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drivers/motor_driver: make motor configuration non-global #21798

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2a0f531
drivers/motor_driver: make motor configuration non-global
crasbe Oct 15, 2025
0d90ad0
fixup! drivers/motor_driver: make motor configuration non-global
crasbe Oct 15, 2025
ab99e51
fixup! fixup! drivers/motor_driver: make motor configuration non-global
crasbe Oct 16, 2025
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1 change: 0 additions & 1 deletion boards/common/native/Makefile.features
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Original file line number Diff line number Diff line change
Expand Up @@ -8,5 +8,4 @@ FEATURES_PROVIDED += periph_pwm
FEATURES_PROVIDED += periph_qdec

# Put other features for this board (in alphabetical order)
FEATURES_PROVIDED += motor_driver
FEATURES_PROVIDED += netif_ethernet
58 changes: 0 additions & 58 deletions boards/common/native/include/board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,62 +142,6 @@ void _native_LED_RED_TOGGLE(void);
/** @} */
#endif

#if MODULE_PERIPH_QDEC
/**
* @brief Simulate QDEC on motor_set() calls
*
* @param[in] motor_driver motor driver to which motor is attached
* @param[in] motor_id motor ID on driver
* @param[in] pwm_duty_cycle Signed PWM duty_cycle to set motor speed and direction
*/
void native_motor_driver_qdec_simulation( \
const motor_driver_t motor_driver, uint8_t motor_id, \
int32_t pwm_duty_cycle);

/* C++ standard do not support designated initializers */
#if !(defined __cplusplus) && (defined MODULE_PERIPH_QDEC)

/**
* @name Describe DC motors with PWM channel and GPIOs
* @{
*/
static const motor_driver_config_t motor_driver_config[] = {
{
.pwm_dev = 0,
.mode = MOTOR_DRIVER_1_DIR_BRAKE,
.mode_brake = MOTOR_BRAKE_LOW,
.pwm_mode = PWM_LEFT,
.pwm_frequency = 20000U,
.pwm_resolution = 1000U,
.nb_motors = 2,
.motors = {
{
.pwm_channel = 0,
.gpio_enable = GPIO_PIN(0, 0),
.gpio_dir0 = GPIO_PIN(0, 0),
.gpio_dir1_or_brake = GPIO_PIN(0, 0),
.gpio_dir_reverse = 0,
.gpio_enable_invert = 0,
.gpio_brake_invert = 0,
},
{
.pwm_channel = 1,
.gpio_enable = GPIO_PIN(0, 0),
.gpio_dir0 = GPIO_PIN(0, 0),
.gpio_dir1_or_brake = GPIO_PIN(0, 0),
.gpio_dir_reverse = 1,
.gpio_enable_invert = 0,
.gpio_brake_invert = 0,
},
},
.cb = native_motor_driver_qdec_simulation,
},
};

#define MOTOR_DRIVER_NUMOF ARRAY_SIZE(motor_driver_config)
/** @} */
#endif

/**
* @name ztimer configuration
* @{
Expand All @@ -208,8 +152,6 @@ static const motor_driver_config_t motor_driver_config[] = {
#define CONFIG_ZTIMER_USEC_MIN (64)
/** @} */

#endif /* __cplusplus */

#ifdef __cplusplus
}
#endif
Expand Down
32 changes: 0 additions & 32 deletions boards/common/nucleo64/include/board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@

#include "board_nucleo.h"
#include "arduino_pinmap.h"
#include "motor_driver.h"

#ifdef __cplusplus
extern "C" {
Expand Down Expand Up @@ -54,37 +53,6 @@ extern "C" {
#endif
/** @} */

/**
* @name Describe DC motors with PWM channel and GPIOs
* @{
*/
static const motor_driver_config_t motor_driver_config[] = {
{
.pwm_dev = 1,
.mode = MOTOR_DRIVER_1_DIR,
.mode_brake = MOTOR_BRAKE_HIGH,
.pwm_mode = PWM_LEFT,
.pwm_frequency = 20000U,
.pwm_resolution = 2250U,
.nb_motors = 1,
.motors = {
{
.pwm_channel = 0,
.gpio_enable = 0,
.gpio_dir0 = ARDUINO_PIN_15,
.gpio_dir1_or_brake = 0,
.gpio_dir_reverse = 0,
.gpio_enable_invert = 0,
.gpio_brake_invert = 0,
},
},
.cb = NULL,
},
};

