Add brake-relay support to motordriver
[untested] Turn on brake relays in BRAKE state Also wait certain time for relays to switch before shorting the driver Add config option for brake relay pin Initialize pin in constructor
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jonny_jr9
parent
0a1f941de0
commit
fcecd930d3
@ -8,6 +8,7 @@ single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_26,
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.gpio_a = GPIO_NUM_4,
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.gpio_b = GPIO_NUM_16,
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.gpio_brakeRelay = GPIO_NUM_5, //power mosfet 2
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.aEnabledPinState = false, //-> pins inverted (mosfets)
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@ -21,6 +22,7 @@ single100a_config_t configDriverRight = {
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.gpio_pwm = GPIO_NUM_27,
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.gpio_a = GPIO_NUM_2,
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.gpio_b = GPIO_NUM_15,
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.gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1
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.ledc_timer = LEDC_TIMER_1,
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.ledc_channel = LEDC_CHANNEL_1,
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.aEnabledPinState = false, //-> pin inverted (mosfet)
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@ -1,4 +1,6 @@
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#include "motordrivers.hpp"
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#include "esp_log.h"
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#include "types.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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@ -10,6 +12,8 @@
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//tag for logging
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static const char * TAG = "motordriver";
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//ms to wait in IDLE before BRAKE until relay actually switched
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#define BRAKE_RELAY_DELAY_MS 300
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//====================================
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@ -61,11 +65,13 @@ void single100a::init(){
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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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gpio_pad_select_gpio(config.gpio_brakeRelay);
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gpio_set_direction(config.gpio_brakeRelay, 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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ESP_LOGW(TAG, "initialized single100a driver");
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ESP_LOGW(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax);
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}
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@ -88,7 +94,16 @@ void single100a::set(motorstate_t state_f, float duty_f){
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dutyScaled = duty_f / 100 * dutyMax;
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}
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//TODO: only when previous mode was BRAKE?
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if (state_f != motorstate_t::BRAKE){
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//reset brake wait state
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brakeWaitingForRelay = false;
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//turn of brake relay
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gpio_set_level(config.gpio_brakeRelay, 0);
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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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//TODO maybe outsource mode code from once switch case? e.g. idle() brake()...
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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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@ -100,13 +115,37 @@ void single100a::set(motorstate_t state_f, float duty_f){
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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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, !config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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break;
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case motorstate_t::BRAKE:
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//prevent full short (no brake resistors) due to slow relay, also reduces switching load
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if (!brakeWaitingForRelay){
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ESP_LOGW(TAG, "BRAKE: turned on relay, waiting in IDLE for %d ms", BRAKE_RELAY_DELAY_MS);
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//switch driver to IDLE for now
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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//start brake relay
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gpio_set_level(config.gpio_brakeRelay, 1);
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timestamp_brakeRelayPowered = esp_log_timestamp();
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brakeWaitingForRelay = true;
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}
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//check if delay for relay to switch has passed
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else if ((esp_log_timestamp() - timestamp_brakeRelayPowered) > BRAKE_RELAY_DELAY_MS) {
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ESP_LOGD(TAG, "applying brake with brake-resistors at duty=%.2f%%", duty_f);
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//switch driver to BRAKE
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gpio_set_level(config.gpio_a, !config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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//apply duty
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//FIXME switch between BREAK and IDLE with PWM and ignore pwm-pin? (needs test)
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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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} else {
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//waiting... stay in IDLE
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ESP_LOGD(TAG, "waiting for brake relay to close (IDLE)...");
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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}
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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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@ -114,6 +153,7 @@ void single100a::set(motorstate_t state_f, float duty_f){
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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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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@ -122,5 +162,5 @@ void single100a::set(motorstate_t state_f, float duty_f){
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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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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ESP_LOGV(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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@ -29,6 +29,7 @@ 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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gpio_num_t gpio_brakeRelay;
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ledc_timer_t ledc_timer;
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ledc_channel_t ledc_channel;
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bool aEnabledPinState;
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@ -59,4 +60,6 @@ class single100a {
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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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bool brakeWaitingForRelay = false;
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uint32_t timestamp_brakeRelayPowered;
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};
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