From 15bfb4cb6da1cca3bccf8943fe39e0afef63e716 Mon Sep 17 00:00:00 2001 From: suda-morris <362953310@qq.com> Date: Wed, 10 Aug 2022 14:21:54 +0800 Subject: [PATCH] bdc_motor: added BDC motor driver --- .github/workflows/upload_component.yml | 2 +- bdc_motor/CMakeLists.txt | 9 + bdc_motor/LICENSE | 202 ++++++++++++++++++++++ bdc_motor/README.md | 5 + bdc_motor/idf_component.yml | 5 + bdc_motor/include/bdc_motor.h | 145 ++++++++++++++++ bdc_motor/interface/bdc_motor_interface.h | 116 +++++++++++++ bdc_motor/src/bdc_motor.c | 62 +++++++ bdc_motor/src/bdc_motor_mcpwm_impl.c | 185 ++++++++++++++++++++ test_app/CMakeLists.txt | 2 +- 10 files changed, 731 insertions(+), 2 deletions(-) create mode 100644 bdc_motor/CMakeLists.txt create mode 100644 bdc_motor/LICENSE create mode 100644 bdc_motor/README.md create mode 100644 bdc_motor/idf_component.yml create mode 100644 bdc_motor/include/bdc_motor.h create mode 100644 bdc_motor/interface/bdc_motor_interface.h create mode 100644 bdc_motor/src/bdc_motor.c create mode 100644 bdc_motor/src/bdc_motor_mcpwm_impl.c diff --git a/.github/workflows/upload_component.yml b/.github/workflows/upload_component.yml index b8348b8..e075d21 100644 --- a/.github/workflows/upload_component.yml +++ b/.github/workflows/upload_component.yml @@ -15,6 +15,6 @@ jobs: - name: Upload components to component service uses: espressif/upload-components-ci-action@v1 with: - directories: "cbor;jsmn;libsodium;pid_ctrl;qrcode;nghttp;sh2lib;expat;esp_encrypted_img;coap;pcap;json_generator;json_parser;usb/usb_host_cdc_acm;usb/usb_host_msc" + directories: "bdc_motor;cbor;jsmn;libsodium;pid_ctrl;qrcode;nghttp;sh2lib;expat;esp_encrypted_img;coap;pcap;json_generator;json_parser;usb/usb_host_cdc_acm;usb/usb_host_msc" namespace: "espressif" api_token: ${{ secrets.IDF_COMPONENT_API_TOKEN }} diff --git a/bdc_motor/CMakeLists.txt b/bdc_motor/CMakeLists.txt new file mode 100644 index 0000000..e8f680b --- /dev/null +++ b/bdc_motor/CMakeLists.txt @@ -0,0 +1,9 @@ +set(srcs "src/bdc_motor.c") + +if(CONFIG_SOC_MCPWM_SUPPORTED) + list(APPEND srcs "src/bdc_motor_mcpwm_impl.c") +endif() + +idf_component_register(SRCS ${srcs} + INCLUDE_DIRS "include" "interface" + PRIV_REQUIRES "driver") diff --git a/bdc_motor/LICENSE b/bdc_motor/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/bdc_motor/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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Currently only MCPWM is supported as the BDC motor backend. + +To learn more about how to use this component, please check API Documentation from header file [bdc_motor.h](./include/bdc_motor.h). diff --git a/bdc_motor/idf_component.yml b/bdc_motor/idf_component.yml new file mode 100644 index 0000000..5a6a229 --- /dev/null +++ b/bdc_motor/idf_component.yml @@ -0,0 +1,5 @@ +version: "0.1.0" +description: Brushed DC Motor Control Driver +url: https://github.com/espressif/idf-extra-components/tree/master/bdc_motor +dependencies: + idf: ">=5.0" diff --git a/bdc_motor/include/bdc_motor.h b/bdc_motor/include/bdc_motor.h new file mode 100644 index 0000000..1b102d9 --- /dev/null +++ b/bdc_motor/include/bdc_motor.h @@ -0,0 +1,145 @@ +/* + * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ +#pragma once + +#include +#include "esp_err.