ST Expansion SW Team / X_NUCLEO_IHM14A1

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Dependencies:   ST_INTERFACES

Dependents:   HelloWorld_IHM14A1

Fork of X_NUCLEO_IHM14A1 by Davide Aliprandi

Components/STSPIN820/STSPIN820_def.h@2:4fd08b67958c, 2018-09-27 (annotated)

Committer:
Davidroid
Date:
Thu Sep 27 14:05:44 2018 +0000
Revision:
2:4fd08b67958c
Parent:
1:bc265521eb00 
Library to handle the X-NUCLEO-IHM14A1 Motor Control Expansion Board based on the STSPIN820 component.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 2:4fd08b67958c 1 /**
Davidroid 2:4fd08b67958c 2 *******************************************************************************
Davidroid 2:4fd08b67958c 3 * @file STSPIN820_def.h
Davidroid 2:4fd08b67958c 4 * @author STM
Davidroid 2:4fd08b67958c 5 * @version V1.0.0
Davidroid 2:4fd08b67958c 6 * @date August 7th, 2017
Davidroid 2:4fd08b67958c 7 * @brief Header for STSPIN820 driver (fully integrated microstepping motor
Davidroid 2:4fd08b67958c 8 * driver).
Davidroid 2:4fd08b67958c 9 * @note (C) COPYRIGHT 2017 STMicroelectronics
Davidroid 2:4fd08b67958c 10 *******************************************************************************
Davidroid 2:4fd08b67958c 11 * @attention
Davidroid 2:4fd08b67958c 12 *
Davidroid 2:4fd08b67958c 13 * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
Davidroid 2:4fd08b67958c 14 *
Davidroid 2:4fd08b67958c 15 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 2:4fd08b67958c 16 * are permitted provided that the following conditions are met:
Davidroid 2:4fd08b67958c 17 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 2:4fd08b67958c 18 * this list of conditions and the following disclaimer.
Davidroid 2:4fd08b67958c 19 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 2:4fd08b67958c 20 * this list of conditions and the following disclaimer in the documentation
Davidroid 2:4fd08b67958c 21 * and/or other materials provided with the distribution.
Davidroid 2:4fd08b67958c 22 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 2:4fd08b67958c 23 * may be used to endorse or promote products derived from this software
Davidroid 2:4fd08b67958c 24 * without specific prior written permission.
Davidroid 2:4fd08b67958c 25 *
Davidroid 2:4fd08b67958c 26 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 2:4fd08b67958c 27 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 2:4fd08b67958c 28 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 2:4fd08b67958c 29 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 2:4fd08b67958c 30 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 2:4fd08b67958c 31 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 2:4fd08b67958c 32 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 2:4fd08b67958c 33 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 2:4fd08b67958c 34 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 2:4fd08b67958c 35 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 2:4fd08b67958c 36 *
Davidroid 2:4fd08b67958c 37 *******************************************************************************
Davidroid 2:4fd08b67958c 38 */
