Espressif ESP32 Technical Reference Manual page 447

16 Motor Control PWM (PWM)
Figure 16-28. Example of the First Pulse and the Subsequent Sustaining Pulses of the PWM Carrier Submodule
Duty Cycle Control
After issuing the first one-shot pulse, the remaining PWM signal is modulated according to the carrier frequency.
Users can configure the duty cycle of this signal. Tuning of duty may be required, so that the signal passes
through the isolating transformer and can still operate (turn on/off) the motor drive, changing rotation speed
and direction.
The duty cycle may be set to one of seven values, using PWM_CARRIERx_DUTY, or bits [7:5] of register
PWM_CARRIERx_CFG_REG.
Below is the formula for calculating the duty cycle:
Duty = P W M _CARRIERx_DU T Y ÷ 8
All seven settings of the duty cycle are shown in Figure 16-29.
Espressif Systems 447 ESP32 TRM (Version 5.2)
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