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @brief Brushed DC Motor handle + */ +typedef struct bdc_motor_t *bdc_motor_handle_t; + +/** + * @brief Enable BDC motor + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Enable motor successfully + * - ESP_ERR_INVALID_ARG: Enable motor failed because of invalid parameters + * - ESP_FAIL: Enable motor failed because other error occurred + */ +esp_err_t bdc_motor_enable(bdc_motor_handle_t motor); + +/** + * @brief Disable BDC motor + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Disable motor successfully + * - ESP_ERR_INVALID_ARG: Disable motor failed because of invalid parameters + * - ESP_FAIL: Disable motor failed because other error occurred + */ +esp_err_t bdc_motor_disable(bdc_motor_handle_t motor); + +/** + * @brief Set speed for bdc motor + * + * @param motor: BDC Motor handle + * @param speed: BDC speed + * + * @return + * - ESP_OK: Set motor speed successfully + * - ESP_ERR_INVALID_ARG: Set motor speed failed because of invalid parameters + * - ESP_FAIL: Set motor speed failed because other error occurred + */ +esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed); + +/** + * @brief Forward BDC motor + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Forward motor successfully + * - ESP_FAIL: Forward motor failed because some other error occurred + */ +esp_err_t bdc_motor_forward(bdc_motor_handle_t motor); + +/** + * @brief Reverse BDC Motor + * + * @param strip: BDC Motor handle + * + * @return + * - ESP_OK: Reverse motor successfully + * - ESP_FAIL: Reverse motor failed because some other error occurred + */ +esp_err_t bdc_motor_reverse(bdc_motor_handle_t motor); + +/** + * @brief Stop motor in a coast way (a.k.a Fast Decay) + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Stop motor successfully + * - ESP_FAIL: Stop motor failed because some other error occurred + */ +esp_err_t bdc_motor_coast(bdc_motor_handle_t motor); + +/** + * @brief Stop motor in a brake way (a.k.a Slow Decay) + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Stop motor successfully + * - ESP_FAIL: Stop motor failed because some other error occurred + */ +esp_err_t bdc_motor_brake(bdc_motor_handle_t motor); + +/** + * @brief Free BDC Motor resources + * + * @param strip: BDC Motor handle + * + * @return + * - ESP_OK: Free resources successfully + * - ESP_FAIL: Free resources failed because error occurred + */ +esp_err_t bdc_motor_del(bdc_motor_handle_t motor); + +/** + * @brief BDC Motor Configuration + */ +typedef struct { + uint32_t pwma_gpio_num; /*!< BDC Motor PWM A gpio number */ + uint32_t pwmb_gpio_num; /*!< BDC Motor PWM B gpio number */ + uint32_t pwm_freq_hz; /*!< PWM frequency, in Hz */ +} bdc_motor_config_t; + +/** + * @brief BDC Motor MCPWM specific configuration + */ +typedef struct { + int group_id; /*!< MCPWM group number */ + uint32_t resolution_hz; /*!< MCPWM timer resolution */ +} bdc_motor_mcpwm_config_t; + +/** + * @brief Create BDC Motor based on MCPWM peripheral + * + * @param motor_config: BDC Motor configuration + * @param mcpwm_config: MCPWM specific configuration + * @param ret_motor Returned BDC Motor handle + * @return + * - ESP_OK: Create BDC Motor handle successfully + * - ESP_ERR_INVALID_ARG: Create BDC Motor handle failed because of invalid argument + * - ESP_ERR_NO_MEM: Create BDC Motor handle failed because of out of memory + * - ESP_FAIL: Create BDC Motor handle failed because some other error + */ +esp_err_t bdc_motor_new_mcpwm_device(const bdc_motor_config_t *motor_config, const bdc_motor_mcpwm_config_t *mcpwm_config, bdc_motor_handle_t *ret_motor); + +#ifdef __cplusplus +} +#endif diff --git a/bdc_motor/interface/bdc_motor_interface.h b/bdc_motor/interface/bdc_motor_interface.h new file mode 100644 index 0000000..35e9697 --- /dev/null +++ b/bdc_motor/interface/bdc_motor_interface.h @@ -0,0 +1,116 @@ +/* + * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ +#pragma once + +#include +#include "esp_err.h" + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct bdc_motor_t bdc_motor_t; /*!