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boards/native: add two factice motors with qdec simulation

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Configure 2 factice motors in one motor_driver.
native_motor_driver_qdec_simulation() is provided to simulate QDEC encoders
virtually linked to the motors.

Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
This commit is contained in:
Gilles DOFFE 2018-10-16 14:25:38 +02:00
parent ffad5048fc
commit 3fd3eea5bc
2 changed files with 46 additions and 0 deletions
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1
boards/native/Makefile.features
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@ -8,6 +8,7 @@ FEATURES_PROVIDED += periph_qdec
# Various other features (if any)
FEATURES_PROVIDED += ethernet
FEATURES_PROVIDED += motor_driver
# The board MPU family (used for grouping by the CI system)
FEATURES_MCU_GROUP = x86

45
boards/native/include/board.h
View File

@ -140,6 +140,51 @@ void native_motor_driver_qdec_simulation( \
const motor_driver_t motor_driver, uint8_t motor_id, \
int32_t pwm_duty_cycle);
/* C++ standard do not support designated initializers */
#ifndef __cplusplus
/**
* @name Describe DC motors with PWM channel and GPIOs
* @{
*/
static const motor_driver_config_t motor_driver_config[] = {
{
.pwm_dev = 0,
.mode = MOTOR_DRIVER_1_DIR_BRAKE,
.mode_brake = MOTOR_BRAKE_LOW,
.pwm_mode = PWM_LEFT,
.pwm_frequency = 20000U,
.pwm_resolution = 1000U,
.nb_motors = 2,
.motors = {
{
.pwm_channel = 0,
.gpio_enable = GPIO_PIN(0, 0),
.gpio_dir0 = GPIO_PIN(0, 0),
.gpio_dir1_or_brake = GPIO_PIN(0, 0),
.gpio_dir_reverse = 0,
.gpio_enable_invert = 0,
.gpio_brake_invert = 0,
},
{
.pwm_channel = 1,
.gpio_enable = GPIO_PIN(0, 0),
.gpio_dir0 = GPIO_PIN(0, 0),
.gpio_dir1_or_brake = GPIO_PIN(0, 0),
.gpio_dir_reverse = 1,
.gpio_enable_invert = 0,
.gpio_brake_invert = 0,
},
},
.cb = native_motor_driver_qdec_simulation,
},
};
#define MOTOR_DRIVER_NUMOF (sizeof(motor_driver_config) / sizeof(motor_driver_config[0]))
/** @} */
#endif /* __cplusplus */
#ifdef __cplusplus
}
#endif