概述
主要用途
- 有刷/无刷电机驱动
- 开关电源
- DAC
- 脉冲宽度计算，测距/测速
- FOC驱动
PWM基本输出配置
关键函数
主要包括IO设置、分辨率设置和MCPWM初始化，分辨率设置值决定了输出PWM的频率，定时器周期寄存器只有16bit，因此分辨率不宜过大或过小，过大有可能计数值超范围，过小则有可能不够计数，需根据实际输出pwm频率范围确定，mcpwm_init()函数执行后会自动启动PWM输出。
//头文件
#include "driver/mcpwm.h"
//设置MCPWM的某个IO
esp_err_t mcpwm_gpio_init(
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
/**********************************
* io_signal：
* MCPWM0A / MCPWM0B / MCPWM1A / MCPWM1B / MCPWM2A / MCPWM2B: pwm输出信号
* MCPWM_SYNC_0 / MCPWM_SYNC_1 / MCPWM_SYNC_2：同步输入信号
* MCPWM_FAULT_0 / MCPWM_FAULT_1 / MCPWM_FAULT_2：故障输入信号
* MCPWM_CAP_0 / MCPWM_CAP_1 / MCPWM_CAP_2：捕获输入信号
* ************************************/
mcpwm_io_signals_t io_signal,
int gpio_num);//GPIO号
//设置一组MCPWM的IO管脚
esp_err_t mcpwm_set_pin(
mcpwm_unit_t mcpwm_num,//组号 0/1
const mcpwm_pin_config_t *mcpwm_pin)//管脚配置信息如下：
mcpwm_pin_config_t mcpwm_pin= {
.mcpwm0a_out_num = 1,//实际IO号
.mcpwm0b_out_num = 2,
.mcpwm1a_out_num = 3,
.mcpwm1b_out_num = 4,
.mcpwm2a_out_num = 5,
.mcpwm2b_out_num = 6,
.mcpwm_cap0_in_num = 7,
.mcpwm_cap1_in_num = 8,
.mcpwm_cap2_in_num = 9,
.mcpwm_sync0_in_num = -1, //Not used
.mcpwm_sync1_in_num = -1, //Not used
.mcpwm_sync2_in_num = -1, //Not used
.mcpwm_fault0_in_num = 10,
.mcpwm_fault1_in_num = -1, //Not used
.mcpwm_fault2_in_num = -1 //Not used
};
//设置mcpwm分辨率，相当于MCPWMx所使用的时钟,需在mcpwm_init()之前调用
esp_err_t mcpwm_group_set_resolution(mcpwm_unit_t mcpwm_num, unsigned long int resolution);//MCPWM号(0/1)、分辨率(默认：10,000,000)
//设置定时器分辨率，相当于计数器的计数时钟,决定了计数器精度,需在mcpwm_init()之前调用
esp_err_t mcpwm_timer_set_resolution(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num, unsigned long int resolution)//定时器号(0/1/2) 、分辨率(默认1,000,000) 当设置输出频率≥分辨率时将不能输出。
//初始化并启动一组MCPWM
esp_err_t mcpwm_init(
mcpwm_unit_t mcpwm_num,//组号 0/1
mcpwm_timer_t timer_num, //定时器号 0/1/2
const mcpwm_config_t *mcpwm_conf);//配置如下：
mcpwm_config_t mcpwm_conf = {
.frequency = 1000, //输出pwm波形频率 Hz
.cmpr_a = 22.3, //操作器A输出占空比, i.e duty_a = 62.3
.cmpr_b = 42.8, //操作器B输出占空比, i.e duty_a = 42.8
/*******************************************
*duty_mode (占空比类型)：
* MCPWM_DUTY_MODE_0： 高有效，例如：%20占空比 == 高电平20%
* MCPWM_DUTY_MODE_1： 低有效，例如：%20占空比 == 低电平20%
* MCPWM_HAL_GENERATOR_MODE_FORCE_LOW： 输出强制为低
* MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH：输出强制为高
********************************************/
.duty_mode = MCPWM_DUTY_MODE_0,
/****************************************
* counter_mode (计数模式):
* MCPWM_FREEZE_COUNTER: 计数器冻结
* MCPWM_UP_COUNTER: 计数器递增,左对齐，频率不变
* MCPWM_DOWN_COUNTER: 计数器递减,右对齐，频率不变
* MCPWM_UP_DOWN_COUNTER：计数器递增递减，中间对齐，频率减半
