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 <stdio.h> 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... "); 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... "); 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... "); 83 xTaskCreate(mcpwm_example_brushed_motor_control, "mcpwm_examlpe_brushed_motor_control", 4096, NULL, 5, NULL); 84 }
原文：https://gitee.com/EspressifSystems/esp-idf/tree/master/examples/peripherals/mcpwm/mcpwm_brushed_dc_control