mirror of
https://github.com/apache/nuttx.git
synced 2026-06-08 01:42:58 +08:00
driver/motor: add upperhalf structure
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
This commit is contained in:
Jiuzhu Dong
Xiang Xiao
+45
-43
@@ -43,7 +43,6 @@
|
||||
#include <nuttx/compiler.h>
|
||||
|
||||
#include <nuttx/motor/motor_ioctl.h>
|
||||
#include <nuttx/semaphore.h>
|
||||
|
||||
#ifdef CONFIG_MOTOR_UPPER
|
||||
|
||||
@@ -212,95 +211,80 @@ struct motor_params_s
|
||||
#endif
|
||||
};
|
||||
|
||||
/* Motor private data structure */
|
||||
|
||||
struct motor_s
|
||||
{
|
||||
uint8_t opmode; /* Motor operation mode */
|
||||
uint8_t opflags; /* Motor operation flags */
|
||||
struct motor_limits_s limits; /* Motor absolute limits */
|
||||
struct motor_params_s param; /* Motor settings */
|
||||
struct motor_state_s state; /* Motor state */
|
||||
FAR void *priv; /* Private data */
|
||||
};
|
||||
|
||||
/* Motor operations used to call from the upper-half, generic motor driver
|
||||
* into lower-half, platform-specific logic.
|
||||
*/
|
||||
|
||||
struct motor_dev_s;
|
||||
struct motor_lowerhalf_s;
|
||||
struct motor_ops_s
|
||||
{
|
||||
/* Configure motor */
|
||||
|
||||
CODE int (*setup)(FAR struct motor_dev_s *dev);
|
||||
CODE int (*setup)(FAR struct motor_lowerhalf_s *dev);
|
||||
|
||||
/* Disable motor */
|
||||
|
||||
CODE int (*shutdown)(FAR struct motor_dev_s *dev);
|
||||
CODE int (*shutdown)(FAR struct motor_lowerhalf_s *dev);
|
||||
|
||||
/* Stop motor */
|
||||
|
||||
CODE int (*stop)(FAR struct motor_dev_s *dev);
|
||||
CODE int (*stop)(FAR struct motor_lowerhalf_s *dev);
|
||||
|
||||
/* Start motor */
|
||||
|
||||
CODE int (*start)(FAR struct motor_dev_s *dev);
|
||||
CODE int (*start)(FAR struct motor_lowerhalf_s *dev);
|
||||
|
||||
/* Set motor parameters */
|
||||
|
||||
CODE int (*params_set)(FAR struct motor_dev_s *dev,
|
||||
CODE int (*params_set)(FAR struct motor_lowerhalf_s *dev,
|
||||
FAR struct motor_params_s *param);
|
||||
|
||||
/* Set motor operation mode */
|
||||
|
||||
CODE int (*mode_set)(FAR struct motor_dev_s *dev, uint8_t mode);
|
||||
CODE int (*mode_set)(FAR struct motor_lowerhalf_s *dev, uint8_t mode);
|
||||
|
||||
/* Set motor limits */
|
||||
|
||||
CODE int (*limits_set)(FAR struct motor_dev_s *dev,
|
||||
CODE int (*limits_set)(FAR struct motor_lowerhalf_s *dev,
|
||||
FAR struct motor_limits_s *limits);
|
||||
|
||||
/* Set motor fault */
|
||||
|
||||
CODE int (*fault_set)(FAR struct motor_dev_s *dev, uint8_t fault);
|
||||
CODE int (*fault_set)(FAR struct motor_lowerhalf_s *dev, uint8_t fault);
|
||||
|
||||
/* Get motor state */
|
||||
|
||||
CODE int (*state_get)(FAR struct motor_dev_s *dev,
|
||||
CODE int (*state_get)(FAR struct motor_lowerhalf_s *dev,
|
||||
FAR struct motor_state_s *state);
|
||||
|
||||
/* Get current fault state */
|
||||
|
||||
CODE int (*fault_get)(FAR struct motor_dev_s *dev, FAR uint8_t *fault);
|
||||
CODE int (*fault_get)(FAR struct motor_lowerhalf_s *dev,
|
||||
FAR uint8_t *fault);
|
||||
|
||||
/* Clear fault state */
|
||||
|
||||
CODE int (*fault_clear)(FAR struct motor_dev_s *dev, uint8_t fault);
|
||||
CODE int (*fault_clear)(FAR struct motor_lowerhalf_s *dev, uint8_t fault);
|
||||
|
||||
/* Lower-half logic may support platform-specific ioctl commands */
|
||||
|
||||
CODE int (*ioctl)(FAR struct motor_dev_s *dev, int cmd, unsigned long arg);
|
||||
CODE int (*ioctl)(FAR struct motor_lowerhalf_s *dev, int cmd,
|
||||
unsigned long arg);
|
||||
};
|
||||
|
||||
/* */
|
||||
/* This structure is the generic form of state structure used by lower half
|
||||
* motor driver.
|
||||
*/
|
||||
|
||||
struct motor_dev_s
|
||||
struct motor_lowerhalf_s
|
||||
{
|
||||
/* Fields managed by common upper half motor logic */
|
||||
|
||||
uint8_t ocount; /* The number of times the device
|
||||
* has been opened
|
||||
*/
|
||||
sem_t closesem; /* Locks out new opens while close
|
||||
* is in progress
|
||||
*/
|
||||
|
||||
/* Fields provided by lower half motor logic */
|
||||
|
||||
FAR const struct motor_ops_s *ops; /* Arch-specific operations */
|
||||
FAR void *priv; /* Reference to motor private data */
|
||||
FAR void *lower; /* Reference to lower level drivers */
|
||||
uint8_t opmode; /* Motor operation mode */
|
||||
uint8_t opflags; /* Motor operation flags */
|
||||
struct motor_limits_s limits; /* Motor absolute limits */
|
||||
struct motor_params_s param; /* Motor settings */
|
||||
struct motor_state_s state; /* Motor state */
|
||||
FAR void *priv; /* Private data */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
@@ -321,10 +305,28 @@ extern "C"
|
||||
|
||||
/****************************************************************************
|
||||
* Name: motor_register
|
||||
*
|
||||
* Description:
|
||||
* This function binds an instance of a "lower half" motor driver with the
|
||||
* "upper half" motor device and registers that device so that can be used
|
||||
* by application code.
|
||||
*
|
||||
* We will register the chararter device with specified path.
|
||||
*
|
||||
* Input Parameters:
|
||||
* path - The user specifies path name.
|
||||
* lower - A pointer to an instance of lower half motor driver. This
|
||||
* instance is bound to the motor driver and must persists as long
|
||||
* as the driver persists.
|
||||
*
|
||||
* Returned Value:
|
||||
* OK if the driver was successfully register; A negated errno value is
|
||||
* returned on any failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int motor_register(FAR const char *path, FAR struct motor_dev_s *dev,
|
||||
FAR void *lower);
|
||||
int motor_register(FAR const char *path,
|
||||
FAR struct motor_lowerhalf_s *lower);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
|
||||
Reference in New Issue
Block a user