ST / X-NUCLEO-IHM05A1

Expansion SW library to control a bipolar stepper motor using X-NUCLEO-IHM05A1 expansion board based on L6208.

Dependencies:   ST_INTERFACES

Dependents:   HelloWorld_IHM05A1 TAU_ROTATING_PLATFORM_IHM05A1 Amaldi_13_Exercise_IHM05A1 Amaldi_13_Exercise_IHM05A1motore ... more

Fork of X-NUCLEO-IHM05A1 by ST Expansion SW Team

Motor Control Library

Library to handle the X-NUCLEO-IHM05A1 Motor Control Expansion Board based on the L6208 component.

It features the:

  • Read and write of device parameters
  • Configuration of GPIOs and IRQs (for enabling, direction, current decay and microstepping)
  • Control of position, speed, acceleration and deceleration
  • Command locking until the device completes movement
  • Handling of overcurrent and thermal alarms (flag interrupt handling)

The API allows to easily:

  • perform various positioning, moves and stops
  • get/set or monitor the motor positions
  • set home position and mark another position
  • get/set minimum and maximum speed
  • get current speed
  • get/set acceleration and deceleration
  • get/set the step mode (up to 1/16)

Board configuration

/media/uploads/nucleosam/mbed-x-nucleo-ihm05a1.png

Platform compatibility

Compatible platforms have been tested with the configurations provided by the HelloWorld_IHM05A1 example.

Components/l6208/l6208.h@1:5cc2691ccfff, 2016-04-27 (annotated)

Committer:
nucleosam
Date:
Wed Apr 27 16:30:55 2016 +0000
Revision:
1:5cc2691ccfff
Parent:
0:52a66fac0f64
Child:
3:63a8d672fe5e
Initial version tested on NUCLEO-F401RE and NUCLEO-F334R8

