frame construction: compile successfully
This commit is contained in:
parent
9e4d16f4c5
commit
d63bc6e375
18
.vscode/c_cpp_properties.json
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bb826159d88158957e36e5b7d2343420 D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/wheel.bin
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Binary file not shown.
2634
build/.ninja_log
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|
||||
"COMPONENT_SDKCONFIG_RENAMES": "D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/app_trace/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/bootloader/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/bt/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/driver/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_event/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_gdbstub/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_https_ota/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/sdkconfig.rename.esp32;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_phy/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_pm/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/sdkconfig.rename.esp32;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_timer/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esp_wifi/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/espcoredump/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esptool_py/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/hal/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/newlib/sdkconfig.rename.esp32;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/pthread/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/spi_flash/sdkconfig.rename;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/ulp/sdkconfig.rename.esp32;D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/vfs/sdkconfig.rename",
|
||||
"IDF_TARGET": "esp32",
|
||||
"IDF_ENV_FPGA": "",
|
||||
|
||||
@ -4095,6 +4095,44 @@
|
||||
"title": "Modbus Configuration",
|
||||
"type": "menu"
|
||||
},
|
||||
{
|
||||
"children": [
|
||||
{
|
||||
"children": [],
|
||||
"depends_on": null,
|
||||
"help": "SSID (network name) for the example to connect to.",
|
||||
"id": "ESP_WIFI_SSID",
|
||||
"name": "ESP_WIFI_SSID",
|
||||
"range": null,
|
||||
"title": "WiFi SSID",
|
||||
"type": "string"
|
||||
},
|
||||
{
|
||||
"children": [],
|
||||
"depends_on": null,
|
||||
"help": "WiFi password (WPA or WPA2) for the example to use.",
|
||||
"id": "ESP_WIFI_PASSWORD",
|
||||
"name": "ESP_WIFI_PASSWORD",
|
||||
"range": null,
|
||||
"title": "WiFi Password",
|
||||
"type": "string"
|
||||
},
|
||||
{
|
||||
"children": [],
|
||||
"depends_on": null,
|
||||
"help": "Set the Maximum retry to avoid station reconnecting to the AP unlimited when the AP is really inexistent.",
|
||||
"id": "ESP_MAXIMUM_RETRY",
|
||||
"name": "ESP_MAXIMUM_RETRY",
|
||||
"range": null,
|
||||
"title": "Maximum retry",
|
||||
"type": "int"
|
||||
}
|
||||
],
|
||||
"depends_on": null,
|
||||
"id": "wifi-configuration",
|
||||
"title": "Wifi Configuration",
|
||||
"type": "menu"
|
||||
},
|
||||
{
|
||||
"children": [
|
||||
{
|
||||
|
||||
File diff suppressed because one or more lines are too long
Binary file not shown.
Binary file not shown.
39
build/esp-idf/bdc_motor/cmake_install.cmake
Normal file
39
build/esp-idf/bdc_motor/cmake_install.cmake
Normal file
@ -0,0 +1,39 @@
|
||||
# Install script for directory: D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/bdc_motor
|
||||
|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/wheel")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "TRUE")
|
||||
endif()
|
||||
|
||||
# Set default install directory permissions.
|
||||
if(NOT DEFINED CMAKE_OBJDUMP)
|
||||
set(CMAKE_OBJDUMP "D:/Espressif/504/Espressif/tools/xtensa-esp32-elf/esp-2022r1-11.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-objdump.exe")
|
||||
endif()
|
||||
|
||||
BIN
build/esp-idf/bdc_motor/libbdc_motor.a
Normal file
BIN
build/esp-idf/bdc_motor/libbdc_motor.a
Normal file
Binary file not shown.
@ -402,3 +402,18 @@ if(NOT CMAKE_INSTALL_LOCAL_ONLY)
|
||||
include("D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/modbus_tcp/cmake_install.cmake")
|
||||
endif()
|
||||
|
||||
if(NOT CMAKE_INSTALL_LOCAL_ONLY)
|
||||
# Include the install script for the subdirectory.
|
||||
include("D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/bdc_motor/cmake_install.cmake")
|
||||
endif()
|
||||
|
||||
if(NOT CMAKE_INSTALL_LOCAL_ONLY)
|
||||
# Include the install script for the subdirectory.
|
||||
include("D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/pid_ctrl/cmake_install.cmake")
|
||||
endif()
|
||||
|
||||
if(NOT CMAKE_INSTALL_LOCAL_ONLY)
|
||||
# Include the install script for the subdirectory.
|
||||
include("D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/mcpwm_bdc_control/cmake_install.cmake")
|
||||
endif()
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
39
build/esp-idf/mcpwm_bdc_control/cmake_install.cmake
Normal file
39
build/esp-idf/mcpwm_bdc_control/cmake_install.cmake
Normal file
@ -0,0 +1,39 @@
|
||||
# Install script for directory: D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/mcpwm_bdc_control
|
||||
|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/wheel")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "TRUE")
|
||||
endif()
|
||||
|
||||
# Set default install directory permissions.
|
||||
if(NOT DEFINED CMAKE_OBJDUMP)
|
||||
set(CMAKE_OBJDUMP "D:/Espressif/504/Espressif/tools/xtensa-esp32-elf/esp-2022r1-11.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-objdump.exe")
|
||||
endif()
|
||||
|
||||
BIN
build/esp-idf/mcpwm_bdc_control/libmcpwm_bdc_control.a
Normal file
BIN
build/esp-idf/mcpwm_bdc_control/libmcpwm_bdc_control.a
Normal file
Binary file not shown.
Binary file not shown.
39
build/esp-idf/pid_ctrl/cmake_install.cmake
Normal file
39
build/esp-idf/pid_ctrl/cmake_install.cmake
Normal file
@ -0,0 +1,39 @@
|
||||
# Install script for directory: D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/pid_ctrl
|
||||
|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/wheel")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "TRUE")
|
||||
endif()
|
||||
|
||||
# Set default install directory permissions.
|
||||
if(NOT DEFINED CMAKE_OBJDUMP)
|
||||
set(CMAKE_OBJDUMP "D:/Espressif/504/Espressif/tools/xtensa-esp32-elf/esp-2022r1-11.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-objdump.exe")
|
||||
endif()
|
||||
|
||||
BIN
build/esp-idf/pid_ctrl/libpid_ctrl.a
Normal file
BIN
build/esp-idf/pid_ctrl/libpid_ctrl.a
Normal file
Binary file not shown.
