motor_driver.h

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/*
 * Copyright (C) 2018 Gilles DOFFE <g.doffe@gmail.com>
 *
 * This file is subject to the terms and conditions of the GNU Lesser
 * General Public License v2.1. See the file LICENSE in the top level
 * directory for more details.
 */
 
#pragma once
 
#include "periph/pwm.h"
#include "periph/gpio.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef CONFIG_MOTOR_DRIVER_MAX
#define CONFIG_MOTOR_DRIVER_MAX    (2)
#endif
#define MOTOR_DRIVER_DEV(x) (x)
 
typedef enum {
    MOTOR_DRIVER_2_DIRS         = 0,            
    MOTOR_DRIVER_1_DIR          = 1,            
    MOTOR_DRIVER_1_DIR_BRAKE    = 2             
} motor_driver_mode_t;
 
typedef enum {
    MOTOR_BRAKE_LOW     = 0,        
    MOTOR_BRAKE_HIGH    = 1,        
} motor_driver_mode_brake_t;
 
typedef enum {
    MOTOR_CW    = 0,            
    MOTOR_CCW   = 1,            
} motor_direction_t;
 
typedef struct {
    int pwm_channel;            
    gpio_t gpio_enable;         
    gpio_t gpio_dir0;           
    gpio_t gpio_dir1_or_brake;  
    uint8_t gpio_dir_reverse;   
    uint8_t gpio_enable_invert; 
    uint8_t gpio_brake_invert;  
} motor_t;
 
typedef unsigned int motor_driver_t;
 
typedef void (*motor_driver_cb_t)(const motor_driver_t motor_driver,
                                  uint8_t motor_id,
                                  int32_t pwm_duty_cycle);
 
typedef struct {
    pwm_t pwm_dev;                          
    motor_driver_mode_t mode;               
    motor_driver_mode_brake_t mode_brake;   
    pwm_mode_t pwm_mode;                    
    uint32_t pwm_frequency;                 
    uint32_t pwm_resolution;                
    uint8_t nb_motors;                      
    motor_t motors[CONFIG_MOTOR_DRIVER_MAX];       
    motor_driver_cb_t cb;                   
} motor_driver_config_t;
 
int motor_driver_init(const motor_driver_t motor_driver);
 
int motor_set(const motor_driver_t motor_driver, uint8_t motor_id, \
              int32_t pwm_duty_cycle);
 
int motor_brake(const motor_driver_t motor_driver, uint8_t motor_id);
 
void motor_enable(const motor_driver_t motor_driver, uint8_t motor_id);
 
void motor_disable(const motor_driver_t motor_driver, uint8_t motor_id);
 
#ifdef __cplusplus
}
#endif