From cb4fccb38a827095f2a882c6fb07d624bebb221d Mon Sep 17 00:00:00 2001 From: morris Date: Mon, 5 Dec 2022 16:17:12 +0800 Subject: [PATCH] mcpwm: bdc control example also support usb serial jtag --- .../mcpwm/mcpwm_brushed_dc_control/main/cmd_mcpwm_motor.c | 3 +++ .../main/mcpwm_brushed_dc_control_example.c | 6 +++--- .../main/mcpwm_brushed_dc_control_example.h | 8 ++++---- 3 files changed, 10 insertions(+), 7 deletions(-) diff --git a/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/cmd_mcpwm_motor.c b/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/cmd_mcpwm_motor.c index b25727f9f2..93f683e939 100644 --- a/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/cmd_mcpwm_motor.c +++ b/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/cmd_mcpwm_motor.c @@ -282,6 +282,9 @@ void cmd_mcpwm_motor_init(mcpwm_motor_control_t *motor_ctrl) #elif CONFIG_ESP_CONSOLE_USB_CDC esp_console_dev_usb_cdc_config_t cdc_config = ESP_CONSOLE_DEV_CDC_CONFIG_DEFAULT(); ESP_ERROR_CHECK(esp_console_new_repl_usb_cdc(&cdc_config, &repl_config, &repl)); +#elif CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG + esp_console_dev_usb_serial_jtag_config_t usbjtag_config = ESP_CONSOLE_DEV_USB_SERIAL_JTAG_CONFIG_DEFAULT(); + ESP_ERROR_CHECK(esp_console_new_repl_usb_serial_jtag(&usbjtag_config, &repl_config, &repl)); #endif register_motor_ctrl_config(); diff --git a/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.c b/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.c index e7409122d6..ba382bc71b 100644 --- a/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.c +++ b/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.c @@ -118,9 +118,9 @@ static int pcnt_get_pulse_callback(void *args) static void motor_ctrl_default_init(void) { motor_ctrl.cfg.pid_enable = true; - motor_ctrl.pid_param.kp = 0.8; - motor_ctrl.pid_param.ki = 0.0; - motor_ctrl.pid_param.kd = 0.1; + motor_ctrl.pid_param.kp = 0.6; + motor_ctrl.pid_param.ki = 0.4; + motor_ctrl.pid_param.kd = 0.2; motor_ctrl.pid_param.cal_type = PID_CAL_TYPE_INCREMENTAL; motor_ctrl.pid_param.max_output = 100; motor_ctrl.pid_param.min_output = -100; diff --git a/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.h b/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.h index ea2cdaae32..50eb04f00d 100644 --- a/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.h +++ b/examples/peripherals/mcpwm/mcpwm_brushed_dc_control/main/mcpwm_brushed_dc_control_example.h @@ -17,10 +17,10 @@ extern "C" { #endif -#define GPIO_PWM0A_OUT 15 //Set GPIO 15 as PWM0A -#define GPIO_PWM0B_OUT 16 //Set GPIO 16 as PWM0B -#define GPIO_PCNT_PINA 18 //Set GPIO 18 as phaseA/C1 -#define GPIO_PCNT_PINB 19 //Set GPIO 19 as phaseB/C2 +#define GPIO_PWM0A_OUT 7 //Set GPIO 15 as PWM0A +#define GPIO_PWM0B_OUT 15 //Set GPIO 16 as PWM0B +#define GPIO_PCNT_PINA 36 //Set GPIO 18 as phaseA/C1 +#define GPIO_PCNT_PINB 35 //Set GPIO 19 as phaseB/C2 typedef enum { MOTOR_CTRL_MODE_FIXED = 0,