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drivers: move the generic upper-half motor driver from drivers/power to drivers/motor

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This commit is contained in:
raiden00pl 2021-04-16 10:57:14 +02:00 committed by Alin Jerpelea
parent b01ddef61b
commit 3fb78a8299
7 changed files with 145 additions and 147 deletions
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50
drivers/motor/Kconfig
View File

@ -9,6 +9,56 @@ menuconfig MOTOR
if MOTOR
config MOTOR_UPPER
bool "Motor generic upper-half driver"
default n
---help---
Enables building of a motor generic upper half driver.
if MOTOR_UPPER
config MOTOR_UPPER_HAVE_POSITION
bool "Have position control"
default n
config MOTOR_UPPER_HAVE_DIRECTION
bool "Have direction control"
default n
config MOTOR_UPPER_HAVE_SPEED
bool "Have speed control"
default n
config MOTOR_UPPER_HAVE_TORQUE
bool "Have torque control (rotary motors)"
default n
config MOTOR_UPPER_HAVE_FORCE
bool "Have force control (linear motors)"
default n
config MOTOR_UPPER_HAVE_ACCELERATION
bool "Have acceleration control"
default n
config MOTOR_UPPER_HAVE_DECELERATION
bool "Have deceleration control"
default n
config MOTOR_UPPER_HAVE_INPUT_VOLTAGE
bool "Have input voltage protection"
default n
config MOTOR_UPPER_HAVE_INPUT_CURRENT
bool "Have input current protection"
default n
config MOTOR_UPPER_HAVE_INPUT_POWER
bool "Have input power protection"
default n
endif
source "drivers/motor/foc/Kconfig"
endif # MOTOR

6
drivers/motor/Make.defs
View File

@ -24,6 +24,12 @@ ifeq ($(CONFIG_MOTOR_FOC),y)
include motor$(DELIM)foc$(DELIM)Make.defs
endif
# Add generic upper-half motor driver
ifeq ($(CONFIG_MOTOR_UPPER),y)
CSRCS += motor.c
endif
# Include motor drivers in the build
MOTOR_DEPPATH := --dep-path motor

