motor.h

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#ifndef INC_MOTOR_H_
#define INC_MOTOR_H_
 
#include "stm32l0xx.h"
#include "pid_controller.h"
#include "cytronDriver.h"

typedef struct {
    TIM_HandleTypeDef *timer;  
 
    uint16_t resolution;      
 
    int32_t pulse_count;     
    int32_t measured_speed;       
    int32_t set_speed;         
 
    int32_t actual_PWM;           
 
    driver_struct driver;            
    pid_struct pid_controller;  
} motor_struct;
 
/* Definicje stałych konfiguracyjnych dla enkodera i silnika*/
#define ENCODER_RESOLUTION              8  
#define TIMER_CONFIGURATION_BOTH_EDGES  4  
#define MOTOR_GEAR                      120 
#define TIMER_INTERRUPT_FREQUENCY       10 
#define SECONDS_IN_MINUTE               60 

void motor_init(motor_struct *motor, TIM_HandleTypeDef *encoder_tim);

void motor_update_count(motor_struct *motor);

void motor_calculate_speed(motor_struct *motor);

void motor_set_RPM_speed(motor_struct *motor, int RPM_speed);

void motor_stop(motor_struct *motor);
 
#endif /* INC_MOTOR_H_ */