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arch/xtensa: add support for brushed DC motor control

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arch/xtensa: add support for capture driver on ESP32 and ESP32|S3|

Squashed:
Initial settings for MCPWM Capture on board level
Created lower half files - compilation ok
Using capture debug features. Simple example on fops works
Successful duty and freq calculation
Documentation update
Fixed and added interupt capabilities for all 3 capture channels
Cleaned defconfig
Renamed macros, added S3 options and moved arch source to common dir
Added support for ESP32S3
Added capture example to defconfig and renamed

Basic bring up ready. New Kconfig options for motor.

Good motor registration

Working on enabling pwm generators

Working on enabling pwm generators

Added fops functions

Success on PWM 50%

stable pwm operation for bdc

Added loopback option for testing

Improved rules on fsm

Working motor direction control

Testing new ISR for fault handling

Issues on fault ISR

Removed fault implementation (not working)

Added support for esp32s3

Documentation improvements

Added default motor spin direction

Added parameter change while running

Review fixes

arch/xtensa: add support for fault signal on motor control

Squashed:
Initial settings for MCPWM Capture on board level
Created lower half files - compilation ok
Using capture debug features. Simple example on fops works
Successful duty and freq calculation
Documentation update
Fixed and added interupt capabilities for all 3 capture channels
Cleaned defconfig
Renamed macros, added S3 options and moved arch source to common dir
Added support for ESP32S3
Added capture example to defconfig and renamed

Basic bring up ready. New Kconfig options for motor.

Good motor registration

Working on enabling pwm generators

Working on enabling pwm generators

Added fops functions

Success on PWM 50%

stable pwm operation for bdc

Added loopback option for testing

Improved rules on fsm

Working motor direction control

Testing new ISR for fault handling

Issues on fault ISR

Removed fault implementation (not working)

Added support for esp32s3

Documentation improvements

Added default motor spin direction

Added parameter change while running

Got responsive fault indicator

Working brakes - still need to work on starting isr

Fixed single-time ISR initializiation

Working soft brake on fault

Improved KConfig for BDC and BLDC

Kconfig fixed at board level
This commit is contained in:
Filipe Cavalcanti 2024-07-03 09:49:11 -03:00 committed by Xiang Xiao
parent b57079e88e
commit 91dfd20eaf
17 changed files with 1897 additions and 72 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

29
Documentation/platforms/xtensa/esp32/boards/esp32-devkitc/index.rst
View file

@ -300,15 +300,15 @@ capture
The capture configuration enables the capture driver and the capture example, allowing
the user to measure duty cycle and frequency of a signal. Default pin is GPIO 14 with
an internal pull-up resistor enabled. When connecting a 50 Hz pulse with 50% duty cycle,
the following output is expected:
the following output is expected::
nsh> cap
cap_main: Hardware initialized. Opening the capture device: /dev/capture0
cap_main: Number of samples: 0
pwm duty cycle: 50 %
pwm frequence: 50 Hz
pwm duty cycle: 50 %
pwm frequence: 50 Hz
nsh> cap
cap_main: Hardware initialized. Opening the capture device: /dev/capture0
cap_main: Number of samples: 0
pwm duty cycle: 50 %
pwm frequence: 50 Hz
pwm duty cycle: 50 %
pwm frequence: 50 Hz
coremark
--------
@ -561,6 +561,19 @@ module
This config is to run apps/examples/module.
motor
-------
The motor configuration enables the MCPWM peripheral with support to brushed DC motor
control.
It creates a ``/dev/motor0`` device with speed and direction control capabilities
by using two GPIOs (GPIO15 and GPIO16) for PWM output. PWM frequency is configurable
from 25 Hz to 3 kHz, however it defaults to 1 kHz.
There is also support for an optional fault GPIO (defaults to GPIO10), which can be used
for quick motor braking. All GPIOs are configurable in ``menuconfig``.
mqttc
-----

2
Documentation/platforms/xtensa/esp32/index.rst
View file

@ -189,7 +189,7 @@ GPIO Yes
I2C Yes
I2S Yes
LED_PWM Yes
MCPWM Yes Capture
MCPWM Yes
Pulse_CNT No
RMT Yes
RNG Yes