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucleosam 1:5cc2691ccfff 1 /******************************************************//**
nucleosam 1:5cc2691ccfff 2 * @file l6208.h
nucleosam 1:5cc2691ccfff 3 * @author IPC Rennes
nucleosam 1:5cc2691ccfff 4 * @version V1.1.0
nucleosam 1:5cc2691ccfff 5 * @date February 11th, 2016
nucleosam 1:5cc2691ccfff 6 * @brief Header for l6208.c module
nucleosam 1:5cc2691ccfff 7 * @note (C) COPYRIGHT 2016 STMicroelectronics
nucleosam 1:5cc2691ccfff 8 ******************************************************************************
nucleosam 1:5cc2691ccfff 9 * @attention
nucleosam 1:5cc2691ccfff 10 *
nucleosam 1:5cc2691ccfff 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nucleosam 1:5cc2691ccfff 12 *
nucleosam 1:5cc2691ccfff 13 * Redistribution and use in source and binary forms, with or without modification,
nucleosam 1:5cc2691ccfff 14 * are permitted provided that the following conditions are met:
nucleosam 1:5cc2691ccfff 15 * 1. Redistributions of source code must retain the above copyright notice,
nucleosam 1:5cc2691ccfff 16 * this list of conditions and the following disclaimer.
nucleosam 1:5cc2691ccfff 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
nucleosam 1:5cc2691ccfff 18 * this list of conditions and the following disclaimer in the documentation
nucleosam 1:5cc2691ccfff 19 * and/or other materials provided with the distribution.
nucleosam 1:5cc2691ccfff 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nucleosam 1:5cc2691ccfff 21 * may be used to endorse or promote products derived from this software
nucleosam 1:5cc2691ccfff 22 * without specific prior written permission.
nucleosam 1:5cc2691ccfff 23 *
nucleosam 1:5cc2691ccfff 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nucleosam 1:5cc2691ccfff 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nucleosam 1:5cc2691ccfff 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nucleosam 1:5cc2691ccfff 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nucleosam 1:5cc2691ccfff 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nucleosam 1:5cc2691ccfff 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nucleosam 1:5cc2691ccfff 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucleosam 1:5cc2691ccfff 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nucleosam 1:5cc2691ccfff 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nucleosam 1:5cc2691ccfff 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nucleosam 1:5cc2691ccfff 34 *
nucleosam 1:5cc2691ccfff 35 ******************************************************************************
nucleosam 1:5cc2691ccfff 36 */
nucleosam 1:5cc2691ccfff 37
nucleosam 1:5cc2691ccfff 38 /* Define to prevent recursive inclusion -------------------------------------*/
nucleosam 1:5cc2691ccfff 39 #ifndef _L6208_H_INCLUDED
nucleosam 1:5cc2691ccfff 40 #define _L6208_H_INCLUDED
nucleosam 1:5cc2691ccfff 41
nucleosam 1:5cc2691ccfff 42 #ifdef __cplusplus
nucleosam 1:5cc2691ccfff 43 extern "C" {
nucleosam 1:5cc2691ccfff 44 #endif
nucleosam 1:5cc2691ccfff 45
nucleosam 1:5cc2691ccfff 46 /* Includes ------------------------------------------------------------------*/
nucleosam 1:5cc2691ccfff 47 #include "l6208_target_config.h"
nucleosam 1:5cc2691ccfff 48 #include "motor.h"
nucleosam 1:5cc2691ccfff 49
