Diff: Components/Common/motor.h

Revision:

33:8daea0279301

Parent:

32:6e5198e46287

Child:

34:27da297c361c

--- a/Components/Common/motor.h	Tue Feb 28 16:12:31 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,368 +0,0 @@
-/**
- ******************************************************************************
- * @file    motor.h
- * @author  IPC Rennes
- * @version V1.3.0
- * @date    November 12, 2014
- * @brief   This file contains all the functions prototypes for motor drivers.   
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */ 
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __MOTOR_H
-#define __MOTOR_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <stdint.h>
-#include "component.h"
-   
-
-/* Definitions ---------------------------------------------------------------*/
-
-/// boolean for false condition 
-#ifndef FALSE
-#define FALSE (0)
-#endif
-/// boolean for true condition 
-#ifndef TRUE
-#define TRUE  (1)
-#endif
-
-
-/* Types ---------------------------------------------------------------------*/
-
-/** @addtogroup BSP
-  * @{
-  */
-
-/** @addtogroup Components
-  * @{
-  */
-    
-/** @addtogroup MOTOR
-  * @{
-  */
-
-/** @defgroup MOTOR_Exported_Types
-  * @{
-  */
-
-/** @defgroup Device_Direction_Options
-  * @{
-  */
-/// Direction options
-typedef enum {
-  BACKWARD = 0,
-  FORWARD = 1
-} motorDir_t;
-
-/**
-  * @}
-  */
-  
-/** @defgroup Device_Action_Options
-  * @{
-  */
-/// Action options
-typedef enum {
-  ACTION_RESET = ((uint8_t)0x00),
-  ACTION_COPY  = ((uint8_t)0x08)
-} motorAction_t;
-/**
-  * @}
-  */  
-
-/** @defgroup Device_States
-  * @{
-  */
-/// Device states
-typedef enum {
-  ACCELERATING = 0, 
-  DECELERATING = 1, 
-  STEADY = 2,
-  INACTIVE= 3
-} motorState_t;
-/**
-  * @}
-  */   
-
-/** @defgroup Device_Step_mode
-  * @{
-  */
- /// Stepping options 
-typedef enum {
-  STEP_MODE_FULL   = ((uint8_t)0x00), 
-  STEP_MODE_HALF   = ((uint8_t)0x01),
-  STEP_MODE_1_4    = ((uint8_t)0x02),
-  STEP_MODE_1_8    = ((uint8_t)0x03),
-  STEP_MODE_1_16   = ((uint8_t)0x04),
-  STEP_MODE_1_32   = ((uint8_t)0x05),
-  STEP_MODE_1_64   = ((uint8_t)0x06),
-  STEP_MODE_1_128  = ((uint8_t)0x07)
-} motorStepMode_t;
-/**
-  * @}
-  */   
-
-/** @defgroup Device_Commands
-  * @{
-  */
-/// Device commands 
-typedef enum {
-  RUN_CMD, 
-  MOVE_CMD, 
-  SOFT_STOP_CMD, 
-  NO_CMD
-} deviceCommand_t;
-/**
-  * @}
-  */
-
-/** @defgroup Device_Parameters
-  * @{
-  */
-/// Device Parameters Structure Type
-typedef struct {
-  /// accumulator used to store speed increase smaller than 1 pps
-  volatile uint32_t accu;           
-  /// Position in steps at the start of the goto or move commands
-  volatile int32_t currentPosition; 
-  /// position in step at the end of the accelerating phase
-  volatile uint32_t endAccPos;      
-  /// nb steps performed from the beggining of the goto or the move command
-  volatile uint32_t relativePos;    
-  /// position in step at the start of the decelerating phase
-  volatile uint32_t startDecPos;    
-  /// nb steps to perform for the goto or move commands
-  volatile uint32_t stepsToTake;   
-  /// acceleration in pps^2 
-  volatile uint16_t acceleration;  
-  /// deceleration in pps^2
-  volatile uint16_t deceleration;  
-  /// max speed in pps (speed use for goto or move command)
-  volatile uint16_t maxSpeed;      
-  /// min speed in pps
-  volatile uint16_t minSpeed;      
-  /// current speed in pps    
-  volatile uint16_t speed;         
-  /// command under execution
-  volatile deviceCommand_t commandExecuted; 
-  /// FORWARD or BACKWARD direction
-  volatile motorDir_t direction;                 
-  /// Current State of the device
-  volatile motorState_t motionState;       
-} deviceParams_t;
-/**
-  * @}
-  */
-
-/** @defgroup Motor_Driver_Structure
-  * @{
-  */
-
-/** 
- * @brief  MOTOR driver virtual table structure definition.
- */
-typedef struct
-{
