97 lines
3.4 KiB
C
97 lines
3.4 KiB
C
#ifndef MOTOR_CONTROL_H
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#define MOTOR_CONTROL_H
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#include <stdbool.h>
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#include "esp_err.h"
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// TB6612FNG GPIO assignments
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#define MOTOR_AIN1_GPIO 4 // Pump 1 Direction
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#define MOTOR_AIN2_GPIO 5 // Pump 1 Direction
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#define MOTOR_BIN1_GPIO 6 // Pump 2 Direction
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#define MOTOR_BIN2_GPIO 7 // Pump 2 Direction
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#define MOTOR_PWMA_GPIO 8 // Pump 1 Speed (PWM)
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#define MOTOR_PWMB_GPIO 9 // Pump 2 Speed (PWM)
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#define MOTOR_STBY_GPIO 10 // Standby (Active Low)
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// PWM Configuration
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#define MOTOR_PWM_FREQ_HZ 5000 // 5kHz PWM frequency
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#define MOTOR_PWM_RESOLUTION 8 // 8-bit resolution (0-255)
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#define MOTOR_PWM_MAX_DUTY 255 // Maximum duty cycle
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// Safety Configuration
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#define MOTOR_DEFAULT_SPEED 80 // Default pump speed (%)
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#define MOTOR_MIN_SPEED 20 // Minimum pump speed (%)
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#define MOTOR_MAX_RUNTIME_MS 30000 // Maximum runtime (30 seconds)
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#define MOTOR_MIN_INTERVAL_MS 300000 // Minimum interval between runs (5 minutes)
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#define MOTOR_SOFT_START_TIME_MS 500 // Soft start ramp time
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// Motor IDs
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typedef enum {
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MOTOR_PUMP_1 = 1,
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MOTOR_PUMP_2 = 2,
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MOTOR_PUMP_MAX
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} motor_id_t;
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// Motor states
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typedef enum {
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MOTOR_STATE_STOPPED = 0,
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MOTOR_STATE_RUNNING,
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MOTOR_STATE_ERROR,
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MOTOR_STATE_COOLDOWN
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} motor_state_t;
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// Motor direction (pumps are unidirectional, but driver supports both)
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typedef enum {
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MOTOR_DIR_FORWARD = 0,
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MOTOR_DIR_REVERSE
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} motor_dir_t;
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// Motor runtime statistics
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typedef struct {
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uint32_t total_runtime_ms; // Total runtime in milliseconds
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uint32_t last_run_duration_ms; // Last run duration
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int64_t last_run_timestamp; // Timestamp of last run
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uint32_t run_count; // Total number of runs
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uint32_t error_count; // Total number of errors
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} motor_stats_t;
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// Callbacks
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typedef void (*motor_state_callback_t)(motor_id_t id, motor_state_t state);
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typedef void (*motor_error_callback_t)(motor_id_t id, const char* error);
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// Motor control functions
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esp_err_t motor_control_init(void);
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esp_err_t motor_control_deinit(void);
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// Basic control
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esp_err_t motor_start(motor_id_t id, uint8_t speed_percent);
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esp_err_t motor_stop(motor_id_t id);
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esp_err_t motor_stop_all(void);
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esp_err_t motor_emergency_stop(void);
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// Advanced control
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esp_err_t motor_start_timed(motor_id_t id, uint8_t speed_percent, uint32_t duration_ms);
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esp_err_t motor_pulse(motor_id_t id, uint8_t speed_percent, uint32_t on_time_ms, uint32_t off_time_ms, uint32_t cycles);
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esp_err_t motor_set_speed(motor_id_t id, uint8_t speed_percent);
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// Status and configuration
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motor_state_t motor_get_state(motor_id_t id);
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bool motor_is_running(motor_id_t id);
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bool motor_is_cooldown(motor_id_t id);
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uint32_t motor_get_runtime_ms(motor_id_t id);
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esp_err_t motor_get_stats(motor_id_t id, motor_stats_t *stats);
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// Safety configuration
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esp_err_t motor_set_max_runtime(motor_id_t id, uint32_t max_runtime_ms);
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esp_err_t motor_set_min_interval(motor_id_t id, uint32_t min_interval_ms);
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esp_err_t motor_set_speed_limits(motor_id_t id, uint8_t min_speed, uint8_t max_speed);
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// Callbacks
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void motor_register_state_callback(motor_state_callback_t callback);
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void motor_register_error_callback(motor_error_callback_t callback);
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// Calibration and testing
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esp_err_t motor_test_run(motor_id_t id, uint32_t duration_ms);
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esp_err_t motor_calibrate_flow(motor_id_t id);
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#endif // MOTOR_CONTROL_H
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