9550b387c9
Changed config and code for motor driver: Now its possible to configure whether a and b pins are inverted separately e.g. a connected to mosfets (inverted) and b connected directly
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
#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 aEnabledPinState;
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bool bEnabledPinState;
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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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