********************************************/
.counter_mode = MCPWM_UP_DOWN_COUNTER};
动态控制函数
//强制输出高电平 / 低电平
esp_err_t mcpwm_set_signal_high or mcpwm_set_signal_low (
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, //MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
mcpwm_generator_t gen)//MCPWM_GEN_A / MCPWM_GEN_B
//启动/停止MCPWM输出
esp_err_t mcpwm_start(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
esp_err_t mcpwm_stop(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)
//设置占空比类型
esp_err_t mcpwm_set_duty_type(
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, //MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
mcpwm_generator_t gen, //MCPWM_GEN_A / MCPWM_GEN_B
/*******************************************
*duty_type (占空比类型)：
* MCPWM_DUTY_MODE_0： 高有效，例如：%20占空比 == 高电平20%
* MCPWM_DUTY_MODE_1： 低有效，例如：%20占空比 == 低电平20%
* MCPWM_HAL_GENERATOR_MODE_FORCE_LOW： 输出强制为低
* MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH：输出强制为高
********************************************/
mcpwm_duty_type_t duty_type)
//动态调整占空比-比例调整
esp_err_t mcpwm_set_duty(
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, //MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
mcpwm_generator_t gen, //MCPWM_GEN_A / MCPWM_GEN_B
float duty)//0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
//动态调整占空比-按时间调整(us)
esp_err_t mcpwm_set_duty_in_us(
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, //MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
mcpwm_generator_t gen, //MCPWM_GEN_A / MCPWM_GEN_B
uint32_t duty_in_us)// x(us)
//获取当前占空比-返回比例值
float mcpwm_get_duty(
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, //MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
mcpwm_operator_t gen)//MCPWM_GEN_A / MCPWM_GEN_B
//设置PWM输出频率
esp_err_t mcpwm_set_frequency(
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, //MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
uint32_t frequency)//频率值(Hz)
//获取当前频率值
uint32_t mcpwm_get_frequency(
mcpwm_unit_t mcpwm_num, //MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num)//MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
示例程序
本示例程序配置MCPWM0的定时器0输出5KHz的PWM，并每5ms动态调整占空比，需要注意的是系统默认tick速率位100Hz(10ms),不能延迟小于10ms，需进行以下修改，改为1ms（1000Hz）即可。
#include <stdio.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "esp_spi_flash.h"
#include "string.h"
#include "driver/mcpwm.h"
void app_main(void)
{
mcpwm_pin_config_t mcpwm_pin = {
.mcpwm0a_out_num = 14, //实际IO号
.mcpwm0b_out_num = 15,
.mcpwm1a_out_num = -1,
.mcpwm1b_out_num = -1,