< Type of BDC motor */ + +/** + * @brief BDC motor interface definition + */ +struct bdc_motor_t { + /** + * @brief Enable BDC motor + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Enable motor successfully + * - ESP_ERR_INVALID_ARG: Enable motor failed because of invalid parameters + * - ESP_FAIL: Enable motor failed because other error occurred + */ + esp_err_t (*enable)(bdc_motor_t *motor); + + /** + * @brief Disable BDC motor + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Disable motor successfully + * - ESP_ERR_INVALID_ARG: Disable motor failed because of invalid parameters + * - ESP_FAIL: Disable motor failed because other error occurred + */ + esp_err_t (*disable)(bdc_motor_t *motor); + + /** + * @brief Set speed for bdc motor + * + * @param motor: BDC Motor handle + * @param speed: BDC speed + * + * @return + * - ESP_OK: Set motor speed successfully + * - ESP_ERR_INVALID_ARG: Set motor speed failed because of invalid parameters + * - ESP_FAIL: Set motor speed failed because other error occurred + */ + esp_err_t (*set_speed)(bdc_motor_t *motor, uint32_t speed); + + /** + * @brief Forward BDC motor + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Forward motor successfully + * - ESP_FAIL: Forward motor failed because some other error occurred + */ + esp_err_t (*forward)(bdc_motor_t *motor); + + /** + * @brief Reverse BDC Motor + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Reverse motor successfully + * - ESP_FAIL: Reverse motor failed because some other error occurred + */ + esp_err_t (*reverse)(bdc_motor_t *motor); + + /** + * @brief Stop motor in a coast way (a.k.a Fast Decay) + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Stop motor successfully + * - ESP_FAIL: Stop motor failed because some other error occurred + */ + esp_err_t (*coast)(bdc_motor_t *motor); + + /** + * @brief Stop motor in a brake way (a.k.a Slow Decay) + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Stop motor successfully + * - ESP_FAIL: Stop motor failed because some other error occurred + */ + esp_err_t (*brake)(bdc_motor_t *motor); + + /** + * @brief Free BDC Motor handle resources + * + * @param motor: BDC Motor handle + * + * @return + * - ESP_OK: Free resources successfully + * - ESP_FAIL: Free resources failed because error occurred + */ + esp_err_t (*del)(bdc_motor_t *motor); +}; + +#ifdef __cplusplus +} +#endif diff --git a/bdc_motor/src/bdc_motor.c b/bdc_motor/src/bdc_motor.c new file mode 100644 index 0000000..fbbc440 --- /dev/null +++ b/bdc_motor/src/bdc_motor.c @@ -0,0 +1,62 @@ +/* + * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ +#include +#include +#include +#include "esp_log.h" +#include "esp_check.h" +#include "bdc_motor.h" +#include "bdc_motor_interface.h" + +static const char *TAG = "bdc_motor"; + +esp_err_t bdc_motor_enable(bdc_motor_handle_t motor) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->enable(motor); +} + +esp_err_t bdc_motor_disable(bdc_motor_handle_t motor) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->disable(motor); +} + +esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->set_speed(motor, speed); +} + +esp_err_t bdc_motor_forward(bdc_motor_handle_t motor) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->forward(motor); +} + +esp_err_t bdc_motor_reverse(bdc_motor_handle_t motor) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->reverse(motor); +} + +esp_err_t bdc_motor_coast(bdc_motor_handle_t motor) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->coast(motor); +} + +esp_err_t bdc_motor_brake(bdc_motor_handle_t motor) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->brake(motor); +} + +esp_err_t bdc_motor_del(bdc_motor_handle_t motor) +{ + ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument"); + return motor->del(motor); +} diff --git a/bdc_motor/src/bdc_motor_mcpwm_impl.c b/bdc_motor/src/bdc_motor_mcpwm_impl.c new file mode 100644 index 0000000..2b502a6 --- /dev/null +++ b/bdc_motor/src/bdc_motor_mcpwm_impl.c @@ -0,0 +1,185 @@ +/* + * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ +#include +#include +#include +#include "esp_log.h" +#include "esp_check.h" +#include "driver/mcpwm_prelude.h" +#include "bdc_motor.h" +#include "bdc_motor_interface.h" + +static const char *TAG = "bdc_motor_mcpwm"; + +typedef struct { + bdc_motor_t base; + mcpwm_timer_handle_t timer; + mcpwm_oper_handle_t operator; + mcpwm_cmpr_handle_t cmpa; + mcpwm_cmpr_handle_t cmpb; + mcpwm_gen_handle_t gena; + mcpwm_gen_handle_t genb; +} bdc_motor_mcpwm_obj; + +static esp_err_t bdc_motor_mcpwm_set_speed(bdc_motor_t *motor, uint32_t speed) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(mcpwm_motor->cmpa, speed), TAG, "set compare value failed"); + ESP_RETURN_ON_ERROR(mcpwm_comparator_set_compare_value(mcpwm_motor->cmpb, speed), TAG, "set compare value failed"); + return ESP_OK; +} + +static esp_err_t bdc_motor_mcpwm_enable(bdc_motor_t *motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + ESP_RETURN_ON_ERROR(mcpwm_timer_enable(mcpwm_motor->timer), TAG, "enable timer failed"); + ESP_RETURN_ON_ERROR(mcpwm_timer_start_stop(mcpwm_motor->timer, MCPWM_TIMER_START_NO_STOP), TAG, "start timer failed"); + return ESP_OK; +} + +static esp_err_t bdc_motor_mcpwm_disable(bdc_motor_t *motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + ESP_RETURN_ON_ERROR(mcpwm_timer_start_stop(mcpwm_motor->timer, MCPWM_TIMER_STOP_EMPTY), TAG, "stop timer failed"); + ESP_RETURN_ON_ERROR(mcpwm_timer_disable(mcpwm_motor->timer), TAG, "disable timer failed"); + return ESP_OK; +} + +static esp_err_t bdc_motor_mcpwm_forward(bdc_motor_t *motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, -1, true), TAG, "disable force level for gena failed"); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 0, true), TAG, "set force level for genb failed"); + return ESP_OK; +} + +static esp_err_t bdc_motor_mcpwm_reverse(bdc_motor_t *motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, -1, true), TAG, "disable force level for genb failed"); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 0, true), TAG, "set force level for gena failed"); + return ESP_OK; +} + +static esp_err_t bdc_motor_mcpwm_coast(bdc_motor_t *motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 0, true), TAG, "set force level for gena failed"); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 0, true), TAG, "set force level for genb failed"); + return ESP_OK; +} + +static esp_err_t bdc_motor_mcpwm_brake(bdc_motor_t *motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->gena, 1, true), TAG, "set force level for gena failed"); + ESP_RETURN_ON_ERROR(mcpwm_generator_set_force_level(mcpwm_motor->genb, 1, true), TAG, "set force level for genb failed"); + return ESP_OK; +} + +static esp_err_t bdc_motor_mcpwm_del(bdc_motor_t *motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = __containerof(motor, bdc_motor_mcpwm_obj, base); + mcpwm_del_generator(mcpwm_motor->gena); + mcpwm_del_generator(mcpwm_motor->genb); + mcpwm_del_comparator(mcpwm_motor->cmpa); + mcpwm_del_comparator(mcpwm_motor->cmpb); + mcpwm_del_operator(mcpwm_motor->operator); + mcpwm_del_timer(mcpwm_motor->timer); + free(mcpwm_motor); + return ESP_OK; +} + +esp_err_t bdc_motor_new_mcpwm_device(const bdc_motor_config_t *motor_config, const bdc_motor_mcpwm_config_t *mcpwm_config, bdc_motor_handle_t *ret_motor) +{ + bdc_motor_mcpwm_obj *mcpwm_motor = NULL; + esp_err_t ret = ESP_OK; + ESP_GOTO_ON_FALSE(motor_config && mcpwm_config && ret_motor, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument"); + mcpwm_motor = calloc(1, sizeof(bdc_motor_mcpwm_obj)); + ESP_GOTO_ON_FALSE(mcpwm_motor, ESP_ERR_NO_MEM, err, TAG, "no mem for rmt motor"); + + // mcpwm timer + mcpwm_timer_config_t timer_config = { + .group_id = mcpwm_config->group_id, + .