README.md
1| Supported Targets | ESP32 | ESP32-S3 |
2| ----------------- | ----- | -------- |
3
4# MCPWM BLDC Hall motor control Example
5
6(See the README.md file in the upper level 'examples' directory for more information about examples.)
7
8This example will illustrate how to use MCPWM driver to control BLDC motor with hall sensor feedback. In the example, a timer is running at the background to update the motor speed periodically.
9
10With the hardware fault detection feature of MCPWM, the example will shut down the MOSFETs when over current happens.
11
12## How to Use Example
13
14### Hardware Required
15
161. The BLDC motor used in this example has a hall sensor capture sequence of `6-->4-->5-->1-->3-->2-->6-->4-->` and so on.
172. A three-phase gate driver, this example uses [IR2136](https://www.infineon.com/cms/en/product/power/gate-driver-ics/ir2136s/).
183. Six N-MOSFETs, this example uses [IRF540NS](https://www.infineon.com/cms/en/product/power/mosfet/12v-300v-n-channel-power-mosfet/irf540ns/).
194. A development board with any Espressif SoC which features MCPWM peripheral (e.g., ESP32-DevKitC, ESP-WROVER-KIT, etc.)
205. A USB cable for Power supply and programming.
21
22Connection :
23
24```
25 ┌─────────────────────────────────────────────┐
26 │ │
27 │ ┌───────────────────────────┐ │
28 │ │ │ │
29┌─────────┴─────────┴───────────┐ ┌────────┴───────┴──────────┐
30│ GPIO19 GPIO18 │ │ EN FAULT │
31│ GPIO21├──────┤PWM_UH │ ┌────────────┐
32│ GPIO22├──────┤PWM_UL U├────────┤ │
33│ │ │ │ │ │
34│ GPIO23├──────┤PWM_VH V├────────┤ BLDC │
35│ ESP Board GPIO25├──────┤PWM_VL 3-Phase Bridge │ │ │
36│ │ │ + W├────────┤ │
37│ GPIO26├──────┤PWM_WH MOSFET │ └─┬───┬───┬──┘
38│ GPIO27├──────┤PWM_WL │ │ │ │
39│ GPIO5 GPIO4 GPIO2 │ │ │ │ │ │
40└─────┬──────┬──────┬───────────┘ └───────────────────────────┘ │ │ │
41 │ │ │ Hall U │ │ │
42 │ │ └─────────────────────────────────────────────────────────┘ │ │
43 │ │ Hall V │ │
44 │ └────────────────────────────────────────────────────────────────────┘ │
45 │ Hall W │
46 └───────────────────────────────────────────────────────────────────────────────┘
47```
48
49### Build and Flash
50
51Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
52
53(To exit the serial monitor, type ``Ctrl-]``.)
54
55See the [Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/get-started/index.html) for full steps to configure and use ESP-IDF to build projects.
56
57
58## Example Output
59
60Run the example, you will see the following output log:
61
62```
63...
64I (0) cpu_start: Starting scheduler on APP CPU.
65I (327) example: Disable gate driver
66I (327) gpio: GPIO[18]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
67I (337) example: Setup PWM and Hall GPIO (pull up internally)
68I (347) example: Initialize PWM (default to turn off all MOSFET)
69I (357) example: Initialize over current fault action
70I (357) example: Initialize Hall sensor capture
71I (367) example: Please turn on the motor power
72I (5367) example: Enable gate driver
73I (5367) example: Changing speed at background
74...
75```
76
77## Dive into the example
78
791. How to change the rotation direction?
80
81 The rotation direction is controlled by how the hall sensor value is parsed. If you pass `false` to `bldc_get_hall_sensor_value`, the BLDC should rotate in clock wise. Likewise, passing `true` to that function will make tha BLDC rotate in counter clock wise.
82