Davidroid 1:bc265521eb00 39
Davidroid 1:bc265521eb00 40
Davidroid 1:bc265521eb00 41 /* Define to prevent recursive inclusion -------------------------------------*/
Davidroid 1:bc265521eb00 42
Davidroid 1:bc265521eb00 43 #ifndef __STSPIN820_H
Davidroid 1:bc265521eb00 44 #define __STSPIN820_H
Davidroid 1:bc265521eb00 45
Davidroid 1:bc265521eb00 46 #ifdef __cplusplus
Davidroid 1:bc265521eb00 47 extern "C" {
Davidroid 1:bc265521eb00 48 #endif
Davidroid 1:bc265521eb00 49
Davidroid 1:bc265521eb00 50
Davidroid 1:bc265521eb00 51 /* Includes ------------------------------------------------------------------*/
Davidroid 1:bc265521eb00 52
Davidroid 1:bc265521eb00 53 #include "STSPIN820_config.h"
Davidroid 1:bc265521eb00 54 #include "motor_def.h"
Davidroid 1:bc265521eb00 55
Davidroid 1:bc265521eb00 56 /** @addtogroup BSP
Davidroid 1:bc265521eb00 57 * @{
Davidroid 1:bc265521eb00 58 */
Davidroid 1:bc265521eb00 59
Davidroid 1:bc265521eb00 60 /** @addtogroup STSPIN820
Davidroid 1:bc265521eb00 61 * @{
Davidroid 1:bc265521eb00 62 */
Davidroid 1:bc265521eb00 63
Davidroid 1:bc265521eb00 64
Davidroid 1:bc265521eb00 65 /* Definitions ---------------------------------------------------------------*/
Davidroid 1:bc265521eb00 66
Davidroid 1:bc265521eb00 67 /** @defgroup STSPIN820_Exported_Constants STSPIN820 Exported Constants
Davidroid 1:bc265521eb00 68 * @{
Davidroid 1:bc265521eb00 69 */
Davidroid 1:bc265521eb00 70 /// Current FW major version
Davidroid 1:bc265521eb00 71 #define STSPIN820_FW_MAJOR_VERSION (uint8_t)(1)
Davidroid 1:bc265521eb00 72 /// Current FW minor version
Davidroid 1:bc265521eb00 73 #define STSPIN820_FW_MINOR_VERSION (uint8_t)(0)
Davidroid 1:bc265521eb00 74 /// Current FW patch version
Davidroid 1:bc265521eb00 75 #define STSPIN820_FW_PATCH_VERSION (uint8_t)(0)
Davidroid 1:bc265521eb00 76 /// Current FW version
Davidroid 1:bc265521eb00 77 #define STSPIN820_FW_VERSION (uint32_t)((STSPIN820_FW_MAJOR_VERSION<<16)|\
Davidroid 1:bc265521eb00 78 (STSPIN820_FW_MINOR_VERSION<<8)|\
Davidroid 1:bc265521eb00 79 (STSPIN820_FW_PATCH_VERSION))
Davidroid 1:bc265521eb00 80
Davidroid 1:bc265521eb00 81 /// Max position
Davidroid 1:bc265521eb00 82 #define STSPIN820_MAX_POSITION (0x7FFFFFFF)
Davidroid 1:bc265521eb00 83
Davidroid 1:bc265521eb00 84 /// Min position
Davidroid 1:bc265521eb00 85 #define STSPIN820_MIN_POSITION (0x80000000)
Davidroid 1:bc265521eb00 86
Davidroid 1:bc265521eb00 87 /// Position range
Davidroid 1:bc265521eb00 88 #define STSPIN820_POSITION_RANGE ((uint32_t)(STSPIN820_MAX_POSITION -\
Davidroid 1:bc265521eb00 89 STSPIN820_MIN_POSITION))
Davidroid 1:bc265521eb00 90 /// STSPIN820 error base number
Davidroid 1:bc265521eb00 91 #define STSPIN820_ERROR_BASE (0xA000)
Davidroid 1:bc265521eb00 92
Davidroid 1:bc265521eb00 93 /// run bit mask
Davidroid 1:bc265521eb00 94 #define STSPIN820_RUN_BIT_MASK (0x01)
Davidroid 1:bc265521eb00 95
Davidroid 1:bc265521eb00 96 /// move bit mask
Davidroid 1:bc265521eb00 97 #define STSPIN820_MOVE_BIT_MASK (0x02)
Davidroid 1:bc265521eb00 98
Davidroid 1:bc265521eb00 99 /// soft stop bit mask
Davidroid 1:bc265521eb00 100 #define STSPIN820_SOFT_STOP_BIT_MASK (0x04)
