From 830a7baed1aefa3fb0e8b79255eec9875ee99ecf Mon Sep 17 00:00:00 2001
From: Demian Zenkov <zenkov94@mail.ru>
Date: Thu, 11 Jul 2024 10:46:40 +0300
Subject: [PATCH] feat(motor): formatting done & test added

- removed unnecessary CS pin configuration
- added SPI bus release on encoder deinitialisation
---
 .../port/angle_sensor/as5048a.cpp             | 27 +++++--------------
 .../esp_simplefoc/port/angle_sensor/as5048a.h | 20 +++++++-------
 .../test_apps/main/test_esp_simplefoc.cpp     | 15 +++++++++++
 3 files changed, 30 insertions(+), 32 deletions(-)

diff --git a/components/motor/esp_simplefoc/port/angle_sensor/as5048a.cpp b/components/motor/esp_simplefoc/port/angle_sensor/as5048a.cpp
index 6f7f3e851..81b32d209 100644
--- a/components/motor/esp_simplefoc/port/angle_sensor/as5048a.cpp
+++ b/components/motor/esp_simplefoc/port/angle_sensor/as5048a.cpp
@@ -2,13 +2,11 @@
 #include "esp_log.h"
 #include "esp_check.h"
 
-
 #define AS5048A_REG_ANGLE   0x3FFF
 #define PI                  3.14159265358979f
 
 static const char *TAG = "AS5048a";
 
-
 AS5048a::AS5048a(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso_io, gpio_num_t mosi_io, gpio_num_t cs_io)
 {
     _spi_host = spi_host;
@@ -19,7 +17,6 @@ AS5048a::AS5048a(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso
     is_installed = false;
 }
 
-
 AS5048a::~AS5048a()
 {
     if (is_installed) {
@@ -27,29 +24,20 @@ AS5048a::~AS5048a()
     }
 }
 
-
 void AS5048a::deinit()
 {
     esp_err_t ret;
     ret = spi_bus_remove_device(spi_device);
     ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI remove device fail");
+    ret = spi_bus_free(_spi_host);
+    ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI free fail");
+    is_installed = false;
 }
 
-
 void AS5048a::init()
 {
     esp_err_t ret;
 
-     /*!< Set GPIO mode for chip select pin */
-    gpio_config_t io_conf = {//gpio_types.h
-        .pin_bit_mask = (1ULL << _cs_io),
-        .mode         = GPIO_MODE_OUTPUT,
-        .pull_up_en   = GPIO_PULLUP_DISABLE,
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
-        .intr_type    = GPIO_INTR_DISABLE,
-    };
-    gpio_config(&io_conf);
-
     /*!< Configuration for the spi bus */
     spi_bus_config_t buscfg = {
         .mosi_io_num = _mosi_io,
@@ -61,7 +49,7 @@ void AS5048a::init()
     };
     ret = spi_bus_initialize(_spi_host, &buscfg, SPI_DMA_CH_AUTO);
     ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus init fail");
-    
+
     spi_device_interface_config_t devcfg = {
         .command_bits = 0,
         .address_bits = 0,
@@ -72,14 +60,13 @@ void AS5048a::init()
         .spics_io_num = _cs_io,
         .queue_size = 1,
     };
-    
+
     ret = spi_bus_add_device(_spi_host, &devcfg, &spi_device);
     ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus add device fail");
 
     is_installed = true;
 }
 
-
 uint8_t AS5048a::calculateParity(uint16_t value)
 {
     uint8_t count = 0;
@@ -92,7 +79,6 @@ uint8_t AS5048a::calculateParity(uint16_t value)
     return count & 0x1;
 }
 
-
 uint16_t AS5048a::readRegister(uint16_t reg_address)
 {
     uint16_t command = 1 << 14; // PAR=0 R/W=R (Read command)
@@ -114,12 +100,11 @@ uint16_t AS5048a::readRegister(uint16_t reg_address)
     t.rxlength = 16; // 16 bits
     t.rx_buffer = rx_buffer;
     spi_device_transmit(spi_device, &t);
-    
+
     uint16_t reg_value = (rx_buffer[0] << 8) | rx_buffer[1];
     return reg_value & 0x3FFF; // Masking to get 14 bits angle value
 }
 
-
 uint16_t AS5048a::readRawPosition()
 {
     return readRegister(AS5048A_REG_ANGLE);
diff --git a/components/motor/esp_simplefoc/port/angle_sensor/as5048a.h b/components/motor/esp_simplefoc/port/angle_sensor/as5048a.h
index e560ca6e3..2498f8d1e 100644
--- a/components/motor/esp_simplefoc/port/angle_sensor/as5048a.h
+++ b/components/motor/esp_simplefoc/port/angle_sensor/as5048a.h
@@ -6,23 +6,21 @@
 
 #pragma once
 
-
 #include "common/base_classes/Sensor.h"
 #include "driver/spi_master.h"
 #include "driver/gpio.h"
 
-
 class AS5048a : public Sensor {
 public:
-/**
-     * @brief Construct a new AS5048a object
-     *
-     * @param spi_host
-     * @param sclk_io
-     * @param miso_io
-     * @param mosi_io
-     * @param cs_io
-     */
+    /**
+         * @brief Construct a new AS5048a object
+         *
+         * @param spi_host
+         * @param sclk_io
+         * @param miso_io
+         * @param mosi_io
+         * @param cs_io
+         */
     AS5048a(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso_io, gpio_num_t mosi_io, gpio_num_t cs_io);
     /**
      * @brief Destroy the AS5048a object
diff --git a/components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp b/components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp
index 72d7e29ac..7d5a7198f 100644
--- a/components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp
+++ b/components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp
@@ -42,6 +42,21 @@ TEST_CASE("test mt6701", "[sensor][mt6701]")
     mt6701.deinit();
 }
 
+TEST_CASE("test as5048a", "[sensor][as5048a]")
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    AS5048a as5048a = AS5048a(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_3);
+#else
+    AS5048a as5048a = AS5048a(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_42);
+#endif
+    as5048a.init();
+    for (int i = 0; i < 10; ++i) {
+        ESP_LOGI(TAG, "angle:%.2f", as5048a.getSensorAngle());
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+    as5048a.deinit();
+}
+
 TEST_CASE("test esp_simplefoc openloop control", "[single motor][openloop][14pp][ledc][drv8313][c3]")
 {
     BLDCMotor motor = BLDCMotor(14);