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This function will lazy install interrupt service for the MCPWM fault, whereas the service can only be removed in mcpwm_del_fault. I'm looking to model 6xPWM signals to control a BLDC in Matlab/Simulink. mcpwm_carrier_config_t::first_pulse_duration_us: The duration of the first pulse in microseconds. ISR callback function that would be invoked when fault signal becomes active, ISR callback function that would be invoked when fault signal becomes inactive, components/driver/mcpwm/include/driver/mcpwm_sync.h, config [in] MCPWM timer sync source configuration, ret_sync [out] Returned MCPWM sync handle, ESP_OK: Create MCPWM timer sync source successfully, ESP_ERR_INVALID_ARG: Create MCPWM timer sync source failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM timer sync source failed because out of memory, ESP_ERR_INVALID_STATE: Create MCPWM timer sync source failed because the timer has created a sync source before, ESP_FAIL: Create MCPWM timer sync source failed because of other error, config [in] MCPWM GPIO sync source configuration, ret_sync [out] Returned MCPWM GPIO sync handle, ESP_OK: Create MCPWM GPIO sync source successfully, ESP_ERR_INVALID_ARG: Create MCPWM GPIO sync source failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM GPIO sync source failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM GPIO sync source failed because cant find free resource, ESP_FAIL: Create MCPWM GPIO sync source failed because of other error, config [in] MCPWM software sync source configuration, ret_sync [out] Returned software sync handle, ESP_OK: Create MCPWM software sync successfully, ESP_ERR_INVALID_ARG: Create MCPWM software sync failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM software sync failed because out of memory, ESP_FAIL: Create MCPWM software sync failed because of other error, sync [in] MCPWM sync handle, allocated by mcpwm_new_timer_sync_src() or mcpwm_new_gpio_sync_src() or mcpwm_new_soft_sync_src(), ESP_OK: Delete MCPWM sync source successfully, ESP_ERR_INVALID_ARG: Delete MCPWM sync source failed because of invalid argument, ESP_FAIL: Delete MCPWM sync source failed because of other error. mcpwm_operator_config_t::update_dead_time_on_tep sets whether to update the dead time when the timer counts to peak. Specifically, when there are no more free timers in the MCPWM group, this function will return ESP_ERR_NOT_FOUND error. We develop customized motor control solutions to operate modern electric vehicle powertrains cutting across motor types such as BLDC, PMSM, SRM and induction motors. Author: Kevin Harrington,John K. Bennett Maintainer: Kevin Harrington Read the documentation Go to repository MCPWM Comparator: The compare module takes the time-base count value as input, and continuously compare to the threshold value that configured by user. Brake specific configuration is passed as a structure mcpwm_brake_config_t: mcpwm_brake_config_t::fault set which fault that the operator should react to. Using this feature, we can measure a pulse width precisely. I'll introduce you to an H-bridge speed control using MOSFET, and then we'll apply that control to an engine to evaluate its behavior. project Closed Your email address. field-oriented-control bldc bldc-motor-controller bldc-driver high-power high-performance simple-foc stm32 esp32 arduino simplefoc / arduino-simplefocshield 298.0 15.0 94.0 NPN transistor: Because we want to turn the DC motor on by setting the digital pin of the microcontroller HIGH. The configuration structure is defined as: mcpwm_timer_config_t::group_id specifies the MCPWM group ID. User has to call mcpwm_operator_recover_from_fault() to manually recover it. Controlling a bldc motor with vesc using esp32 and ESP-IDF Show more VESC + Arduino == 1kW Robotics Projects! APB clock) is selected. The driver takes three responsibilities: Protecting ESP32 from the high voltage Send specific start/stop commands to MCPWM timer. The main advantage of sensorless BLDC motor control is lower system cost and the main disadvantage is the motor must be moving at minimum rate to produce sufficient BEMF to be sensed. The driver wont forbid you from applying for more MCPWM resources, but it will return error when theres no hardware resources available. The speed or position is controlled in relation to a positional input signal or reference signal applied to the device. On the contrary, calling mcpwm_del_timer() function will free the allocated timer object. These failure signals are encapsulated into MCPWM fault objects. By default, driver will reset the GPIO pin at exit. User can deregister a previously registered callback by calling this function and setting the callback member in the cbs structure to NULL. [ (from Espressif documentation) The MCPWM group has a dedicated timer which is used to capture the timestamp when specific