#include <MotorPWM.h>

Inheritance diagram for MotorPWM:

Public Member Functions
	MotorPWM ()

virtual	~MotorPWM ()

const ClassIdentifier	getInfo ()

void	turn (int16_t power)

void	stopMotor ()

void	startMotor ()

void	setPwmSpeed (SpeedPWM_DRV spd)

SpeedPWM_DRV	getPwmSpeed ()

void	setMode (ModePWM_DRV mode)

ModePWM_DRV	getMode ()

void	saveFlash ()

void	restoreFlash ()

CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getHelpstring ()

void	setPWM (uint32_t value, uint8_t ccr)

Public Member Functions inherited from MotorDriver
	MotorDriver ()

virtual	~MotorDriver ()

const ClassType	getClassType () override
	returns the used classchooser selection id of this instance

virtual void	emergencyStop (bool reset=false)

virtual bool	motorReady ()

virtual Encoder *	getEncoder ()

virtual void	setEncoder (std::shared_ptr< Encoder > &encoder)

virtual bool	hasIntegratedEncoder ()

Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()

uint16_t	getSelectionID ()

Public Member Functions inherited from CommandHandler
virtual const ClassType	getClassType ()

	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID>
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

Public Member Functions inherited from PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

Static Public Member Functions
static bool	isCreatable ()

Static Public Member Functions inherited from ChoosableClass
static bool	isCreatable ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence.

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on.

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal>
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal, class cls, class cls1>
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal, class cls, class cls1, class cls2>
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal, class cls, class cls1>
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Static Public Member Functions inherited from PersistentStorage
static std::vector< PersistentStorage * > &	getFlashHandlers ()

static void	restoreFlashStartupCb ()

Static Public Attributes
static ClassIdentifier	info

static bool	pwmDriverInUse = false

static PWMConfig &	config

Static Public Attributes inherited from MotorDriver
static ClassIdentifier	info ={.name = "None" , .id=CLSID_MOT_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< MotorDriver > >	all_drivers

Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Private Types
enum class	MotorPWM_commands : uint32_t { mode , freq , dir }

Static Private Member Functions
static std::pair< uint16_t, uint16_t >	freqToPeriodPsc (uint32_t freq)

Private Attributes
float	tFreq = 1

int32_t	period = 20000

int32_t	prescaler = 95

bool	invertDir = false

SpeedPWM_DRV	pwmspeed = SpeedPWM_DRV::LOW

ModePWM_DRV	mode = ModePWM_DRV::CENTERED_PWM

bool	active = false

Static Private Attributes
static const PWMConfig	timerConfig

Additional Inherited Members
Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Protected Attributes inherited from MotorDriver
std::shared_ptr< Encoder >	drvEncoder = std::make_shared<Encoder>()

Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation.

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

Detailed Description

Contains motor drivers methods based on PWM generation.

Can output different types of PWM signals based on a torque input.

Definition at line 54 of file MotorPWM.h.

Member Enumeration Documentation

◆ MotorPWM_commands

enum class MotorPWM::MotorPWM_commands : uint32_t

strongprivate

Enumerator
mode
freq
dir

Definition at line 55 of file MotorPWM.h.

Constructor & Destructor Documentation

◆ MotorPWM()

MotorPWM::MotorPWM ( )

Definition at line 35 of file MotorPWM.cpp.

◆ ~MotorPWM()

MotorPWM::~MotorPWM ( )

virtual

Definition at line 48 of file MotorPWM.cpp.

Member Function Documentation

◆ command()

CommandStatus MotorPWM::command	(	const ParsedCommand &	cmd,
		std::vector< CommandReply > &	replies )

virtual

Parameters

[in]	cmd	The parsed command to be executed.
[out]	replies	A vector to return one or multiple reply objects into. Replies to the interface will be generated based on the reply objects. A string reply may not contain start, end and separation markers: [,],\| Other characters are allowed.

Reimplemented from CommandHandler.

Definition at line 248 of file MotorPWM.cpp.

◆ freqToPeriodPsc()

std::pair< uint16_t, uint16_t > MotorPWM::freqToPeriodPsc ( uint32_t freq )

staticprivate

Calculates period and prescaler for a timer based on frequency

Definition at line 113 of file MotorPWM.cpp.

◆ getHelpstring()

virtual std::string MotorPWM::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from CommandHandler.

Definition at line 80 of file MotorPWM.h.

◆ getInfo()

const ClassIdentifier MotorPWM::getInfo ( )

virtual

Reimplemented from MotorDriver.

Definition at line 26 of file MotorPWM.cpp.