@ -5,3 +5,4 @@ source "D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/esptool_
|
||||
source "D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/partition_table/Kconfig.projbuild"
|
||||
source "D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/wifi_station/Kconfig.projbuild"
|
||||
source "D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/modbus_tcp/Kconfig.projbuild"
|
||||
source "D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/mcpwm_bdc_control/Kconfig.projbuild"
|
||||
@ -61,3 +61,6 @@ D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/wifi_
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/main/libmain.a
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/wifi_station/libwifi_station.a
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/modbus_tcp/libmodbus_tcp.a
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/bdc_motor/libbdc_motor.a
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/pid_ctrl/libpid_ctrl.a
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/esp-idf/mcpwm_bdc_control/libmcpwm_bdc_control.a
|
||||
|
||||
@ -61,3 +61,6 @@ $<TARGET_FILE:__idf_wifi_provisioning>
|
||||
$<TARGET_FILE:__idf_main>
|
||||
$<TARGET_FILE:__idf_wifi_station>
|
||||
$<TARGET_FILE:__idf_modbus_tcp>
|
||||
$<TARGET_FILE:__idf_bdc_motor>
|
||||
$<TARGET_FILE:__idf_pid_ctrl>
|
||||
$<TARGET_FILE:__idf_mcpwm_bdc_control>
|
||||
0
build/log/idf_py_stderr_output_12824
Normal file
0
build/log/idf_py_stderr_output_12824
Normal file
52
build/log/idf_py_stderr_output_20604
Normal file
52
build/log/idf_py_stderr_output_20604
Normal file
@ -0,0 +1,52 @@
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component 'components/wifi_station components/modbus_tcp' contains
|
||||
a space separator. It was automatically split into ['components/wifi_station', 'components/modbus_tcp']
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component ' components/wifi_station components/modbus_tcp'
|
||||
contains leading spaces
|
||||
|
||||
Note: In ESP-IDF v5.0 and later, COMPONENT_DIRS and EXTRA_COMPONENT_DIRS should be defined
|
||||
as CMake lists, not as space separated strings.
|
||||
|
||||
Examples:
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components path/to/more/components)
|
||||
# Correct, EXTRA_COMPONENT_DIRS is defined as a CMake list, with two paths added
|
||||
|
||||
* list(APPEND EXTRA_COMPONENT_DIRS path/to/component)
|
||||
list(APPEND EXTRA_COMPONENT_DIRS path/to/more/components)
|
||||
# Correct, use when building EXTRA_COMPONENT_DIRS incrementally
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components "another/path with space/components")
|
||||
# Literal path with spaces has to be quoted
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS $ENV{MY_PATH}/components dir/more_components)
|
||||
# Correct, even if MY_PATH contains spaces
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS ${ROOT}/component1 ${ROOT}/component2 ${ROOT}/component3)
|
||||
# Correct, even if ROOT contains spaces
|
||||
|
||||
Avoid string concatenation!
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component1")
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component2")
|
||||
# Incorrect. String "component1 component2" may indicate a single directory
|
||||
# name with a space, or two directory names separated by space.
|
||||
|
||||
Instead use:
|
||||
list(APPEND component1)
|
||||
list(APPEND component2)
|
||||
|
||||
Defining COMPONENT_DIRS and EXTRA_COMPONENT_DIRS as CMake lists is backwards compatible
|
||||
with ESP-IDF 4.4 and below.
|
||||
|
||||
(If you think these variables are defined correctly in your project and this message
|
||||
is not relevant, please report this as an issue.)
|
||||
|
||||
Diagnostic info: D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/split_paths_by_spaces.py was invoked in D:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car with arguments: ['--var-name=EXTRA_COMPONENT_DIRS', ' components/wifi_station components/modbus_tcp']
|
||||
CMake Error at D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/cmake/build.cmake:245 (message):
|
||||
Failed to resolve component 'mcpwm_prelude'.
|
||||
Call Stack (most recent call first):
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/cmake/build.cmake:281 (__build_resolve_and_add_req)
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/cmake/build.cmake:574 (__build_expand_requirements)
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/cmake/project.cmake:530 (idf_build_process)
|
||||
CMakeLists.txt:8 (project)
|
||||
|
||||
|
||||
ninja: error: rebuilding 'build.ninja': subcommand failed
|
||||
42
build/log/idf_py_stderr_output_23796
Normal file
42
build/log/idf_py_stderr_output_23796
Normal file
@ -0,0 +1,42 @@
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component 'components/wifi_station components/modbus_tcp' contains
|
||||
a space separator. It was automatically split into ['components/wifi_station', 'components/modbus_tcp']
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component ' components/wifi_station components/modbus_tcp'
|
||||
contains leading spaces
|
||||
|
||||
Note: In ESP-IDF v5.0 and later, COMPONENT_DIRS and EXTRA_COMPONENT_DIRS should be defined
|
||||
as CMake lists, not as space separated strings.
|
||||
|
||||
Examples:
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components path/to/more/components)
|
||||
# Correct, EXTRA_COMPONENT_DIRS is defined as a CMake list, with two paths added
|
||||
|
||||
* list(APPEND EXTRA_COMPONENT_DIRS path/to/component)
|
||||
list(APPEND EXTRA_COMPONENT_DIRS path/to/more/components)
|
||||
# Correct, use when building EXTRA_COMPONENT_DIRS incrementally
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components "another/path with space/components")
|
||||
# Literal path with spaces has to be quoted
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS $ENV{MY_PATH}/components dir/more_components)
|
||||
# Correct, even if MY_PATH contains spaces
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS ${ROOT}/component1 ${ROOT}/component2 ${ROOT}/component3)
|
||||
# Correct, even if ROOT contains spaces
|
||||
|
||||
Avoid string concatenation!
