Initial commit

.gitignore

+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+# Subversion folders
+.svn
+
+# Build folder
+build
+
+# VSCode folder
+.vscode
+
+# old config file
+sdkconfig.old
+
+# =========================
+# Operating System Files
+# =========================
+
+

CMakeLists.txt

+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(comTest)

Makefile

+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := ledc_basic
+
+include $(IDF_PATH)/make/project.mk

README.md

+# _LEDC Basic Example_
+
+(See the README.md file in the upper level 'examples' directory for more information about examples.)
+
+This example shows how to use the LEDC to generate a PWM signal using the `LOW SPEED` mode.
+To use `HIGH SPEED` mode check if the selected SoC supports this mode.
+
+## How to use example
+
+### Hardware Required
+
+* A development board with ESP32, ESP32-S2, ESP32-C3 or ESP32-S3 SoC (e.g., ESP32-DevKitC, ESP-WROVER-KIT, etc.)
+* A USB cable for power supply and programming
+
+Connect the GPIO to an oscilloscope to see the generated signal:
+
+|ledc channel| GPIO  |
+|:----------:|:-----:|
+| Channel 0  | GPIO5 |
+
+### Configure the project
+
+The example uses fixed PWM frequency of 5 kHz, duty cycle in 50%, and output GPIO pin. To change them, adjust `LEDC_FREQUENCY`, `LEDC_DUTY`, `LEDC_OUTPUT_IO` macros at the top of ledc_basic_example_main.c.
+
+Depending on the selected `LEDC_FREQUENCY`, you will need to change the `LEDC_DUTY_RES`.
+
+To dinamicaly set the duty and frequency, you can use the following functions:
+
+To set the frequency to 2.5 kHZ i.e:
+
+```c
+ledc_set_freq(LEDC_MODE, LEDC_TIMER, 2500);
+```
+
+Now the duty to 100% i.e:
+
+```c
+ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, 8191);
+ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);
+```
+
+To change the duty cycle you need to calculate the duty range according to the duty resolution.
+
+If duty resolution is 13 bits:
+
+Duty range: `0 to (2 ** 13) - 1 = 8191` where 0 is 0% and 8191 is 100%.
+
+### Build and Flash
+
+* [ESP-IDF Getting Started Guide](https://idf.espressif.com/)
+
+Build the project and flash it to the board, then run monitor tool to view serial output:
+
+```bash
+idf.py -p PORT flash monitor
+```
+
+(To exit the serial monitor, type ``Ctrl-]``.)
+
+See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
+
+## Example Output
+
+Running this example, you will see the PWM signal with a duty cycle of 50%.
+
+![PWM](image/ledc_pwm_signal.png)
+
+## Troubleshooting
+
+* Duty Resolution
+
+    * If you get the following error log `ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution.` you need to change the `LEDC_DUTY_RES` to a lower resolution and change the range of the duty.
+
+* Programming fail
+
+    * Hardware connection is not correct: run `idf.py -p PORT monitor`, and reboot your board to see if there are any output logs.
+    * The baud rate for downloading is too high: lower your baud rate in the `menuconfig` menu, and try again.
+
+For any technical queries, please open an [issue](https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you soon.

main/CMakeLists.txt

+set(MAIN_SRCS ledc_basic_example_main.c gpio.c)
+
+idf_component_register(SRCS ${MAIN_SRCS}
+                    INCLUDE_DIRS ".")

