Created wacky_bully project + a bit of work towards implementing motor drivers

software/wacky_bully/CMakeLists.txt

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+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.22)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(wacky_bully)

software/wacky_bully/components/drv8701/CMakeLists.txt

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+idf_component_register(SRCS "drv8701.c"
+                    INCLUDE_DIRS "include"
+                    REQUIRES esp_driver_mcpwm esp_driver_gpio)

software/wacky_bully/components/drv8701/drv8701.c

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+#include <math.h>
+#include <stdio.h>
+#include "drv8701.h"
+#include "driver/mcpwm_cmpr.h"
+#include "driver/mcpwm_gen.h"
+#include "driver/mcpwm_oper.h"
+#include "driver/mcpwm_timer.h"
+#include "driver/mcpwm_types.h"
+#include "driver/gpio.h"
+#include "esp_err.h"
+#include "freertos/idf_additions.h"
+#include "hal/gpio_types.h"
+#include "portmacro.h"
+
+#define PWM_RESOLUTION_HZ 2000000
+#define PWM_TIMEBASE_PERIOD PWM_RESOLUTION_HZ/20000
+
+
+void drv8701_task(void *args) {
+    drv8701_task_config_t *motor_cfg = ((drv8701_task_config_t *)args);
+    motor_cfg->in_ctrl_queue = xQueueCreate(3, sizeof(float));
+    motor_cfg->current_mutex = xSemaphoreCreateMutex();
+    
+    // --------------------- Configure PWM -------------------------
+    mcpwm_timer_handle_t timer = NULL;
+    mcpwm_timer_config_t timer_cfg = {
+        .group_id = motor_cfg->pwm_group_num,
+        .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
+        .resolution_hz = PWM_RESOLUTION_HZ,
+        .count_mode = MCPWM_TIMER_COUNT_MODE_UP,
+        .period_ticks = PWM_TIMEBASE_PERIOD,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_timer(&timer_cfg, &timer));
+
+    mcpwm_oper_handle_t oper = NULL;
+    mcpwm_operator_config_t oper_cfg = {
+        .group_id = motor_cfg->pwm_group_num,
+    };
+
+    ESP_ERROR_CHECK(mcpwm_new_operator(&oper_cfg, &oper));
+    ESP_ERROR_CHECK(mcpwm_operator_connect_timer(oper, timer));
+    
+    mcpwm_cmpr_handle_t cmpr = NULL;
+    mcpwm_comparator_config_t cmpr_cfg = {
+        .flags.update_cmp_on_tep = true,
+    };
+    
+    ESP_ERROR_CHECK(mcpwm_new_comparator(oper, &cmpr_cfg, &cmpr));
+
+    mcpwm_gen_handle_t gen = NULL;
+    mcpwm_generator_config_t gen_cfg = {
+        .gen_gpio_num = motor_cfg->en_pin,
+    };
+
+    ESP_ERROR_CHECK(mcpwm_new_generator(oper, &gen_cfg, &gen));
+    ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(cmpr, 0));
+    
+    ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(gen,
+                    MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
+    ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(gen,
+                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpr, MCPWM_GEN_ACTION_LOW)));
+    
+    ESP_ERROR_CHECK(mcpwm_timer_enable(timer));
+    ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
+
+    // --------------------- Configure Direction -------------------------
+    
+    printf("Configuring Direction\n");
+    gpio_config_t phase_cfg = {
+        .pin_bit_mask = 1ULL << motor_cfg->ph_pin,
+        .intr_type = GPIO_INTR_DISABLE,
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .pull_up_en = GPIO_PULLUP_DISABLE
+    };
+    gpio_config(&phase_cfg);
+
+    // Main Loop
+    float target_velocity = 0.0;
+    while(1) {
+        
+        // Get new velocity if it has changed
+        if(xQueueReceive(motor_cfg->in_ctrl_queue, &target_velocity, 0)){
+            target_velocity = fmaxf(-1.0, fminf(1.0, target_velocity));
+        }
+        
+
+        uint32_t abs_scaled_vel = (uint32_t) (fabsf(target_velocity) * ((float)PWM_TIMEBASE_PERIOD));
+        mcpwm_comparator_set_compare_value(cmpr, abs_scaled_vel);
+
+        if (target_velocity > 0.0) {
+            gpio_set_level(motor_cfg->ph_pin, 1); 
+        }
+        else {
+            gpio_set_level(motor_cfg->ph_pin, 0); 
+        }
+
+        vTaskDelay(50 / portTICK_PERIOD_MS);
+    }
+}
+
+void set_motor_vel(drv8701_task_config_t *motor_cfg, float velocity) {
+    xQueueSend(motor_cfg->in_ctrl_queue, &velocity, 0);
+}
+

