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ESP-IDF RC Motors Controls

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Alex B.
2024-12-31 05:59:30 -05:00
parent 921c2ffdf8
commit 43d349b102
4 changed files with 160 additions and 88 deletions
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0
ESP-IDF_Robot/build/.ninja_lock Normal file
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2
ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
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@@ -1 +1 @@
a0ba0146a84aa699a66776554556f7893459dfc9 921c2ffdf8237ac07b10843b5ca9541be434bfee

159
ESP-IDF_Robot/build/local_components_list.temp.yml Normal file
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@@ -0,0 +1,159 @@
components:
- name: "app_trace"
path: "/home/abobkov/esp/esp-idf/components/app_trace"
- name: "app_update"
path: "/home/abobkov/esp/esp-idf/components/app_update"
- name: "bootloader"
path: "/home/abobkov/esp/esp-idf/components/bootloader"
- name: "bootloader_support"
path: "/home/abobkov/esp/esp-idf/components/bootloader_support"
- name: "bt"
path: "/home/abobkov/esp/esp-idf/components/bt"
- name: "cmock"
path: "/home/abobkov/esp/esp-idf/components/cmock"
- name: "console"
path: "/home/abobkov/esp/esp-idf/components/console"
- name: "cxx"
path: "/home/abobkov/esp/esp-idf/components/cxx"
- name: "driver"
path: "/home/abobkov/esp/esp-idf/components/driver"
- name: "efuse"
path: "/home/abobkov/esp/esp-idf/components/efuse"
- name: "esp-tls"
path: "/home/abobkov/esp/esp-idf/components/esp-tls"
- name: "esp_adc"
path: "/home/abobkov/esp/esp-idf/components/esp_adc"
- name: "esp_app_format"
path: "/home/abobkov/esp/esp-idf/components/esp_app_format"
- name: "esp_bootloader_format"
path: "/home/abobkov/esp/esp-idf/components/esp_bootloader_format"
- name: "esp_coex"
path: "/home/abobkov/esp/esp-idf/components/esp_coex"
- name: "esp_common"
path: "/home/abobkov/esp/esp-idf/components/esp_common"
- name: "esp_eth"
path: "/home/abobkov/esp/esp-idf/components/esp_eth"
- name: "esp_event"
path: "/home/abobkov/esp/esp-idf/components/esp_event"
- name: "esp_gdbstub"
path: "/home/abobkov/esp/esp-idf/components/esp_gdbstub"
- name: "esp_hid"
path: "/home/abobkov/esp/esp-idf/components/esp_hid"
- name: "esp_http_client"
path: "/home/abobkov/esp/esp-idf/components/esp_http_client"
- name: "esp_http_server"
path: "/home/abobkov/esp/esp-idf/components/esp_http_server"
- name: "esp_https_ota"
path: "/home/abobkov/esp/esp-idf/components/esp_https_ota"
- name: "esp_https_server"
path: "/home/abobkov/esp/esp-idf/components/esp_https_server"
- name: "esp_hw_support"
path: "/home/abobkov/esp/esp-idf/components/esp_hw_support"
- name: "esp_lcd"
path: "/home/abobkov/esp/esp-idf/components/esp_lcd"
- name: "esp_local_ctrl"
path: "/home/abobkov/esp/esp-idf/components/esp_local_ctrl"
- name: "esp_mm"
path: "/home/abobkov/esp/esp-idf/components/esp_mm"
- name: "esp_netif"
path: "/home/abobkov/esp/esp-idf/components/esp_netif"
- name: "esp_netif_stack"
path: "/home/abobkov/esp/esp-idf/components/esp_netif_stack"
- name: "esp_partition"
path: "/home/abobkov/esp/esp-idf/components/esp_partition"
- name: "esp_phy"
path: "/home/abobkov/esp/esp-idf/components/esp_phy"
- name: "esp_pm"
path: "/home/abobkov/esp/esp-idf/components/esp_pm"
- name: "esp_psram"
path: "/home/abobkov/esp/esp-idf/components/esp_psram"
- name: "esp_ringbuf"
path: "/home/abobkov/esp/esp-idf/components/esp_ringbuf"
- name: "esp_rom"
path: "/home/abobkov/esp/esp-idf/components/esp_rom"
- name: "esp_system"
path: "/home/abobkov/esp/esp-idf/components/esp_system"
- name: "esp_timer"
path: "/home/abobkov/esp/esp-idf/components/esp_timer"
- name: "esp_wifi"
path: "/home/abobkov/esp/esp-idf/components/esp_wifi"
- name: "espcoredump"
path: "/home/abobkov/esp/esp-idf/components/espcoredump"
