mirror of
https://github.com/apache/nuttx.git
synced 2026-06-07 17:33:08 +08:00
Add a stepper generic upperhalf driver
Add a stepper A4988 lowerhalf driver
This commit is contained in:
Philippe Leduc
committed by
Alan Carvalho de Assis
Alan Carvalho de Assis
parent
1989749850
commit
095c32b0eb
@@ -830,6 +830,24 @@
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# define mtrinfo _none
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#endif
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#ifdef CONFIG_DEBUG_STEPPER_ERROR
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# define stperr _err
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#else
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# define stperr _none
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#endif
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#ifdef CONFIG_DEBUG_STEPPER_WARN
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# define stpwarn _warn
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#else
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# define stpwarn _none
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#endif
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#ifdef CONFIG_DEBUG_STEPPER_INFO
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# define stpinfo _info
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#else
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# define stpinfo _none
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#endif
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#ifdef CONFIG_DEBUG_VIDEO_ERROR
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# define verr _err
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#else
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@@ -98,6 +98,7 @@
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#define _MIPIDSIBASE (0x3900) /* Mipidsi device ioctl commands */
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#define _SEIOCBASE (0x3a00) /* Secure element ioctl commands */
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#define _SYSLOGBASE (0x3c00) /* Syslog device ioctl commands */
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#define _STEPIOBASE (0x3d00) /* Stepper device ioctl commands */
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#define _WLIOCBASE (0x8b00) /* Wireless modules ioctl network commands */
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/* boardctl() commands share the same number space */
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@@ -612,6 +613,11 @@
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#define _MTRIOCVALID(c) (_IOC_TYPE(c) == _MTRIOBASE)
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#define _MTRIOC(nr) _IOC(_MTRIOBASE, nr)
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/* Stepper drivers **********************************************************/
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#define _STEPIOCVALID(c) (_IOC_TYPE(c) == _STEPIOBASE)
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#define _STEPIOC(nr) _IOC(_STEPIOBASE, nr)
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/* MATH drivers *************************************************************/
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#define _MATHIOCVALID(c) (_IOC_TYPE(c) == _MATHIOBASE)
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@@ -0,0 +1,101 @@
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/****************************************************************************
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* include/nuttx/motor/a4988.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_MOTOR_A4988_H
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#define __INCLUDE_NUTTX_MOTOR_A4988_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/motor/stepper.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#if defined(CONFIG_STEPPER_A4988)
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/****************************************************************************
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* Public Types
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****************************************************************************/
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struct a4988_ops_s
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{
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/* Initialize the control, called at register step */
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CODE void (*initialize)(void);
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/* Control step output */
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CODE void (*step)(int level);
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/* Direction */
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CODE void (*direction)(int level);
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/* Configure microstepping */
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CODE void (*microstepping)(int ms1, int ms2, int ms3);
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/* Enable control */
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CODE void (*enable)(int level);
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/* Idle control */
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CODE void (*idle)(int level);
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Name: a4988_register
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*
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* Description:
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* Register the a4988 character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/pwrmntr0"
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* Returned Value:
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* ops - operations on the concrete hardware
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int a4988_register(FAR const char *devpath, FAR struct a4988_ops_s *ops);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_STEPPER_A4988 */
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#endif /* __INCLUDE_NUTTX_DRIVERS_MOTOR_A4988_H */
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@@ -0,0 +1,212 @@
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/*****************************************************************************
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* include/nuttx/motor/stepper.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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*****************************************************************************/
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#ifndef __INCLUDE_NUTTX_MOTOR_STEPPER_H
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#define __INCLUDE_NUTTX_MOTOR_STEPPER_H
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/* The motor driver is split into two parts:
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*
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* 1) An "upper half", generic driver that provides the common motor
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* interface to application level code, and
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* 2) A "lower half", platform-specific driver that implements the low-level
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* functionality eg.:
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* - timer controls to implement the PWM signals,
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* - analog peripherals configuration such as ADC, DAC and comparators,
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* - control algorithm for motor driver (eg. FOC control for BLDC)
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*
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* This 'upper-half' driver has been designed with flexibility in mind
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* to support all kinds of electric motors and their applications.