#define MOTOR_DRIVER_NUMOF ARRAY_SIZE(motor_driver_config)
/** @} */

/**
* @name Describe MRF24J40 radio
* @{
Expand Down
39 changes: 25 additions & 14 deletions drivers/include/motor_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@ extern "C" {
* @brief Maximum number of motors by motor driver
*/
#ifndef CONFIG_MOTOR_DRIVER_MAX
#define CONFIG_MOTOR_DRIVER_MAX (2)
# define CONFIG_MOTOR_DRIVER_MAX (2)
#endif
/** @} */

Expand Down Expand Up @@ -154,17 +154,22 @@ typedef struct {
*/
typedef unsigned int motor_driver_t;

/**
* @brief Forward declaration of the motor_driver_config struct.
*/
typedef struct motor_driver_config motor_driver_config_t;

/**
* @brief Motor callback. It is called at end of motor_set()
*/
typedef void (*motor_driver_cb_t)(const motor_driver_t motor_driver,
typedef void (*motor_driver_cb_t)(const motor_driver_config_t *motor_driver_conf,
uint8_t motor_id,
int32_t pwm_duty_cycle);

/**
* @brief Describe DC motor driver with PWM device and motors array
*/
typedef struct {
struct motor_driver_config {
pwm_t pwm_dev; /**< PWM device driving motors */
motor_driver_mode_t mode; /**< driver mode */
motor_driver_mode_brake_t mode_brake; /**< driver brake mode */
Expand All @@ -174,57 +179,63 @@ typedef struct {
uint8_t nb_motors; /**< number of moros */
motor_t motors[CONFIG_MOTOR_DRIVER_MAX]; /**< motors array */
motor_driver_cb_t cb; /**< callback on motor_set */
} motor_driver_config_t;
};

/**
* @brief Initialize DC motor driver board
*
* @param[out] motor_driver motor driver to initialize
* @param[in] motor_driver_conf board-dependent hardware configuration of the
* motor driver to which the motor is attached
*
* @return 0 on success
* @return -1 on error with errno set
*/
int motor_driver_init(const motor_driver_t motor_driver);
int motor_driver_init(const motor_driver_config_t *motor_driver_conf);

/**
* @brief Set motor speed and direction
*
* @param[in] motor_driver motor driver to which motor is attached
* @param[in] motor_driver_conf board-dependent hardware configuration of the
* motor driver to which the motor is attached
* @param[in] motor_id motor ID on driver
* @param[in] pwm_duty_cycle Signed PWM duty_cycle to set motor speed and direction
*
* @return 0 on success
* @return -1 on error with errno set
*/
int motor_set(const motor_driver_t motor_driver, uint8_t motor_id, \
int motor_set(const motor_driver_config_t *motor_driver_conf, uint8_t motor_id, \
int32_t pwm_duty_cycle);

/**
* @brief Brake the motor of a given motor driver
*
* @param[in] motor_driver motor driver to which motor is attached
* @param[in] motor_driver_conf board-dependent hardware configuration of the
* motor driver to which the motor is attached
* @param[in] motor_id motor ID on driver
*
* @return 0 on success
* @return -1 on error with errno set
*/
int motor_brake(const motor_driver_t motor_driver, uint8_t motor_id);
int motor_brake(const motor_driver_config_t *motor_driver_conf, uint8_t motor_id);

/**
* @brief Enable a motor of a given motor driver
*
* @param[in] motor_driver motor driver to which motor is attached
* @param[in] motor_driver_conf board-dependent hardware configuration of the motor driver to
* which the motor is attached
* @param[in] motor_id motor ID on driver
*/
void motor_enable(const motor_driver_t motor_driver, uint8_t motor_id);
void motor_enable(const motor_driver_config_t *motor_driver_conf, \
uint8_t motor_id);

/**
* @brief Disable a motor of a given motor driver
*
* @param[in] motor_driver motor driver to which motor is attached
* @param[in] motor_driver_conf board-dependent hardware configuration of the
* motor driver to which the motor is attached
* @param[in] motor_id motor ID on driver
*/
void motor_disable(const motor_driver_t motor_driver, uint8_t motor_id);
void motor_disable(const motor_driver_config_t *motor_driver_conf, uint8_t motor_id);

