Merge pull request #16 from sogwms/master

yqiu2018 · web-flow · commit cea35db607cd · 2019-07-27T23:15:08.000+08:00
[motor] change pointer to void &amp;&amp; hide structure
diff --git a/motor/dual_pwm_motor.c b/motor/dual_pwm_motor.c
@@ -4,7 +4,16 @@
 #define DBG_LEVEL DBG_LOG
 #include <rtdbg.h>
 
-static rt_err_t dual_pwm_motor_enable(motor_t mot)
+struct dual_pwm_motor
+{
+    struct motor mot;
+    struct rt_device_pwm *pwm1_dev;
+    int pwm1_channel;
+    struct rt_device_pwm *pwm2_dev;
+    int pwm2_channel;
+};
+
+static rt_err_t dual_pwm_motor_enable(void *mot)
 {
     RT_ASSERT(mot != RT_NULL);
 
@@ -16,7 +25,7 @@ static rt_err_t dual_pwm_motor_enable(motor_t mot)
     return RT_EOK;
 }
 
-static rt_err_t dual_pwm_motor_disable(motor_t mot)
+static rt_err_t dual_pwm_motor_disable(void *mot)
 {
     RT_ASSERT(mot != RT_NULL);
 
@@ -28,7 +37,7 @@ static rt_err_t dual_pwm_motor_disable(motor_t mot)
     return RT_EOK;
 }
 
-static rt_err_t dual_pwm_motor_set_speed(motor_t mot, rt_int16_t thousands)
+static rt_err_t dual_pwm_motor_set_speed(void *mot, rt_int16_t thousands)
 {
     RT_ASSERT(mot != RT_NULL);
 
diff --git a/motor/dual_pwm_motor.h b/motor/dual_pwm_motor.h
@@ -3,17 +3,9 @@
 
 #include "motor.h"
 
+struct dual_pwm_motor;
 typedef struct dual_pwm_motor *dual_pwm_motor_t;
 
-struct dual_pwm_motor
-{
-    struct motor mot;
-    struct rt_device_pwm *pwm1_dev;
-    int pwm1_channel;
-    struct rt_device_pwm *pwm2_dev;
-    int pwm2_channel;
-};
-
 dual_pwm_motor_t dual_pwm_motor_create(char *pwm1, int pwm1_channel, char *pwm2, int pwm2_channel);
 
 #endif // __DUAL_PWM_MOTOR_H__
diff --git a/motor/motor.h b/motor/motor.h
@@ -11,9 +11,9 @@ typedef struct motor *motor_t;
 
 struct motor
 {
-    rt_err_t    (*enable)(motor_t mot);
-    rt_err_t    (*disable)(motor_t mot);
-    rt_err_t    (*set_speed)(motor_t mot, rt_int16_t thousands);
+    rt_err_t    (*enable)(void *mot);
+    rt_err_t    (*disable)(void *mot);
+    rt_err_t    (*set_speed)(void *mot, rt_int16_t thousands);
 };
 
 motor_t  motor_create(rt_size_t size);
diff --git a/motor/single_pwm_motor.c b/motor/single_pwm_motor.c
@@ -4,7 +4,16 @@
 #define DBG_LEVEL         DBG_LOG
 #include <rtdbg.h>
 
-static rt_err_t single_pwm_motor_enable(motor_t mot)
+struct single_pwm_motor
+{
+    struct motor mot;
+    struct rt_device_pwm *pwm_dev;
+    int channel;
+    rt_base_t pin1;
+    rt_base_t pin2;
+};
+
+static rt_err_t single_pwm_motor_enable(void *mot)
 {
     RT_ASSERT(mot != RT_NULL);
 
@@ -15,7 +24,7 @@ static rt_err_t single_pwm_motor_enable(motor_t mot)
     return RT_EOK;
 }
 
-static rt_err_t single_pwm_motor_disable(motor_t mot)
+static rt_err_t single_pwm_motor_disable(void *mot)
 {
     RT_ASSERT(mot != RT_NULL);
 
@@ -26,7 +35,7 @@ static rt_err_t single_pwm_motor_disable(motor_t mot)
     return RT_EOK;
 }
 
-static rt_err_t single_pwm_motor_set_speed(motor_t mot, rt_int16_t thousands)
+static rt_err_t single_pwm_motor_set_speed(void *mot, rt_int16_t thousands)
 {
     RT_ASSERT(mot != RT_NULL);
     
diff --git a/motor/single_pwm_motor.h b/motor/single_pwm_motor.h
@@ -3,17 +3,9 @@
 
 #include "motor.h"
 
+struct single_pwm_motor;
 typedef struct single_pwm_motor *single_pwm_motor_t;
 
-struct single_pwm_motor
-{
-    struct motor mot;
-    struct rt_device_pwm *pwm_dev;
-    int channel;
-    rt_base_t pin1;
-    rt_base_t pin2;
-};
-
 single_pwm_motor_t  single_pwm_motor_create(char *pwm, int channel, rt_base_t pin1, rt_base_t pin2);
 
 #endif // __SINGLE_PWM_MOTOR_H__

Original file line number	Diff line number	Diff line change
`@@ -4,7 +4,16 @@`
`4`	`4`	`#define DBG_LEVEL DBG_LOG`
`5`	`5`	`#include <rtdbg.h>`
`6`	`6`
`7`		`-static rt_err_t dual_pwm_motor_enable(motor_t mot)`
	`7`	`+struct dual_pwm_motor`
	`8`	`+{`
	`9`	`+ struct motor mot;`
	`10`	`+ struct rt_device_pwm *pwm1_dev;`
	`11`	`+ int pwm1_channel;`
	`12`	`+ struct rt_device_pwm *pwm2_dev;`
	`13`	`+ int pwm2_channel;`
	`14`	`+};`
	`15`	`+`
	`16`	`+static rt_err_t dual_pwm_motor_enable(void *mot)`
`8`	`17`	`{`
`9`	`18`	`RT_ASSERT(mot != RT_NULL);`
`10`	`19`
`@@ -16,7 +25,7 @@ static rt_err_t dual_pwm_motor_enable(motor_t mot)`
`16`	`25`	`return RT_EOK;`
`17`	`26`	`}`
`18`	`27`
`19`		`-static rt_err_t dual_pwm_motor_disable(motor_t mot)`
	`28`	`+static rt_err_t dual_pwm_motor_disable(void *mot)`
`20`	`29`	`{`
`21`	`30`	`RT_ASSERT(mot != RT_NULL);`
`22`	`31`
`@@ -28,7 +37,7 @@ static rt_err_t dual_pwm_motor_disable(motor_t mot)`
`28`	`37`	`return RT_EOK;`
`29`	`38`	`}`
`30`	`39`
`31`		`-static rt_err_t dual_pwm_motor_set_speed(motor_t mot, rt_int16_t thousands)`
	`40`	`+static rt_err_t dual_pwm_motor_set_speed(void *mot, rt_int16_t thousands)`
`32`	`41`	`{`
`33`	`42`	`RT_ASSERT(mot != RT_NULL);`
`34`	`43`