kopia lustrzana https://github.com/espressif/esp-idf
mcpwm: updated brushed dc example
morris
rodzic
0f0bd29f8f
commit
768af636a6
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| Supported Targets | ESP32 |
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| ----------------- | ----- |
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| Supported Targets | ESP32 | ESP32-S3 |
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| ----------------- | ----- | -------- |
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# MCPWM Brushed DC Motor Example
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# MCPWM brushed dc motor control Example
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(See the README.md file in the upper level 'examples' directory for more information about examples.)
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This example will show you how to use MCPWM module to control brushed dc motor, you need to make connection between ESP32 and motor driver
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This code is tested with L298 motor driver, user needs to make changes according to the driver they use
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Motor first moves forward, then backward and then stops for 2 Secs each countinuously
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This example mainly illustrates how to drive a brushed DC motor by generating two specific PWM signals. We used [L298N](https://www.st.com/content/st_com/en/products/motor-drivers/brushed-dc-motor-drivers/l298.html) as the H-bridge driver to provide the needed voltage and current for brushed DC motor.
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## How to Use Example
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### Hardware Required
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* A development board with any Espressif SoC which features MCPWM peripheral (e.g., ESP32-DevKitC, ESP-WROVER-KIT, etc.)
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* A USB cable for Power supply and programming
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* A separate 12V power for brushed DC (the voltage depends on the motor model used in the example)
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* A brushed DC motor, e.g. [25GA370](http://www.tronsunmotor.com/data/upload/file/201807/e03b98802b5c5390d6570939def525ba.pdf)
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Connection :
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```
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Power (12V)
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^
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+----------------+ +------------+--------------+ +-------------+
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| | | | | |
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| GPIO15+------ PWM0A +-+ IN_A +------+ +-------+ OUT_A +------+ Brushed |
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| ESP | | H-Bridge | | DC |
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| GPIO16+------ PWM0B +-+ IN_B +------+ +-------+ OUT_B +------+ Motor |
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| | | | | |
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+--------+-------+ +------------+--------------+ +-------------+
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+------------------------------------------------->+
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v
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GND
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```
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### Build and Flash
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Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the [Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/get-started/index.html) for full steps to configure and use ESP-IDF to build projects.
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## Step 1: Pin assignment
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* GPIO15 is assigned as the enable/input 1 for motor driver
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* GPIO16 is assigned as the enable/input 2 for motor driver
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## Example Output
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Run the example, you will see the following output log:
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## Step 2: Connection
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* connect GPIO15 with input 1 of motor driver
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* connect GPIO16 with input 2 of motor driver
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```
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...
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I (0) cpu_start: Starting scheduler on APP CPU.
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I (350) example: running forward
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I (2350) example: running backward
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I (4350) example: stop
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I (6350) example: running forward
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I (8350) example: running backward
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I (10350) example: stop
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...
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```
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Motor first moves forward, then backward and then stops for 2 seconds each, continuously.
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## Step 3: Initialize MCPWM
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* You need to set the frequency and duty cycle of MCPWM timer
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* You need to set the MCPWM unit you want to use, and bind the unit with one of the timers
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## Troubleshooting
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* Make sure your ESP board and H-bridge module have been connected to the same GND panel.
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For any technical queries, please open an [issue] (https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you soon.
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@ -1,2 +1,2 @@
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idf_component_register(SRCS "mcpwm_brushed_dc_control_example.c"
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idf_component_register(SRCS "mcpwm_brushed_dc_example_main.c"
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INCLUDE_DIRS ".")
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@ -1,95 +0,0 @@
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/* brushed dc motor control example
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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/*
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* This example will show you how to use MCPWM module to control brushed dc motor.
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* This code is tested with L298 motor driver.
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* User may need to make changes according to the motor driver they use.
