MCPWM¶

Overview¶

ESP32 has two MCPWM units which can be used to control different motors.

Block Diagram¶

The block diagram of MCPWM unit is as shown.

              __________________________________________________________________________
              |     SYNCSIG              FAULT SIG            CAPTURE SIG               |
              |    0   1   2             0   1   2        0   1   2                     |
              |___________________________________________________________________   G  |
INTERRUPTS<-----+ |   |   |             |   |   |         |   |   |               |  P  |
                | |   |   |             |   |   |         |   |   |               |  I  |
        ________|_|___|___|_____________|___|___|_________|___|___|_________      |  O  |
        |         |   |   |             |   |   |         |   |   |         |     |     |
        |         |   |   |             |   |   |         |   |   |         |     |  M  |
        |         |   |   |           __v___v___v__     __v___v___v__       |     |  A  |
        |         |   |   |           |           |     |           |       |     |  T  |
        |         |   |   |           |   FAULT   |     |  CAPTURE  |       |     |  R  |
        |         |   |   |           |  HANDLER  |     |           |       |     |  I  |
        |         |   |   |           |           |     |___________|       |     |  X  |
        |         |   |   |           |___________|                         |     |     |
        |         |   |   |                                                 |     |     |
        |      ____v___v___v____                    ____________________    |     |     |
        |      |  +---------+  |                    |  +------------+  |--------->|PWM0A|
        |      |  | Timer 0 |  |                    |  | Operator 0 |  |    |     |     |
        |      |  +---------+  |                    |  +------------+  |--------->|PWM0B|
        |      |               |                    |                  |    |     |     |
        |      |  +---------+  |                    |  +------------+  |--------->|PWM1A|
        |      |  | Timer 1 |  |------------------->|  | Operator 1 |  |    |     |     |
        |      |  +---------+  |                    |  +------------+  |--------->|PWM1B|
        |      |               |                    |                  |    |     |     |
        |      |  +---------+  |                    |  +------------+  |--------->|PWM2A|
        |      |  | Timer 2 |  |                    |  | Operator 2 |  |    |     |     |
        |      |  +---------+  |                    |  +------------+  |--------->|PWM2B|
        |      |_______________|                    |__________________|    |     |_____|
        |                                                                   |
        | MCPWM-UNIT 0/1                                                    |
        |___________________________________________________________________|

Application Example¶

Examples of using MCPWM for motor control: peripherals/mcpwm.

API Reference¶

Header File¶

driver/include/driver/mcpwm.h

Functions¶

esp_err_t mcpwm_gpio_init(mcpwm_unit_t mcpwm_num, mcpwm_io_signals_t io_signal, int gpio_num)¶

This function initializes each gpio signal for MCPWM.

Note

This function initializes one gpio at a time.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM Channel(0-1)
io_signal: set MCPWM signals, each MCPWM unit has 6 output(MCPWMXA, MCPWMXB) and 9 input(SYNC_X, FAULT_X, CAP_X) ‘X’ is timer_num(0-2)
gpio_num: set this to configure gpio for MCPWM, if you want to use gpio16, gpio_num = 16

esp_err_t mcpwm_set_pin(mcpwm_unit_t mcpwm_num, const mcpwm_pin_config_t *mcpwm_pin)¶

Initialize MCPWM gpio structure.

Note

This function can be used to initialize more then one gpio at a time.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM Channel(0-1)
mcpwm_pin: MCPWM pin structure

esp_err_t mcpwm_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_config_t *mcpwm_conf)¶

Initialize MCPWM parameters.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM Channel(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
mcpwm_conf: configure structure mcpwm_config_t

esp_err_t mcpwm_set_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint32_t frequency)¶

Set frequency(in Hz) of MCPWM timer.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
frequency: set the frequency in Hz of each timer

esp_err_t mcpwm_set_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, float duty)¶

Set duty cycle of each operator(MCPWMXA/MCPWMXB)

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
op_num: set the operator(MCPWMXA/MCPWMXB), ‘X’ is timer number selected
duty: set duty cycle in %(i.e for 62.3% duty cycle, duty = 62.3) of each operator

esp_err_t mcpwm_set_duty_in_us(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, uint32_t duty)¶

Set duty cycle of each operator(MCPWMXA/MCPWMXB) in us.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
op_num: set the operator(MCPWMXA/MCPWMXB), ‘x’ is timer number selected
duty: set duty value in microseconds of each operator

esp_err_t mcpwm_set_duty_type(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num, mcpwm_duty_type_t duty_num)¶

Set duty either active high or active low(out of phase/inverted)

Note

Call this function every time after mcpwm_set_signal_high or mcpwm_set_signal_low to resume with previously set duty cycle

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
op_num: set the operator(MCPWMXA/MCPWMXB), ‘x’ is timer number selected
duty_num: set active low or active high duty type

uint32_t mcpwm_get_frequency(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Get frequency of timer.