Davidroid 1:bc265521eb00 101
Davidroid 1:bc265521eb00 102 /// direction change bit mask
Davidroid 1:bc265521eb00 103 #define STSPIN820_DIR_CHANGE_BIT_MASK (0x08)
Davidroid 1:bc265521eb00 104
Davidroid 1:bc265521eb00 105 /// Maximum frequency of the step clock frequency in Hz
Davidroid 1:bc265521eb00 106 #define STSPIN820_MAX_STCK_FREQ (10000)
Davidroid 1:bc265521eb00 107
Davidroid 1:bc265521eb00 108 /// Minimum frequency of the step clock frequency in Hz
Davidroid 1:bc265521eb00 109 #define STSPIN820_MIN_STCK_FREQ (8)
Davidroid 1:bc265521eb00 110
Davidroid 1:bc265521eb00 111 /// Minimum duration of standby
Davidroid 1:bc265521eb00 112 #define STANDBY_MIN_DURATION (1)
Davidroid 1:bc265521eb00 113
Davidroid 1:bc265521eb00 114 /// Dead time after standby exit
Davidroid 1:bc265521eb00 115 #define AFTER_STANDBY_EXIT_DEAD_TIME (1)
Davidroid 1:bc265521eb00 116
Davidroid 1:bc265521eb00 117 /// Reset delay to select step mode
Davidroid 1:bc265521eb00 118 #define SELECT_STEP_MODE_DELAY (1)
Davidroid 1:bc265521eb00 119
Davidroid 1:bc265521eb00 120 /// PWM REF and bridges disable delay
Davidroid 1:bc265521eb00 121 #define DISABLE_DELAY (1)
Davidroid 1:bc265521eb00 122
Davidroid 1:bc265521eb00 123 /// Microstepping sequencer maximum value
Davidroid 1:bc265521eb00 124 #define SEQUENCER_MAX_VALUE (uint16_t)(0x3FF)
Davidroid 1:bc265521eb00 125
Davidroid 1:bc265521eb00 126
Davidroid 1:bc265521eb00 127 /* Types ---------------------------------------------------------------------*/
Davidroid 1:bc265521eb00 128
Davidroid 1:bc265521eb00 129 /** @defgroup STSPIN820_Exported_Types STSPIN820 Exported Types
Davidroid 1:bc265521eb00 130 * @{
Davidroid 1:bc265521eb00 131 */
Davidroid 1:bc265521eb00 132
Davidroid 1:bc265521eb00 133 /** @defgroup Error_Types Error Types
Davidroid 1:bc265521eb00 134 * @{
Davidroid 1:bc265521eb00 135 */
Davidroid 1:bc265521eb00 136 /// Errors
Davidroid 1:bc265521eb00 137 typedef enum
Davidroid 1:bc265521eb00 138 {
Davidroid 1:bc265521eb00 139 STSPIN820_ERROR_SET_HOME = STSPIN820_ERROR_BASE, /// Error while setting home position
Davidroid 1:bc265521eb00 140 STSPIN820_ERROR_SET_MAX_SPEED = STSPIN820_ERROR_BASE + 1, /// Error while setting max speed
Davidroid 1:bc265521eb00 141 STSPIN820_ERROR_SET_MIN_SPEED = STSPIN820_ERROR_BASE + 2, /// Error while setting min speed
Davidroid 1:bc265521eb00 142 STSPIN820_ERROR_SET_ACCELERATION = STSPIN820_ERROR_BASE + 3, /// Error while setting acceleration
Davidroid 1:bc265521eb00 143 STSPIN820_ERROR_SET_DECELERATION = STSPIN820_ERROR_BASE + 4, /// Error while setting decelaration
Davidroid 1:bc265521eb00 144 STSPIN820_ERROR_MCU_OSC_CONFIG = STSPIN820_ERROR_BASE + 5, /// Error while configuring mcu oscillator
Davidroid 1:bc265521eb00 145 STSPIN820_ERROR_MCU_CLOCK_CONFIG = STSPIN820_ERROR_BASE + 6, /// Error while configuring mcu clock
Davidroid 1:bc265521eb00 146 STSPIN820_ERROR_POSITION = STSPIN820_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
Davidroid 1:bc265521eb00 147 STSPIN820_ERROR_SPEED = STSPIN820_ERROR_BASE + 8, /// Unexpected current speed
