motor_controller.h

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/*
 * motor_controller.h
 *
 *  Created on: Mar 5, 2025
 *      Author: Andrey Ovodov
 */
 
#ifndef MOTORS_CONTROLLERS_MOTOR_CONTROLLER_H_
#define MOTORS_CONTROLLERS_MOTOR_CONTROLLER_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "../Drivers/motor_driver.h"
#include "stdbool.h"
 
 
typedef void (*MotorSelfFunc_t)(void *self);
typedef void (*MotorSelfFuncWithSpeed_t)(void *self, uint8_t speed);
 
typedef void (*MotorSelfFuncWithCallback_t)(void *self, MotorSelfFunc_t Callback);
typedef void (*MotorSelfFuncWithReason_t) (void *self, uint8_t reason);
typedef void (*UpdateMotorParam_t)(void *self, uint32_t value);
typedef void (*MoveMotorToPosFunc_t)(void *self, uint8_t speed, uint8_t delay, uint8_t power, uint8_t force);
 
 
typedef enum {
    MSE_IDLE = 0,
    MSE_BREAK,
    MSE_MOVE
}motor_state_enum;
 
typedef enum {
    MOT_STOP = 0,
    MOT_OPEN,
    MOT_CLOSE
}MOT_DIR;
 
typedef enum {
    FMME_CURRENT_CONTROL =     1<<0,
    FMME_ENCODER_CONTROL =     1<<1,
    FMME_TIME_CONTROL    =     1<<2
}drive_move_mode_enum;
 
typedef enum {
    MOT_ENCODER_TARGET_POS_FINISH = 0,
    MOT_SMALL_CURENT_STOP,
    MOT_OVERCURENT_STOP,
    MOT_MANUAL_STOP,
    MOT_TIMEOUT_STOP
}mot_stop_reason_enum;
 
 
 
typedef struct
{
    bool reverse_driver;
    uint8_t type;
    uint8_t channel;
 
} motor_controller_base_init_t;
 
typedef struct
{
    motor_state_enum                        motor_state;
 
    MOT_DIR                                 target_direction;                        //     Direction (fvd or rev)
    drive_move_mode_enum                    move_mode;
    uint32_t                                target_enc_pos;
    uint32_t                                target_max_current;
    uint32_t                                target_speed;
 
    MOT_DIR                                 current_direction;
    int32_t                                 current_enc_pos;         //    0..TOTAL_ENCODER_STEPS
    uint8_t                                 force;
    int32_t                                 last_current;
    uint32_t                                current_speed;
    uint16_t                                overcurrent_counter;
 
    uint32_t                                start_time;
 
    mot_stop_reason_enum                    last_stop_reason;
 
    uint16_t                                stall_current;
    uint32_t                                currentArray[20];
    uint32_t                                currentArrayCounter;
 
    bool                                    new_current_exist;
}motor_controller_base_movement_info_t;
 
typedef struct
{
    void                *owner;
    motor_driver_base_t *driver;
 
    motor_controller_base_init_t *init;
    motor_controller_base_movement_info_t movement_info;
 
    //Functions
    MotorSelfFuncWithSpeed_t Open;             
    MotorSelfFuncWithSpeed_t Close;            
    MotorSelfFuncWithReason_t Stop;   
    MoveMotorToPosFunc_t MoveToPos; 
    MotorSelfFunc_t Tick;             
 
    MotorSelfFuncWithCallback_t Calibrate;
    MotorSelfFunc_t CalibrationFinishCallback;
 
    UpdateMotorParam_t UpdateCurrnetValue;
 
}motor_controller_base_t;
 
 
bool MotorControllerBaseInit(motor_controller_base_t *self, motor_controller_base_init_t *init, motor_driver_base_t *driver);
 
#ifdef __cplusplus
}
#endif
 
#endif /* MOTORS_CONTROLLERS_MOTOR_CONTROLLER_H_ */