_GPIO0, EXAMPLE_GEN_GPIO1, EXAMPLE_GEN_GPIO2}; mcpwm_generator_config_t gen_config = {}; for (int i = 0; i < 3; i++) { gen_config.gen_gpio_num = gen_gpios[i]; ESP_ERROR_CHECK(mcpwm_new_generator(operators[i], &gen_config, &generators[i])); }{...} ESP_LOGI(TAG, "Set generator actions on timer and compare event"); for (int i = 0; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generators[i], // when the timer value is zero, and is counting up, set output to high MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH))); ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generators[i], // when compare event happens, and timer is counting up, set output to low MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparators[i], MCPWM_GEN_ACTION_LOW))); }{...} ESP_LOGI(TAG, "Start timers one by one, so they are not synced"); for (int i = 0; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_timer_enable(timers[i])); ESP_ERROR_CHECK(mcpwm_timer_start_stop(timers[i], MCPWM_TIMER_START_NO_STOP)); vTaskDelay(pdMS_TO_TICKS(10)); }{...} vTaskDelay(pdMS_TO_TICKS(100)); // Manually added this "IDLE" phase, which can help us distinguish the wave forms before and after sync ESP_LOGI(TAG, "Force the output level to low, timer still running"); for (int i = 0; i < 3; i++) { ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i], 0, true)); }{...} ESP_LOGI(TAG, "Setup sync strategy"); example_setup_sync_strategy(timers); ESP_LOGI(TAG, "Now the output PWMs should in sync"); for (int i = 0; i < 3; ++i) { // remove the force level on the generator, so that we can see the PWM again ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i], -1, true)); }{...} vTaskDelay(pdMS_TO_TICKS(100)); }{ ... }
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