mirror of
https://github.com/RIOT-OS/RIOT.git
synced 2024-12-29 04:50:03 +01:00
d04c21bb8b
native_motor_driver_qdec_simulation() callback is called each time motor_set() from motor_driver driver is called. It set associated qdec value to the PWM duty cycle. QDEC values are stored in qdecs_value[] array in the order motors are described in board.h. Then it is needed to configure in first motors that needs the QDEC in board.h. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
55 lines
1.5 KiB
C
55 lines
1.5 KiB
C
/**
|
|
* Native Board board implementation
|
|
*
|
|
* Copyright (C) 2018 Gilles DOFFE <g.doffe@gmail.com>
|
|
*
|
|
* This file is subject to the terms and conditions of the GNU Lesser
|
|
* General Public License v2.1. See the file LICENSE in the top level
|
|
* directory for more details.
|
|
*
|
|
* @ingroup boards_native
|
|
* @{
|
|
* @file
|
|
* @author Gilles DOFFE <g.doffe@gmail.com>
|
|
* @}
|
|
*/
|
|
#include <inttypes.h>
|
|
#include <stdio.h>
|
|
|
|
/* RIOT includes */
|
|
#include <board.h>
|
|
#include <log.h>
|
|
|
|
extern int32_t qdecs_value[QDEC_NUMOF];
|
|
|
|
void native_motor_driver_qdec_simulation(
|
|
const motor_driver_t motor_driver, uint8_t motor_id,
|
|
int32_t pwm_duty_cycle)
|
|
{
|
|
uint32_t id = 0;
|
|
|
|
for (uint32_t i = 0; i < motor_driver; i++) {
|
|
const motor_driver_config_t motor_driver_conf =
|
|
motor_driver_config[motor_driver];
|
|
id += motor_driver_conf.nb_motors;
|
|
}
|
|
id += motor_id;
|
|
|
|
if (id < QDEC_NUMOF) {
|
|
qdecs_value[id] = pwm_duty_cycle;
|
|
|
|
LOG_DEBUG("MOTOR-DRIVER=%u" \
|
|
" MOTOR_ID = %u" \
|
|
" PWM_VALUE = %d" \
|
|
" QDEC_ID = %"PRIu32"" \
|
|
" QDEC_VALUE = %d\n", \
|
|
motor_driver, motor_id, pwm_duty_cycle, id, pwm_duty_cycle);
|
|
}
|
|
else {
|
|
LOG_ERROR("MOTOR-DRIVER=%u" \
|
|
" MOTOR_ID = %u" \
|
|
" no QDEC device associated\n", \
|
|
motor_driver, motor_id);
|
|
}
|
|
}
|