336 lines
11 KiB
C
336 lines
11 KiB
C
/****************************************************************************
|
|
* include/nuttx/motor/motor.h
|
|
*
|
|
* 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifndef __INCLUDE_NUTTX_DRIVERS_MOTOR_MOTOR_H
|
|
#define __INCLUDE_NUTTX_DRIVERS_MOTOR_MOTOR_H
|
|
|
|
/* The motor driver is split into two parts:
|
|
*
|
|
* 1) An "upper half", generic driver that provides the common motor
|
|
* interface to application level code, and
|
|
* 2) A "lower half", platform-specific driver that implements the low-level
|
|
* functionality eg.:
|
|
* - timer controls to implement the PWM signals,
|
|
* - analog peripherals configuration such as ADC, DAC and comparators,
|
|
* - control algorithm for motor driver (eg. FOC control for BLDC)
|
|
*
|
|
* This 'upper-half' driver has been designed with flexibility in mind
|
|
* to support all kinds of electric motors and their applications.
|
|
*/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <nuttx/compiler.h>
|
|
|
|
#include <nuttx/motor/motor_ioctl.h>
|
|
#include <nuttx/semaphore.h>
|
|
|
|
#ifdef CONFIG_MOTOR_UPPER
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Public Types
|
|
****************************************************************************/
|
|
|
|
/* Motor driver operation modes */
|
|
|
|
enum motor_opmode_e
|
|
{
|
|
MOTOR_OPMODE_INIT = 0, /* Initial mode */
|
|
MOTOR_OPMODE_POSITION = 1, /* Position control mode */
|
|
MOTOR_OPMODE_SPEED = 2, /* Speed control mode */
|
|
MOTOR_OPMODE_TORQUE = 3, /* Torque control mode */
|
|
MOTOR_OPMODE_FORCE = 4 /* Force control mode */
|
|
};
|
|
|
|
/* Motor driver state */
|
|
|
|
enum motor_state_e
|
|
{
|
|
MOTOR_STATE_INIT = 0, /* Initial state */
|
|
MOTOR_STATE_IDLE = 1, /* IDLE state */
|
|
MOTOR_STATE_RUN = 2, /* Run state */
|
|
MOTOR_STATE_FAULT = 3, /* Fault state */
|
|
MOTOR_STATE_CRITICAL = 4 /* Critical Fault state */
|
|
};
|
|
|
|
/* Motor driver fault type */
|
|
|
|
enum motor_fault_e
|
|
{
|
|
MOTOR_FAULT_OVERCURRENT = (1 << 0), /* Over-current Fault */
|
|
MOTOR_FAULT_OVERVOLTAGE = (1 << 1), /* Over-voltage Fault */
|
|
MOTOR_FAULT_OVERPOWER = (1 << 2), /* Over-power Fault (electrical) */
|
|
MOTOR_FAULT_OVERTEMP = (1 << 3), /* Over-temperature Fault */
|
|
MOTOR_FAULT_OVERLOAD = (1 << 4), /* Motor overload Fault (mechanical) */
|
|
MOTOR_FAULT_LOCKED = (1 << 5), /* Motor locked Fault */
|
|
MOTOR_FAULT_INVAL_PARAM = (1 << 6), /* Invalid parameter Fault */
|
|
MOTOR_FAULT_OTHER = (1 << 7) /* Other Fault */
|
|
};
|
|
|
|
/* Motor direction */
|
|
|
|
enum motor_direction_e
|
|
{
|
|
MOTOR_DIR_CCW = -1,
|
|
MOTOR_DIR_CW = 1
|
|
};
|
|
|
|
/* This structure contains feedback data from motor driver */
|
|
|
|
struct motor_feedback_s
|
|
{
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
|
|
float position; /* Current motor position */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
|
|
float speed; /* Current motor speed */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
|
|
float torque; /* Current motor torque (rotary motor) */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
|
|
float force; /* Current motor force (linear motor) */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
|
|
float v_in; /* Current input voltage */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
|
|
float i_in; /* Current input current */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
|
|
float p_in; /* Current input power */
|
|
#endif
|
|
};
|
|
|
|
/* This structure describes motor driver state */
|
|
|
|
struct motor_state_s
|
|
{
|
|
uint8_t state; /* Motor state */
|
|
uint8_t fault; /* Motor faults state */
|
|
struct motor_feedback_s fb; /* Feedback from motor */
|
|
};
|
|
|
|
/* Motor absolute limits. Exceeding this limits should cause critical error
|
|
* This structure must be configured before motor params_set call.
|
|
* When limit is set to 0 then it is ignored.
|
|
*/
|
|
|
|
struct motor_limits_s
|
|
{
|
|
bool lock; /* This bit must be set after
|
|
* limits configuration.
|
|
*/
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
|
|
float position; /* Maximum motor position */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
|
|
float speed; /* Maximum motor speed */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
|
|
float torque; /* Maximum motor torque (rotary motor) */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
|
|
float force; /* Maximum motor force (linear motor) */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_ACCELERATION
|
|
float acceleration; /* Maximum motor acceleration */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_DECELERATION
|
|
float deceleration; /* Maximum motor decelaration */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
|
|
float v_in; /* Maximum input voltage */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
|
|
float i_in; /* Maximum input current */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
|
|
float p_in; /* Maximum input power */
|
|
#endif
|
|
};
|
|
|
|
/* Motor parameters.
