DRV8316 + ESP32: FOC BLDC motor controller - YouTube 0:00 / 1:07 DRV8316 + ESP32: FOC BLDC motor controller Gadget Workbench 2.69K subscribers Subscribe 95 6.4K views 1 year ago. I'm looking to model 6xPWM signals to control a BLDC in Matlab/Simulink. drive all outputs low for a brushed motor, or lock current state for a stepper motor, etc. Specifically, when there are no memory left for the sync source object, this function will return ESP_ERR_NO_MEM error. Other functions that are not related to Resource Allocation, are not thread safe. PWM based speed control: The ESC can control the speed of the BLDC motor by reading the PWM signal provided on the Orange wire. Connect MCPWM operator and timer, so that the operator can be driven by the timer. 3Phase Motor ABOUT ActivePFC Article Balancing Battery BLDC Motor Current sensor DC Motor DC-DC Converter Download ESP32 NodeMCU ESP8266 NodeMCU IC Switching Induction Heat Inverter 220VAC IPM 3Phase PCB Design PID Control Projects . The MCPWM capture channel can inform the user when theres a valid edge detected on the signal. The ID should belong to [0, SOC_MCPWM_GROUPS - 1] range. Power source to drive the motor (LiPo battery) DESCRIPTION: Brushless motors have much more satisfying results as compared to brushed motors. field-oriented-control bldc bldc-motor-controller bldc-driver high-power high-performance simple-foc stm32 esp32 arduino simplefoc / arduino-simplefocshield 298.0 15.0 94.0 mcpwm_timer_config_t::count_mode sets the count mode of the timer. The sync signal can be routed from GPIO matrix or from MCPWM Timer event. Growing need for high productivity is placing new demands on mechanisms connected with electrical motors. For debug/test, whether to keep the GPIO configuration when capture channel is deleted. ISR callback function that would be invoked when fault signal becomes active, ISR callback function that would be invoked when fault signal becomes inactive, components/driver/mcpwm/include/driver/mcpwm_sync.h, config [in] MCPWM timer sync source configuration, ret_sync [out] Returned MCPWM sync handle, ESP_OK: Create MCPWM timer sync source successfully, ESP_ERR_INVALID_ARG: Create MCPWM timer sync source failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM timer sync source failed because out of memory, ESP_ERR_INVALID_STATE: Create MCPWM timer sync source failed because the timer has created a sync source before, ESP_FAIL: Create MCPWM timer sync source failed because of other error, config [in] MCPWM GPIO sync source configuration, ret_sync [out] Returned MCPWM GPIO sync handle, ESP_OK: Create MCPWM GPIO sync source successfully, ESP_ERR_INVALID_ARG: Create MCPWM GPIO sync source failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM GPIO sync source failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM GPIO sync source failed because cant find free resource, ESP_FAIL: Create MCPWM GPIO sync source failed because of other error, config [in] MCPWM software sync source configuration, ret_sync [out] Returned software sync handle, ESP_OK: Create MCPWM software sync successfully, ESP_ERR_INVALID_ARG: Create MCPWM software sync failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM software sync failed because out of memory, ESP_FAIL: Create MCPWM software sync failed because of other error, sync [in] MCPWM sync handle, allocated by mcpwm_new_timer_sync_src() or mcpwm_new_gpio_sync_src() or mcpwm_new_soft_sync_src(), ESP_OK: Delete MCPWM sync source successfully, ESP_ERR_INVALID_ARG: Delete MCPWM sync source failed because of invalid argument, ESP_FAIL: Delete MCPWM sync source failed because of other error. Set generator actions on multiple MCPWM timer events. The configuration structure is defined as: mcpwm_capture_channel_config_t::gpio_num sets the GPIO number used by the capture channel. But then I've also seen controllers like this and then . out_resolution [out] Returned capture timer resolution, in Hz, ESP_OK: Get capture timer resolution successfully, ESP_ERR_INVALID_ARG: Get capture timer resolution failed because of invalid argument, ESP_FAIL: Get capture timer resolution failed because of other error, config [in] MCPWM capture timer sync phase configuration, ESP_OK: Set sync phase for MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Set sync phase for MCPWM capture timer failed because of invalid argument, ESP_FAIL: Set sync phase for MCPWM capture timer failed because of other error, The created capture channel wont be enabled until calling mcpwm_capture_channel_enable, cap_timer [in] MCPWM capture timer, allocated by mcpwm_new_capture_timer(), will be connected to the new capture channel, config [in] MCPWM capture channel configuration, ret_cap_channel [out] Returned MCPWM capture channel, ESP_OK: Create MCPWM capture channel successfully, ESP_ERR_INVALID_ARG: Create