Motor Control Library

Diff: Components/Common/motor_def.h

Revision:

4:f48e8d87553e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/motor_def.h	Fri Mar 24 10:58:48 2017 +0100
@@ -0,0 +1,446 @@
+/**
+  ******************************************************************************
+  * @file    motor_def.h
+  * @author  IPC Rennes
+  * @version V1.6.0
+  * @date    April 7th, 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_def.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 (*read_id) (void *handle, uint8_t *id);                      *
+   *------------------------------------------------------------------------*/
+  /* Generic */
+  status_t (*init)(void *handle, void *init);
+  status_t (*read_id)(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 attach_error_handler
+  void (*attach_error_handler)(void *handle, void (*callback)(void *handle, uint16_t error));
+  /// Function pointer to attach_flag_interrupt
+  void (*attach_flag_interrupt)(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 get_acceleration
+  uint16_t (*get_acceleration)(void *handle); 
+  /// Function pointer to GetCurrentSpeed
+  uint16_t (*GetCurrentSpeed)(void *handle); 
+  /// Function pointer to get_deceleration
+  uint16_t (*get_deceleration)(void *handle); 
+  /// Function pointer to get_device_state
+  motorState_t(*get_device_state)(void *handle); 
+  /// Function pointer to get_fw_version
+  uint32_t (*get_fw_version)(void *handle); 
+  /// Function pointer to get_mark
+  int32_t (*get_mark)(void *handle); 
+  /// Function pointer to get_max_speed
+  uint16_t (*get_max_speed)(void *handle); 
+  /// Function pointer to get_min_speed
+  uint16_t (*get_min_speed)(void *handle); 
+  /// Function pointer to get_position
+  int32_t (*get_position)(void *handle);
+  /// Function pointer to go_home
+  void (*go_home)(void *handle); 
+  /// Function pointer to go_mark
+  void (*go_mark)(void *handle); 
+  /// Function pointer to go_to
+  void (*go_to)(void *handle, int32_t targetPosition); 
+  /// Function pointer to hard_stop
+  void (*hard_stop)(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 set_acceleration
+  bool (*set_acceleration)(void *handle, uint16_t newAcc);
+  /// Function pointer to set_deceleration
+  bool (*set_deceleration)(void *handle, uint16_t newDec);
+  /// Function pointer to set_home
+  void (*set_home)(void *handle); 
+  /// Function pointer to set_mark
+  void (*set_mark)(void *handle); 
+  /// Function pointer to set_max_speed
+  bool (*set_max_speed)(void *handle, uint16_t newMaxSpeed); 
+  /// Function pointer to set_min_speed
+  bool (*set_min_speed)(void *handle, uint16_t newMinSpeed); 
+  /// Function pointer to soft_stop
+  bool (*soft_stop)(void *handle); 
+  /// Function pointer to StepClockHandler
+  void (*StepClockHandler)(void *handle);  
+  /// Function pointer to wait_while_active
+  void (*wait_while_active)(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 read_status_register
+  uint16_t (*read_status_register)(void *handle); 
+  /// Function pointer to release_reset
+  void (*release_reset)(void *handle);
+  /// Function pointer to Reset
+  void (*Reset)(void *handle); 
+  /// Function pointer to SelectStepMode
+  bool (*SelectStepMode)(void *handle, motorStepMode_t);
+  /// Function pointer to set_direction
+  void (*set_direction)(void *handle, motorDir_t direction);
+  /// Function pointer to CmdGoToDir
+  void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
+  /// Function pointer to check_busy_hw
+  uint8_t (*check_busy_hw)(void *handle);
+  /// Function pointer to check_status_hw
+  uint8_t (*check_status_hw)(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 fetch_and_clear_all_status
+  void (*fetch_and_clear_all_status)(void *handle);
+  /// Function pointer to get_fetched_status
+  uint16_t (*get_fetched_status)(void *handle);
+  /// Function pointer to get_nb_devices
+  uint8_t (*get_nb_devices)(void *handle);
+  /// Function pointer to is_device_busy
+  bool (*is_device_busy)(void *handle);
+  /// Function pointer to send_queued_commands
+  void (*send_queued_commands)(void *handle);
+  /// Function pointer to queue_commands
+  void (*queue_commands)(void *handle, uint8_t command, int32_t value);
+  /// Function pointer to WaitForAllDevicesNotBusy
+  void (*WaitForAllDevicesNotBusy)(void *handle);
+  /// Function pointer to error_handler
+  void (*error_handler)(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 set_dual_full_bridge_config
+  void (*set_dual_full_bridge_config)(void *handle, uint8_t config);
+  /// Function pointer to get_bridge_input_pwm_freq
+  uint32_t (*get_bridge_input_pwm_freq)(void *handle);
+  /// Function pointer to set_bridge_input_pwm_freq
+  void (*set_bridge_input_pwm_freq)(void *handle, uint32_t newFreq);
+  /// Function pointer to set_stop_mode
+  void (*set_stop_mode)(void *handle, motorStopMode_t stopMode);
+  /// Function pointer to get_stop_mode
+  motorStopMode_t (*get_stop_mode)(void *handle);
+  /// Function pointer to set_decay_mode
+  void (*set_decay_mode)(void *handle, motorDecayMode_t decayMode);
+  /// Function pointer to get_decay_mode
+  motorDecayMode_t (*get_decay_mode)(void *handle);
+  /// Function pointer to get_step_mode
+  motorStepMode_t (*get_step_mode)(void *handle);
+  /// Function pointer to get_direction
+  motorDir_t (*get_direction)(void *handle);
+  /// Function pointer to ExitDeviceFromReset
+  void (*ExitDeviceFromReset)(void *handle);
+  /// Function pointer to set_torque
+  void (*set_torque)(void *handle, motorTorqueMode_t torqueMode, uint8_t torqueValue);
+  /// Function pointer to get_torque
+  uint8_t (*get_torque)(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 set_nb_devices
+  bool (*set_nb_devices)(void *handle, uint8_t nbDevices);
+  /// Function pointer to set a parameter
+  bool (*set_analog_value)(void *handle, uint32_t param, float value);
+  /// Function pointer to get a parameter 
+  float (*get_analog_value)(void *handle, uint32_t param); 
+} MOTOR_VTable_t;
+/**
+* @}
+  */
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MOTOR_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/