d04c21bb8b
native_motor_driver_qdec_simulation() callback is called each time motor_set() from motor_driver driver is called. It set associated qdec value to the PWM duty cycle. QDEC values are stored in qdecs_value[] array in the order motors are described in board.h. Then it is needed to configure in first motors that needs the QDEC in board.h. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
149 lines
3.4 KiB
C
149 lines
3.4 KiB
C
/*
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* Copyright (C) 2013 Ludwig Knüpfer <ludwig.knuepfer@fu-berlin.de>
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_native
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*
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* The native board uses call level hardware simulation
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*
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* @{
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*
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* @file
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* @brief Basic definitions for the native board
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*
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* @author Ludwig Knüpfer <ludwig.knuepfer@fu-berlin.de>
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*/
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#ifndef BOARD_H
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#define BOARD_H
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#include <stdint.h>
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/* RIOT includes */
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#include <motor_driver.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef MODULE_MTD
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#include "mtd_native.h"
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#endif
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/**
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* @name LED handlers
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* @{
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*/
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void _native_LED_GREEN_OFF(void);
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void _native_LED_GREEN_ON(void);
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void _native_LED_GREEN_TOGGLE(void);
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void _native_LED_RED_OFF(void);
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void _native_LED_RED_ON(void);
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void _native_LED_RED_TOGGLE(void);
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#define LED0_ON (_native_LED_RED_ON())
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#define LED0_OFF (_native_LED_RED_OFF())
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#define LED0_TOGGLE (_native_LED_RED_TOGGLE())
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#define LED1_ON (_native_LED_GREEN_ON())
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#define LED1_OFF (_native_LED_GREEN_OFF())
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#define LED1_TOGGLE (_native_LED_GREEN_TOGGLE())
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/** @} */
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#if defined(MODULE_MTD) || DOXYGEN
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/**
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* @name MTD emulation configuration
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* @{
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*/
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#ifndef MTD_PAGE_SIZE
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#define MTD_PAGE_SIZE (256)
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#endif
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#ifndef MTD_SECTOR_SIZE
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#define MTD_SECTOR_SIZE (4096)
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#endif
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#ifndef MTD_SECTOR_NUM
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#define MTD_SECTOR_NUM (2048)
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#endif
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#ifndef MTD_NATIVE_FILENAME
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#define MTD_NATIVE_FILENAME "MEMORY.bin"
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#endif
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/** @} */
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/** Default MTD device */
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#define MTD_0 mtd0
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/** mtd flash emulation device */
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extern mtd_dev_t *mtd0;
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#endif
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#if defined(MODULE_SPIFFS) || DOXYGEN
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/**
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* @name SPIFFS default configuration
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* @{
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*/
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/* SPIFFS config flags */
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#ifndef SPIFFS_READ_ONLY
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#define SPIFFS_READ_ONLY (0)
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#endif
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#ifndef SPIFFS_SINGLETON
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#define SPIFFS_SINGLETON (0)
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#endif
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#ifndef SPIFFS_HAL_CALLBACK_EXTRA
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#define SPIFFS_HAL_CALLBACK_EXTRA (1)
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#endif
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#ifndef SPIFFS_CACHE
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#define SPIFFS_CACHE (1)
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#endif
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#if SPIFFS_SINGLETON == 1
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/* MTD config if singleton is used */
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#ifndef SPIFFS_CFG_PHYS_SZ
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#define SPIFFS_CFG_PHYS_SZ(ignore) (MTD_SECTOR_SIZE * MTD_SECTOR_NUM)
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#endif
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#ifndef SPIFFS_CFG_PHYS_ERASE_SZ
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#define SPIFFS_CFG_PHYS_ERASE_SZ(ignore) (MTD_SECTOR_SIZE)
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#endif
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#ifndef SPIFFS_CFG_PHYS_ADDR
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#define SPIFFS_CFG_PHYS_ADDR(ignore) (0)
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#endif
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#ifndef SPIFFS_CFG_LOG_PAGE_SZ
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#define SPIFFS_CFG_LOG_PAGE_SZ(ignore) (MTD_PAGE_SIZE)
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#endif
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#ifndef SPIFFS_CFG_LOG_BLOCK_SZ
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#define SPIFFS_CFG_LOG_BLOCK_SZ(ignore) (MTD_SECTOR_SIZE)
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#endif
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#endif
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#if SPIFFS_HAL_CALLBACK_EXTRA == 0
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/* Default MTD device if no callback parameter */
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#ifndef SPIFFS_MTD_DEV
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#define SPIFFS_MTD_DEV (MTD_0)
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#endif
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#endif
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/** @} */
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#endif
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/**
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* @brief Simulate QDEC on motor_set() calls
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*
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* @param[in] motor_driver motor driver to which motor is attached
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* @param[in] motor_id motor ID on driver
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* @param[in] pwm_duty_cycle Signed PWM duty_cycle to set motor speed and direction
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*
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* @return 0 on success
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*/
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void native_motor_driver_qdec_simulation( \
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const motor_driver_t motor_driver, uint8_t motor_id, \
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int32_t pwm_duty_cycle);
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#ifdef __cplusplus
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}
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#endif
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/** @} */
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#endif /* BOARD_H */
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