File content as of revision 2:4fd08b67958c:

/**
 *******************************************************************************
 * @file    STSPIN820_def.h 
 * @author  STM
 * @version V1.0.0
 * @date    August 7th, 2017
 * @brief   Header for STSPIN820 driver (fully integrated microstepping motor
 *          driver).
 * @note    (C) COPYRIGHT 2017 STMicroelectronics
 *******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2017 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 __STSPIN820_H
#define __STSPIN820_H

#ifdef __cplusplus
 extern "C" {
#endif 


/* Includes ------------------------------------------------------------------*/

#include "STSPIN820_config.h"
#include "motor_def.h"
   
/** @addtogroup BSP
  * @{
  */   
   
/** @addtogroup STSPIN820
  * @{
  */   
   

/* Definitions ---------------------------------------------------------------*/

/** @defgroup STSPIN820_Exported_Constants STSPIN820 Exported Constants
  * @{
  */   
/// Current FW major version
#define STSPIN820_FW_MAJOR_VERSION (uint8_t)(1)
/// Current FW minor version
#define STSPIN820_FW_MINOR_VERSION (uint8_t)(0)
/// Current FW patch version
#define STSPIN820_FW_PATCH_VERSION (uint8_t)(0)
/// Current FW version
#define STSPIN820_FW_VERSION       (uint32_t)((STSPIN820_FW_MAJOR_VERSION<<16)|\
                                              (STSPIN820_FW_MINOR_VERSION<<8)|\
                                              (STSPIN820_FW_PATCH_VERSION))

/// Max position
#define STSPIN820_MAX_POSITION           (0x7FFFFFFF)

/// Min position
#define STSPIN820_MIN_POSITION           (0x80000000)

/// Position range
#define STSPIN820_POSITION_RANGE         ((uint32_t)(STSPIN820_MAX_POSITION -\
                                                        STSPIN820_MIN_POSITION))
/// STSPIN820 error base number
#define STSPIN820_ERROR_BASE             (0xA000)

/// run bit mask
#define STSPIN820_RUN_BIT_MASK           (0x01)

/// move bit mask
#define STSPIN820_MOVE_BIT_MASK          (0x02)

/// soft stop bit mask
#define STSPIN820_SOFT_STOP_BIT_MASK     (0x04)
   
/// direction change bit mask
#define STSPIN820_DIR_CHANGE_BIT_MASK    (0x08)

/// Maximum frequency of the step clock frequency in Hz
#define STSPIN820_MAX_STCK_FREQ          (10000)

/// Minimum frequency of the step clock frequency in Hz
#define STSPIN820_MIN_STCK_FREQ          (8)

/// Minimum duration of standby 
#define STANDBY_MIN_DURATION             (1)
    
/// Dead time after standby exit
#define AFTER_STANDBY_EXIT_DEAD_TIME     (1)

/// Reset delay to select step mode
#define SELECT_STEP_MODE_DELAY           (1)

/// PWM REF and bridges disable delay
#define DISABLE_DELAY                    (1)

/// Microstepping sequencer maximum value
#define SEQUENCER_MAX_VALUE              (uint16_t)(0x3FF)


/* Types ---------------------------------------------------------------------*/

/** @defgroup STSPIN820_Exported_Types STSPIN820 Exported Types
  * @{
  */
    
/** @defgroup Error_Types Error Types
  * @{
  */
/// Errors
typedef enum
{
  STSPIN820_ERROR_SET_HOME         = STSPIN820_ERROR_BASE,      /// Error while setting home position
  STSPIN820_ERROR_SET_MAX_SPEED    = STSPIN820_ERROR_BASE + 1,  /// Error while setting max speed
  STSPIN820_ERROR_SET_MIN_SPEED    = STSPIN820_ERROR_BASE + 2,  /// Error while setting min speed
  STSPIN820_ERROR_SET_ACCELERATION = STSPIN820_ERROR_BASE + 3,  /// Error while setting acceleration
  STSPIN820_ERROR_SET_DECELERATION = STSPIN820_ERROR_BASE + 4,  /// Error while setting decelaration
  STSPIN820_ERROR_MCU_OSC_CONFIG   = STSPIN820_ERROR_BASE + 5,  /// Error while configuring mcu oscillator
  STSPIN820_ERROR_MCU_CLOCK_CONFIG = STSPIN820_ERROR_BASE + 6,  /// Error while configuring mcu clock
  STSPIN820_ERROR_POSITION         = STSPIN820_ERROR_BASE + 7,  /// Unexpected current position (wrong number of steps)
  STSPIN820_ERROR_SPEED            = STSPIN820_ERROR_BASE + 8,  /// Unexpected current speed
  STSPIN820_ERROR_INIT             = STSPIN820_ERROR_BASE + 9,  /// Unexpected number of devices or unexpected value for predefined parameter
  STSPIN820_ERROR_SET_DIRECTION    = STSPIN820_ERROR_BASE + 10, /// Error while setting direction
  STSPIN820_ERROR_SET_STEP_MODE    = STSPIN820_ERROR_BASE + 11, /// Attempt to set an unsupported step mode
  STSPIN820_ERROR_APPLY_SPEED      = STSPIN820_ERROR_BASE + 12, /// Error while applying speed
  STSPIN820_ERROR_SET_TORQUE       = STSPIN820_ERROR_BASE + 13, /// Error while setting torque
  STSPIN820_ERROR_STEP_CLOCK       = STSPIN820_ERROR_BASE + 14  /// Error related to step clock
} error_types_t;
/**
  * @}
  */

