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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/cfg_pwm.h"
50 #include <cfg/macros.h>
52 #include <algo/pid_control.h>
55 #include <drv/timer.h>
58 #define DC_MOTOR_NO_EXPIRE -1 ///< The DC motor runs do not expire, so it runs forever.
59 #define DC_MOTOR_NO_DEV_SPEED -1 ///< Disable the speed acquire from device (like trimmer, etc.).
64 typedef uint16_t dc_speed_t;
67 * DC motor configuration stucture
69 typedef struct DCMotorConfig
71 PidCfg pid_cfg; ///< Pid control.
72 bool pid_enable; ///< Flag to disable or enable pid control.
74 unsigned pwm_dev; ///< Pwm channel.
75 pwm_freq_t freq; ///< Pwm waveform frequency.
77 adc_ch_t adc_ch; ///< ADC channel.
78 adcread_t adc_max; ///< ADC max scale value.
79 adcread_t adc_min; ///< ADC min scale value.
81 bool dir; ///< Default direction for select DC motor.
82 bool braked; ///< If true the motor is braked when we turn off it.
84 dc_speed_t speed; ///< Default speed value for select DC motor.
86 int speed_dev_id; ///< Index of the device where read speed, to disable set to DC_MOTOR_NO_DEV_SPEED.
92 * Context structure for DC motor.
94 typedef struct DCMotor
96 const DCMotorConfig *cfg; // All configuration for select DC motor.
97 PidContext pid_ctx; // Pid control.
99 #if !CFG_PWM_ENABLE_OLD_API
100 Pwm pwm; // Pwm context
103 int index; // DC motor id.
104 uint32_t status; // Status of select DC motor
105 dc_speed_t tgt_speed; // Target speed for select DC motor
107 ticks_t expire_time; // Amount of time that dc motor run
111 void dc_motor_setDir(int index, bool dir);
112 void dc_motor_enable(int index, bool state);
113 void dc_motor_setSpeed(int index, dc_speed_t speed);
114 void dc_motor_startTimer(int index, mtime_t on_time);
115 void dc_motor_waitStop(int index);
116 void dc_motor_setup(int index, DCMotorConfig *dcm_conf);
117 dc_speed_t dc_motor_readTargetSpeed(int index);
118 void dc_motor_setPriority(int priority);
119 void dc_motor_init(void);
123 * Test function prototypes.
125 * See dc_motor_hwtest.c file.
127 int dc_motor_testSetUp(void);
128 void dc_motor_testRun(void);
129 int dc_motor_testTearDown(void);
131 #endif /* DRV_DC_MOTOR_H */