* -->
*
*
- * \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 "hw/hw_dc_motor.h"
#include "cfg/cfg_dc_motor.h"
+#include "cfg/cfg_pwm.h"
#include <cfg/macros.h>
#include <algo/pid_control.h>
#include <drv/timer.h>
#include <drv/adc.h>
-
-/**
- * Define status bit for DC motor device.
- */
-#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_NO_EXPIRE -1 ///< The DC motor runs do not expire, so it runs forever.
+#define DC_MOTOR_NO_DEV_SPEED -1 ///< Disable the speed acquire from device (like trimmer, etc.).
/**
* 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.
+ unsigned pwm_dev; ///< Pwm channel.
pwm_freq_t freq; ///< Pwm waveform frequency.
adc_ch_t adc_ch; ///< ADC channel.
adcread_t adc_max; ///< ADC max scale value.
adcread_t adc_min; ///< ADC min scale value.
- mtime_t sample_delay; ///< Delay before to sampling.
bool dir; ///< Default direction for select DC motor.
+ bool braked; ///< If true the motor is braked when we turn off it.
+
+ dc_speed_t speed; ///< Default speed value for select DC motor.
+
+ int speed_dev_id; ///< Index of the device where read speed, to disable set to DC_MOTOR_NO_DEV_SPEED.
} DCMotorConfig;
*/
typedef struct DCMotor
{
- const DCMotorConfig *cfg; ///< All configuration for select DC motor.
- PidContext pid_ctx; ///< Pid control.
+ const DCMotorConfig *cfg; // All configuration for select DC motor.
+ PidContext pid_ctx; // Pid control.
+
+#if !CFG_PWM_ENABLE_OLD_API
+ Pwm pwm; // Pwm context
+#endif
- int index; ///< DC motor id.
- uint32_t status; ///< Status of select DC motor
- dc_speed_t tgt_speed; ///< Target speed for select DC motor
+ int index; // DC motor id.
+ uint32_t status; // Status of select DC motor
+ dc_speed_t tgt_speed; // Target speed for select DC motor
+
+ ticks_t expire_time; // Amount 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_setSpeed(int index, dc_speed_t speed);
-void dc_motor_setup(int index, DCMotorConfig *cfg);
+void dc_motor_startTimer(int index, mtime_t on_time);
+void dc_motor_waitStop(int index);
+void dc_motor_setup(int index, DCMotorConfig *dcm_conf);
+dc_speed_t dc_motor_readTargetSpeed(int index);
+void dc_motor_setPriority(int priority);
void dc_motor_init(void);
+
+/**
+ * Test function prototypes.
+ *
+ * See dc_motor_hwtest.c file.
+ */
+int dc_motor_testSetUp(void);
+void dc_motor_testRun(void);
+int dc_motor_testTearDown(void);
+
#endif /* DRV_DC_MOTOR_H */