Return

frequency of timer

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

float mcpwm_get_duty(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num)¶

Get duty cycle of each operator.

Return

duty cycle in % of each operator(56.7 means duty is 56.7%)

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
op_num: set the operator(MCPWMXA/MCPWMXB), ‘x’ is timer number selected

esp_err_t mcpwm_set_signal_high(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num)¶

Use this function to set MCPWM signal high.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
op_num: set the operator(MCPWMXA/MCPWMXB), ‘x’ is timer number selected

esp_err_t mcpwm_set_signal_low(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_operator_t op_num)¶

Use this function to set MCPWM signal low.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
op_num: set the operator(MCPWMXA/MCPWMXB), ‘x’ is timer number selected

esp_err_t mcpwm_start(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Start MCPWM signal on timer ‘x’.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

esp_err_t mcpwm_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Start MCPWM signal on timer ‘x’.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

esp_err_t mcpwm_carrier_init(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, const mcpwm_carrier_config_t *carrier_conf)¶

Initialize carrier configuration.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
carrier_conf: configure structure mcpwm_carrier_config_t

esp_err_t mcpwm_carrier_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Enable MCPWM carrier submodule, for respective timer.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

esp_err_t mcpwm_carrier_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Disable MCPWM carrier submodule, for respective timer.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

esp_err_t mcpwm_carrier_set_period(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_period)¶

Set period of carrier.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
carrier_period: set the carrier period of each timer, carrier period = (carrier_period + 1)*800ns (carrier_period <= 15)

esp_err_t mcpwm_carrier_set_duty_cycle(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t carrier_duty)¶

Set duty_cycle of carrier.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
carrier_duty: set duty_cycle of carrier , carrier duty cycle = carrier_duty*12.5% (chop_duty <= 7)

esp_err_t mcpwm_carrier_oneshot_mode_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, uint8_t pulse_width)¶

Enable and set width of first pulse in carrier oneshot mode.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
pulse_width: set pulse width of first pulse in oneshot mode, width = (carrier period)*(pulse_width +1) (pulse_width <= 15)

esp_err_t mcpwm_carrier_oneshot_mode_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Disable oneshot mode, width of first pulse = carrier period.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

esp_err_t mcpwm_carrier_output_invert(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_carrier_out_ivt_t carrier_ivt_mode)¶

Enable or disable carrier output inversion.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
carrier_ivt_mode: enable or disable carrier output inversion

esp_err_t mcpwm_deadtime_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_deadtime_type_t dt_mode, uint32_t red, uint32_t fed)¶

Enable and initialize deadtime for each MCPWM timer.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
dt_mode: set deadtime mode
red: set rising edge delay = red*100ns
fed: set rising edge delay = fed*100ns

esp_err_t mcpwm_deadtime_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Disable deadtime on MCPWM timer.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

esp_err_t mcpwm_fault_init(mcpwm_unit_t mcpwm_num, mcpwm_fault_input_level_t intput_level, mcpwm_fault_signal_t fault_sig)¶

Initialize fault submodule, currently low level triggering not supported.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
intput_level: set fault signal level, which will cause fault to occur
fault_sig: set the fault Pin, which needs to be enabled

esp_err_t mcpwm_fault_set_oneshot_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig, mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb)¶

Set oneshot mode on fault detection, once fault occur in oneshot mode reset is required to resume MCPWM signals.

Note

currently low level triggering not supported

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
fault_sig: set the fault Pin, which needs to be enabled for oneshot mode
action_on_pwmxa: action to be taken on MCPWMXA when fault occurs, either no change or high or low or toggle
action_on_pwmxb: action to be taken on MCPWMXB when fault occurs, either no change or high or low or toggle

esp_err_t mcpwm_fault_set_cyc_mode(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_fault_signal_t fault_sig, mcpwm_action_on_pwmxa_t action_on_pwmxa, mcpwm_action_on_pwmxb_t action_on_pwmxb)¶

Set cycle-by-cycle mode on fault detection, once fault occur in cyc mode MCPWM signal resumes as soon as fault signal becomes inactive.