104
drivers/power/motor.c → drivers/motor/motor.c
View File

@ -1,5 +1,5 @@
/****************************************************************************
* drivers/power/motor.c
* drivers/motor/motor.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@ -35,7 +35,7 @@
#include <nuttx/arch.h>
#include <nuttx/fs/fs.h>
#include <nuttx/power/motor.h>
#include <nuttx/motor/motor.h>
#include <nuttx/irq.h>
@ -214,7 +214,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
switch (cmd)
{
case PWRIOC_START:
case MTRIOC_START:
{
/* Allow motor start only when some limits available
* and structure is locked.
@ -222,30 +222,30 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
if ((motor->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_HAVE_POSITION
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
motor->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
motor->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
motor->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
motor->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_VOLTAGE
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
motor->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_CURRENT
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
motor->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_POWER
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
motor->limits.p_in <= 0.0 &&
#endif
1))
{
pwrerr("ERROR: motor limits data must be set"
mtrerr("Motor limits data must be set"
" and locked before motor start\n");
ret = -EPERM;
@ -256,7 +256,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
if (motor->opmode == MOTOR_OPMODE_INIT)
{
pwrerr("ERROR: motor operation mode not specified\n");
mtrerr("Motor operation mode not specified\n");
ret = -EPERM;
goto errout;
@ -269,43 +269,43 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = dev->ops->start(dev);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_START failed %d\n", ret);
mtrerr("MTRIOC_START failed %d\n", ret);
}
break;
}
case PWRIOC_STOP:
case MTRIOC_STOP:
{
/* Call stop from lower-half driver */
ret = dev->ops->stop(dev);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_STOP failed %d\n", ret);
mtrerr("MTRIOC_STOP failed %d\n", ret);
}
break;
}
case PWRIOC_SET_MODE:
case MTRIOC_SET_MODE:
{
uint8_t mode = ((uint8_t)arg);
ret = dev->ops->mode_set(dev, mode);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_MODE failed %d\n", ret);
mtrerr("MTRIOC_SET_MODE failed %d\n", ret);
}
break;
}
case PWRIOC_SET_LIMITS:
case MTRIOC_SET_LIMITS:
{
FAR struct motor_limits_s *limits =
(FAR struct motor_limits_s *)((uintptr_t)arg);
if (motor->limits.lock == true)
{
pwrerr("ERROR: motor limits locked!\n");
mtrerr("Motor limits locked!\n");
ret = -EPERM;
goto errout;
@ -316,12 +316,12 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = dev->ops->limits_set(dev, limits);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_LIMITS failed %d\n", ret);
mtrerr("MTRIOC_SET_LIMITS failed %d\n", ret);
}
break;
}
case PWRIOC_GET_STATE:
case MTRIOC_GET_STATE:
{
FAR struct motor_state_s *state =
(FAR struct motor_state_s *)((uintptr_t)arg);
@ -329,55 +329,55 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = dev->ops->state_get(dev, state);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_GET_STATE failed %d\n", ret);
mtrerr("MTRIOC_GET_STATE failed %d\n", ret);
}
break;
}
case PWRIOC_SET_FAULT:
case MTRIOC_SET_FAULT:
{
uint8_t fault = ((uint8_t)arg);
ret = dev->ops->fault_set(dev, fault);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_FAULT failed %d\n", ret);
mtrerr("MTRIOC_SET_FAULT failed %d\n", ret);
}
break;
}
case PWRIOC_GET_FAULT:
case MTRIOC_GET_FAULT:
{
FAR uint8_t *fault = ((FAR uint8_t *)arg);
ret = dev->ops->fault_get(dev, fault);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_GET_FAULT failed %d\n", ret);
mtrerr("MTRIOC_GET_FAULT failed %d\n", ret);
}
break;
}
case PWRIOC_CLEAN_FAULT:
case MTRIOC_CLEAR_FAULT:
{
uint8_t fault = ((uint8_t)arg);
ret = dev->ops->fault_clean(dev, fault);
ret = dev->ops->fault_clear(dev, fault);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_CLEAN_FAULT failed %d\n", ret);
mtrerr("MTRIOC_CLEAR_FAULT failed %d\n", ret);
}
break;
}
case PWRIOC_SET_PARAMS:
case MTRIOC_SET_PARAMS:
{
FAR struct motor_params_s *params =
(FAR struct motor_params_s *)((uintptr_t)arg);
if (motor->param.lock == true)
{
pwrerr("ERROR: motor params locked!\n");
mtrerr("Motor params locked!\n");
ret = -EPERM;
goto errout;
@ -385,42 +385,42 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
if ((motor->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_HAVE_POSITION
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
motor->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
motor->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
motor->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
motor->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_VOLTAGE
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
motor->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_CURRENT
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
motor->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_POWER
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
motor->limits.p_in <= 0.0 &&
#endif
1))
{
pwrerr("ERROR: limits must be set prior to params!\n");
mtrerr("Limits must be set prior to params!\n");
ret = -EPERM;
goto errout;
}
#ifdef CONFIG_MOTOR_HAVE_DIRECTION
#ifdef CONFIG_MOTOR_UPPER_HAVE_DIRECTION
/* Check direction configuration */
if (params->direction != MOTOR_DIR_CCW &&
params->direction != MOTOR_DIR_CW)
{
pwrerr("ERROR: invalid direction value %d\n",
mtrerr("Invalid direction value %d\n",
params->direction);
ret = -EPERM;
@ -428,13 +428,13 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
#endif
#ifdef CONFIG_MOTOR_HAVE_POSITION
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
/* Check position configuration */
if (params->position < 0.0 ||
params->position > motor->limits.position)
{
pwrerr("ERROR: params->position > limits.position: "
mtrerr("params->position > limits.position: "
"%.2f > %.2f\n",
params->position, motor->limits.position);
@ -443,13 +443,13 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
/* Check speed configuration */
if (motor->limits.speed > 0.0 &&
params->speed > motor->limits.speed)
{
pwrerr("ERROR: params->speed > limits.speed: %.2f > %.2f\n",
mtrerr("params->speed > limits.speed: %.2f > %.2f\n",
params->speed, motor->limits.speed);
ret = -EPERM;
@ -457,13 +457,13 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
/* Check torque configuration */
if (motor->limits.torque > 0.0 &&
params->torque > motor->limits.torque)
{
pwrerr("ERROR: params->torque > limits.torque: %.2f > %.2f\n",
mtrerr("params->torque > limits.torque: %.2f > %.2f\n",
params->torque, motor->limits.torque);
ret = -EPERM;
@ -471,13 +471,13 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
/* Check force configuration */
if (motor->limits.force > 0.0 &&
params->force > motor->limits.force)
{
pwrerr("ERROR: params->force > limits.force: %.2f > %.2f\n",
mtrerr("params->force > limits.force: %.2f > %.2f\n",
params->force, motor->limits.force);
ret = -EPERM;
@ -488,14 +488,14 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = dev->ops->params_set(dev, params);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_PARAMS failed %d\n", ret);
mtrerr("MTRIOC_SET_PARAMS failed %d\n", ret);
}
break;
}
default:
{
pwrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
mtrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
ret = dev->ops->ioctl(dev, cmd, arg);
break;
}
@ -537,7 +537,7 @@ int motor_register(FAR const char *path, FAR struct motor_dev_s *dev,
DEBUGASSERT(dev->ops->fault_set != NULL);
DEBUGASSERT(dev->ops->state_get != NULL);
DEBUGASSERT(dev->ops->fault_get != NULL);
DEBUGASSERT(dev->ops->fault_clean != NULL);
DEBUGASSERT(dev->ops->fault_clear != NULL);
DEBUGASSERT(dev->ops->ioctl != NULL);
/* Initialize the motor device structure */

