Merge branch 'feature/add_esp_simplefoc_support_esp32c3' into 'master'

esp_simplefoc: support mcu without mcpwm See merge request ae_group/esp-iot-solution!886
espressif · Nov 16, 2023 · 223d722 · 223d722
2 parents 18fefde + 4ec13dc
commit 223d722
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diff --git a/components/motor/esp_simplefoc/CHANGELOG.md b/components/motor/esp_simplefoc/CHANGELOG.md
@@ -1,5 +1,8 @@
 # ChangeLog
 
+## v0.1.0 - 2023-11-14
+
+* Support chip whitch without mcpwm driver
 ## V0.0.3 - 2023-8-16
 ### Enhancements:
 * FOC:

diff --git a/components/motor/esp_simplefoc/idf_component.yml b/components/motor/esp_simplefoc/idf_component.yml
@@ -1,7 +1,11 @@
-version: 0.0.2
+version: 0.1.0
 targets:
   - esp32
+  - esp32s2
   - esp32s3
+  - esp32c3
+  - esp32c6
+  - esp32h2
 description: Espressif's additions to SimpleFOC
 url: https://github.com/espressif/esp-iot-solution/tree/master/components/motor/esp_simplefoc
 repository: https://github.com/espressif/esp-iot-solution.git
@@ -10,7 +14,7 @@ dependencies:
   idf:
     version: '>=5.0'
   espressif/arduino-foc:
-    version: ">=2.3.0~1"
+    version: ">=2.3.0~3"
     public: true
   espressif/iqmath: "^1.11.0"
 examples:

diff --git a/components/motor/esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp b/components/motor/esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp
@@ -7,6 +7,10 @@
 #include <map>
 #include "esp_hal_bldc_3pwm.h"
 
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
+#define MCPWM_TIMER_CLK_SRC MCPWM_TIMER_CLK_SRC_DEFAULT
+#endif
+
 std::vector<std::pair<DriverMode, std::tuple<int, int>>> HardwareResource = {
     {DriverMode::mcpwm, {0, 0}},
     {DriverMode::mcpwm, {1, 0}},
@@ -275,7 +279,7 @@ int BLDCDriver3PWM::init()
         printf("No available Driver.\n");
         return 0;
     }
-
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
     if (ret == 1) {
         // mcpwm
         driverMode = DriverMode::mcpwm;
@@ -285,7 +289,7 @@ int BLDCDriver3PWM::init()
         // Init mcpwm driver.
         mcpwm_timer_config_t timer_config = {
             .group_id = auto_mcpwm_group,
-            .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
+            .clk_src = MCPWM_TIMER_CLK_SRC,
             .resolution_hz = _PWM_TIMEBASE_RESOLUTION_HZ,
             .count_mode = MCPWM_TIMER_COUNT_MODE_UP,                                      // centeral mode
             .period_ticks = (uint32_t)(1 * _PWM_TIMEBASE_RESOLUTION_HZ / _PWM_FREQUENCY), // real frequency is pwm_frequency/2
@@ -336,7 +340,9 @@ int BLDCDriver3PWM::init()
 
         mcpwm_period = timer_config.period_ticks;
         initialized = 1;
-    } else if (ret == 2) {
+    } else 
+#endif
+    if (ret == 2) {
         // ledc
         driverMode = DriverMode::ledc;
         printf("Current Driver uses LEDC Channel:%d %d %d\n", auto_ledc_channels[0], auto_ledc_channels[1], auto_ledc_channels[2]);
@@ -373,6 +379,7 @@ int BLDCDriver3PWM::init()
     return 1;
 }
 
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
 int BLDCDriver3PWM::init(int _mcpwm_group)
 {
     // PWM pins
@@ -407,7 +414,7 @@ int BLDCDriver3PWM::init(int _mcpwm_group)
     // Init mcpwm driver.
     mcpwm_timer_config_t timer_config = {
         .group_id = _mcpwm_group,
-        .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
+        .clk_src = MCPWM_TIMER_CLK_SRC,
         .resolution_hz = _PWM_TIMEBASE_RESOLUTION_HZ,
         .count_mode = MCPWM_TIMER_COUNT_MODE_UP,                                      // centeral mode
         .period_ticks = (uint32_t)(1 * _PWM_TIMEBASE_RESOLUTION_HZ / _PWM_FREQUENCY), // real frequency is pwm_frequency/2
@@ -461,6 +468,7 @@ int BLDCDriver3PWM::init(int _mcpwm_group)
 
     return 1;
 }
+#endif
 
 int BLDCDriver3PWM::init(std::vector<int> _ledc_channels)
 {
@@ -535,6 +543,7 @@ int BLDCDriver3PWM::deinit()
         }
         setLedcChannelUnUsed(ledc_channels);
         break;
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
     case DriverMode::mcpwm:
         for (int i = 0; i < 3; i++) {
             if (mcpwm_del_generator(generator[i]) != ESP_OK) {
@@ -559,6 +568,7 @@ int BLDCDriver3PWM::deinit()
 
