motor_driver_interface.h

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#ifndef __MOTOR_DRIVER_INTERFACE_H__
#define __MOTOR_DRIVER_INTERFACE_H__

#include "mcdc3006s_data.h"

class MotorDriverInterface {
    public:
        MotorDriverInterface()
        {
        }

        virtual ~MotorDriverInterface()
        {
        }

        virtual int init(int baudrate, char *dev, char *sem) = 0;

        virtual int enableDriver() = 0;

        virtual int disableDriver() = 0;

        virtual int getDriverConf(driverConf_t *dc) = 0;

        virtual int setDriverConf(driverConf_t dc) = 0;

        virtual int saveToFlash() = 0;

        /* set configuration to the driver */

        virtual int activateLimits(int action) = 0;

        /* get configuration from the driver */

        virtual long int getDriverMaxPos() = 0;

        virtual long int getDriverMinPos() = 0;

        virtual long int getDriverMaxVel() = 0;

        virtual long int getDriverMaxAcc() = 0;

        virtual long int getDriverMaxDec() = 0;

        virtual int getDriverCurLim() = 0;

        virtual int getDriverPCurLim() = 0;

        /* get status from the driver */

        virtual int getDriverStatus(driverStatus_t * drvStatus) = 0;

        /* get motorSensor from the driver */

        virtual int getDriverSensor(driverSensor_t *sensor) = 0;

        virtual int getDriverInstantPos(long int *positon) = 0;

        virtual int getDriverInstantVel(long int *velocity) = 0;

        virtual int getDriverInstantCurrent(int *current) = 0;

        virtual int setDriverMaxPos(long int maxPos) = 0;

        virtual int setDriverMinPos(long int minPos) = 0;

        virtual int setDriverMaxVel(long int maxVel) = 0;

        virtual int setDriverMaxAcc(long int maxAcc) = 0;

        virtual int setDriverMaxDec(long int maxDec) = 0;

        virtual int setDriverCurLim(int cl) = 0;

        virtual int setDriverPCurLim(int pcl) = 0;

        virtual int setDriverBaud(int baud) = 0;

        /* direct movement */

        virtual int moveDriverAbsPos(long int pos) = 0;

        virtual int moveDriverRelPos(long int pos) = 0;

        virtual int moveDriverVel(long int vel) = 0;

        /* Calibrate Driver */

        virtual int setDriverHomePosition(long int home) = 0;

        virtual int calibrateDriver(long int limit, int current_limit, int calibration_speed, int time_out) = 0;
};

#endif