motor_driver_params.h
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1 /*
2  * SPDX-FileCopyrightText: 2025 COGIP Robotics association
3  * SPDX-License-Identifier: LGPL-2.1-only
4  */
5 
6 #pragma once
7 
18 #include "board.h"
19 #include "motor_driver.h"
20 #include "saul_reg.h"
21 
22 #ifdef __cplusplus
23 extern "C" {
24 #endif
25 
34 #define MOTOR_DRIVER_0_PARAMS \
35  { \
36  .mode = MOTOR_DRIVER_1_DIR, \
37  .pwm_dev = 1, \
38  .pwm_mode = PWM_LEFT, \
39  .pwm_frequency = 20000U, \
40  .pwm_resolution = 4200U, \
41  .brake_inverted = true, \
42  .enable_inverted = false, \
43  .nb_motors = 3, \
44  .motors = { \
45  { \
46  .pwm_channel = 1, \
47  .gpio_enable = GPIO_UNDEF, \
48  .gpio_dir0 = GPIO_UNDEF, \
49  .gpio_dir1 = GPIO_UNDEF, \
50  .gpio_dir_reverse = GPIO_UNDEF, \
51  }, \
52  { \
53  .pwm_channel = 3, \
54  .gpio_enable = GPIO_UNDEF, \
55  .gpio_dir0 = GPIO_UNDEF, \
56  .gpio_dir1 = GPIO_UNDEF, \
57  .gpio_dir_reverse = GPIO_UNDEF, \
58  }, \
59  { \
60  .pwm_channel = 0, \
61  .gpio_enable = GPIO_UNDEF, \
62  .gpio_dir0 = GPIO_UNDEF, \
63  .gpio_dir1 = GPIO_UNDEF, \
64  .gpio_dir_reverse = GPIO_UNDEF, \
65  } \
66  }, \
67  .motor_set_post_cb = NULL \
68  }
69 
73 #define MOTOR_DRIVER_1_PARAMS \
74  { \
75  .mode = MOTOR_DRIVER_1_DIR, \
76  .pwm_dev = 2, \
77  .pwm_mode = PWM_LEFT, \
78  .pwm_frequency = 20000U, \
79  .pwm_resolution = 4200U, \
80  .brake_inverted = true, \
81  .enable_inverted = false, \
82  .nb_motors = 1, \
83  .motors = { \
84  { \
85  .pwm_channel = 0, \
86  .gpio_enable = GPIO_UNDEF, \
87  .gpio_dir0 = GPIO_UNDEF, \
88  .gpio_dir1 = GPIO_UNDEF, \
89  .gpio_dir_reverse = GPIO_UNDEF, \
90  } \
91  }, \
92  .motor_set_post_cb = NULL \
93  }
94 
95 #ifndef MOTOR_DRIVER_PARAMS
99 # define MOTOR_DRIVER_PARAMS \
100  MOTOR_DRIVER_0_PARAMS, \
101  MOTOR_DRIVER_1_PARAMS
102 #endif
103 
104 #ifndef MOTOR_DRIVER_SAUL_INFO
108 # define MOTOR_DRIVER_SAUL_INFO \
109  { .name = "motor_driver_0" }, \
110  { .name = "motor_driver_1" }
111 #endif
117 static const motor_driver_params_t motor_driver_params[] =
118 {
119  MOTOR_DRIVER_PARAMS,
120 };
121 
125 static const saul_reg_info_t motor_driver_saul_info[] =
126 {
127  MOTOR_DRIVER_SAUL_INFO
128 };
129 
130 #ifdef __cplusplus
131 }
132 #endif
MOTOR_DRIVER_PARAMS
#define MOTOR_DRIVER_PARAMS
Motor driver configuration array.
Definition: motor_driver_params.h:99
motor_driver_saul_info
static const saul_reg_info_t motor_driver_saul_info[]
Additional meta information to keep in the SAUL registry.
Definition: motor_driver_params.h:125
motor_driver_params
static const motor_driver_params_t motor_driver_params[]
MOTOR_DRIVER configuration.
Definition: motor_driver_params.h:117
MOTOR_DRIVER_SAUL_INFO
#define MOTOR_DRIVER_SAUL_INFO
SAUL registry information for motor drivers.
Definition: motor_driver_params.h:108
motor_driver.h
High-level driver for DC motors.
saul_reg.h
SAUL registry interface definition.
motor_driver_params_t
Describe DC motor driver with PWM device and motors array.
Definition: motor_driver.h:167
saul_reg_info_t
Additional data to collect for each entry.
Definition: saul_reg.h:48
board.h
Board specific definitions for the Zigduino board.