main/component.mk

+#
+# Main Makefile. This is basically the same as a component makefile.
+#

main/gpio.c

+/******************************************************************************
+
+  Copyright (C), 2023-2024, Ortur Intelligent Technologies Co., Ltd.
+
+ ******************************************************************************
+  File Name     : gpio.c
+  Version       : Initial Draft
+  Author        : ZhengJH
+  Created       : 2024/2/21
+  Last Modified :
+  Description   : for gpio
+  Function List :
+  History       :
+  1.Date        : 2024/2/21
+    Author      : ZhengJH
+    Modification: Created file
+
+******************************************************************************/
+
+/*----------------------------------------------*
+ * head files                           *
+ *----------------------------------------------*/
+#include "driver/ledc.h"
+#include "esp_err.h"
+#include "hwport.h"
+/*----------------------------------------------*
+ * external variables                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * external routine prototypes                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * internal routine prototypes                *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                                    *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * constants                                      *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * macros                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * routines' implementations                                      *
+ *----------------------------------------------*/
+
+ void gpio_init(void)
+ {
+ //  gpio_set_intr_type(GPIO_NUM_0, GPIO_INTR_LOW_LEVEL);
+ //    gpio_set_level(GPIO_NUM_0, 1);    
+ //    gpio_install_isr_service(0);
+ //    gpio_isr_handler_add(GPIO_NUM_0, intrHandler, (void*)GPIO_NUM_0);
+ 
+     //step
+ //    gpio_reset_pin(STEP_CTRL);
+ //    /* Set the GPIO as a push/pull output */
+ //    gpio_set_direction(STEP_CTRL, GPIO_MODE_OUTPUT);
+ //    gpio_set_level(STEP_CTRL, 0);
+     //zero-initialize the config structure.
+     gpio_config_t io_conf = {};
+     //disable interrupt
+     io_conf.intr_type = GPIO_INTR_DISABLE;
+     //set as output mode
+     io_conf.mode = GPIO_MODE_INPUT;
+     //bit mask of the pins that you want to set,e.g.GPIO18/19
+     io_conf.pin_bit_mask = (1 << DIAG_IN);
+     //disable pull-down mode
+     io_conf.pull_down_en = 0;
+     //disable pull-up mode
+     io_conf.pull_up_en = 1;
+     //configure GPIO with the given settings
+     gpio_config(&io_conf);
+ 
+     //dir
+     gpio_reset_pin(DIR_CTRL);
+     /* Set the GPIO as a push/pull output */
+     gpio_set_direction(DIR_CTRL, GPIO_MODE_OUTPUT);
+     gpio_set_level(DIR_CTRL, 1);
+ 
+     //pdn
+     gpio_reset_pin(PDN_CTRL);
+     /* Set the GPIO as a push/pull output */
+     gpio_set_direction(PDN_CTRL, GPIO_MODE_OUTPUT);
+     gpio_set_level(PDN_CTRL, 1);    
+ 
+     
+     //pow
+     gpio_reset_pin(POW_CTRL);
+     /* Set the GPIO as a push/pull output */
+     gpio_set_direction(POW_CTRL, GPIO_MODE_OUTPUT);
+     gpio_set_level(POW_CTRL, 1);   
+     
+     //enn
+     gpio_reset_pin(ENN_CTRL);
+     /* Set the GPIO as a push/pull output */
+     gpio_set_direction(ENN_CTRL, GPIO_MODE_OUTPUT);
+     gpio_set_level(ENN_CTRL, 1);  
+ 
+     
+ 
+ }
+

main/gpio.h

+/******************************************************************************
+
+  Copyright (C), 2023-2024, Ortur Intelligent Technologies Co., Ltd.
+
+ ******************************************************************************
+  File Name     : gpio.h
+  Version       : Initial Draft
+  Author        : ZhengJH
+  Created       : 2024/2/21
+  Last Modified :
+  Description   : gpio.c header file
+  Function List :
+  History       :
+  1.Date        : 2024/2/21
+    Author      : ZhengJH
+    Modification: Created file
+
+******************************************************************************/
+
+/*----------------------------------------------*
+ * head files                           *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * external variables                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * external routine prototypes                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * internal routine prototypes                *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                                    *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * constants                                      *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * macros                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * routines' implementations                                      *
+ *----------------------------------------------*/
+
+#ifndef __GPIO_H__
+#define __GPIO_H__
+
+
+#ifdef __cplusplus
+#if __cplusplus
+extern "C"{
+#endif
+#endif /* __cplusplus */
+
+extern  void gpio_init(void);
+
+#ifdef __cplusplus
+#if __cplusplus
+}
+#endif
+#endif /* __cplusplus */
+
+
+#endif /* __GPIO_H__ */

