mcpwm_interface.h

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/*
 * MIT License
 *
 * Copyright (c)  2021 Society of Robotics and Automation
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
 
#ifndef MCPWM_INTERFACE_H
#define MCPWM_INTERFACE_H
 
#include <stdint.h>
#include "esp_err.h"
 
typedef struct motor_t motor_t;
typedef struct motor_t* motor_handle_t;
 
struct motor_t {
    esp_err_t (*enable)(motor_t *motor);
    esp_err_t (*disable)(motor_t *motor);
    esp_err_t (*set_speed)(motor_t *motor, uint32_t speed);
    esp_err_t (*forward)(motor_t *motor);
    esp_err_t (*backwards)(motor_t *motor);
    esp_err_t (*brake)(motor_t *motor);
    esp_err_t (*del)(motor_t *motor);
};
 
typedef struct {
    uint32_t pwma_gpio_num; 
    uint32_t pwmb_gpio_num; 
    uint32_t pwm_freq_hz;   
} motor_config_t;
 
typedef struct {
    int group_id;           
    uint32_t resolution_hz; 
} motor_mcpwm_config_t;
 
esp_err_t motor_new_mcpwm_device(const motor_config_t *motor_config, const motor_mcpwm_config_t *mcpwm_config, motor_t** ret_motor);
 
#endif