◆ getMode()

ModePWM_DRV MotorPWM::getMode ( )

Definition at line 242 of file MotorPWM.cpp.

◆ getPwmSpeed()

SpeedPWM_DRV MotorPWM::getPwmSpeed ( )

Definition at line 197 of file MotorPWM.cpp.

◆ isCreatable()

bool MotorPWM::isCreatable ( )

static

Definition at line 30 of file MotorPWM.cpp.

◆ restoreFlash()

void MotorPWM::restoreFlash ( )

virtual

Should be implemented to restore settings. This is not automatically called and should be called when appropriate.

Reimplemented from PersistentStorage.

Definition at line 212 of file MotorPWM.cpp.

◆ saveFlash()

void MotorPWM::saveFlash ( )

virtual

Called when the user uses the "save" command and presses the save button in the configurator Automatically called by the command parser thread for every class that inherits from PersistentStorage

Reimplemented from PersistentStorage.

Definition at line 204 of file MotorPWM.cpp.

◆ setMode()

void MotorPWM::setMode ( ModePWM_DRV mode )

Definition at line 237 of file MotorPWM.cpp.

◆ setPWM()

void MotorPWM::setPWM	(	uint32_t	value,
		uint8_t	ccr )

Updates pwm pulse length

Definition at line 184 of file MotorPWM.cpp.

◆ setPwmSpeed()

void MotorPWM::setPwmSpeed ( SpeedPWM_DRV spd )

Setup the timer for different frequency presets.

Definition at line 123 of file MotorPWM.cpp.

◆ startMotor()

void MotorPWM::startMotor ( )

virtual

Enable the motor driver

Reimplemented from MotorDriver.

Definition at line 226 of file MotorPWM.cpp.

◆ stopMotor()

void MotorPWM::stopMotor ( )

virtual

Disable the motor driver

Reimplemented from MotorDriver.

Definition at line 231 of file MotorPWM.cpp.

◆ turn()

void MotorPWM::turn ( int16_t val )

virtual

Turn the motor with positive/negative power. Range should be full signed 16 bit A value of 0 should have no torque. The sign is the direction.

Reimplemented from MotorDriver.

Definition at line 59 of file MotorPWM.cpp.

Member Data Documentation

◆ active

bool MotorPWM::active = false

private

Definition at line 97 of file MotorPWM.h.

◆ config

PWMConfig& MotorPWM::config

static

Definition at line 86 of file MotorPWM.h.

◆ info

ClassIdentifier MotorPWM::info

static

Initial value:

= {
         .name = "PWM" ,
         .id=CLSID_MOT_PWM,
 }

Definition at line 22 of file MotorPWM.h.

◆ invertDir

bool MotorPWM::invertDir = false

private

Definition at line 92 of file MotorPWM.h.

◆ mode

ModePWM_DRV MotorPWM::mode = ModePWM_DRV::CENTERED_PWM

private

Definition at line 96 of file MotorPWM.h.

◆ period

int32_t MotorPWM::period = 20000

private

Definition at line 89 of file MotorPWM.h.

◆ prescaler

int32_t MotorPWM::prescaler = 95

private

Definition at line 90 of file MotorPWM.h.

◆ pwmDriverInUse

bool MotorPWM::pwmDriverInUse = false

static

Definition at line 84 of file MotorPWM.h.

◆ pwmspeed

SpeedPWM_DRV MotorPWM::pwmspeed = SpeedPWM_DRV::LOW

private

Definition at line 95 of file MotorPWM.h.

◆ tFreq

float MotorPWM::tFreq = 1

private

Definition at line 88 of file MotorPWM.h.

◆ timerConfig

const PWMConfig MotorPWM::timerConfig

staticprivate

The timer channels are mapped in the cpp_target_config files

Definition at line 102 of file MotorPWM.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Types

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MotorPWM_commands

Constructor & Destructor Documentation

◆ MotorPWM()

◆ ~MotorPWM()

Member Function Documentation

◆ command()

◆ freqToPeriodPsc()

◆ getHelpstring()

◆ getInfo()

◆ getMode()

◆ getPwmSpeed()

◆ isCreatable()

◆ restoreFlash()

◆ saveFlash()

◆ setMode()

◆ setPWM()

◆ setPwmSpeed()

◆ startMotor()

◆ stopMotor()

◆ turn()

Member Data Documentation

◆ active

◆ config

◆ info

◆ invertDir

◆ mode

◆ period

◆ prescaler

◆ pwmDriverInUse

◆ pwmspeed

◆ tFreq

◆ timerConfig