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 +1,42 @@
+/**
+ * @file StepperDrv8833.hpp
+ * @author Gustice
+ * @brief Software-driver for Stepper driver DRV8833
+ * @details https://www.ti.com/lit/ds/symlink/drv8833.pdf?ts=1726872460958&ref_url=https%253A%252F%252Fwww.ti.com%252Fproduct%252Fde-de%252FDRV8833
+ *
+ * @copyright Copyright (c) 2024
+ */
+#pragma once
+
+#include "stepperDrv.hpp"
+#include <array>
+#include <vector>
+
+class StepperDriverDrv8833 : public StepperDriver {
+  public:
+    struct Pins {
+        ledc_timer_t timer;
+        std::array<ledc_channel_t, 4> channels;
+        std::array<gpio_num_t, 4> pins;
+    };
+
+    StepperDriverDrv8833(Pins pins, int resolution);
+    StepCplx fullStep(int8_t cnt) override;
+    StepCplx step(int8_t cnt) override;
+    StepCplx setPos(uint8_t pos) override;
+    uint8_t getSubPos() {
+        return _position;
+    }
+
+  private:
+    PwmPort _pwmA1;
+    PwmPort _pwmA2;
+    PwmPort _pwmB1;
+    PwmPort _pwmB2;
+
+    std::vector<uint8_t> _outA1;
+    std::vector<uint8_t> _outA2;
+    std::vector<uint8_t> _outB1;
+    std::vector<uint8_t> _outB2;
+    void setOutput(uint8_t pos) override;
+};