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Motor Control Pulse Width Modulator (MCPWM) #93

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42 changes: 42 additions & 0 deletions examples/mcpwm-simple.rs
Original file line number Diff line number Diff line change
@@ -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();
}
2 changes: 2 additions & 0 deletions src/lib.rs
Original file line number Diff line number Diff line change
Expand Up @@ -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;
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