Note

currently low level triggering not supported

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
fault_sig: set the fault Pin, which needs to be enabled for cyc mode
action_on_pwmxa: action to be taken on MCPWMXA when fault occurs, either no change or high or low or toggle
action_on_pwmxb: action to be taken on MCPWMXB when fault occurs, either no change or high or low or toggle

esp_err_t mcpwm_fault_deinit(mcpwm_unit_t mcpwm_num, mcpwm_fault_signal_t fault_sig)¶

Disable fault signal.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
fault_sig: fault pin, which needs to be disabled

esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge, uint32_t num_of_pulse)¶

Initialize capture submodule.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
cap_edge: set capture edge, BIT(0) - negative edge, BIT(1) - positive edge
cap_sig: capture Pin, which needs to be enabled
num_of_pulse: count time between rising/falling edge between 2 *(pulses mentioned), counter uses APB_CLK

esp_err_t mcpwm_capture_disable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)¶

Disable capture signal.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
cap_sig: capture Pin, which needs to be disabled

uint32_t mcpwm_capture_signal_get_value(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)¶

Get capture value.

Return

Captured value

Parameters

mcpwm_num: set MCPWM unit(0-1)
cap_sig: capture pin on which value is to be measured

uint32_t mcpwm_capture_signal_get_edge(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig)¶

Get edge of capture signal.

Return

Capture signal edge: 1 - positive edge, 2 - negtive edge

Parameters

mcpwm_num: set MCPWM Channel(0-1)
cap_sig: capture pin of whose edge is to be determined

esp_err_t mcpwm_sync_enable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, mcpwm_sync_signal_t sync_sig, uint32_t phase_val)¶

Initialize sync submodule.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers
sync_sig: set the fault Pin, which needs to be enabled
phase_val: phase value in 1/1000(for 86.7%, phase_val = 867) which timer moves to on sync signal

esp_err_t mcpwm_sync_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)¶

Disable sync submodule on given timer.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Parameter error

Parameters

mcpwm_num: set MCPWM unit(0-1)
timer_num: set timer number(0-2) of MCPWM, each MCPWM unit has 3 timers

esp_err_t mcpwm_isr_register(mcpwm_unit_t mcpwm_num, void (*fn)(void *), void *arg, int intr_alloc_flags, intr_handle_t *handle, )¶

Register MCPWM interrupt handler, the handler is an ISR. the handler will be attached to the same CPU core that this function is running on.

Return

ESP_OK Success
ESP_ERR_INVALID_ARG Function pointer error.

Parameters

mcpwm_num: set MCPWM unit(0-1)
fn: interrupt handler function.
arg: user-supplied argument passed to the handler function.
intr_alloc_flags: flags used to allocate the interrupt. One or multiple (ORred) ESP_INTR_FLAG_* values. see esp_intr_alloc.h for more info.
arg: parameter for handler function
handle: pointer to return handle. If non-NULL, a handle for the interrupt will be returned here.

Structures¶

struct mcpwm_pin_config_t¶

MCPWM pin number for.

Public Members

int mcpwm0a_out_num¶: MCPWM0A out pin

int mcpwm0b_out_num¶: MCPWM0A out pin

int mcpwm1a_out_num¶: MCPWM0A out pin

int mcpwm1b_out_num¶: MCPWM0A out pin

int mcpwm2a_out_num¶: MCPWM0A out pin

int mcpwm2b_out_num¶: MCPWM0A out pin

int mcpwm_sync0_in_num¶: SYNC0 in pin

int mcpwm_sync1_in_num¶: SYNC1 in pin

int mcpwm_sync2_in_num¶: SYNC2 in pin

int mcpwm_fault0_in_num¶: FAULT0 in pin

int mcpwm_fault1_in_num¶: FAULT1 in pin

int mcpwm_fault2_in_num¶: FAULT2 in pin

int mcpwm_cap0_in_num¶: CAP0 in pin

int mcpwm_cap1_in_num¶: CAP1 in pin

int mcpwm_cap2_in_num¶: CAP2 in pin

struct mcpwm_config_t¶

MCPWM config structure.

