ESP32加电机驱动：正反请求、调速与COAST停止状态

idf.py -B build-local -D SDKCONFIG=build-local/sdkconfig build
idf.py -B build-local -D SDKCONFIG=build-local/sdkconfig -p REPLACE_PORT flash monitor

cc -std=c11 -Wall -Wextra -Werror -fsanitize=address,undefined -fno-omit-frame-pointer host_check.c -o /tmp/actuator-host
/tmp/actuator-host

// ---- main/main.c ----
/* SPDX-License-Identifier: MIT */
#include <stdio.h>
#include <inttypes.h>
#include "driver/gpio.h"
#include "driver/ledc.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "motor_policy.h"
static esp_err_t coast(void){esp_err_t a=ledc_stop(LEDC_LOW_SPEED_MODE,LEDC_CHANNEL_0,0);esp_err_t b=ledc_stop(LEDC_LOW_SPEED_MODE,LEDC_CHANNEL_1,0);return a==ESP_OK?b:a;}
static esp_err_t drive(uint8_t dir,uint16_t duty){
 if((dir!=1&&dir!=2)||!duty||duty>256)return ESP_ERR_INVALID_ARG;
 /* Opposite input is always stopped LOW first. No11 braking state is used. */
 ledc_channel_t selected=dir==1?LEDC_CHANNEL_0:LEDC_CHANNEL_1,opposite=dir==1?LEDC_CHANNEL_1:LEDC_CHANNEL_0;
 esp_err_t e=ledc_stop(LEDC_LOW_SPEED_MODE,opposite,0);
 if(e==ESP_OK)e=ledc_set_duty(LEDC_LOW_SPEED_MODE,selected,duty);
 return e==ESP_OK?ledc_update_duty(LEDC_LOW_SPEED_MODE,selected):e;
}
void app_main(void){
 gpio_config_t input={.pin_bit_mask=(1ULL<<GPIO_NUM_4)|(1ULL<<GPIO_NUM_5)|(1ULL<<GPIO_NUM_6),.mode=GPIO_MODE_INPUT};ESP_ERROR_CHECK(gpio_config(&input));
 ledc_timer_config_t timer={.speed_mode=LEDC_LOW_SPEED_MODE,.duty_resolution=LEDC_TIMER_10_BIT,.timer_num=LEDC_TIMER_0,.freq_hz=20000,.clk_cfg=LEDC_USE_APB_CLK};ESP_ERROR_CHECK(ledc_timer_config(&timer));
 for(int i=0;i<2;i++){ledc_channel_config_t c={.gpio_num=i?GPIO_NUM_17:GPIO_NUM_16,.speed_mode=LEDC_LOW_SPEED_MODE,.channel=i?LEDC_CHANNEL_1:LEDC_CHANNEL_0,.timer_sel=LEDC_TIMER_0,.duty=0,.hpoint=0};ESP_ERROR_CHECK(ledc_channel_config(&c));}
 ESP_ERROR_CHECK(coast());printf("V07 REQUEST20kHz/10bit; SDK frequency=%"PRIu32"; GPIO16/17 -> DRV8833 AIN1/2. FLT4/forward5/reverse6 external10k pulls. Coast only, no measured RPM or shaft stop.\n",ledc_get_freq(LEDC_LOW_SPEED_MODE,LEDC_TIMER_0));
 Motor state={0};uint8_t last=0;uint16_t duty=0;unsigned reason=0;bool api_fault=false;
 for(;;){
  uint8_t buttons=(gpio_get_level(GPIO_NUM_5)==0?1:0)|(gpio_get_level(GPIO_NUM_6)==0?2:0);
  motor_tick(&state,buttons,gpio_get_level(GPIO_NUM_4)==0,(uint64_t)esp_timer_get_time());
  if(!api_fault&&(state.active!=last||state.duty!=duty)){
   esp_err_t e=state.active?drive(state.active,state.duty):coast();
   if(e!=ESP_OK){api_fault=true;(void)coast();printf("MOTOR_API_FAULT=%s; coast requested; reset after diagnosis\n",esp_err_to_name(e));}
   else printf("MOTOR_REQUEST dir=%u duty=%u/1024; actual rotation/current unmeasured\n",state.active,state.duty);
  }
  if(reason!=state.reason){reason=state.reason;printf("STOP_REASON=%u; no power removal or measured stop feedback\n",reason);}
  last=state.active;duty=state.duty;vTaskDelay(pdMS_TO_TICKS(10));
 }
}

