esp32驱动DRV8313芯片控制无刷电机转速的代码

以下是ESP32驱动DRV8313芯片控制无刷电机转速的代码：

#include <driver/gpio.h>
#include <driver/ledc.h>

#define MOTOR_PIN_A  27
#define MOTOR_PIN_B  26
#define MOTOR_PIN_C  25
#define PWM_FREQUENCY  20000
#define PWM_RESOLUTION  12
#define PWM_CHANNEL  LEDC_CHANNEL_0
#define PWM_TIMER LEDC_TIMER_0
#define MOTOR_SPEED_MAX  1023

void motor_init()
{
  ledc_timer_config_t timer_conf = {
    .duty_resolution = PWM_RESOLUTION,
    .freq_hz = PWM_FREQUENCY,
    .speed_mode = LEDC_HIGH_SPEED_MODE,
    .timer_num = PWM_TIMER
  };
  ledc_timer_config(&timer_conf);

  ledc_channel_config_t ch_conf = {
    .channel    = PWM_CHANNEL,
    .duty       = 0,
    .gpio_num   = MOTOR_PIN_A,
    .speed_mode = LEDC_HIGH_SPEED_MODE,
    .timer_sel  = PWM_TIMER
  };
  ledc_channel_config(&ch_conf);

  ch_conf.channel = LEDC_CHANNEL_1;
  ch_conf.gpio_num = MOTOR_PIN_B;
  ledc_channel_config(&ch_conf);

  ch_conf.channel = LEDC_CHANNEL_2;
  ch_conf.gpio_num = MOTOR_PIN_C;
  ledc_channel_config(&ch_conf);

  gpio_set_direction(MOTOR_PIN_A, GPIO_MODE_OUTPUT);
  gpio_set_direction(MOTOR_PIN_B, GPIO_MODE_OUTPUT);
  gpio_set_direction(MOTOR_PIN_C, GPIO_MODE_OUTPUT);
}

void motor_set_speed(int speed)
{
  if (speed > MOTOR_SPEED_MAX) {
    speed = MOTOR_SPEED_MAX;
  } else if (speed < -MOTOR_SPEED_MAX) {
    speed = -MOTOR_SPEED_MAX;
  }

  if (speed > 0) {
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, PWM_CHANNEL, speed);
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, 0);
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_2, 0);
  } else if (speed < 0) {
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, PWM_CHANNEL, 0);
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, MOTOR_SPEED_MAX);
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_2, -speed);
  } else {
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, PWM_CHANNEL, 0);
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1, 0);
    ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_2, 0);
  }

  ledc_update_duty(LEDC_HIGH_SPEED_MODE, PWM_CHANNEL);
  ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_1);
  ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_2);
}

这段代码使用LEDC库控制ESP32的PWM输出，通过改变PWM的占空比来控制无刷电机的转速。其中，MOTOR_PIN_A、MOTOR_PIN_B、MOTOR_PIN_C是控制三相电机的引脚，PWM_FREQUENCY是PWM的频率，PWM_RESOLUTION是PWM的分辨率，MOTOR_SPEED_MAX是电机的最大速度。motor_init函数用于初始化PWM输出引脚，motor_set_speed函数用于设置电机的速度。