28
Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
View file

@ -152,15 +152,15 @@ capture
The capture configuration enables the capture driver and the capture example, allowing
the user to measure duty cycle and frequency of a signal. Default pin is GPIO 12 with
an internal pull-up resistor enabled. When connecting a 50 Hz pulse with 50% duty cycle,
the following output is expected:
the following output is expected::
nsh> cap
cap_main: Hardware initialized. Opening the capture device: /dev/capture0
cap_main: Number of samples: 0
pwm duty cycle: 50 %
pwm frequence: 50 Hz
pwm duty cycle: 50 %
pwm frequence: 50 Hz
nsh> cap
cap_main: Hardware initialized. Opening the capture device: /dev/capture0
cap_main: Number of samples: 0
pwm duty cycle: 50 %
pwm frequence: 50 Hz
pwm duty cycle: 50 %
pwm frequence: 50 Hz
coremark
--------
@ -257,6 +257,18 @@ Flash and PSRAM).
.. warning:: The World Controller and Permission Control **do not** prevent
the application from accessing CPU System Registers.
motor
-------
The motor configuration enables the MCPWM peripheral with support to brushed DC motor
control.
It creates a ``/dev/motor0`` device with speed and direction control capabilities
by using two GPIOs (GPIO15 and GPIO16) for PWM output. PWM frequency is configurable
from 25 Hz to 3 kHz, however it defaults to 1 kHz.
There is also support for an optional fault GPIO (defaults to GPIO10), which can be used
for quick motor braking. All GPIOs are configurable in ``menuconfig``.
mcuboot_nsh
-----------

2
Documentation/platforms/xtensa/esp32s3/index.rst
View file

@ -178,7 +178,7 @@ I2C No
I2S Yes
LCD No
LED_PWM No
MCPWM Yes Capture
MCPWM Yes
Pulse_CNT No
RMT No
RNG No

1412
arch/xtensa/src/common/espressif/esp_mcpwm.c
View file

File diff suppressed because it is too large Load diff

25
arch/xtensa/src/common/espressif/esp_mcpwm.h
View file

@ -56,6 +56,31 @@ extern "C"
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: esp_motor_bdc_initialize
*
* Description:
* This function initializes the MCPWM peripheral and configures the
* motor control driver.
*
* Input Parameters:
* channel - Channel to be initialized (only 0 available for now).
* frequency - PWM output frequency in Hertz.
* pwm_a_pin - GPIO pin number for PWM0_A output.
* pwm_b_pin - GPIO pin number for PWM0_B output.
* fault_pin - GPIO pin number for fault signal input.
*
* Returned Value:
* On success, this function returns a valid pointer to the Capture device
* structure. If the initialization fails, it returns NULL.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
struct motor_lowerhalf_s *esp_motor_bdc_initialize(int channel,
uint32_t frequency, int pwm_a_pin, int pwm_b_pin, int fault_pin);
#endif
/****************************************************************************
* Name: esp_mcpwm_capture_initialize
*

104
arch/xtensa/src/esp32/Kconfig
View file

@ -2496,6 +2496,99 @@ endmenu # LEDC configuration
menu "MCPWM Configuration"
depends on ESP_MCPWM
config ESP_MCPWM_MOTOR
bool "MCPWM Motor Support"
default n
menu "MCPWM Motor Configuration"
depends on ESP_MCPWM_MOTOR
config ESP_MCPWM_MOTOR_BDC
bool "Brushed DC Motor Control"
depends on ESP_MCPWM
depends on ESP_MCPWM_MOTOR
select MOTOR
select MOTOR_UPPER
select MOTOR_UPPER_HAVE_SPEED
default n
---help---
Enables the use of the MCPWM submodule for control of brushed DC
motor.
if ESP_MCPWM_MOTOR_BDC
config ESP_MCPWM_MOTOR_CH0
bool "Motor Control Channel 0"
default n
---help---
Enables motor control on channel 0.
if ESP_MCPWM_MOTOR_CH0
config ESP_MCPWM_MOTOR_CH0_PWMA_GPIO
int "Output Pin PWM_A"
default 15
---help---
Output pin assigned to channel 0 PWM output PWM_A.
config ESP_MCPWM_MOTOR_CH0_PWMB_GPIO
int "Output Pin PWM_B"
default 16
---help---
Output pin assigned to channel 0 PWM output PWM_B.
config ESP_MCPWM_MOTOR_CH0_PWM_FREQ
int "PWM output frequency for channel 0 [Hz]"
default 1000
---help---
Select PWM frequency for channel 0.
Minimum is 25 Hz and maximum is 3000 Hz.
config ESP_MCPMW_MOTOR_CH0_FAULT
bool "Enable fault for channel 0"
default n
---help---
Enables the use of a fault pin to quickly stop the motor when
a GPIO pin pulled high.
if ESP_MCPMW_MOTOR_CH0_FAULT
config ESP_MCPMW_MOTOR_CH0_FAULT_GPIO
int "GPIO Pin for fault detection"
default 10
---help---
Input pin assigned to channel 0 fault indicator.
endif # ESP_MCPMW_MOTOR_CH0_FAULT
endif # ESP_MCPWM_MOTOR_CH0
config ESP_MCPWM_MOTOR_CH1
bool "Motor Control Channel 1"
default n
---help---
Enables motor control on channel 1.
if ESP_MCPWM_MOTOR_CH1
config ESP_MCPWM_MOTOR_CH1_PWMA_GPIO
int "Output Pin CH1 PWM_A"
default 15
---help---
Output pin assigned to channel 1 PWM output PWM_A.
config ESP_MCPWM_MOTOR_CH1_PWMB_GPIO
int "Output Pin CH1 PWM_B"
default 16
---help---
Output pin assigned to channel 1 PWM output PWM_B.
endif # ESP_MCPWM_MOTOR_CH1
endif # ESP_MCPWM_MOTOR_BDC
endmenu # MCPWM Motor Settings
config ESP_MCPWM_CAPTURE
bool "MCPWM Capture Submodule"
depends on ESP_MCPWM
@ -2516,7 +2609,7 @@ if ESP_MCPWM_CAPTURE_CH0
config ESP_MCPWM_CAPTURE_CH0_GPIO
int "GPIO Pin"
default 14
default 12
---help---
GPIO pin assigned to capture channel 0.
@ -2556,6 +2649,15 @@ endif # ESP_MCPWM_CAPTURE_CH2
endif # ESP_MCPWM_CAPTURE
config ESP_MCPWM_TEST_LOOPBACK
bool "MCPWM loopback test mode"
depends on EXPERIMENTAL
default n
---help---
This enables a lower-half driver-specific loopback test
mode that attaches a capture device to the PWM output on
motor tests.
endmenu # MCPWM Configuration
config ESP32_HAVE_OTA_PARTITION