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component1")
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component2")
|
||||
# Incorrect. String "component1 component2" may indicate a single directory
|
||||
# name with a space, or two directory names separated by space.
|
||||
|
||||
Instead use:
|
||||
list(APPEND component1)
|
||||
list(APPEND component2)
|
||||
|
||||
Defining COMPONENT_DIRS and EXTRA_COMPONENT_DIRS as CMake lists is backwards compatible
|
||||
with ESP-IDF 4.4 and below.
|
||||
|
||||
(If you think these variables are defined correctly in your project and this message
|
||||
is not relevant, please report this as an issue.)
|
||||
|
||||
Diagnostic info: D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/split_paths_by_spaces.py was invoked in D:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car with arguments: ['--var-name=EXTRA_COMPONENT_DIRS', ' components/wifi_station components/modbus_tcp']
|
||||
42
build/log/idf_py_stderr_output_33532
Normal file
42
build/log/idf_py_stderr_output_33532
Normal file
@ -0,0 +1,42 @@
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component 'components/wifi_station components/modbus_tcp' contains
|
||||
a space separator. It was automatically split into ['components/wifi_station', 'components/modbus_tcp']
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component ' components/wifi_station components/modbus_tcp'
|
||||
contains leading spaces
|
||||
|
||||
Note: In ESP-IDF v5.0 and later, COMPONENT_DIRS and EXTRA_COMPONENT_DIRS should be defined
|
||||
as CMake lists, not as space separated strings.
|
||||
|
||||
Examples:
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components path/to/more/components)
|
||||
# Correct, EXTRA_COMPONENT_DIRS is defined as a CMake list, with two paths added
|
||||
|
||||
* list(APPEND EXTRA_COMPONENT_DIRS path/to/component)
|
||||
list(APPEND EXTRA_COMPONENT_DIRS path/to/more/components)
|
||||
# Correct, use when building EXTRA_COMPONENT_DIRS incrementally
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components "another/path with space/components")
|
||||
# Literal path with spaces has to be quoted
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS $ENV{MY_PATH}/components dir/more_components)
|
||||
# Correct, even if MY_PATH contains spaces
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS ${ROOT}/component1 ${ROOT}/component2 ${ROOT}/component3)
|
||||
# Correct, even if ROOT contains spaces
|
||||
|
||||
Avoid string concatenation!
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component1")
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component2")
|
||||
# Incorrect. String "component1 component2" may indicate a single directory
|
||||
# name with a space, or two directory names separated by space.
|
||||
|
||||
Instead use:
|
||||
list(APPEND component1)
|
||||
list(APPEND component2)
|
||||
|
||||
Defining COMPONENT_DIRS and EXTRA_COMPONENT_DIRS as CMake lists is backwards compatible
|
||||
with ESP-IDF 4.4 and below.
|
||||
|
||||
(If you think these variables are defined correctly in your project and this message
|
||||
is not relevant, please report this as an issue.)
|
||||
|
||||
Diagnostic info: D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/split_paths_by_spaces.py was invoked in D:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car with arguments: ['--var-name=EXTRA_COMPONENT_DIRS', ' components/wifi_station components/modbus_tcp']
|
||||
42
build/log/idf_py_stderr_output_7184
Normal file
42
build/log/idf_py_stderr_output_7184
Normal file
@ -0,0 +1,42 @@
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component 'components/wifi_station components/modbus_tcp' contains
|
||||
a space separator. It was automatically split into ['components/wifi_station', 'components/modbus_tcp']
|
||||
Warning: in CMake variable EXTRA_COMPONENT_DIRS: Path component ' components/wifi_station components/modbus_tcp'
|
||||
contains leading spaces
|
||||
|
||||
Note: In ESP-IDF v5.0 and later, COMPONENT_DIRS and EXTRA_COMPONENT_DIRS should be defined
|
||||
as CMake lists, not as space separated strings.
|
||||
|
||||
Examples:
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components path/to/more/components)
|
||||
# Correct, EXTRA_COMPONENT_DIRS is defined as a CMake list, with two paths added
|
||||
|
||||
* list(APPEND EXTRA_COMPONENT_DIRS path/to/component)
|
||||
list(APPEND EXTRA_COMPONENT_DIRS path/to/more/components)
|
||||
# Correct, use when building EXTRA_COMPONENT_DIRS incrementally
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS path/to/components "another/path with space/components")
|
||||
# Literal path with spaces has to be quoted
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS $ENV{MY_PATH}/components dir/more_components)
|
||||
# Correct, even if MY_PATH contains spaces
|
||||
|
||||
* set(EXTRA_COMPONENT_DIRS ${ROOT}/component1 ${ROOT}/component2 ${ROOT}/component3)
|
||||
# Correct, even if ROOT contains spaces
|
||||
|
||||
Avoid string concatenation!
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component1")
|
||||
set(EXTRA_COMPONENT_DIRS "${EXTRA_COMPONENT_DIRS} component2")
|
||||
# Incorrect. String "component1 component2" may indicate a single directory
|
||||
# name with a space, or two directory names separated by space.
|
||||
|
||||
Instead use:
|
||||
list(APPEND component1)
|
||||
list(APPEND component2)
|
||||
|
||||
Defining COMPONENT_DIRS and EXTRA_COMPONENT_DIRS as CMake lists is backwards compatible
|
||||
with ESP-IDF 4.4 and below.
|
||||
|
||||
(If you think these variables are defined correctly in your project and this message
|
||||
is not relevant, please report this as an issue.)
|
||||
|
||||
Diagnostic info: D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/tools/split_paths_by_spaces.py was invoked in D:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car with arguments: ['--var-name=EXTRA_COMPONENT_DIRS', ' components/wifi_station components/modbus_tcp']
|
||||
21
build/log/idf_py_stdout_output_12824
Normal file
21
build/log/idf_py_stdout_output_12824
Normal file
@ -0,0 +1,21 @@
|
||||
[1/9] Performing build step for 'bootloader'
|
||||
[1/1] cmd.exe /C "cd /D D:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car\build\bootloader\esp-idf\esptool_py && D:\Espressif\504\Espressif\python_env\idf5.0_py3.11_env\Scripts\python.exe D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x1000 D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/bootloader/bootloader.bin"
|
||||
Bootloader binary size 0x6760 bytes. 0x8a0 bytes (8%) free.
|
||||
[2/7] Building C object esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/mcpwm_bdc_control/mcpwm_bdc_control.c:43: warning: "BDC_CH1_AOUT_GPIO" redefined
|
||||
43 | #define BDC_CH1_AOUT_GPIO 6
|
||||
|
|
||||
D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/components/mcpwm_bdc_control/mcpwm_bdc_control.c:42: note: this is the location of the previous definition
|
||||
42 | #define BDC_CH1_AOUT_GPIO 5
|
||||
|
|
||||
[3/7] Linking C static library esp-idf\mcpwm_bdc_control\libmcpwm_bdc_control.a
|
||||
[4/7] Generating ld/sections.ld
|
||||
[5/7] Linking CXX executable wheel.elf
|
||||
[6/7] Generating binary image from built executable
|
||||
esptool.py v4.6.2
|
||||
Creating esp32 image...
