ESP32 has two MCPWM units which can be used to control different motors.
The block diagram of MCPWM unit is as shown.
__________________________________________________________________________
| SYNCSIG FAULT SIG CAPTURE SIG |
| 0 1 2 0 1 2 0 1 2 |
|___________________________________________________________________ G |
INTERRUPTS<-----+ | | | | | | | | | | P |
| | | | | | | | | | | I |
________|_|___|___|_____________|___|___|_________|___|___|_________ | O |
| | | | | | | | | | | | |
| | | | | | | | | | | | M |
| | | | __v___v___v__ __v___v___v__ | | A |
| | | | | | | | | | T |
| | | | | FAULT | | CAPTURE | | | R |
| | | | | HANDLER | | | | | I |
| | | | | | |___________| | | X |
| | | | |___________| | | |
| | | | | | |
| ____v___v___v____ ____________________ | | |
| | +---------+ | | +------------+ |--------->|PWM0A|
| | | Timer 0 | | | | Operator 0 | | | | |
| | +---------+ | | +------------+ |--------->|PWM0B|
| | | | | | | |
| | +---------+ | | +------------+ |--------->|PWM1A|
| | | Timer 1 | |------------------->| | Operator 1 | | | | |
| | +---------+ | | +------------+ |--------->|PWM1B|
| | | | | | | |
| | +---------+ | | +------------+ |--------->|PWM2A|
| | | Timer 2 | | | | Operator 2 | | | | |
| | +---------+ | | +------------+ |--------->|PWM2B|
| |_______________| |__________________| | |_____|
| |
| MCPWM-UNIT 0/1 |
|___________________________________________________________________|
Examples of using MCPWM for motor control: :example:`peripherals/mcpwm`.