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29 * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
33 * \brief DC motor driver.
35 * \author Daniele Basile <asterix@develer.com>
37 * $WIZ$ module_name = "dc_motor"
38 * $WIZ$ module_depends = "pwm", "pid_control", "adc", "timer"
39 * $WIZ$ module_configuration = "bertos/cfg/cfg_dc_motor.h"
40 * $WIZ$ module_hw = "bertos/hw/hw_dc_motor.h"
43 #ifndef DRV_DC_MOTOR_H
44 #define DRV_DC_MOTOR_H
46 #include "hw/hw_dc_motor.h"
48 #include "cfg/cfg_dc_motor.h"
49 #include <cfg/macros.h>
51 #include <algo/pid_control.h>
54 #include <drv/timer.h>
60 #define DC_MOTOR_DISABLE_MODE 0 ///< Disable the DC motor shutting down the driver
61 #define DC_MOTOR_IDLE_MODE 1 ///< Put the motor pins in short circuit
64 #define DC_MOTOR_NO_EXPIRE -1 ///< The DC motor runs do not expire, so it runs forever.
69 typedef uint16_t dc_speed_t;
72 * DC motor configuration stucture
74 typedef struct DCMotorConfig
76 PidCfg pid_cfg; ///< Pid control.
77 bool pid_enable; ///< Flag to disable or enable pid control.
79 PwmDev pwm_dev; ///< Pwm channel.
80 pwm_freq_t freq; ///< Pwm waveform frequency.
82 adc_ch_t adc_ch; ///< ADC channel.
83 adcread_t adc_max; ///< ADC max scale value.
84 adcread_t adc_min; ///< ADC min scale value.
85 mtime_t sample_delay; ///< Delay before to sampling.
87 bool dir; ///< Default direction for select DC motor.
89 dc_speed_t speed; ///< Fixed speed value for select DC motor, if enable_dev_speed flag is false.
91 adc_ch_t speed_dev_id; ///< Index of the device where read speed.
92 bool enable_dev_speed; ///< If this flag is true read target speed from device, otherwise use fixed speed.
98 * Context structure for DC motor.
100 typedef struct DCMotor
102 const DCMotorConfig *cfg; ///< All configuration for select DC motor.
103 PidContext pid_ctx; ///< Pid control.
105 int index; ///< DC motor id.
106 uint32_t status; ///< Status of select DC motor
107 dc_speed_t zero_speed; ///< Start value for motor speed (Value read from adc when motor is off)
108 dc_speed_t tgt_speed; ///< Target speed for select DC motor
110 ticks_t expire_time; ///< Among of time that dc motor run
114 void dc_motor_setDir(int index, bool dir);
115 void dc_motor_enable(int index, bool state, int mode);
116 void dc_motor_setSpeed(int index, dc_speed_t speed);
117 void dc_motor_setTimer(int index, mtime_t on_time);
118 void dc_motor_setup(int index, DCMotorConfig *cfg);
119 dc_speed_t dc_motor_readTargetSpeed(int index);
120 void dc_motor_init(int priority);
122 #endif /* DRV_DC_MOTOR_H */