aruna::driver::ESP32_MCPwm Class Reference

#include <ESP32_MCPwm.h>

Inheritance diagram for aruna::driver::ESP32_MCPwm:

Collaboration diagram for aruna::driver::ESP32_MCPwm:

Public Member Functions
	ESP32_MCPwm (gpio_num_t pin, mcpwm_unit_t pwm_unit, mcpwm_timer_t pwm_timer, mcpwm_io_signals_t io_signal, mcpwm_operator_t pwm_operator, mcpwm_config_t pwm_config=DEFAULT_PWM_CONFIG)
	ESP32 MCPWM. More...

Private Member Functions
err_t	_set_frequency (uint32_t frequency_hz) override
err_t	_set_duty (uint16_t duty) override
Private Member Functions inherited from aruna::driver::Pwm
err_t	set_frequency (uint32_t frequency_hz)
	Set frequency of PWM in hertz. More...
uint32_t	get_frequency () const
	Get the frequency used in hertz. More...
err_t	set_duty (float duty_percentage)
	Set the duty cycle on time in percentage. More...
err_t	set_duty (uint16_t duty)
	Set the duty cycle on time (16bit). More...
float	get_duty_per () const
	Get the duty cycle on time in percentage. More...
uint16_t	get_duty () const
	Get the duty cycle on time (16bit) More...
Private Member Functions inherited from aruna::movement::Actuator
	Actuator (axis_mask_t axis=axis_mask_t::NONE)
	Actuator object, used by the movement module for vehicle movement. More...
virtual	~Actuator ()
err_t	set_axis (axis_mask_t new_axis)
	Set the axis that this Actuator is capable in moving in. More...
axis_mask_t	get_axis ()
	get the movement modes that this driver supports. More...
err_t	set (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...
uint16_t	get_speed ()
	Get the current speed of Actuator. More...

Private Attributes
const gpio_num_t	pin
const mcpwm_unit_t	pwm_unit
const mcpwm_timer_t	pwm_timer
const mcpwm_io_signals_t	io_signal
const mcpwm_operator_t	pwm_operator
const mcpwm_config_t	pwm_config
Private Attributes inherited from aruna::movement::Actuator
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...

Static Private Attributes
static constexpr mcpwm_config_t	DEFAULT_PWM_CONFIG

Detailed Description

Definition at line 14 of file ESP32_MCPwm.h.

Constructor & Destructor Documentation

ESP32_MCPwm()

ESP32_MCPwm::ESP32_MCPwm	(	gpio_num_t	pin,
		mcpwm_unit_t	pwm_unit,
		mcpwm_timer_t	pwm_timer,
		mcpwm_io_signals_t	io_signal,
		mcpwm_operator_t	pwm_operator,
		mcpwm_config_t	pwm_config = DEFAULT_PWM_CONFIG
	)

ESP32 MCPWM.

Parameters

pin	gpio pin to use.
pwm_unit	unit 0 or 1
pwm_timer	timer to use 0-2
io_signal	MCPWM0A - MCPWM2B
pwm_operator	MCPWM_OPR_A - MCPWM_OPR_B
pwm_config	user configuration for the pwm controller.

Definition at line 11 of file ESP32_MCPwm.cpp.

                                                    :
        pin(pin),
        pwm_unit(pwm_unit),
        pwm_timer(pwm_timer),
        io_signal(io_signal),
        pwm_operator(pwm_operator),
        pwm_config(pwm_config) {
    ESP_ERROR_CHECK(mcpwm_gpio_init(pwm_unit, io_signal, pin));

//  TODO what happens if mcpwm_init runs two times?
    ESP_ERROR_CHECK(mcpwm_init(pwm_unit, pwm_timer, &pwm_config));
}

Member Function Documentation

_set_duty()

err_t ESP32_MCPwm::_set_duty ( uint16_t  duty )

overrideprivatevirtual

Implements aruna::driver::Pwm.

Definition at line 29 of file ESP32_MCPwm.cpp.

                                          {
    float per_up = convert_range(duty);

    ESP_ERROR_CHECK(mcpwm_set_duty(pwm_unit, pwm_timer, pwm_operator, per_up));

    ESP_ERROR_CHECK(mcpwm_set_duty_type(pwm_unit, pwm_timer, pwm_operator, MCPWM_DUTY_MODE_0));
    return err_t::OK;
}

Here is the call graph for this function:

_set_frequency()

err_t ESP32_MCPwm::_set_frequency ( uint32_t  frequency_hz )

overrideprivatevirtual

Implements aruna::driver::Pwm.

Definition at line 38 of file ESP32_MCPwm.cpp.

                                                       {
    ESP_ERROR_CHECK(mcpwm_set_frequency(pwm_unit, pwm_timer, frequency_hz));
//    TODO return esp error.
//    TODO override get_frequency function.
    return err_t::OK;
}

Member Data Documentation

DEFAULT_PWM_CONFIG

constexpr mcpwm_config_t aruna::driver::ESP32_MCPwm::DEFAULT_PWM_CONFIG

staticprivate

Initial value:

= {
                    100,
                    0,
                    0,
                    MCPWM_DUTY_MODE_0,
                    MCPWM_UP_COUNTER,
            }

Definition at line 23 of file ESP32_MCPwm.h.

io_signal

const mcpwm_io_signals_t aruna::driver::ESP32_MCPwm::io_signal

private

Definition at line 19 of file ESP32_MCPwm.h.

pin

const gpio_num_t aruna::driver::ESP32_MCPwm::pin

private

Definition at line 16 of file ESP32_MCPwm.h.

pwm_config

const mcpwm_config_t aruna::driver::ESP32_MCPwm::pwm_config

private

Definition at line 21 of file ESP32_MCPwm.h.

pwm_operator

const mcpwm_operator_t aruna::driver::ESP32_MCPwm::pwm_operator

private

Definition at line 20 of file ESP32_MCPwm.h.

pwm_timer

const mcpwm_timer_t aruna::driver::ESP32_MCPwm::pwm_timer

private

Definition at line 18 of file ESP32_MCPwm.h.

pwm_unit

const mcpwm_unit_t aruna::driver::ESP32_MCPwm::pwm_unit

private

Definition at line 17 of file ESP32_MCPwm.h.

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The documentation for this class was generated from the following files:

• include/aruna/driver/port/ESP32/ESP32_MCPwm.h
• src/driver/port/ESP32/ESP32_MCPwm.cpp