PWM Motor Control Driver

[IbixD97]

Description of task

A driver that can write PWM signals to control all 8 ESCs on the AUV,

Time estimate (Hours)
15h

Deadling (DD.MM)
10.11

Suggested Workflow

• Implement a PWM generator that can make an LED pulse
• Make the generator able to control the dimness and intensity of the light on command
• Make the generator be controlled via USART
• Restrict the function so it can never pass on values that are outside the accepted ranges
• Implement a case that return an error if the received values are outside the range or in an incorrect format
• Implement a case for every issue that can arise and print the error back via USART to the terminal
• Test on a servo motor
• Implement a feedback function that prints to USART the angle of the servo at all times
• Test on multiple servo motors simultaneously
• Make the operation core independent, aka interrupt based.

Specifications

• Generate PWM signals to control all ESCs on board
• Blocks unwanted signals and report the issue back to USART without halting the MCU
• Core independent, interrupt based, system
• Can control all 8 ESCs without delays or without affecting other operations
• Logs and knows the current state of each ESC.

Contacts

• @IbixD97 - Embedded Systems Lead

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)