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incubator-nuttx/drivers/motor/motor.c

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/****************************************************************************
* drivers/motor/motor.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/* Upper-half, character driver for motor control */
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <unistd.h>
#include <fcntl.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/fs/fs.h>
#include <nuttx/kmalloc.h>
#include <nuttx/mutex.h>
#include <nuttx/motor/motor.h>
#include <nuttx/irq.h>
/****************************************************************************
* Private Types
****************************************************************************/
/* This structure describes the state of the upper half driver */
struct motor_upperhalf_s
{
FAR struct motor_lowerhalf_s *lower; /* the handle of lower half driver */
uint8_t ocount; /* The number of times the device has been opened */
mutex_t closelock; /* Locks out new opens while close is in progress */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int motor_open(FAR struct file *filep);
static int motor_close(FAR struct file *filep);
static ssize_t motor_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t motor_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int motor_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_motor_fops =
{
motor_open, /* open */
motor_close, /* close */
motor_read, /* read */
motor_write, /* write */
NULL, /* seek */
motor_ioctl, /* ioctl */
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: motor_open
*
* Description:
* This function is called whenever the motor device is opened.
*
****************************************************************************/
static int motor_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct motor_upperhalf_s *upper = inode->i_private;
FAR struct motor_lowerhalf_s *lower = upper->lower;
uint8_t tmp;
int ret;
/* If the port is the middle of closing, wait until the close is finished */
ret = nxmutex_lock(&upper->closelock);
if (ret >= 0)
{
/* Increment the count of references to the device. If this the first
* time that the driver has been opened for this device, then
* initialize the device.
*/
tmp = upper->ocount + 1;
if (tmp == 0)
{
/* More than 255 opens; uint8_t overflows to zero */
ret = -EMFILE;
}
else
{
/* Check if this is the first time that the driver has been
* opened.
*/
if (tmp == 1)
{
/* Yes.. perform one time hardware initialization. */
ret = lower->ops->setup(lower);
if (ret == OK)
{
/* Save the new open count on success */
upper->ocount = tmp;
}
}
}
nxmutex_unlock(&upper->closelock);
}
return OK;
}
/****************************************************************************
* Name: motor_close
*
* Description:
* This routine is called when the motor device is closed.
*
****************************************************************************/
static int motor_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct motor_upperhalf_s *upper = inode->i_private;
FAR struct motor_lowerhalf_s *lower = upper->lower;
int ret;
ret = nxmutex_lock(&upper->closelock);
if (ret >= 0)
{
/* Decrement the references to the driver. If the reference count will
* decrement to 0, then uninitialize the driver.
*/
if (upper->ocount > 1)
{
upper->ocount--;
nxmutex_unlock(&upper->closelock);
}
else
{
/* There are no more references to the port */
upper->ocount = 0;
/* Free the IRQ and disable the motor device */
lower->ops->shutdown(lower); /* Disable the motor */
nxmutex_unlock(&upper->closelock);
}
}
return ret;
}
/****************************************************************************
* Name: motor_read
****************************************************************************/
static ssize_t motor_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
return 1;
}
/****************************************************************************
* Name: motor_write
****************************************************************************/
static ssize_t motor_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return 1;
}
/****************************************************************************
* Name: motor_ioctl
****************************************************************************/
static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct motor_upperhalf_s *upper = inode->i_private;
FAR struct motor_lowerhalf_s *lower = upper->lower;
int ret;
switch (cmd)
{
case MTRIOC_START:
{
/* Allow motor start only when some limits available
* and structure is locked.
*/
if ((lower->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
lower->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
lower->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
lower->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
lower->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
lower->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
lower->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
lower->limits.p_in <= 0.0 &&
#endif
1))
{
mtrerr("Motor limits data must be set"
" and locked before motor start\n");
ret = -EPERM;
goto errout;
}
/* Check motor mode */
if (lower->opmode == MOTOR_OPMODE_INIT)
{
mtrerr("Motor operation mode not specified\n");
ret = -EPERM;
goto errout;
}
/* REVISIT: do we need some parameters assertions here ? */
/* Finally, call start from lower-half driver */
ret = lower->ops->start(lower);
if (ret != OK)
{
mtrerr("MTRIOC_START failed %d\n", ret);
}
break;
}
case MTRIOC_STOP:
{
/* Call stop from lower-half driver */
ret = lower->ops->stop(lower);
if (ret != OK)
{
mtrerr("MTRIOC_STOP failed %d\n", ret);
}
break;
}
case MTRIOC_SET_MODE:
{
uint8_t mode = ((uint8_t)arg);