main/hwport.h

+/******************************************************************************
+
+  Copyright (C), 2023-2024, Ortur Intelligent Technologies Co., Ltd.
+
+ ******************************************************************************
+  File Name     : hwport.h
+  Version       : Initial Draft
+  Author        : ZhengJH
+  Created       : 2024/2/21
+  Last Modified :
+  Description   : hardward ralated porting
+  Function List :
+  History       :
+  1.Date        : 2024/2/21
+    Author      : ZhengJH
+    Modification: Created file
+
+******************************************************************************/
+
+/*----------------------------------------------*
+ * head files                           *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * external variables                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * external routine prototypes                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * internal routine prototypes                *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                                    *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * constants                                      *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * macros                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * routines' implementations                                      *
+ *----------------------------------------------*/
+
+#define STEP_CTRL GPIO_NUM_21
+#define ENN_CTRL GPIO_NUM_4 //xyz_en, 步进电机控制芯片使能
+#define PDN_CTRL GPIO_NUM_10
+#define POW_CTRL GPIO_NUM_14
+#define DIR_CTRL GPIO_NUM_7
+#define DIAG_IN GPIO_NUM_0
+ 
+ 
+#define LEDC_TIMER              LEDC_TIMER_0
+#define LEDC_MODE               LEDC_LOW_SPEED_MODE
+#define LEDC_OUTPUT_IO          (STEP_CTRL) // Define the output GPIO
+#define LEDC_CHANNEL            LEDC_CHANNEL_0
+#define LEDC_DUTY_RES           LEDC_TIMER_2_BIT // Set duty resolution to 13 bits
+#define LEDC_DUTY               (2) // Set duty to 50%. ((2 ** 13) - 1) * 50% = 4095
+#define LEDC_FREQUENCY          (500) // Frequency in Hertz. Set frequency at 5 kHz
+

main/ledc_basic_example_main.c

+/* LEDC (LED Controller) basic example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include "driver/ledc.h"
+#include "esp_err.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "hwport.h"
+
+static void gpio_task_example(void* arg)
+{
+    uint8_t diag;
+    for(;;) {
+            diag = gpio_get_level(DIAG_IN);
+            printf("GPIO[%d] intr, val: %d\n", DIAG_IN, diag);
+            if(!diag)
+                 gpio_set_level(POW_CTRL, 0); 
+            vTaskDelay(200 / portTICK_PERIOD_MS);
+    }
+}
+
+void app_main(void)
+{
+    gpio_init();
+
+    //test
+    vTaskDelay(1000 / portTICK_PERIOD_MS);
+    xTaskCreate(gpio_task_example, "gpio_task_example", 2048, NULL, 0, NULL);
+  
+    while(1)
+    {
+        vTaskDelay(1000 / portTICK_PERIOD_MS);  
+    }
+}