|
||||
Merged 26 ELF sections
|
||||
Successfully created esp32 image.
|
||||
Generated D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/wheel.bin
|
||||
[7/7] cmd.exe /C "cd /D D:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car\build\esp-idf\esptool_py && D:\Espressif\504\Espressif\python_env\idf5.0_py3.11_env\Scripts\python.exe D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/components/partition_table/check_sizes.py --offset 0x8000 partition --type app D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/partition_table/partition-table.bin D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/wheel.bin"
|
||||
wheel.bin binary size 0xba0e0 bytes. Smallest app partition is 0x100000 bytes. 0x45f20 bytes (27%) free.
|
||||
7
build/log/idf_py_stdout_output_20604
Normal file
7
build/log/idf_py_stdout_output_20604
Normal file
@ -0,0 +1,7 @@
|
||||
[0/1] Re-running CMake...
|
||||
-- ccache will be used for faster recompilation
|
||||
-- Building ESP-IDF components for target esp32
|
||||
-- Configuring incomplete, errors occurred!
|
||||
See also "D:/Espressif/504/Espressif/frameworks/esp-idf-v5.0.4/app/car/build/CMakeFiles/CMakeOutput.log".
|
||||
FAILED: build.ninja
|
||||
D:\Espressif\504\Espressif\tools\cmake\3.24.0\bin\cmake.exe --regenerate-during-build -SD:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car -BD:\Espressif\504\Espressif\frameworks\esp-idf-v5.0.4\app\car\build
|
||||
42
build/log/idf_py_stdout_output_23796
Normal file
42
build/log/idf_py_stdout_output_23796
Normal file
File diff suppressed because one or more lines are too long
31
build/log/idf_py_stdout_output_33532
Normal file
31
build/log/idf_py_stdout_output_33532
Normal file
File diff suppressed because one or more lines are too long
56
build/log/idf_py_stdout_output_7184
Normal file
56
build/log/idf_py_stdout_output_7184
Normal file
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
BIN
build/wheel.bin
BIN
build/wheel.bin
Binary file not shown.
BIN
build/wheel.elf
BIN
build/wheel.elf
Binary file not shown.
34917
build/wheel.map
34917
build/wheel.map
File diff suppressed because one or more lines are too long
@ -8,7 +8,10 @@
|
||||
"files.associations": {
|
||||
"esp_wifi.h": "c",
|
||||
"tcp.h": "c",
|
||||
"bdc_motor_interface.h": "c"
|
||||
"bdc_motor_interface.h": "c",
|
||||
"pulse_cnt.h": "c",
|
||||
"mcpwm_prelude.h": "c",
|
||||
"esp_timer.h": "c"
|
||||
}
|
||||
}
|
||||
}
|
||||
3
components/bdc_motor/CMakeLists.txt
Normal file
3
components/bdc_motor/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
idf_component_register(SRCS "bdc_motor_mcpwm_impl.c" "bdc_motor.c"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES driver)
|
||||
3
components/mcpwm_bdc_control/CMakeLists.txt
Normal file
3
components/mcpwm_bdc_control/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
idf_component_register(SRCS "mcpwm_bdc_control.c"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES bdc_motor pid_ctrl esp_timer modbus_tcp driver)
|
||||
20
components/mcpwm_bdc_control/Kconfig.projbuild
Normal file
20
components/mcpwm_bdc_control/Kconfig.projbuild
Normal file
@ -0,0 +1,20 @@
|
||||
menu "Wifi Configuration"
|
||||
|
||||
config ESP_WIFI_SSID
|
||||
string "WiFi SSID"
|
||||
default "myssid"
|
||||
help
|
||||
SSID (network name) for the example to connect to.
|
||||
|
||||
config ESP_WIFI_PASSWORD
|
||||
string "WiFi Password"
|
||||
default "mypassword"
|
||||
help
|
||||
WiFi password (WPA or WPA2) for the example to use.
|
||||
|
||||
config ESP_MAXIMUM_RETRY
|
||||
int "Maximum retry"
|
||||
default 5
|
||||
help
|
||||
Set the Maximum retry to avoid station reconnecting to the AP unlimited when the AP is really inexistent.
