Pilote DRV8231 basique en C++ compatible avec ESP-IDF & PlatformIO

#pragma once
#include <cstdio>
#include <cstdint>
#include <driver/gpio.h>
#include <driver/ledc.h>

class DRV8231 {
public:
    DRV8231(gpio_num_t pwmA, gpio_num_t pwmB, ledc_channel_t channelA, ledc_channel_t channelB);

    void Start(uint16_t speed, bool reverse=false);
    void Stop();
private:
    gpio_num_t pwmA;
    gpio_num_t pwmB;
    ledc_channel_t channelA;
    ledc_channel_t channelB;
};

#include "DRV8231.hpp"
#include <algorithm>


DRV8231::DRV8231(gpio_num_t pwmA, gpio_num_t pwmB, ledc_channel_t channelA, ledc_channel_t channelB) {
    // Stocker les numéros de broches
    this->pwmA = pwmA;
    this->pwmB = pwmB;
    this->channelA = channelA;
    this->channelB = channelB;

    // Configurer le timer LEDC pour la génération PWM
    ledc_timer_config_t ledc_timer = {
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .duty_resolution = LEDC_TIMER_10_BIT,  // Résolution 8 bits (0-255)
        .timer_num = LEDC_TIMER_0,
        .freq_hz = 20000,  // Définir la fréquence à 100kHz
        .clk_cfg = LEDC_AUTO_CLK
    };
    ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));

    // Configurer le canal LEDC pour pwmA
    ledc_channel_config_t ledc_channel_a = {
        .gpio_num = pwmA,
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .channel = channelA,
        .intr_type = LEDC_INTR_DISABLE,
        .timer_sel = LEDC_TIMER_0,
        .duty = 0,  // Initialiser avec un cycle de service de 0
        .hpoint = 0
    };
    ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_a));

    // Configurer le canal LEDC pour pwmB
    ledc_channel_config_t ledc_channel_b = {
        .gpio_num = pwmB,
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .channel = channelB,
        .intr_type = LEDC_INTR_DISABLE,
        .timer_sel = LEDC_TIMER_0,
        .duty = 0,  // Initialiser avec un cycle de service de 0
        .hpoint = 0
    };
    ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_b));

}

void DRV8231::Start(uint16_t speed, bool reverse) {
    uint16_t duty = std::min(speed, (uint16_t)1023);  // Limiter la vitesse à la plage 0-4095
    // Définir la direction et le cycle de service
    if (reverse) {
        ledc_set_duty(LEDC_LOW_SPEED_MODE, channelB, duty);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, channelB);
        ledc_set_duty(LEDC_LOW_SPEED_MODE, channelA, 1023);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, channelA);
    } else {
        ledc_set_duty(LEDC_LOW_SPEED_MODE, channelA, duty);
        ledc_update_duty(LEDC_LOW_SPEED_MODE, channelA);
        ledc_set_duty(LEDC_LOW_SPEED_MODE, channelB, 1023); // 100%
        ledc_update_duty(LEDC_LOW_SPEED_MODE, channelB);
    }
}

void DRV8231::Stop() {
    // Définir les deux canaux à 100% de cycle de service (c.-à-d. frein)
    ledc_set_duty(LEDC_LOW_SPEED_MODE, channelA, 1023);
    ledc_update_duty(LEDC_LOW_SPEED_MODE, channelA);
    ledc_set_duty(LEDC_LOW_SPEED_MODE, channelB, 1023);
    ledc_update_duty(LEDC_LOW_SPEED_MODE, channelB);
}

#include "DRV8231.hpp"

DRV8231 motor(GPIO_NUM_7, GPIO_NUM_8, LEDC_CHANNEL_0, LEDC_CHANNEL_1);

extern "C" void app_main() {
  while (true) {
    // Initialiser le pilote DRV8231
    motor.Start(512);  // Démarrer le moteur à demi-vitesse
    vTaskDelay(pdMS_TO_TICKS(2000));  // Exécuter pendant 2 secondes
    motor.Stop();  // Arrêter le moteur
  }
}