MCPWM Implementation update for ESP-IDF 5.0 (#90)

* Added new mcpwm interface

Updated MCPWM Interface, but stuck at an exception ( Guru Meditation Error: Core  0 panic'ed (InstrFetchError).

Updated small pointer error.

Fixed double pointer assignment error.

Cleaned Interface, fixed issue with mapping of duty cycle values

Fixed silly error in pindefs for motors

motor driver parallel example deleted

Small change in include files

* Update .gitignore

Delete .vscode directory

Uncommented out code and add license headers to header files

Add .gitignore entry for sdkconfig file

* Add get_motor_driver_status function

* update bitmask in bar_graph.c

* Fix header file include guards

* Update motor driver configuration to have macros for frequency and resolution

* Refactor motor driver code and remove unnecessary imports

* Add servo.h header file, which was removed by mistake

* Fix motor driver and remove unnecessary include

* Add esp_log.h include

* added description for mapping.

CMakeLists.txt

@@ -1,4 +1,6 @@
-set(srcs "src/i2cdev.c" "src/adc.c" "src/bar_graph.c" "src/switches.c" "src/lsa.c" "src/motor_driver.c" "src/mpu6050.c" "src/servo.c" "src/utils.c")
+cmake_minimum_required(VERSION 3.22)
+
+set(srcs "src/i2cdev.c" "src/adc.c" "src/bar_graph.c" "src/switches.c" "src/lsa.c" "src/mcpwm_interface.c" "src/mpu6050.c" "src/servo.c" "src/utils.c" "src/motor_driver.c")
 set(include_dirs include)
 
 if(CONFIG_ENABLE_OLED)

examples/motor_driver_normal/main/main.c

@@ -27,27 +27,21 @@
 #include "freertos/task.h"
 #include "sra_board.h"
 
-static const char* TAG_SWITCH_CONTROL_MOTOR = "switch_control";
+static const char* TAG = "MOTOR";
 
 void app_main(void)
 {
-    enable_motor_driver(a, NORMAL_MODE); // Enable motor driver A in Normal Mode
-    while(1)
-    {
-        // Rotate Motors A_0 and A_1 in FORWARD direction
-        set_motor_speed(MOTOR_A_0, MOTOR_FORWARD, 80);
-        ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_0 FORWARD");	
-        set_motor_speed(MOTOR_A_1, MOTOR_FORWARD, 80);
-		ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_1 FORWARD");
-
-        vTaskDelay(2000 / portTICK_PERIOD_MS);
-
-        // Rotate Motors A_0 and A_1 in BACKWARD direction
-        set_motor_speed(MOTOR_A_0, MOTOR_BACKWARD, 80);
-		ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_0 BACKWARD");
-        set_motor_speed(MOTOR_A_1, MOTOR_BACKWARD, 80);
-		ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_1 BACKWARD");
-
-        vTaskDelay(2000 / portTICK_PERIOD_MS);
+    motor_handle_t motor1;
+    enable_motor_driver(&motor1, MOTOR_A_1);
+    while(1){
+        set_motor_speed(motor1, MOTOR_FORWARD, 60);
+        ESP_LOGI(TAG, "Forward");
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+        set_motor_speed(motor1, MOTOR_BACKWARD, 60);
+        ESP_LOGI(TAG, "Backward");
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+        set_motor_speed(motor1, MOTOR_STOP, 0);
+        ESP_LOGI(TAG, "Stop");
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
     }
 }