Davidroid 1:bc265521eb00 148 STSPIN820_ERROR_INIT = STSPIN820_ERROR_BASE + 9, /// Unexpected number of devices or unexpected value for predefined parameter
Davidroid 1:bc265521eb00 149 STSPIN820_ERROR_SET_DIRECTION = STSPIN820_ERROR_BASE + 10, /// Error while setting direction
Davidroid 1:bc265521eb00 150 STSPIN820_ERROR_SET_STEP_MODE = STSPIN820_ERROR_BASE + 11, /// Attempt to set an unsupported step mode
Davidroid 1:bc265521eb00 151 STSPIN820_ERROR_APPLY_SPEED = STSPIN820_ERROR_BASE + 12, /// Error while applying speed
Davidroid 1:bc265521eb00 152 STSPIN820_ERROR_SET_TORQUE = STSPIN820_ERROR_BASE + 13, /// Error while setting torque
Davidroid 1:bc265521eb00 153 STSPIN820_ERROR_STEP_CLOCK = STSPIN820_ERROR_BASE + 14 /// Error related to step clock
Davidroid 1:bc265521eb00 154 } error_types_t;
Davidroid 1:bc265521eb00 155 /**
Davidroid 1:bc265521eb00 156 * @}
Davidroid 1:bc265521eb00 157 */
Davidroid 1:bc265521eb00 158
Davidroid 1:bc265521eb00 159 /** @defgroup Device_Commands Device Commands
Davidroid 1:bc265521eb00 160 * @{
Davidroid 1:bc265521eb00 161 */
Davidroid 1:bc265521eb00 162 /// Device commands
Davidroid 1:bc265521eb00 163 typedef enum
Davidroid 1:bc265521eb00 164 {
Davidroid 1:bc265521eb00 165 NO_CMD = 0x00,
Davidroid 1:bc265521eb00 166 RUN_CMD = (STSPIN820_RUN_BIT_MASK),
Davidroid 1:bc265521eb00 167 MOVE_CMD = (STSPIN820_MOVE_BIT_MASK),
Davidroid 1:bc265521eb00 168 } device_command_t;
Davidroid 1:bc265521eb00 169 /**
Davidroid 1:bc265521eb00 170 * @}
Davidroid 1:bc265521eb00 171 */
Davidroid 1:bc265521eb00 172
Davidroid 1:bc265521eb00 173
Davidroid 1:bc265521eb00 174 /** @defgroup Device_Parameters Device Parameters
Davidroid 1:bc265521eb00 175 * @{
Davidroid 1:bc265521eb00 176 */
Davidroid 1:bc265521eb00 177
Davidroid 1:bc265521eb00 178 /// Device Parameters Structure Type
Davidroid 1:bc265521eb00 179 typedef struct
Davidroid 1:bc265521eb00 180 {
Davidroid 1:bc265521eb00 181 /// accumulator used to store speed increase smaller than 1 pps
Davidroid 1:bc265521eb00 182 volatile uint32_t accu;
Davidroid 1:bc265521eb00 183 /// Position in microstep according to current step mode
Davidroid 1:bc265521eb00 184 volatile int32_t currentPosition;
Davidroid 1:bc265521eb00 185 /// Position of sequencer
Davidroid 1:bc265521eb00 186 volatile int16_t sequencerPosition;
Davidroid 1:bc265521eb00 187 /// mark position in microstep (motor position control mode)
Davidroid 1:bc265521eb00 188 volatile int32_t markPosition;
Davidroid 1:bc265521eb00 189 /// position in microstep at the end of the accelerating phase
Davidroid 1:bc265521eb00 190 volatile uint32_t endAccPos;
Davidroid 1:bc265521eb00 191 /// nb of in microstep performed from the beggining of the goto or the move command
Davidroid 1:bc265521eb00 192 volatile uint32_t relativePos;
Davidroid 1:bc265521eb00 193 /// position in microstep step at the start of the decelerating phase
Davidroid 1:bc265521eb00 194 volatile uint32_t startDecPos;
Davidroid 1:bc265521eb00 195 /// nb of microstep steps to perform for the goto or move commands
Davidroid 1:bc265521eb00 196 uint32_t stepsToTake;
Davidroid 1:bc265521eb00 197
Davidroid 1:bc265521eb00 198 /// constant speed phase torque value (%)
