fcecd930d3
[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
66 lines
1.7 KiB
C++
66 lines
1.7 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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