1.13.13 Motor Control Pulse-Width Modulation (MCPWM)

The PIC32MK GP/MC Family of devices support a dedicated Motor Control Pulse-Width Modulation (PWM) module with up to 12 outputs. The Motor Control PWM module consists of the following major features:

• Two master time base modules with special event triggers

• PWM module input clock prescaler

• Two synchronization inputs

• Two synchronization outputs

• Eight PWM generators with complimentary output pairs

• Four additional PWM generators with single ended outputs

• Period, duty cycle, phase shift and dead time minimum resolution of 1 / FSYSCLK in Edge-Aligned mode and 2 / FSYSCLK minimum resolution in Center-Aligned mode

• Cycle by cycle fault recovery and latched fault modes

• PWM time-base capture upon current limit

• Nine fault input pins are available for faults and current limits

• Programmable analog-to-digital trigger with interrupt for each PWM pair

• Complementary PWM outputs

• Push-Pull PWM outputs

• Redundant PWM outputs

• Edge-Aligned PWM mode

• Center-Aligned PWM mode

• Variable Phase PWM mode

• Multi-Phase PWM mode

• Fixed-Off Time PWM mode

• Current Limit PWM mode

• Current Reset PWM mode

• PWMxH and PWMxL output override control

• PWMxH and PWMxL output pin swapping

• Chopping mode (also known as Gated mode)

• Dead time insertion

• Dead time compensation

• Enhanced Leading-Edge Blanking (LEB)

• 15 mA PWM pin output drive

/* Duty cycle increment value */
#define DUTY_INCREMENT (10U)

/* Save PWM period */
uint16_t period;

/* This function is called after PWM0 counter event */
void PWM_PeriodHandler(uint32_t status, uintptr_t context)
{
    /* duty cycle values */
    static uint16_t duty0 = 0U;
    static uint16_t duty1 = 1000U;
    static uint16_t duty2 = 2000U;

    MCPWM_ChannelPrimaryDutySet(MCPWM_CH_1, duty0);
    MCPWM_ChannelPrimaryDutySet(MCPWM_CH_2, duty1);
    MCPWM_ChannelPrimaryDutySet(MCPWM_CH_3, duty2);
    
    /* Increment duty cycle values */
    duty0 += DUTY_INCREMENT;
    duty1 += DUTY_INCREMENT;
    duty2 += DUTY_INCREMENT;
    
    if (duty0 > period)
        duty0 = 0U;
    if (duty1 > period)
        duty1 = 0U;
    if (duty2 > period)
        duty2 = 0U;
}

int main ( void )
{
    /* Initialize all modules */
    SYS_Initialize ( NULL );
    
    /* Register callback function for Channel 0 counter event */
    MCPWM_CallbackRegister(MCPWM_CH_1, PWM_PeriodHandler, (uintptr_t)NULL);
    
    /* Read the period */
    period = MCPWM_PrimaryPeriodGet();
    
    /* Start all synchronous channels by starting channel 0*/
    MCPWM_Start();

    while ( true )
    {
        /* Maintain state machines of all polled MPLAB Harmony modules. */
        SYS_Tasks ( );
    }

    /* Execution should not come here during normal operation */

    return ( EXIT_FAILURE );
}