Motor Control Pulse Width Modulator (MCPWM)

examples/mcpwm-simple.rs

@@ -0,0 +1,42 @@
+#[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().into());
+    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 &duty in [0.0, 20.0, 40.0, 60.0, 80.0, 100.0].iter().cycle() {
+        println!("Duty {}%", duty);
+        operator.set_duty_a(duty)?;
+        operator.set_duty_b(100.0 - duty)?;
+        FreeRtos.delay_ms(2000)?;
+    }
+
+    loop {
+        FreeRtos.delay_ms(1000)?;
+    }
+}
+
+#[cfg(not(any(esp32, esp32s3)))]
+fn main() {
+    esp_idf_sys::link_patches();
+}

src/lib.rs

@@ -38,6 +38,8 @@ pub mod i2c;
 #[cfg(not(feature = "riscv-ulp-hal"))]
 pub mod interrupt;
 pub mod ledc;
+#[cfg(all(any(esp32, esp32s3), not(feature = "riscv-ulp-hal")))]
+pub mod mcpwm;
 #[cfg(not(feature = "riscv-ulp-hal"))]
 pub mod mutex;
 pub mod peripherals;