- name: "esptool_py"
path: "/home/abobkov/esp/esp-idf/components/esptool_py"
- name: "fatfs"
path: "/home/abobkov/esp/esp-idf/components/fatfs"
- name: "freertos"
path: "/home/abobkov/esp/esp-idf/components/freertos"
- name: "hal"
path: "/home/abobkov/esp/esp-idf/components/hal"
- name: "heap"
path: "/home/abobkov/esp/esp-idf/components/heap"
- name: "http_parser"
path: "/home/abobkov/esp/esp-idf/components/http_parser"
- name: "idf_test"
path: "/home/abobkov/esp/esp-idf/components/idf_test"
- name: "ieee802154"
path: "/home/abobkov/esp/esp-idf/components/ieee802154"
- name: "json"
path: "/home/abobkov/esp/esp-idf/components/json"
- name: "linux"
path: "/home/abobkov/esp/esp-idf/components/linux"
- name: "log"
path: "/home/abobkov/esp/esp-idf/components/log"
- name: "lwip"
path: "/home/abobkov/esp/esp-idf/components/lwip"
- name: "mbedtls"
path: "/home/abobkov/esp/esp-idf/components/mbedtls"
- name: "mqtt"
path: "/home/abobkov/esp/esp-idf/components/mqtt"
- name: "newlib"
path: "/home/abobkov/esp/esp-idf/components/newlib"
- name: "nvs_flash"
path: "/home/abobkov/esp/esp-idf/components/nvs_flash"
- name: "nvs_sec_provider"
path: "/home/abobkov/esp/esp-idf/components/nvs_sec_provider"
- name: "openthread"
path: "/home/abobkov/esp/esp-idf/components/openthread"
- name: "partition_table"
path: "/home/abobkov/esp/esp-idf/components/partition_table"
- name: "perfmon"
path: "/home/abobkov/esp/esp-idf/components/perfmon"
- name: "protobuf-c"
path: "/home/abobkov/esp/esp-idf/components/protobuf-c"
- name: "protocomm"
path: "/home/abobkov/esp/esp-idf/components/protocomm"
- name: "pthread"
path: "/home/abobkov/esp/esp-idf/components/pthread"
- name: "riscv"
path: "/home/abobkov/esp/esp-idf/components/riscv"
- name: "sdmmc"
path: "/home/abobkov/esp/esp-idf/components/sdmmc"
- name: "soc"
path: "/home/abobkov/esp/esp-idf/components/soc"
- name: "spi_flash"
path: "/home/abobkov/esp/esp-idf/components/spi_flash"
- name: "spiffs"
path: "/home/abobkov/esp/esp-idf/components/spiffs"
- name: "tcp_transport"
path: "/home/abobkov/esp/esp-idf/components/tcp_transport"
- name: "touch_element"
path: "/home/abobkov/esp/esp-idf/components/touch_element"
- name: "ulp"
path: "/home/abobkov/esp/esp-idf/components/ulp"
- name: "unity"
path: "/home/abobkov/esp/esp-idf/components/unity"
- name: "usb"
path: "/home/abobkov/esp/esp-idf/components/usb"
- name: "vfs"
path: "/home/abobkov/esp/esp-idf/components/vfs"
- name: "wear_levelling"
path: "/home/abobkov/esp/esp-idf/components/wear_levelling"
- name: "wifi_provisioning"
path: "/home/abobkov/esp/esp-idf/components/wifi_provisioning"
- name: "wpa_supplicant"
path: "/home/abobkov/esp/esp-idf/components/wpa_supplicant"
- name: "xtensa"
path: "/home/abobkov/esp/esp-idf/components/xtensa"
- name: "main"
path: "/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot/main"

87
ESP-IDF_Robot/main/blink_example_main.c
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@@ -78,19 +78,6 @@ static const char *TAG = "ESP IDF Robot";
#define MTR_FRONT_RIGHT_REV_DUTY (3361) #define MTR_FRONT_RIGHT_REV_DUTY (3361)
// LED
/*#define LEDC_TIMER LEDC_TIMER_0
#define LEDC_MODE LEDC_LOW_SPEED_MODE // LEDC_LOW_SPEED_MODE
#define LEDC_OUTPUT_IO (5) // Define the output GPIO
#define LEDC_CHANNEL LEDC_CHANNEL_0 // Right side motors
#define MTR_CHANNEL_L LEDC_CHANNEL_1 // Left side motors
#define LEDC_DUTY_RES LEDC_TIMER_13_BIT //*/
/*
TIMER RESOLUTION MAX VALUE HALF-DUTY
10 1023 511
13 8191 4095
*/
#define LEDC_DUTY (3361)//7820) // 8068, 7944, 7820, 7696, 7572, *7680*, 7424, 7168, 6144, 512, 768 #define LEDC_DUTY (3361)//7820) // 8068, 7944, 7820, 7696, 7572, *7680*, 7424, 7168, 6144, 512, 768
#define LEDC_FREQUENCY (5000)//8192)//4000) // For LED the freuqncy of 500Hz seems to be sufficient. // Frequency in Hertz. For DC motor, set frequency at 5 kHz #define LEDC_FREQUENCY (5000)//8192)//4000) // For LED the freuqncy of 500Hz seems to be sufficient. // Frequency in Hertz. For DC motor, set frequency at 5 kHz