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*/
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/*****************************************************************************
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* Included Files
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*****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <nuttx/motor/stepper_ioctl.h>
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#ifdef CONFIG_STEPPER_UPPER
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/*****************************************************************************
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* Pre-processor Definitions
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*****************************************************************************/
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/*****************************************************************************
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* Public Types
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*****************************************************************************/
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/* Stepper driver state */
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enum stepper_state_e
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{
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STEPPER_STATE_INIT = 0, /* Initial state */
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STEPPER_STATE_IDLE = 1, /* IDLE state */
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STEPPER_STATE_RUN = 2, /* Run state */
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STEPPER_STATE_FAULT = 3 /* Fault state */
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};
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/* Stepper driver fault type */
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enum stepper_fault_e
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{
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STEPPER_FAULT_CLEAR = 0, /* No fault */
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STEPPER_FAULT_OVERCURRENT = (1 << 0), /* Over-current Fault */
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STEPPER_FAULT_OVERVOLTAGE = (1 << 1), /* Over-voltage Fault */
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STEPPER_FAULT_OVERPOWER = (1 << 2), /* Over-power Fault (electrical) */
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STEPPER_FAULT_OVERTEMP = (1 << 3), /* Over-temperature Fault */
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STEPPER_FAULT_OVERLOAD = (1 << 4), /* Stepper overload Fault (mechanical) */
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STEPPER_FAULT_LOCKED = (1 << 5), /* Stepper locked Fault */
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STEPPER_FAULT_INVAL_PARAM = (1 << 6), /* Invalid parameter Fault */
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STEPPER_FAULT_OTHER = (1 << 7) /* Other Fault */
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};
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/* Stepper IDLE control */
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enum stepper_idle_e
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{
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STEPPER_ENABLE_IDLE = 0, /* Enable IDLE mode */
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STEPPER_DISABLE_IDLE = 1, /* Disable IDLE mode */
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STEPPER_AUTO_IDLE = 2, /* Set automaticaly IDLE when stepper not in movement */
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};
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/* Stepper driver state */
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struct stepper_state_s
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{
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uint8_t state; /* Stepper driver state */
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uint8_t fault; /* Stepper driver faults */
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int32_t position; /* Feedback from motor - absolute position */
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};
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/* Stepper parameters. */
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struct stepper_job_s
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{
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int32_t steps; /* Steps to do. Position: CW, Negative: CCW */
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uint16_t speed; /* Stepper speed in step/ms */
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};
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/* Stepper operations used to call from the upper-half, generic stepper driver
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* into lower-half, platform-specific logic.
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*/
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struct stepper_lowerhalf_s;
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struct stepper_ops_s
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{
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/* Setup stepper for operational mode */
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CODE int (*setup)(FAR struct stepper_lowerhalf_s *dev);
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/* Disable stepper */
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CODE int (*shutdown)(FAR struct stepper_lowerhalf_s *dev);
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/* work */
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CODE int (*work)(FAR struct stepper_lowerhalf_s *dev,
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FAR struct stepper_job_s const *param);
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/* Get motor state */
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CODE int (*state)(FAR struct stepper_lowerhalf_s *dev,
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FAR struct stepper_state_s *state);
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/* Clear fault state */
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CODE int (*clear)(FAR struct stepper_lowerhalf_s *dev, uint8_t fault);
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/* Configure IDLE mode */
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CODE int (*idle)(FAR struct stepper_lowerhalf_s *dev, uint8_t idle);
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/* Configure stepping resolution mode */
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CODE int (*microstepping)(FAR struct stepper_lowerhalf_s *dev,
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uint16_t resolution);
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/* Lower-half logic may support platform-specific ioctl commands */
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CODE int (*ioctl)(FAR struct stepper_lowerhalf_s *dev, int cmd,
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unsigned long arg);
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};
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/* This structure is the generic form of state structure used by lower half
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* motor driver.
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*/
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struct stepper_lowerhalf_s
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{
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FAR const struct stepper_ops_s *ops; /* Arch-specific operations */
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struct stepper_job_s param; /* Motor settings */
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struct stepper_state_s state; /* Motor state */
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FAR void *priv; /* Private data */
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};
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/*****************************************************************************
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* Public Data
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*****************************************************************************/
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/*****************************************************************************
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* Public Function Prototypes
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*****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/*****************************************************************************
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* Name: stepper_register
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*
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* Description:
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* This function binds an instance of a "lower half" stepper driver with the
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* "upper half" stepper device and registers that device so that can be used
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* by application code.
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*
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* We will register the character device with specified path.
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*
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* Input Parameters:
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* path - The user specifies path name.
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* lower - A pointer to an instance of lower half stepper driver. This
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* instance is bound to the stepper driver and must persists as long
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* as the driver persists.
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*
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* Returned Value:
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* OK if the driver was successfully register; A negated errno value is
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* returned on any failure.
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*
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*****************************************************************************/
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int stepper_register(FAR const char *path,
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FAR struct stepper_lowerhalf_s *lower);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_STEPPER_UPPER */
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#endif /* __INCLUDE_NUTTX_DRIVERS_MOTOR_STEPPER_H */
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@@ -0,0 +1,40 @@
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/****************************************************************************
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* include/nuttx/motor/stepper_ioctl.h
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* NuttX Motor-Related IOCTLs definitions
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_MOTOR_STEPPER_IOCTL_H
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#define __INCLUDE_NUTTX_MOTOR_STEPPER_IOCTL_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/fs/ioctl.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define STEPIOC_IDLE _STEPIOC(1)
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#define STEPIOC_CLEAR_FAULT _STEPIOC(2)
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#define STEPIOC_MICROSTEPPING _STEPIOC(3)
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#endif /* __INCLUDE_NUTTX_MOTOR_STEPPER_IOCTL_H */
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