esp32外设使用-MCPWM故障处理模块使用

概述

每个MCPWM 外设都连接来自GPIO 矩阵的3 个故障信号（FAULT0，FAULT1 和FAULT2）。这些信号用于指示
外部故障状况，并且可由故障检测模块预处理后生成故障事件。
在检测到故障时强制PWMxA/B输出固定信号，并能支持一次性跳闸模式（OST）和周期跳闸模式（CBC）：

• OST模式时： 故障解除时仍保持PWMxA/B输出保护状态
• CBC模式时： 故障解除时恢复PWMxA/B故障前输出状态

关键函数说明

//初始化故障处理模块
ESP_ERROR_CHECK(mcpwm_fault_init(
    MCPWM_UNIT_0,        // MCPWM_UNIT_0 / MCPWM_UNIT_1
    MCPWM_LOW_LEVEL_TGR, // MCPWM_HIGH_LEVEL_TGR / MCPWM_LOW_LEVEL_TGR
    MCPWM_SELECT_F0));   // MCPWM_SELECT_F0 / MCPWM_SELECT_F1 / MCPWM_SELECT_F2

//设置单次跳闸模式（OST）
ESP_ERROR_CHECK(mcpwm_fault_set_oneshot_mode(
    MCPWM_UNIT_0,             // MCPWM_UNIT_0 / MCPWM_UNIT_1
    MCPWM_TIMER_0,            // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
    MCPWM_SELECT_F0,          // MCPWM_SELECT_F0 / MCPWM_SELECT_F1 / MCPWM_SELECT_F2
    MCPWM_ACTION_FORCE_LOW,   // PWMxA动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE
    MCPWM_ACTION_FORCE_LOW)); // PWMxB动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE
//设置周期跳闸模式（CBC）
ESP_ERROR_CHECK(mcpwm_fault_set_cyc_mode(
    MCPWM_UNIT_0,             // MCPWM_UNIT_0 / MCPWM_UNIT_1
    MCPWM_TIMER_0,            // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
    MCPWM_SELECT_F0,          // MCPWM_SELECT_F0 / MCPWM_SELECT_F1 / MCPWM_SELECT_F2
    MCPWM_ACTION_FORCE_LOW,   // PWMxA动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE
    MCPWM_ACTION_FORCE_LOW)); // PWMxB动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE

示例代码

该程序采用外部IO4模拟故障信号，硬件上连接IO4和IO5输入故障信号，PWM启动后每5s输出一次50ms的故障信号。

#include <stdio.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "esp_spi_flash.h"

#include "string.h"
#include "driver/mcpwm.h"
#include "driver/gpio.h"
#include "soc/mcpwm_struct.h"
#define io_num(x) x

void app_main(void)
{

    ESP_ERROR_CHECK(gpio_reset_pin(io_num(4)));
    ESP_ERROR_CHECK(gpio_set_direction(io_num(4), GPIO_MODE_OUTPUT));
    ESP_ERROR_CHECK(gpio_set_level(io_num(4), 1));
    // mcepwm IO配置
    mcpwm_pin_config_t mcpwm_pin = {
        .mcpwm0a_out_num = io_num(14), //实际IO号
        .mcpwm0b_out_num = io_num(15),
        .mcpwm1a_out_num = -1,
        .mcpwm1b_out_num = -1,
        .mcpwm2a_out_num = -1,
        .mcpwm2b_out_num = -1,
        .mcpwm_cap0_in_num = -1,
        .mcpwm_cap1_in_num = -1,
        .mcpwm_cap2_in_num = -1,
        .mcpwm_sync0_in_num = -1, // Not used
        .mcpwm_sync1_in_num = -1, // Not used
        .mcpwm_sync2_in_num = -1, // Not used
        .mcpwm_fault0_in_num = io_num(5),
        .mcpwm_fault1_in_num = -1, // Not used
        .mcpwm_fault2_in_num = -1  // Not used
    };

    ESP_ERROR_CHECK(mcpwm_set_pin(MCPWM_UNIT_0, &mcpwm_pin));

