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29 * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
33 * \brief DC motor driver.
37 * \author Daniele Basile <asterix@develer.com>
39 * $WIZ$ module_name = "dc_motor"
40 * $WIZ$ module_depends = "pwm", "pid_control", "adc", "timer"
41 * $WIZ$ module_configuration = "bertos/cfg/cfg_dc_motor.h"
44 #ifndef DRV_DC_MOTOR_H
45 #define DRV_DC_MOTOR_H
47 #include "hw/hw_dc_motor.h"
49 #include "cfg/cfg_dc_motor.h"
50 #include <cfg/macros.h>
52 #include <algo/pid_control.h>
55 #include <drv/timer.h>
60 * Define status bit for DC motor device.
62 #define DC_MOTOR_ACTIVE BV(0) ///< DC motor enable or disable flag.
63 #define DC_MOTOR_DIR BV(1) ///< Spin direction of DC motor.
68 typedef uint16_t dc_speed_t;
71 * DC motor configuration stucture
73 typedef struct DCMotorConfig
75 PidCfg pid_cfg; ///< Pid control.
77 PwmDev pwm_dev; ///< Pwm channel.
78 pwm_freq_t freq; ///< Pwm waveform frequency.
80 adc_ch_t adc_ch; ///< ADC channel.
81 adcread_t adc_max; ///< ADC max scale value.
82 adcread_t adc_min; ///< ADC min scale value.
83 mtime_t sample_delay; ///< Delay before to sampling.
85 bool dir; ///< Default direction for select DC motor.
91 * Context structure for DC motor.
93 typedef struct DCMotor
95 const DCMotorConfig *cfg; ///< All configuration for select DC motor.
96 PidContext pid_ctx; ///< Pid control.
98 int index; ///< DC motor id.
99 uint32_t status; ///< Status of select DC motor
100 dc_speed_t tgt_speed; ///< Target speed for select DC motor
104 void dc_motor_setDir(int index, bool dir);
105 void dc_motor_enable(int index, bool state);
106 void dc_motor_setSpeed(int index, dc_speed_t speed);
107 void dc_motor_setup(int index, DCMotorConfig *cfg);
108 void dc_motor_init(void);
110 #endif /* DRV_DC_MOTOR_H */