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mcpwm: fix bldc example force output level inverted

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set_force_level can only set the generator level before the deadtime module.
if the deadtime module enables the inverter, then the real output level is inverted accordingly
This commit is contained in:
morris
2023-05-09 17:18:36 +08:00
parent 6a7f730c77
commit 5680d28b0e
3 changed files with 102 additions and 38 deletions
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89
examples/peripherals/mcpwm/mcpwm_bldc_hall_control/main/mcpwm_bldc_hall_control_example_main.c
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@@ -61,24 +61,26 @@ static void bldc_set_phase_up_vm(mcpwm_gen_handle_t (*gens)[2])
// U+ = PWM, U- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// V+ = 0, V- = 1
// V+ = 0, V- = 1 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
// W+ = 0, W- = 0 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
}
// W+U-
static void bldc_set_phase_wp_um(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 1
// U+ = 0, U- = 1 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
// V+ = 0, V- = 0
// V+ = 0, V- = 0 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// W+ = PWM, W- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
@@ -88,13 +90,13 @@ static void bldc_set_phase_wp_um(mcpwm_gen_handle_t (*gens)[2])
// W+V-
static void bldc_set_phase_wp_vm(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 0
// U+ = 0, U- = 0 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// V+ = 0, V- = 1
// V+ = 0, V- = 1 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
// W+ = PWM, W- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
@@ -104,23 +106,7 @@ static void bldc_set_phase_wp_vm(mcpwm_gen_handle_t (*gens)[2])
// V+U-
static void bldc_set_phase_vp_um(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// V+ = PWM, V- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
}
// V+W-
static void bldc_set_phase_vp_wm(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 0
// U+ = 0, U- = 1 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
@@ -128,11 +114,27 @@ static void bldc_set_phase_vp_wm(mcpwm_gen_handle_t (*gens)[2])
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// W+ = 0, W- = 1
// W+ = 0, W- = 0 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
}
// V+W-
static void bldc_set_phase_vp_wm(mcpwm_gen_handle_t (*gens)[2])
{
// U+ = 0, U- = 0 --[because gen_low is inverted by dead time]--> U+ = 0, U- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// V+ = PWM, V- = _PWM_
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// W+ = 0, W- = 1 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
}
// U+W- / A+C-
static void bldc_set_phase_up_wm(mcpwm_gen_handle_t (*gens)[2])
{
@@ -140,13 +142,13 @@ static void bldc_set_phase_up_wm(mcpwm_gen_handle_t (*gens)[2])
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_HIGH], -1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_U][BLDC_MCPWM_GEN_INDEX_LOW], -1, true);
// V+ = 0, V- = 0
// V+ = 0, V- = 0 --[because gen_low is inverted by dead time]--> V+ = 0, V- = 1
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_V][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
// W+ = 0, W- = 1
// W+ = 0, W- = 1 --[because gen_low is inverted by dead time]--> W+ = 0, W- = 0
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 1, true);
mcpwm_generator_set_force_level(gens[BLDC_MCPWM_OP_INDEX_W][BLDC_MCPWM_GEN_INDEX_LOW], 0, true);
}
static const bldc_hall_phase_action_t s_hall_actions[] = {
@@ -255,6 +257,8 @@ void app_main(void)
}
ESP_LOGI(TAG, "Set generator actions");
// gen_high and gen_low output the same waveform after the following configuration
// we will use the dead time module to add edge delay, also make gen_high and gen_low complementary
for (int i = 0; i < 3; i++) {
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH],
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
@@ -264,6 +268,15 @@ void app_main(void)
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH],
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generators[i][BLDC_MCPWM_GEN_INDEX_LOW],
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][BLDC_MCPWM_GEN_INDEX_LOW],
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparators[i], MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(generators[i][BLDC_MCPWM_GEN_INDEX_LOW],
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(generators[i][BLDC_MCPWM_GEN_INDEX_LOW],
MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC, MCPWM_GEN_ACTION_LOW)));
}
ESP_LOGI(TAG, "Setup deadtime");
@@ -278,14 +291,14 @@ void app_main(void)
.flags.invert_output = true,
};
for (int i = 0; i < 3; i++) {
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH], generators[i][BLDC_MCPWM_GEN_INDEX_LOW], &dt_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generators[i][BLDC_MCPWM_GEN_INDEX_LOW], generators[i][BLDC_MCPWM_GEN_INDEX_LOW], &dt_config));
}
ESP_LOGI(TAG, "Turn off all the gates");
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i][j], 0, true));
}
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i][BLDC_MCPWM_GEN_INDEX_HIGH], 0, true));
// because gen_low is inverted by dead time module, so we need to set force level to 1
ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generators[i][BLDC_MCPWM_GEN_INDEX_LOW], 1, true));
}
ESP_LOGI(TAG, "Create Hall sensor capture channels");