main/ledc_pwm.c

+/******************************************************************************
+
+  Copyright (C), 2023-2024, Ortur Intelligent Technologies Co., Ltd.
+
+ ******************************************************************************
+  File Name     : ledc_pwm
+  Version       : Initial Draft
+  Author        : ZhengJH
+  Created       : 2024/2/21
+  Last Modified :
+  Description   : pwm used ledc
+  Function List :
+  History       :
+  1.Date        : 2024/2/21
+    Author      : ZhengJH
+    Modification: Created file
+
+******************************************************************************/
+
+/*----------------------------------------------*
+ * head files                           *
+ *----------------------------------------------*/
+#include "hwport.h"
+/*----------------------------------------------*
+ * external variables                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * external routine prototypes                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * internal routine prototypes                *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                                    *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * constants                                      *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * macros                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * routines' implementations                                      *
+ *----------------------------------------------*/
+
+ static void example_ledc_init(void)
+ {
+     // Prepare and then apply the LEDC PWM timer configuration
+     ledc_timer_config_t ledc_timer = {
+         .speed_mode       = LEDC_MODE,
+         .timer_num        = LEDC_TIMER,
+         .duty_resolution  = LEDC_DUTY_RES,
+         .freq_hz          = LEDC_FREQUENCY,  // Set output frequency at 5 kHz
+         .clk_cfg          = LEDC_AUTO_CLK
+     };
+     ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
+ 
+     // Prepare and then apply the LEDC PWM channel configuration
+     ledc_channel_config_t ledc_channel = {
+         .speed_mode     = LEDC_MODE,
+         .channel        = LEDC_CHANNEL,
+         .timer_sel      = LEDC_TIMER,
+         .intr_type      = LEDC_INTR_DISABLE,
+         .gpio_num       = LEDC_OUTPUT_IO,
+         .duty           = 0, // Set duty to 0%
+         .hpoint         = 0
+     };
+     ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
+ }
+
+void gc_run(void)
+{
+ static uint8_t gc_dir = 1;
+
+ gpio_set_level(DIR_CTRL, gc_dir);
+ gpio_set_level(ENN_CTRL, 0); 
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 500));
+ vTaskDelay(50 / portTICK_PERIOD_MS); 
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 1000));
+ vTaskDelay(50 / portTICK_PERIOD_MS); 
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 2000));
+ vTaskDelay(50 / portTICK_PERIOD_MS); 
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 4000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 8000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 10000));
+ vTaskDelay(50 / portTICK_PERIOD_MS); 
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 12000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 14000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);  
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 16000));
+ vTaskDelay(680 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 14000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);  
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 12000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 10000));
+ vTaskDelay(50 / portTICK_PERIOD_MS); 
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 8000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 4000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 2000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 1000));
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 500));
+ vTaskDelay(50 / portTICK_PERIOD_MS); 
+ gpio_set_level(ENN_CTRL, 1); 
+ gc_dir = !gc_dir;        
+ vTaskDelay(500 / portTICK_PERIOD_MS);     
+}
+ 
+
+void ledc_pwm_test(void)
+{
+    // Set the LEDC peripheral configuration
+    example_ledc_init();
+    // Set duty to 50%
+    ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY));
+    // Update duty to apply the new value
+    ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
+    ESP_ERROR_CHECK(ledc_set_freq(LEDC_MODE, LEDC_TIMER, 1600));
+
+    gpio_set_level(ENN_CTRL, 0); // TMC2209 enable pin, low is enable     
+    gc_run();
+    gpio_set_level(ENN_CTRL, 1);  
+    ESP_ERROR_CHECK(ledc_stop(LEDC_MODE, LEDC_CHANNEL, 0));
+}

main/usb_acm.c

+/******************************************************************************
+
+  Copyright (C), 2023-2024, Ortur Intelligent Technologies Co., Ltd.
+
+ ******************************************************************************
+  File Name     : usb_acm.c
+  Version       : Initial Draft
+  Author        : ZhengJH
+  Created       : 2024/2/21
+  Last Modified :
+  Description   : usb acm
+  Function List :
+  History       :
+  1.Date        : 2024/2/21
+    Author      : ZhengJH
+    Modification: Created file
+
+******************************************************************************/
+
+/*----------------------------------------------*
+ * head files                           *
+ *----------------------------------------------*/
+#include "tinyusb.h"
+#include "tusb_cdc_acm.h"
+#include "tusb_console.h"
+
+/*----------------------------------------------*
+ * external variables                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * external routine prototypes                  *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * internal routine prototypes                *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * module-wide global variables                                    *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * constants                                      *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * macros                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * routines' implementations                                      *
+ *----------------------------------------------*/
+
+ void usb_log_init(void)
+ {
+     /* Setting TinyUSB up */
+     tinyusb_config_t tusb_cfg = { 0 }; // the configuration uses default values
+     ESP_ERROR_CHECK(tinyusb_driver_install(&tusb_cfg));
+     tinyusb_config_cdcacm_t acm_cfg = { 0 }; // the configuration uses default values
+     ESP_ERROR_CHECK(tusb_cdc_acm_init(&acm_cfg));
+     
+     esp_tusb_init_console(TINYUSB_CDC_ACM_0); // log to usb
+     //esp_tusb_deinit_console(TINYUSB_CDC_ACM_0); // log to uart
+ }
+