50
drivers/power/Kconfig
View File

@ -334,56 +334,6 @@ config SMPS_HAVE_EFFICIENCY
endif
config DRIVERS_MOTOR
bool "Motor driver"
default n
---help---
Enables building of a motor upper half driver.
if DRIVERS_MOTOR
config MOTOR_HAVE_POSITION
bool "Have position control"
default n
config MOTOR_HAVE_DIRECTION
bool "Have direction control"
default n
config MOTOR_HAVE_SPEED
bool "Have speed control"
default n
config MOTOR_HAVE_TORQUE
bool "Have torque control (rotary motors)"
default n
config MOTOR_HAVE_FORCE
bool "Have force control (linear motors)"
default n
config MOTOR_HAVE_ACCELERATION
bool "Have acceleration control"
default n
config MOTOR_HAVE_DECELERATION
bool "Have deceleration control"
default n
config MOTOR_HAVE_INPUT_VOLTAGE
bool "Have input voltage protection"
default n
config MOTOR_HAVE_INPUT_CURRENT
bool "Have input current protection"
default n
config MOTOR_HAVE_INPUT_POWER
bool "Have input power protection"
default n
endif
menuconfig POWER
bool "Power Management Support"
default n

12
drivers/power/Make.defs
View File

@ -71,18 +71,6 @@ POWER_CFLAGS := ${shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)power}
endif
# Add motor driver
ifeq ($(CONFIG_DRIVERS_MOTOR),y)
CSRCS += motor.c
POWER_DEPPATH := --dep-path power
POWER_VPATH := :power
POWER_CFLAGS := ${shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)power}
endif
# Add battery charger drivers
ifeq ($(CONFIG_BATTERY_CHARGER),y)