    //设置PWM定时器分辨率
    ESP_ERROR_CHECK(mcpwm_group_set_resolution(MCPWM_UNIT_0, 10000000));               // MCPWM号(0/1)、分辨率(默认：10,000,000)
    ESP_ERROR_CHECK(mcpwm_timer_set_resolution(MCPWM_UNIT_0, MCPWM_TIMER_0, 1000000)); //定时器号(0/1/2)、分辨率(默认：1,000,000)

    mcpwm_config_t mcpwm_conf = {
        .frequency = 100, //输出pwm波形频率 Hz
        .cmpr_a = 30,     //操作器A输出占空比, i.e duty_a = 62.3
        .cmpr_b = 50,     //操作器B输出占空比, i.e duty_a = 42.8
        /*******************************************
         *duty_mode (占空比类型)：
         *	MCPWM_DUTY_MODE_0： 高有效，例如：%20占空比 == 高电平20%
         *	MCPWM_DUTY_MODE_1： 低有效，例如：%20占空比 == 低电平20%
         *	MCPWM_HAL_GENERATOR_MODE_FORCE_LOW： 输出强制为低
         *	MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH：输出强制为高
         *	MCPWM_DUTY_MODE_MAX：Num of duty cycle modes
         ********************************************/
        .duty_mode = MCPWM_DUTY_MODE_0,
        /****************************************
         * counter_mode (计数模式):
         * 	MCPWM_FREEZE_COUNTER: 计数器冻结
         * 	MCPWM_UP_COUNTER:  计数器递增,左对齐，频率不变
         * 	MCPWM_DOWN_COUNTER: 计数器递减,右对齐，频率不变
         * 	MCPWM_UP_DOWN_COUNTER：计数器递增递减，中间对齐，频率减半
         ********************************************/
        .counter_mode = MCPWM_UP_COUNTER};
    ESP_ERROR_CHECK(mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &mcpwm_conf)); //启动定时器0

    ESP_ERROR_CHECK(mcpwm_fault_init(
        MCPWM_UNIT_0,        // MCPWM_UNIT_0 / MCPWM_UNIT_1
        MCPWM_LOW_LEVEL_TGR, // MCPWM_HIGH_LEVEL_TGR / MCPWM_LOW_LEVEL_TGR
        MCPWM_SELECT_F0));   // MCPWM_SELECT_F0 / MCPWM_SELECT_F1 / MCPWM_SELECT_F2
    //ESP_ERROR_CHECK(mcpwm_fault_set_oneshot_mode(
    //    MCPWM_UNIT_0,             // MCPWM_UNIT_0 / MCPWM_UNIT_1
    //    MCPWM_TIMER_0,            // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
    //    MCPWM_SELECT_F0,          // MCPWM_SELECT_F0 / MCPWM_SELECT_F1 / MCPWM_SELECT_F2
    //    MCPWM_ACTION_FORCE_LOW,   // PWMxA动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE
    //    MCPWM_ACTION_FORCE_LOW)); // PWMxB动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE
    ESP_ERROR_CHECK(mcpwm_fault_set_cyc_mode(
        MCPWM_UNIT_0,             // MCPWM_UNIT_0 / MCPWM_UNIT_1
        MCPWM_TIMER_0,            // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
        MCPWM_SELECT_F0,          // MCPWM_SELECT_F0 / MCPWM_SELECT_F1 / MCPWM_SELECT_F2
        MCPWM_ACTION_FORCE_LOW,   // PWMxA动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE
        MCPWM_ACTION_FORCE_LOW)); // PWMxB动作： MCPWM_ACTION_NO_CHANGE / MCPWM_ACTION_FORCE_LOW/HIGH / MCPWM_ACTION_TOGGLE

    // 5s后IO模拟故障
    while (1)
    {
        vTaskDelay(pdMS_TO_TICKS(5000));
        ESP_ERROR_CHECK(gpio_set_level(io_num(4), 0));
        vTaskDelay(pdMS_TO_TICKS(50));
        ESP_ERROR_CHECK(gpio_set_level(io_num(4), 1));
    }
}

效果：
一次性跳闸模式（OST）：
示波器1和2通道分别为PWM0A和B输出，3通道为同步信号输出。

周期跳闸模式（CBC）：