MCPWM capture channel failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM capture channel failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM capture channel failed because cant find free resource, ESP_FAIL: Create MCPWM capture channel failed because of other error, cap_channel [in] MCPWM capture channel handle, allocated by mcpwm_new_capture_channel(), ESP_OK: Delete MCPWM capture channel successfully, ESP_ERR_INVALID_ARG: Delete MCPWM capture channel failed because of invalid argument, ESP_FAIL: Delete MCPWM capture channel failed because of other error. The MCPWM comparator can inform the user when the timer counter equals to the compare value. Outrunner bldc motor simulation winding schema. mcpwm_timer_config_t::resolution_hz set the expected resolution of the timer, the driver internally will set a proper divider based on the clock source and the resolution. The mcpwm_new_gpio_fault() will return a pointer to the allocated fault object if the allocation succeeds. ESP_ERR_INVALID_ARG: Recover from fault failed because of invalid argument, ESP_ERR_INVALID_STATE: Recover from fault failed because the fault source is still active, ESP_FAIL: Recover from fault failed because of other error. This requires an extra delay to be added to the existing PWM wave that generated by setting Generator Actions on Events. For industrial usage Infineon adds to the 3-phase brushless DC motor . The active level of the waveform pair is determined by the level of the PWM with a smaller duty cycle. Carrier Modulation: The carrier submodule allows a high-frequency carrier signal to modulate the PWM waveforms generated by the generator and dead time submodules. For MCPWM_OPER_BRAKE_MODE_CBC mode, the operator will recover itself automatically as long as the fault disappears. mcpwm_capture_channel_config_t::io_loop_back sets whether to enable the loop back mode. CONFIG_MCPWM_CTRL_FUNC_IN_IRAM controls where to place the MCPWM control functions (IRAM or flash), see IRAM Safe for more information. DC motor control using ESP32 This project showing how to control the DC motor by using an ESP32 development board with Arduino IDE. 1. By default, the MCPWM interrupt will be deferred when the Cache is disabled for reasons like writing/erasing Flash. Speed Control of DC Motor using Arduino. Comparator Operations and Events - describes control functions and event callbacks that supported by the MCPWM comparator. The MCPWM fault detector can inform the user when it detects a valid fault or a fault signal disappears. For MCPWM_OPER_BRAKE_MODE_OST mode, the operator cant recover even though the fault disappears. MCPWM comparator event data, fed by driver, User data, set in mcpwm_comparator_register_event_callbacks(), User data, set in mcpwm_capture_channel_register_event_callbacks(), MCPWM timer counts to zero (i.e. You have to register a callback function to get the timer count value of the capture moment, by calling mcpwm_capture_channel_register_event_callbacks(). On the contrary, calling mcpwm_capture_timer_disable() will put the timer driver back to init state, and release the power management lock. Commutation for BLDC motors are a six-step process. The dead-time driver works like a decorator, which is also reflected in the function parameters of mcpwm_generator_set_dead_time(), where it takes the primary generator handle (in_generator), and returns a generator (out_generator) after applying the dead-time. Specifically, when there are no free capture timer left in the MCPWM group, this function will return ESP_ERR_NOT_FOUND error. ev_act [in] MCPWM compare event action list, must be terminated by MCPWM_GEN_COMPARE_EVENT_ACTION_END(). Group of supported MCPWM compare event callbacks. mcpwm_capture_timer_sync_phase_config_t::direction sets the count direction when the sync signal is taken. The step size of each count tick equals to (1 / resolution_hz) seconds, Whether to update period when timer counts to zero, The sync event source. It is for debugging purposes only. NodeMCU ESP8266 Speed controller Brushless Motor Breadboard Wiring cables Ubidots account 12v Battery or Power Supply Then, use 2 wires to connect Gnd and signal to the respective input of the ESC. Generator action on specific brake event. command [in] Supported command list for MCPWM timer, ESP_OK: Start or stop MCPWM timer successfully, ESP_ERR_INVALID_ARG: Start or stop MCPWM timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Start or stop MCPWM timer failed because timer is not enabled, ESP_FAIL: Start or stop MCPWM timer failed because of other error, The first call to this function needs to be before the call to mcpwm_timer_enable. Software fault object can be used to trigger a fault by calling a function mcpwm_soft_fault_activate() instead of waiting for a real fault signal on the GPIO. Please note