tle94112-motor.hpp

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#ifndef TLE94112_MOTOR_HPP_
#define TLE94112_MOTOR_HPP_
 
#include "tle94112.hpp"
 
#define TLE94112_MAX_SPEED 255
 
#define TLE94112MOTOR_MAX_CONNECTORS 4
 
class Tle94112Motor
{
    public:
 
        enum ePolarity
        {
            LOWSIDE = 0,
            HIGHSIDE
        };
 
        Tle94112Motor(Tle94112 &driver);
 
        ~Tle94112Motor();
 
        void begin(void);
 
        void end(void);
 
        void initConnector(Tle94112Motor::ePolarity pol,
            Tle94112::PWMChannel channel,
            Tle94112::HalfBridge out1,
            Tle94112::HalfBridge out2,
            Tle94112::HalfBridge out3,
            Tle94112::HalfBridge out4);
 
        void initConnector(Tle94112Motor::ePolarity,
            Tle94112::PWMChannel channel,
            Tle94112::PWMFreq freq,
            Tle94112::HalfBridge out1,
            Tle94112::HalfBridge out2,
            Tle94112::HalfBridge out3,
            Tle94112::HalfBridge out4);
 
        void connect(Tle94112Motor::ePolarity pol, Tle94112::HalfBridge connector);
 
        void disconnect(Tle94112::HalfBridge connector);
 
        void setPwm(Tle94112Motor::ePolarity pol, Tle94112::PWMChannel channel);
 
        void setPwm(Tle94112Motor::ePolarity pol, Tle94112::PWMChannel channel, Tle94112::PWMFreq freq);
 
        void setPwmFreq(Tle94112Motor::ePolarity pol, Tle94112::PWMFreq freq);
 
        void setActiveFreeWheeling(Tle94112Motor::ePolarity pol, uint8_t active_fw);
 
        void stop(uint8_t force=255);
 
        void coast();
 
        void start(int16_t speed);
 
        void setSpeed(int16_t speed);
 
        int16_t getSpeed(void);
 
        void rampSpeed(int16_t speed, uint16_t slope);
 
    protected:
 
        enum eMode
        {
            COAST,
            FORWARD,
            BACKWARD,
            STOP
        };
 
        typedef struct
        {
            Tle94112::HalfBridge halfbridges[TLE94112MOTOR_MAX_CONNECTORS];
            Tle94112::PWMChannel channel;
            Tle94112::PWMFreq freq;
            uint8_t active_fw;
        } Connector_t, *Connector_p;
 
        Connector_t mConnectors[2] =
        {
            {
                .halfbridges = {Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB},
                .channel = Tle94112::TLE_NOPWM,
                .freq = Tle94112::TLE_FREQ80HZ,
                .active_fw = false
            },
            {
                .halfbridges = {Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB},
                .channel = Tle94112::TLE_NOPWM,
                .freq = Tle94112::TLE_FREQ80HZ,
                .active_fw = false
            }
        };
 
        Tle94112 *mDriver;
 
        eMode mMode;
 
        uint8_t mEnabled;
 
        uint8_t mSpeed;
 
        uint32_t _measureSetSpeedDuration(int16_t speed, int16_t start_speed);
 
        void _performSpeedStepping(int16_t start_speed, int16_t ramp_delta_speed, int16_t num_steps, uint16_t steptime);
};
#endif