Feature/bldc haptics

.github/workflows/build.yml

@@ -19,6 +19,8 @@ jobs:
           target: esp32s3
         - path: 'components/aw9523/example'
           target: esp32
+        - path: 'components/bldc_haptics/example'
+          target: esp32s3
         - path: 'components/bldc_motor/example'
           target: esp32s3
         - path: 'components/controller/example'

components/bldc_driver/include/bldc_driver.hpp

@@ -33,6 +33,7 @@ class BldcDriver {
     int gpio_c_h;               /**< Phase C high side gpio. */
     int gpio_c_l;               /**< Phase C low side gpio. */
     int gpio_enable{-1};        /**< Enable pin for the BLDC driver (if any). */
+    int gpio_fault{-1};         /**< Fault pin for the BLDC driver (if any). */
     float power_supply_voltage; /**< Voltage of the power supply. */
     float limit_voltage{-1}; /**< What voltage the motor should be limited to. Less than 0 means no
                                 limit. Will be clamped to power supply voltage. */
@@ -50,7 +51,7 @@ class BldcDriver {
       : gpio_ah_((gpio_num_t)config.gpio_a_h), gpio_al_((gpio_num_t)config.gpio_a_l),
         gpio_bh_((gpio_num_t)config.gpio_b_h), gpio_bl_((gpio_num_t)config.gpio_b_l),
         gpio_ch_((gpio_num_t)config.gpio_c_h), gpio_cl_((gpio_num_t)config.gpio_c_l),
-        gpio_en_(config.gpio_enable), dead_zone_(config.dead_zone),
+        gpio_en_(config.gpio_enable), gpio_fault_(config.gpio_fault), dead_zone_(config.dead_zone),
         logger_({.tag = "BLDC Driver", .level = config.log_level}) {
     configure_power(config.power_supply_voltage, config.limit_voltage);
     init(config);
@@ -87,8 +88,30 @@ class BldcDriver {
       // set force level to 0 (gate off), and hold it
       mcpwm_generator_set_force_level(g, 0, true);
     }
-    gpio_set_level((gpio_num_t)gpio_en_, 0);
     enabled_ = false;
+    std::lock_guard<std::mutex> lock(en_mutex_);
+    if (gpio_en_ >= 0) {
+      gpio_set_level((gpio_num_t)gpio_en_, 0);
+    }
+  }
+
+  /**
+   * @brief Check if the driver is enabled.
+   * @return True if the driver is enabled, false otherwise.
+   */
+  bool is_enabled() const { return enabled_; }
+
+  /**
+   * @brief Check if the driver is faulted.
+   * @note If no fault pin was provided, this will always return false.
+   * @return True if the driver is faulted, false otherwise.
+   */
+  bool is_faulted() {
+    std::lock_guard<std::mutex> lock(fault_mutex_);
+    if (gpio_fault_ < 0) {
+      return false;
+    }
+    return gpio_get_level((gpio_num_t)gpio_fault_) == 1;
   }
 
   /**
@@ -195,6 +218,7 @@ class BldcDriver {
 protected:
   void init(const Config &config) {
     configure_enable_gpio();
+    configure_fault_gpio();
     configure_timer();
     configure_operators();
     configure_comparators();
@@ -208,6 +232,7 @@ class BldcDriver {
   }
 
   void configure_enable_gpio() {
+    std::lock_guard<std::mutex> lock(en_mutex_);
     if (gpio_en_ < 0) {
       return;
     }
@@ -220,6 +245,21 @@ class BldcDriver {
     gpio_set_level((gpio_num_t)gpio_en_, 0);
   }
 
