ST
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
Platform compatibility
Compatible platforms have been tested with the configurations provided by the HelloWorld_IHM05A1 example.
Components/Common/motor_def.h@3:63a8d672fe5e, 2017-03-24 (annotated)
- Committer:
- davide.aliprandi@st.com
- Date:
- Fri Mar 24 10:59:42 2017 +0100
- Revision:
- 3:63a8d672fe5e
Aligning to ARM mbed coding style.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 2 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 3 | * @file motor_def.h |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 4 | * @author IPC Rennes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 5 | * @version V1.5.0 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 6 | * @date January 25, 2016 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 7 | * @brief This file contains all the functions prototypes for motor drivers. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 8 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 9 | * @attention |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 10 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 11 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 12 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 14 | * are permitted provided that the following conditions are met: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 16 | * this list of conditions and the following disclaimer. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 18 | * this list of conditions and the following disclaimer in the documentation |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 19 | * and/or other materials provided with the distribution. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 21 | * may be used to endorse or promote products derived from this software |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 22 | * without specific prior written permission. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 23 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 34 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 35 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 36 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 37 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 38 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 39 | #ifndef __MOTOR_H |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 40 | #define __MOTOR_H |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 41 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 42 | #ifdef __cplusplus |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 43 | extern "C" { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 44 | #endif |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 45 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 46 | /* Includes ------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 47 | #include <stdint.h> |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 48 | #include "component_def.h" |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 49 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 50 | /* Definitions ---------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 51 | /// boolean for false condition |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 52 | #ifndef FALSE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 53 | #define FALSE (0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 54 | #endif |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 55 | /// boolean for true condition |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 56 | #ifndef TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 57 | #define TRUE (1) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 58 | #endif |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 59 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 60 | /* Types ---------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 61 | /** @addtogroup BSP |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 62 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 63 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 64 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 65 | /** @addtogroup Components |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 66 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 67 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 68 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 69 | /** @defgroup Motor Motor |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 70 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 71 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 72 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 73 | /** @defgroup Motor_Exported_Types Motor Exported Types |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 74 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 75 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 76 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 77 | /** @defgroup Device_Direction_Options Device Direction Options |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 78 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 79 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 80 | /// Direction options |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 81 | typedef enum { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 82 | BACKWARD = 0, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 83 | FORWARD = 1, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 84 | UNKNOW_DIR = ((uint8_t)0xFF) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 85 | } motorDir_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 86 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 87 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 88 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 89 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 90 | /** @defgroup Device_Action_Options Device Action Options |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 91 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 92 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 93 | /// Action options |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 94 | typedef enum { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 95 | ACTION_RESET = ((uint8_t)0x00), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 96 | ACTION_COPY = ((uint8_t)0x08) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 97 | } motorAction_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 98 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 99 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 100 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 101 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 102 | /** @defgroup Device_States Device States |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 103 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 104 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 105 | /// Device states |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 106 | typedef enum { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 107 | ACCELERATING = 0, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 108 | DECELERATINGTOSTOP = 1, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 109 | DECELERATING = 2, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 110 | STEADY = 3, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 111 | INDEX_ACCEL = 4, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 112 | INDEX_RUN = 5, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 113 | INDEX_DECEL = 6, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 114 | INDEX_DWELL = 7, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 115 | INACTIVE = 8, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 116 | STANDBY = 9, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 117 | STANDBYTOINACTIVE = 10 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 118 | } motorState_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 119 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 120 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 121 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 122 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 123 | /** @defgroup Device_Step_mode Device Step mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 124 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 125 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 126 | /// Stepping options |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 127 | typedef enum { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 128 | STEP_MODE_FULL = ((uint8_t)0x00), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 129 | STEP_MODE_HALF = ((uint8_t)0x01), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 130 | STEP_MODE_1_4 = ((uint8_t)0x02), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 131 | STEP_MODE_1_8 = ((uint8_t)0x03), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 132 | STEP_MODE_1_16 = ((uint8_t)0x04), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 133 | STEP_MODE_1_32 = ((uint8_t)0x05), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 134 | STEP_MODE_1_64 = ((uint8_t)0x06), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 135 | STEP_MODE_1_128 = ((uint8_t)0x07), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 136 | STEP_MODE_1_256 = ((uint8_t)0x08), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 137 | STEP_MODE_UNKNOW = ((uint8_t)0xFE), |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 138 | STEP_MODE_WAVE = ((uint8_t)0xFF) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 139 | } motorStepMode_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 140 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 141 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 142 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 143 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 144 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 145 | /** @defgroup Decay_mode Decay mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 146 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 147 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 148 | /// Decay Mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 149 | typedef enum { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 150 | SLOW_DECAY = 0, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 151 | FAST_DECAY = 1, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 152 | UNKNOW_DECAY = ((uint8_t)0xFF) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 153 | } motorDecayMode_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 154 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 155 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 156 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 157 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 158 | /** @defgroup Stop_mode Stop mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 159 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 160 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 161 | /// Stop mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 162 | typedef enum |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 163 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 164 | HOLD_MODE = 0, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 165 | HIZ_MODE = 1, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 166 | STANDBY_MODE = 2, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 167 | UNKNOW_STOP_MODE = ((uint8_t)0xFF) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 168 | } motorStopMode_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 169 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 170 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 171 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 172 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 173 | /** @defgroup Torque_mode Torque mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 174 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 175 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 176 | /// Torque mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 177 | typedef enum |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 178 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 179 | ACC_TORQUE = 0, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 180 | DEC_TORQUE = 1, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 181 | RUN_TORQUE = 2, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 182 | HOLD_TORQUE = 3, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 183 | CURRENT_TORQUE = 4, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 184 | UNKNOW_TORQUE = ((uint8_t)0xFF) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 185 | } motorTorqueMode_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 186 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 187 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 188 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 189 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 190 | /** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 191 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 192 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 193 | ///Dual full bridge configurations for brush DC motors |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 194 | typedef enum { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 195 | PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 196 | PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 197 | PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 198 | PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 199 | PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 200 | PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 201 | PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 202 | PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 203 | PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 204 | PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 205 | PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 206 | PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 207 | PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 208 | PARALLELING_END_ENUM = 13 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 209 | } dualFullBridgeConfig_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 210 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 211 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 212 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 213 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 214 | /** @defgroup Motor_Driver_Structure Motor Driver Structure |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 215 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 216 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 217 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 218 | * @brief MOTOR driver virtual table structure definition. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 219 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 220 | typedef struct |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 221 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 222 | /* ACTION ----------------------------------------------------------------* |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 223 | * Declare here the component's generic functions. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 224 | * Tag this group of functions with the " Generic " C-style comment. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 225 | * A component's interface has to define at least the two generic * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 226 | * functions provided here below within the "Example" section, as the * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 227 | * first and second functions of its Virtual Table. They have to be * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 228 | * specified exactly in the given way. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 229 | * * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 230 | * Example: * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 231 | * status_t (*init) (void *handle, void *init); * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 232 | * status_t (*read_id) (void *handle, uint8_t *id); * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 233 | *------------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 234 | /* Generic */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 235 | status_t (*init)(void *handle, void *init); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 236 | status_t (*read_id)(void *handle, uint8_t *id); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 237 | /* ACTION ----------------------------------------------------------------* |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 238 | * Declare here the component's interrupts related functions. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 239 | * Tag this group of functions with the " Interrupts " C-style comment. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 240 | * Do not specify any function if not required. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 241 | * * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 242 | * Example: * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 243 | * void (*ConfigIT) (void *handle, int a); * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 244 | *------------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 245 | /* Interrupts */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 246 | /// Function pointer to attach_error_handler |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 247 | void (*attach_error_handler)(void *handle, void (*callback)(void *handle, uint16_t error)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 248 | /// Function pointer to attach_flag_interrupt |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 249 | void (*attach_flag_interrupt)(void *handle, void (*callback)(void *handle)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 250 | /// Function pointer to AttachBusyInterrupt |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 251 | void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 252 | /// Function pointer to FlagInterruptHandler |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 253 | void (*FlagInterruptHandler)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 254 | /* ACTION ----------------------------------------------------------------* |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 255 | * Declare here the component's specific functions. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 256 | * Tag this group of functions with the " Specific " C-style comment. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 257 | * Do not specify any function if not required. * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 258 | * * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 259 | * Example: * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 260 | * status_t (*GetValue) (void *handle, float *f); * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 261 | *------------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 262 | /* Specific */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 263 | /// Function pointer to get_acceleration |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 264 | uint16_t (*get_acceleration)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 265 | /// Function pointer to GetCurrentSpeed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 266 | uint16_t (*GetCurrentSpeed)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 267 | /// Function pointer to get_deceleration |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 268 | uint16_t (*get_deceleration)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 269 | /// Function pointer to get_device_state |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 270 | motorState_t(*get_device_state)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 271 | /// Function pointer to get_fw_version |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 272 | uint8_t (*get_fw_version)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 273 | /// Function pointer to get_mark |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 274 | int32_t (*get_mark)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 275 | /// Function pointer to get_max_speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 276 | uint16_t (*get_max_speed)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 277 | /// Function pointer to get_min_speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 278 | uint16_t (*get_min_speed)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 279 | /// Function pointer to get_position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 280 | int32_t (*get_position)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 281 | /// Function pointer to go_home |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 282 | void (*go_home)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 283 | /// Function pointer to go_mark |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 284 | void (*go_mark)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 285 | /// Function pointer to go_to |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 286 | void (*go_to)(void *handle, int32_t targetPosition); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 287 | /// Function pointer to hard_stop |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 288 | void (*hard_stop)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 289 | /// Function pointer to move |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 290 | void (*move)(void *handle, motorDir_t direction, uint32_t stepCount); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 291 | /// Function pointer to ResetAllDevices |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 292 | //void (*ResetAllDevices)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 293 | /// Function pointer to run |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 294 | void (*run)(void *handle, motorDir_t direction); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 295 | /// Function pointer to set_acceleration |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 296 | bool (*set_acceleration)(void *handle, uint16_t newAcc); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 297 | /// Function pointer to set_deceleration |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 298 | bool (*set_deceleration)(void *handle, uint16_t newDec); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 299 | /// Function pointer to set_home |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 300 | void (*set_home)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 301 | /// Function pointer to set_mark |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 302 | void (*set_mark)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 303 | /// Function pointer to set_max_speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 304 | bool (*set_max_speed)(void *handle, uint16_t newMaxSpeed); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 305 | /// Function pointer to set_min_speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 306 | bool (*set_min_speed)(void *handle, uint16_t newMinSpeed); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 307 | /// Function pointer to soft_stop |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 308 | bool (*soft_stop)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 309 | /// Function pointer to StepClockHandler |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 310 | void (*StepClockHandler)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 311 | /// Function pointer to wait_while_active |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 312 | void (*wait_while_active)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 313 | /// Function pointer to CmdDisable |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 314 | void (*CmdDisable)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 315 | /// Function pointer to CmdEnable |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 316 | void (*CmdEnable)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 317 | /// Function pointer to CmdGetParam |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 318 | uint32_t (*CmdGetParam)(void *handle, uint32_t param); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 319 | /// Function pointer to CmdGetStatus |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 320 | uint16_t (*CmdGetStatus)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 321 | /// Function pointer to CmdNop |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 322 | void (*CmdNop)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 323 | /// Function pointer to CmdSetParam |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 324 | void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 325 | /// Function pointer to read_status_register |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 326 | uint16_t (*read_status_register)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 327 | /// Function pointer to release_reset |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 328 | void (*release_reset)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 329 | /// Function pointer to Reset |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 330 | void (*Reset)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 331 | /// Function pointer to SelectStepMode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 332 | void (*SelectStepMode)(void *handle, motorStepMode_t); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 333 | /// Function pointer to set_direction |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 334 | void (*set_direction)(void *handle, motorDir_t direction); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 335 | /// Function pointer to CmdGoToDir |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 336 | void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 337 | /// Function pointer to check_busy_hw |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 338 | uint8_t (*check_busy_hw)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 339 | /// Function pointer to check_status_hw |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 340 | uint8_t (*check_status_hw)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 341 | /// Function pointer to CmdGoUntil |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 342 | void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 343 | /// Function pointer to CmdHardHiZ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 344 | void (*CmdHardHiZ)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 345 | /// Function pointer to CmdReleaseSw |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 346 | void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 347 | /// Function pointer to CmdResetDevice |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 348 | void (*CmdResetDevice)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 349 | /// Function pointer to CmdResetPos |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 350 | void (*CmdResetPos)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 351 | /// Function pointer to CmdRun |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 352 | void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 353 | /// Function pointer to CmdSoftHiZ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 354 | void (*CmdSoftHiZ)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 355 | /// Function pointer to CmdStepClock |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 356 | void (*CmdStepClock)(void *handle, motorDir_t direction); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 357 | /// Function pointer to fetch_and_clear_all_status |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 358 | void (*fetch_and_clear_all_status)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 359 | /// Function pointer to get_fetched_status |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 360 | uint16_t (*get_fetched_status)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 361 | /// Function pointer to get_nb_devices |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 362 | uint8_t (*get_nb_devices)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 363 | /// Function pointer to is_device_busy |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 364 | bool (*is_device_busy)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 365 | /// Function pointer to send_queued_commands |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 366 | void (*send_queued_commands)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 367 | /// Function pointer to queue_commands |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 368 | void (*queue_commands)(void *handle, uint8_t command, int32_t value); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 369 | /// Function pointer to WaitForAllDevicesNotBusy |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 370 | void (*WaitForAllDevicesNotBusy)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 371 | /// Function pointer to error_handler |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 372 | void (*error_handler)(void *handle, uint16_t error); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 373 | /// Function pointer to BusyInterruptHandler |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 374 | void (*BusyInterruptHandler)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 375 | /// Function pointer to CmdSoftStop |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 376 | void (*CmdSoftStop)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 377 | /// Function pointer to StartStepClock |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 378 | void (*StartStepClock)(void *handle, uint16_t newFreq); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 379 | /// Function pointer to StopStepClock |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 380 | void (*StopStepClock)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 381 | /// Function pointer to set_dual_full_bridge_config |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 382 | void (*set_dual_full_bridge_config)(void *handle, uint8_t config); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 383 | /// Function pointer to get_bridge_input_pwm_freq |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 384 | uint32_t (*get_bridge_input_pwm_freq)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 385 | /// Function pointer to set_bridge_input_pwm_freq |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 386 | void (*set_bridge_input_pwm_freq)(void *handle, uint32_t newFreq); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 387 | /// Function pointer to set_stop_mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 388 | void (*set_stop_mode)(void *handle, motorStopMode_t stopMode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 389 | /// Function pointer to get_stop_mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 390 | motorStopMode_t (*get_stop_mode)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 391 | /// Function pointer to set_decay_mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 392 | void (*set_decay_mode)(void *handle, motorDecayMode_t decayMode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 393 | /// Function pointer to get_decay_mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 394 | motorDecayMode_t (*get_decay_mode)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 395 | /// Function pointer to get_step_mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 396 | motorStepMode_t (*get_step_mode)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 397 | /// Function pointer to get_direction |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 398 | motorDir_t (*get_direction)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 399 | /// Function pointer to ExitDeviceFromReset |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 400 | void (*ExitDeviceFromReset)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 401 | /// Function pointer to set_torque |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 402 | void (*set_torque)(void *handle, motorTorqueMode_t torqueMode, uint8_t torqueValue); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 403 | /// Function pointer to get_torque |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 404 | uint8_t (*get_torque)(void *handle, motorTorqueMode_t torqueMode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 405 | /// Function pointer to SetVRefFreq |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 406 | void (*SetRefFreq)(void *handle, uint32_t newFreq); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 407 | /// Function pointer to GetVRefFreq |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 408 | uint32_t (*GetRefFreq)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 409 | /// Function pointer to SetVRefDc |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 410 | void (*SetRefDc)(void *handle, uint8_t newDc); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 411 | /// Function pointer to GetVRefDc |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 412 | uint8_t (*GetRefDc)(void *handle); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 413 | /// Function pointer to set_nb_devices |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 414 | bool (*set_nb_devices)(void *handle, uint8_t nbDevices); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 415 | /// Function pointer to set a parameter |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 416 | bool (*set_analog_value)(void *handle, uint32_t param, float value); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 417 | /// Function pointer to get a parameter |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 418 | float (*get_analog_value)(void *handle, uint32_t param); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 419 | } MOTOR_VTable_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 420 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 421 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 422 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 423 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 424 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 425 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 426 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 427 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 428 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 429 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 430 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 431 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 432 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 433 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 434 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 435 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 436 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 437 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 438 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 439 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 440 | #ifdef __cplusplus |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 441 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 442 | #endif |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 443 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 444 | #endif /* __MOTOR_H */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 445 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 446 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
X-NUCLEO-IHM05A1 Bipolar Stepper Motor Driver