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT, + .resolution_hz = mcpwm_config->resolution_hz, + .period_ticks = mcpwm_config->resolution_hz / motor_config->pwm_freq_hz, + .count_mode = MCPWM_TIMER_COUNT_MODE_UP, + }; + ESP_GOTO_ON_ERROR(mcpwm_new_timer(&timer_config, &mcpwm_motor->timer), err, TAG, "create MCPWM timer failed"); + + mcpwm_operator_config_t operator_config = { + .group_id = mcpwm_config->group_id, + }; + ESP_GOTO_ON_ERROR(mcpwm_new_operator(&operator_config, &mcpwm_motor->operator), err, TAG, "create MCPWM operator failed"); + + ESP_GOTO_ON_ERROR(mcpwm_operator_connect_timer(mcpwm_motor->operator, mcpwm_motor->timer), err, TAG, "connect timer and operator failed"); + + mcpwm_comparator_config_t comparator_config = { + .flags.update_cmp_on_tez = true, + }; + ESP_GOTO_ON_ERROR(mcpwm_new_comparator(mcpwm_motor->operator, &comparator_config, &mcpwm_motor->cmpa), err, TAG, "create comparator failed"); + ESP_GOTO_ON_ERROR(mcpwm_new_comparator(mcpwm_motor->operator, &comparator_config, &mcpwm_motor->cmpb), err, TAG, "create comparator failed"); + + // set the initial compare value for both comparators + mcpwm_comparator_set_compare_value(mcpwm_motor->cmpa, 0); + mcpwm_comparator_set_compare_value(mcpwm_motor->cmpb, 0); + + mcpwm_generator_config_t generator_config = { + .gen_gpio_num = motor_config->pwma_gpio_num, + }; + ESP_GOTO_ON_ERROR(mcpwm_new_generator(mcpwm_motor->operator, &generator_config, &mcpwm_motor->gena), err, TAG, "create generator failed"); + generator_config.gen_gpio_num = motor_config->pwmb_gpio_num; + ESP_GOTO_ON_ERROR(mcpwm_new_generator(mcpwm_motor->operator, &generator_config, &mcpwm_motor->genb), err, TAG, "create generator failed"); + + mcpwm_generator_set_actions_on_timer_event(mcpwm_motor->gena, + MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH), + MCPWM_GEN_TIMER_EVENT_ACTION_END()); + mcpwm_generator_set_actions_on_compare_event(mcpwm_motor->gena, + MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, mcpwm_motor->cmpa, MCPWM_GEN_ACTION_LOW), + MCPWM_GEN_COMPARE_EVENT_ACTION_END()); + mcpwm_generator_set_actions_on_timer_event(mcpwm_motor->genb, + MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH), + MCPWM_GEN_TIMER_EVENT_ACTION_END()); + mcpwm_generator_set_actions_on_compare_event(mcpwm_motor->genb, + MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, mcpwm_motor->cmpb, MCPWM_GEN_ACTION_LOW), + MCPWM_GEN_COMPARE_EVENT_ACTION_END()); + + mcpwm_motor->base.enable = bdc_motor_mcpwm_enable; + mcpwm_motor->base.disable = bdc_motor_mcpwm_disable; + mcpwm_motor->base.forward = bdc_motor_mcpwm_forward; + mcpwm_motor->base.reverse = bdc_motor_mcpwm_reverse; + mcpwm_motor->base.coast = bdc_motor_mcpwm_coast; + mcpwm_motor->base.brake = bdc_motor_mcpwm_brake; + mcpwm_motor->base.set_speed = bdc_motor_mcpwm_set_speed; + mcpwm_motor->base.del = bdc_motor_mcpwm_del; + *ret_motor = &mcpwm_motor->base; + return ESP_OK; + +err: + if (mcpwm_motor) { + if (mcpwm_motor->gena) { + mcpwm_del_generator(mcpwm_motor->gena); + } + if (mcpwm_motor->genb) { + mcpwm_del_generator(mcpwm_motor->genb); + } + if (mcpwm_motor->cmpa) { + mcpwm_del_comparator(mcpwm_motor->cmpa); + } + if (mcpwm_motor->cmpb) { + mcpwm_del_comparator(mcpwm_motor->cmpb); + } + if (mcpwm_motor->operator) { + mcpwm_del_operator(mcpwm_motor->operator); + } + if (mcpwm_motor->timer) { + mcpwm_del_timer(mcpwm_motor->timer); + } + free(mcpwm_motor); + } + return ret; +} diff --git a/test_app/CMakeLists.txt b/test_app/CMakeLists.txt index fe5570e..7800819 100644 --- a/test_app/CMakeLists.txt +++ b/test_app/CMakeLists.txt @@ -14,7 +14,7 @@ endif() # 3. Add here if the component is compatible with IDF >= v5.0 if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER_EQUAL "5.0") - list(APPEND EXTRA_COMPONENT_DIRS ../sh2lib ../nghttp) + list(APPEND EXTRA_COMPONENT_DIRS ../bdc_motor ../sh2lib ../nghttp) endif() # !This section should NOT be touched when adding new component!