-  /* ACTION ----------------------------------------------------------------*
-   * Declare here the component's generic functions.                        *
-   * Tag this group of functions with the " Generic " C-style comment.      *
-   * A component's interface has to define at least the two generic         *
-   * functions provided here below within the "Example" section, as the     *
-   * first and second functions of its Virtual Table. They have to be       *
-   * specified exactly in the given way.                                    *
-   *                                                                        *
-   * Example:                                                               *
-   *   Status_t (*Init)   (void *handle, void *init);                       *
-   *   Status_t (*ReadID) (void *handle, uint8_t *id);                      *
-   *------------------------------------------------------------------------*/
-  /* Generic */
-  Status_t (*Init)(void *handle, void *init);
-  Status_t (*ReadID)(void *handle, uint8_t *id);
-
-  /* ACTION ----------------------------------------------------------------*
-   * Declare here the component's interrupts related functions.             *
-   * Tag this group of functions with the " Interrupts " C-style comment.   *
-   * Do not specify any function if not required.                           *
-   *                                                                        *
-   * Example:                                                               *
-   *   void     (*ConfigIT) (void *handle, int a);                          *
-   *------------------------------------------------------------------------*/
-  /* Interrupts */
-  /// Function pointer to AttachErrorHandler
-  void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
-  /// Function pointer to AttachFlagInterrupt
-  void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
-  /// Function pointer to AttachBusyInterrupt
-  void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
-  /// Function pointer to FlagInterruptHandler
-  void (*FlagInterruptHandler)(void *handle);
-
-  /* ACTION ----------------------------------------------------------------*
-   * Declare here the component's specific functions.                       *
-   * Tag this group of functions with the " Specific " C-style comment.     *
-   * Do not specify any function if not required.                           *
-   *                                                                        *
-   * Example:                                                               *
-   *   Status_t (*GetValue) (void *handle, float *f);                       *
-   *------------------------------------------------------------------------*/
-  /* Specific */
-  /// Function pointer to GetAcceleration
-  uint16_t (*GetAcceleration)(void *handle); 
-  /// Function pointer to GetCurrentSpeed
-  uint16_t (*GetCurrentSpeed)(void *handle); 
-  /// Function pointer to GetDeceleration
-  uint16_t (*GetDeceleration)(void *handle); 
-  /// Function pointer to GetDeviceState
-  motorState_t(*GetDeviceState)(void *handle); 
-  /// Function pointer to GetFwVersion
-  uint8_t (*GetFwVersion)(void *handle); 
-  /// Function pointer to GetMark
-  int32_t (*GetMark)(void *handle); 
-  /// Function pointer to GetMaxSpeed
-  uint16_t (*GetMaxSpeed)(void *handle); 
-  /// Function pointer to GetMinSpeed
-  uint16_t (*GetMinSpeed)(void *handle); 
-  /// Function pointer to GetPosition
-  int32_t (*GetPosition)(void *handle); 
-  /// Function pointer to GoHome
-  void (*GoHome)(void *handle); 
-  /// Function pointer to GoMark
-  void (*GoMark)(void *handle); 
-  /// Function pointer to GoTo
-  void (*GoTo)(void *handle, int32_t targetPosition); 
-  /// Function pointer to HardStop
-  void (*HardStop)(void *handle); 
-  /// Function pointer to Move
-  void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount); 
-  /// Function pointer to ResetAllDevices
