Diff: Components/Common/motor.h

Revision:

3:63a8d672fe5e

Parent:

2:2af31245e67e

Child:

4:0b52159554b5

--- a/Components/Common/motor.h	Fri Apr 29 14:58:30 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,446 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    motor.h
-  * @author  IPC Rennes
-  * @version V1.5.0
-  * @date    January 25, 2016
-  * @brief   This file contains all the functions prototypes for motor drivers.   
-  ******************************************************************************
-  * @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 __MOTOR_H
-#define __MOTOR_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-/* Includes ------------------------------------------------------------------*/
-#include <stdint.h>
-#include "component.h"
-
-/* Definitions ---------------------------------------------------------------*/
-/// boolean for false condition 
-#ifndef FALSE
-#define FALSE (0)
-#endif
-/// boolean for true condition 
-#ifndef TRUE
-#define TRUE  (1)
-#endif
-
-/* Types ---------------------------------------------------------------------*/
-/** @addtogroup BSP
-  * @{
-  */
-
-/** @addtogroup Components
-  * @{
-  */ 
-
-/** @defgroup Motor Motor
-  * @{
-  */
-   
-/** @defgroup Motor_Exported_Types Motor Exported Types
-  * @{
-  */
-   
-/** @defgroup Device_Direction_Options Device Direction Options
-  * @{
-  */
-/// Direction options
-typedef enum {
-  BACKWARD = 0,
-  FORWARD = 1,
-  UNKNOW_DIR = ((uint8_t)0xFF)
-} motorDir_t;
-/**
-  * @}
-  */
-  
-/** @defgroup Device_Action_Options Device Action Options
-  * @{
-  */
-/// Action options
-typedef enum {
-  ACTION_RESET = ((uint8_t)0x00),
-  ACTION_COPY  = ((uint8_t)0x08)
-} motorAction_t;
-/**
-  * @}
-  */  
-
-/** @defgroup Device_States Device States
-  * @{
-  */
-/// Device states
-typedef enum {
-  ACCELERATING       = 0,
-  DECELERATINGTOSTOP = 1,  
-  DECELERATING       = 2, 
-  STEADY             = 3,
-  INDEX_ACCEL        = 4,
-  INDEX_RUN          = 5,
-  INDEX_DECEL        = 6,
-  INDEX_DWELL        = 7,
-  INACTIVE           = 8,
-  STANDBY            = 9,
-  STANDBYTOINACTIVE  = 10
-} motorState_t;
-/**
-  * @}
-  */   
-
-/** @defgroup Device_Step_mode Device Step mode
-  * @{
-  */
- /// Stepping options 
-typedef enum {
-  STEP_MODE_FULL   = ((uint8_t)0x00), 
-  STEP_MODE_HALF   = ((uint8_t)0x01),
-  STEP_MODE_1_4    = ((uint8_t)0x02),
-  STEP_MODE_1_8    = ((uint8_t)0x03),
-  STEP_MODE_1_16   = ((uint8_t)0x04),
-  STEP_MODE_1_32   = ((uint8_t)0x05),
-  STEP_MODE_1_64   = ((uint8_t)0x06),
-  STEP_MODE_1_128  = ((uint8_t)0x07),
-  STEP_MODE_1_256  = ((uint8_t)0x08),
-  STEP_MODE_UNKNOW = ((uint8_t)0xFE),
-  STEP_MODE_WAVE   = ((uint8_t)0xFF)  
-} motorStepMode_t;
-
-/**
-  * @}
-  */
-  
-/** @defgroup Decay_mode Decay mode
-  * @{
-  */
-/// Decay Mode 
-typedef enum {
-  SLOW_DECAY = 0,
-  FAST_DECAY = 1,
-  UNKNOW_DECAY = ((uint8_t)0xFF)
-} motorDecayMode_t;
-/**
-  * @}
-  */
-  
-/** @defgroup Stop_mode Stop mode
-  * @{
-  */
-/// Stop mode
-typedef enum
-{ 
-  HOLD_MODE = 0,
-  HIZ_MODE = 1,
-  STANDBY_MODE = 2,
-  UNKNOW_STOP_MODE = ((uint8_t)0xFF)
-} motorStopMode_t;
-/**
-  * @}
-  */  
-
-/** @defgroup Torque_mode Torque mode
-  * @{
-  */
-/// Torque mode
-typedef enum
-{ 
-  ACC_TORQUE = 0,
-  DEC_TORQUE = 1,
-  RUN_TORQUE = 2,
-  HOLD_TORQUE = 3,
-  CURRENT_TORQUE = 4,
-  UNKNOW_TORQUE = ((uint8_t)0xFF)
-} motorTorqueMode_t;
-/**
-  * @}
-  */  
-    
-/** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
-  * @{
-  */
-///Dual full bridge configurations for brush DC motors
-typedef enum {
-  PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