.mcpwm2a_out_num = -1,
.mcpwm2b_out_num = -1,
.mcpwm_cap0_in_num = -1,
.mcpwm_cap1_in_num = -1,
.mcpwm_cap2_in_num = -1,
.mcpwm_sync0_in_num = -1, // Not used
.mcpwm_sync1_in_num = -1, // Not used
.mcpwm_sync2_in_num = -1, // Not used
.mcpwm_fault0_in_num = -1,
.mcpwm_fault1_in_num = -1, // Not used
.mcpwm_fault2_in_num = -1 // Not used
};
//设置PWM定时器分辨率
ESP_ERROR_CHECK(mcpwm_set_pin(MCPWM_UNIT_0, &mcpwm_pin));
ESP_ERROR_CHECK(mcpwm_group_set_resolution(MCPWM_UNIT_0, 10000000)); // MCPWM号(0/1)、分辨率(默认：10,000,000)
ESP_ERROR_CHECK(mcpwm_timer_set_resolution(MCPWM_UNIT_0, MCPWM_TIMER_0, 1000000)); //定时器号(0/1/2)、分辨率(默认：1,000,000)
mcpwm_config_t mcpwm_conf = {
.frequency = 10000, //输出pwm波形频率 Hz
.cmpr_a = 0, //操作器A输出占空比, i.e duty_a = 62.3
.cmpr_b = 0, //操作器B输出占空比, i.e duty_a = 42.8
/*******************************************
*duty_mode (占空比类型)：
* MCPWM_DUTY_MODE_0： 高有效，例如：%20占空比 == 高电平20%
* MCPWM_DUTY_MODE_1： 低有效，例如：%20占空比 == 低电平20%
* MCPWM_HAL_GENERATOR_MODE_FORCE_LOW： 输出强制为低
* MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH：输出强制为高
* MCPWM_DUTY_MODE_MAX：Num of duty cycle modes
********************************************/
.duty_mode = MCPWM_DUTY_MODE_0,
/****************************************
* counter_mode (计数模式):
* MCPWM_FREEZE_COUNTER: 计数器冻结
* MCPWM_UP_COUNTER: 计数器递增,左对齐，频率不变
* MCPWM_DOWN_COUNTER: 计数器递减,右对齐，频率不变
* MCPWM_UP_DOWN_COUNTER：计数器递增递减，中间对齐，频率减半
********************************************/
.counter_mode = MCPWM_UP_DOWN_COUNTER};
ESP_ERROR_CHECK(mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &mcpwm_conf));
float j;
while(1)
{
for (j = 0.1; j < 100; j = j + 0.1)
{
vTaskDelay(pdMS_TO_TICKS(5));
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_B, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
}
for (j = 99.9; j > 0; j = j - 0.1)
{
vTaskDelay(pdMS_TO_TICKS(5));
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_B, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
}
}
}
效果展示：
示波器1通道—MCPWM0_TIMER0_A; 示波器2通道—MCPWM0_TIMER0_B;
死区时间设置
原理说明
死区时间 ： MOS管都存在结电容，存在开关延迟，死区时间是为了保证上下桥臂的MOS管不会同时导通的时间，一般在us级
ESP32死区时间控制原理如下图所示，控制S1 to S7 开关可选择不同的死区时间配置模式。
设置开关不容易理解且繁琐，下面列出几种常用的工作模式：
MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE（高有效互补）：
输出A与输入同相，不考虑死区时间时输出A与B互补（A=!B），死区时间内A=B。
MCPWM_ACTIVE_LOW_COMPLIMENT_MODE（低有效互补）：
输出A与输入反相，不考虑死区时间时输出A与B互补（A=!B），死区时间内A=B。
MCPWM_ACTIVE_HIGH_MODE（高有效模式）：
输出A与输入同相，不考虑死区时间时输出A与B相等（A=B），死区时间内A=!B。
MCPWM_ACTIVE_LOW_MODE（低有效模式）：
输出A与输入反相，不考虑死区时间时输出A与B相等（A=B），死区时间内A=!B。
函数说明
//使能死区时间设置，必须在mcpwm_init()函数之后设置，否则无效。
esp_err_t mcpwm_deadtime_enable(
