146 lines
3.8 KiB
C
146 lines
3.8 KiB
C
/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include <stdint.h>
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#include "esp_err.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Brushed DC Motor handle
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*/
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typedef struct bdc_motor_t *bdc_motor_handle_t;
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/**
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* @brief Enable BDC motor
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*
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* @param motor: BDC Motor handle
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*
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* @return
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* - ESP_OK: Enable motor successfully
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* - ESP_ERR_INVALID_ARG: Enable motor failed because of invalid parameters
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* - ESP_FAIL: Enable motor failed because other error occurred
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*/
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esp_err_t bdc_motor_enable(bdc_motor_handle_t motor);
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/**
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* @brief Disable BDC motor
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*
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* @param motor: BDC Motor handle
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*
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* @return
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* - ESP_OK: Disable motor successfully
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* - ESP_ERR_INVALID_ARG: Disable motor failed because of invalid parameters
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* - ESP_FAIL: Disable motor failed because other error occurred
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*/
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esp_err_t bdc_motor_disable(bdc_motor_handle_t motor);
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/**
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* @brief Set speed for bdc motor
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*
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* @param motor: BDC Motor handle
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* @param speed: BDC speed
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*
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* @return
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* - ESP_OK: Set motor speed successfully
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* - ESP_ERR_INVALID_ARG: Set motor speed failed because of invalid parameters
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* - ESP_FAIL: Set motor speed failed because other error occurred
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*/
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esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed);
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/**
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* @brief Forward BDC motor
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*
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* @param motor: BDC Motor handle
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*
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* @return
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* - ESP_OK: Forward motor successfully
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* - ESP_FAIL: Forward motor failed because some other error occurred
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*/
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esp_err_t bdc_motor_forward(bdc_motor_handle_t motor);
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/**
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* @brief Reverse BDC Motor
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*
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* @param strip: BDC Motor handle
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*
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* @return
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* - ESP_OK: Reverse motor successfully
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* - ESP_FAIL: Reverse motor failed because some other error occurred
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*/
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esp_err_t bdc_motor_reverse(bdc_motor_handle_t motor);
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/**
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* @brief Stop motor in a coast way (a.k.a Fast Decay)
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*
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* @param motor: BDC Motor handle
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*
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* @return
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* - ESP_OK: Stop motor successfully
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* - ESP_FAIL: Stop motor failed because some other error occurred
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*/
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esp_err_t bdc_motor_coast(bdc_motor_handle_t motor);
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/**
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* @brief Stop motor in a brake way (a.k.a Slow Decay)
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*
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* @param motor: BDC Motor handle
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*
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* @return
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* - ESP_OK: Stop motor successfully
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* - ESP_FAIL: Stop motor failed because some other error occurred
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*/
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esp_err_t bdc_motor_brake(bdc_motor_handle_t motor);
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/**
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* @brief Free BDC Motor resources
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*
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* @param strip: BDC Motor handle
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*
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* @return
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* - ESP_OK: Free resources successfully
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* - ESP_FAIL: Free resources failed because error occurred
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*/
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esp_err_t bdc_motor_del(bdc_motor_handle_t motor);
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/**
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* @brief BDC Motor Configuration
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*/
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typedef struct {
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uint32_t pwma_gpio_num; /*!< BDC Motor PWM A gpio number */
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uint32_t pwmb_gpio_num; /*!< BDC Motor PWM B gpio number */
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uint32_t pwm_freq_hz; /*!< PWM frequency, in Hz */
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} bdc_motor_config_t;
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/**
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* @brief BDC Motor MCPWM specific configuration
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*/
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typedef struct {
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int group_id; /*!< MCPWM group number */
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uint32_t resolution_hz; /*!< MCPWM timer resolution */
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} bdc_motor_mcpwm_config_t;
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/**
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* @brief Create BDC Motor based on MCPWM peripheral
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*
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* @param motor_config: BDC Motor configuration
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* @param mcpwm_config: MCPWM specific configuration
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* @param ret_motor Returned BDC Motor handle
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* @return
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* - ESP_OK: Create BDC Motor handle successfully
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* - ESP_ERR_INVALID_ARG: Create BDC Motor handle failed because of invalid argument
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* - ESP_ERR_NO_MEM: Create BDC Motor handle failed because of out of memory
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* - ESP_FAIL: Create BDC Motor handle failed because some other error
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*/
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esp_err_t bdc_motor_new_mcpwm_device(const bdc_motor_config_t *motor_config, const bdc_motor_mcpwm_config_t *mcpwm_config, bdc_motor_handle_t *ret_motor);
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#ifdef __cplusplus
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}
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#endif
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