-  PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
-  PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
-  PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
-  PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
-  PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
-  PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
-  PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
-  PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
-  PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
-  PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
-  PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
-  PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
-  PARALLELING_END_ENUM = 13 
-} dualFullBridgeConfig_t;
-/**
-  * @}
-  */
-
-/** @defgroup Motor_Driver_Structure Motor Driver Structure
-  * @{
-  */
-/** 
- * @brief  MOTOR driver virtual table structure definition.
- */  
-typedef struct
-{
-  /* ACTION ----------------------------------------------------------------*
-   * Declare here the component's generic functions.                        *
-   * Tag this group of functions with the " Generic " C-style comment.      *
-   * A component's interface has to define at least the two generic         *
-   * functions provided here below within the "Example" section, as the     *
-   * first and second functions of its Virtual Table. They have to be       *
-   * specified exactly in the given way.                                    *
-   *                                                                        *
-   * Example:                                                               *
-   *   Status_t (*Init)   (void *handle, void *init);                       *
-   *   Status_t (*ReadID) (void *handle, uint8_t *id);                      *
-   *------------------------------------------------------------------------*/
-  /* Generic */
-  Status_t (*Init)(void *handle, void *init);
-  Status_t (*ReadID)(void *handle, uint8_t *id);
-  /* ACTION ----------------------------------------------------------------*
-   * Declare here the component's interrupts related functions.             *
-   * Tag this group of functions with the " Interrupts " C-style comment.   *
-   * Do not specify any function if not required.                           *
-   *                                                                        *
-   * Example:                                                               *
-   *   void     (*ConfigIT) (void *handle, int a);                          *
-   *------------------------------------------------------------------------*/
-  /* Interrupts */
-  /// Function pointer to AttachErrorHandler
-  void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
-  /// Function pointer to AttachFlagInterrupt
-  void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
-  /// Function pointer to AttachBusyInterrupt
-  void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
-  /// Function pointer to FlagInterruptHandler
-  void (*FlagInterruptHandler)(void *handle);
-  /* ACTION ----------------------------------------------------------------*
-   * Declare here the component's specific functions.                       *
-   * Tag this group of functions with the " Specific " C-style comment.     *
-   * Do not specify any function if not required.                           *
-   *                                                                        *
-   * Example:                                                               *
-   *   Status_t (*GetValue) (void *handle, float *f);                       *
