添加智能灯固件代码

firmware/esp-idf/wumei-smart-firmware/examples/peripherals/mcpwm/mcpwm_servo_control/CMakeLists.txt

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+# 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(mcpwm_servo_control)

firmware/esp-idf/wumei-smart-firmware/examples/peripherals/mcpwm/mcpwm_servo_control/Makefile

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

firmware/esp-idf/wumei-smart-firmware/examples/peripherals/mcpwm/mcpwm_servo_control/README.md

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+| Supported Targets | ESP32 |
+| ----------------- | ----- |
+
+# MCPWM servo motor control Example
+
+This example will show you how to use MCPWM module to control servo motor
+ 
+Assign pulse width range and the maximum degree, accordingly the servo will move from 0 to maximum degree continuously
+ 
+
+## Step 1: Pin assignment
+* GPIO18 is assigned as the MCPWM signal for servo motor 
+
+
+## Step 2: Connection
+* connect GPIO18 with servo pwm signal
+* other two wires of servo motor are VCC and GND
+
+
+## Step 3: Initialize MCPWM
+* You need to set the frequency(generally 50 Hz) and duty cycle of MCPWM timer
+* You need to set the MCPWM channel you want to use, and bind the channel with one of the timers

firmware/esp-idf/wumei-smart-firmware/examples/peripherals/mcpwm/mcpwm_servo_control/main/CMakeLists.txt

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+idf_component_register(SRCS "mcpwm_servo_control_example.c"
+                    INCLUDE_DIRS ".")

firmware/esp-idf/wumei-smart-firmware/examples/peripherals/mcpwm/mcpwm_servo_control/main/component.mk

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

firmware/esp-idf/wumei-smart-firmware/examples/peripherals/mcpwm/mcpwm_servo_control/main/mcpwm_servo_control_example.c

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+/* servo motor control 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 "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_attr.h"
+
+#include "driver/mcpwm.h"
+#include "soc/mcpwm_periph.h"
+
+//You can get these value from the datasheet of servo you use, in general pulse width varies between 1000 to 2000 mocrosecond
+#define SERVO_MIN_PULSEWIDTH 1000 //Minimum pulse width in microsecond
+#define SERVO_MAX_PULSEWIDTH 2000 //Maximum pulse width in microsecond
+#define SERVO_MAX_DEGREE 90 //Maximum angle in degree upto which servo can rotate
+
+static void mcpwm_example_gpio_initialize(void)
+{
+    printf("initializing mcpwm servo control gpio......\n");
+    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, 18);    //Set GPIO 18 as PWM0A, to which servo is connected
+}
+
+/**
+ * @brief Use this function to calcute pulse width for per degree rotation
+ *
+ * @param  degree_of_rotation the angle in degree to which servo has to rotate
+ *
+ * @return
+ *     - calculated pulse width
+ */
+static uint32_t servo_per_degree_init(uint32_t degree_of_rotation)
+{
+    uint32_t cal_pulsewidth = 0;
+    cal_pulsewidth = (SERVO_MIN_PULSEWIDTH + (((SERVO_MAX_PULSEWIDTH - SERVO_MIN_PULSEWIDTH) * (degree_of_rotation)) / (SERVO_MAX_DEGREE)));
+    return cal_pulsewidth;
+}
+
+/**
+ * @brief Configure MCPWM module
+ */
+void mcpwm_example_servo_control(void *arg)
+{
+    uint32_t angle, count;
+    //1. mcpwm gpio initialization
+    mcpwm_example_gpio_initialize();
+
+    //2. initial mcpwm configuration
+    printf("Configuring Initial Parameters of mcpwm......\n");
+    mcpwm_config_t pwm_config;
+    pwm_config.frequency = 50;    //frequency = 50Hz, i.e. for every servo motor time period should be 20ms
+    pwm_config.cmpr_a = 0;    //duty cycle of PWMxA = 0
+    pwm_config.cmpr_b = 0;    //duty cycle of PWMxb = 0
+    pwm_config.counter_mode = MCPWM_UP_COUNTER;
+    pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
+    mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);    //Configure PWM0A & PWM0B with above settings
+    while (1) {
+        for (count = 0; count < SERVO_MAX_DEGREE; count++) {
+            printf("Angle of rotation: %d\n", count);
+            angle = servo_per_degree_init(count);
+            printf("pulse width: %dus\n", angle);
+            mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, angle);
+            vTaskDelay(10);     //Add delay, since it takes time for servo to rotate, generally 100ms/60degree rotation at 5V
+        }
+    }
+}
+
+void app_main(void)
+{
+    printf("Testing servo motor.......\n");
+    xTaskCreate(mcpwm_example_servo_control, "mcpwm_example_servo_control", 4096, NULL, 5, NULL);
+}