Davidroid 1:bc265521eb00 199 volatile uint8_t runTorque;
Davidroid 1:bc265521eb00 200 /// acceleration phase torque value (%)
Davidroid 1:bc265521eb00 201 volatile uint8_t accelTorque;
Davidroid 1:bc265521eb00 202 /// deceleration phase torque value (%)
Davidroid 1:bc265521eb00 203 volatile uint8_t decelTorque;
Davidroid 1:bc265521eb00 204 /// holding phase torque value (%)
Davidroid 1:bc265521eb00 205 volatile uint8_t holdTorque;
Davidroid 1:bc265521eb00 206 /// current selected torque value
Davidroid 1:bc265521eb00 207 volatile uint8_t currentTorque;
Davidroid 1:bc265521eb00 208 /// torque update
Davidroid 1:bc265521eb00 209 volatile bool updateTorque;
Davidroid 1:bc265521eb00 210 /// PWM frequency used to generate REF voltage
Davidroid 1:bc265521eb00 211 volatile uint32_t refPwmFreq;
Davidroid 1:bc265521eb00 212 /// torque boost enable
Davidroid 1:bc265521eb00 213 volatile bool torqueBoostEnable;
Davidroid 1:bc265521eb00 214 /// torque boost speed threshold
Davidroid 1:bc265521eb00 215 volatile uint16_t torqueBoostSpeedThreshold;
Davidroid 1:bc265521eb00 216
Davidroid 1:bc265521eb00 217 /// acceleration in pps^2
Davidroid 1:bc265521eb00 218 volatile uint16_t acceleration;
Davidroid 1:bc265521eb00 219 /// deceleration in pps^2
Davidroid 1:bc265521eb00 220 volatile uint16_t deceleration;
Davidroid 1:bc265521eb00 221 /// max speed in pps (speed use for goto or move command)
Davidroid 1:bc265521eb00 222 volatile uint16_t maxSpeed;
Davidroid 1:bc265521eb00 223 /// min speed in pps
Davidroid 1:bc265521eb00 224 volatile uint16_t minSpeed;
Davidroid 1:bc265521eb00 225 /// current speed in pps
Davidroid 1:bc265521eb00 226 volatile uint16_t speed;
Davidroid 1:bc265521eb00 227
Davidroid 1:bc265521eb00 228 /// command under execution
Davidroid 1:bc265521eb00 229 volatile device_command_t commandExecuted;
Davidroid 1:bc265521eb00 230 /// FORWARD or BACKWARD direction
Davidroid 1:bc265521eb00 231 volatile motor_direction_t direction;
Davidroid 1:bc265521eb00 232 /// current state of the device
Davidroid 1:bc265521eb00 233 volatile motor_state_t motionState;
Davidroid 1:bc265521eb00 234 /// current step mode
Davidroid 1:bc265521eb00 235 volatile motor_step_mode_t stepMode;
Davidroid 1:bc265521eb00 236 /// latched step mode
Davidroid 1:bc265521eb00 237 motor_step_mode_t stepModeLatched;
Davidroid 1:bc265521eb00 238 /// current stop mode
Davidroid 1:bc265521eb00 239 motor_stop_mode_t stopMode;
Davidroid 1:bc265521eb00 240 } device_params_t;
Davidroid 1:bc265521eb00 241
Davidroid 1:bc265521eb00 242 /* ACTION --------------------------------------------------------------------*
Davidroid 1:bc265521eb00 243 * Declare here the component's initialization structure, if any, one *
Davidroid 1:bc265521eb00 244 * variable per line without initialization. *
Davidroid 1:bc265521eb00 245 * *
Davidroid 1:bc265521eb00 246 * Example: *
Davidroid 1:bc265521eb00 247 * typedef struct *
Davidroid 1:bc265521eb00 248 * { *
Davidroid 1:bc265521eb00 249 * int frequency; *
Davidroid 1:bc265521eb00 250 * int update_mode; *
Davidroid 1:bc265521eb00 251 * } COMPONENT_init_t; *