mcpwm_unit_t mcpwm_num, // MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
mcpwm_deadtime_type_t dt_mode, //MCPWM_ACTIVE_HIGH/LOW_COMPLIMENT_MODE / MCPWM_ACTIVE_HIGH/LOW_MODE
uint32_t red, //上升沿延迟： red x 100ns
uint32_t fed) //下降沿延迟： fed x 100ns
esp_err_t mcpwm_deadtime_disable(mcpwm_unit_t mcpwm_num, mcpwm_timer_t timer_num)// MCPWM_UNIT_0 / 1 and MCPWM_TIMER_0 / 1 / 2
示例程序
该程序展示死区时间配置，死区模块配置为高有效互补模式，输出只与A相关，因此只需要调整A的占空比即可。上升沿延迟和下降沿延迟均为10us，需注意mcpwm_deadtime_enable()函数需在mcpwm_init()函数之后执行，否则无效。
#include <stdio.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "esp_spi_flash.h"
#include "string.h"
#include "driver/mcpwm.h"
void app_main(void)
{
float j;
mcpwm_pin_config_t mcpwm_pin = {
.mcpwm0a_out_num = 14, //实际IO号
.mcpwm0b_out_num = 15,
.mcpwm1a_out_num = -1,
.mcpwm1b_out_num = -1,
.mcpwm2a_out_num = -1,
.mcpwm2b_out_num = -1,
.mcpwm_cap0_in_num = -1,
.mcpwm_cap1_in_num = -1,
.mcpwm_cap2_in_num = -1,
.mcpwm_sync0_in_num = -1, // Not used
.mcpwm_sync1_in_num = -1, // Not used
.mcpwm_sync2_in_num = -1, // Not used
.mcpwm_fault0_in_num = -1,
.mcpwm_fault1_in_num = -1, // Not used
.mcpwm_fault2_in_num = -1 // Not used
};
//设置PWM定时器分辨率
ESP_ERROR_CHECK(mcpwm_set_pin(MCPWM_UNIT_0, &mcpwm_pin));
ESP_ERROR_CHECK(mcpwm_group_set_resolution(MCPWM_UNIT_0, 10000000)); // MCPWM号(0/1)、分辨率(默认：10,000,000)
ESP_ERROR_CHECK(mcpwm_timer_set_resolution(MCPWM_UNIT_0, MCPWM_TIMER_0, 1000000)); //定时器号(0/1/2)、分辨率(默认：1,000,000)
mcpwm_config_t mcpwm_conf = {
.frequency = 10000, //输出pwm波形频率 Hz
.cmpr_a = 0, //操作器A输出占空比, i.e duty_a = 62.3
.cmpr_b = 0, //操作器B输出占空比, i.e duty_a = 42.8
/*******************************************
*duty_mode (占空比类型)：
* MCPWM_DUTY_MODE_0： 高有效，例如：%20占空比 == 高电平20%
* MCPWM_DUTY_MODE_1： 低有效，例如：%20占空比 == 低电平20%
* MCPWM_HAL_GENERATOR_MODE_FORCE_LOW： 输出强制为低
* MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH：输出强制为高
* MCPWM_DUTY_MODE_MAX：Num of duty cycle modes
********************************************/
.duty_mode = MCPWM_DUTY_MODE_0,
/****************************************
* counter_mode (计数模式):
* MCPWM_FREEZE_COUNTER: 计数器冻结
* MCPWM_UP_COUNTER: 计数器递增,左对齐，频率不变
* MCPWM_DOWN_COUNTER: 计数器递减,右对齐，频率不变
* MCPWM_UP_DOWN_COUNTER：计数器递增递减，中间对齐，频率减半
********************************************/
.counter_mode = MCPWM_UP_DOWN_COUNTER};
ESP_ERROR_CHECK(mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &mcpwm_conf));
ESP_ERROR_CHECK(mcpwm_deadtime_enable(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, // MCPWM_ACTIVE_HIGH/LOW_COMPLIMENT_MODE / MCPWM_ACTIVE_HIGH/LOW_MODE
