Diff: Components/l6208/l6208.h

Revision:

1:5cc2691ccfff

Parent:

0:52a66fac0f64

Child:

3:63a8d672fe5e

--- a/Components/l6208/l6208.h	Fri Apr 08 15:30:36 2016 +0000
+++ b/Components/l6208/l6208.h	Wed Apr 27 16:30:55 2016 +0000
@@ -0,0 +1,328 @@
+/******************************************************//**
+  * @file    l6208.h 
+  * @author  IPC Rennes
+  * @version V1.1.0
+  * @date    February 11th, 2016
+  * @brief   Header for l6208.c module
+  * @note    (C) COPYRIGHT 2016 STMicroelectronics
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2016 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 _L6208_H_INCLUDED
+#define _L6208_H_INCLUDED
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/* Includes ------------------------------------------------------------------*/
+#include "l6208_target_config.h"
+#include "motor.h" 
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup Components
+ * @{
+ */
+    
+/** @defgroup L6208
+  * @{
+  */
+
+/** @defgroup L6208_Exported_Defines L6208 Exported Defines
+  * @{
+  */
+/// Current FW major version
+#define L6208_FW_MAJOR_VERSION (uint8_t)(1)
+/// Current FW minor version
+#define L6208_FW_MINOR_VERSION (uint8_t)(1)
+/// Current FW patch version
+#define L6208_FW_PATCH_VERSION (uint8_t)(0)
+/// Current FW version
+#define L6208_FW_VERSION       (uint32_t)((L6208_FW_MAJOR_VERSION<<16)|\
+                                          (L6208_FW_MINOR_VERSION<<8)|\
+                                          (L6208_FW_PATCH_VERSION))
+
+/// Exponent used to scale the sine function for the RefMicroTable
+#define L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE (15)
+
+/// Tick frequency (Hz)
+#define TIMER_TICK_FREQUENCY         (10000)
+
+/// MCU wait time after power bridges are enabled
+#define BRIDGE_TURN_ON_DELAY         (10)
+
+/// The maximum number of devices
+#define MAX_NUMBER_OF_DEVICES        (1)
+
+/// Max position
+#define L6208_MAX_POSITION           (0x7FFFFFFF)
+
+/// Min position
+#define L6208_MIN_POSITION           (0x80000000)
+
+/// Position range
+#define L6208_POSITION_RANGE         ((uint32_t)(L6208_MAX_POSITION -\
+                                                        L6208_MIN_POSITION))
+/// micro step samples per period/4 
+#define L6208_USTEPS_PER_QUARTER_PERIOD        (16)
+
+/// minimum speed
+#define L6208_MIN_SPEED                        (16)
+
+/// minimum acceleration and deceleration rate
+#define L6208_MIN_ACC_DEC_RATE                 (24)
+
+/// Mask for HiZ bit in motorDecayMode_t enum
+#define L6208_FAST_DECAY_MODE_MASK             (0x1)
+
+/// L6208 error base number
+#define L6208_ERROR_BASE                       (0x9000)
+/**
+  * @}
+  */
+
+/* Types ---------------------------------------------------------------------*/
+
+/** @defgroup L6208_Exported_Types L6208 Exported Types
+  * @{
+  */
+
+/** @defgroup Error_Types Error Types
+  * @{
+  */
+/// Errors
+typedef enum {
+  L6208_ERROR_SET_HOME         = L6208_ERROR_BASE,     /// Error while setting home position
+  L6208_ERROR_SET_MAX_SPEED    = L6208_ERROR_BASE + 1, /// Error while setting max speed
+  L6208_ERROR_SET_MIN_SPEED    = L6208_ERROR_BASE + 2, /// Error while setting min speed
+  L6208_ERROR_SET_ACCELERATION = L6208_ERROR_BASE + 3, /// Error while setting acceleration
+  L6208_ERROR_SET_DECELERATION = L6208_ERROR_BASE + 4, /// Error while setting decelaration