66
include/nuttx/power/motor.h → include/nuttx/motor/motor.h
View File

@ -1,5 +1,5 @@
/****************************************************************************
* include/nuttx/power/motor.h
* include/nuttx/motor/motor.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@ -18,8 +18,8 @@
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_DRIVERS_POWER_MOTOR_H
#define __INCLUDE_NUTTX_DRIVERS_POWER_MOTOR_H
#ifndef __INCLUDE_NUTTX_DRIVERS_MOTOR_MOTOR_H
#define __INCLUDE_NUTTX_DRIVERS_MOTOR_MOTOR_H
/* The motor driver is split into two parts:
*
@ -42,10 +42,10 @@
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <nuttx/power/power_ioctl.h>
#include <nuttx/motor/motor_ioctl.h>
#include <nuttx/semaphore.h>
#ifdef CONFIG_DRIVERS_MOTOR
#ifdef CONFIG_MOTOR_UPPER
/****************************************************************************
* Pre-processor Definitions
@ -103,25 +103,25 @@ enum motor_direction_e
struct motor_feedback_s
{
#ifdef CONFIG_MOTOR_HAVE_POSITION
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
float position; /* Current motor position */
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
float speed; /* Current motor speed */
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
float torque; /* Current motor torque (rotary motor) */
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
float force; /* Current motor force (linear motor) */
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_VOLTAGE
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
float v_in; /* Current input voltage */
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_CURRENT
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
float i_in; /* Current input current */
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_POWER
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
float p_in; /* Current input power */
#endif
};
@ -145,31 +145,31 @@ struct motor_limits_s
bool lock; /* This bit must be set after
* limits configuration.
*/
#ifdef CONFIG_MOTOR_HAVE_POSITION
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
float position; /* Maximum motor position */
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
float speed; /* Maximum motor speed */
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
float torque; /* Maximum motor torque (rotary motor) */
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
float force; /* Maximum motor force (linear motor) */
#endif
#ifdef CONFIG_MOTOR_HAVE_ACCELERATION
#ifdef CONFIG_MOTOR_UPPER_HAVE_ACCELERATION
float acceleration; /* Maximum motor acceleration */
#endif
#ifdef CONFIG_MOTOR_HAVE_DECELERATION
#ifdef CONFIG_MOTOR_UPPER_HAVE_DECELERATION
float deceleration; /* Maximum motor decelaration */
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_VOLTAGE
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
float v_in; /* Maximum input voltage */
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_CURRENT
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
float i_in; /* Maximum input current */
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_POWER
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
float p_in; /* Maximum input power */
#endif
};
@ -184,7 +184,7 @@ struct motor_params_s
* if there is no need to change motor
* parameter during run-time.
*/
#ifdef CONFIG_MOTOR_HAVE_DIRECTION
#ifdef CONFIG_MOTOR_UPPER_HAVE_DIRECTION
int8_t direction; /* Motor movement direction. We do not
* support negative values for parameters,
* so this flag can be used to allow movement
@ -192,22 +192,22 @@ struct motor_params_s
* a given coordinate system.
*/
#endif
#ifdef CONFIG_MOTOR_HAVE_POSITION
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
float position; /* Motor position */
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
float speed; /* Motor speed */
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
float torque; /* Motor torque (rotary motor) */
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
float force; /* Motor force (linear motor) */
#endif
#ifdef CONFIG_MOTOR_HAVE_ACCELERATION
#ifdef CONFIG_MOTOR_UPPER_HAVE_ACCELERATION
float acceleration; /* Motor acceleration */
#endif
#ifdef CONFIG_MOTOR_HAVE_DECELERATION
#ifdef CONFIG_MOTOR_UPPER_HAVE_DECELERATION
float deceleration; /* Motor deceleration */
#endif
};
@ -268,15 +268,15 @@ struct motor_ops_s
/* Get motor state */
CODE int (*state_get)(FAR struct motor_dev_s *dev,
FAR struct motor_state_s *state);
FAR struct motor_state_s *state);
/* Get current fault state */
CODE int (*fault_get)(FAR struct motor_dev_s *dev, FAR uint8_t *fault);
/* Clean fault state */
/* Clear fault state */
CODE int (*fault_clean)(FAR struct motor_dev_s *dev, uint8_t fault);
CODE int (*fault_clear)(FAR struct motor_dev_s *dev, uint8_t fault);
/* Lower-half logic may support platform-specific ioctl commands */
@ -331,5 +331,5 @@ int motor_register(FAR const char *path, FAR struct motor_dev_s *dev,
}
#endif
#endif /* CONFIG_DRIVERS_MOTOR */
#endif /* __INCLUDE_NUTTX_DRIVERS_POWER_MOTOR_H */
#endif /* CONFIG_MOTOR_UPPER */
#endif /* __INCLUDE_NUTTX_DRIVERS_MOTOR_MOTOR_H */

4
include/nuttx/motor/motor_ioctl.h
View File

@ -45,5 +45,9 @@
#define MTRIOC_SET_PARAMS _MTRIOC(5)
#define MTRIOC_SET_CONFIG _MTRIOC(6)
#define MTRIOC_GET_INFO _MTRIOC(7)
#define MTRIOC_SET_MODE _MTRIOC(8)
#define MTRIOC_SET_LIMITS _MTRIOC(9)
#define MTRIOC_SET_FAULT _MTRIOC(10)
#define MTRIOC_GET_FAULT _MTRIOC(11)
#endif /* __INCLUDE_NUTTX_MOTOR_MOTOR_IOCTL_H */