100, //上升沿延迟： red x 100ns
100)); //下降沿延迟： fed x 100ns
while (1)
{
for (j = 20; j < 80; j = j + 0.1)
{
vTaskDelay(pdMS_TO_TICKS(5));
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
}
for (j = 80; j > 20; j = j - 0.1)
{
vTaskDelay(pdMS_TO_TICKS(5));
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
}
}
}
效果：
示波器1通道—MCPWM0_TIMER0_A; 示波器2通道—MCPWM0_TIMER0_B;
定时器同步
定时器同步用于对不同定时器之间计数值的同步，输入同步信号支持GPIO或来自其他定时器的同步输出信号。
关键函数说明
//初始化定时器同步子模块
esp_err_t mcpwm_sync_configure(
mcpwm_unit_t mcpwm_num, // MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
const mcpwm_sync_config_t *sync_conf)//
//关闭定时器同步
esp_err_t mcpwm_sync_disable(
mcpwm_unit_t mcpwm_num, // MCPWM_UNIT_0 / MCPWM_UNIT_1
mcpwm_timer_t timer_num)// MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
mcpwm_sync_config_t sync_cfg = {
.sync_sig = MCPWM_SELECT_GPIO_SYNC0,//输入同步信号：MCPWM_SELECT_TIMER0/1/2_SYNC / MCPWM_SELECT_GPIO_SYNC0/1/2
.timer_val = 0,//同步之后要载入的定时器值 0-999
.count_direction = MCPWM_TIMER_DIRECTION_UP};//MCPWM_TIMER_DIRECTION_UP（递增）/ MCPWM_TIMER_DIRECTION_DOWN（递减）
示例程序
该程序启动MCPWM0中的Timer0和Timer1两个定时器，分别输出两个异步的PWM波，然后采用GPIO同步的方式，设置IO输出同步脉冲，进行软件同步。
注意：
该程序复用IO2即作为2个定时器的同步输入信号，又作为双向IO可进行软件置位/清零，IO复位后需先配置 mcpwm_set_pin() ,再配置IO方向，否则后面设置IO2高低电平函数不起作用。
#include <stdio.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "esp_spi_flash.h"
#include "string.h"
#include "driver/mcpwm.h"
#include "driver/gpio.h"
#define io_num(x) x
void app_main(void)
{
float j;
// IO配置
mcpwm_pin_config_t mcpwm_pin = {
.mcpwm0a_out_num = io_num(14), //实际IO号
.mcpwm0b_out_num = io_num(15),
.mcpwm1a_out_num = io_num(4),
.mcpwm1b_out_num = io_num(9),
.mcpwm2a_out_num = -1,
.mcpwm2b_out_num = -1,
.mcpwm_cap0_in_num = -1,
.mcpwm_cap1_in_num = -1,
.mcpwm_cap2_in_num = -1,
.mcpwm_sync0_in_num = io_num(2), // Not used
.mcpwm_sync1_in_num = -1, // Not used
.mcpwm_sync2_in_num = -1, // Not used
.mcpwm_fault0_in_num = -1,
.mcpwm_fault1_in_num = -1, // Not used
.mcpwm_fault2_in_num = -1 // Not used
};
gpio_reset_pin(io_num(2));
ESP_ERROR_CHECK(mcpwm_set_pin(MCPWM_UNIT_0, &mcpwm_pin));
gpio_set_direction(io_num(2), GPIO_MODE_INPUT_OUTPUT);
//设置PWM定时器分辨率
ESP_ERROR_CHECK(mcpwm_group_set_resolution(MCPWM_UNIT_0, 10000000)); // MCPWM号(0/1)、分辨率(默认：10,000,000)
ESP_ERROR_CHECK(mcpwm_timer_set_resolution(MCPWM_UNIT_0, MCPWM_TIMER_0, 1000000)); //定时器号(0/1/2)、分辨率(默认：1,000,000)
ESP_ERROR_CHECK(mcpwm_timer_set_resolution(MCPWM_UNIT_0, MCPWM_TIMER_1, 1000000)); //定时器号(0/1/2)、分辨率(默认：1,000,000)
mcpwm_config_t mcpwm_conf = {
.frequency = 10000, //输出pwm波形频率 Hz