|
||||
endmenu
|
||||
@ -18,24 +18,20 @@
|
||||
|
||||
static const char *TAG = "bdc_control";
|
||||
|
||||
// Enable this config, we will print debug formated string, which in return can be captured and parsed by Serial-Studio
|
||||
#define SERIAL_STUDIO_DEBUG CONFIG_SERIAL_STUDIO_DEBUG
|
||||
|
||||
#define BDC_MCPWM_TIMER_RESOLUTION_HZ 10000000 // 10MHz, 1 tick = 0.1us
|
||||
|
||||
#define BDC_MCPWM_FREQ_HZ 25000 // 25KHz PWM
|
||||
#define BDC_MCPWM_DUTY_TICK_MAX (BDC_MCPWM_TIMER_RESOLUTION_HZ / BDC_MCPWM_FREQ_HZ) // maximum value we can set for the duty cycle, in ticks
|
||||
/* PWM输出的定时器配置 */
|
||||
#define BDC_MCPWM_TIMER_RESOLUTION_HZ 10000000 /* 精度，即计数器的频率 10MHz, 1 tick = 0.1us */
|
||||
#define BDC_MCPWM_FREQ_HZ 25000 /* PWM周期频率 25KHz PWM */
|
||||
#define BDC_MCPWM_DUTY_TICK_MAX (BDC_MCPWM_TIMER_RESOLUTION_HZ / BDC_MCPWM_FREQ_HZ) /* PWM占空比最大值，由定时器计数频率和PWM周期频率计算得来 */
|
||||
|
||||
/* 电机PWM输出IO口 */
|
||||
#define BDC_MCPWM_GPIO_A 12
|
||||
#define BDC_MCPWM_GPIO_B 13
|
||||
#define BDC_MCPWM_GPIO_A1 14
|
||||
#define BDC_MCPWM_GPIO_B1 15
|
||||
#define BDC_MCPWM_GPIO_A2 16
|
||||
#define BDC_MCPWM_GPIO_B2 17
|
||||
//编码器对应IO口
|
||||
|
||||
/* 编码器对应IO口 */
|
||||
#define BDC_ENCODER_GPIO_A 34
|
||||
#define BDC_ENCODER_GPIO_B 35
|
||||
|
||||
#define BDC_ENCODER_GPIO_A1 33
|
||||
#define BDC_ENCODER_GPIO_B1 26
|
||||
|
||||
@ -50,12 +46,12 @@ static const char *TAG = "bdc_control";
|
||||
#define BDC_CH0_LOW1_GPIO 9
|
||||
#define BDC_CH0_HI1_GPIO 10
|
||||
|
||||
//编码器脉冲计数误差范围
|
||||
/* 编码器计数范围 */
|
||||
#define BDC_ENCODER_PCNT_HIGH_LIMIT 1000
|
||||
#define BDC_ENCODER_PCNT_LOW_LIMIT -1000
|
||||
|
||||
#define BDC_PID_LOOP_PERIOD_MS 1000 // calculate the motor speed every 10ms
|
||||
#define BDC_PID_EXPECT_SPEED 400 // expected motor speed, in the pulses counted by the rotary encoder
|
||||
/* pid控制时间周期ms */
|
||||
#define BDC_PID_LOOP_PERIOD_MS 1000
|
||||
|
||||
typedef struct
|
||||
{
|
||||
@ -288,7 +284,7 @@ void bdc_motor_init_all(void)
|
||||
|
||||
/* 右轮 */
|
||||
static motor_control_context_t motor_ctrl_ctxr = {
|
||||
.id = 0, /* 左轮 */
|
||||
.id = 1, /* 右轮 */
|
||||
.accumu_count = 0,
|
||||
.pcnt_encoder = NULL,
|
||||
.motor = NULL
|
||||
2
components/pid_ctrl/CMakeLists.txt
Normal file
2
components/pid_ctrl/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
|
||||
idf_component_register(SRCS "pid_ctrl.c"
|
||||
INCLUDE_DIRS ".")
|
||||
@ -1,2 +1,2 @@
|
||||
idf_component_register(SRCS "can_network.c" "mcpwm_bdc_control.c" "station_example_main.c" "pid_ctrl.c" "bdc_motor.c" "bdc_motor_interface.h" "bdc_motor_mcpwm_impl.c"
|
||||
idf_component_register(SRCS "station_example_main.c"
|
||||
INCLUDE_DIRS ".")
|
||||
|
||||
@ -1,250 +0,0 @@
|
||||
/* TWAI Network Slave Example
|
||||
|
||||
This example code is in the Public Domain (or CC0 licensed, at your option.)
|
||||
|
||||
Unless required by applicable law or agreed to in writing, this
|
||||
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
|
||||
CONDITIONS OF ANY KIND, either express or implied.
|
||||
*/
|
||||
|
||||
/*
|
||||
* The following example demonstrates a slave node in a TWAI network. The slave
|
||||
* node is responsible for sending data messages to the master. The example will
|
||||
* execute multiple iterations, with each iteration the slave node will do the
|
||||
* following:
|
||||
* 1) Start the TWAI driver
|
||||
* 2) Listen for ping messages from master, and send ping response
|
||||
* 3) Listen for start command from master
|
||||
* 4) Send data messages to master and listen for stop command
|
||||
* 5) Send stop response to master
|
||||
* 6) Stop the TWAI driver
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/queue.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include "esp_err.h"
|
||||
#include "esp_log.h"
|
||||
#include "driver/twai.h"
|
||||
|
||||
/* --------------------- Definitions and static variables ------------------ */
|
||||
// Example Configuration
|
||||
#define DATA_PERIOD_MS 50
|
||||
#define NO_OF_ITERS 3
|
||||
#define ITER_DELAY_MS 1000
|
||||
#define RX_TASK_PRIO 8 // Receiving task priority
|
||||
#define TX_TASK_PRIO 9 // Sending task priority
|
||||
#define CTRL_TSK_PRIO 10 // Control task priority
|
||||
#define TX_GPIO_NUM 42
|
||||
#define RX_GPIO_NUM 41
|
||||
#define TAG "CAN"
|
||||
|
||||
#define ID_MASTER_STOP_CMD 0x0A0
|
||||
#define ID_MASTER_START_CMD 0x0A1
|
||||
#define ID_MASTER_PING 0x0A2
|
||||
#define ID_SLAVE_STOP_RESP 0x0B0
|
||||
#define ID_SLAVE_DATA 0x0B1
|
||||
#define ID_SLAVE_PING_RESP 0x0B2
|
||||
|
||||
typedef enum
|
||||
{
|
||||
TX_SEND_PING_RESP,
|
||||
TX_SEND_DATA,
|
||||
TX_SEND_STOP_RESP,
|
||||
TX_TASK_EXIT,
|
||||
} tx_task_action_t;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
RX_RECEIVE_PING,
|
||||
RX_RECEIVE_START_CMD,
|
||||
RX_RECEIVE_STOP_CMD,
|
||||
RX_TASK_EXIT,
|
||||
} rx_task_action_t;
|
||||
|
||||
static const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NORMAL);
|
||||
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
|
||||
static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
|
||||
// static const twai_message_t ping_resp = {.identifier = ID_SLAVE_PING_RESP, .data_length_code = 0, .data = {0, 0, 0, 0, 0, 0, 0, 0}};
|
||||
// static const twai_message_t stop_resp = {.identifier = ID_SLAVE_STOP_RESP, .data_length_code = 0, .data = {0, 0, 0, 0, 0, 0, 0, 0}};
|
||||
// Data bytes of data message will be initialized in the transmit task
|
||||
// static twai_message_t data_message = {.identifier = ID_SLAVE_DATA, .data_length_code = 4, .data = {0, 0, 0, 0, 0, 0, 0, 0}};
|
||||
|
||||
// static QueueHandle_t tx_task_queue;
|
||||
// static QueueHandle_t rx_task_queue;
|
||||
// static SemaphoreHandle_t ctrl_task_sem;
|
||||
// static SemaphoreHandle_t stop_data_sem;
|
||||
// static SemaphoreHandle_t done_sem;
|
||||
|
||||
/* --------------------------- Tasks and Functions -------------------------- */
|
||||
|
||||
static void twai_receive_task(void *arg)
|
||||
{
|
||||
twai_message_t rx_msg;
|
||||
int i;
|
||||
while (1)
|
||||
{
|
||||
char msg_data_str[32];
|
||||
int index = 0;
|
||||