nucleosam 1:5cc2691ccfff 50 /* Definitions ---------------------------------------------------------------*/
nucleosam 1:5cc2691ccfff 51
nucleosam 1:5cc2691ccfff 52 /** @addtogroup Components
nucleosam 1:5cc2691ccfff 53 * @{
nucleosam 1:5cc2691ccfff 54 */
nucleosam 1:5cc2691ccfff 55
nucleosam 1:5cc2691ccfff 56 /** @defgroup L6208
nucleosam 1:5cc2691ccfff 57 * @{
nucleosam 1:5cc2691ccfff 58 */
nucleosam 1:5cc2691ccfff 59
nucleosam 1:5cc2691ccfff 60 /** @defgroup L6208_Exported_Defines L6208 Exported Defines
nucleosam 1:5cc2691ccfff 61 * @{
nucleosam 1:5cc2691ccfff 62 */
nucleosam 1:5cc2691ccfff 63 /// Current FW major version
nucleosam 1:5cc2691ccfff 64 #define L6208_FW_MAJOR_VERSION (uint8_t)(1)
nucleosam 1:5cc2691ccfff 65 /// Current FW minor version
nucleosam 1:5cc2691ccfff 66 #define L6208_FW_MINOR_VERSION (uint8_t)(1)
nucleosam 1:5cc2691ccfff 67 /// Current FW patch version
nucleosam 1:5cc2691ccfff 68 #define L6208_FW_PATCH_VERSION (uint8_t)(0)
nucleosam 1:5cc2691ccfff 69 /// Current FW version
nucleosam 1:5cc2691ccfff 70 #define L6208_FW_VERSION (uint32_t)((L6208_FW_MAJOR_VERSION<<16)|\
nucleosam 1:5cc2691ccfff 71 (L6208_FW_MINOR_VERSION<<8)|\
nucleosam 1:5cc2691ccfff 72 (L6208_FW_PATCH_VERSION))
nucleosam 1:5cc2691ccfff 73
nucleosam 1:5cc2691ccfff 74 /// Exponent used to scale the sine function for the RefMicroTable
nucleosam 1:5cc2691ccfff 75 #define L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE (15)
nucleosam 1:5cc2691ccfff 76
nucleosam 1:5cc2691ccfff 77 /// Tick frequency (Hz)
nucleosam 1:5cc2691ccfff 78 #define TIMER_TICK_FREQUENCY (10000)
nucleosam 1:5cc2691ccfff 79
nucleosam 1:5cc2691ccfff 80 /// MCU wait time after power bridges are enabled
nucleosam 1:5cc2691ccfff 81 #define BRIDGE_TURN_ON_DELAY (10)
nucleosam 1:5cc2691ccfff 82
nucleosam 1:5cc2691ccfff 83 /// The maximum number of devices
nucleosam 1:5cc2691ccfff 84 #define MAX_NUMBER_OF_DEVICES (1)
nucleosam 1:5cc2691ccfff 85
nucleosam 1:5cc2691ccfff 86 /// Max position
nucleosam 1:5cc2691ccfff 87 #define L6208_MAX_POSITION (0x7FFFFFFF)
nucleosam 1:5cc2691ccfff 88
nucleosam 1:5cc2691ccfff 89 /// Min position
nucleosam 1:5cc2691ccfff 90 #define L6208_MIN_POSITION (0x80000000)
nucleosam 1:5cc2691ccfff 91
nucleosam 1:5cc2691ccfff 92 /// Position range
nucleosam 1:5cc2691ccfff 93 #define L6208_POSITION_RANGE ((uint32_t)(L6208_MAX_POSITION -\
nucleosam 1:5cc2691ccfff 94 L6208_MIN_POSITION))
nucleosam 1:5cc2691ccfff 95 /// micro step samples per period/4
nucleosam 1:5cc2691ccfff 96 #define L6208_USTEPS_PER_QUARTER_PERIOD (16)
nucleosam 1:5cc2691ccfff 97
nucleosam 1:5cc2691ccfff 98 /// minimum speed
nucleosam 1:5cc2691ccfff 99 #define L6208_MIN_SPEED (16)
nucleosam 1:5cc2691ccfff 100
nucleosam 1:5cc2691ccfff 101 /// minimum acceleration and deceleration rate
nucleosam 1:5cc2691ccfff 102 #define L6208_MIN_ACC_DEC_RATE (24)
nucleosam 1:5cc2691ccfff 103
nucleosam 1:5cc2691ccfff 104 /// Mask for HiZ bit in motorDecayMode_t enum
nucleosam 1:5cc2691ccfff 105 #define L6208_FAST_DECAY_MODE_MASK (0x1)
nucleosam 1:5cc2691ccfff 106
nucleosam 1:5cc2691ccfff 107 /// L6208 error base number
nucleosam 1:5cc2691ccfff 108 #define L6208_ERROR_BASE (0x9000)
nucleosam 1:5cc2691ccfff 109 /**
nucleosam 1:5cc2691ccfff 110 * @}
nucleosam 1:5cc2691ccfff 111 */
nucleosam 1:5cc2691ccfff 112
nucleosam 1:5cc2691ccfff 113 /* Types ---------------------------------------------------------------------*/