Public Members

uint32_t frequency¶: Set frequency of MCPWM in Hz

float cmpr_a¶: Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3

float cmpr_b¶: Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0

mcpwm_duty_type_t duty_mode¶: Set type of duty cycle

mcpwm_counter_type_t counter_mode¶: Set type of MCPWM counter

struct mcpwm_carrier_config_t¶

MCPWM config carrier structure.

Public Members

uint8_t carrier_period¶: Set carrier period = (carrier_period + 1)*800ns, carrier_period should be < 16

uint8_t carrier_duty¶: Set carrier duty cycle, carrier_duty should be less then 8(increment every 12.5%)

uint8_t pulse_width_in_os¶: Set pulse width of first pulse in one shot mode = (carrier period)*(pulse_width_in_os + 1), should be less then 16

mcpwm_carrier_os_t carrier_os_mode¶: Enable or disable carrier oneshot mode

mcpwm_carrier_out_ivt_t carrier_ivt_mode¶: Invert output of carrier

Enumerations¶

enum mcpwm_io_signals_t¶

IO signals for MCPWM 6 MCPWM output pins that generate PWM signals 3 MCPWM fault input pins to detect faults like overcurrent, overvoltage, etc 3 MCPWM sync input pins to synchronize MCPWM outputs signals 3 MCPWM capture input pin to capture hall sell signal to measure time.

Values:

MCPWM0A = 0¶: PWM0A output pin

MCPWM0B¶: PWM0B output pin

MCPWM1A¶: PWM1A output pin

MCPWM1B¶: PWM1B output pin

MCPWM2A¶: PWM2A output pin

MCPWM2B¶: PWM2B output pin

MCPWM_SYNC_0¶: SYNC0 input pin

MCPWM_SYNC_1¶: SYNC1 input pin

MCPWM_SYNC_2¶: SYNC2 input pin

MCPWM_FAULT_0¶: FAULT0 input pin

MCPWM_FAULT_1¶: FAULT1 input pin

MCPWM_FAULT_2¶: FAULT2 input pin

MCPWM_CAP_0 = 84¶: CAP0 input pin

MCPWM_CAP_1¶: CAP1 input pin

MCPWM_CAP_2¶: CAP2 input pin

enum mcpwm_unit_t¶

Select MCPWM unit.

Values:

MCPWM_UNIT_0 = 0¶: MCPWM unit0 selected

MCPWM_UNIT_1¶: MCPWM unit1 selected

MCPWM_UNIT_MAX¶: Num of MCPWM units on ESP32

enum mcpwm_timer_t¶

Select MCPWM timer.

Values:

MCPWM_TIMER_0 = 0¶: Select MCPWM timer0

MCPWM_TIMER_1¶: Select MCPWM timer1

MCPWM_TIMER_2¶: Select MCPWM timer2

MCPWM_TIMER_MAX¶: Num of MCPWM timers on ESP32

enum mcpwm_operator_t¶

Select MCPWM operator.

Values:

MCPWM_OPR_A = 0¶: Select MCPWMXA, where ‘X’ is timer number

MCPWM_OPR_B¶: Select MCPWMXB, where ‘X’ is timer number

MCPWM_OPR_MAX¶: Num of operators to each timer of MCPWM

enum mcpwm_counter_type_t¶

Select type of MCPWM counter.

Values:

MCPWM_UP_COUNTER = 1¶: For asymmetric MCPWM

MCPWM_DOWN_COUNTER¶: For asymmetric MCPWM

MCPWM_UP_DOWN_COUNTER¶: For symmetric MCPWM, frequency is half of MCPWM frequency set

MCPWM_COUNTER_MAX¶: Maximum counter mode

enum mcpwm_duty_type_t¶

Select type of MCPWM duty cycle mode.

Values:

MCPWM_DUTY_MODE_0 = 0¶: Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM

MCPWM_DUTY_MODE_1¶: Active low duty, i.e. duty cycle proportional to low time for asymmetric MCPWM, out of phase(inverted) MCPWM

MCPWM_DUTY_MODE_MAX¶: Num of duty cycle modes

enum mcpwm_carrier_os_t¶

MCPWM carrier oneshot mode, in this mode the width of the first pulse of carrier can be programmed.

