* -->
*
*
- * \brief DC motor driver (interface)
- *
- * \version $Id$
- *
+ * \brief DC motor driver.
+*
* \author Daniele Basile <asterix@develer.com>
*
- * $WIZARD_MODULE = {
- * "name" : "dc_motor",
- * "depends" : [pwm, pid_control],
- * "configuration" : "bertos/cfg/cfg_dc_motor.h"
- * }
+ * $WIZ$ module_name = "dc_motor"
+ * $WIZ$ module_depends = "pwm", "pid_control", "adc", "timer"
+ * $WIZ$ module_configuration = "bertos/cfg/cfg_dc_motor.h"
+ * $WIZ$ module_hw = "bertos/hw/hw_dc_motor.h"
*/
#ifndef DRV_DC_MOTOR_H
#include <drv/timer.h>
#include <drv/adc.h>
-
-/**
- * Define status bit for DC motor device.
+/*
+ * DC motor mode stop.
*/
-#define DC_MOTOR_ACTIVE BV(0) ///< DC motor enable or disable flag.
-#define DC_MOTOR_DIR BV(1) ///< Spin direction of DC motor.
+#define DC_MOTOR_DISABLE_MODE 0 ///< Disable the DC motor shutting down the driver
+#define DC_MOTOR_IDLE_MODE 1 ///< Put the motor pins in short circuit
+
+
+#define DC_MOTOR_NO_EXPIRE -1 ///< The DC motor runs do not expire, so it runs forever.
/**
* Type for DC motor.
typedef struct DCMotorConfig
{
PidCfg pid_cfg; ///< Pid control.
+ bool pid_enable; ///< Flag to disable or enable pid control.
PwmDev pwm_dev; ///< Pwm channel.
pwm_freq_t freq; ///< Pwm waveform frequency.
bool dir; ///< Default direction for select DC motor.
+ dc_speed_t speed; ///< Fixed speed value for select DC motor, if enable_dev_speed flag is false.
+
+ adc_ch_t speed_dev_id; ///< Index of the device where read speed.
+ bool enable_dev_speed; ///< If this flag is true read target speed from device, otherwise use fixed speed.
+
} DCMotorConfig;
int index; ///< DC motor id.
uint32_t status; ///< Status of select DC motor
+ dc_speed_t zero_speed; ///< Start value for motor speed (Value read from adc when motor is off)
dc_speed_t tgt_speed; ///< Target speed for select DC motor
+ ticks_t expire_time; ///< Among of time that dc motor run
+
} DCMotor;
void dc_motor_setDir(int index, bool dir);
-void dc_motor_enable(int index, bool state);
+void dc_motor_enable(int index, bool state, int mode);
void dc_motor_setSpeed(int index, dc_speed_t speed);
+void dc_motor_setTimer(int index, mtime_t on_time);
void dc_motor_setup(int index, DCMotorConfig *cfg);
-void dc_motor_init(void);
+dc_speed_t dc_motor_readTargetSpeed(int index);
+void dc_motor_init(int priority);
#endif /* DRV_DC_MOTOR_H */