Davidroid 1:bc265521eb00 252 *----------------------------------------------------------------------------*/
Davidroid 1:bc265521eb00 253 /// Motor driver initialization structure definition
Davidroid 1:bc265521eb00 254 typedef struct
Davidroid 1:bc265521eb00 255 {
Davidroid 1:bc265521eb00 256 /// acceleration in pps^2
Davidroid 1:bc265521eb00 257 uint16_t acceleration;
Davidroid 1:bc265521eb00 258 /// deceleration in pps^2
Davidroid 1:bc265521eb00 259 uint16_t deceleration;
Davidroid 1:bc265521eb00 260 /// max speed in pps (speed use for goto or move command)
Davidroid 1:bc265521eb00 261 uint16_t maxSpeed;
Davidroid 1:bc265521eb00 262 /// min speed in pps
Davidroid 1:bc265521eb00 263 uint16_t minSpeed;
Davidroid 1:bc265521eb00 264 /// acceleration phase torque value (%)
Davidroid 1:bc265521eb00 265 uint8_t accelTorque;
Davidroid 1:bc265521eb00 266 /// deceleration phase torque value (%)
Davidroid 1:bc265521eb00 267 uint8_t decelTorque;
Davidroid 1:bc265521eb00 268 /// constant speed phase torque value (%)
Davidroid 1:bc265521eb00 269 uint8_t runTorque;
Davidroid 1:bc265521eb00 270 /// holding phase torque value (%)
Davidroid 1:bc265521eb00 271 uint8_t holdTorque;
Davidroid 1:bc265521eb00 272 /// torque boost enable
Davidroid 1:bc265521eb00 273 bool torqueBoostEnable;
Davidroid 1:bc265521eb00 274 /// torque boost speed threshold
Davidroid 1:bc265521eb00 275 uint16_t torqueBoostSpeedThreshold;
Davidroid 1:bc265521eb00 276 /// step mode
Davidroid 1:bc265521eb00 277 motor_step_mode_t stepMode;
Davidroid 1:bc265521eb00 278 /// stop mode
Davidroid 1:bc265521eb00 279 motor_stop_mode_t stopMode;
Davidroid 1:bc265521eb00 280 /// PWM frequency used to generate REF voltage
Davidroid 1:bc265521eb00 281 uint32_t vrefPwmFreq;
Davidroid 1:bc265521eb00 282 } STSPIN820_init_t;
Davidroid 1:bc265521eb00 283
Davidroid 1:bc265521eb00 284 /**
Davidroid 1:bc265521eb00 285 * @brief STSPIN820 driver data structure definition.
Davidroid 1:bc265521eb00 286 */
Davidroid 1:bc265521eb00 287 /* ACTION --------------------------------------------------------------------*
Davidroid 1:bc265521eb00 288 * Declare here the structure of component's data, if any, one variable per *
Davidroid 1:bc265521eb00 289 * line without initialization. *
Davidroid 1:bc265521eb00 290 * *
Davidroid 1:bc265521eb00 291 * Example: *
Davidroid 1:bc265521eb00 292 * typedef struct *
Davidroid 1:bc265521eb00 293 * { *
Davidroid 1:bc265521eb00 294 * int T0_out; *
Davidroid 1:bc265521eb00 295 * int T1_out; *
Davidroid 1:bc265521eb00 296 * float T0_degC; *
Davidroid 1:bc265521eb00 297 * float T1_degC; *
Davidroid 1:bc265521eb00 298 * } COMPONENT_data_t; *
Davidroid 1:bc265521eb00 299 *----------------------------------------------------------------------------*/
Davidroid 1:bc265521eb00 300 typedef struct
Davidroid 1:bc265521eb00 301 {
Davidroid 1:bc265521eb00 302 /// Function pointer to flag interrupt call back
Davidroid 1:bc265521eb00 303 void (*flag_interrupt_callback)(void);
Davidroid 1:bc265521eb00 304 /// Function pointer to error handler call back
Davidroid 1:bc265521eb00 305 void (*error_handler_callback)(uint16_t error);
Davidroid 1:bc265521eb00 306 uint8_t toggle_odd;