Values:

MCPWM_ONESHOT_MODE_DIS = 0¶: Enable oneshot mode

MCPWM_ONESHOT_MODE_EN¶: Disable oneshot mode

enum mcpwm_carrier_out_ivt_t¶

MCPWM carrier output inversion, high frequency carrier signal active with MCPWM signal is high.

Values:

MCPWM_CARRIER_OUT_IVT_DIS = 0¶: Enable carrier output inversion

MCPWM_CARRIER_OUT_IVT_EN¶: Disable carrier output inversion

enum mcpwm_sync_signal_t¶

MCPWM select sync signal input.

Values:

MCPWM_SELECT_SYNC0 = 4¶: Select SYNC0 as input

MCPWM_SELECT_SYNC1¶: Select SYNC1 as input

MCPWM_SELECT_SYNC2¶: Select SYNC2 as input

enum mcpwm_fault_signal_t¶

MCPWM select fault signal input.

Values:

MCPWM_SELECT_F0 = 0¶: Select F0 as input

MCPWM_SELECT_F1¶: Select F1 as input

MCPWM_SELECT_F2¶: Select F2 as input

enum mcpwm_fault_input_level_t¶

MCPWM select triggering level of fault signal.

Values:

MCPWM_LOW_LEVEL_TGR = 0¶: Fault condition occurs when fault input signal goes from high to low, currently not supported

MCPWM_HIGH_LEVEL_TGR¶: Fault condition occurs when fault input signal goes low to high

enum mcpwm_action_on_pwmxa_t¶

MCPWM select action to be taken on MCPWMXA when fault occurs.

Values:

MCPWM_NO_CHANGE_IN_MCPWMXA = 0¶: No change in MCPWMXA output

MCPWM_FORCE_MCPWMXA_LOW¶: Make MCPWMXA output low

MCPWM_FORCE_MCPWMXA_HIGH¶: Make MCPWMXA output high

MCPWM_TOG_MCPWMXA¶: Make MCPWMXA output toggle

enum mcpwm_action_on_pwmxb_t¶

MCPWM select action to be taken on MCPWMxB when fault occurs.

Values:

MCPWM_NO_CHANGE_IN_MCPWMXB = 0¶: No change in MCPWMXB output

MCPWM_FORCE_MCPWMXB_LOW¶: Make MCPWMXB output low

MCPWM_FORCE_MCPWMXB_HIGH¶: Make MCPWMXB output high

MCPWM_TOG_MCPWMXB¶: Make MCPWMXB output toggle

enum mcpwm_capture_signal_t¶

MCPWM select capture signal input.

Values:

MCPWM_SELECT_CAP0 = 0¶: Select CAP0 as input

MCPWM_SELECT_CAP1¶: Select CAP1 as input

MCPWM_SELECT_CAP2¶: Select CAP2 as input

enum mcpwm_capture_on_edge_t¶

MCPWM select capture starts from which edge.

Values:

MCPWM_NEG_EDGE = 0¶: Capture starts from negative edge

MCPWM_POS_EDGE¶: Capture starts from positive edge

enum mcpwm_deadtime_type_t¶

MCPWM deadtime types, used to generate deadtime, RED refers to rising edge delay and FED refers to falling edge delay.

Values:

MCPWM_BYPASS_RED = 0¶: MCPWMXA = no change, MCPWMXB = falling edge delay

MCPWM_BYPASS_FED¶: MCPWMXA = rising edge delay, MCPWMXB = no change

MCPWM_ACTIVE_HIGH_MODE¶: MCPWMXA = rising edge delay, MCPWMXB = falling edge delay

MCPWM_ACTIVE_LOW_MODE¶: MCPWMXA = compliment of rising edge delay, MCPWMXB = compliment of falling edge delay

MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE¶: MCPWMXA = rising edge delay, MCPWMXB = compliment of falling edge delay

MCPWM_ACTIVE_LOW_COMPLIMENT_MODE¶: MCPWMXA = compliment of rising edge delay, MCPWMXB = falling edge delay

MCPWM_ACTIVE_RED_FED_FROM_PWMXA¶: MCPWMXA = MCPWMXB = rising edge delay as well as falling edge delay, generated from MCPWMXA

MCPWM_ACTIVE_RED_FED_FROM_PWMXB¶: MCPWMXA = MCPWMXB = rising edge delay as well as falling edge delay, generated from MCPWMXB

MCPWM_DEADTIME_TYPE_MAX¶