Motor Control Library

Diff: Components/Common/motor.h

Revision:

0:2cb6ce8e07bd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/motor.h	Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,437 @@
+/**
+  ******************************************************************************
+  * @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"
+   
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Components
+  * @{
+  */ 
+
+/** @defgroup Motor Motor
+  * @{
+  */
+    
+/** @defgroup Motor_Exported_Constants Motor Exported Constants
+  * @{
+  */   
+   
+/// boolean for false condition 
+#ifndef FALSE
+#define FALSE (0)
+#endif
+/// boolean for true condition 
+#ifndef TRUE
+#define TRUE  (1)
+#endif
+
+   /**
+  * @}
+  */
+   
+/** @defgroup Motor_Exported_Types Motor Exported Types
+  * @{
+  */
+
+/** @defgroup Motor_Boolean_Type Motor Boolean Type
+  * @{
+  */
+///bool Type
+//typedef uint8_t  bool;
+/**
+  * @}
+  */   
+   
+/** @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
+  * @{
+  */
+/// Motor driver structure definition  
+typedef struct
+{
+
+	/* Generic */
+	Status_t (*Init)(void *handle, void *init);
+	Status_t (*ReadID)(void *handle, uint8_t *id);
+
+	/* 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);
+
+	/* Specific */
+	/// Function pointer to GetAcceleration
+	uint16_t (*GetAcceleration)(void *handle);
+	/// Function pointer to GetCurrentSpeed
+	uint16_t (*GetCurrentSpeed)(void *handle, uint8_t motorId);
+	/// Function pointer to GetDeceleration
+	uint16_t (*GetDeceleration)(void *handle);
+	/// Function pointer to GetDeviceState
+	motorState_t(*GetDeviceState)(void *handle, uint8_t motorId);
+	/// 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, uint8_t motorId);
+	/// Function pointer to GetMinSpeed
+	uint16_t (*GetMinSpeed)(void *handle, uint8_t motorId);
+	/// 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, uint8_t deviceId, int32_t motorId);
+	/// Function pointer to HardStop
+	void (*HardStop)(void *handle, uint8_t motorId);
+	/// 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, uint8_t stepCount, 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, uint8_t motorId, uint16_t newMaxSpeed);
+	/// Function pointer to SetMinSpeed
+	bool (*SetMinSpeed)(void *handle, uint8_t motorId, 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, uint8_t bridgeId);
+	/// Function pointer to CmdEnable
+	void (*CmdEnable)(void *handle, uint8_t bridgeId);
+	/// Function pointer to CmdGetParam
+	uint32_t (*CmdGetParam)(void *handle, uint32_t param);
+	/// Function pointer to CmdGetStatus
+	uint16_t (*CmdGetStatus)(void *handle, uint8_t bridgeId);
+	/// 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 stepMode);
+	/// Function pointer to SetDirection
+	void (*SetDirection)(void *handle, motorDir_t direction);
+	/// Function pointer to CmdGoToDir
+	void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t abs_pos);
+	/// 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 speed);
+	/// Function pointer to CmdHardHiZ
+	void (*CmdHardHiZ)(void *handle, uint8_t motorId);
+	/// 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 speed);
+	/// 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 param, 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);
+	/// Function pointer to StopStepClock
+	void (*StopStepClock)(void *handle);
+	/// Function pointer to SetDualFullBridgeConfig
+	void (*SetDualFullBridgeConfig)(void *handle, uint8_t newConfig);
+	/// Function pointer to GetBridgeInputPwmFreq
+	uint32_t (*GetBridgeInputPwmFreq)(void *handle, uint8_t bridgeId);
+	/// Function pointer to SetBridgeInputPwmFreq
+	void (*SetBridgeInputPwmFreq)(void *handle, uint8_t bridgeId, 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 freq);
+	/// Function pointer to GetVRefFreq
+	uint32_t (*GetRefFreq)(void *handle);
+	/// Function pointer to SetVRefDc
+	void (*SetRefDc)(void *handle, uint8_t RefDc);
+	/// 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****/
+