Davidroid 1:bc265521eb00 307
Davidroid 1:bc265521eb00 308 /// STSPIN820 Device Paramaters structure
Davidroid 1:bc265521eb00 309 device_params_t device_prm;
Davidroid 1:bc265521eb00 310 uint8_t number_of_devices;
Davidroid 1:bc265521eb00 311 uint8_t device_instance;
Davidroid 1:bc265521eb00 312 } STSPIN820_data_t;
Davidroid 1:bc265521eb00 313
Davidroid 1:bc265521eb00 314 /**
Davidroid 1:bc265521eb00 315 * @}
Davidroid 1:bc265521eb00 316 */
Davidroid 1:bc265521eb00 317
Davidroid 1:bc265521eb00 318 /**
Davidroid 1:bc265521eb00 319 * @}
Davidroid 1:bc265521eb00 320 */
Davidroid 1:bc265521eb00 321
Davidroid 1:bc265521eb00 322
Davidroid 1:bc265521eb00 323 /** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
Davidroid 1:bc265521eb00 324 * @{
Davidroid 1:bc265521eb00 325 */
Davidroid 1:bc265521eb00 326 /* ACTION --------------------------------------------------------------------*
Davidroid 1:bc265521eb00 327 * Declare here extern I/O and interrupt related functions you might need, *
Davidroid 1:bc265521eb00 328 * and implemented then in a glue logic file on the target environment, for *
Davidroid 1:bc265521eb00 329 * example within the "x_nucleo_board.c" file., e.g.: *
Davidroid 1:bc265521eb00 330 * extern status_t COMPONENT_IO_Init (void *handle); *
Davidroid 1:bc265521eb00 331 * extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
Davidroid 1:bc265521eb00 332 * extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
Davidroid 1:bc265521eb00 333 * extern void COMPONENT_IO_ITConfig(void); *
Davidroid 1:bc265521eb00 334 *----------------------------------------------------------------------------*/
Davidroid 1:bc265521eb00 335 ///Delay of the requested number of milliseconds
Davidroid 1:bc265521eb00 336 extern void STSPIN820_Board_Delay(void *handle, uint32_t delay);
Davidroid 1:bc265521eb00 337 ///Disable the power bridges (leave the output bridges HiZ)
Davidroid 1:bc265521eb00 338 extern void STSPIN820_Board_Disable(void *handle);
Davidroid 1:bc265521eb00 339 ///Disable Irq
Davidroid 1:bc265521eb00 340 extern void STSPIN820_Board_DisableIrq(void *handle);
Davidroid 1:bc265521eb00 341 //Get the EN FAULT pin state
Davidroid 1:bc265521eb00 342 extern uint32_t STSPIN820_Board_EN_AND_FAULT_PIN_GetState(void *handle);
Davidroid 1:bc265521eb00 343 ///Enable the power bridges (leave the output bridges HiZ)
Davidroid 1:bc265521eb00 344 extern void STSPIN820_Board_Enable(void *handle);
Davidroid 1:bc265521eb00 345 ///Enable Irq
Davidroid 1:bc265521eb00 346 extern void STSPIN820_Board_EnableIrq(void *handle);
Davidroid 1:bc265521eb00 347 ///Initialise GPIOs used for STSPIN820
Davidroid 1:bc265521eb00 348 extern void STSPIN820_Board_GpioInit(void *handle);
Davidroid 1:bc265521eb00 349 ///Init the reference voltage pwm
Davidroid 1:bc265521eb00 350 extern void STSPIN820_Board_PwmRefInit(void *handle);
Davidroid 1:bc265521eb00 351 ///Set the frequency and duty cycle of PWM used for the reference voltage generation
Davidroid 1:bc265521eb00 352 extern void STSPIN820_Board_PwmRefSetFreqAndDutyCycle(void *handle, uint32_t newFreq, uint8_t dutyCycle);
