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55 lines
1.5 KiB
C
55 lines
1.5 KiB
C
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/**
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* Native Board board implementation
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*
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* Copyright (C) 2018 Gilles DOFFE <g.doffe@gmail.com>
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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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* @ingroup boards_native
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* @{
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* @file
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* @author Gilles DOFFE <g.doffe@gmail.com>
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* @}
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*/
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#include <inttypes.h>
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#include <stdio.h>
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/* RIOT includes */
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#include <board.h>
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#include <log.h>
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extern int32_t qdecs_value[QDEC_NUMOF];
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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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{
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uint32_t id = 0;
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for (uint32_t i = 0; i < motor_driver; i++) {
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const motor_driver_config_t motor_driver_conf =
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motor_driver_config[motor_driver];
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id += motor_driver_conf.nb_motors;
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}
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id += motor_id;
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if (id < QDEC_NUMOF) {
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qdecs_value[id] = pwm_duty_cycle;
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LOG_DEBUG("MOTOR-DRIVER=%u" \
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" MOTOR_ID = %u" \
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" PWM_VALUE = %d" \
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" QDEC_ID = %"PRIu32"" \
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" QDEC_VALUE = %d\n", \
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motor_driver, motor_id, pwm_duty_cycle, id, pwm_duty_cycle);
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}
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else {
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LOG_ERROR("MOTOR-DRIVER=%u" \
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" MOTOR_ID = %u" \
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" no QDEC device associated\n", \
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motor_driver, motor_id);
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}
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}
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