102
arch/xtensa/src/esp32s3/Kconfig
View file

@ -2120,6 +2120,99 @@ endmenu # LEDC configuration
menu "MCPWM Configuration"
depends on ESP_MCPWM
config ESP_MCPWM_MOTOR
bool "MCPWM Motor Support"
default n
menu "MCPWM Motor Configuration"
depends on ESP_MCPWM_MOTOR
config ESP_MCPWM_MOTOR_BDC
bool "Brushed DC Motor Control"
depends on ESP_MCPWM
depends on ESP_MCPWM_MOTOR
select MOTOR
select MOTOR_UPPER
select MOTOR_UPPER_HAVE_SPEED
default n
---help---
Enables the use of the MCPWM submodule for control of brushed DC
motor.
if ESP_MCPWM_MOTOR_BDC
config ESP_MCPWM_MOTOR_CH0
bool "Motor Control Channel 0"
default n
---help---
Enables motor control on channel 0.
if ESP_MCPWM_MOTOR_CH0
config ESP_MCPWM_MOTOR_CH0_PWMA_GPIO
int "Output Pin PWM_A"
default 15
---help---
Output pin assigned to channel 0 PWM output PWM_A.
config ESP_MCPWM_MOTOR_CH0_PWMB_GPIO
int "Output Pin PWM_B"
default 16
---help---
Output pin assigned to channel 0 PWM output PWM_B.
config ESP_MCPWM_MOTOR_CH0_PWM_FREQ
int "PWM output frequency for channel 0 [Hz]"
default 1000
---help---
Select PWM frequency for channel 0.
Minimum is 25 Hz and maximum is 3000 Hz.
config ESP_MCPMW_MOTOR_CH0_FAULT
bool "Enable fault for channel 0"
default n
---help---
Enables the use of a fault pin to quickly stop the motor when
a GPIO pin pulled high.
if ESP_MCPMW_MOTOR_CH0_FAULT
config ESP_MCPMW_MOTOR_CH0_FAULT_GPIO
int "GPIO Pin for fault detection"
default 10
---help---
Input pin assigned to channel 0 fault indicator.
endif # ESP_MCPMW_MOTOR_CH0_FAULT
endif # ESP_MCPWM_MOTOR_CH0
config ESP_MCPWM_MOTOR_CH1
bool "Motor Control Channel 1"
default n
---help---
Enables motor control on channel 1.
if ESP_MCPWM_MOTOR_CH1
config ESP_MCPWM_MOTOR_CH1_PWMA_GPIO
int "Output Pin CH1 PWM_A"
default 15
---help---
Output pin assigned to channel 1 PWM output PWM_A.
config ESP_MCPWM_MOTOR_CH1_PWMB_GPIO
int "Output Pin CH1 PWM_B"
default 16
---help---
Output pin assigned to channel 1 PWM output PWM_B.
endif # ESP_MCPWM_MOTOR_CH1
endif # ESP_MCPWM_MOTOR_BDC
endmenu # MCPWM Motor Settings
config ESP_MCPWM_CAPTURE
bool "MCPWM Capture Submodule"
depends on ESP_MCPWM
@ -2180,6 +2273,15 @@ endif # ESP_MCPWM_CAPTURE_CH2
endif # ESP_MCPWM_CAPTURE
config ESP_MCPWM_TEST_LOOPBACK
bool "MCPWM loopback test mode"
depends on EXPERIMENTAL
default n
---help---
This enables a lower-half driver-specific loopback test
mode that attaches a capture device to the PWM output on
motor tests.
endmenu # MCPWM Configuration
menu "USB OTG Configuration"