Davidroid 1:bc265521eb00 353 ///Start the reference voltage pwm
Davidroid 1:bc265521eb00 354 extern void STSPIN820_Board_PwmRefStart(void *handle);
Davidroid 1:bc265521eb00 355 ///Stop the reference voltage pwm
Davidroid 1:bc265521eb00 356 extern void STSPIN820_Board_PwmRefStop(void *handle);
Davidroid 1:bc265521eb00 357 ///Reset the STSPIN820 reset pin
Davidroid 1:bc265521eb00 358 extern void STSPIN820_Board_ReleaseReset(void *handle);
Davidroid 1:bc265521eb00 359 ///Set the STSPIN820 reset pin
Davidroid 1:bc265521eb00 360 extern void STSPIN820_Board_Reset(void *handle);
Davidroid 1:bc265521eb00 361 ///Set decay GPIO
Davidroid 1:bc265521eb00 362 extern void STSPIN820_Board_SetDecayGpio(void *handle, uint8_t gpioState);
Davidroid 1:bc265521eb00 363 ///Get decay GPIO
Davidroid 1:bc265521eb00 364 extern uint8_t STSPIN820_Board_GetDecayGpio(void *handle);
Davidroid 1:bc265521eb00 365 ///Set direction GPIO
Davidroid 1:bc265521eb00 366 extern void STSPIN820_Board_SetDirectionGpio(void *handle, uint8_t gpioState);
Davidroid 1:bc265521eb00 367 ///Select Full Step mode
Davidroid 1:bc265521eb00 368 extern void STSPIN820_Board_SetFullStep(void *handle);
Davidroid 1:bc265521eb00 369 ///Select the STSPIN820 mode1, mode2, and mode3 pins levels
Davidroid 1:bc265521eb00 370 extern bool STSPIN820_Board_SetModePins(void *handle, uint8_t modePin1Level, uint8_t modePin2Level, uint8_t modePin3Level);
Davidroid 1:bc265521eb00 371 ///Step clock compare value initialization
Davidroid 1:bc265521eb00 372 extern void STSPIN820_Board_TimStckCompareInit(void *handle);
Davidroid 1:bc265521eb00 373 ///DeInit the timer
Davidroid 1:bc265521eb00 374 extern void STSPIN820_Board_TimStckDeInit(void *handle);
Davidroid 1:bc265521eb00 375 ///Init the timer
Davidroid 1:bc265521eb00 376 extern void STSPIN820_Board_TimStckInit(void *handle);
Davidroid 1:bc265521eb00 377 ///Set step clock frequency
Davidroid 1:bc265521eb00 378 extern void STSPIN820_Board_TimStckSetFreq(void *handle, uint16_t newFreq);
Davidroid 1:bc265521eb00 379 ///Start step clock
Davidroid 1:bc265521eb00 380 extern void STSPIN820_Board_TimStckStart(void *handle);
Davidroid 1:bc265521eb00 381 ///Stop the timer
Davidroid 1:bc265521eb00 382 extern uint8_t STSPIN820_Board_TimStckStop(void *handle, uint8_t *pToggleOdd);
Davidroid 1:bc265521eb00 383 ///Unselect Full Step mode
Davidroid 1:bc265521eb00 384 extern void STSPIN820_Board_UnsetFullStep(void *handle);
Davidroid 1:bc265521eb00 385 /**
Davidroid 1:bc265521eb00 386 * @}
Davidroid 1:bc265521eb00 387 */
Davidroid 1:bc265521eb00 388
Davidroid 1:bc265521eb00 389 /**
Davidroid 1:bc265521eb00 390 * @}
Davidroid 1:bc265521eb00 391 */
Davidroid 1:bc265521eb00 392
Davidroid 1:bc265521eb00 393 /**
Davidroid 1:bc265521eb00 394 * @}
Davidroid 1:bc265521eb00 395 */
Davidroid 1:bc265521eb00 396
Davidroid 1:bc265521eb00 397 #ifdef __cplusplus
Davidroid 1:bc265521eb00 398 }
Davidroid 1:bc265521eb00 399 #endif
Davidroid 1:bc265521eb00 400
Davidroid 1:bc265521eb00 401 #endif /* #ifndef __STSPIN820_H */
Davidroid 1:bc265521eb00 402
Davidroid 1:bc265521eb00 403 /******************* (C) COPYRIGHT 2017 STMicroelectronics *****END OF FILE****/