event occurred. Enough for a controller. See also Power management for more information. MCPWM Capture: This is a standalone submodule which can work even without the above MCPWM operators. mcpwm_gen_timer_event_action_t::event specifies the timer event. will remain unchanged until manually remove the force level), ESP_OK: Set force level for MCPWM generator successfully, ESP_ERR_INVALID_ARG: Set force level for MCPWM generator failed because of invalid argument, ESP_FAIL: Set force level for MCPWM generator failed because of other error. mcpwm_capture_channel_config_t::pos_edge and mcpwm_capture_channel_config_t::neg_edge set whether to capture on the positive and/or negative edge of the input signal. Extra configuration flags for capture channel. As result of this action the motor should be put into a safe state to reduce likelihood of a damage caused by the fault. Power source to drive the motor (LiPo battery) DESCRIPTION: Brushless motors have much more satisfying results as compared to brushed motors. IRAM Safe - describes tips on how to make the RMT interrupt work better along with a disabled cache. The sync signal can be routed from GPIO matrix or from MCPWM Timer event. The callback function prototype is declared in mcpwm_fault_event_cb_t. 0, May, 2020 Scribd is the world's largest social reading and publishing site. Specifically, when there are no more free GPIO faults in the MCPWM group, this function will return ESP_ERR_NOT_FOUND error. You should call mcpwm_capture_channel_enable() and mcpwm_capture_channel_disable() accordingly to enable or disable the channel. BLDC Motor speed control from washing machine by Arduino UNO (3,680) Creative PCB Design. The code snippet that is used to generate the waveforms is also provided below the diagram. mcpwm_capture_channel_config_t::prescale sets the prescaler of the input signal. This function will lazy install interrupt service for the MCPWM comparator, whereas the service can only be removed in mcpwm_del_comparator. Integrated bootstrap diodes are used to supply the . You can set the sync phase for the capture timer by calling mcpwm_capture_timer_set_phase_on_sync(). This closed loop control for BLDC motor system could be used in drilling machines, lath machines, spinning machines, elevators and electric bikes. How to control speed and direction of DC motor using ESP32 Firstly, The DC motor works with high voltage that can burn ESP32 We cannot connects DC motor directly to ESP32. The step size of each count tick equals to (1 / resolution_hz) seconds, Whether to update period when timer counts to zero, The sync event source. Comparator Operations and Events - describes control functions and event callbacks that supported by the MCPWM comparator. The supported directions are listed in mcpwm_timer_direction_t. config [in] MCPWM carrier specific configuration, 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, Specify from which group to allocate the MCPWM operator, Whether to update generator action when timer counts to zero, Whether to update generator action when timer counts to peak, Whether to update generator action on sync event, Whether to update dead time when timer counts to zero, Whether to update dead time when timer counts to peak, Whether to update dead time on sync event. mcpwm_timer_sync_phase_config_t::direction sets the count direction when the sync signal is taken. The operator handle is created by mcpwm_new_operator()(). The mcpwm_new_capture_timer() will return a pointer to the allocated capture timer object if the allocation succeeds. The MCPWM operator is able to sense external signals with information about failure of the motor, the power driver or any other device connected. Otherwise, it will return error code. The resolution of the dead-time tick is the same to the timer that is connected with the operator by mcpwm_operator_connect_timer(). The mcpwm_new_capture_channel() will return a pointer to the allocated capture channel object if the allocation succeeds. All supported event callbacks are listed in the mcpwm_comparator_event_callbacks_t: mcpwm_comparator_event_callbacks_t::on_reach sets callback function for comparator when the timer counter equals to the compare value. You can allocate a MCPWM generator object by calling mcpwm_new_generator() function, with a MCPWM operator handle and configuration structure mcpwm_generator_config_t as the parameter. The resolution of the first pulse duration is determined by the carrier frequency you set in the mcpwm_carrier_config_t::frequency_hz. I have tried many combinations but the motor is not rotating. ev_act [in] MCPWM timer event action, can be constructed by MCPWM_GEN_TIMER_EVENT_ACTION helper macro, ESP_OK: Set generator action successfully, ESP_ERR_INVALID_ARG: Set generator action failed because of invalid argument, ESP_ERR_INVALID_STATE: Set generator action failed because of timer is not connected to operator, ESP_FAIL: Set generator action failed because of other error. The main submodules are listed in the following diagram: MCPWM Timer: The time base of the final PWM signal, it also determines the event timing of other submodules. Unlike an H bridge, this circuit configuration has only two switches - one high-side and one low-side transistor. The mcpwm_new_comparator() will return a pointer to the allocated comparator object if the allocation succeeds. 