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*/
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_attr.h"
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#include "driver/mcpwm.h"
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#include "soc/mcpwm_periph.h"
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#define GPIO_PWM0A_OUT 15 //Set GPIO 15 as PWM0A
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#define GPIO_PWM0B_OUT 16 //Set GPIO 16 as PWM0B
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static void mcpwm_example_gpio_initialize(void)
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{
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printf("initializing mcpwm gpio...\n");
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_PWM0A_OUT);
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, GPIO_PWM0B_OUT);
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}
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/**
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* @brief motor moves in forward direction, with duty cycle = duty %
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*/
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static void brushed_motor_forward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)
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{
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_B);
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mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_A, duty_cycle);
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_A, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
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}
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/**
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* @brief motor moves in backward direction, with duty cycle = duty %
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*/
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static void brushed_motor_backward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)
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{
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_A);
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mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_B, duty_cycle);
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_B, MCPWM_DUTY_MODE_0); //call this each time, if operator was previously in low/high state
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}
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/**
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* @brief motor stop
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*/
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static void brushed_motor_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
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{
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_A);
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mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_B);
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}
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/**
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* @brief Configure MCPWM module for brushed dc motor
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*/
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static void mcpwm_example_brushed_motor_control(void *arg)
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{
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//1. mcpwm gpio initialization
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mcpwm_example_gpio_initialize();
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//2. initial mcpwm configuration
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printf("Configuring Initial Parameters of mcpwm...\n");
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mcpwm_config_t pwm_config;
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pwm_config.frequency = 1000; //frequency = 500Hz,
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pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 0
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pwm_config.cmpr_b = 0; //duty cycle of PWMxb = 0
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pwm_config.counter_mode = MCPWM_UP_COUNTER;
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pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
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mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings
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while (1) {
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brushed_motor_forward(MCPWM_UNIT_0, MCPWM_TIMER_0, 50.0);
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vTaskDelay(2000 / portTICK_RATE_MS);
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brushed_motor_backward(MCPWM_UNIT_0, MCPWM_TIMER_0, 30.0);
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vTaskDelay(2000 / portTICK_RATE_MS);
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brushed_motor_stop(MCPWM_UNIT_0, MCPWM_TIMER_0);
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vTaskDelay(2000 / portTICK_RATE_MS);
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}
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}
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void app_main(void)
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{
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printf("Testing brushed motor...\n");
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xTaskCreate(mcpwm_example_brushed_motor_control, "mcpwm_examlpe_brushed_motor_control", 4096, NULL, 5, NULL);
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}
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@ -0,0 +1,73 @@
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/* Brushed DC motor control example
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "driver/mcpwm.h"
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static const char *TAG = "example";
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#define GPIO_PWM0A_OUT (15) //Set GPIO 15 as PWM0A
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#define GPIO_PWM0B_OUT (16) //Set GPIO 16 as PWM0B
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/**
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* @brief motor moves in forward direction, with duty cycle = duty %
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*/
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static void brushed_motor_forward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, float duty_cycle)
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{
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ESP_LOGI(TAG, "running forward");
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_B, MCPWM_HAL_GENERATOR_MODE_FORCE_LOW);
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mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_A, duty_cycle);
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_A, MCPWM_DUTY_MODE_0);
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}
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/**
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* @brief motor moves in backward direction, with duty cycle = duty %
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*/
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static void brushed_motor_backward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, float duty_cycle)
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{
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ESP_LOGI(TAG, "running backward");
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_A, MCPWM_HAL_GENERATOR_MODE_FORCE_LOW);
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mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_B, duty_cycle);
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_B, MCPWM_DUTY_MODE_0);
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}
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static void brushed_motor_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
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{
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ESP_LOGI(TAG, "stop");
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_A, MCPWM_HAL_GENERATOR_MODE_FORCE_LOW);
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mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_B, MCPWM_HAL_GENERATOR_MODE_FORCE_LOW);
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}
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void app_main(void)
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{
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// Initialize GPIO
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_PWM0A_OUT);
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, GPIO_PWM0B_OUT);
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// MCPWM configuration
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mcpwm_config_t pwm_config = {
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.frequency = 1000,
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.cmpr_a = 0,
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.cmpr_b = 0,
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.counter_mode = MCPWM_UP_COUNTER,
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.duty_mode = MCPWM_DUTY_MODE_0,
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};
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mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);
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while (1) {
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brushed_motor_forward(MCPWM_UNIT_0, MCPWM_TIMER_0, 50.0);
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vTaskDelay(pdMS_TO_TICKS(2000));
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brushed_motor_backward(MCPWM_UNIT_0, MCPWM_TIMER_0, 30.0);
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vTaskDelay(pdMS_TO_TICKS(2000));
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brushed_motor_stop(MCPWM_UNIT_0, MCPWM_TIMER_0);
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vTaskDelay(pdMS_TO_TICKS(2000));
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}
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}
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