motor_controller_h_bridge.h

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/*
 * motor_controller_h_bridge.h
 *
 *  Created on: Mar 5, 2025
 *      Author: Andrey Ovodov
 */
 
#ifndef MOTORS_CONTROLLERS_H_BRIDGE_MOTOR_CONTROLLER_H_BRIDGE_H_
#define MOTORS_CONTROLLERS_H_BRIDGE_MOTOR_CONTROLLER_H_BRIDGE_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "../motor_controller.h"
#include "Motors/Drivers/H_Bridge/motor_driver_h_bridge_pwm.h"
#include "stdbool.h"
 
 
#define STARTUP_BURST_LENGHT_MS                 2
#define MAX_MOT_ACTIVE_TIME                     3000
#define ENCODER_POS_MAX                         100
#define ENCODER_ACCURACY_MULTIPLIER             100
#define ENCODER_PROTECT_DELTA                   2
 
#define ADC_TO_CURRENT_UA_COEF                  336 // MotCurrent_uA = (adc_value * adc_max_V* 1000000) / (adc_max_val * op_amp_gain * R_cursens)
 
 
typedef enum {
    MOT_MANUAL_START = 0,
    MOT_SERVICE_START
}mot_start_reason_enum;
 
 
typedef enum {
    FCS_FIRST_OPEN = 0,
    FCS_CALIBRATING_CLOSE,
    FCS_CALIBRATING_OPEN
}drive_calibrating_state_enum;
 
 
 
 
 
typedef enum {
    FME_NORMAL = 0,
    FME_CALIBRATING,
    FME_ERROR,
    FME_OPTIC_CONTORL
}drive_mode_enum;
 
typedef struct
{
 
    uint32_t calib_steps;
    uint16_t calib_current; //холостой ход
    uint8_t  calib_status; // 1
 
    uint32_t current_limit_ua; //
    uint8_t  current_limit_percent;
 
    uint16_t overcurrent_counter_max;
 
    uint32_t motor_cycles_1ms;
    uint32_t motor_driver_cycles_1ms;
 
}__attribute__((__packed__))motor_controller_h_bridge_settings_t;
 
typedef struct
{
    drive_calibrating_state_enum calib_state;
    uint16_t small_current_counter;
    uint16_t no_current_counter;
    uint32_t open_encoder_counter;
    uint32_t close_encoder_counter;
 
    int32_t current_buffer[1000];
    uint16_t current_buffer_counter;
 
 
    MotorSelfFunc_t CalibFinishCallback;
 
}motor_controller_h_bridge_calibrating_struct_t;
 
typedef struct
{
    motor_controller_base_t Base;
    drive_mode_enum mode;
    motor_controller_h_bridge_settings_t *settings;
 
    motor_controller_h_bridge_calibrating_struct_t *calibrating_struct;
 
 
    uint32_t motor_cycles_1ms;
    uint32_t motor_driver_cycles_1ms;
 
 
    int startup_timer_instance;
    int timeout_timer_instance;
    int brake_temer_instance;
    int start_delay_timer_instance;
 
    //Functions
    MotorSelfFuncWithReason_t StopCallback;
 
}motor_controller_h_bridge_t;
 
bool MotorControllerHBridgeInit(motor_controller_h_bridge_t *self, motor_controller_base_init_t *init, motor_driver_h_bridge_pwm_t* driver);
 
 
/*
void DriveInit_HBIE(hbie_drive_init_struct* init_str, hbie_drive_struct** drive_obj);
 
motor_state_enum GetDriveState_HBIE(hbie_drive_struct* drive);
 
void DriveUpdateCurrentValue_HBIE(hbie_drive_struct* drive, int32_t newuA);
void DriveEncodersAddStep_HBIE(hbie_drive_struct* drive);
void DriveTimerAddStep_HBIE(hbie_drive_struct* drive);
 
void DriveMoveToPos_HBIE(hbie_drive_struct* drive, uint8_t pos, uint8_t start_delay, uint8_t power, uint8_t speed);
void MoveFingerStart(hbie_drive_struct* drive);
void DriveMoveForward_HBIE(hbie_drive_struct* drive, uint32_t speed);
void DriveMoveRevers_HBIE(hbie_drive_struct* drive, uint32_t speed);
void DriveStop_HBIE(hbie_drive_struct* drive, mot_stop_reason_enum reason);
 
void DriveCalibrateStart_HBIE(hbie_drive_struct* drive, void (*finish_callback)(void* drive));
void DriveCalibrate_HBIE(hbie_drive_struct* drive);
void DriveExec_HBIE(hbie_drive_struct* drive);
void FingerExec(hbie_drive_struct* drive);
void FingerCalibrateStart(hbie_drive_struct *drive,
        void (*finish_callback)(void *drive));
void FingerCalibrationFinish(hbie_drive_struct* drive);
*/
 
#ifdef __cplusplus
}
#endif
 
#endif /* MOTORS_CONTROLLERS_H_BRIDGE_MOTOR_CONTROLLER_H_BRIDGE_H_ */