Clean up the code. Manage the reconnection. Use the lwip error, insted

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

diff --git a/bertos/drv/dc_motor.h b/bertos/drv/dc_motor.h
index 32a0b13c2a5687f12c66bd1350e5d63ca2424806..f6fc6c57afa114ba9f354a26d93c28c1c10ed27e 100644 (file)
--- a/bertos/drv/dc_motor.h
+++ b/bertos/drv/dc_motor.h
@@ -31,7 +31,7 @@
  *
  *
  * \brief DC motor driver.
-*
+ *
  * \author Daniele Basile <asterix@develer.com>
  *
  * $WIZ$ module_name = "dc_motor"
@@ -46,6 +46,7 @@
 #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>
@@ -54,14 +55,8 @@
 #include <drv/timer.h>
 #include <drv/adc.h>
 
-/*
- * DC motor mode stop.
- */
-#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.
+#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.
@@ -76,20 +71,19 @@ 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;       ///< Fixed speed value for select DC motor, if enable_dev_speed flag is false.
+       dc_speed_t speed;       ///< Default speed value for select DC motor.
 
-       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.
+       int speed_dev_id;       ///<  Index of the device where read speed, to disable set to DC_MOTOR_NO_DEV_SPEED.
 
 } DCMotorConfig;
 
@@ -99,24 +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 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
+       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;      ///< Among of time that  dc motor run
+       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, int mode);
+void dc_motor_enable(int index, bool state);
 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_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_init(int priority);
+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 */