use current sensing only if mpcpwm used and force LEDC for now

src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp

@@ -1,6 +1,6 @@
 #include "esp32_adc_driver.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(CONFIG_IDF_TARGET_ESP32S2) && !defined(CONFIG_IDF_TARGET_ESP32S3)
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(CONFIG_IDF_TARGET_ESP32S2) && !defined(CONFIG_IDF_TARGET_ESP32S3) && !defined(SIMPLEFOC_ESP32_USELEDC)
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

src/current_sense/hardware_specific/esp32/esp32_adc_driver.h

@@ -5,7 +5,7 @@
 
 #include "Arduino.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) 
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED)  && !defined(SIMPLEFOC_ESP32_USELEDC)
 /*
  * Get ADC value for pin
  * */

src/current_sense/hardware_specific/esp32/esp32_ledc_mcu.cpp

@@ -1,7 +1,7 @@
 #include "../../hardware_api.h"
 #include "../../../drivers/hardware_api.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && !defined(SOC_MCPWM_SUPPORTED) 
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && (!defined(SOC_MCPWM_SUPPORTED)  || defined(SIMPLEFOC_ESP32_USELEDC))
 
 #include "esp32_adc_driver.h"
 

src/current_sense/hardware_specific/esp32/esp32_mcu.cpp

@@ -2,7 +2,7 @@
 #include "../../../drivers/hardware_api.h"
 #include "../../../drivers/hardware_specific/esp32/esp32_driver_mcpwm.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC) 
 
 #include "esp32_adc_driver.h"
 

src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp

@@ -1,6 +1,6 @@
 #include "esp32_adc_driver.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && (defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3))
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && (defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3))  && !defined(SIMPLEFOC_ESP32_USELEDC)
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

src/drivers/hardware_api.h

@@ -27,6 +27,7 @@
 
 
 
+#define SIMPLEFOC_ESP32_USELEDC
 
 // flag returned if driver init fails
 #define SIMPLEFOC_DRIVER_INIT_FAILED ((void*)-1)

src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp

@@ -1,5 +1,18 @@
 #include "../../hardware_api.h"
 
+/*
+For the moment the LEDC driver implements the simplest possible way to set the PWM on esp32 while enabling to set the frequency and resolution.
+
+The pwm is not center aligned and moreover there are no guarantees on the proper alignement between the PWM signals.
+Therefore this driver is not recommended for boards that have MCPWM.
+
+There are however ways to improve the LEDC driver, by not using directly espressif sdk: 
+https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/peripherals/ledc.html#ledc-api-change-pwm-signal
+- We could potentially use the ledc_set_duty_with_hpoint function to set the duty cycle and the high time point to make the signals center-aligned
+- We could force the use of the same ledc timer within one driver to ensure the alignement between the signals
+
+*/
+
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && ( !defined(SOC_MCPWM_SUPPORTED) || defined(SIMPLEFOC_ESP32_USELEDC) )
 
 #pragma message("")
@@ -11,14 +24,10 @@
 #define _PWM_FREQUENCY 25000 // 25khz
 #define _PWM_FREQUENCY_MAX 38000 // 38khz max to be able to have 10 bit pwm resolution
 #define _PWM_RES_BIT 10  // 10 bir resolution
-#define _PWM_RES 1023 // 2^10-1 = 1023-1
+#define _PWM_RES 1023 // 2^10-1 = 1024-1
 
 
-// empty motor slot
-#define _EMPTY_SLOT -20
-#define _TAKEN_SLOT -21
-
-// figure out how many ledc channels are avaible
+// figure out how many ledc channels are available
 // esp32   - 2x8=16
 // esp32s2 - 8
 // esp32c3 - 6
@@ -30,18 +39,16 @@
 #endif
 
 
-// current channel stack index
+// currently used ledc channels
 // support for multiple motors
 // esp32 has 16 channels
 // esp32s2 has 8 channels
 // esp32c3 has 6 channels
-int channel_index = 0;
-
-
+int channels_used = 0;
 
 
 typedef struct ESP32LEDCDriverParams {
-  int channels[6];
+  int pins[6];
   long pwm_frequency;
 } ESP32LEDCDriverParams;
 
@@ -50,9 +57,11 @@ typedef struct ESP32LEDCDriverParams {
 
 
 //  configure High PWM frequency
-void _setHighFrequency(const long freq, const int pin, const int channel){
-  ledcSetup(channel, freq, _PWM_RES_BIT );
-  ledcAttachPin(pin, channel);
+bool _setHighFrequency(const long freq, const int pin){
+  // sets up the pwm resolution and frequency on this pin
+  // https://docs.espressif.com/projects/arduino-esp32/en/latest/api/ledc.html
+  // from v5.x no more need to deal with channels
+  return ledcAttach(pin, freq, _PWM_RES_BIT);
 }
 