// ---- main/motor_policy.h ----
/* SPDX-License-Identifier: MIT */
#pragma once
#include <stdint.h>
#include <stdbool.h>
typedef struct {bool initialized,eligible,holding;uint8_t candidate,stable,active;uint16_t duty;uint64_t changed,pressed,started,stepped,last,stopped;unsigned reason;} Motor;
static inline void motor_coast(Motor *s,uint64_t now,unsigned reason){if(s->active)s->stopped=now;s->active=0;s->duty=0;s->eligible=false;s->holding=false;s->reason=reason;}
/* buttons1/2 are directions,0 release,3 conflict; fault means nFAULT sampled low.
   Coast is both control inputs0, not brake/physical stopped or power isolation. */
static inline void motor_tick(Motor *s,uint8_t buttons,bool fault,uint64_t now){
 if(!s->initialized)*s=(Motor){.initialized=true,.candidate=buttons,.stable=3,.changed=now,.last=now,.stopped=now};
 bool gap=now<s->last||now-s->last>250000;s->last=now;
 if(gap){motor_coast(s,now,5);s->stopped=now;s->candidate=buttons;s->stable=3;s->changed=now;}
 if(fault||buttons>3){motor_coast(s,now,4);s->changed=now;s->stable=3;s->candidate=buttons;return;}
 if(buttons==3){motor_coast(s,now,2);s->changed=now;s->stable=3;s->candidate=3;return;}
 if(s->active&&buttons!=s->active)motor_coast(s,now,buttons==3?2:1);
 if(buttons!=s->candidate){s->candidate=buttons;s->changed=now;}
 if(now>=s->changed&&now-s->changed>=50000&&s->stable!=s->candidate){
  s->stable=s->candidate;
  if(s->stable==0){s->eligible=true;s->holding=false;}
  else if((s->stable==1||s->stable==2)&&s->eligible){s->pressed=now;s->holding=true;}
  else{s->holding=false;s->eligible=false;}
 }
 if(s->active&&now-s->started>=3000000)motor_coast(s,now,3);
 if(!s->active&&(buttons==1||buttons==2)&&s->stable==buttons&&s->eligible&&s->holding&&now-s->pressed>=500000&&now-s->stopped>=200000){s->active=buttons;s->eligible=false;s->holding=false;s->duty=16;s->started=now;s->stepped=now;s->reason=0;}
 if(s->active&&now-s->stepped>=100000){s->stepped=now;if(s->duty<256)s->duty+=16;}
}

# ---- sdkconfig.defaults ----
CONFIG_IDF_TARGET="esp32s3"
CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y
CONFIG_ESPTOOLPY_FLASHMODE_DIO=y
CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
# CONFIG_SPIRAM is not set
# CONFIG_PM_ENABLE is not set
CONFIG_ESP_CONSOLE_UART_DEFAULT=y
CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
CONFIG_FREERTOS_HZ=1000

// ---- host_check.c ----
/* SPDX-License-Identifier: MIT */
#include <assert.h>
#include <stdio.h>
#include "main/motor_policy.h"
static uint64_t now;
static void steps(Motor *s,unsigned buttons,bool fault,unsigned count){for(unsigned i=0;i<count;i++){motor_tick(s,buttons,fault,now);now+=10000;}}
static void start(Motor *s,unsigned dir){steps(s,0,false,8);steps(s,dir,false,60);assert(s->active==dir&&s->duty>0);}
int main(void){
 Motor m={0};steps(&m,1,false,100);assert(!m.active);puts("PASS startup direction held does not run");
 start(&m,1);assert(m.active==1);puts("PASS released then stable500ms forward request");
 steps(&m,1,false,150);assert(m.duty==256);puts("PASS bounded16-step ramp at100ms to256/1024");
 steps(&m,2,false,1);assert(!m.active&&!m.duty);steps(&m,2,false,100);assert(!m.active);puts("PASS opposite request first coasts and requires both released; never direct reversal");
 start(&m,2);puts("PASS fresh release and reverse arm");
 steps(&m,0,false,1);assert(!m.active);puts("PASS raw release coasts at next owner tick");
 start(&m,1);steps(&m,3,false,1);assert(!m.active);steps(&m,2,false,100);assert(!m.active);puts("PASS even one conflicting button sample inhibits until both released");
 start(&m,1);steps(&m,1,true,1);assert(!m.active&&m.reason==4);steps(&m,1,false,100);assert(!m.active);puts("PASS nFAULT sampled low stops and no held rearm");
 start(&m,1);steps(&m,1,false,310);assert(!m.active&&m.reason==3);steps(&m,1,false,100);assert(!m.active);puts("PASS3s maximum requested run no automatic repeat");
 start(&m,1);now+=250001;steps(&m,1,false,1);assert(!m.active&&m.reason==5);puts("PASS250ms late owner gap requests coast, no hardware timing claim");
 steps(&m,0,false,8);steps(&m,1,false,2);steps(&m,0,false,2);steps(&m,1,false,2);assert(!m.active);puts("PASS chatter shorter than50ms cannot arm");
 now=UINT64_C(5)*UINT64_C(4294967296)*1000;m=(Motor){0};start(&m,2);assert(m.active==2);puts("PASS full64bit timer over repeated millisecond wraps");
 puts("12 same-source synthetic groups passed; not H-bridge, motor, current, physical stop or supply simulation");
}