-   *------------------------------------------------------------------------*/
-  /* Specific */  
-  /// Function pointer to GetAcceleration
-  uint16_t (*GetAcceleration)(void *handle); 
-  /// Function pointer to GetCurrentSpeed
-  uint16_t (*GetCurrentSpeed)(void *handle); 
-  /// Function pointer to GetDeceleration
-  uint16_t (*GetDeceleration)(void *handle); 
-  /// Function pointer to GetDeviceState
-  motorState_t(*GetDeviceState)(void *handle); 
-  /// Function pointer to GetFwVersion
-  uint8_t (*GetFwVersion)(void *handle); 
-  /// Function pointer to GetMark
-  int32_t (*GetMark)(void *handle); 
-  /// Function pointer to GetMaxSpeed
-  uint16_t (*GetMaxSpeed)(void *handle); 
-  /// Function pointer to GetMinSpeed
-  uint16_t (*GetMinSpeed)(void *handle); 
-  /// Function pointer to GetPosition
-  int32_t (*GetPosition)(void *handle);
-  /// Function pointer to GoHome
-  void (*GoHome)(void *handle); 
-  /// Function pointer to GoMark
-  void (*GoMark)(void *handle); 
-  /// Function pointer to GoTo
-  void (*GoTo)(void *handle, int32_t targetPosition); 
-  /// Function pointer to HardStop
-  void (*HardStop)(void *handle); 
-  /// Function pointer to Move
-  void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount); 
-  /// Function pointer to ResetAllDevices
-  //void (*ResetAllDevices)(void *handle); 
-  /// Function pointer to Run
-  void (*Run)(void *handle, motorDir_t direction);
-  /// Function pointer to SetAcceleration
-  bool (*SetAcceleration)(void *handle, uint16_t newAcc);
-  /// Function pointer to SetDeceleration
-  bool (*SetDeceleration)(void *handle, uint16_t newDec);
-  /// Function pointer to SetHome
-  void (*SetHome)(void *handle); 
-  /// Function pointer to SetMark
-  void (*SetMark)(void *handle); 
-  /// Function pointer to SetMaxSpeed
-  bool (*SetMaxSpeed)(void *handle, uint16_t newMaxSpeed); 
-  /// Function pointer to SetMinSpeed
-  bool (*SetMinSpeed)(void *handle, uint16_t newMinSpeed); 
-  /// Function pointer to SoftStop
-  bool (*SoftStop)(void *handle); 
-  /// Function pointer to StepClockHandler
-  void (*StepClockHandler)(void *handle);  
-  /// Function pointer to WaitWhileActive
-  void (*WaitWhileActive)(void *handle);
-  /// Function pointer to CmdDisable
-  void (*CmdDisable)(void *handle); 
-  /// Function pointer to CmdEnable
-  void (*CmdEnable)(void *handle);
-  /// Function pointer to CmdGetParam
-  uint32_t (*CmdGetParam)(void *handle, uint32_t param);
-  /// Function pointer to CmdGetStatus
-  uint16_t (*CmdGetStatus)(void *handle); 
-  /// Function pointer to CmdNop
-  void (*CmdNop)(void *handle); 
-  /// Function pointer to CmdSetParam
-  void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
-  /// Function pointer to ReadStatusRegister
-  uint16_t (*ReadStatusRegister)(void *handle); 
-  /// Function pointer to ReleaseReset
-  void (*ReleaseReset)(void *handle);
-  /// Function pointer to Reset
-  void (*Reset)(void *handle); 
-  /// Function pointer to SelectStepMode
-  void (*SelectStepMode)(void *handle, motorStepMode_t);
-  /// Function pointer to SetDirection
-  void (*SetDirection)(void *handle, motorDir_t direction);
-  /// Function pointer to CmdGoToDir
-  void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
-  /// Function pointer to CheckBusyHw
-  uint8_t (*CheckBusyHw)(void *handle);
-  /// Function pointer to CheckStatusHw
-  uint8_t (*CheckStatusHw)(void *handle);
-  /// Function pointer to CmdGoUntil
-  void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition);
-  /// Function pointer to CmdHardHiZ
-  void (*CmdHardHiZ)(void *handle);
-  /// Function pointer to CmdReleaseSw
-  void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
