arch/xtensa: add support for brushed DC motor control

arch/xtensa: add support for capture driver on ESP32 and ESP32|S3| Squashed: Initial settings for MCPWM Capture on board level Created lower half files - compilation ok Using capture debug features. Simple example on fops works Successful duty and freq calculation Documentation update Fixed and added interupt capabilities for all 3 capture channels Cleaned defconfig Renamed macros, added S3 options and moved arch source to common dir Added support for ESP32S3 Added capture example to defconfig and renamed Basic bring up ready. New Kconfig options for motor. Good motor registration Working on enabling pwm generators Working on enabling pwm generators Added fops functions Success on PWM 50% stable pwm operation for bdc Added loopback option for testing Improved rules on fsm Working motor direction control Testing new ISR for fault handling Issues on fault ISR Removed fault implementation (not working) Added support for esp32s3 Documentation improvements Added default motor spin direction Added parameter change while running Review fixes arch/xtensa: add support for fault signal on motor control Squashed: Initial settings for MCPWM Capture on board level Created lower half files - compilation ok Using capture debug features. Simple example on fops works Successful duty and freq calculation Documentation update Fixed and added interupt capabilities for all 3 capture channels Cleaned defconfig Renamed macros, added S3 options and moved arch source to common dir Added support for ESP32S3 Added capture example to defconfig and renamed Basic bring up ready. New Kconfig options for motor. Good motor registration Working on enabling pwm generators Working on enabling pwm generators Added fops functions Success on PWM 50% stable pwm operation for bdc Added loopback option for testing Improved rules on fsm Working motor direction control Testing new ISR for fault handling Issues on fault ISR Removed fault implementation (not working) Added support for esp32s3 Documentation improvements Added default motor spin direction Added parameter change while running Got responsive fault indicator Working brakes - still need to work on starting isr Fixed single-time ISR initializiation Working soft brake on fault Improved KConfig for BDC and BLDC Kconfig fixed at board level
2026-05-31 05:55:46 +08:00 · 2024-07-03 09:49:11 -03:00
parent b57079e88e
commit 91dfd20eaf
17 changed files with 1897 additions and 72 deletions
@@ -43,6 +43,25 @@ extern "C"
 * Public Function Prototypes
 ****************************************************************************/

+/****************************************************************************
+ * Name: esp32_motor_initialize
+ *
+ * Description:
+ *   Initialize MCPWM peripheral for motor control and register the motor
+ *   driver.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
+int board_motor_initialize(void);
+#endif
+
 #ifdef CONFIG_ESP_MCPWM_CAPTURE

 /****************************************************************************
@@ -29,6 +29,7 @@
 #include <debug.h>

 #include <nuttx/board.h>
+#include <nuttx/motor/motor.h>
 #include <nuttx/timers/capture.h>

 #include <arch/board/board.h>
@@ -39,10 +40,59 @@
 * Pre-processor Definitions
 ****************************************************************************/

+#ifdef CONFIG_ESP_MCPMW_MOTOR_CH0_FAULT
+#  define MCPWM_FAULT_GPIO CONFIG_ESP_MCPMW_MOTOR_CH0_FAULT_GPIO
+#else
+#  define MCPWM_FAULT_GPIO 0
+#endif
+
 /****************************************************************************
 * Public Functions
 ****************************************************************************/

+/****************************************************************************
+ * Name: board_motor_initialize
+ *
+ * Description:
+ *   Initialize MCPWM peripheral for motor control and register the motor
+ *   driver.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
+int board_motor_initialize(void)
+{
+  int ret;
+  struct motor_lowerhalf_s *motor;
+
+  motor = esp_motor_bdc_initialize(0,
+                                   CONFIG_ESP_MCPWM_MOTOR_CH0_PWM_FREQ,
+                                   CONFIG_ESP_MCPWM_MOTOR_CH0_PWMA_GPIO,
+                                   CONFIG_ESP_MCPWM_MOTOR_CH0_PWMB_GPIO,
+                                   MCPWM_FAULT_GPIO);
+  if (!motor)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to start MCPWM BDC Motor: CH0\n");
+      return -ENODEV;
+    }
+
+  ret = motor_register("/dev/motor0", motor);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: motor_register failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+#endif
+
 /****************************************************************************
 * Name: board_capture_initialize
 *
@@ -23,6 +23,7 @@ CONFIG_ESP32_UART0=y
 CONFIG_ESP_MCPWM=y
 CONFIG_ESP_MCPWM_CAPTURE=y
 CONFIG_ESP_MCPWM_CAPTURE_CH0=y
+CONFIG_ESP_MCPWM_CAPTURE_CH0_GPIO=14
 CONFIG_EXAMPLES_CAPTURE=y
 CONFIG_FS_PROCFS=y
 CONFIG_HAVE_CXX=y
@@ -0,0 +1,50 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32-devkitc"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32_DEVKITC=y
+CONFIG_ARCH_CHIP="esp32"
+CONFIG_ARCH_CHIP_ESP32=y
+CONFIG_ARCH_CHIP_ESP32WROVER=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_ESP32_UART0=y
+CONFIG_ESP_MCPWM=y
+CONFIG_ESP_MCPWM_MOTOR=y
+CONFIG_ESP_MCPWM_MOTOR_BDC=y
+CONFIG_ESP_MCPWM_MOTOR_CH0=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3072
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MM_REGIONS=3
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y
@@ -295,6 +295,14 @@ int esp32_bringup(void)
    }
 #endif

+#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
+  ret = board_motor_initialize();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: board_motor_initialize failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_SENSORS_MAX6675
  ret = board_max6675_initialize(0, 2);
  if (ret < 0)