19
boards/xtensa/esp32/common/include/esp32_board_mcpwm.h
View file

@ -43,6 +43,25 @@ extern "C"
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: esp32_motor_initialize
*
* Description:
* Initialize MCPWM peripheral for motor control and register the motor
* driver.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
int board_motor_initialize(void);
#endif
#ifdef CONFIG_ESP_MCPWM_CAPTURE
/****************************************************************************

50
boards/xtensa/esp32/common/src/esp32_board_mcpwm.c
View file

@ -29,6 +29,7 @@
#include <debug.h>
#include <nuttx/board.h>
#include <nuttx/motor/motor.h>
#include <nuttx/timers/capture.h>
#include <arch/board/board.h>
@ -39,10 +40,59 @@
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_ESP_MCPMW_MOTOR_CH0_FAULT
# define MCPWM_FAULT_GPIO CONFIG_ESP_MCPMW_MOTOR_CH0_FAULT_GPIO
#else
# define MCPWM_FAULT_GPIO 0
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_motor_initialize
*
* Description:
* Initialize MCPWM peripheral for motor control and register the motor
* driver.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
int board_motor_initialize(void)
{
int ret;
struct motor_lowerhalf_s *motor;
motor = esp_motor_bdc_initialize(0,
CONFIG_ESP_MCPWM_MOTOR_CH0_PWM_FREQ,
CONFIG_ESP_MCPWM_MOTOR_CH0_PWMA_GPIO,
CONFIG_ESP_MCPWM_MOTOR_CH0_PWMB_GPIO,
MCPWM_FAULT_GPIO);
if (!motor)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM BDC Motor: CH0\n");
return -ENODEV;
}
ret = motor_register("/dev/motor0", motor);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: motor_register failed: %d\n", ret);
return ret;
}
return OK;
}
#endif
/****************************************************************************
* Name: board_capture_initialize
*

1
boards/xtensa/esp32/esp32-devkitc/configs/capture/defconfig
View file

@ -23,6 +23,7 @@ CONFIG_ESP32_UART0=y
CONFIG_ESP_MCPWM=y
CONFIG_ESP_MCPWM_CAPTURE=y
CONFIG_ESP_MCPWM_CAPTURE_CH0=y
CONFIG_ESP_MCPWM_CAPTURE_CH0_GPIO=14
CONFIG_EXAMPLES_CAPTURE=y
CONFIG_FS_PROCFS=y
CONFIG_HAVE_CXX=y

50
boards/xtensa/esp32/esp32-devkitc/configs/motor/defconfig Normal file
View file

@ -0,0 +1,50 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_ARCH_LEDS is not set
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="xtensa"
CONFIG_ARCH_BOARD="esp32-devkitc"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32_DEVKITC=y
CONFIG_ARCH_CHIP="esp32"
CONFIG_ARCH_CHIP_ESP32=y
CONFIG_ARCH_CHIP_ESP32WROVER=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARCH_XTENSA=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_BUILTIN=y
CONFIG_ESP32_UART0=y
CONFIG_ESP_MCPWM=y
CONFIG_ESP_MCPWM_MOTOR=y
CONFIG_ESP_MCPWM_MOTOR_BDC=y
CONFIG_ESP_MCPWM_MOTOR_CH0=y
CONFIG_FS_PROCFS=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=3072
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=3072
CONFIG_INTELHEX_BINARY=y
CONFIG_MM_REGIONS=3
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_LINELEN=64
CONFIG_NSH_READLINE=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=114688
CONFIG_RAM_START=0x20000000
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=6
CONFIG_START_MONTH=12
CONFIG_START_YEAR=2011
CONFIG_SYSLOG_BUFFER=y
CONFIG_SYSTEM_NSH=y
CONFIG_UART0_SERIAL_CONSOLE=y