100K ohm potentiometer is connected to the analog input pin A0 of the Arduino UNO and the DC motor is connected to the 12 th pin of the Arduino (which is the PWM pin). Set generator actions on multiple MCPWM brake events. The mcpwm_capture_channel_trigger_soft_catch() is provided for that purpose. Set to NULL will disable the timer being synced by others, The count value that should lock to upon sync event, The count direction that should lock to upon sync event, components/driver/mcpwm/include/driver/mcpwm_oper.h, config [in] MCPWM operator configuration, ret_oper [out] Returned MCPWM operator handle, 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 cant find free resource, ESP_FAIL: Create MCPWM operator failed because of other error, oper [in] MCPWM operator, allocated by mcpwm_new_operator(), 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. Theres a helper macro MCPWM_GEN_COMPARE_EVENT_ACTION to simplify the construction of a compare event action entry. MCPWM timer commands, specify the way to start or stop the timer. If you have some function that should be called when particular event happens, you should hook your function to the interrupt service routine by calling mcpwm_timer_register_event_callbacks(). In the circuit there are 2 pushbuttons, one is used to increase BLDC motor speed and the 2nd one is used to decrease it. Like, for example, PC6 pulled to high, then after 100ms, PB3 pulled to high, get current value on PD1 and pull PC6 low if . groups, timers, comparators, operators, generators and so on). Speed Control of DC Motor using Arduino. Please refer to the [TRM] for details. Generator Actions on Events - describes how to set actions for MCPWM generators on particular events that generated by the MCPWM timer and comparators. 04/03/2023 No hay comentarios 9 Mins Read. You have to register a callback function to get the timer count value of the capture moment, by calling mcpwm_capture_channel_register_event_callbacks(). This section will demonstrate the classical PWM waveforms that can be generated by the pair of the generators. About the Client: ( 6 reviews ) stanbul, Turkey Project ID: #14974240. The callback functions above are called within the ISR context, so they should not attempt to block (e.g., make sure that only FreeRTOS APIs with ISR suffix is called within the function). MCPWM capture channel configuration structure. V1, V3, V5 and V2, V4, V6 make a 3-phase voltage source inverter connected across the power supply. Coupling of non alternating signals with a transformer is problematic, so the signals are modulated by the carrier submodule to create an AC waveform, to make the coupling possible. A Brushless DC motor (BLDC) 3. The mcpwm_new_gpio_fault() will return a pointer to the allocated fault object if the allocation succeeds. mcpwm_dead_time_config_t::invert_output: Whether to invert the signal after applying the dead-time, which can be used to control the delay edge polarity. It is a successor of the famous ESP8266 board, upgraded with more significant features such as built-in WiFi and Bluetooth, runs 32 bits programs, its clock frequency goes up to 240 MHz with 520 KB RAM, has 30-36 pins on each row, multiple number of GPIOs which can be configured to serve as inputs or outputs. The basic IO operation of a capture timer is to start and stop. The PWM signal sent to the ESC controller must have a period of 20ms, and the fill factor of this PWM signal will determine the rotation speed of the BLDC motor. Now, the ESP32 is flashed with the new firmware. ESP-32 BLDC Robot Actuator Controller Back to overview ESP-32 WROOM-32D has Three phase Centre Aligned MC-PWM, Dual SPI, I2C, 2MHz ADC, UART and CAN. The callback function will provide event specific data of type mcpwm_compare_event_data_t to the user. Group of supported MCPWM operator event callbacks. Group of supported MCPWM timer event callbacks. DRV8316 + ESP32: FOC BLDC motor controller - YouTube 0:00 / 1:07 DRV8316 + ESP32: FOC BLDC motor controller Gadget Workbench 2.69K subscribers Subscribe 95 6.4K views 1 year ago. variety of peripherals like Otherwise, it will return error code. user_data [in] User data, which will be passed to callback functions directly, ESP_ERR_INVALID_ARG: Set event callbacks failed because of invalid argument, ESP_ERR_INVALID_STATE: Set event callbacks failed because timer is not in init state, ESP_FAIL: Set event