motors.h

PID motor control with 8051

/**
 * \addtogroup Motors
 * @{
 */

/*****************************************************************************/
/**
 * \file Motors.h
 * DC electric motor control code for the T89C51AC2 and Keil C51.
 * \author Copyright (c) 2005, Murray R. Van Luyn. <[e-mail]>
 * \version 0.0
 * \date 10-10-05
 */
/*****************************************************************************/

/*****************************************************************************
 *
 *     THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
 *     OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 *     WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 *     ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
 *     DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 *     DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
 *     GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 *     INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 *     WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 *     NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 *     SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 *****************************************************************************/

#ifndef MOTORS_H
#define MOTORS_H

#include "t89c51ac2.h"
#include "Pwm.h"
#include <math.h>        // cabs()


/*****************************************************************************
 *
 *                                    Macros
 *
 *****************************************************************************/


/*****************************************************************************
 *
 *                               Defined Constants
 *
 *****************************************************************************/

/*
 * Motor control port bit defines.
 */
#define MOTORS_IN1   P1_0                 // A channel direction control
#define MOTORS_IN2   P1_1                 // A channel direction control
#define MOTORS_IN3   P1_2                 // B channel direction control
#define MOTORS_IN4   P1_3                 // B channel direction control
#define MOTORS_ENA   PWM_CHANNEL_1        // A channel enable
#define MOTORS_ENB   PWM_CHANNEL_2        // B channel enable

/*
 * Motor channel defines.
 */
#define MOTORS_CHANNEL_A               0u
#define MOTORS_CHANNEL_B               1u


/*****************************************************************************
 *
 *                           Public Function Prototypes
 *
 *****************************************************************************/
/**
 * DC motor control hardware initialisation function.
 * Initialises the 8052 PCA and output ports for PWM motor control.
 * Must be called once to set-up hardware during program initialisation.
 * \param -
 * \return -
 */
void motors_init(void);

/**
 * DC motor control speed adjustment function.
 * \param channel An \b unsigned \b char representing the channel to set.
 * \param speed A \b signed \b char representation of the 
 * required speed.
 * \return -
 */
void motors_set_speed(unsigned char channel, char speed);

/**
 * DC motor control set brake function.
 * \param channel An \b unsigned \b char representing the channel to set.
 * \return -
 */
void motors_set_brake(unsigned char channel);
#endif

/** @} */