79 lines
2.4 KiB
C
79 lines
2.4 KiB
C
/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdlib.h>
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#include <string.h>
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#include <sys/cdefs.h>
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#include "esp_log.h"
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#include "esp_check.h"
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#include "bdc_motor.h"
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#include "bdc_motor_interface.h"
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#include "driver/gpio.h"
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static const char *TAG = "bdc_motor";
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/* H桥low的两个gpio控制引脚 */
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/* 注：原来的这些函数只处理了pwm的信号，没有处理H桥low的两个mos管状态，这里采用全局变量的方式暂时的修正 */
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/* 左轮low0 low1 右轮low0 low1 */
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uint32_t low_gpio[2][2];
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esp_err_t bdc_motor_enable(bdc_motor_handle_t motor, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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gpio_set_level(low_gpio[id][0], 1);
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gpio_set_level(low_gpio[id][1], 1);
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return motor->enable(motor);
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}
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esp_err_t bdc_motor_disable(bdc_motor_handle_t motor, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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return motor->disable(motor);
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}
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esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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return motor->set_speed(motor, speed);
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}
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esp_err_t bdc_motor_forward(bdc_motor_handle_t motor, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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gpio_set_level(low_gpio[id][0], 1);
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gpio_set_level(low_gpio[id][1], 0);
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return motor->forward(motor);
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}
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esp_err_t bdc_motor_reverse(bdc_motor_handle_t motor, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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gpio_set_level(low_gpio[id][0], 0);
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gpio_set_level(low_gpio[id][1], 1);
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return motor->reverse(motor);
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}
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esp_err_t bdc_motor_coast(bdc_motor_handle_t motor, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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gpio_set_level(low_gpio[id][0], 1);
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gpio_set_level(low_gpio[id][1], 1);
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return motor->coast(motor);
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}
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esp_err_t bdc_motor_brake(bdc_motor_handle_t motor, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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gpio_set_level(low_gpio[id][0], 0);
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gpio_set_level(low_gpio[id][1], 0);
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return motor->brake(motor);
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}
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esp_err_t bdc_motor_del(bdc_motor_handle_t motor, int id)
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{
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ESP_RETURN_ON_FALSE(motor, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
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return motor->del(motor);
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}
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