+  void configure_fault_gpio() {
+    std::lock_guard<std::mutex> lock(fault_mutex_);
+    if (gpio_fault_ < 0) {
+      return;
+    }
+    logger_.info("Configure fault pin");
+    gpio_config_t drv_fault_config;
+    memset(&drv_fault_config, 0, sizeof(drv_fault_config));
+    drv_fault_config.pin_bit_mask = 1ULL << gpio_fault_;
+    drv_fault_config.mode = GPIO_MODE_INPUT;
+    drv_fault_config.pull_up_en = GPIO_PULLUP_DISABLE;
+    drv_fault_config.pull_down_en = GPIO_PULLDOWN_ENABLE;
+    ESP_ERROR_CHECK(gpio_config(&drv_fault_config));
+  }
+
   void configure_timer() {
     logger_.info("Create MCPWM timer");
     mcpwm_timer_config_t timer_config;
@@ -307,7 +347,10 @@ class BldcDriver {
   gpio_num_t gpio_bl_;
   gpio_num_t gpio_ch_;
   gpio_num_t gpio_cl_;
+  std::mutex en_mutex_;
   int gpio_en_;
+  std::mutex fault_mutex_;
+  int gpio_fault_;
   std::atomic<float> power_supply_voltage_;
   std::atomic<float> limit_voltage_;
   float dead_zone_;

components/bldc_haptics/CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(
+  INCLUDE_DIRS "include"
+  REQUIRES logger math pid task bldc_motor
+  )

components/bldc_haptics/example/CMakeLists.txt

@@ -0,0 +1,21 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+# add the component directories that we want to use
+set(EXTRA_COMPONENT_DIRS
+  "../../../components/"
+)
+
+set(
+  COMPONENTS
+  "main esptool_py filters task monitor mt6701 bldc_motor bldc_driver bldc_haptics"
+  CACHE STRING
+  "List of components to include"
+  )
+
+project(bldc_motor_example)
+
+set(CMAKE_CXX_STANDARD 20)

components/bldc_haptics/example/README.md

@@ -0,0 +1,67 @@
+_Note that this is a template for an ESP-IDF example README.md file. When using this template, replace all these emphasised placeholders with example-specific content._
+
+| Supported Targets | _Supported target, e.g. ESP32_ | _Another supported target, e.g. ESP32-S3_ |
+| ----------------- | ------------------------------ | ----------------------------------------- |
+
+_If the example supports all targets supported by ESP-IDF then the table can be omitted_
+# _Example Title_
+
+(See the README.md file in the upper level 'examples' directory for more information about examples.)
+
+_What is this example? What does it do?_
+
+_What features of ESP-IDF does it use?_
+
+_What could someone create based on this example? ie applications/use cases/etc_
+
+_If there are any acronyms or Espressif-only words used here, explain them or mention where in the datasheet/TRM this information can be found._
+
+## How to use example
+
+### Hardware Required
+
+_If possible, example should be able to run on any commonly available ESP32 development board. Otherwise, describe what specific hardware should be used._
+
+_If any other items (server, BLE device, app, second chip, whatever) are needed, mention them here. Include links if applicable. Explain how to set them up._
+
+### Configure the project
+
+```
+idf.py menuconfig
+```
+
+* _If there is any project configuration that the user must set for this example, mention this here._
+
+### Build and Flash
+
+Build the project and flash it to the board, then run monitor tool to view serial output:
+
+```
+idf.py -p PORT flash monitor
+```
+
+(Replace PORT with the name of the serial port to use.)
+
+(To exit the serial monitor, type ``Ctrl-]``.)
+
+See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
+
+## Example Output
+
+_Include an example of the console output from the running example, here:_
+
+```
+Use this style for pasting the log.
+```
+
+_If the user is supposed to interact with the example at this point (read/write GATT attribute, send HTTP request, press button, etc. then mention it here)_
+
+_For examples where ESP32 is connected  with some other hardware, include a table or schematics with connection details._
+
+## Troubleshooting
+
+_If there are any likely problems or errors which many users might encounter, mention them here. Remove this section for very simple examples where nothing is likely to go wrong._
+
+## Example Breakdown
+
+_If the example source code is lengthy, complex, or cannot be easily understood, use this section to break down and explain the source code. This can be done by breaking down the execution path step by step, or explaining what each major function/task/source file does. Add sub titles if necessary. Remove this section for very simple examples where the source code is self explanatory._

components/bldc_haptics/example/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")