esp_err_t err = twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (err == ESP_OK)
|
||||
{
|
||||
for (i = 0; i < rx_msg.data_length_code; i++)
|
||||
{
|
||||
index += sprintf(&msg_data_str[i], "%02x ", rx_msg.data[i]);
|
||||
}
|
||||
// ESP_LOGI(TAG, "recive msg id=%x,len=%d,data=[%s]", rx_msg.identifier, rx_msg.data_length_code, msg_data_str);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// static void twai_transmit_task(void *arg)
|
||||
// {
|
||||
// while (1)
|
||||
// {
|
||||
// tx_task_action_t action;
|
||||
// xQueueReceive(tx_task_queue, &action, portMAX_DELAY);
|
||||
// if (action == TX_SEND_PING_RESP)
|
||||
// {
|
||||
// // Transmit ping response to master
|
||||
// twai_transmit(&ping_resp, portMAX_DELAY);
|
||||
// ESP_LOGI(EXAMPLE_TAG, "Transmitted ping response");
|
||||
// xSemaphoreGive(ctrl_task_sem);
|
||||
// }
|
||||
// else if (action == TX_SEND_DATA)
|
||||
// {
|
||||
// // Transmit data messages until stop command is received
|
||||
// ESP_LOGI(EXAMPLE_TAG, "Start transmitting data");
|
||||
// while (1)
|
||||
// {
|
||||
// // FreeRTOS tick count used to simulate sensor data
|
||||
// uint32_t sensor_data = xTaskGetTickCount();
|
||||
// for (int i = 0; i < 4; i++)
|
||||
// {
|
||||
// data_message.data[i] = (sensor_data >> (i * 8)) & 0xFF;
|
||||
// }
|
||||
// twai_transmit(&data_message, portMAX_DELAY);
|
||||
// ESP_LOGI(EXAMPLE_TAG, "Transmitted data value %d", sensor_data);
|
||||
// vTaskDelay(pdMS_TO_TICKS(DATA_PERIOD_MS));
|
||||
// if (xSemaphoreTake(stop_data_sem, 0) == pdTRUE)
|
||||
// {
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// else if (action == TX_SEND_STOP_RESP)
|
||||
// {
|
||||
// // Transmit stop response to master
|
||||
// twai_transmit(&stop_resp, portMAX_DELAY);
|
||||
// ESP_LOGI(EXAMPLE_TAG, "Transmitted stop response");
|
||||
// xSemaphoreGive(ctrl_task_sem);
|
||||
// }
|
||||
// else if (action == TX_TASK_EXIT)
|
||||
// {
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
// vTaskDelete(NULL);
|
||||
// }
|
||||
|
||||
// static void twai_control_task(void *arg)
|
||||
// {
|
||||
// xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
// tx_task_action_t tx_action;
|
||||
// rx_task_action_t rx_action;
|
||||
|
||||
// for (int iter = 0; iter < NO_OF_ITERS; iter++)
|
||||
// {
|
||||
// ESP_ERROR_CHECK(twai_start());
|
||||
// ESP_LOGI(EXAMPLE_TAG, "Driver started");
|
||||
|
||||
// // Listen of pings from master
|
||||
// rx_action = RX_RECEIVE_PING;
|
||||
// xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
// xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
// // Send ping response
|
||||
// tx_action = TX_SEND_PING_RESP;
|
||||
// xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
// xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
// // Listen for start command
|
||||
// rx_action = RX_RECEIVE_START_CMD;
|
||||
// xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
// xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
// // Start sending data messages and listen for stop command
|
||||
// tx_action = TX_SEND_DATA;
|
||||
// rx_action = RX_RECEIVE_STOP_CMD;
|
||||
// xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
// xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
// xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
// // Send stop response
|
||||
// tx_action = TX_SEND_STOP_RESP;
|
||||
// xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
// xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
// // Wait for bus to become free
|
||||
// twai_status_info_t status_info;
|
||||
// twai_get_status_info(&status_info);
|
||||
// while (status_info.msgs_to_tx > 0)
|
||||
// {
|
||||
// vTaskDelay(pdMS_TO_TICKS(100));
|
||||
// twai_get_status_info(&status_info);
|
||||
// }
|
||||
|
||||
// ESP_ERROR_CHECK(twai_stop());
|
||||
// ESP_LOGI(EXAMPLE_TAG, "Driver stopped");
|
||||
// vTaskDelay(pdMS_TO_TICKS(ITER_DELAY_MS));
|
||||
// }
|
||||
|
||||
// // Stop TX and RX tasks
|
||||
// tx_action = TX_TASK_EXIT;
|
||||
// rx_action = RX_TASK_EXIT;
|
||||
// xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
// xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
|
||||
// // Delete Control task
|
||||
// xSemaphoreGive(done_sem);
|
||||
// vTaskDelete(NULL);
|
||||
// }
|
||||
|
||||
void can_init(void)
|
||||
{
|
||||
// Add short delay to allow master it to initialize first
|
||||
|
||||
// Create semaphores and tasks
|
||||
// tx_task_queue = xQueueCreate(1, sizeof(tx_task_action_t));
|
||||
// rx_task_queue = xQueueCreate(1, sizeof(rx_task_action_t));
|
||||
// ctrl_task_sem = xSemaphoreCreateBinary();
|
||||
// stop_data_sem = xSemaphoreCreateBinary();;
|
||||
// done_sem = xSemaphoreCreateBinary();;
|
||||
ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
|
||||
ESP_LOGI(TAG, "Driver installed");
|
||||
|
||||
xTaskCreatePinnedToCore(twai_receive_task, "CAN_rx", 1024, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
twai_start();
|
||||
// xTaskCreatePinnedToCore(twai_transmit_task, "TWAI_tx", 4096, NULL, TX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
// xTaskCreatePinnedToCore(twai_control_task, "TWAI_ctrl", 4096, NULL, CTRL_TSK_PRIO, NULL, tskNO_AFFINITY);
|
||||
|
||||
// Install TWAI driver, trigger tasks to start
|
||||
// ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
|
||||
|
||||
// xSemaphoreGive(ctrl_task_sem); // Start Control task
|
||||
// xSemaphoreTake(done_sem, portMAX_DELAY); // Wait for tasks to complete
|
||||
|
||||
// //Uninstall TWAI driver
|
||||
// ESP_ERROR_CHECK(twai_driver_uninstall());
|
||||
// ESP_LOGI(EXAMPLE_TAG, "Driver uninstalled");
|
||||
|
||||
// //Cleanup
|
||||
// vSemaphoreDelete(ctrl_task_sem);
|
||||
// vSemaphoreDelete(stop_data_sem);
|
||||
// vSemaphoreDelete(done_sem);
|
||||
// vQueueDelete(tx_task_queue);
|
||||
// vQueueDelete(rx_task_queue);
|
||||
}
|
||||
@ -1 +0,0 @@
|
||||
9292b605cfd390ff62225caa93e02700b86377e6a3156620192e4876dcf87b27
|
||||
@ -1,9 +0,0 @@
|
||||
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")
|
||||
@ -1,202 +0,0 @@
|
||||
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
the copyright owner that is granting the License.
