added miniskid

Miniskid/FW/lib/Cdrv8833/src/Cdrv8833.cpp

@@ -0,0 +1,138 @@
+#include "Cdrv8833.h"
+#include "esp32-hal-gpio.h"
+
+Cdrv8833::Cdrv8833() {
+	// not initialized
+	m_in1Pin = -1;
+	m_in2Pin = -1;
+	m_power = 0;
+	m_swapDirection = false;
+	m_decayMode = drv8833DecaySlow;
+}
+
+Cdrv8833::Cdrv8833(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection) {
+	init(in1Pin, in2Pin, channel, swapDirection);
+}
+
+Cdrv8833::~Cdrv8833() {
+	stop();
+}
+
+bool Cdrv8833::init(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection) {
+	if (channel > 15)
+		return false;
+	if ((m_in1Pin != -1) && (m_in2Pin != -1))
+		stop();
+	pinMode(in1Pin, OUTPUT);
+	pinMode(in2Pin, OUTPUT);
+	m_in1Pin = in1Pin;
+	m_in2Pin = in2Pin;
+	m_power = 0;
+	m_swapDirection = swapDirection;
+	m_channel = channel;
+	m_decayMode = drv8833DecaySlow;
+	ledcSetup(channel, PWM_FREQUENCY, PWM_BIT_RESOLUTION);
+	return true;
+}
+
+bool Cdrv8833::move(int8_t power) {
+	if (-1 == m_in1Pin)
+		return false;
+	if (-1 == m_in2Pin)
+		return false;
+	if (0 == power) {
+		stop();
+		return true;
+	}
+	if (power > 100)
+		power = 100;
+	if (power < -100)
+		power = -100;
+	m_power = power;
+
+	if (m_swapDirection)
+		power = -power;
+	float value = (float)((1 << PWM_BIT_RESOLUTION) - 1) * ((float)abs(power))/100.0;
+	uint32_t dutyCycle;
+
+	if ((value - trunc(value)) < 0.5)
+		dutyCycle = value;
+	else
+		dutyCycle = value + 1;
+
+	if (drv8833DecaySlow == m_decayMode)
+		dutyCycle = ((1 << PWM_BIT_RESOLUTION) - 1) - dutyCycle;
+
+	if (power > 0) { // forward
+		if (drv8833DecayFast == m_decayMode) {
+			// forward fast decay
+			ledcDetachPin(m_in2Pin);
+			digitalWrite(m_in2Pin, LOW);
+			ledcAttachPin(m_in1Pin, m_channel);
+		}
+		else {
+			// forward slow decay
+			ledcDetachPin(m_in1Pin);
+			digitalWrite(m_in1Pin, HIGH);
+			ledcAttachPin(m_in2Pin, m_channel);
+		}
+	}
+	else { // reverse
+		if (drv8833DecayFast == m_decayMode) {
+			// reverse fast decay
+			ledcDetachPin(m_in1Pin);
+			digitalWrite(m_in1Pin, LOW);
+			ledcAttachPin(m_in2Pin, m_channel);
+		}
+		else {
+			// reverse slow decay
+			ledcDetachPin(m_in2Pin);
+			digitalWrite(m_in2Pin, HIGH);
+			ledcAttachPin(m_in1Pin, m_channel);
+		}
+	}
+	ledcWrite(m_channel, dutyCycle);
+	return true;
+}
+
+bool Cdrv8833::stop() {
+	if (-1 == m_in1Pin)
+		return false;
+	if (-1 == m_in2Pin)
+		return false;
+	ledcDetachPin(m_in1Pin);
+	ledcDetachPin(m_in2Pin);
+	digitalWrite(m_in1Pin, LOW);
+	digitalWrite(m_in2Pin, LOW);
+	m_power = 0;
+	return true;
+}
+
+bool Cdrv8833::brake() {
+	if (-1 == m_in1Pin)
+		return false;
+	if (-1 == m_in2Pin)
+		return false;
+	ledcDetachPin(m_in1Pin);
+	ledcDetachPin(m_in2Pin);
+	digitalWrite(m_in1Pin, HIGH);
+	digitalWrite(m_in2Pin, HIGH);
+	m_power = 0;
+	return true;
+}
+
+void Cdrv8833::setDecayMode(drv8833DecayMode decayMode) {
+	stop();
+	m_decayMode = decayMode;
+}
+
+void Cdrv8833::setFrequency(uint32_t frequency) {
+	stop();
+	ledcChangeFrequency(m_channel, frequency, PWM_BIT_RESOLUTION);
+}
+
+void Cdrv8833::swapDirection(bool swapDirection) {
+	stop();
+	m_swapDirection = swapDirection;
+}
+