117 lines
3.0 KiB
C
117 lines
3.0 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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typedef struct bdc_motor_t bdc_motor_t; /*!< Type of BDC motor */
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/**
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* @brief BDC motor interface definition
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*/
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struct bdc_motor_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 (*enable)(bdc_motor_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 (*disable)(bdc_motor_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 (*set_speed)(bdc_motor_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 (*forward)(bdc_motor_t *motor);
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/**
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* @brief Reverse 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: 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 (*reverse)(bdc_motor_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 (*coast)(bdc_motor_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 (*brake)(bdc_motor_t *motor);
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/**
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* @brief Free BDC Motor handle resources
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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: 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 (*del)(bdc_motor_t *motor);
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};
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#ifdef __cplusplus
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}
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#endif
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