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fc7f3cac4a
The motor_driver device driver is developed as a periph driver and it should not. Make this driver compliant with RIOT device driver development guide [1]. Also make some cleanups and fix some typos. [1] https://doc.riot-os.org/driver-guide.html Signed-off-by: Gilles DOFFE <g.doffe@gmail.com> Co-authored-by: crasbe <crasbe@gmail.com>
172 lines
5.3 KiB
C
172 lines
5.3 KiB
C
/*
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* SPDX-FileCopyrightText: 2023 COGIP Robotics association
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* SPDX-License-Identifier: LGPL-2.1-only
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*/
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#pragma once
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/**
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* @ingroup drivers_motor_driver
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* @{
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*
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* @file
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* @brief Default configuration for motor driver.
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*
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* @author Gilles DOFFE <g.doffe@gmail.com>
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*
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*/
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#include "board.h"
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#include "motor_driver.h"
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#include "saul_reg.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name Set default configuration parameters for motor_driver
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* @{
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*/
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#ifndef MOTOR_DRIVER_PARAM_MODE
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/** Default motor driver mode */
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# define MOTOR_DRIVER_PARAM_MODE MOTOR_DRIVER_1_DIR
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#endif
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#ifndef MOTOR_DRIVER_PARAM_BRAKE_INVERTED
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/** Default brake level */
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# define MOTOR_DRIVER_PARAM_BRAKE_INVERTED false
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#endif
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#ifndef MOTOR_DRIVER_PARAM_ENABLE_INVERTED
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/** Default enable level */
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# define MOTOR_DRIVER_PARAM_ENABLE_INVERTED false
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#endif
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#ifndef MOTOR_DRIVER_PARAM_PWM
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/** Default PWM device */
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# define MOTOR_DRIVER_PARAM_PWM 0
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#endif
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#ifndef MOTOR_DRIVER_PARAM_PWM_MODE
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/** Default PWM mode */
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# define MOTOR_DRIVER_PARAM_PWM_MODE PWM_LEFT
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#endif
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#ifndef MOTOR_DRIVER_PARAM_PWM_FREQUENCY
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/** Default PWM frequency */
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# define MOTOR_DRIVER_PARAM_PWM_FREQUENCY 20000U
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#endif
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#ifndef MOTOR_DRIVER_PARAM_PWM_RESOLUTION
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/** Default PWM resolution */
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# define MOTOR_DRIVER_PARAM_PWM_RESOLUTION 100U
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#endif
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#ifndef MOTOR_DRIVER_PARAM_NB_MOTORS
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/** Default number of motors */
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# define MOTOR_DRIVER_PARAM_NB_MOTORS 2U
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR_SET_POST_CALLBACK
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/** Default callback called at end of motor_set() */
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# define MOTOR_DRIVER_PARAM_MOTOR_SET_POST_CALLBACK NULL
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#endif
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/* Motor 1 */
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#ifndef MOTOR_DRIVER_PARAM_MOTOR1_PWM_CHANNEL
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/** Default motor 1 PWM channel */
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# define MOTOR_DRIVER_PARAM_MOTOR1_PWM_CHANNEL 1U
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR1_GPIO_ENABLE
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/** Default motor 1 enable GPIO */
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# define MOTOR_DRIVER_PARAM_MOTOR1_GPIO_ENABLE GPIO_UNDEF
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR0
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/** Default motor 1 direction GPIO */
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# define MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR0 GPIO_UNDEF
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR1_OR_BRAKE
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/** Default motor 1 direction or brake GPIO */
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# define MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR1_OR_BRAKE GPIO_UNDEF
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR_REVERSE
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/** Default motor 1 direction GPIO(s) reverse */
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# define MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR_REVERSE 0
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#endif
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/* Motor 2 */
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#ifndef MOTOR_DRIVER_PARAM_MOTOR2_PWM_CHANNEL
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/** Default motor 2 PWM channel */
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# define MOTOR_DRIVER_PARAM_MOTOR2_PWM_CHANNEL 2U
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR2_GPIO_ENABLE
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/** Default motor 2 enable GPIO */
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# define MOTOR_DRIVER_PARAM_MOTOR2_GPIO_ENABLE GPIO_UNDEF
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR0
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/** Default motor 2 direction GPIO */
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# define MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR0 GPIO_UNDEF
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR1_OR_BRAKE
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/** Default motor 2 direction or brake GPIO */
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# define MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR1_OR_BRAKE GPIO_UNDEF
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#endif
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#ifndef MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR_REVERSE
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/** Default motor 2 direction GPIO(s) reverse */
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# define MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR_REVERSE 0
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#endif
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#ifndef MOTOR_DRIVER_PARAMS
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/** Default motor driver parameters */
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# define MOTOR_DRIVER_PARAMS \
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{ \
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.mode = MOTOR_DRIVER_PARAM_MODE, \
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.pwm_dev = MOTOR_DRIVER_PARAM_PWM, \
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.pwm_mode = MOTOR_DRIVER_PARAM_PWM_MODE, \
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.pwm_frequency = MOTOR_DRIVER_PARAM_PWM_FREQUENCY, \
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.pwm_resolution = MOTOR_DRIVER_PARAM_PWM_RESOLUTION, \
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.brake_inverted = MOTOR_DRIVER_PARAM_BRAKE_INVERTED, \
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.enable_inverted = MOTOR_DRIVER_PARAM_ENABLE_INVERTED, \
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.nb_motors = MOTOR_DRIVER_PARAM_NB_MOTORS, \
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.motors = { \
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{ \
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.pwm_channel = MOTOR_DRIVER_PARAM_MOTOR1_PWM_CHANNEL, \
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.gpio_enable = MOTOR_DRIVER_PARAM_MOTOR1_GPIO_ENABLE, \
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.gpio_dir0 = MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR0, \
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.gpio_dir1 = MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR1_OR_BRAKE, \
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.gpio_dir_reverse = MOTOR_DRIVER_PARAM_MOTOR1_GPIO_DIR_REVERSE, \
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}, \
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{ \
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.pwm_channel = MOTOR_DRIVER_PARAM_MOTOR2_PWM_CHANNEL, \
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.gpio_enable = MOTOR_DRIVER_PARAM_MOTOR2_GPIO_ENABLE, \
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.gpio_dir0 = MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR0, \
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.gpio_dir1 = MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR1_OR_BRAKE, \
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.gpio_dir_reverse = MOTOR_DRIVER_PARAM_MOTOR2_GPIO_DIR_REVERSE, \
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} \
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}, \
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.motor_set_post_cb = MOTOR_DRIVER_PARAM_MOTOR_SET_POST_CALLBACK \
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}
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#endif
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/* SAUL */
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#ifndef MOTOR_DRIVER_SAUL_INFO
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/** SAUL information */
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# define MOTOR_DRIVER_SAUL_INFO { .name = "motor_driver" }
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#endif
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/**@}*/
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/**
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* @brief MOTOR_DRIVER configuration
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*/
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static const motor_driver_params_t motor_driver_params[] =
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{
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MOTOR_DRIVER_PARAMS,
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};
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/**
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* @brief Additional meta information to keep in the SAUL registry
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*/
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static const saul_reg_info_t motor_driver_saul_info[] =
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{
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MOTOR_DRIVER_SAUL_INFO
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};
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#ifdef __cplusplus
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}
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#endif
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/** @} */
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