/** @defgroup Device_Commands Device Commands
  * @{
  */
/// Device commands 
typedef enum
{
  NO_CMD              = 0x00, 
  RUN_CMD             = (STSPIN820_RUN_BIT_MASK),
  MOVE_CMD            = (STSPIN820_MOVE_BIT_MASK),
} device_command_t;
/**
  * @}
  */


/** @defgroup Device_Parameters Device Parameters
  * @{
  */

/// Device Parameters Structure Type
typedef struct
{
    /// accumulator used to store speed increase smaller than 1 pps
    volatile uint32_t accu;           
    /// Position in microstep according to current step mode
    volatile int32_t currentPosition;
    /// Position of sequencer
    volatile int16_t sequencerPosition;
    /// mark position in microstep (motor position control mode)
    volatile int32_t markPosition;
    /// position in microstep at the end of the accelerating phase
    volatile uint32_t endAccPos;      
    /// nb of in microstep performed from the beggining of the goto or the move command 
    volatile uint32_t relativePos;    
    /// position in microstep step at the start of the decelerating phase
    volatile uint32_t startDecPos;    
    /// nb of microstep steps to perform for the goto or move commands
    uint32_t stepsToTake;
    
    /// constant speed phase torque value (%)
    volatile uint8_t runTorque;
    /// acceleration phase torque value (%)
    volatile uint8_t accelTorque;
    /// deceleration phase torque value (%)
    volatile uint8_t decelTorque;
    /// holding phase torque value (%)
    volatile uint8_t holdTorque;
    /// current selected torque value
    volatile uint8_t currentTorque;
    /// torque update
    volatile bool updateTorque;
    /// PWM frequency used to generate REF voltage
    volatile uint32_t refPwmFreq;
    /// torque boost enable
    volatile bool torqueBoostEnable;
    /// torque boost speed threshold
    volatile uint16_t torqueBoostSpeedThreshold;
    
    /// 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 device_command_t commandExecuted; 
    /// FORWARD or BACKWARD direction
    volatile motor_direction_t direction;                 
    /// current state of the device
    volatile motor_state_t motionState;
    /// current step mode
    volatile motor_step_mode_t stepMode;
    /// latched step mode
    motor_step_mode_t stepModeLatched;
    /// current stop mode
    motor_stop_mode_t stopMode;
} device_params_t; 

/* ACTION --------------------------------------------------------------------*
 * Declare here the component's initialization structure, if any, one         *
 * variable per line without initialization.                                  *
 *                                                                            *
 * Example:                                                                   *
 *   typedef struct                                                           *
 *   {                                                                        *
 *     int frequency;                                                         *
 *     int update_mode;                                                       *
 *   } COMPONENT_init_t;                                                      *
 *----------------------------------------------------------------------------*/
/// Motor driver initialization structure definition  
typedef struct
{
  /// acceleration in pps^2
  uint16_t acceleration;
  /// deceleration in pps^2
  uint16_t deceleration;
  /// max speed in pps (speed use for goto or move command)
  uint16_t maxSpeed;
  /// min speed in pps
  uint16_t minSpeed;
  /// acceleration phase torque value (%)
  uint8_t accelTorque;
  /// deceleration phase torque value (%)
  uint8_t decelTorque;
  /// constant speed phase torque value (%)
  uint8_t runTorque;
  /// holding phase torque value (%)
  uint8_t holdTorque;
  /// torque boost enable
  bool torqueBoostEnable;
  /// torque boost speed threshold
  uint16_t torqueBoostSpeedThreshold;
  /// step mode
  motor_step_mode_t stepMode;
  /// stop mode
  motor_stop_mode_t stopMode;
  /// PWM frequency used to generate REF voltage
  uint32_t vrefPwmFreq;
} STSPIN820_init_t;

