esp32/MCPWM: Add motor control MCPWM driver.

esp32/MCPWM: Add complementary PWMs. Signed-off-by: Ihor Nehrutsa <Ihor.Nehrutsa@gmail.com> Co-Authored-By: bskp <bskp@posteo.ch> Co-Authored-By: Robert Hammelrath <12476868+robert-hh@users.noreply.github.com>
IhorNehrutsa · Jun 5, 2024 · 3e92461 · 3e92461
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diff --git a/docs/esp32/quickref.rst b/docs/esp32/quickref.rst
@@ -141,7 +141,7 @@ These are working configurations for LAN interfaces of popular boards::
     # Olimex ESP32-GATEWAY: power controlled by Pin(5)
     # Olimex ESP32 PoE and ESP32-PoE ISO: power controlled by Pin(12)
 
-    lan = network.LAN(mdc=machine.Pin(23), mdio=machine.Pin(18), power=machine.Pin(5), 
+    lan = network.LAN(mdc=machine.Pin(23), mdio=machine.Pin(18), power=machine.Pin(5),
                       phy_type=network.PHY_LAN8720, phy_addr=0,
                       ref_clk=machine.Pin(17), ref_clk_mode=machine.Pin.OUT)
 
@@ -330,6 +330,35 @@ possible at the same frequency.
 
 See more examples in the :ref:`esp32_pwm` tutorial.
 
+MCPWM (motor control pulse width modulation)
+--------------------------------------------
+
+MCPWM can be enabled on all output-enabled pins. The API differs slightly from **machine.PWM** to allow explicit timer selection.
+Currently, this implementation only covers basic functionality.
+
+For more details, see Espressif's `MCPWM
+<https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/mcpwm.html>`_ documentation.
+
+Use the esp32.MCPWM class::
+
+    from machine import Pin
+    from esp32 import MCPWM
+
+    mcpwm = MCPWM(0, (Pin(16), Pin(17)), freq=1000, duty_u16=32768)  # create MCPWM object with timer (0..5)
+
+    freq = mcpwm.freq()             # get current frequency
+    # mcpwm.freq(500)               # set frequency in Hz. Not supported!
+
+    duty_u16 = mcpwm.duty_u16()     # get current duty cycle, range 0-65535, (now 32768, 50% of duty)
+    duty_ns = mcpwm.duty_ns()       # get current pulse width in ns, (now 500000 ns, 50% of duty)
+
+    mcpwm.duty_u16(2**16 * 3 // 4)  # set duty cycle from 0 to 65536 as a ratio duty_u16/65536, (now 75% of duty)
+    mcpwm.duty_ns(250000)           # set pulse width in nanoseconds from 0 to 1_000_000_000/freq, (now 25% of duty)
+
+    print(mcpwm)                    # view MCPWM settings
+
+    mcpwm.deinit()                  # turn of MCPWM on pins
+
 ADC (analog to digital conversion)
 ----------------------------------
 

diff --git a/ports/esp32/esp32_common.cmake b/ports/esp32/esp32_common.cmake
@@ -83,6 +83,7 @@ list(APPEND MICROPY_SOURCE_PORT
     esp32_nvs.c
     esp32_partition.c
     esp32_rmt.c
+    esp32_mcpwm.c
     esp32_ulp.c
     modesp32.c
     machine_hw_spi.c

diff --git a/ports/esp32/esp32_mcpwm.c b/ports/esp32/esp32_mcpwm.c
diff --git a/ports/esp32/modesp32.c b/ports/esp32/modesp32.c
@@ -211,6 +211,7 @@ STATIC const mp_rom_map_elem_t esp32_module_globals_table[] = {
     #if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
     { MP_ROM_QSTR(MP_QSTR_ULP), MP_ROM_PTR(&esp32_ulp_type) },
     #endif
+    { MP_ROM_QSTR(MP_QSTR_MCPWM), MP_ROM_PTR(&esp32_mcpwm_type) },
 
     { MP_ROM_QSTR(MP_QSTR_WAKEUP_ALL_LOW), MP_ROM_FALSE },
     { MP_ROM_QSTR(MP_QSTR_WAKEUP_ANY_HIGH), MP_ROM_TRUE },

diff --git a/ports/esp32/modesp32.h b/ports/esp32/modesp32.h
@@ -65,6 +65,7 @@ extern const mp_obj_type_t esp32_nvs_type;
 extern const mp_obj_type_t esp32_partition_type;
 extern const mp_obj_type_t esp32_rmt_type;
 extern const mp_obj_type_t esp32_ulp_type;
+extern const mp_obj_type_t esp32_mcpwm_type;
 
 esp_err_t rmt_driver_install_core1(uint8_t channel_id);
 

diff --git a/ports/esp32/mpconfigport.h b/ports/esp32/mpconfigport.h
@@ -47,12 +47,15 @@
 #define MICROPY_ENABLE_GC                   (1)
 #define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF (1)
 #define MICROPY_LONGINT_IMPL                (MICROPY_LONGINT_IMPL_MPZ)
-#define MICROPY_ERROR_REPORTING             (MICROPY_ERROR_REPORTING_NORMAL)
+// #define MICROPY_ERROR_REPORTING             (MICROPY_ERROR_REPORTING_NORMAL)
+#define MICROPY_ERROR_REPORTING             (MICROPY_ERROR_REPORTING_DETAILED)
 #define MICROPY_WARNINGS                    (1)
 #define MICROPY_FLOAT_IMPL                  (MICROPY_FLOAT_IMPL_FLOAT)
 #define MICROPY_STREAMS_POSIX_API           (1)
 #define MICROPY_USE_INTERNAL_ERRNO          (0) // errno.h from xtensa-esp32-elf/sys-include/sys
 #define MICROPY_USE_INTERNAL_PRINTF         (0) // ESP32 SDK requires its own printf
+#define MICROPY_DEBUG_PRINTERS              (1)
+#define MICROPY_DEBUG_VERBOSE               (0)
 #define MICROPY_SCHEDULER_DEPTH             (8)
 #define MICROPY_VFS                         (1)
 

diff --git a/ports/esp32/mphalport.c b/ports/esp32/mphalport.c
@@ -48,6 +48,8 @@
 #include "usb_serial_jtag.h"
 #include "uart.h"
 
+#include "py/mpprint.h"
+
 TaskHandle_t mp_main_task_handle;
 
 STATIC uint8_t stdin_ringbuf_array[260];

diff --git a/ports/esp32/mphalport.h b/ports/esp32/mphalport.h
@@ -90,6 +90,7 @@ void mp_hal_wake_main_task_from_isr(void);
 #include "driver/gpio.h"
 #define MP_HAL_PIN_FMT "%u"
 #define mp_hal_pin_obj_t gpio_num_t
+// #define pin_find(p) machine_pin_find(p)
 mp_hal_pin_obj_t machine_pin_get_id(mp_obj_t pin_in);
 #define mp_hal_get_pin_obj(o) machine_pin_get_id(o)
 #define mp_hal_pin_name(p) (p)