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151 lines
4.3 KiB
151 lines
4.3 KiB
/**
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* \file
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* \brief Motor driver interface.
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* \author Erich Styger, erich.styger@hslu.ch
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* \license SPDX-License-Identifier: BSD-3-Clause
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* This module implements a driver for up to two small DC motors.
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*/
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#ifndef MOTOR_H_
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#define MOTOR_H_
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#include "platform.h"
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#if PL_CONFIG_USE_MOTORS
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#include <stdint.h>
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#include <stdbool.h>
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#define MOTOR_HAS_INVERT 1 /* if we support motor revert at runtime */
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typedef enum {
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MOT_DIR_FORWARD, /*!< Motor forward direction */
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MOT_DIR_BACKWARD /*!< Motor backward direction */
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} MOT_Direction;
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typedef int8_t MOT_SpeedPercent; /*!< -100%...+100%, where negative is backward */
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typedef struct MOT_MotorDevice_ {
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#if MOTOR_HAS_INVERT
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bool inverted;
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#endif
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MOT_SpeedPercent currSpeedPercent; /*!< our current speed in %, negative percent means backward */
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uint16_t currPWMvalue; /*!< current PWM value used */
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void (*SetRatio16)(uint16_t); /*!< function to set the ratio */
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void (*DirPutVal)(bool); /*!< function to set direction bit */
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#if PL_HAS_MOTOR_BRAKE
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bool brake; /* if brake is enabled or not */
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void (*BrakePutVal)(bool); /* function to set brake bit */
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#endif
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#if PL_HAS_MOTOR_CURRENT_SENSE
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uint16_t currentValue; /* current AD current sensor value */
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uint16_t offset; /* current AD sensor offset value */
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#endif
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} MOT_MotorDevice;
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typedef enum {
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MOT_MOTOR_LEFT, /*!< left motor */
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MOT_MOTOR_RIGHT /*!< right motor */
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} MOT_MotorSide;
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#if MOTOR_HAS_INVERT
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/*!
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* \brief Inverts the forward/backward signal for a motor
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* \param motor Motor handle
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* \param revert TRUE to invert logic, FALSE otherwise
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*/
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void MOT_Invert(MOT_MotorDevice *motor, bool invert);
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#endif
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/*!
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* \brief Function to get a pointer to a motor (motor handle)
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* \param side Which motor
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* \return Pointer/handle to the motor
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*/
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MOT_MotorDevice *MOT_GetMotorHandle(MOT_MotorSide side);
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/*!
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* \brief Changes the speed of a motor, in the range of -100% (backward) to +100% (forward).
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* \param motor Motor handle.
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* \param relPercent Relative speed percentage to change.
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*/
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void MOT_ChangeSpeedPercent(MOT_MotorDevice *motor, MOT_SpeedPercent relPercent);
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/*!
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* \brief Returns the speed for a motor in percent (negative values are backward, positive are forward
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* \param motor Motor handle
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* \return The speed in percent, in the range -100...100
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*/
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MOT_SpeedPercent MOT_GetSpeedPercent(MOT_MotorDevice *motor);
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/*!
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* \brief Sets the speed of a motor, in the range of -100% (backward) to +100% (forward).
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* \param motor Motor handle.
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* \param percent Motor speed value, from -100 (full speed backward) to +100 (full speed forward).
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*/
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void MOT_SetSpeedPercent(MOT_MotorDevice *motor, MOT_SpeedPercent percent);
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/*!
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* \brief Updates the motor % speed based on actual PWM value.
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* \param motor Motor handle.
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* \param dir Current direction of motor.
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*/
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void MOT_UpdatePercent(MOT_MotorDevice *motor, MOT_Direction dir);
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/*!
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* \brief Sets the PWM value for the motor.
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* \param[in] motor Motor handle
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* \param[in] val New PWM value.
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*/
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void MOT_SetVal(MOT_MotorDevice *motor, uint16_t val);
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/*!
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* \brief Return the current PWM value of the motor.
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* \param[in] motor Motor handle
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* \return Current PWM value.
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*/
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uint16_t MOT_GetVal(MOT_MotorDevice *motor);
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/*!
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* \brief Change the direction of the motor
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* \param[in] motor Motor handle
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* \param[in] dir Direction to be used
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*/
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void MOT_SetDirection(MOT_MotorDevice *motor, MOT_Direction dir);
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/*!
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* \brief Returns the direction of the motor
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* \param[in] motor Motor handle
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* \return Current direction of the motor
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*/
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MOT_Direction MOT_GetDirection(MOT_MotorDevice *motor);
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#if PL_CONFIG_USE_SHELL
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#include "McuShell.h"
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/*!
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* \brief Shell command line parser.
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* \param[in] cmd Pointer to command string
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* \param[out] handled If command is handled by the parser
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* \param[in] io Std I/O handler of shell
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*/
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uint8_t MOT_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell_StdIOType *io);
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#endif /* PL_CONFIG_USE_SHELL */
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/*!
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* \brief Function to turn motors on/off, useful for debugging
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* \param on If motors shall be turned on or off. If turning off, the PWM is set to the 'off' level too.
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*/
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void MOT_OnOff(bool on);
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/*!
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* \brief Deinitialization function.
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*/
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void MOT_Deinit(void);
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/*!
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* \brief Initialization function.
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*/
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void MOT_Init(void);
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#endif /* PL_CONFIG_USE_MOTORS */
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#endif /* MOTOR_H_ */
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