-  //void (*ResetAllDevices)(void *handle); 
-  /// Function pointer to Run
-  void (*Run)(void *handle, motorDir_t direction);
-  /// Function pointer to SetAcceleration
-  bool (*SetAcceleration)(void *handle, uint16_t newAcc);
-  /// Function pointer to SetDeceleration
-  bool (*SetDeceleration)(void *handle, uint16_t newDec);
-  /// Function pointer to SetHome
-  void (*SetHome)(void *handle); 
-  /// Function pointer to SetMark
-  void (*SetMark)(void *handle); 
-  /// Function pointer to SetMaxSpeed
-  bool (*SetMaxSpeed)(void *handle, uint16_t newMaxSpeed); 
-  /// Function pointer to SetMinSpeed
-  bool (*SetMinSpeed)(void *handle, uint16_t newMinSpeed); 
-  /// Function pointer to SoftStop
-  bool (*SoftStop)(void *handle); 
-  /// Function pointer to StepClockHandler
-  void (*StepClockHandler)(void *handle);  
-  /// Function pointer to WaitWhileActive
-  void (*WaitWhileActive)(void *handle);
-  /// Function pointer to CmdDisable
-  void (*CmdDisable)(void *handle); 
-  /// Function pointer to CmdEnable
-  void (*CmdEnable)(void *handle);
-  /// Function pointer to CmdGetParam
-  uint32_t (*CmdGetParam)(void *handle, uint32_t param);
-  /// Function pointer to CmdGetStatus
-  uint16_t (*CmdGetStatus)(void *handle); 
-  /// Function pointer to CmdNop
-  void (*CmdNop)(void *handle); 
-  /// Function pointer to CmdSetParam  
-  void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
-  /// Function pointer to ReadStatusRegister
-  uint16_t (*ReadStatusRegister)(void *handle); 
-  /// Function pointer to ReleaseReset
-  void (*ReleaseReset)(void *handle);
-  /// Function pointer to Reset
-  void (*Reset)(void *handle); 
-  /// Function pointer to SelectStepMode
-  void (*SelectStepMode)(void *handle, motorStepMode_t stepMod); 
-  /// Function pointer to SetDirection
-  void (*SetDirection)(void *handle, motorDir_t direction);  
-  /// Function pointer to CmdGoToDir
-  void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
-  /// Function pointer to CheckBusyHw
-  uint8_t (*CheckBusyHw)(void *handle);
-  /// Function pointer to CheckStatusHw
-  uint8_t (*CheckStatusHw)(void *handle);
-  /// Function pointer to CmdGoUntil
-  void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition);
-  /// Function pointer to CmdHardHiZ
-  void (*CmdHardHiZ)(void *handle);
-  /// Function pointer to CmdReleaseSw
-  void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
-  /// Function pointer to CmdResetDevice
-  void (*CmdResetDevice)(void *handle);
-  /// Function pointer to CmdResetPos
-  void (*CmdResetPos)(void *handle);
-  /// Function pointer to CmdRun
-  void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition);
-  /// Function pointer to CmdSoftHiZ
-  void (*CmdSoftHiZ)(void *handle);
-  /// Function pointer to CmdStepClock
-  void (*CmdStepClock)(void *handle, motorDir_t direction);
-  /// Function pointer to FetchAndClearAllStatus
-  void (*FetchAndClearAllStatus)(void *handle);
-  /// Function pointer to GetFetchedStatus
-  uint16_t (*GetFetchedStatus)(void *handle);
-  /// Function pointer to GetNbDevices
-  uint8_t (*GetNbDevices)(void *handle);
-  /// Function pointer to IsDeviceBusy
-  bool (*IsDeviceBusy)(void *handle);
-  /// Function pointer to SendQueuedCommands
-  void (*SendQueuedCommands)(void *handle);
-  /// Function pointer to QueueCommands  
-  void (*QueueCommands)(void *handle, uint8_t temp, uint32_t command);
-  /// Function pointer to WaitForAllDevicesNotBusy  
-  void (*WaitForAllDevicesNotBusy)(void *handle);  
-  /// Function pointer to ErrorHandler  
-  void (*ErrorHandler)(void *handle, uint16_t error);
-  /// Function pointer to BusyInterruptHandler
-  void (*BusyInterruptHandler)(void *handle);
-  /// Function pointer to CmdSoftStop
-  void (*CmdSoftStop)(void *handle); 
-} MOTOR_VTable_t;    
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MOTOR_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/