@tutorial: Homemade ESC for E-Bike with regen and ESP32

/* 
 * BLDC Static Commutation - Serial Buffer Patch (Core v3.x Fix)
 * Target: Electronoobs Custom ESC v1.0 (IRFZ44N check)
 * Purpose: Safe logic verification with pure digital writes via direct polling loop.
 *          Clears GPIO 15 hardware conflicts for flawless serial telemetry output.
 */

#include "soc/io_mux_reg.h"

// --- PIN DEFINITIONS FROM PHYSICAL LAYOUT ---
const int PIN_HIN_A = 12;
const int PIN_LIN_A = 13;
const int PIN_HIN_B = 14;
const int PIN_LIN_B = 27;
const int PIN_HIN_C = 25;
const int PIN_LIN_C = 26;
const int PIN_DRIVER_SD = 32;

// Motor Internal Hall Sensors Pins (Patched order to GPIO 15)
const int PIN_HALL_1 = 4;
const int PIN_HALL_2 = 3; // Patched to GPIO 15 (MTDO pin)
const int PIN_HALL_3 = 39; 

// Analog Inputs for Control
const int PIN_THROTTLE_POT = 36; 

// Global variables
byte hallState = 0;

void setup() {
  // Initialize Serial Monitor at 115200 baud
  Serial.begin(115200);
  delay(1000); // Critical delay to allow the USB bridge to clear garbage bytes
  
  Serial.println("\n=============================================");
  Serial.println("--- SYSTEM BOOT: Electronoobs Buffer Patch ---");
  Serial.println("=============================================");

  // CRITICAL REGULATORY FIX FOR GPIO 15: Overrides MTDO/JTAG internal function
  // Forces Pin 15 register to act purely as a standard GPIO line using Core v3.x macros
  PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTDO_U, FUNC_MTDO_GPIO15);

  // Set all driver control pins as standard digital outputs
  pinMode(PIN_HIN_A, OUTPUT); pinMode(PIN_LIN_A, OUTPUT);
  pinMode(PIN_HIN_B, OUTPUT); pinMode(PIN_LIN_B, OUTPUT);
  pinMode(PIN_HIN_C, OUTPUT); pinMode(PIN_LIN_C, OUTPUT);
  
  // Force clean safe state
  allPhasesOff();

  // Configure SD Pin and force LOW to enable driver hardware
  pinMode(PIN_DRIVER_SD, OUTPUT);
  digitalWrite(PIN_DRIVER_SD, LOW); 

  // Configure Motor Hall inputs
  pinMode(PIN_HALL_1, INPUT);
  pinMode(PIN_HALL_2, INPUT); 
  pinMode(PIN_HALL_3, INPUT);
  
  Serial.println("[INFO] Setup complete. Buffer cleared. Entering Loop.");
}

void loop() {
  // Read physical Hall sensors via direct polling loop
  byte h1 = digitalRead(PIN_HALL_1);
  byte h2 = digitalRead(PIN_HALL_2);
  byte h3 = digitalRead(PIN_HALL_3);
  
  // Pack bits into standard 3-bit pattern
  hallState = (h1 << 2) | (h2 << 1) | h3;

  // Execute static digital commutation directly based on the polished status
  commuteMotorStatic(hallState);

  // Read Potentiometer safely
  int potValue = analogRead(PIN_THROTTLE_POT);

  // Throttled Telemetry output loop to ensure zero buffer overloading
  static unsigned long lastLog = 0;
  if (millis() - lastLog > 300) {
    Serial.print("[ALIVE] Pot: ");              Serial.print(potValue);
    Serial.print(" | Hall Binary Pattern: 0b");
    if (hallState < 0b100) Serial.print("0");
    if (hallState < 0b010) Serial.print("0");
    Serial.println(hallState, BIN);
    
    lastLog = millis();
  }
}

// 6-Step Pure Digital Commutation Table (Static execution for easy multimeter tracking)
void commuteMotorStatic(byte state) {
  switch (state) {
    case 0b101: // Step 1
      digitalWrite(PIN_HIN_A, HIGH); digitalWrite(PIN_LIN_A, LOW);
      digitalWrite(PIN_HIN_B, LOW);  digitalWrite(PIN_LIN_B, HIGH);
      digitalWrite(PIN_HIN_C, LOW);  digitalWrite(PIN_LIN_C, LOW);
      break;
    case 0b001: // Step 2
      digitalWrite(PIN_HIN_A, HIGH); digitalWrite(PIN_LIN_A, LOW);
      digitalWrite(PIN_HIN_B, LOW);  digitalWrite(PIN_LIN_B, LOW);
      digitalWrite(PIN_HIN_C, LOW);  digitalWrite(PIN_LIN_C, HIGH);
      break;
    case 0b011: // Step 3
      digitalWrite(PIN_HIN_A, LOW);  digitalWrite(PIN_LIN_A, LOW);
      digitalWrite(PIN_HIN_B, HIGH); digitalWrite(PIN_LIN_B, LOW);
      digitalWrite(PIN_HIN_C, LOW);  digitalWrite(PIN_LIN_C, HIGH);
      break;
    case 0b010: // Step 4
      digitalWrite(PIN_HIN_A, LOW);  digitalWrite(PIN_LIN_A, HIGH);
      digitalWrite(PIN_HIN_B, HIGH); digitalWrite(PIN_LIN_B, LOW);
      digitalWrite(PIN_HIN_C, LOW);  digitalWrite(PIN_LIN_C, LOW);
      break;
    case 0b110: // Step 5
      digitalWrite(PIN_HIN_A, LOW);  digitalWrite(PIN_LIN_A, HIGH);
      digitalWrite(PIN_HIN_B, LOW);  digitalWrite(PIN_LIN_B, LOW);
      digitalWrite(PIN_HIN_C, HIGH); digitalWrite(PIN_LIN_C, LOW);
      break;
    case 0b100: // Step 6
      digitalWrite(PIN_HIN_A, LOW);  digitalWrite(PIN_LIN_A, LOW);
      digitalWrite(PIN_HIN_B, LOW);  digitalWrite(PIN_LIN_B, HIGH);
      digitalWrite(PIN_HIN_C, HIGH); digitalWrite(PIN_LIN_C, LOW);
      break;
    default: // Fault state (0b000 or 0b111) -> Complete isolation
      allPhasesOff();
      break;
  }
}

void allPhasesOff() {
  digitalWrite(PIN_HIN_A, LOW); digitalWrite(PIN_LIN_A, LOW);
  digitalWrite(PIN_HIN_B, LOW); digitalWrite(PIN_LIN_B, LOW);
  digitalWrite(PIN_HIN_C, LOW); digitalWrite(PIN_LIN_C, LOW);
}