nucleosam 1:5cc2691ccfff 114
nucleosam 1:5cc2691ccfff 115 /** @defgroup L6208_Exported_Types L6208 Exported Types
nucleosam 1:5cc2691ccfff 116 * @{
nucleosam 1:5cc2691ccfff 117 */
nucleosam 1:5cc2691ccfff 118
nucleosam 1:5cc2691ccfff 119 /** @defgroup Error_Types Error Types
nucleosam 1:5cc2691ccfff 120 * @{
nucleosam 1:5cc2691ccfff 121 */
nucleosam 1:5cc2691ccfff 122 /// Errors
nucleosam 1:5cc2691ccfff 123 typedef enum {
nucleosam 1:5cc2691ccfff 124 L6208_ERROR_SET_HOME = L6208_ERROR_BASE, /// Error while setting home position
nucleosam 1:5cc2691ccfff 125 L6208_ERROR_SET_MAX_SPEED = L6208_ERROR_BASE + 1, /// Error while setting max speed
nucleosam 1:5cc2691ccfff 126 L6208_ERROR_SET_MIN_SPEED = L6208_ERROR_BASE + 2, /// Error while setting min speed
nucleosam 1:5cc2691ccfff 127 L6208_ERROR_SET_ACCELERATION = L6208_ERROR_BASE + 3, /// Error while setting acceleration
nucleosam 1:5cc2691ccfff 128 L6208_ERROR_SET_DECELERATION = L6208_ERROR_BASE + 4, /// Error while setting decelaration
nucleosam 1:5cc2691ccfff 129 L6208_ERROR_MCU_OSC_CONFIG = L6208_ERROR_BASE + 5, /// Error while configuring mcu oscillator
nucleosam 1:5cc2691ccfff 130 L6208_ERROR_MCU_CLOCK_CONFIG = L6208_ERROR_BASE + 6, /// Error while configuring mcu clock
nucleosam 1:5cc2691ccfff 131 L6208_ERROR_POSITION = L6208_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
nucleosam 1:5cc2691ccfff 132 L6208_ERROR_SPEED = L6208_ERROR_BASE + 8, /// Unexpected current speed
nucleosam 1:5cc2691ccfff 133 L6208_ERROR_INIT = L6208_ERROR_BASE + 9, /// Unexpected number of devices
nucleosam 1:5cc2691ccfff 134 L6208_ERROR_SET_DIRECTION = L6208_ERROR_BASE + 10,/// Error while setting direction
nucleosam 1:5cc2691ccfff 135 L6208_ERROR_SET_STEP_MODE = L6208_ERROR_BASE + 11,/// Attempt to set an unsupported step mode
nucleosam 1:5cc2691ccfff 136 L6208_ERROR_SET_PWM = L6208_ERROR_BASE + 12,/// Error while setting a PWM parameter
nucleosam 1:5cc2691ccfff 137 }errorTypes_t;
nucleosam 1:5cc2691ccfff 138 /**
nucleosam 1:5cc2691ccfff 139 * @}
nucleosam 1:5cc2691ccfff 140 */
nucleosam 1:5cc2691ccfff 141
nucleosam 1:5cc2691ccfff 142 /** @defgroup Device_Parameters Device Parameters
nucleosam 1:5cc2691ccfff 143 * @{
nucleosam 1:5cc2691ccfff 144 */
nucleosam 1:5cc2691ccfff 145 /// Device Parameters Structure Type
nucleosam 1:5cc2691ccfff 146 typedef struct
nucleosam 1:5cc2691ccfff 147 {
nucleosam 1:5cc2691ccfff 148 /// dwelling waiting time counter (tick)
nucleosam 1:5cc2691ccfff 149 volatile uint32_t dwellCounter;
nucleosam 1:5cc2691ccfff 150 /// motor position indicator (tick)
nucleosam 1:5cc2691ccfff 151 uint32_t ticks;
nucleosam 1:5cc2691ccfff 152 /// LSByte copy of the previous position (tick)
nucleosam 1:5cc2691ccfff 153 uint8_t lsbOldTicks;
nucleosam 1:5cc2691ccfff 154 /// LSByte copy of the previous position (tick) ( micro stepping )
nucleosam 1:5cc2691ccfff 155 uint8_t lsbOldUSteppingTicks;
nucleosam 1:5cc2691ccfff 156 /// LSByte copy of the current position (tick)
nucleosam 1:5cc2691ccfff 157 uint8_t lsbTicks;
nucleosam 1:5cc2691ccfff 158 /// P1 = acceleration phase steps number (motor position control mode)
nucleosam 1:5cc2691ccfff 159 uint32_t positionTarget1;
nucleosam 1:5cc2691ccfff 160 /// P2 = constant speed steps number (motor position control mode)
nucleosam 1:5cc2691ccfff 161 uint32_t positionTarget2;
