Add handy functions for handling non recurrent timeouts.

[bertos.git] / bertos / drv / dc_motor.h

diff --git a/bertos/drv/dc_motor.h b/bertos/drv/dc_motor.h
index 9aac6548e3235461d1731c3363c1a59a91f21ead..f6fc6c57afa114ba9f354a26d93c28c1c10ed27e 100644 (file)
--- a/bertos/drv/dc_motor.h
+++ b/bertos/drv/dc_motor.h
@@ -30,17 +30,24 @@
  * -->
  *
  *
- * \brief DC motor driver (interface)
- *
- * \version $Id$
+ * \brief DC motor driver.
  *
  * \author Daniele Basile <asterix@develer.com>
+ *
+ * $WIZ$ 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
 #define DRV_DC_MOTOR_H
 
-#include "hw_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>
 
@@ -48,15 +55,8 @@
 #include <drv/timer.h>
 #include <drv/adc.h>
 
-#include <cfg/macros.h>
-
-#include "appconfig.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.
@@ -69,16 +69,21 @@ typedef uint16_t dc_speed_t;
 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;
 
@@ -88,19 +93,39 @@ typedef struct 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 */