|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
other entities that control, are controlled by, or are under common
|
||||
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|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||
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|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
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|
||||
|
||||
"Source" form shall mean the preferred form for making modifications,
|
||||
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|
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|
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|
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|
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|
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|
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|
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"Work" shall mean the work of authorship, whether in Source or
|
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|
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|
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APPENDIX: How to apply the Apache License to your work.
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||||
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|
||||
@ -1,5 +0,0 @@
|
||||
# Brushed DC Motor Control
|
||||
|
||||
This directory contains an implementation for Brushed DC Motor by different peripherals. 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).
|
||||
@ -1,5 +0,0 @@
|
||||
dependencies:
|
||||
idf: '>=5.0'
|
||||
description: Brushed DC Motor Control Driver
|
||||
url: https://github.com/espressif/idf-extra-components/tree/master/bdc_motor
|
||||
version: 0.1.0
|
||||
@ -1,145 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#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
|
||||
@ -1,116 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#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
|
||||
@ -1,62 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/cdefs.h>
|
||||
#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);
|
||||
}
|
||||
@ -1,185 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/cdefs.h>
|
||||
#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;
|
||||
}
|
||||
@ -1 +0,0 @@
|
||||
17bd99c0160f1c327803aceb088ef0e4ab3410ceb0708cb87fcc950bb62e5698
|
||||
@ -1,4 +0,0 @@
|
||||
set(srcs "src/pid_ctrl.c")
|
||||
|
||||
idf_component_register(SRCS "${srcs}"
|
||||
INCLUDE_DIRS "include")
|
||||
@ -1,202 +0,0 @@
|
||||
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
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|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
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|
||||
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|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
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|
||||
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|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
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|
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|
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"Work" shall mean the work of authorship, whether in Source or
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END OF TERMS AND CONDITIONS
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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Unless required by applicable law or agreed to in writing, software
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See the License for the specific language governing permissions and
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limitations under the License.
|
||||
@ -1,6 +0,0 @@
|
||||
dependencies:
|
||||
idf:
|
||||
version: '>=4.4'
|
||||
description: Proportional-integral-derivative controller
|
||||
url: https://github.com/espressif/idf-extra-components/tree/master/pid_ctrl
|
||||
version: 0.1.1
|
||||
@ -1,100 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "esp_err.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief PID calculation type
|
||||
*
|
||||
*/
|
||||
typedef enum {
|
||||
PID_CAL_TYPE_INCREMENTAL, /*!< Incremental PID control */
|
||||
PID_CAL_TYPE_POSITIONAL, /*!< Positional PID control */
|
||||
} pid_calculate_type_t;
|
||||
|
||||
/**
|
||||
* @brief Type of PID control block handle
|
||||
*
|
||||
*/
|
||||
typedef struct pid_ctrl_block_t *pid_ctrl_block_handle_t;
|
||||
|
||||
/**
|
||||
* @brief PID control parameters
|
||||
*
|
||||
*/
|
||||
typedef struct {
|
||||
float kp; // PID Kp parameter
|
||||
float ki; // PID Ki parameter
|
||||
float kd; // PID Kd parameter
|
||||
float max_output; // PID maximum output limitation
|
||||
float min_output; // PID minimum output limitation
|
||||
float max_integral; // PID maximum integral value limitation
|
||||
float min_integral; // PID minimum integral value limitation
|
||||
pid_calculate_type_t cal_type; // PID calculation type
|
||||
} pid_ctrl_parameter_t;
|
||||
|
||||
/**
|
||||
* @brief PID control configuration
|
||||
*
|
||||
*/
|
||||
typedef struct {
|
||||
pid_ctrl_parameter_t init_param; // Initial parameters
|
||||
} pid_ctrl_config_t;
|
||||
|
||||
/**
|
||||
* @brief Create a new PID control session, returns the handle of control block
|
||||
*
|
||||
* @param[in] config PID control configuration
|
||||
* @param[out] ret_pid Returned PID control block handle
|
||||
* @return
|
||||
* - ESP_OK: Created PID control block successfully
|
||||
* - ESP_ERR_INVALID_ARG: Created PID control block failed because of invalid argument
|
||||
* - ESP_ERR_NO_MEM: Created PID control block failed because out of memory
|
||||
*/
|
||||
esp_err_t pid_new_control_block(const pid_ctrl_config_t *config, pid_ctrl_block_handle_t *ret_pid);
|
||||
|
||||
/**
|
||||
* @brief Delete the PID control block
|
||||
*
|
||||
* @param[in] pid PID control block handle, created by `pid_new_control_block()`
|
||||
* @return
|
||||
* - ESP_OK: Delete PID control block successfully
|
||||
* - ESP_ERR_INVALID_ARG: Delete PID control block failed because of invalid argument
|
||||
*/
|
||||
esp_err_t pid_del_control_block(pid_ctrl_block_handle_t pid);
