102 lines
2.8 KiB
C++
102 lines
2.8 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 declarations ---
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//--------------------------------------------
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//motorstate_t, motorstateStr outsourced to common/types.hpp
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#include "types.hpp"
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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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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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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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bool brakeWaitingForRelay = false;
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uint32_t timestamp_brakeRelayPowered;
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};
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////struct with all config parameters for single100a motor driver
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//typedef struct sabertooth2x60_config_t {
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// gpio_num_t gpio_TX;
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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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////=================================
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////======= sabertooth 2x60a ========
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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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//
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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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//
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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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//
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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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// bool brakeWaitingForRelay = false;
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// uint32_t timestamp_brakeRelayPowered;
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//};
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