Diff: Components/l6208/L6208_def.h

Revision:

4:0b52159554b5

Parent:

3:63a8d672fe5e

Child:

5:f0856e278c08

--- a/Components/l6208/L6208_def.h	Fri Mar 24 10:59:42 2017 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,328 +0,0 @@
-/******************************************************//**
-  * @file    L6208_def.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_config.h"
-#include "motor_def.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****/