File syn_dc_motor.c¶

FileList > motor > syn_dc_motor.c

DC motor controller implementation.

#include "../util/syn_assert.h"
#include "../util/syn_ramp.h"
#include "syn_dc_motor.h"
#include <string.h>

Public Functions¶

Type	Name
void	syn_dc_motor_brake (SYN_DCMotor * motor) Brake the motor (both pins high, if driver supports it).
void	syn_dc_motor_coast (SYN_DCMotor * motor) Stop the motor (coast — both pins low).
void	syn_dc_motor_init (SYN_DCMotor * motor, SYN_GPIO_Pin pin_a, SYN_GPIO_Pin pin_b, SYN_DCMotorMode mode) Initialize DC motor controller.
SYN_MotorOutput	syn_dc_motor_output (SYN_DCMotor * motor) Create a SYN_MotorOutput interface for this DC motor.
void	syn_dc_motor_ramp_to (SYN_DCMotor * motor, int32_t speed, uint16_t duration) Ramp to a target speed over a duration.
void	syn_dc_motor_set_duty_callback (SYN_DCMotor * motor, void()(SYN_GPIO_Pin, uint16_t, void ) cb, void * ctx) Set the PWM duty callback.
void	syn_dc_motor_set_duty_max (SYN_DCMotor * motor, int32_t duty_max) Set the maximum duty cycle value.
void	syn_dc_motor_set_speed (SYN_DCMotor * motor, int32_t speed) Set motor speed immediately.
void	syn_dc_motor_update (SYN_DCMotor * motor) Update motor ramp. Call periodically.

Public Static Functions¶

Type	Name
void	apply_speed (SYN_DCMotor * m) Apply the current speed to the motor outputs.
int32_t	clamp_speed (const SYN_DCMotor * motor, int32_t speed) Clamp speed to the valid range [-duty_max, +duty_max].
void	dc_output_brake (void * ctx) Brake adapter for SYN_MotorOutput .
void	dc_output_coast (void * ctx) Coast adapter for SYN_MotorOutput .
void	dc_output_set (void * ctx, int32_t output) Set output adapter for SYN_MotorOutput .

Public Functions Documentation¶

function syn_dc_motor_brake¶

Brake the motor (both pins high, if driver supports it).

void syn_dc_motor_brake (
    SYN_DCMotor * motor
)

Parameters:

motor Motor instance.

function syn_dc_motor_coast¶

Stop the motor (coast — both pins low).

void syn_dc_motor_coast (
    SYN_DCMotor * motor
)

Parameters:

motor Motor instance.

function syn_dc_motor_init¶

Initialize DC motor controller.

void syn_dc_motor_init (
    SYN_DCMotor * motor,
    SYN_GPIO_Pin pin_a,
    SYN_GPIO_Pin pin_b,
    SYN_DCMotorMode mode
)

Sets duty_max to SYN_DC_MOTOR_DUTY_MAX_DEFAULT (1000).

Parameters:

motor Motor instance.
pin_a PWM pin (or IN_A).
pin_b Direction pin (or IN_B).
mode Control mode.

function syn_dc_motor_output¶

Create a SYN_MotorOutput interface for this DC motor.

SYN_MotorOutput syn_dc_motor_output (
    SYN_DCMotor * motor
)

Returns a motor output vtable that maps set_output() to syn_dc_motor_set_speed(), coast() to syn_dc_motor_coast(), etc. The output range maps directly to [-duty_max, +duty_max].

Parameters:

motor DC motor instance (must outlive the returned output).

Returns:

Motor output interface.

function syn_dc_motor_ramp_to¶

Ramp to a target speed over a duration.

void syn_dc_motor_ramp_to (
    SYN_DCMotor * motor,
    int32_t speed,
    uint16_t duration
)

Parameters:

motor Motor.
speed Target speed [-duty_max, +duty_max].
duration Ramp duration in milliseconds.

function syn_dc_motor_set_duty_callback¶

Set the PWM duty callback.

void syn_dc_motor_set_duty_callback (
    SYN_DCMotor * motor,
    void(*)( SYN_GPIO_Pin , uint16_t, void *) cb,
    void * ctx
)

The callback is called with the pin and a duty value in [0, duty_max] whenever the motor speed changes.

Parameters:

motor Motor instance.
cb Duty callback.
ctx User context.

function syn_dc_motor_set_duty_max¶

Set the maximum duty cycle value.

void syn_dc_motor_set_duty_max (
    SYN_DCMotor * motor,
    int32_t duty_max
)

Call after init to change from the default (1000). Resets speed to 0.

Parameters:

motor Motor instance.
duty_max Maximum duty value (e.g., 255, 1000, 4095, 65535).

function syn_dc_motor_set_speed¶

Set motor speed immediately.

void syn_dc_motor_set_speed (
    SYN_DCMotor * motor,
    int32_t speed
)

Parameters:

motor DC motor handle.
speed Speed in range [-duty_max, +duty_max]. Positive = forward, negative = reverse, 0 = stop. Clamped to ±duty_max.

function syn_dc_motor_update¶

Update motor ramp. Call periodically.

void syn_dc_motor_update (
    SYN_DCMotor * motor
)

Parameters:

motor Motor instance.

Public Static Functions Documentation¶

function apply_speed¶

Apply the current speed to the motor outputs.

static void apply_speed (
    SYN_DCMotor * m
)

Parameters:

m DC motor instance.

function clamp_speed¶

Clamp speed to the valid range [-duty_max, +duty_max].

static int32_t clamp_speed (
    const SYN_DCMotor * motor,
    int32_t speed
)

Parameters:

motor Motor instance (for duty_max).
speed Raw speed value.

Returns:

Clamped speed.

function dc_output_brake¶

Brake adapter for SYN_MotorOutput .

static void dc_output_brake (
    void * ctx
)

Parameters:

ctx DC motor instance (SYN_DCMotor*).

function dc_output_coast¶

Coast adapter for SYN_MotorOutput .

static void dc_output_coast (
    void * ctx
)

Parameters:

ctx DC motor instance (SYN_DCMotor*).

function dc_output_set¶

Set output adapter for SYN_MotorOutput .

static void dc_output_set (
    void * ctx,
    int32_t output
)

Parameters:

ctx DC motor instance (SYN_DCMotor*).
output Signed output level.

The documentation for this class was generated from the following file src/syntropic/motor/syn_dc_motor.c