motor_driver.h

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/*
 * SPDX-FileCopyrightText: 2018 Gilles DOFFE <g.doffe@gmail.com>
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#include <stdbool.h>
 
#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

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_CW    = 0,            
    MOTOR_CCW   = 1,            
} motor_direction_t;

typedef struct {
    int pwm_channel;            
    gpio_t gpio_enable;         
    gpio_t gpio_dir0;           
    union {
        gpio_t gpio_dir1;       
        gpio_t gpio_brake;      
    };
    bool gpio_dir_reverse;      
} motor_t;

typedef struct _motor_driver_t motor_driver_t;

typedef void (*motor_set_post_cb_t)(const motor_driver_t *motor_driver,
                                  uint8_t motor_id,
                                  int32_t pwm_duty_cycle);

typedef void (*motor_set_cb_t)(const motor_t *motor,
                               motor_direction_t direction);

typedef void (*motor_brake_cb_t)(const motor_t *motor,
                                 bool brake);

typedef struct {
    motor_driver_mode_t mode;                   
    pwm_t pwm_dev;                              
    pwm_mode_t pwm_mode;                        
    uint32_t pwm_frequency;                     
    uint32_t pwm_resolution;                    
    bool brake_inverted;                        
    bool enable_inverted;                       
    uint8_t nb_motors;                          
    motor_t motors[CONFIG_MOTOR_DRIVER_MAX];    
    motor_set_post_cb_t motor_set_post_cb;      
} motor_driver_params_t;

struct _motor_driver_t {
    const motor_driver_params_t *params;        
};

int motor_driver_init(motor_driver_t *motor_driver, const motor_driver_params_t *params);

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