ESP32-使用有刷直流电机笔记

基于ESP-IDF4.1

 1 /*

 2  * 刷直流电动机控制示例，代码通过L298电机芯片测试

 3 */

 4 

 5 #include

 6 

 7 #include 'freertos/FreeRTOS.h'

 8 #include 'freertos/task.h'

 9 #include 'esp_attr.h'

10 

11 #include 'driver/mcpwm.h'

12 #include 'soc/mcpwm_periph.h'

13 

14 #define GPIO_PWM0A_OUT 15   //设置 GPIO 15 作为 PWM0A

15 #define GPIO_PWM0B_OUT 16   //设置 GPIO 16 作为 PWM0B

16 

17 static void mcpwm_example_gpio_initialize(void)

18 {

19     printf('initializing mcpwm gpio...n');

20     mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_PWM0A_OUT);

21     mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, GPIO_PWM0B_OUT);

22 }

23 

24 /**

25  * @brief 电机向前移动

26  */

27 static void brushed_motor_forward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)

28 {

29     mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_B);

30     mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_A, duty_cycle);

31     mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_A, MCPWM_DUTY_MODE_0); 

32 }

33 

34 /**

35  * @brief 电机向后移动

36  */

37 static void brushed_motor_backward(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num , float duty_cycle)

38 {

39     mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_A);

40     mcpwm_set_duty(mcpwm_num, timer_num, MCPWM_OPR_B, duty_cycle);

41     mcpwm_set_duty_type(mcpwm_num, timer_num, MCPWM_OPR_B, MCPWM_DUTY_MODE_0); 

42 }

43 

44 /**

45  * @brief 电机停止

46  */

47 static void brushed_motor_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)

48 {

49     mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_A);

50     mcpwm_set_signal_low(mcpwm_num, timer_num, MCPWM_OPR_B);

51 }

52 

53 /**

54  * @brief 为有刷直流电机配置MCPWM

55  */

56 static void mcpwm_example_brushed_motor_control(void *arg)

57 {

58     //1. mcpwm gpio 初始化

59     mcpwm_example_gpio_initialize();

60 

61     //2. 初始化 mcpwm 配置

62     printf('Configuring Initial Parameters of mcpwm...n');

63     mcpwm_config_t pwm_config;

64     pwm_config.frequency = 1000;    //频率 = 500Hz,

65     pwm_config.cmpr_a = 0;    // PWMxA占空比 = 0

66     pwm_config.cmpr_b = 0;    // PWMxb占空比 = 0

67     pwm_config.counter_mode = MCPWM_UP_COUNTER;

68     pwm_config.duty_mode = MCPWM_DUTY_MODE_0;

69     mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);

70     while (1) {

71         brushed_motor_forward(MCPWM_UNIT_0, MCPWM_TIMER_0, 50.0);

72         vTaskDelay(2000 / portTICK_RATE_MS);

73         brushed_motor_backward(MCPWM_UNIT_0, MCPWM_TIMER_0, 30.0);

74         vTaskDelay(2000 / portTICK_RATE_MS);

75         brushed_motor_stop(MCPWM_UNIT_0, MCPWM_TIMER_0);

76         vTaskDelay(2000 / portTICK_RATE_MS);

77     }

78 }

79 

80 void app_main(void)

81 {

82     printf('Testing brushed motor...n');

83     xTaskCreate(mcpwm_example_brushed_motor_control, 'mcpwm_examlpe_brushed_motor_control', 4096, NULL, 5, NULL);

84 }