nucleosam 1:5cc2691ccfff 162 /// P3 = deceleration phase steps number (motor position control mode)
nucleosam 1:5cc2691ccfff 163 uint32_t positionTarget3;
nucleosam 1:5cc2691ccfff 164 /// P = total move distance in steps (motor position control mode)
nucleosam 1:5cc2691ccfff 165 uint32_t positionTarget;
nucleosam 1:5cc2691ccfff 166 /// absolute motor position in microsteps (motor position control mode)
nucleosam 1:5cc2691ccfff 167 volatile int32_t absolutePos;
nucleosam 1:5cc2691ccfff 168 /// mark position in microsteps (motor position control mode)
nucleosam 1:5cc2691ccfff 169 volatile int32_t markPos;
nucleosam 1:5cc2691ccfff 170 /// motor position in microsteps (motor position control mode)
nucleosam 1:5cc2691ccfff 171 volatile uint32_t step;
nucleosam 1:5cc2691ccfff 172 /// dwelling time after position got (ms)
nucleosam 1:5cc2691ccfff 173 volatile uint16_t moveDwellTime;
nucleosam 1:5cc2691ccfff 174 /// number of micro stepping waveform samples to be rescaled according to selected torque value
nucleosam 1:5cc2691ccfff 175 volatile uint8_t uStepsample2scale;
nucleosam 1:5cc2691ccfff 176 /// number of micro stepping waveform samples to be updated into the waveform scanning table
nucleosam 1:5cc2691ccfff 177 volatile uint8_t uStepsample2update;
nucleosam 1:5cc2691ccfff 178 /// microstepping waveform sample index
nucleosam 1:5cc2691ccfff 179 volatile uint8_t uStepSample;
nucleosam 1:5cc2691ccfff 180 /// system status flags
nucleosam 1:5cc2691ccfff 181 volatile uint32_t flags;
nucleosam 1:5cc2691ccfff 182 /// current stepper state machine index
nucleosam 1:5cc2691ccfff 183 volatile motorState_t motionState;
nucleosam 1:5cc2691ccfff 184 /// current step mode
nucleosam 1:5cc2691ccfff 185 volatile motorStepMode_t stepMode;
nucleosam 1:5cc2691ccfff 186 /// micro stepping waveform scanning sample index increment
nucleosam 1:5cc2691ccfff 187 uint8_t uStepInc;
nucleosam 1:5cc2691ccfff 188 /// frequency of the VREFA and VREFB PWM
nucleosam 1:5cc2691ccfff 189 uint32_t vrefPwmFreq;
nucleosam 1:5cc2691ccfff 190 /// period of the VREFA and VREFB PWM in 1/256th of a microsecond
nucleosam 1:5cc2691ccfff 191 uint16_t vrefPwmPeriod;
nucleosam 1:5cc2691ccfff 192 /// pulse width target of the VREFA PWM in 1/256th of a microsecond
nucleosam 1:5cc2691ccfff 193 volatile uint16_t vrefPwmPulseWidthTargetA;
nucleosam 1:5cc2691ccfff 194 /// pulse width target of the VREFB PWM in 1/256th of a microsecond
nucleosam 1:5cc2691ccfff 195 volatile uint16_t vrefPwmPulseWidthTargetB;
nucleosam 1:5cc2691ccfff 196 /// pulse width to be generated for VREFA PWM in 1/256th of a microsecond
nucleosam 1:5cc2691ccfff 197 volatile int16_t vrefPwmPulseWidthToBeGeneratedA;
nucleosam 1:5cc2691ccfff 198 /// pulse width to be generated for VREFB PWM in 1/256th of a microsecond
nucleosam 1:5cc2691ccfff 199 volatile int16_t vrefPwmPulseWidthToBeGeneratedB;
nucleosam 1:5cc2691ccfff 200 /// current selected torque value
nucleosam 1:5cc2691ccfff 201 volatile uint16_t curTorqueScaler;
nucleosam 1:5cc2691ccfff 202 /// selected VREFA value (%)
nucleosam 1:5cc2691ccfff 203 volatile uint16_t vRefAVal;
nucleosam 1:5cc2691ccfff 204 /// selected VREFB value (%)
nucleosam 1:5cc2691ccfff 205 volatile uint16_t vRefBVal;
nucleosam 1:5cc2691ccfff 206 /// constant speed phase torque value (%)
nucleosam 1:5cc2691ccfff 207 volatile uint8_t runTorque;