that, even though its a fake capture event, it can still cause an interrupt, thus your capture event callback function will get invoked as well. Figure 1 - Electric diagram for controlling a DC motor with the ESP32 and a ULN2803A IC. It gives a beep. Each channel is connected to the GPIO, a pulse on the GPIO will trigger the capture timer to store the time-base count value and then notify the user by interrupt. If the hold_on is true, the force level will retain forever, until user removes the force level by setting the force level to -1. In this case we do not use the red wire of the ESC because it supplies 5v and our NodeMCU works at 3.3v, so we can damage it. The capture channel is not enabled after allocation by mcpwm_new_capture_channel(). This section will demonstrate the classical PWM waveforms that can be generated by the dead-time submodule. See MCPWM Comparators for how to allocate a comparator. One generator can set multiple actions on different compare events, by calling mcpwm_generator_set_actions_on_compare_event() with variable number of action configurations. mcpwm_timer_sync_phase_config_t::direction sets the count direction when the sync signal is taken. Three phase motor control using the MCPWM 6x Mosfets and Smart Driver SPI for the dual Absolute Magnetic Encoder I2C for the OLED Bluetooth, Wifi, CAN, ESP-NOW or serial for communications Current, Voltage and Temperature monitoring IMG_4840s.jpg ESP-32 DRV4_0.jpg You do not have the required permissions to view the files attached to this post. You can also set the brake action one by one by calling mcpwm_generator_set_action_on_brake_event() without varargs. We are using a BLDC motor of rating Model: A2212/6T RPM/V: 2200 kV Current: 12 A/60 s Please note, the argument list of mcpwm_generator_set_actions_on_compare_event() must be terminated by MCPWM_GEN_COMPARE_EVENT_ACTION_END. I have been doing it for quite long. Specifically, when there are no more free operators in the MCPWM group, this function will return ESP_ERR_NOT_FOUND error. The supported actions are listed in mcpwm_generator_action_t. We'll discuss today about the H Bridge, and how to control the speed of a DC motor with an ESP32 LoRa with display. Specifically, the carrier submodule can be disabled by calling mcpwm_operator_apply_carrier() with a NULL configuration. Set to NULL will disable the timer being synced by others, The count value that should lock to upon sync event, The count direction that should lock to upon sync event, components/driver/mcpwm/include/driver/mcpwm_oper.h, config [in] MCPWM operator configuration, ret_oper [out] Returned MCPWM operator handle, ESP_OK: Create MCPWM operator successfully, ESP_ERR_INVALID_ARG: Create MCPWM operator failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM operator failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM operator failed because cant find free resource, ESP_FAIL: Create MCPWM operator failed because of other error, oper [in] MCPWM operator, allocated by mcpwm_new_operator(), ESP_OK: Delete MCPWM operator successfully, ESP_ERR_INVALID_ARG: Delete MCPWM operator failed because of invalid argument, ESP_FAIL: Delete MCPWM operator failed because of other error. On the contrary, calling mcpwm_del_sync_src() function will free the allocated sync source object, this function works for all types of sync sources. We develop customized motor control solutions to operate modern electric vehicle powertrains cutting across motor types such as BLDC, PMSM, SRM and induction motors. Please note, operators located in different groups are totally independent. The action configuration is defined in mcpwm_gen_timer_event_action_t: mcpwm_gen_timer_event_action_t::direction specific the timer direction. To recover from fault or escape from trip, you make sure the fault signal has dissappeared already. V1, V3, V5 and V2, V4, V6 make a 3-phase voltage source inverter connected across the power supply. The MCPWM operator has a carrier submodule that can be used if galvanic isolation from the motor driver is required (e.g. Brake specific configuration is passed as a structure mcpwm_brake_config_t: mcpwm_brake_config_t::fault set which fault that the operator should react to. The capture timer is usually connected with several capture channels, please refer to MCPWM Capture Timer and Channels for resource allocation. Faults and Brake Actions - describes how to set brake actions for MCPWM operators on particular fault event. The mcpwm_capture_channel_trigger_soft_catch() is provided for that purpose. will remain unchanged until manually remove the force level), ESP_OK: Set force level for MCPWM generator successfully, ESP_ERR_INVALID_ARG: Set force level for MCPWM generator failed because of invalid argument, ESP_FAIL: Set force level for MCPWM generator failed because of other error.