ret = lower->ops->mode_set(lower, mode);
if (ret != OK)
{
mtrerr("MTRIOC_SET_MODE failed %d\n", ret);
}
break;
}
case MTRIOC_SET_LIMITS:
{
FAR struct motor_limits_s *limits =
(FAR struct motor_limits_s *)((uintptr_t)arg);
if (lower->limits.lock == true)
{
mtrerr("Motor limits locked!\n");
ret = -EPERM;
goto errout;
}
/* NOTE: this call must set the motor_limits_s structure */
ret = lower->ops->limits_set(lower, limits);
if (ret != OK)
{
mtrerr("MTRIOC_SET_LIMITS failed %d\n", ret);
}
break;
}
case MTRIOC_GET_STATE:
{
FAR struct motor_state_s *state =
(FAR struct motor_state_s *)((uintptr_t)arg);
ret = lower->ops->state_get(lower, state);
if (ret != OK)
{
mtrerr("MTRIOC_GET_STATE failed %d\n", ret);
}
break;
}
case MTRIOC_SET_FAULT:
{
uint8_t fault = ((uint8_t)arg);
ret = lower->ops->fault_set(lower, fault);
if (ret != OK)
{
mtrerr("MTRIOC_SET_FAULT failed %d\n", ret);
}
break;
}
case MTRIOC_GET_FAULT:
{
FAR uint8_t *fault = ((FAR uint8_t *)arg);
ret = lower->ops->fault_get(lower, fault);
if (ret != OK)
{
mtrerr("MTRIOC_GET_FAULT failed %d\n", ret);
}
break;
}
case MTRIOC_CLEAR_FAULT:
{
uint8_t fault = ((uint8_t)arg);
ret = lower->ops->fault_clear(lower, fault);
if (ret != OK)
{
mtrerr("MTRIOC_CLEAR_FAULT failed %d\n", ret);
}
break;
}
case MTRIOC_SET_PARAMS:
{
FAR struct motor_params_s *params =
(FAR struct motor_params_s *)((uintptr_t)arg);
if (lower->param.lock == true)
{
mtrerr("Motor params locked!\n");
ret = -EPERM;
goto errout;
}
if ((lower->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
lower->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
lower->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
lower->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
lower->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
lower->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
lower->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
lower->limits.p_in <= 0.0 &&
#endif
1))
{
mtrerr("Limits must be set prior to params!\n");
ret = -EPERM;
goto errout;
}
#ifdef CONFIG_MOTOR_UPPER_HAVE_DIRECTION
/* Check direction configuration */
if (params->direction != MOTOR_DIR_CCW &&
params->direction != MOTOR_DIR_CW)
{
mtrerr("Invalid direction value %d\n",
params->direction);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
/* Check position configuration */
if (params->position < 0.0 ||
params->position > lower->limits.position)
{
mtrerr("params->position > limits.position: "
"%.2f > %.2f\n",
params->position, lower->limits.position);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
/* Check speed configuration */
if (lower->limits.speed > 0.0 &&
params->speed > lower->limits.speed)
{
mtrerr("params->speed > limits.speed: %.2f > %.2f\n",
params->speed, lower->limits.speed);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
/* Check torque configuration */
if (lower->limits.torque > 0.0 &&
params->torque > lower->limits.torque)
{
mtrerr("params->torque > limits.torque: %.2f > %.2f\n",
params->torque, lower->limits.torque);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
/* Check force configuration */
if (lower->limits.force > 0.0 &&
params->force > lower->limits.force)
{
mtrerr("params->force > limits.force: %.2f > %.2f\n",
params->force, lower->limits.force);
ret = -EPERM;
goto errout;
}
#endif
ret = lower->ops->params_set(lower, params);
if (ret != OK)
{
mtrerr("MTRIOC_SET_PARAMS failed %d\n", ret);
}
break;
}
default:
{
mtrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
ret = lower->ops->ioctl(lower, cmd, arg);
break;
}
}
errout:
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: motor_register
*
* Description:
* This function binds an instance of a "lower half" motor driver with the
* "upper half" motor device and registers that device so that can be used
* by application code.
*
* We will register the chararter device with specified path.
*
* Input Parameters:
* path - The user specifies path name.
* lower - A pointer to an instance of lower half motor driver. This
* instance is bound to the motor driver and must persists as long
* as the driver persists.
*
* Returned Value:
* OK if the driver was successfully register; A negated errno value is
* returned on any failure.
*
****************************************************************************/
int motor_register(FAR const char *path,
FAR struct motor_lowerhalf_s *lower)
{
FAR struct motor_upperhalf_s *upper;
int ret;
DEBUGASSERT(path != NULL && lower != NULL);
DEBUGASSERT(lower->ops != NULL);
/* For safety reason, when some necessary low-level logic is not provided,
* system should fail before low-level hardware initialization, so:
* - all ops are checked here, before character driver registration
* - all ops must be provided, even if not used
*/
DEBUGASSERT(lower->ops->setup != NULL);
DEBUGASSERT(lower->ops->shutdown != NULL);
DEBUGASSERT(lower->ops->stop != NULL);
DEBUGASSERT(lower->ops->start != NULL);
DEBUGASSERT(lower->ops->params_set != NULL);
DEBUGASSERT(lower->ops->mode_set != NULL);
DEBUGASSERT(lower->ops->limits_set != NULL);
DEBUGASSERT(lower->ops->fault_set != NULL);
DEBUGASSERT(lower->ops->state_get != NULL);
DEBUGASSERT(lower->ops->fault_get != NULL);
DEBUGASSERT(lower->ops->fault_clear != NULL);
DEBUGASSERT(lower->ops->ioctl != NULL);
/* Allocate the upper-half data structure */
upper = kmm_zalloc(sizeof(struct motor_upperhalf_s));
if (!upper)
{
mtrerr("ERROR: Allocation failed\n");
return -ENOMEM;
}
/* Initialize mutex */
nxmutex_init(&upper->closelock);
/* Connect motor driver with lower level interface */
upper->lower = lower;
/* Register the motor character driver */
ret = register_driver(path, &g_motor_fops, 0666, upper);
if (ret < 0)
{
nxmutex_destroy(&upper->closelock);
kmm_free(upper);
}
return ret;
}
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