motor_driver.h File Reference

High-level driver for DC motors. More...

Detailed Description

High-level driver for DC motors.

Author

Gilles DOFFE g.dof.nosp@m.fe@g.nosp@m.mail..nosp@m.com

Definition in file motor_driver.h.

#include <stdbool.h>
#include "periph/pwm.h"
#include "periph/gpio.h"

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Go to the source code of this file.

Data Structures
struct	motor_t
	Describe DC motor with PWM channel and GPIOs. More...
struct	motor_driver_params_t
	Describe DC motor driver with PWM device and motors array. More...
struct	_motor_driver_t
	Motor driver. More...

Macros
#define	CONFIG_MOTOR_DRIVER_MAX   (2)
	Maximum number of motors by motor driver.

Typedefs
typedef struct _motor_driver_t	motor_driver_t
	Motor driver.
typedef void(*	motor_set_post_cb_t) (const motor_driver_t *motor_driver, uint8_t motor_id, int32_t pwm_duty_cycle)
	Motor callback.
typedef void(*	motor_set_cb_t) (const motor_t *motor, motor_direction_t direction)
	Motor set callback.
typedef void(*	motor_brake_cb_t) (const motor_t *motor, bool brake)
	Motor brake callback.

Enumerations
enum	motor_driver_mode_t { MOTOR_DRIVER_2_DIRS = 0 , MOTOR_DRIVER_1_DIR = 1 , MOTOR_DRIVER_1_DIR_BRAKE = 2 }
	Describe DC motor driver modes. More...
enum	motor_direction_t { MOTOR_CW = 0 , MOTOR_CCW = 1 }
	Describe DC motor direction states. More...

Functions
int	motor_driver_init (motor_driver_t *motor_driver, const motor_driver_params_t *params)
	Initialize DC motor driver board.
int	motor_set (const motor_driver_t *motor_driver, uint8_t motor_id, int32_t pwm_duty_cycle)
	Set motor speed and direction.
int	motor_brake (const motor_driver_t *motor_driver, uint8_t motor_id)
	Brake the motor of a given motor driver.
void	motor_enable (const motor_driver_t *motor_driver, uint8_t motor_id)
	Enable a motor of a given motor driver.
void	motor_disable (const motor_driver_t *motor_driver, uint8_t motor_id)
	Disable a motor of a given motor driver.