更新电机驱动API (e101d4e0) · Commits · Wenxi XU / Mambo

include/zephyr/drivers/motor.h

+38 −221

Original line number	Diff line number	Diff line
		@@ -21,8 +21,8 @@
		* @{
		*/

		#include "zephyr/drivers/pid.h"
		#include "zephyr/toolchain.h"
		#include <zephyr/drivers/pid.h>
		#include <zephyr/toolchain.h>
		#include <sys/_intsup.h>
		#include <zephyr/kernel.h>
		#include <zephyr/kernel/thread.h>
		@@ -49,10 +49,12 @@ extern "C" {
		* MULTILOOP: 多环串联控制
		*/
		enum motor_mode {
		MIT,
		PV,
		VO,
		MULTILOOP
		MIT = 0,
		PV = 1,
		VO = 2,
		ML_TORQUE = 3,
		ML_ANGLE = 4,
		ML_SPEED = 5,
		};

		/**
		@@ -61,7 +63,7 @@ enum motor_mode {
		enum motor_cmd {
		ENABLE_MOTOR,
		DISABLE_MOTOR,
		SET_ZERO_OFFSET,
		SET_ZERO,
		CLEAR_PID,
		CLEAR_ERROR
		};
		@@ -83,233 +85,91 @@ struct motor_driver_config {
		typedef float (motor_slip_cb_t)(const struct device dev);

		struct motor_driver_data {
		void *spec_data;

		float angle;
		float rpm;
		float alpha;
		float torque;
		float temperature;
		float temperature; /* Cannot be set in target */
		int round_cnt;

		float speed_limit[2];
		float torque_limit[2];

		uint16_t sample_cnt;

		enum motor_mode mode;
		};

		/**
		* @typedef motor_api_stat_speed_t
		* @brief 获取电机当前速度的回调函数
		*
		* @param dev 指向电机设备的指针
		* @return float 当前电机速度(rpm)
		*/
		typedef float (motor_api_stat_speed_t)(const struct device dev);

		/**
		* @typedef motor_api_stat_torque_t
		* @brief 获取电机当前扭矩的回调函数
		*
		* @param dev 指向电机设备的指针
		* @return float 当前电机扭矩(N·m)
		*/
		typedef float (motor_api_stat_torque_t)(const struct device dev);
		typedef struct motor_driver_data motor_status_t;

		/**
		* @typedef motor_api_stat_angle_t
		* @brief 获取电机当前角度的回调函数
		* @typedef motor_api_stat_t
		* @brief 获取电机当前状态
		*
		* @param dev 指向电机设备的指针
		* @return float 当前电机角度(度)
		* @return int 成功: 0, 失败: 负值
		*/
		typedef float (motor_api_stat_angle_t)(const struct device dev);
		typedef int (motor_api_stat_t)(const struct device dev, motor_status_t *status);

		/**
		* @typedef motor_api_speed_t
		* @brief 设置电机目标速度的回调函数
		* @typedef motor_api_set_t
		* @brief 设置电机目标状态的回调函数
		*
		* @param dev 指向电机设备的指针
		* @param speed_rpm 目标速度(rpm)
		* @return int 0表示成功,负值表示错误码
		* @param status 目标状态
		* @return int 成功: 0, 失败: 负值
		*/
		typedef int (motor_api_speed_t)(const struct device dev, float speed_rpm);

		/**
		* @typedef motor_api_torque_t
		* @brief 设置电机目标扭矩的回调函数
		*
		* @param dev 指向电机设备的指针
		* @param torque 目标扭矩(N·m)
		* @return int 0表示成功,负值表示错误码
		*/
		typedef int (motor_api_torque_t)(const struct device dev, float torque);

		/**
		* @typedef motor_api_angle_t
		* @brief 设置电机目标角度的回调函数
		*
		* @param dev 指向电机设备的指针
		* @param angle 目标角度(度)
		* @return int 0表示成功,负值表示错误码
		*/
		typedef int (motor_api_angle_t)(const struct device dev, float angle);
		typedef int (motor_api_set_t)(const struct device dev, motor_status_t *status);

		/**
		* @typedef motor_api_ctrl_t
		* @brief 电机控制命令的回调函数
		* @brief 电机控制命令
		*
		* @param dev 指向电机设备的指针
		* @param cmd 控制命令(启动、停止等)
		* @param cmd 控制命令
		* @return void
		*/
		typedef void (motor_api_ctrl_t)(const struct device dev, enum motor_cmd cmd);

		/**
		* @typedef motor_api_mode_t
		* @brief 设置电机工作模式的回调函数
		*
		* @param dev 指向电机设备的指针
		* @param mode 工作模式(速度模式、位置模式等)
		* @return int 0表示成功,负值表示错误码
		*/
		typedef int (motor_api_mode_t)(const struct device dev, enum motor_mode mode);

		typedef void (motor_limit_speed_t)(const struct device dev, float max_speed, float min_speed);

		typedef void (motor_limit_torque_t)(const struct device dev, float max_torque, float min_torque);

		/**
		* @brief Servo Motor driver API
		* @brief Motor driver API
		*/
		__subsystem struct motor_driver_api {
		motor_api_stat_speed_t motor_get_speed;
		motor_api_stat_torque_t motor_get_torque;
		motor_api_stat_angle_t motor_get_angle;
		motor_api_speed_t motor_set_speed;
		motor_api_torque_t motor_set_torque;
		motor_api_angle_t motor_set_angle;
		motor_api_mode_t motor_set_mode;
		motor_api_ctrl_t motor_control;
		motor_limit_speed_t motor_limit_speed;
		motor_limit_torque_t motor_limit_torque;
		motor_api_set_t motor_set;
		motor_api_stat_t motor_get;
		};