 
@@ -65,13 +74,14 @@ void* _configure1PWM(long pwm_frequency, const int pinA) {
   else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
 
   // check if enough channels available
-  if ( channel_index + 1 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  if ( channels_used + 1 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  channels_used++;
 
-  int ch1 = channel_index++;
-  _setHighFrequency(pwm_frequency, pinA, ch1);
+  // setup the channel
+  if (!_setHighFrequency(pwm_frequency, pinA)) return SIMPLEFOC_DRIVER_INIT_FAILED;
 
   ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
-    .channels = { ch1 },
+    .pins = { pinA },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -89,15 +99,15 @@ void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
   else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
 
   // check if enough channels available
-  if ( channel_index + 2 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  if ( channels_used + 2 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  channels_used += 2;
 
-  int ch1 = channel_index++;
-  int ch2 = channel_index++;
-  _setHighFrequency(pwm_frequency, pinA, ch1);
-  _setHighFrequency(pwm_frequency, pinB, ch2);
+  // setup the channels
+  if(!_setHighFrequency(pwm_frequency, pinA) || !_setHighFrequency(pwm_frequency, pinB)) 
+    return SIMPLEFOC_DRIVER_INIT_FAILED;
 
   ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
-    .channels = { ch1, ch2 },
+    .pins = { pinA, pinB },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -110,17 +120,15 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
 
   // check if enough channels available
-  if ( channel_index + 3 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  if ( channels_used + 3 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  channels_used += 3;
 
-  int ch1 = channel_index++;
-  int ch2 = channel_index++;
-  int ch3 = channel_index++;
-  _setHighFrequency(pwm_frequency, pinA, ch1);
-  _setHighFrequency(pwm_frequency, pinB, ch2);
-  _setHighFrequency(pwm_frequency, pinC, ch3);
+  // setup the channels
+  if(!_setHighFrequency(pwm_frequency, pinA) || !_setHighFrequency(pwm_frequency, pinB) || !_setHighFrequency(pwm_frequency, pinC)) 
+    return SIMPLEFOC_DRIVER_INIT_FAILED;
 
   ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
-    .channels = { ch1, ch2, ch3 },
+    .pins = { pinA, pinB, pinC },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -133,19 +141,16 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
   else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
 
   // check if enough channels available
-  if ( channel_index + 4 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  if ( channels_used + 4 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+  channels_used += 4;
 
-  int ch1 = channel_index++;
-  int ch2 = channel_index++;
-  int ch3 = channel_index++;
-  int ch4 = channel_index++;
-  _setHighFrequency(pwm_frequency, pinA, ch1);
-  _setHighFrequency(pwm_frequency, pinB, ch2);
-  _setHighFrequency(pwm_frequency, pinC, ch3);
-  _setHighFrequency(pwm_frequency, pinD, ch4);
+  // setup the channels
+  if(!_setHighFrequency(pwm_frequency, pinA) ||  !_setHighFrequency(pwm_frequency, pinB) ||
+      !_setHighFrequency(pwm_frequency, pinC)||  !_setHighFrequency(pwm_frequency, pinD)) 
+    return SIMPLEFOC_DRIVER_INIT_FAILED;
 
   ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
-    .channels = { ch1, ch2, ch3, ch4 },
+    .pins = { pinA, pinB, pinC, pinD },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -155,31 +160,31 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
 
 
 void _writeDutyCycle1PWM(float dc_a, void* params){
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
 }
 
 
 
 void _writeDutyCycle2PWM(float dc_a,  float dc_b, void* params){
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[1], _constrain(_PWM_RES*dc_b, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[1], _constrain(_PWM_RES*dc_b, 0, _PWM_RES));
 }
 
 
 
 void _writeDutyCycle3PWM(float dc_a,  float dc_b, float dc_c, void* params){
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[1], _constrain(_PWM_RES*dc_b, 0, _PWM_RES));
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[2], _constrain(_PWM_RES*dc_c, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[1], _constrain(_PWM_RES*dc_b, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[2], _constrain(_PWM_RES*dc_c, 0, _PWM_RES));
 }
 
 
 
 void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, void* params){
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_1a, 0, _PWM_RES));
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[1], _constrain(_PWM_RES*dc_1b, 0, _PWM_RES));
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[2], _constrain(_PWM_RES*dc_2a, 0, _PWM_RES));
-  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[3], _constrain(_PWM_RES*dc_2b, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[0], _constrain(_PWM_RES*dc_1a, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[1], _constrain(_PWM_RES*dc_1b, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[2], _constrain(_PWM_RES*dc_2a, 0, _PWM_RES));
+  ledcWrite(((ESP32LEDCDriverParams*)params)->pins[3], _constrain(_PWM_RES*dc_2b, 0, _PWM_RES));
 }
 
 #endif