software/wacky_bully/components/drv8701/include/drv8701.h

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+#ifndef DRV8701_H
+#define DRV8701_H
+
+#include "freertos/idf_additions.h"
+
+// Enable PWM for speed control
+// Phase chooses direction
+
+typedef struct {
+    uint8_t en_pin;
+    uint8_t ph_pin;
+
+    uint8_t pwm_group_num; 
+
+    // Do not populate, done as part of task creation
+    QueueHandle_t in_ctrl_queue;
+    SemaphoreHandle_t current_mutex; 
+
+} drv8701_task_config_t;
+
+
+/**
+ * @brief Launch the motor driver task
+ *
+ * @param motor_cfg The configuration for the motor driver
+ */
+void drv8701_task(void *args);
+
+/**
+ * @brief Set the velocity of a specific motor driver  
+ *
+ * @param motor_cfg The configuration for the specific motor driver
+ * @param velocity -1.0 to 1.0
+ */
+void set_motor_vel(drv8701_task_config_t *motor_cfg, float velocity);
+
+
+#endif

software/wacky_bully/dependencies.lock

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+dependencies:
+  idf:
+    source:
+      type: idf
+    version: 6.1.0
+direct_dependencies:
+- idf
+manifest_hash: e44bf68eca6b7b264ddae08cd014cd3294c0473230381b6d6f88ed18ec879038
+target: esp32s3
+version: 3.0.0

software/wacky_bully/main/CMakeLists.txt

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+idf_component_register(SRCS "wacky_bully.c"
+                    REQUIRES "drv8701" freertos
+                    INCLUDE_DIRS ".")

software/wacky_bully/main/idf_component.yml

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+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: ">=4.1.0"
+  # # Put list of dependencies here
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true

software/wacky_bully/main/wacky_bully.c

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+#include <stdio.h>
+#include "drv8701.h"
+#include "freertos/idf_additions.h"
+#include "portmacro.h"
+#include "soc/gpio_num.h"
+
+
+drv8701_task_config_t motor1 = {
+    .ph_pin = GPIO_NUM_13,
+    .en_pin = GPIO_NUM_14,
+    .pwm_group_num = 0,
+};
+drv8701_task_config_t motor2 = {
+    .ph_pin = GPIO_NUM_21,
+    .en_pin = GPIO_NUM_45,
+    .pwm_group_num = 0,
+};
+drv8701_task_config_t motor3 = {
+    .ph_pin = GPIO_NUM_9,
+    .en_pin = GPIO_NUM_10,
+    .pwm_group_num = 1,
+};
+drv8701_task_config_t motor4 = {
+    .ph_pin = GPIO_NUM_11,
+    .en_pin = GPIO_NUM_12,
+    .pwm_group_num = 1,
+};
+
+void app_main(void)
+{
+    printf("Starting\n");
+
+    xTaskCreate(drv8701_task, "Motor1 Task", 2048, (void *)&motor1, 4, NULL);
+    xTaskCreate(drv8701_task, "Motor2 Task", 2048, (void *)&motor2, 4, NULL);
+    xTaskCreate(drv8701_task, "Motor3 Task", 2048, (void *)&motor3, 4, NULL);
+    xTaskCreate(drv8701_task, "Motor4 Task", 2048, (void *)&motor4, 4, NULL);
+    
+    vTaskDelay(500 / portTICK_PERIOD_MS);
+    float motor1_vel = 0.0;
+    while(true) {
+        motor1_vel = motor1_vel + 0.1;
+        if (motor1_vel > 1.0)
+            motor1_vel = -1.0;
+        printf("Motor1 velocity: %0.2f\n", motor1_vel);
+        set_motor_vel(&motor1, motor1_vel);
+        set_motor_vel(&motor2, motor1_vel);
+        set_motor_vel(&motor3, motor1_vel);
+        set_motor_vel(&motor4, motor1_vel);
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+}