-  /// Function pointer to CmdResetDevice
-  void (*CmdResetDevice)(void *handle);
-  /// Function pointer to CmdResetPos
-  void (*CmdResetPos)(void *handle);
-  /// Function pointer to CmdRun
-  void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition);
-  /// Function pointer to CmdSoftHiZ
-  void (*CmdSoftHiZ)(void *handle);
-  /// Function pointer to CmdStepClock
-  void (*CmdStepClock)(void *handle, motorDir_t direction);
-  /// Function pointer to FetchAndClearAllStatus
-  void (*FetchAndClearAllStatus)(void *handle);
-  /// Function pointer to GetFetchedStatus
-  uint16_t (*GetFetchedStatus)(void *handle);
-  /// Function pointer to GetNbDevices
-  uint8_t (*GetNbDevices)(void *handle);
-  /// Function pointer to IsDeviceBusy
-  bool (*IsDeviceBusy)(void *handle);
-  /// Function pointer to SendQueuedCommands
-  void (*SendQueuedCommands)(void *handle);
-  /// Function pointer to QueueCommands
-  void (*QueueCommands)(void *handle, uint8_t command, int32_t value);
-  /// Function pointer to WaitForAllDevicesNotBusy
-  void (*WaitForAllDevicesNotBusy)(void *handle);
-  /// Function pointer to ErrorHandler
-  void (*ErrorHandler)(void *handle, uint16_t error);
-  /// Function pointer to BusyInterruptHandler
-  void (*BusyInterruptHandler)(void *handle);
-  /// Function pointer to CmdSoftStop
-  void (*CmdSoftStop)(void *handle);
-  /// Function pointer to StartStepClock
-  void (*StartStepClock)(void *handle, uint16_t newFreq);
-  /// Function pointer to StopStepClock
-  void (*StopStepClock)(void *handle);
-  /// Function pointer to SetDualFullBridgeConfig
-  void (*SetDualFullBridgeConfig)(void *handle, uint8_t config);
-  /// Function pointer to GetBridgeInputPwmFreq
-  uint32_t (*GetBridgeInputPwmFreq)(void *handle);
-  /// Function pointer to SetBridgeInputPwmFreq
-  void (*SetBridgeInputPwmFreq)(void *handle, uint32_t newFreq);
-  /// Function pointer to SetStopMode
-  void (*SetStopMode)(void *handle, motorStopMode_t stopMode);
-  /// Function pointer to GetStopMode
-  motorStopMode_t (*GetStopMode)(void *handle);
-  /// Function pointer to SetDecayMode
-  void (*SetDecayMode)(void *handle, motorDecayMode_t decayMode);
-  /// Function pointer to GetDecayMode
-  motorDecayMode_t (*GetDecayMode)(void *handle);
-  /// Function pointer to GetStepMode
-  motorStepMode_t (*GetStepMode)(void *handle);
-  /// Function pointer to GetDirection
-  motorDir_t (*GetDirection)(void *handle);
-  /// Function pointer to ExitDeviceFromReset
-  void (*ExitDeviceFromReset)(void *handle);
-  /// Function pointer to SetTorque
-  void (*SetTorque)(void *handle, motorTorqueMode_t torqueMode, uint8_t torqueValue);
-  /// Function pointer to GetTorque
-  uint8_t (*GetTorque)(void *handle, motorTorqueMode_t torqueMode);
-  /// Function pointer to SetVRefFreq
-  void (*SetRefFreq)(void *handle, uint32_t newFreq);
-  /// Function pointer to GetVRefFreq
-  uint32_t (*GetRefFreq)(void *handle);
-  /// Function pointer to SetVRefDc
-  void (*SetRefDc)(void *handle, uint8_t newDc);
-  /// Function pointer to GetVRefDc
-  uint8_t (*GetRefDc)(void *handle);
-  /// Function pointer to SetNbDevices
-  bool (*SetNbDevices)(void *handle, uint8_t nbDevices);
-  /// Function pointer to set a parameter
-  bool (*SetAnalogValue)(void *handle, uint32_t param, float value);
-  /// Function pointer to get a parameter 
-  float (*GetAnalogValue)(void *handle, uint32_t param); 
-} MOTOR_VTable_t;
-/**
-* @}
-  */
-
-/**
-  * @}
-  */ 
-
-/**
-  * @}
-  */
-  
-/**
-  * @}
-  */ 
-
-/**
-  * @}
-  */ 
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MOTOR_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/