#ifdef __cplusplus
}
Expand Down
40 changes: 8 additions & 32 deletions drivers/motor_driver/motor_driver.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,15 +29,10 @@
#define ENABLE_DEBUG 0
#include <debug.h>

int motor_driver_init(motor_driver_t motor_driver)
int motor_driver_init(const motor_driver_config_t* motor_driver_conf)
{
int err = 0;

assert(motor_driver < MOTOR_DRIVER_NUMOF);

const motor_driver_config_t *motor_driver_conf = \
&motor_driver_config[motor_driver];

pwm_t pwm_dev = motor_driver_conf->pwm_dev;
pwm_mode_t mode = motor_driver_conf->pwm_mode;
uint32_t freq = motor_driver_conf->pwm_frequency;
Expand Down Expand Up @@ -72,7 +67,7 @@ int motor_driver_init(motor_driver_t motor_driver)
LOG_ERROR("gpio_enable init failed\n");
goto motor_init_err;
}
motor_enable(motor_driver, i);
motor_enable(motor_driver_conf, i);
}
}

Expand All @@ -82,16 +77,12 @@ int motor_driver_init(motor_driver_t motor_driver)
return -err;
}

int motor_set(const motor_driver_t motor_driver, uint8_t motor_id, \
int motor_set(const motor_driver_config_t *motor_driver_conf, \
uint8_t motor_id, \
int32_t pwm_duty_cycle)
{
int err = 0;

assert(motor_driver < MOTOR_DRIVER_NUMOF);

const motor_driver_config_t *motor_driver_conf =
&motor_driver_config[motor_driver];

assert(motor_id < motor_driver_conf->nb_motors);

const motor_t *dev = &motor_driver_conf->motors[motor_id];
Expand Down Expand Up @@ -177,7 +168,7 @@ int motor_set(const motor_driver_t motor_driver, uint8_t motor_id, \

motor_driver_cb_t cb = motor_driver_conf->cb;
if (cb) {
cb(motor_driver, motor_id, pwm_duty_cycle);
cb(motor_driver_conf, motor_id, pwm_duty_cycle);
}

return 0;
Expand All @@ -186,15 +177,10 @@ int motor_set(const motor_driver_t motor_driver, uint8_t motor_id, \
return -err;
}

int motor_brake(const motor_driver_t motor_driver, uint8_t motor_id)
int motor_brake(const motor_driver_config_t *motor_driver_conf, uint8_t motor_id)
{
int err = 0;

assert(motor_driver < MOTOR_DRIVER_NUMOF);

const motor_driver_config_t *motor_driver_conf =
&motor_driver_config[motor_driver];

assert(motor_id < motor_driver_conf->nb_motors);

const motor_t *dev = &motor_driver_conf->motors[motor_id];
Expand Down Expand Up @@ -245,13 +231,8 @@ int motor_brake(const motor_driver_t motor_driver, uint8_t motor_id)
return -err;
}

void motor_enable(const motor_driver_t motor_driver, uint8_t motor_id)
void motor_enable(const motor_driver_config_t *motor_driver_conf, uint8_t motor_id)
{
assert(motor_driver < MOTOR_DRIVER_NUMOF);

const motor_driver_config_t *motor_driver_conf =
&motor_driver_config[motor_driver];

assert(motor_id < motor_driver_conf->nb_motors);

const motor_t *dev = &motor_driver_conf->motors[motor_id];
Expand All @@ -261,13 +242,8 @@ void motor_enable(const motor_driver_t motor_driver, uint8_t motor_id)
gpio_write(dev->gpio_enable, 1 ^ dev->gpio_enable_invert);
}

void motor_disable(const motor_driver_t motor_driver, uint8_t motor_id)
void motor_disable(const motor_driver_config_t *motor_driver_conf, uint8_t motor_id)
{
assert(motor_driver < MOTOR_DRIVER_NUMOF);

const motor_driver_config_t *motor_driver_conf =
&motor_driver_config[motor_driver];

assert(motor_id < motor_driver_conf->nb_motors);

const motor_t *dev = &motor_driver_conf->motors[motor_id];
Expand Down
4 changes: 4 additions & 0 deletions tests/drivers/motor_driver/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,10 @@ USEMODULE += motor_driver
USEMODULE += shell_cmds_default
USEMODULE += xtimer

ifneq (,$(filter native, $(BOARD)))
FEATURES_PROVIDED += motor_driver
endif

FEATURES_REQUIRED += periph_qdec
FEATURES_REQUIRED += motor_driver

Expand Down
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