1. mcpwm_carrier_config_t::duty_cycle: The duty cycle of the carrier. The parameter user_data of mcpwm_fault_register_event_callbacks() function is used to save users own context, it will be passed to the callback function directly. Simple FOC library will then handle enable/disable calls for each of the enable pins and if using modulation type Trapezoidal_120 or Trapezoidal_150 using these pins the library will be able to set high impedance to motor phases, which is very suitable for Back-EMF control for example: ESP-32 BLDC Robot Actuator Controller | Hackaday.io ESP-32 WROOM-32D has Three phase Centre Aligned MC-PWM, Dual SPI, I2C, 2MHz ADC, UART and CAN. The capture timer is connected with several independent channels, each channel is assigned with a GPIO. We develop customized motor control solutions to operate modern electric vehicle powertrains cutting across motor types such as BLDC, PMSM, SRM and induction motors. mcpwm_timer_config_t::count_mode sets the count mode of the timer. The fact is that, although the PWM wave shows it is turning off the switch, but the MOSFET still needs a small time window to make that happen. mcpwm_operator_event_callbacks_t::on_brake_ost sets callback function that will be called when the operator is going to take an OST action. Choose the board, COM port, hold down the BOOT button, click upload and keep your finger on the BOOT button pressed. components/driver/mcpwm/include/driver/mcpwm_cap.h, config [in] MCPWM capture timer configuration, ret_cap_timer [out] Returned MCPWM capture timer handle, ESP_OK: Create MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Create MCPWM capture timer failed because of invalid argument, ESP_ERR_NO_MEM: Create MCPWM capture timer failed because out of memory, ESP_ERR_NOT_FOUND: Create MCPWM capture timer failed because cant find free resource, ESP_FAIL: Create MCPWM capture timer failed because of other error, cap_timer [in] MCPWM capture timer, allocated by mcpwm_new_capture_timer(), ESP_OK: Delete MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Delete MCPWM capture timer failed because of invalid argument, ESP_FAIL: Delete MCPWM capture timer failed because of other error, cap_timer [in] MCPWM capture timer handle, allocated by mcpwm_new_capture_timer(), ESP_OK: Enable MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Enable MCPWM capture timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Enable MCPWM capture timer failed because timer is enabled already, ESP_FAIL: Enable MCPWM capture timer failed because of other error, ESP_OK: Disable MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Disable MCPWM capture timer failed because of invalid argument, ESP_ERR_INVALID_STATE: Disable MCPWM capture timer failed because timer is disabled already, ESP_FAIL: Disable MCPWM capture timer failed because of other error, ESP_OK: Start MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Start MCPWM capture timer failed because of invalid argument, ESP_FAIL: Start MCPWM capture timer failed because of other error, ESP_OK: Stop MCPWM capture timer successfully, ESP_ERR_INVALID_ARG: Stop MCPWM capture timer failed because of invalid argument, ESP_FAIL: Stop MCPWM capture timer failed because of other error.