+  L6208_ERROR_MCU_OSC_CONFIG   = L6208_ERROR_BASE + 5, /// Error while configuring mcu oscillator
+  L6208_ERROR_MCU_CLOCK_CONFIG = L6208_ERROR_BASE + 6, /// Error while configuring mcu clock
+  L6208_ERROR_POSITION         = L6208_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
+  L6208_ERROR_SPEED            = L6208_ERROR_BASE + 8, /// Unexpected current speed
+  L6208_ERROR_INIT             = L6208_ERROR_BASE + 9, /// Unexpected number of devices
+  L6208_ERROR_SET_DIRECTION    = L6208_ERROR_BASE + 10,/// Error while setting direction
+  L6208_ERROR_SET_STEP_MODE    = L6208_ERROR_BASE + 11,/// Attempt to set an unsupported step mode
+  L6208_ERROR_SET_PWM          = L6208_ERROR_BASE + 12,/// Error while setting a PWM parameter
+}errorTypes_t;
+/**
+  * @}
+  */
+
+/** @defgroup Device_Parameters Device Parameters
+  * @{
+  */
+/// Device Parameters Structure Type
+typedef struct
+{
+  /// dwelling waiting time counter (tick)
+  volatile uint32_t dwellCounter;
+  /// motor position indicator (tick)
+  uint32_t ticks;
+  /// LSByte copy of the previous position (tick)
+  uint8_t lsbOldTicks;
+  /// LSByte copy of the previous position (tick) ( micro stepping )
+  uint8_t lsbOldUSteppingTicks;
+  /// LSByte copy of the current position (tick)
+  uint8_t lsbTicks;
+  /// P1 = acceleration phase steps number (motor position control mode)
+  uint32_t positionTarget1;
+  /// P2 = constant speed steps number (motor position control mode)
+  uint32_t positionTarget2;
+  /// P3 = deceleration phase steps number (motor position control mode)
+  uint32_t positionTarget3;
+  /// P = total move distance in steps (motor position control mode)
+  uint32_t positionTarget;
+  /// absolute motor position in microsteps (motor position control mode)
+  volatile int32_t absolutePos;
+  /// mark position in microsteps (motor position control mode)
+  volatile int32_t markPos;
+  /// motor position in microsteps (motor position control mode)
+  volatile uint32_t step;
+  /// dwelling time after position got (ms)
+  volatile uint16_t moveDwellTime;
+  /// number of micro stepping waveform samples to be rescaled according to selected torque value
+  volatile uint8_t uStepsample2scale;
+  /// number of micro stepping waveform samples to be updated into the waveform scanning table  
+  volatile uint8_t uStepsample2update;
+  /// microstepping waveform sample index  
+  volatile uint8_t uStepSample;
+  /// system status flags
+  volatile uint32_t flags;
+  /// current stepper state machine index
+  volatile motorState_t motionState;
+  /// current step mode
+  volatile motorStepMode_t stepMode;
+  /// micro stepping waveform scanning sample index increment
+  uint8_t uStepInc;
+  /// frequency of the VREFA and VREFB PWM
+  uint32_t vrefPwmFreq;
+  /// period of the VREFA and VREFB PWM in 1/256th of a microsecond
+  uint16_t vrefPwmPeriod;
+  /// pulse width target of the VREFA PWM in 1/256th of a microsecond
+  volatile uint16_t vrefPwmPulseWidthTargetA;
+  /// pulse width target of the VREFB PWM in 1/256th of a microsecond
+  volatile uint16_t vrefPwmPulseWidthTargetB;
+  /// pulse width to be generated for VREFA PWM in 1/256th of a microsecond
+  volatile int16_t vrefPwmPulseWidthToBeGeneratedA;
+  /// pulse width to be generated for VREFB PWM in 1/256th of a microsecond
+  volatile int16_t vrefPwmPulseWidthToBeGeneratedB;
+  /// current selected torque value
+  volatile uint16_t curTorqueScaler;