|
||||
|
||||
/**
|
||||
* @brief Update PID parameters
|
||||
*
|
||||
* @param[in] pid PID control block handle, created by `pid_new_control_block()`
|
||||
* @param[in] params PID parameters
|
||||
* @return
|
||||
* - ESP_OK: Update PID parameters successfully
|
||||
* - ESP_ERR_INVALID_ARG: Update PID parameters failed because of invalid argument
|
||||
*/
|
||||
esp_err_t pid_update_parameters(pid_ctrl_block_handle_t pid, const pid_ctrl_parameter_t *params);
|
||||
|
||||
/**
|
||||
* @brief Input error and get PID control result
|
||||
*
|
||||
* @param[in] pid PID control block handle, created by `pid_new_control_block()`
|
||||
* @param[in] input_error error data that feed to the PID controller
|
||||
* @param[out] ret_result result after PID calculation
|
||||
* @return
|
||||
* - ESP_OK: Run a PID compute successfully
|
||||
* - ESP_ERR_INVALID_ARG: Run a PID compute failed because of invalid argument
|
||||
*/
|
||||
esp_err_t pid_compute(pid_ctrl_block_handle_t pid, float input_error, float *ret_result);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -1,140 +0,0 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <sys/param.h>
|
||||
#include "esp_check.h"
|
||||
#include "esp_log.h"
|
||||
#include "pid_ctrl.h"
|
||||
|
||||
static const char *TAG = "pid_ctrl";
|
||||
|
||||
typedef struct pid_ctrl_block_t pid_ctrl_block_t;
|
||||
typedef float (*pid_cal_func_t)(pid_ctrl_block_t *pid, float error);
|
||||
|
||||
struct pid_ctrl_block_t {
|
||||
float Kp; // PID Kp value
|
||||
float Ki; // PID Ki value
|
||||
float Kd; // PID Kd value
|
||||
float previous_err1; // e(k-1)
|
||||
float previous_err2; // e(k-2)
|
||||
float integral_err; // Sum of error
|
||||
float last_output; // PID output in last control period
|
||||
float max_output; // PID maximum output limitation
|
||||
float min_output; // PID minimum output limitation
|
||||
float max_integral; // PID maximum integral value limitation
|
||||
float min_integral; // PID minimum integral value limitation
|
||||
pid_cal_func_t calculate_func; // calculation function, depends on actual PID type set by user
|
||||
};
|
||||
|
||||
static float pid_calc_positional(pid_ctrl_block_t *pid, float error)
|
||||
{
|
||||
float output = 0;
|
||||
/* Add current error to the integral error */
|
||||
pid->integral_err += error;
|
||||
/* If the integral error is out of the range, it will be limited */
|
||||
pid->integral_err = MIN(pid->integral_err, pid->max_integral);
|
||||
pid->integral_err = MAX(pid->integral_err, pid->min_integral);
|
||||
|
||||
/* Calculate the pid control value by location formula */
|
||||
/* u(k) = e(k)*Kp + (e(k)-e(k-1))*Kd + integral*Ki */
|
||||
output = error * pid->Kp +
|
||||
(error - pid->previous_err1) * pid->Kd +
|
||||
pid->integral_err * pid->Ki;
|
||||
|
||||
/* If the output is out of the range, it will be limited */
|
||||
output = MIN(output, pid->max_output);
|
||||
output = MAX(output, pid->min_output);
|
||||
|
||||
/* Update previous error */
|
||||
pid->previous_err1 = error;
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
static float pid_calc_incremental(pid_ctrl_block_t *pid, float error)
|
||||
{
|
||||
float output = 0;
|
||||
|
||||
/* Calculate the pid control value by increment formula */
|
||||
/* du(k) = (e(k)-e(k-1))*Kp + (e(k)-2*e(k-1)+e(k-2))*Kd + e(k)*Ki */
|
||||
/* u(k) = du(k) + u(k-1) */
|
||||
output = (error - pid->previous_err1) * pid->Kp +
|
||||
(error - 2 * pid->previous_err1 + pid->previous_err2) * pid->Kd +
|
||||
error * pid->Ki +
|
||||
pid->last_output;
|
||||
|
||||
/* If the output is beyond the range, it will be limited */
|
||||
output = MIN(output, pid->max_output);
|
||||
output = MAX(output, pid->min_output);
|
||||
|
||||
/* Update previous error */
|
||||
pid->previous_err2 = pid->previous_err1;
|
||||
pid->previous_err1 = error;
|
||||
|
||||
/* Update last output */
|
||||
pid->last_output = output;
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
esp_err_t pid_new_control_block(const pid_ctrl_config_t *config, pid_ctrl_block_handle_t *ret_pid)
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
pid_ctrl_block_t *pid = NULL;
|
||||
/* Check the input pointer */
|
||||
ESP_GOTO_ON_FALSE(config && ret_pid, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
|
||||
|
||||
pid = calloc(1, sizeof(pid_ctrl_block_t));
|
||||
ESP_GOTO_ON_FALSE(pid, ESP_ERR_NO_MEM, err, TAG, "no mem for PID control block");
|
||||
ESP_GOTO_ON_ERROR(pid_update_parameters(pid, &config->init_param), err, TAG, "init PID parameters failed");
|
||||
*ret_pid = pid;
|
||||
return ret;
|
||||
|
||||
err:
|
||||
if (pid) {
|
||||
free(pid);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t pid_del_control_block(pid_ctrl_block_handle_t pid)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(pid, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
free(pid);
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t pid_compute(pid_ctrl_block_handle_t pid, float input_error, float *ret_result)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(pid && ret_result, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
*ret_result = pid->calculate_func(pid, input_error);
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t pid_update_parameters(pid_ctrl_block_handle_t pid, const pid_ctrl_parameter_t *params)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(pid && params, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
pid->Kp = params->kp;
|
||||
pid->Ki = params->ki;
|
||||
pid->Kd = params->kd;
|
||||
pid->max_output = params->max_output;
|
||||
pid->min_output = params->min_output;
|
||||
pid->max_integral = params->max_integral;
|
||||
pid->min_integral = params->min_integral;
|
||||
/* Set the calculate function according to the PID type */
|
||||
switch (params->cal_type) {
|
||||
case PID_CAL_TYPE_INCREMENTAL:
|
||||
pid->calculate_func = pid_calc_incremental;
|
||||
break;
|
||||
case PID_CAL_TYPE_POSITIONAL:
|
||||
pid->calculate_func = pid_calc_positional;
|
||||
break;
|
||||
default:
|
||||
ESP_RETURN_ON_FALSE(false, ESP_ERR_INVALID_ARG, TAG, "invalid PID calculation type:%d", params->cal_type);
|
||||
}
|
||||
return ESP_OK;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user