		/**
		* @brief Motor error codes
		*/
		enum MotorError {
		MOTOR_SUCCESS = 0,
		MOTOR_ERROR_INIT = -1,
		MOTOR_ERROR_COMM = -2,
		MOTOR_ERROR_UNKNOWN = -3
		};

		/**
		* @brief 获取电机当前扭矩
		* @brief 获取电机当前状态
		*
		* @param dev 电机设备指针
		* @return float 当前扭矩值(N·m)，错误时返回负值
		* @return int 成功: 0, 失败: 负值
		*/
		__syscall float motor_get_torque(const struct device *dev);
		__syscall int motor_get(const struct device dev, motor_status_t status);

		static inline float z_impl_motor_get_torque(const struct device *dev)
		static inline int z_impl_motor_get(const struct device dev, motor_status_t status)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_get_torque == NULL) {
		if (api->motor_get == NULL) {
		return -ENOSYS;
		}
		return api->motor_get_torque(dev);
		return api->motor_get(dev, status);
		}

		/**
		* @brief 获取电机当前转速
		* @brief 设置电机目标状态
		*
		* @param dev 电机设备指针
		* @return float 当前转速(RPM)，错误时返回负值
		* @param status 目标状态
		* @return int 成功: 0, 失败: 负值
		*/
		__syscall float motor_get_speed(const struct device *dev);
		__syscall int motor_set(const struct device dev, motor_status_t status);

		static inline float z_impl_motor_get_speed(const struct device *dev)
		static inline int z_impl_motor_set(const struct device dev, motor_status_t status)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_get_speed == NULL) {
		if (api->motor_set == NULL) {
		return -ENOSYS;
		}
		return api->motor_get_speed(dev);
		}

		/**
		* @brief 获取电机当前角度
		*
		* @param dev 电机设备指针
		* @return float 当前角度(度)，错误时返回负值
		*/
		__syscall float motor_get_angle(const struct device *dev);

		static inline float z_impl_motor_get_angle(const struct device *dev)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_get_angle == NULL) {
		return -ENOSYS;
		}
		return api->motor_get_angle(dev);
		}

		/**
		* @brief 设置电机目标速度
		*
		* @param dev 电机设备指针
		* @param speed_rpm 目标转速(RPM)
		* @return int 0:成功，负值:错误码
		*/
		__syscall int motor_set_speed(const struct device *dev, float speed_rpm);

		static inline int z_impl_motor_set_speed(const struct device *dev, float speed_rpm)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_set_speed == NULL) {
		return -ENOSYS;
		}
		return api->motor_set_speed(dev, speed_rpm);
		}

		/**
		* @brief 设置电机目标角度
		*
		* @param dev 电机设备指针
		* @param angle 目标角度(度)
		* @return int 0:成功，负值:错误码
		*/
		__syscall int motor_set_angle(const struct device *dev, float angle);

		static inline int z_impl_motor_set_angle(const struct device *dev, float angle)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_set_angle == NULL) {
		return -ENOSYS;
		}
		return api->motor_set_angle(dev, angle);
		}

		/**
		* @brief 设置电机目标扭矩
		*
		* @param dev 电机设备指针
		* @param torque 目标扭矩(N·m)
		* @return int 0:成功，负值:错误码
		*/
		__syscall int motor_set_torque(const struct device *dev, float torque);

		static inline int z_impl_motor_set_torque(const struct device *dev, float torque)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_set_torque == NULL) {
		return -ENOSYS;
		}
		return api->motor_set_torque(dev, torque);
		return api->motor_set(dev, status);
		}

		/**
		@@ -328,49 +188,6 @@ static inline void z_impl_motor_control(const struct device *dev, enum motor_cmd
		return;
		}
		api->motor_control(dev, cmd);
		return;
		}

		/**
		* @brief 设置电机工作模式
		*
		* @param dev 电机设备指针
		* @param mode 工作模式
		* @return int 0:成功，负值:错误码
		*/
		__syscall int motor_set_mode(const struct device *dev, enum motor_mode mode);

		static inline int z_impl_motor_set_mode(const struct device *dev, enum motor_mode mode)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_set_mode == NULL) {
		return -ENOSYS;
		}
		return api->motor_set_mode(dev, mode);
		}

		__syscall void motor_limit_speed(const struct device *dev, float max_speed, float min_speed);

		static inline void z_impl_motor_limit_speed(const struct device *dev, float max_speed,
		float min_speed)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_limit_speed == NULL) {
		return;
		}
		api->motor_limit_speed(dev, max_speed, min_speed);
		}

		__syscall void motor_limit_torque(const struct device *dev, float max_torque, float min_torque);

		static inline void z_impl_motor_limit_torque(const struct device *dev, float max_torque,
		float min_torque)
		{
		const struct motor_driver_api api = (const struct motor_driver_api )dev->api;
		if (api->motor_limit_torque == NULL) {
		return;
		}
		api->motor_limit_torque(dev, max_torque, min_torque);
		}

		#define CAN_COUNT DT_NUM_INST_STATUS_OKAY(vnd_canbus)

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