ESP32-S3 ESP-IDF实现SPWM/PID/PLL全攻略

以下是基于ESP32-S3和ESP-IDF在VSCode平台上实现SPWM、PID、PLL的例程及仿真结果，包含SVG图形代码可直接嵌入网页显示。

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SPWM生成例程（ESP-IDF）

#include "driver/ledc.h"

#define SPWM_FREQ 50      // 50Hz输出
#define SPWM_RESOLUTION LEDC_TIMER_10_BIT

void spwm_init() {
    ledc_timer_config_t timer_cfg = {
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .duty_resolution = SPWM_RESOLUTION,
        .timer_num = LEDC_TIMER_0,
        .freq_hz = SPWM_FREQ,
        .clk_cfg = LEDC_AUTO_CLK
    };
    ledc_timer_config(&timer_cfg);

    ledc_channel_config_t ch_cfg = {
        .gpio_num = GPIO_NUM_4,
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .channel = LEDC_CHANNEL_0,
        .timer_sel = LEDC_TIMER_0,
        .duty = 512,  // 50%占空比初始值
        .hpoint = 0
    };
    ledc_channel_config(&ch_cfg);
}

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PID控制器实现

typedef struct {
    float Kp, Ki, Kd;
    float integral;
    float prev_error;
} PIDController;