+  /// selected VREFA value (%)
+  volatile uint16_t vRefAVal;
+  /// selected VREFB value (%)
+  volatile uint16_t vRefBVal;
+  /// 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;
+  /// acceleration (steps/s^2)
+  volatile uint16_t accelerationSps2;
+  /// deceleration (steps/s^2)
+  volatile uint16_t decelerationSps2;
+  /// acceleration (steps/tick^2)
+  volatile uint16_t accelerationSpt2;
+  /// deceleration (steps/tick^2)
+  volatile uint16_t decelerationSpt2;
+  /// maximum speed (steps/s)
+  volatile uint16_t maxSpeedSps;
+  /// minimum speed (steps/s)
+  volatile uint16_t minSpeedSps;
+  /// current speed (steps/s)
+  volatile uint16_t speedSps;
+  /// maximum speed (steps/tick)
+  volatile uint32_t maxSpeedSpt;
+  /// minimum speed (steps/tick)
+  volatile uint32_t minSpeedSpt;
+  /// current speed (steps/tick) 
+  volatile uint32_t speedSpt;
+}deviceParams_t;
+/**
+  * @}
+  */
+
+/// Motor driver initialization structure definition  
+typedef struct
+{
+  /// acceleration (steps/s^2)
+  uint16_t accelerationSps2;
+  /// acceleration phase torque value (%)
+  uint8_t accelTorque;
+  /// deceleration (steps/s^2)
+  uint16_t decelerationSps2;
+  /// deceleration phase torque value (%)
+  uint8_t decelTorque;
+  /// maximum speed (steps/s)
+  uint16_t maxSpeedSps;
+  /// constant speed phase torque value (%)
+  uint8_t runTorque;
+  /// holding phase torque value (%)
+  uint8_t holdTorque;
+  /// current step mode
+  motorStepMode_t stepMode;
+  /// current decay mode (SLOW_DECAY or FAST_DECAY)
+  motorDecayMode_t decayMode;
+  /// dwelling time after position got (ms)
+  uint16_t moveDwellTime;
+  /// automatic HiZ on stop
+  bool autoHiZstop;
+  /// frequency of the VREFA and VREFB PWM
+  uint32_t vrefPwmFreq;
+} l6208_Init_t;
+/**
+  * @}
+  */
+
+/* Functions --------------------------------------------------------*/
+
+/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
+  * @{
+  */
+///Delay of the requested number of milliseconds
+extern void L6208_Board_Delay(uint32_t delay);
+///Enable Irq
+extern void L6208_Board_EnableIrq(void);
+///Disable Irq
+extern void L6208_Board_DisableIrq(void);
+//Initialize the VREFA or VREFB PWM
+extern bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq);
+///Initialize the tick
+extern void L6208_Board_TickInit(void);
+///Release the reset pin 
+extern void L6208_Board_ReleaseReset(void);
+///Set the reset pin
+extern void L6208_Board_Reset(void);
+///Set the control pin
+extern void L6208_Board_CONTROL_PIN_Set(void);
+///Reset the control pin
+extern void L6208_Board_CONTROL_PIN_Reset(void);
+///Set the clock pin
+extern void L6208_Board_CLOCK_PIN_Set(void);
+///Reset the clock pin
+extern void L6208_Board_CLOCK_PIN_Reset(void);
+///Set the half full pin
+extern void L6208_Board_HALF_FULL_PIN_Set(void);
+///Reset the half full pin
+extern void L6208_Board_HALF_FULL_PIN_Reset(void);
+///Set the dir pin
+extern void L6208_Board_DIR_PIN_Set(void);
+///Reset the dir pin
+extern void L6208_Board_DIR_PIN_Reset(void);
+///Enable the power bridges (leave the output bridges HiZ)
+extern void L6208_Board_Enable(void);
+///Disable the power bridges (leave the output bridges HiZ)
+extern void L6208_Board_Disable(void);
+/**
+  * @}
+  */
+
+  /**
+  * @}
+  */
+
+/**
+  * @}
+  */
+  
+#ifdef __cplusplus
+  }
+#endif
+
+#endif /* __L6208_H */
+
+/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/