nucleosam 1:5cc2691ccfff 208 /// acceleration phase torque value (%)
nucleosam 1:5cc2691ccfff 209 volatile uint8_t accelTorque;
nucleosam 1:5cc2691ccfff 210 /// deceleration phase torque value (%)
nucleosam 1:5cc2691ccfff 211 volatile uint8_t decelTorque;
nucleosam 1:5cc2691ccfff 212 /// holding phase torque value (%)
nucleosam 1:5cc2691ccfff 213 volatile uint8_t holdTorque;
nucleosam 1:5cc2691ccfff 214 /// acceleration (steps/s^2)
nucleosam 1:5cc2691ccfff 215 volatile uint16_t accelerationSps2;
nucleosam 1:5cc2691ccfff 216 /// deceleration (steps/s^2)
nucleosam 1:5cc2691ccfff 217 volatile uint16_t decelerationSps2;
nucleosam 1:5cc2691ccfff 218 /// acceleration (steps/tick^2)
nucleosam 1:5cc2691ccfff 219 volatile uint16_t accelerationSpt2;
nucleosam 1:5cc2691ccfff 220 /// deceleration (steps/tick^2)
nucleosam 1:5cc2691ccfff 221 volatile uint16_t decelerationSpt2;
nucleosam 1:5cc2691ccfff 222 /// maximum speed (steps/s)
nucleosam 1:5cc2691ccfff 223 volatile uint16_t maxSpeedSps;
nucleosam 1:5cc2691ccfff 224 /// minimum speed (steps/s)
nucleosam 1:5cc2691ccfff 225 volatile uint16_t minSpeedSps;
nucleosam 1:5cc2691ccfff 226 /// current speed (steps/s)
nucleosam 1:5cc2691ccfff 227 volatile uint16_t speedSps;
nucleosam 1:5cc2691ccfff 228 /// maximum speed (steps/tick)
nucleosam 1:5cc2691ccfff 229 volatile uint32_t maxSpeedSpt;
nucleosam 1:5cc2691ccfff 230 /// minimum speed (steps/tick)
nucleosam 1:5cc2691ccfff 231 volatile uint32_t minSpeedSpt;
nucleosam 1:5cc2691ccfff 232 /// current speed (steps/tick)
nucleosam 1:5cc2691ccfff 233 volatile uint32_t speedSpt;
nucleosam 1:5cc2691ccfff 234 }deviceParams_t;
nucleosam 1:5cc2691ccfff 235 /**
nucleosam 1:5cc2691ccfff 236 * @}
nucleosam 1:5cc2691ccfff 237 */
nucleosam 1:5cc2691ccfff 238
nucleosam 1:5cc2691ccfff 239 /// Motor driver initialization structure definition
nucleosam 1:5cc2691ccfff 240 typedef struct
nucleosam 1:5cc2691ccfff 241 {
nucleosam 1:5cc2691ccfff 242 /// acceleration (steps/s^2)
nucleosam 1:5cc2691ccfff 243 uint16_t accelerationSps2;
nucleosam 1:5cc2691ccfff 244 /// acceleration phase torque value (%)
nucleosam 1:5cc2691ccfff 245 uint8_t accelTorque;
nucleosam 1:5cc2691ccfff 246 /// deceleration (steps/s^2)
nucleosam 1:5cc2691ccfff 247 uint16_t decelerationSps2;
nucleosam 1:5cc2691ccfff 248 /// deceleration phase torque value (%)
nucleosam 1:5cc2691ccfff 249 uint8_t decelTorque;
nucleosam 1:5cc2691ccfff 250 /// maximum speed (steps/s)
nucleosam 1:5cc2691ccfff 251 uint16_t maxSpeedSps;
nucleosam 1:5cc2691ccfff 252 /// constant speed phase torque value (%)
nucleosam 1:5cc2691ccfff 253 uint8_t runTorque;
nucleosam 1:5cc2691ccfff 254 /// holding phase torque value (%)
nucleosam 1:5cc2691ccfff 255 uint8_t holdTorque;
nucleosam 1:5cc2691ccfff 256 /// current step mode
nucleosam 1:5cc2691ccfff 257 motorStepMode_t stepMode;
nucleosam 1:5cc2691ccfff 258 /// current decay mode (SLOW_DECAY or FAST_DECAY)
nucleosam 1:5cc2691ccfff 259 motorDecayMode_t decayMode;
nucleosam 1:5cc2691ccfff 260 /// dwelling time after position got (ms)
nucleosam 1:5cc2691ccfff 261 uint16_t moveDwellTime;
nucleosam 1:5cc2691ccfff 262 /// automatic HiZ on stop
nucleosam 1:5cc2691ccfff 263 bool autoHiZstop;
nucleosam 1:5cc2691ccfff 264 /// frequency of the VREFA and VREFB PWM
nucleosam 1:5cc2691ccfff 265 uint32_t vrefPwmFreq;
nucleosam 1:5cc2691ccfff 266 } l6208_Init_t;