/** 
 * @brief  STSPIN820 driver data structure definition.
 */ 
/* ACTION --------------------------------------------------------------------*
 * Declare here the structure of component's data, if any, one variable per   *
 * line without initialization.                                               *
 *                                                                            *
 * Example:                                                                   *
 *   typedef struct                                                           *
 *   {                                                                        *
 *       int T0_out;                                                          *
 *       int T1_out;                                                          *
 *       float T0_degC;                                                       *
 *       float T1_degC;                                                       *
 *   } COMPONENT_data_t;                                                      *
 *----------------------------------------------------------------------------*/
typedef struct
{
  /// Function pointer to flag interrupt call back
  void (*flag_interrupt_callback)(void);
  /// Function pointer to error handler call back
  void (*error_handler_callback)(uint16_t error);
  uint8_t toggle_odd;

  /// STSPIN820 Device Paramaters structure
  device_params_t device_prm;
  uint8_t number_of_devices;
  uint8_t device_instance;
} STSPIN820_data_t;

/**
  * @}
  */

/**
  * @}
  */


/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
  * @{
  */
/* ACTION --------------------------------------------------------------------*
 * Declare here extern I/O and interrupt related functions you might need,    *
 * and implemented then in a glue logic file on the target environment, for   *
 * example within the "x_nucleo_board.c" file., e.g.:                         *
 *   extern status_t COMPONENT_IO_Init (void *handle);                        *
 *   extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
 *   extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
 *   extern void     COMPONENT_IO_ITConfig(void);                             *
 *----------------------------------------------------------------------------*/
///Delay of the requested number of milliseconds
extern void STSPIN820_Board_Delay(void *handle, uint32_t delay);
///Disable the power bridges (leave the output bridges HiZ)    
extern void STSPIN820_Board_Disable(void *handle);
///Disable Irq
extern void STSPIN820_Board_DisableIrq(void *handle);
//Get the EN FAULT pin state
extern uint32_t STSPIN820_Board_EN_AND_FAULT_PIN_GetState(void *handle);
///Enable the power bridges (leave the output bridges HiZ)
extern void STSPIN820_Board_Enable(void *handle); 
///Enable Irq
extern void STSPIN820_Board_EnableIrq(void *handle);
///Initialise GPIOs used for STSPIN820
extern void STSPIN820_Board_GpioInit(void *handle);
///Init the reference voltage pwm
extern void STSPIN820_Board_PwmRefInit(void *handle); 
///Set the frequency and duty cycle of PWM used for the reference voltage generation
extern void STSPIN820_Board_PwmRefSetFreqAndDutyCycle(void *handle, uint32_t newFreq, uint8_t dutyCycle);
///Start the reference voltage pwm
extern void STSPIN820_Board_PwmRefStart(void *handle);
///Stop the reference voltage pwm
extern void STSPIN820_Board_PwmRefStop(void *handle);
///Reset the STSPIN820 reset pin
extern void STSPIN820_Board_ReleaseReset(void *handle);
///Set the STSPIN820 reset pin 
extern void STSPIN820_Board_Reset(void *handle);
///Set decay GPIO
extern void STSPIN820_Board_SetDecayGpio(void *handle, uint8_t gpioState);
///Get decay GPIO
extern uint8_t STSPIN820_Board_GetDecayGpio(void *handle);
///Set direction GPIO
extern void STSPIN820_Board_SetDirectionGpio(void *handle, uint8_t gpioState);
///Select Full Step mode
extern void STSPIN820_Board_SetFullStep(void *handle);
///Select the STSPIN820 mode1, mode2, and mode3 pins levels
extern bool STSPIN820_Board_SetModePins(void *handle, uint8_t modePin1Level, uint8_t modePin2Level, uint8_t modePin3Level);
///Step clock compare value initialization
extern void STSPIN820_Board_TimStckCompareInit(void *handle);
///DeInit the timer
extern void STSPIN820_Board_TimStckDeInit(void *handle);
///Init the timer
extern void STSPIN820_Board_TimStckInit(void *handle);
///Set step clock frequency
extern void STSPIN820_Board_TimStckSetFreq(void *handle, uint16_t newFreq);
///Start step clock
extern void STSPIN820_Board_TimStckStart(void *handle);
///Stop the timer
extern uint8_t STSPIN820_Board_TimStckStop(void *handle, uint8_t *pToggleOdd);
///Unselect Full Step mode
extern void STSPIN820_Board_UnsetFullStep(void *handle);
/**
  * @}
  */

/**
  * @}
  */

/**
  * @}
  */

#ifdef __cplusplus
  }
#endif

#endif /* #ifndef __STSPIN820_H */

/******************* (C) COPYRIGHT 2017 STMicroelectronics *****END OF FILE****/