Motor Control Pulse Width Modulator (MCPWM)

examples/mcpwm-simple.rs

@@ -0,0 +1,103 @@
+/// Simple example showing how MCPWM may be used to generate two synchronized pwm signals with varying duty.
+/// The duty on the pin4 will increase from 0% all the way up to 100% and repeat. At the same time the duty
+/// on pin 5 will go from 100% down to 0%
+///
+/// # duty = 10
+///
+///               .                               .
+///               .                               .
+///               .------.                        .------.
+///               |      |                        |      |
+/// pin4          |      |                        |      |
+///               |      |                        |      |
+///           -----      --------------------------      --------------------------
+///               .                               .
+///               .                               .
+///               .------------------------.      .------------------------.
+///               |                        |      |                        |
+/// pin5          |                        |      |                        |
+///               |                        |      |                        |
+///           -----                        --------                        --------
+///               .                               .
+///
+///
+/// # duty = 50
+///               .                               .
+///               .                               .
+///               .---------------.               .---------------.
+///               |               |               |               |
+/// pin4          |               |               |               |
+///               |               |               |               |
+///           -----               -----------------               -----------------
+///               .                               .
+///               .                               .
+///               .---------------.               .---------------.
+///               |               |               |               |
+/// pin5          |               |               |               |
+///               |               |               |               |
+///           -----               -----------------               -----------------
+///               .                               .
+///
+///
+/// # duty = 90
+///               .                               .
+///               .                               .
+///               .------------------------.      .------------------------.
+///               |                        |      |                        |
+/// pin4          |                        |      |                        |
+///               |                        |      |                        |
+///           -----                        --------                        --------
+///               .                               .
+///               .                               .
+///               .------.                        .------.
+///               |      |                        |      |
+/// pin5          |      |                        |      |
+///               |      |                        |      |
+///           -----      --------------------------      --------------------------
+///               .                               .
+
+#[cfg(any(esp32, esp32s3))]
+fn main() -> anyhow::Result<()> {
+    use embedded_hal::delay::blocking::DelayUs;
+
+    use esp_idf_hal::delay::FreeRtos;
+    use esp_idf_hal::mcpwm::{Mcpwm, Operator, OperatorConfig};
+    use esp_idf_hal::prelude::Peripherals;
+    use esp_idf_hal::units::FromValueType;
+
+    esp_idf_sys::link_patches();
+
+    println!("Configuring MCPWM");
+
+    let peripherals = Peripherals::take().unwrap();
+    let config = OperatorConfig::default().frequency(25.kHz());
+    let mcpwm = Mcpwm::new(peripherals.mcpwm0.mcpwm)?;
+    let mut operator = Operator::new(
+        peripherals.mcpwm0.operator0,
+        &mcpwm,
+        &config,
+        peripherals.pins.gpio4,
+        peripherals.pins.gpio5,
+    )?;
+
+    println!("Starting duty-cycle loop");
+
+    for x in (0..10000u16).cycle() {
+        let duty = f32::from(x) * 0.01;
+
+        if x % 100 == 0 {
+            println!("Duty {}%", x / 100);
+        }
+
+        operator.set_duty_a(duty)?;
+        operator.set_duty_b(100.0 - duty)?;
+        FreeRtos.delay_ms(10)?;
+    }
+
+    unreachable!()
+}
+
+#[cfg(not(any(esp32, esp32s3)))]
+fn main() {
+    esp_idf_sys::link_patches();
+}

src/lib.rs

@@ -42,6 +42,8 @@ pub mod ledc;
     not(feature = "riscv-ulp-hal")
 ))]
 pub mod mac;
+#[cfg(all(any(esp32, esp32s3), not(feature = "riscv-ulp-hal")))]
+pub mod mcpwm;
 #[cfg(not(feature = "riscv-ulp-hal"))]
 pub mod modem;
 pub mod peripheral;