callbacks failed because of other error, config [in] MCPWM timer sync phase configuration, ESP_OK: Set sync phase for MCPWM timer successfully, ESP_ERR_INVALID_ARG: Set sync phase for MCPWM timer failed because of invalid argument, ESP_FAIL: Set sync phase for MCPWM timer failed because of other error. The software force level always has a higher priority than other event actions set in e.g. Figure 1 - Electric diagram for controlling a DC motor with the ESP32 and a ULN2803A IC. The sync source is what can be used to synchronize the MCPWM timer and MCPWM capture timer. sync [in] MCPWM soft sync handle, allocated by mcpwm_new_soft_sync_src(), ESP_OK: Trigger MCPWM software sync event successfully, ESP_ERR_INVALID_ARG: Trigger MCPWM software sync event failed because of invalid argument, ESP_FAIL: Trigger MCPWM software sync event failed because of other error, Timer event, upon which MCPWM timer will generate the sync signal, The input sync signal would be routed to its sync output, Extra configuration flags for timer sync source, Whether the sync signal is active on negedge, by default, the sync signals posedge is treated as active, Extra configuration flags for GPIO sync source. ESP32Servo Device Control Allows ESP32 boards to control servo, tone and analogWrite motors using Arduino semantics. The configuration structure is defined as: mcpwm_operator_config_t::group_id specifies the MCPWM group ID. About this item. Currently this configuration structure is left for future purpose. The MCPWM fault detector can inform the user when it detects a valid fault or a fault signal disappears. mcpwm_carrier_config_t::duty_cycle: The duty cycle of the carrier. ev_act [in] MCPWM timer event action list, must be terminated by MCPWM_GEN_TIMER_EVENT_ACTION_END(), ESP_OK: Set generator actions successfully, ESP_ERR_INVALID_ARG: Set generator actions failed because of invalid argument, ESP_ERR_INVALID_STATE: Set generator actions failed because of timer is not connected to operator, ESP_FAIL: Set generator actions failed because of other error. mcpwm_gpio_sync_src_config_t::io_loop_back sets whether to enable the loop back mode. Note that, different from MCPWM Timer, the capture timer can only support one count direction: MCPWM_TIMER_DIRECTION_UP. mcpwm_gpio_sync_src_config_t::pull_up and mcpwm_gpio_sync_src_config_t::pull_down set whether to pull up and/or pull down the GPIO internally. mcpwm_capture_timer_sync_phase_config_t::count_value sets the count value to load when the sync signal is taken. ESP32 ESP-WROOM-32 ESP-32S Development Board Arduino 2.4GHz WiFi & Bluetooth. The callbacks are all running under ISR environment, callback function when MCPWM timer counts to peak value, callback function when MCPWM timer counts to zero, Specify from which group to allocate the MCPWM timer, Counter resolution in Hz, ranges from around 300KHz to 80MHz. Make sure the MCPWM timer and operator are in the same group, otherwise, this function will return ESP_ERR_INVALID_ARG error. La familia BridgeSwitch de semipuentes integrados simplifica en gran medida el desarrollo y la fabricacin de variadores de frecuencia de motor PM o BLDC This is an aggregation version of mcpwm_generator_set_action_on_brake_event, which allows user to set multiple actions in one call. mcpwm_timer_config_t::count_mode sets the count mode of the timer. Dead Time: This submodule is used to insert extra delay to the existing PWM edges that generated in the previous steps. On the contrary, calling mcpwm_del_generator() function will free the allocated generator object. Therere three types of sync sources: A sync source reflected from the GPIO, a sync source generated by software and a sync source generated by MCPWM timer event. components/driver/mcpwm/include/driver/mcpwm_cap.h, config [in] MCPWM capture timer configuration, ret_cap_timer [out] Returned MCPWM capture timer handle, ESP_OK: Create MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Create MCPWM capture timer failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM capture timer failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM capture timer failed because cant find free resource, ESP_FAIL: Create MCPWM capture timer failed because of other error, cap_timer [in] MCPWM capture timer, allocated by mcpwm_new_capture_timer(), ESP_OK: Delete MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Delete MCPWM capture timer failed because of invalid argument, ESP_FAIL: Delete MCPWM capture timer failed because of other error, cap_timer [in] MCPWM capture timer handle, allocated by mcpwm_new_capture_timer(), ESP_OK: Enable MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Enable MCPWM capture timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Enable MCPWM capture timer failed because timer is enabled already, ESP_FAIL: Enable MCPWM capture timer failed because of other error, ESP_OK: Disable MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Disable MCPWM capture timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Disable MCPWM capture timer failed because timer is disabled already, ESP_FAIL: Disable MCPWM capture timer failed because of other error, ESP_OK: Start MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Start MCPWM capture timer failed because of invalid argument, ESP_FAIL: Start MCPWM capture timer failed because of other error, ESP_OK: Stop MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Stop MCPWM capture timer failed because of invalid argument, ESP_FAIL: Stop MCPWM capture timer failed because of other error. Power Management - describes how different source clock will affect power consumption. See MCPWM Sync Sources for how to create a sync source object. My idea is to utilise the additional "dead-time" that you get with 6xPWM to hopefully better control the motor. If the interrupt service is lazy installed during registering event callbacks for the channel in mcpwm_capture_channel_register_event_callbacks(), mcpwm_capture_channel_enable() will enable the interrupt service as well. [in] MCPWM brake event data, fed by driver, [in] User data, set in mcpwm_operator_register_event_callbacks(), User data, set in mcpwm_fault_register_event_callbacks(), whether a task switch is needed after the callback returns. Different ESP chip series might have different number of MCPWM resources (e.g. Otherwise, it will return error code. The action configuration is defined in mcpwm_gen_compare_event_action_t: mcpwm_gen_compare_event_action_t::direction specific the timer direction. Therere a few points to note: New compare value might wont take effect immediately. However, the driver can prevent the system from changing APB frequency by acquiring a power management lock of type ESP_PM_APB_FREQ_MAX. V1 is high side, which is connected to the high voltage DC source while V4 is low side, which is connected to ground. counter is full). If you have some function that should be called when such event happens, you should hook your function to the interrupt service routine by calling mcpwm_fault_register_event_callbacks(). Generator action on specific timer event. the input sync signal will be routed to its sync output). MOTIX 160 V SOI driver portfolio provides easy-to-use, compact, and cost-effective gate drive solution for battery powered industrial BLDC motor control drives such as cordless power tools, robots, drones and LEVs up to 120 V.. The ID should belong to [0, SOC_MCPWM_GROUPS - 1] range. You can allocate a MCPWM timer object by calling mcpwm_new_timer() function, with a configuration structure mcpwm_timer_config_t as the parameter. MCPWM Sync: The sync module is used to synchronize the MCPWM timers, so that the final PWM signals generated by different MCPWM generators can have a fixed phase difference. This section will demonstrate the classical PWM waveforms that can be generated by the dead-time submodule. Likewise, the MCPWM capture timer MCPWM Capture Timer can be synced as well. If the hold_on is true, the force level will retain forever, until user removes the force level by setting the force level to -1. On the contrary, calling mcpwm_del_sync_src() function will free the allocated sync source object, this function works for all types of sync sources. Then you can get the pulse width and convert it into other physical quantity like distance or speed in the capture callback function. There is no pin specific requirements for the esp32, each pin can be used in pwm mode. Specifically, when there are no more free generators in the MCPWM operator, this function will return ESP_ERR_NOT_FOUND error. Whatre more, you can even start the timer for only one round, that means, the timer will count to peak value or zero, and then stop itself. Whats more, the capture timer can also be synchronized by the MCPWM Sync submodule. The action configuration is defined in mcpwm_gen_timer_event_action_t: mcpwm_gen_timer_event_action_t::direction specific the timer direction. The duty cycle of the PWM waveform is determined by the generators various action combinations. The mcpwm_new_operator()() will return a pointer to the allocated operator object if the allocation succeeds. Group of supported MCPWM compare event callbacks. Otherwise, it will return error code. One generator can set multiple actions on different timer events, by calling mcpwm_generator_set_actions_on_timer_event() with variable number of action configurations. Otherwise, it will return error code ESP_ERR_INVALID_STATE. Document Information Growing need for high productivity is placing new demands on mechanisms connected with electrical motors. It enables both the GPIOs input and output ability through the GPIO matrix peripheral. We need a hardware driver between DC motor and ESP32. mcpwm_gpio_fault_config_t::io_loop_back sets