PWM based motor driver added from other project

2024-11-16 20:04:38 +01:00
parent f6608075ff
commit 0181c72a9d
17 changed files with 1288 additions and 6 deletions
@@ -0,0 +1,98 @@
+/**
+ * @file gpioPort.cpp
+ * @author Gustice
+ * @brief C++ Wrapper for GPIO port
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#include "gpioPort.hpp"
+#include "esp_log.h"
+
+///
+/// Gpio - Implementation
+///
+uint64_t GpioPort::_reservedPorts = 0;
+
+GpioPort::GpioPort(gpio_num_t port) : _port(port) {
+    uint64_t p = 1ULL << port;
+    if ((_reservedPorts & p) != 0) {
+        ESP_LOGW("HAL", "GpioPort Port %d is already in use!", port);
+    }
+
+    _reservedPorts |= p;
+}
+
+GpioPort::~GpioPort() {
+    uint64_t p = 1ULL << _port;
+    _reservedPorts &= ~p;
+}
+
+///
+/// InputPort - Implementation
+///
+InputPort::InputPort(gpio_num_t port, GpioPort::PullResistor resistor) : GpioPort(port) {
+    gpio_config_t config = {
+        .pin_bit_mask = 1ULL << port,
+        .mode = GPIO_MODE_INPUT,
+        .pull_up_en = resistor == PullUp ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
+        .pull_down_en = resistor == PullDown ? GPIO_PULLDOWN_ENABLE : GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+
+    ESP_ERROR_CHECK(gpio_config(&config));
+}
+
+bool InputPort::read(void) {
+    auto value = gpio_get_level(_port);
+    return ((value ^ _logic) & 0x01) == 1;
+}
+
+///
+/// TriggeredInput - Implementation
+///
+bool TriggeredInput::_isrServiceInitiated = false;
+
+TriggeredInput::TriggeredInput(gpio_num_t port, GpioPort::PullResistor resistor,
+                               TriggeredInput::Interrupt edge)
+    : InputPort(port, resistor) {
+    assert(gpio_set_intr_type(_port, (gpio_int_type_t)edge) == ESP_OK);
+
+    if (!_isrServiceInitiated) {
+        _isrServiceInitiated = true;
+        esp_err_t err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL2);
+        if (err == ESP_OK) {
+            ESP_LOGI("HAL", "ISR-service installed successfully for gpio-port");
+        } else {
+            ESP_LOGE("HAL", "ISR-service failed to install. Code '%s'", esp_err_to_name(err));
+        }
+    }
+}
+
+void TriggeredInput::RegisterIsr(gpio_isr_t pIsrHandle) {
+    ESP_LOGI("HAL", "Hooking ISR-Function to gpio-port %d", _port);
+    gpio_isr_handler_add(_port, pIsrHandle, nullptr);
+}
+
+///
+/// OutputPort - Implementation
+///
+OutputPort::OutputPort(gpio_num_t port, GpioPort::Logic mode) : GpioPort(port), _mode(mode) {
+    gpio_config_t io_conf = {
+        .pin_bit_mask = 1ULL << port,
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    gpio_config(&io_conf);
+}
+
+void OutputPort::write(int active) {
+    if (_mode == GpioPort::Normal) {
+        gpio_set_level(_port, active & 1);
+    } else {
+        active ^= 1;
+        gpio_set_level(_port, active & 1);
+    }
+}