         setMcpwmGroupUnUsed(mcpwm_group);
         break;
+#endif
     default:
         break;
     }
@@ -582,11 +592,13 @@ void BLDCDriver3PWM::halPwmWrite()
         ESP_ERROR_CHECK(ledc_set_duty(_LEDC_MODE, static_cast<ledc_channel_t>(ledc_channels[2]), (uint32_t)((mcpwm_period * dc_c))));
         ESP_ERROR_CHECK(ledc_update_duty(_LEDC_MODE, static_cast<ledc_channel_t>(ledc_channels[2])));
         break;
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
     case DriverMode::mcpwm:
         ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator[0], (uint32_t)((mcpwm_period * dc_a))));
         ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator[1], (uint32_t)((mcpwm_period * dc_b))));
         ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator[2], (uint32_t)((mcpwm_period * dc_c))));
         break;
+#endif
     default:
         break;
     }

diff --git a/components/motor/esp_simplefoc/port/esp/include/esp_hal_bldc_3pwm.h b/components/motor/esp_simplefoc/port/esp/include/esp_hal_bldc_3pwm.h
@@ -12,8 +12,10 @@
 #include "time_utils.h"
 #include "defaults.h"
 #include "drivers/hardware_api.h"
-#include "driver/mcpwm_prelude.h"
 #include "driver/ledc.h"
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
+#include "driver/mcpwm_prelude.h"
+#endif
 
 #define _PWM_FREQUENCY 20000                           /*!< default frequency of MCPWM */
 #define _PWM_FREQUENCY_MAX 50000                       /*!< Max frequency of MCPWM */
@@ -52,6 +54,7 @@ class BLDCDriver3PWM : public BLDCDriver {
      */
     int init() override;
 
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
     /**
      * @brief Motor hardware init function, using MCPWM.
      *
@@ -61,6 +64,7 @@ class BLDCDriver3PWM : public BLDCDriver {
      *     - 1 Success
      */
     int init(int _mcpwm_group);
+#endif
 
     /**
      * @brief Motor hardware init function, using LEDC.
@@ -128,11 +132,13 @@ class BLDCDriver3PWM : public BLDCDriver {
 
 private:
     DriverMode driverMode;
-    int mcpwm_group;
     std::vector<int> ledc_channels;
+    uint32_t mcpwm_period;
+#ifdef CONFIG_SOC_MCPWM_SUPPORTED
+    int mcpwm_group;
     mcpwm_gen_handle_t generator[3] = {};
     mcpwm_cmpr_handle_t comparator[3];
     mcpwm_oper_handle_t oper[3];
     mcpwm_timer_handle_t timer = NULL;
-    uint32_t mcpwm_period;
+#endif
 };
diff --git a/components/motor/esp_simplefoc/port/esp/include/esp_hal_serial.h b/components/motor/esp_simplefoc/port/esp/include/esp_hal_serial.h
@@ -10,19 +10,15 @@
 #include "driver/gpio.h"
 #include "driver/uart.h"
 #include "soc/soc_caps.h"
+#include "soc/uart_channel.h"
 
 /**
  * ESP32-S-Devkitc default serial port: tx:1 rx:3
  * ESP32-S3-Devkitc default serial port: tx:43 rx:44
  */
 
-#if CONFIG_IDF_TARGET_ESP32
-#define TX0 1
-#define RX0 3
-#elif CONFIG_IDF_TARGET_ESP32S3
-#define TX0 43
-#define RX0 44
-#endif
+#define TX0 UART_NUM_0_TXD_DIRECT_GPIO_NUM
+#define RX0 UART_NUM_0_RXD_DIRECT_GPIO_NUM
 
 class HardwareSerial : public Stream {
 public:

diff --git a/examples/.build-rules.yml b/examples/.build-rules.yml
@@ -96,12 +96,12 @@ examples/lighting/lightbulb:
     - if: INCLUDE_DEFAULT == 1
 
 examples/motor/foc_openloop_control:
-  enable:
-    - if: IDF_TARGET in ["esp32","esp32s3"]
+  disable:
+    - if: IDF_TARGET == "esp32c2"
 
 examples/motor/foc_velocity_control:
-  enable:
-    - if: IDF_TARGET in ["esp32","esp32s3"]
+  disable:
+    - if: IDF_TARGET == "esp32c2"
 
 examples/ota/simple_ota_example:
   enable:

diff --git a/examples/motor/foc_openloop_control/main/main.cpp b/examples/motor/foc_openloop_control/main/main.cpp
@@ -13,7 +13,9 @@
 #include "esp_log.h"
 #include "esp_simplefoc.h"
 
+#if CONFIG_SOC_MCPWM_SUPPORTED
 #define USING_MCPWM
+#endif
 
 BLDCMotor motor = BLDCMotor(14);
 BLDCDriver3PWM driver = BLDCDriver3PWM(17, 16, 15);

diff --git a/examples/motor/foc_velocity_control/main/main.cpp b/examples/motor/foc_velocity_control/main/main.cpp
@@ -13,7 +13,9 @@
 #include "esp_log.h"
 #include "esp_simplefoc.h"
 
+#if CONFIG_SOC_MCPWM_SUPPORTED
 #define USING_MCPWM
+#endif
 
 void angle_sensor_init()
 {
@@ -26,7 +28,7 @@ float angle_sensor_get()
 }
 
 BLDCMotor motor = BLDCMotor(14);
-BLDCDriver3PWM driver = BLDCDriver3PWM(17, 16, 15);
+BLDCDriver3PWM driver = BLDCDriver3PWM(4, 5, 6);
 GenericSensor sensor = GenericSensor(angle_sensor_get, angle_sensor_init);
 
 float target_value = 0.0f;