whether to enable the loop back mode. The controller can run the motor in the tow rotation directions (cw & ccw) and the speed can be controlled using a potentiometer connected to A0. mcpwm_operator_config_t::update_dead_time_on_tez sets whether to update the dead time when the timer counts to zero. Please note, timers located in different groups are totally independent. Copyright 2016 - 2023, Espressif Systems (Shanghai) Co., Ltd. mcpwm_timer_config_t::update_period_on_empty, mcpwm_timer_config_t::update_period_on_sync, mcpwm_operator_config_t::update_gen_action_on_tez, mcpwm_operator_config_t::update_gen_action_on_tep, mcpwm_operator_config_t::update_gen_action_on_sync, mcpwm_operator_config_t::update_dead_time_on_tez, mcpwm_operator_config_t::update_dead_time_on_tep, mcpwm_operator_config_t::update_dead_time_on_sync, mcpwm_comparator_config_t::update_cmp_on_tez, mcpwm_comparator_config_t::update_cmp_on_tep, mcpwm_comparator_config_t::update_cmp_on_sync, mcpwm_gpio_sync_src_config_t::io_loop_back, mcpwm_timer_sync_src_config_t::timer_event, mcpwm_timer_sync_src_config_t::propagate_input_sync, mcpwm_capture_channel_config_t::pull_down, mcpwm_capture_channel_config_t::invert_cap_signal, mcpwm_capture_channel_config_t::io_loop_back, mcpwm_comparator_register_event_callbacks(), mcpwm_comparator_event_callbacks_t::on_reach, mcpwm_generator_set_actions_on_timer_event(), mcpwm_gen_timer_event_action_t::direction, mcpwm_generator_set_action_on_timer_event(), mcpwm_generator_set_actions_on_compare_event(), mcpwm_gen_compare_event_action_t::direction, mcpwm_gen_compare_event_action_t::comparator, mcpwm_generator_set_action_on_compare_event(), mcpwm_generator_set_action_on_timer_event, mcpwm_generator_set_action_on_compare_event, mcpwm_generator_set_actions_on_compare_event, mcpwm_generator_set_actions_on_timer_event, mcpwm_dead_time_config_t::posedge_delay_ticks, mcpwm_dead_time_config_t::negedge_delay_ticks, // bypass deadtime module for generator_b, // generator_a bypass the deadtime module (no delay), // apply dead time on both edge for generator_b, mcpwm_carrier_config_t::first_pulse_duration_us, mcpwm_carrier_config_t::invert_before_modulate, mcpwm_carrier_config_t::invert_after_modulate, mcpwm_generator_set_actions_on_brake_event(), mcpwm_gen_brake_event_action_t::direction, mcpwm_gen_brake_event_action_t::brake_mode, mcpwm_generator_set_action_on_brake_event(), mcpwm_fault_event_callbacks_t::on_fault_enter, mcpwm_fault_event_callbacks_t::on_fault_exit, mcpwm_operator_register_event_callbacks(), mcpwm_operator_event_callbacks_t::on_brake_cbc, mcpwm_operator_event_callbacks_t::on_brake_ost, mcpwm_timer_sync_phase_config_t::sync_src, mcpwm_timer_sync_phase_config_t::count_value, mcpwm_timer_sync_phase_config_t::direction, mcpwm_capture_timer_sync_phase_config_t::sync_src, mcpwm_capture_timer_sync_phase_config_t::count_value, mcpwm_capture_timer_sync_phase_config_t::direction, // GPIO fault should be in the same group of the above timers, // by default, a posedge pulse can trigger a sync event, mcpwm_capture_channel_register_event_callbacks(), mcpwm_capture_channel_trigger_soft_catch(), mcpwm_comparator_register_event_callbacks, mcpwm_generator_set_action_on_brake_event, mcpwm_generator_set_actions_on_brake_event, mcpwm_capture_channel_register_event_callbacks, Analog to Digital Converter (ADC) Oneshot Mode Driver, Analog to Digital Converter (ADC) Continuous Mode Driver, Analog to Digital Converter (ADC) Calibration Driver, Motor Control Pulse Width Modulator (MCPWM), Universal Asynchronous Receiver/Transmitter (UART), Classical PWM Waveforms and Generator Configurations, Classical PWM Waveforms and Dead Time Configurations, peripherals/mcpwm/mcpwm_bdc_speed_control, peripherals/mcpwm/mcpwm_bldc_hall_control. The supported directions are listed in mcpwm_timer_direction_t. This requires an extra delay to be added to the existing PWM wave that generated by setting Generator Actions on Events. brushed/brushless DC motor, RC servo motor Switch mode based digital power conversion Power DAC, where the duty cycle is equivalent to a DAC analog value Calculate external pulse width, and convert it into other analog value like speed, distance Generate Space Vector PWM (SVPWM) signals for Field Oriented Control (FOC) Otherwise, it will return error code. Set the level to -1 means to disable the force action, and the generators output level will be controlled by the event actions again. mcpwm_gen_brake_event_action_t::brake_mode specifies the brake mode. It is for debugging purposes only. Specifically, setting both of them to zero means to bypass the dead-time module. mcpwm_operator_event_callbacks_t::on_brake_ost sets callback function that will be called when the operator is going to take an OST action. PWM based speed control: The ESC can control the speed of the BLDC motor by reading the PWM signal provided on the Orange wire.