|
|
* NOTE: All parameters require not negative value.
|
|
*/
|
|
|
|
struct motor_params_s
|
|
{
|
|
bool lock; /* Lock this structure. Set this bit
|
|
* if there is no need to change motor
|
|
* parameter during run-time.
|
|
*/
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_DIRECTION
|
|
int8_t direction; /* Motor movement direction. We do not
|
|
* support negative values for parameters,
|
|
* so this flag can be used to allow movement
|
|
* in the positive and negative direction in
|
|
* a given coordinate system.
|
|
*/
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
|
|
float position; /* Motor position */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
|
|
float speed; /* Motor speed */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
|
|
float torque; /* Motor torque (rotary motor) */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
|
|
float force; /* Motor force (linear motor) */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_ACCELERATION
|
|
float acceleration; /* Motor acceleration */
|
|
#endif
|
|
#ifdef CONFIG_MOTOR_UPPER_HAVE_DECELERATION
|
|
float deceleration; /* Motor deceleration */
|
|
#endif
|
|
};
|
|
|
|
/* Motor private data structure */
|
|
|
|
struct motor_s
|
|
{
|
|
uint8_t opmode; /* Motor operation mode */
|
|
uint8_t opflags; /* Motor operation flags */
|
|
struct motor_limits_s limits; /* Motor absolute limits */
|
|
struct motor_params_s param; /* Motor settings */
|
|
struct motor_state_s state; /* Motor state */
|
|
FAR void *priv; /* Private data */
|
|
};
|
|
|
|
/* Motor operations used to call from the upper-half, generic motor driver
|
|
* into lower-half, platform-specific logic.
|
|
*/
|
|
|
|
struct motor_dev_s;
|
|
struct motor_ops_s
|
|
{
|
|
/* Configure motor */
|
|
|
|
CODE int (*setup)(FAR struct motor_dev_s *dev);
|
|
|
|
/* Disable motor */
|
|
|
|
CODE int (*shutdown)(FAR struct motor_dev_s *dev);
|
|
|
|
/* Stop motor */
|
|
|
|
CODE int (*stop)(FAR struct motor_dev_s *dev);
|
|
|
|
/* Start motor */
|
|
|
|
CODE int (*start)(FAR struct motor_dev_s *dev);
|
|
|
|
/* Set motor parameters */
|
|
|
|
CODE int (*params_set)(FAR struct motor_dev_s *dev,
|
|
FAR struct motor_params_s *param);
|
|
|
|
/* Set motor operation mode */
|
|
|
|
CODE int (*mode_set)(FAR struct motor_dev_s *dev, uint8_t mode);
|
|
|
|
/* Set motor limits */
|
|
|
|
CODE int (*limits_set)(FAR struct motor_dev_s *dev,
|
|
FAR struct motor_limits_s *limits);
|
|
|
|
/* Set motor fault */
|
|
|
|
CODE int (*fault_set)(FAR struct motor_dev_s *dev, uint8_t fault);
|
|
|
|
/* Get motor state */
|
|
|
|
CODE int (*state_get)(FAR struct motor_dev_s *dev,
|
|
FAR struct motor_state_s *state);
|
|
|
|
/* Get current fault state */
|
|
|
|
CODE int (*fault_get)(FAR struct motor_dev_s *dev, FAR uint8_t *fault);
|
|
|
|
/* Clear fault state */
|
|
|
|
CODE int (*fault_clear)(FAR struct motor_dev_s *dev, uint8_t fault);
|
|
|
|
/* Lower-half logic may support platform-specific ioctl commands */
|
|
|
|
CODE int (*ioctl)(FAR struct motor_dev_s *dev, int cmd, unsigned long arg);
|
|
};
|
|
|
|
/* */
|
|
|
|
struct motor_dev_s
|
|
{
|
|
/* Fields managed by common upper half motor logic */
|
|
|
|
uint8_t ocount; /* The number of times the device
|
|
* has been opened
|
|
*/
|
|
sem_t closesem; /* Locks out new opens while close
|
|
* is in progress
|
|
*/
|
|
|
|
/* Fields provided by lower half motor logic */
|
|
|
|
FAR const struct motor_ops_s *ops; /* Arch-specific operations */
|
|
FAR void *priv; /* Reference to motor private data */
|
|
FAR void *lower; /* Reference to lower level drivers */
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Public Data
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Public Function Prototypes
|
|
****************************************************************************/
|
|
|
|
#ifdef __cplusplus
|
|
#define EXTERN extern "C"
|
|
extern "C"
|
|
{
|
|
#else
|
|
#define EXTERN extern
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: motor_register
|
|
****************************************************************************/
|
|
|
|
int motor_register(FAR const char *path, FAR struct motor_dev_s *dev,
|
|
FAR void *lower);
|
|
|
|
#undef EXTERN
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* CONFIG_MOTOR_UPPER */
|
|
#endif /* __INCLUDE_NUTTX_DRIVERS_MOTOR_MOTOR_H */
|