Create driver for 'single100a h-bridge'
- create class 'single100a' in motordrivers.hpp and motordrivers.cpp - add code for testing the driver in main.cpp (test with led was successful) - update cmakelists, to also compile the new .cpp file
This commit is contained in:
jonny_ji7
parent
37e9048daa
commit
b0d0b568a3
@ -1,2 +1,2 @@
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idf_component_register(SRCS "main.cpp"
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idf_component_register(SRCS "main.cpp" "motordrivers.cpp"
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INCLUDE_DIRS ".")
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@ -9,10 +9,54 @@ extern "C"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "sdkconfig.h"
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}
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extern "C" void app_main(void)
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{
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#include "driver/ledc.h"
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}
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#include "motordrivers.hpp"
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extern "C" void app_main(void) {
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//set loglevel for all tags:
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esp_log_level_set("*", ESP_LOG_INFO);
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//set loglevel for motordriver to DEBUG for testing
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esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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//configure motor driver
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_14,
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.gpio_a = GPIO_NUM_12,
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.gpio_b = GPIO_NUM_13,
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.abInverted = true,
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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//create driver instance for motor left
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single100a motorLeft(configDriverLeft);
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while(1){
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//--- testing the motor driver ---
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//fade up duty - forward
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for (int duty=0; duty<=100; duty+=5) {
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motorLeft.set(motorstate_t::FWD, duty);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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}
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//brake for 1 s
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motorLeft.set(motorstate_t::BRAKE);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//stay at 100% - reverse
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motorLeft.set(motorstate_t::REV, 150);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//stay at idle (default duty)
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motorLeft.set(motorstate_t::IDLE);
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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}
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}
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134
main/motordrivers.cpp
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134
main/motordrivers.cpp
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@ -0,0 +1,134 @@
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#include "motordrivers.hpp"
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//TODO: move from ledc to mcpwm?
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//https://docs.espressif.com/projects/esp-idf/en/v4.3/esp32/api-reference/peripherals/mcpwm.html#
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//https://github.com/espressif/esp-idf/tree/v4.3/examples/peripherals/mcpwm/mcpwm_basic_config
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//Note fade functionality provided by LEDC would be very useful but unfortunately is not usable here because:
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//"Due to hardware limitations, there is no way to stop a fade before it reaches its target duty."
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//definition of string array to be able to convert state enum to readable string
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const char* motorstateStr[4] = {"IDLE", "FWD", "REV", "BRAKE"};
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//tag for logging
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static const char * TAG = "motordriver";
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//====================================
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//===== single100a motor driver ======
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//====================================
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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//copy provided struct with all configuration and run init function
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single100a::single100a(single100a_config_t config_f){
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config = config_f;
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init();
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}
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//----------------------------
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//---------- init ------------
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//----------------------------
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//function to initialize pwm output, gpio pins and calculate maxDuty
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void single100a::init(){
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//--- configure ledc timer ---
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ledc_timer_config_t ledc_timer;
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ledc_timer.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_timer.timer_num = config.ledc_timer;
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ledc_timer.duty_resolution = config.resolution; //13bit gives max 5khz freq
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ledc_timer.freq_hz = config.pwmFreq;
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ledc_timer.clk_cfg = LEDC_AUTO_CLK;
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//apply configuration
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ledc_timer_config(&ledc_timer);
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//--- configure ledc channel ---
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ledc_channel_config_t ledc_channel;
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ledc_channel.channel = config.ledc_channel;
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ledc_channel.duty = 0;
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ledc_channel.gpio_num = config.gpio_pwm;
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ledc_channel.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_channel.hpoint = 0;
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ledc_channel.timer_sel = config.ledc_timer;
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ledc_channel.intr_type = LEDC_INTR_DISABLE;
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ledc_channel.flags.output_invert = 0; //TODO: add config option to invert the pwm output?
