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132 lines
4.0 KiB
C
132 lines
4.0 KiB
C
/**
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* \file
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* <!--
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* This file is part of BeRTOS.
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*
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* Bertos is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* As a special exception, you may use this file as part of a free software
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* library without restriction. Specifically, if other files instantiate
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* templates or use macros or inline functions from this file, or you compile
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* this file and link it with other files to produce an executable, this
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* file does not by itself cause the resulting executable to be covered by
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* the GNU General Public License. This exception does not however
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* invalidate any other reasons why the executable file might be covered by
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* the GNU General Public License.
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*
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* Copyright 2008 Develer S.r.l. (http://www.develer.com/)
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* -->
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*
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*
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* \brief DC motor driver.
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*
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* \author Daniele Basile <asterix@develer.com>
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*
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* $WIZ$ module_name = "dc_motor"
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* $WIZ$ module_depends = "pwm", "pid_control", "adc", "timer"
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* $WIZ$ module_configuration = "bertos/cfg/cfg_dc_motor.h"
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* $WIZ$ module_hw = "bertos/hw/hw_dc_motor.h"
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*/
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#ifndef DRV_DC_MOTOR_H
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#define DRV_DC_MOTOR_H
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#include "hw/hw_dc_motor.h"
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#include "cfg/cfg_dc_motor.h"
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#include "cfg/cfg_pwm.h"
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#include <cfg/macros.h>
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#include <algo/pid_control.h>
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#include <drv/pwm.h>
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#include <drv/timer.h>
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#include <drv/adc.h>
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#define DC_MOTOR_NO_EXPIRE -1 ///< The DC motor runs do not expire, so it runs forever.
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#define DC_MOTOR_NO_DEV_SPEED -1 ///< Disable the speed acquire from device (like trimmer, etc.).
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/**
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* Type for DC motor.
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*/
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typedef uint16_t dc_speed_t;
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/**
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* DC motor configuration stucture
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*/
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typedef struct DCMotorConfig
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{
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PidCfg pid_cfg; ///< Pid control.
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bool pid_enable; ///< Flag to disable or enable pid control.
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unsigned pwm_dev; ///< Pwm channel.
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pwm_freq_t freq; ///< Pwm waveform frequency.
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adc_ch_t adc_ch; ///< ADC channel.
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adcread_t adc_max; ///< ADC max scale value.
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adcread_t adc_min; ///< ADC min scale value.
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bool dir; ///< Default direction for select DC motor.
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bool braked; ///< If true the motor is braked when we turn off it.
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dc_speed_t speed; ///< Default speed value for select DC motor.
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int speed_dev_id; ///< Index of the device where read speed, to disable set to DC_MOTOR_NO_DEV_SPEED.
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} DCMotorConfig;
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/**
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* Context structure for DC motor.
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*/
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typedef struct DCMotor
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{
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const DCMotorConfig *cfg; // All configuration for select DC motor.
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PidContext pid_ctx; // Pid control.
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#if !CFG_PWM_ENABLE_OLD_API
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Pwm pwm; // Pwm context
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#endif
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int index; // DC motor id.
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uint32_t status; // Status of select DC motor
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dc_speed_t tgt_speed; // Target speed for select DC motor
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ticks_t expire_time; // Amount of time that dc motor run
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} DCMotor;
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void dc_motor_setDir(int index, bool dir);
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void dc_motor_enable(int index, bool state);
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void dc_motor_setSpeed(int index, dc_speed_t speed);
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void dc_motor_startTimer(int index, mtime_t on_time);
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void dc_motor_waitStop(int index);
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void dc_motor_setup(int index, DCMotorConfig *dcm_conf);
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dc_speed_t dc_motor_readTargetSpeed(int index);
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void dc_motor_setPriority(int priority);
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void dc_motor_init(void);
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/**
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* Test function prototypes.
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*
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* See dc_motor_hwtest.c file.
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*/
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int dc_motor_testSetUp(void);
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void dc_motor_testRun(void);
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int dc_motor_testTearDown(void);
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#endif /* DRV_DC_MOTOR_H */
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