nucleosam 1:5cc2691ccfff 267 /**
nucleosam 1:5cc2691ccfff 268 * @}
nucleosam 1:5cc2691ccfff 269 */
nucleosam 1:5cc2691ccfff 270
nucleosam 1:5cc2691ccfff 271 /* Functions --------------------------------------------------------*/
nucleosam 1:5cc2691ccfff 272
nucleosam 1:5cc2691ccfff 273 /** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
nucleosam 1:5cc2691ccfff 274 * @{
nucleosam 1:5cc2691ccfff 275 */
nucleosam 1:5cc2691ccfff 276 ///Delay of the requested number of milliseconds
nucleosam 1:5cc2691ccfff 277 extern void L6208_Board_Delay(uint32_t delay);
nucleosam 1:5cc2691ccfff 278 ///Enable Irq
nucleosam 1:5cc2691ccfff 279 extern void L6208_Board_EnableIrq(void);
nucleosam 1:5cc2691ccfff 280 ///Disable Irq
nucleosam 1:5cc2691ccfff 281 extern void L6208_Board_DisableIrq(void);
nucleosam 1:5cc2691ccfff 282 //Initialize the VREFA or VREFB PWM
nucleosam 1:5cc2691ccfff 283 extern bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq);
nucleosam 1:5cc2691ccfff 284 ///Initialize the tick
nucleosam 1:5cc2691ccfff 285 extern void L6208_Board_TickInit(void);
nucleosam 1:5cc2691ccfff 286 ///Release the reset pin
nucleosam 1:5cc2691ccfff 287 extern void L6208_Board_ReleaseReset(void);
nucleosam 1:5cc2691ccfff 288 ///Set the reset pin
nucleosam 1:5cc2691ccfff 289 extern void L6208_Board_Reset(void);
nucleosam 1:5cc2691ccfff 290 ///Set the control pin
nucleosam 1:5cc2691ccfff 291 extern void L6208_Board_CONTROL_PIN_Set(void);
nucleosam 1:5cc2691ccfff 292 ///Reset the control pin
nucleosam 1:5cc2691ccfff 293 extern void L6208_Board_CONTROL_PIN_Reset(void);
nucleosam 1:5cc2691ccfff 294 ///Set the clock pin
nucleosam 1:5cc2691ccfff 295 extern void L6208_Board_CLOCK_PIN_Set(void);
nucleosam 1:5cc2691ccfff 296 ///Reset the clock pin
nucleosam 1:5cc2691ccfff 297 extern void L6208_Board_CLOCK_PIN_Reset(void);
nucleosam 1:5cc2691ccfff 298 ///Set the half full pin
nucleosam 1:5cc2691ccfff 299 extern void L6208_Board_HALF_FULL_PIN_Set(void);
nucleosam 1:5cc2691ccfff 300 ///Reset the half full pin
nucleosam 1:5cc2691ccfff 301 extern void L6208_Board_HALF_FULL_PIN_Reset(void);
nucleosam 1:5cc2691ccfff 302 ///Set the dir pin
nucleosam 1:5cc2691ccfff 303 extern void L6208_Board_DIR_PIN_Set(void);
nucleosam 1:5cc2691ccfff 304 ///Reset the dir pin
nucleosam 1:5cc2691ccfff 305 extern void L6208_Board_DIR_PIN_Reset(void);
nucleosam 1:5cc2691ccfff 306 ///Enable the power bridges (leave the output bridges HiZ)
nucleosam 1:5cc2691ccfff 307 extern void L6208_Board_Enable(void);
nucleosam 1:5cc2691ccfff 308 ///Disable the power bridges (leave the output bridges HiZ)
nucleosam 1:5cc2691ccfff 309 extern void L6208_Board_Disable(void);
nucleosam 1:5cc2691ccfff 310 /**
nucleosam 1:5cc2691ccfff 311 * @}
nucleosam 1:5cc2691ccfff 312 */
nucleosam 1:5cc2691ccfff 313
nucleosam 1:5cc2691ccfff 314 /**
nucleosam 1:5cc2691ccfff 315 * @}
nucleosam 1:5cc2691ccfff 316 */
nucleosam 1:5cc2691ccfff 317
nucleosam 1:5cc2691ccfff 318 /**
nucleosam 1:5cc2691ccfff 319 * @}
nucleosam 1:5cc2691ccfff 320 */
nucleosam 1:5cc2691ccfff 321
nucleosam 1:5cc2691ccfff 322 #ifdef __cplusplus
nucleosam 1:5cc2691ccfff 323 }
nucleosam 1:5cc2691ccfff 324 #endif
nucleosam 1:5cc2691ccfff 325
nucleosam 1:5cc2691ccfff 326 #endif /* __L6208_H */
nucleosam 1:5cc2691ccfff 327
nucleosam 1:5cc2691ccfff 328 /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/