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//apply configuration
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ledc_channel_config(&ledc_channel);
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//--- define gpio pins as outputs ---
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gpio_pad_select_gpio(config.gpio_a);
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gpio_set_direction(config.gpio_a, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(config.gpio_b);
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gpio_set_direction(config.gpio_b, GPIO_MODE_OUTPUT);
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//--- calculate max duty according to selected resolution ---
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dutyMax = pow(2, ledc_timer.duty_resolution) -1;
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ESP_LOGI(TAG, "initialized single100a driver");
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ESP_LOGI(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax);
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}
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//---------------------------
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//----------- set -----------
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//---------------------------
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//function to put the h-bridge module in the desired state and duty cycle
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void single100a::set(motorstate_t state_f, float duty_f){
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//define enabled signal state (gpio high/low) TODO: move this to constructor?
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bool enabled;
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if (config.abInverted) {
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enabled = false;
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} else {
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enabled = true;
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}
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//scale provided target duty in percent to available resolution for ledc
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uint32_t dutyScaled;
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if (duty_f > 100) { //target duty above 100%
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dutyScaled = dutyMax;
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} else if (duty_f < 0) { //target duty below 0%
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dutyScaled = 0;
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} else { //target duty 0-100%
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//scale duty to available resolution
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dutyScaled = duty_f / 100 * dutyMax;
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}
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//put the single100a h-bridge module in the desired state update duty-cycle
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switch (state_f){
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case motorstate_t::IDLE:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//TODO: to fix bugged state of h-bridge module when idle and start again, maybe try to leave pwm signal on for some time before updating a/b pins?
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//no brake: (freewheel)
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gpio_set_level(config.gpio_a, enabled);
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gpio_set_level(config.gpio_b, enabled);
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break;
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case motorstate_t::BRAKE:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, 0);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//brake:
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gpio_set_level(config.gpio_a, !enabled);
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gpio_set_level(config.gpio_b, !enabled);
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break;
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case motorstate_t::FWD:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//forward:
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gpio_set_level(config.gpio_a, enabled);
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gpio_set_level(config.gpio_b, !enabled);
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break;
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case motorstate_t::REV:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//reverse:
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gpio_set_level(config.gpio_a, !enabled);
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gpio_set_level(config.gpio_b, enabled);
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break;
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}
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ESP_LOGD(TAG, "set module to state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
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}
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64
main/motordrivers.hpp
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64
main/motordrivers.hpp
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@ -0,0 +1,64 @@
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#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "driver/ledc.h"
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#include "esp_err.h"
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}
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#include <cmath>
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//====================================
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//===== single100a motor driver ======
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//====================================
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//--------------------------------------------
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//---- struct, enum, variable deklarations ---
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//--------------------------------------------
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//class which controls a motor using a 'single100a' h-bridge module
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enum class motorstate_t {IDLE, FWD, REV, BRAKE};
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//definition of string array to be able to convert state enum to readable string (defined in motordrivers.cpp)
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extern const char* motorstateStr[4];
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//struct with all config parameters for single100a motor driver
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typedef struct single100a_config_t {
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gpio_num_t gpio_pwm;
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gpio_num_t gpio_a;
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gpio_num_t gpio_b;
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ledc_timer_t ledc_timer;
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ledc_channel_t ledc_channel;
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bool abInverted;
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ledc_timer_bit_t resolution;
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int pwmFreq;
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} single100a_config_t;
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//--------------------------------
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//------- single100a class -------
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//--------------------------------
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class single100a {
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public:
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//--- constructor ---
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single100a(single100a_config_t config_f); //provide config struct (see above)
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//--- functions ---
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void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
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//TODO: add functions to get the current state and duty
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private:
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//--- functions ---
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void init(); //initialize pwm and gpio outputs, calculate maxDuty
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//--- variables ---
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single100a_config_t config;
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uint32_t dutyMax;
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motorstate_t state = motorstate_t::IDLE;
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};
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