@@ -121,10 +108,6 @@ static TaskHandle_t s_task_handle;
//static adc_channel_t channel[2] = {ADC_CHANNEL_2, ADC_CHANNEL_3}; //static adc_channel_t channel[2] = {ADC_CHANNEL_2, ADC_CHANNEL_3};
static adc_channel_t channel[2] = {ADC_CHANNEL_0, ADC_CHANNEL_1}; static adc_channel_t channel[2] = {ADC_CHANNEL_0, ADC_CHANNEL_1};
//static int adc_raw[2][10];
//static int voltage[2][10];
//static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle);
//static void adc_calibration_deinit(adc_cali_handle_t handle);
#define ESP_INTR_FLAG_DEFAULT 0 #define ESP_INTR_FLAG_DEFAULT 0
@@ -251,13 +234,6 @@ static void nav_key_task (void* arg) {
} }
} }
} }
/*static void configure_led(void)
{
ESP_LOGI(TAG, "Configured to blink GPIO LED!");
gpio_reset_pin(BLINK_GPIO);
// Set the GPIO as a push/pull output
gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
}*/
static void configure_button (void) { static void configure_button (void) {
ESP_LOGI(TAG, "Configured on-board push button"); ESP_LOGI(TAG, "Configured on-board push button");
@@ -265,21 +241,6 @@ static void configure_button (void) {
//gpio_set_direction(PUSH_BTN_GPIO, GPIO_MODE_INPUT); //gpio_set_direction(PUSH_BTN_GPIO, GPIO_MODE_INPUT);
} }
/*static void configure_dc_mc (void) {
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, MTR_FL_GPIO);
mcpwm_config_t mcpwm_config;
mcpwm_config.frequency = 4000;
mcpwm_config.cmpr_a = 50;
mcpwm_config.counter_mode = MCPWM_UP_COUNTER;
mcpwm_config.duty_mode = MCPWM_DUTY_MODE_0;
ESP_ERROR_CHECK(mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &mcpwm_config));
ESP_ERROR_CHECK(mcpwm_set_duty_type(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, MCPWM_DUTY_MODE_0));
ESP_ERROR_CHECK(mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 50));
}*/
static void motors_init (void) { static void motors_init (void) {
m.motor1_rpm_pcm = 0; m.motor1_rpm_pcm = 0;
@@ -368,55 +329,7 @@ static void ledc_init (void) {
.hpoint = 0, .hpoint = 0,
}; };
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_4)); ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_4));
//ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY));
//ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
/*// MOTOR FRONT RIGHT
ledc_timer_config_t ledc_timer_1 = {
.speed_mode = LEDC_MODE,
.duty_resolution = LEDC_DUTY_RES,
.timer_num = MTR_FRONT_RIGHT_TMR,// LEDC_TIMER,
.freq_hz = LEDC_FREQUENCY,
.clk_cfg = LEDC_APB_CLK
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_1));
ledc_channel_config_t ledc_channel_1 = {
.speed_mode = LEDC_MODE,
.channel = MTR_FRONT_RIGHT,// LEDC_CHANNEL_0,// MTR_FRONT_RIGHT,
.timer_sel = MTR_FRONT_RIGHT_TMR,// LEDC_TIMER,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = LEDC_OUTPUT_IO,
.duty = LEDC_DUTY,
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_1));
// MOTOR FRONT LEFT
ledc_timer_config_t ledc_timer_2 = {
.speed_mode = LEDC_MODE,
.duty_resolution = LEDC_DUTY_RES,
.timer_num = LEDC_TIMER,
.freq_hz = LEDC_FREQUENCY,
.clk_cfg = LEDC_APB_CLK
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_2));
ledc_channel_config_t ledc_channel_2 = {
.speed_mode = LEDC_MODE,
.channel = MTR_FRONT_LEFT,
.timer_sel = LEDC_TIMER,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = LEDC_OUTPUT_IO,
.duty = LEDC_DUTY,
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_2));
//ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY));
//ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));*/
} }
/*static void update_pwm (uint8_t pwm) {
ESP_ERROR_CHECK(ledc_set_duty_and_update(LEDC_MODE, LEDC_CHANNEL, pwm, 0));
}*/
/* ESP-NOW */ /* ESP-NOW */
// Wi-Fi should start before using ESP-NOW // Wi-Fi should start before using ESP-NOW