update bitmask in bar_graph.c

include/bar_graph.h

@@ -33,6 +33,7 @@
 #include "esp_log.h"
 #include "esp_err.h"
 #include "pin_defs.h"
+#include "motor_driver.h"
 
 /**
  * It will check for state of motor driver A, and accordingly init the free gpios.

src/bar_graph.c

@@ -31,31 +31,25 @@ static int enabled_bar_graph_flag = 0;
 // pins IN1 - IN4 are usable in the bar graph, as pins IN5 - IN8 are connected to pins of motor driver B and these cannot be used.
 // So, bit mask sets bits of IN5 - IN8 as 0 and that of IN1 - IN4 as 1, because if we set pins used by mcpwm, esp32 will crash or behave oddly.
 // IN1 is the leftmost bit and IN8 is the rightmost bit
-static const uint8_t bitmask[3] = {0xFF, 0xCF, 0x0F};
-//                          state    0     1     2
+static const uint8_t bitmask[3] = {0xFF, 0x0F};
+//                          state    0     1
 // Just an array of pins used by bar graph led
 static const int pin_out[8] = {BG_LED_1, BG_LED_2, BG_LED_3, BG_LED_4, BG_LED_5, BG_LED_6, BG_LED_7, BG_LED_8};
 
 esp_err_t enable_bar_graph()
 {
     uint64_t bit_mask = 0;
     // motor driver a is off so we can use IN1 - IN8 pins
-    if (read_motor_driver_mode(a) == 0)
+    if (get_motor_driver_status() == 0)
     {
         bit_mask = (1ULL << BG_LED_1) | (1ULL << BG_LED_2) | (1ULL << BG_LED_3) | (1ULL << BG_LED_4) | (1ULL << BG_LED_5) | (1ULL << BG_LED_6) | (1ULL << BG_LED_7) | (1ULL << BG_LED_8);
         enabled_bar_graph_flag = 0;
     }
-    // motor driver a is in parallel mode, so we can use IN1, IN2, IN5 - IN8 pins
-    else if (read_motor_driver_mode(a) == 1)
-    {
-        bit_mask = (1ULL << BG_LED_1) | (1ULL << BG_LED_2) | (1ULL << BG_LED_5) | (1ULL << BG_LED_6) | (1ULL << BG_LED_7) | (1ULL << BG_LED_8);
-        enabled_bar_graph_flag = 1;
-    }
     // motor driver a is in normal mode, so we can use IN5, IN6, IN7, IN8 pins
-    else if (read_motor_driver_mode(a) == 2)
+    else if (get_motor_driver_status() == 1)
     {
         bit_mask = (1ULL << BG_LED_5) | (1ULL << BG_LED_6) | (1ULL << BG_LED_7) | (1ULL << BG_LED_8);
-        enabled_bar_graph_flag = 2;
+        enabled_bar_graph_flag = 1;
     }
 
     gpio_config_t io_conf;