4 * This file is part of BeRTOS.
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29 * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
33 * \brief DC motor driver (interface)
37 * \author Daniele Basile <asterix@develer.com>
40 * "name" : "dc_motor",
41 * "depends" : ["pwm", "pid_control"],
42 * "configuration" : "bertos/cfg/cfg_dc_motor.h"
46 #ifndef DRV_DC_MOTOR_H
47 #define DRV_DC_MOTOR_H
49 #include "hw/hw_dc_motor.h"
51 #include "cfg/cfg_dc_motor.h"
52 #include <cfg/macros.h>
54 #include <algo/pid_control.h>
57 #include <drv/timer.h>
62 * Define status bit for DC motor device.
64 #define DC_MOTOR_ACTIVE BV(0) ///< DC motor enable or disable flag.
65 #define DC_MOTOR_DIR BV(1) ///< Spin direction of DC motor.
70 typedef uint16_t dc_speed_t;
73 * DC motor configuration stucture
75 typedef struct DCMotorConfig
77 PidCfg pid_cfg; ///< 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.
93 * Context structure for DC motor.
95 typedef struct DCMotor
97 const DCMotorConfig *cfg; ///< All configuration for select DC motor.
98 PidContext pid_ctx; ///< Pid control.
100 int index; ///< DC motor id.
101 uint32_t status; ///< Status of select DC motor
102 dc_speed_t tgt_speed; ///< Target speed for select DC motor
106 void dc_motor_setDir(int index, bool dir);
107 void dc_motor_enable(int index, bool state);
108 void dc_motor_setSpeed(int index, dc_speed_t speed);
109 void dc_motor_setup(int index, DCMotorConfig *cfg);
110 void dc_motor_init(void);
112 #endif /* DRV_DC_MOTOR_H */