.cmpr_a = 0, //操作器A输出占空比, i.e duty_a = 62.3
.cmpr_b = 0, //操作器B输出占空比, i.e duty_a = 42.8
/*******************************************
*duty_mode (占空比类型)：
* MCPWM_DUTY_MODE_0： 高有效，例如：%20占空比 == 高电平20%
* MCPWM_DUTY_MODE_1： 低有效，例如：%20占空比 == 低电平20%
* MCPWM_HAL_GENERATOR_MODE_FORCE_LOW： 输出强制为低
* MCPWM_HAL_GENERATOR_MODE_FORCE_HIGH：输出强制为高
* MCPWM_DUTY_MODE_MAX：Num of duty cycle modes
********************************************/
.duty_mode = MCPWM_DUTY_MODE_0,
/****************************************
* counter_mode (计数模式):
* MCPWM_FREEZE_COUNTER: 计数器冻结
* MCPWM_UP_COUNTER: 计数器递增,左对齐，频率不变
* MCPWM_DOWN_COUNTER: 计数器递减,右对齐，频率不变
* MCPWM_UP_DOWN_COUNTER：计数器递增递减，中间对齐，频率减半
********************************************/
.counter_mode = MCPWM_UP_DOWN_COUNTER};
ESP_ERROR_CHECK(mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &mcpwm_conf)); //启动定时器0
vTaskDelay(pdMS_TO_TICKS(50)); //增加两个定时器的启动延迟，产生明显异步效果便于观察
ESP_ERROR_CHECK(mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &mcpwm_conf)); //启动定时器1
//同步配置
mcpwm_sync_config_t sync_cfg = {
.sync_sig = MCPWM_SELECT_GPIO_SYNC0, //输入同步信号：MCPWM_SELECT_TIMER0/1/2_SYNC / MCPWM_SELECT_GPIO_SYNC0/1/2
.timer_val = 0, //同步之后要载入的定时器值 0-999
.count_direction = MCPWM_TIMER_DIRECTION_UP}; // MCPWM_TIMER_DIRECTION_UP（递增）/ MCPWM_TIMER_DIRECTION_DOWN（递减）
ESP_ERROR_CHECK(mcpwm_sync_configure(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
&sync_cfg)); //同步配置
ESP_ERROR_CHECK(mcpwm_sync_configure(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_1, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
&sync_cfg)); //同步配置
//生成同步脉冲
gpio_set_level(io_num(2), 0); // IO置低
vTaskDelay(pdMS_TO_TICKS(5));
gpio_set_level(io_num(2), 1); // IO置高
vTaskDelay(pdMS_TO_TICKS(5));
gpio_set_level(io_num(2), 0); // IO置低
vTaskDelay(pdMS_TO_TICKS(5));
while (1)
{
for (j = 20; j < 80; j = j + 0.1)
{
vTaskDelay(pdMS_TO_TICKS(5));
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_1, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
}
for (j = 80; j > 20; j = j - 0.1)
{
vTaskDelay(pdMS_TO_TICKS(5));
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_0, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
ESP_ERROR_CHECK(mcpwm_set_duty(
MCPWM_UNIT_0, // MCPWM_UNIT_0 / MCPWM_UNIT_1
MCPWM_TIMER_1, // MCPWM_TIMER_0 / MCPWM_TIMER_1 / MCPWM_TIMER_2
MCPWM_GEN_A, // MCPWM_GEN_A / MCPWM_GEN_B
j)); // 0.0 to 100.0,精度为小数点后1位，设置0和100等效于强制输出高、低
}
}
}
效果：
不同步，示波器1通道—MCPWM0_TIMER0_A; 示波器2通道—MCPWM0_TIMER1_A;
同步之后：
参考
https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32/api-reference/peripherals/mcpwm.html