8
boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
View file

@ -295,6 +295,14 @@ int esp32_bringup(void)
}
#endif
#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
ret = board_motor_initialize();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_motor_initialize failed: %d\n", ret);
}
#endif
#ifdef CONFIG_SENSORS_MAX6675
ret = board_max6675_initialize(0, 2);
if (ret < 0)

26
boards/xtensa/esp32s3/common/include/esp32s3_board_mcpwm.h
View file

@ -43,7 +43,28 @@ extern "C"
* Public Function Prototypes
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: esp32_motor_initialize
*
* Description:
* Initialize MCPWM peripheral for motor control and register the motor
* driver.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
int board_motor_initialize(void);
#endif
/****************************************************************************
* Name: board_capture_initialize
@ -59,9 +80,10 @@ extern "C"
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
int board_capture_initialize(void);
#endif /* CONFIG_ESP_MCPWM_CAPTURE */
#undef EXTERN
#ifdef __cplusplus
}

54
boards/xtensa/esp32s3/common/src/esp32s3_board_mcpwm.c
View file

@ -29,6 +29,7 @@
#include <debug.h>
#include <nuttx/board.h>
#include <nuttx/motor/motor.h>
#include <nuttx/timers/capture.h>
#include <arch/board/board.h>
@ -39,10 +40,61 @@
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_ESP_MCPMW_MOTOR_CH0_FAULT
# define MCPWM_FAULT_GPIO CONFIG_ESP_MCPMW_MOTOR_CH0_FAULT_GPIO
#else
# define MCPWM_FAULT_GPIO 0
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_motor_initialize
*
* Description:
* Initialize MCPWM peripheral for motor control and register the motor
* driver.
*
* Input Parameters:
* None.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
int board_motor_initialize(void)
{
int ret;
struct motor_lowerhalf_s *motor;
#ifdef CONFIG_ESP_MCPWM_MOTOR_CH0
motor = esp_motor_bdc_initialize(0,
CONFIG_ESP_MCPWM_MOTOR_CH0_PWM_FREQ,
CONFIG_ESP_MCPWM_MOTOR_CH0_PWMA_GPIO,
CONFIG_ESP_MCPWM_MOTOR_CH0_PWMB_GPIO,
MCPWM_FAULT_GPIO);
if (motor == NULL)
{
syslog(LOG_ERR, "ERROR: Failed to start MCPWM BDC Motor: CH0\n");
return -ENODEV;
}
ret = motor_register("/dev/motor0", motor);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: motor_register failed: %d\n", ret);
return ret;
}
#endif
return OK;
}
#endif
/****************************************************************************
* Name: board_capture_initialize
*
@ -57,6 +109,7 @@
*
****************************************************************************/
#ifdef CONFIG_ESP_MCPWM_CAPTURE
int board_capture_initialize(void)
{
int ret;
@ -116,3 +169,4 @@ int board_capture_initialize(void)
return OK;
}
#endif

49
boards/xtensa/esp32s3/esp32s3-devkit/configs/motor/defconfig Normal file
View file

@ -0,0 +1,49 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_ARCH_LEDS is not set
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="xtensa"
CONFIG_ARCH_BOARD="esp32s3-devkit"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32S3_DEVKIT=y
CONFIG_ARCH_CHIP="esp32s3"
CONFIG_ARCH_CHIP_ESP32S3=y
CONFIG_ARCH_CHIP_ESP32S3WROOM1N4=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARCH_XTENSA=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_BUILTIN=y
CONFIG_ESP32S3_UART0=y
CONFIG_ESP_MCPWM=y
CONFIG_ESP_MCPWM_MOTOR=y
CONFIG_ESP_MCPWM_MOTOR_BDC=y
CONFIG_ESP_MCPWM_MOTOR_CH0=y
CONFIG_FS_PROCFS=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=3072
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_LINELEN=64
CONFIG_NSH_READLINE=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=114688
CONFIG_RAM_START=0x20000000
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=6
CONFIG_START_MONTH=12
CONFIG_START_YEAR=2011
CONFIG_SYSLOG_BUFFER=y
CONFIG_SYSTEM_NSH=y
CONFIG_UART0_SERIAL_CONSOLE=y

8
boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_bringup.c
View file

@ -482,6 +482,14 @@ int esp32s3_bringup(void)
}
#endif
#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
ret = board_motor_initialize();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_motor_initialize failed: %d\n", ret);
}
#endif
/* If we got here then perhaps not all initialization was successful, but
* at least enough succeeded to bring-up NSH with perhaps reduced
* capabilities.