ST
Library used to control ST Nucleo Evaluation board IHM04A1, based on L6206 motor control driver.
Dependencies: ST_INTERFACES
Dependents: HelloWorld_IHM04A1 RoboCane_Motore arm_dcmotor_can arm_linear_can_2 ... more
Fork of
X_NUCLEO_IHM04A1
by 
ST Expansion SW Team
Motor Control Library
Library to handle the X-NUCLEO-IHM04A1 Motor Control Expansion Board based on the L6206 component.
It allows a complete management of the L6206 by providing a complete APIs.
The key features of the library are :
- Configuration of the L6206 (bridges inputs and enabling signals, bridges paralleling)
- FLAG interrupts handling (overcurrent and thermal alarms reporting)
- Handling of up to two bidirectional Brush DC motors or up to 4 unidirectional Brush DC motors depending of the bridges paralleling configuration
- Nucleo and expansion board configuration (GPIOs, PWMs, IRQs…)
To use the L6206 driver library, the user first has to call its initialization method which:
- Setups the required GPIOs to handle the bridges enable pins, the FLAG interrupt which reports overcurrent detection or thermal protection.
- Loads the driver parameters with initial values configured by the user or with their predefined values from “l6206_target_config.h”, in order to program the PWMs frequency of the bridges inputs, the bridges paralleling configuration, the number and the type (bidirectional or unidirectional) of brush DC motors.
Once the initialization is done, the user can modify the driver parameters by calling specific functions to change the bridges paralleling configuration, types and numbers of motors or the PWMs frequency.
The user can also write callback functions and attach them to:
- The flag interrupt handler depending on the actions he wants to perform when an overcurrent or a thermal alarm is reported.
- The Error handler which is called by the library when it reports an error.
Then, the user can drive the different brush DC motors by requesting to run in a specified direction and by changing the maximal speed. When a motor is requested to run, the corresponding bridge is automatically enabled.
A motion command can be stopped at any moment:
- Either by a hard stop which immediately stops the motor.
- Or by a hardHiz command which immediately stops the motor and disables the bridge which is used by the motor.
The library also provides functions to disable or enable the bridges independently from the run or stop commands.
Arduino Connector Compatibility Warning
Using the X-NUCLEO-IHM04A1 expansion board with the NUCLEO-F429ZI requires adopting the following patch:
- to connect with a wire the
PB_4Nucleo pin to theIN1Aexpansion board pin; - to connect with a wire the
PC_7Nucleo pin to theIN2Aexpansion board pin; - to connect with a wire the
PA_15Nucleo pin to theIN1Bexpansion board pin; - to connect with a wire the
PB_3Nucleo pin to theIN2Bexpansion board pin.
Board configuration for HelloWorld_IHM04A1 example
Revision 0:2cb6ce8e07bd, committed 2016-05-03
- Comitter:
- brdirais
- Date:
- Tue May 03 11:16:57 2016 +0000
- Child:
- 1:2597a6165252
- Commit message:
- Initial version of X-NUCLEO-IHM04A1 library
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/component.h Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,94 @@
+/**
+ ******************************************************************************
+ * @file component.h
+ * @author AST
+ * @version V1.0.0
+ * @date 1 April 2015
+ * @brief Generic header file containing a generic component's definitions
+ * and I/O functions.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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 __COMPONENT_H
+#define __COMPONENT_H
+
+
+/* Types ---------------------------------------------------------------------*/
+
+/**
+ * @brief Component's Context structure definition.
+ */
+typedef struct
+{
+ /* Identity. */
+ uint8_t who_am_i;
+
+ /* ACTION ----------------------------------------------------------------*/
+ /* There should be only a unique identifier for each component, which */
+ /* should be the "who_am_i" parameter, hence this parameter is optional. */
+ /* -----------------------------------------------------------------------*/
+ /* Type. */
+ uint8_t type;
+
+ /* Configuration. */
+ uint8_t address;
+
+ /* Pointer to the Data. */
+ void *pData;
+
+ /* Pointer to the Virtual Table. */
+ void *pVTable;
+
+ /* ACTION ----------------------------------------------------------------*/
+ /* There should be only a unique virtual table for each component, which */
+ /* should be the "pVTable" parameter, hence this parameter is optional. */
+ /* -----------------------------------------------------------------------*/
+ /* Pointer to the Extended Virtual Table. */
+ void *pExtVTable;
+} Handle_t;
+
+/**
+ * @brief Component's Status enumerator definition.
+ */
+typedef enum
+{
+ COMPONENT_OK = 0,
+ COMPONENT_ERROR,
+ COMPONENT_TIMEOUT,
+ COMPONENT_NOT_IMPLEMENTED
+} Status_t;
+
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
--- /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>© 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****/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/Component_class.h Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ * @file Component_class.h
+ * @author AST
+ * @version V1.0.0
+ * @date April 13th, 2015
+ * @brief This file contains the abstract class describing the interface of a
+ * generic component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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 __COMPONENT_CLASS_H
+#define __COMPONENT_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <stdint.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/** An abstract class for Generic components.
+ */
+class Component
+{
+public:
+ /**
+ * @brief Initializing the component.
+ * @param[in] init pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int Init(void *init) = 0;
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param[out] id pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int ReadID(uint8_t *id) = 0;
+};
+
+#endif /* __COMPONENT_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/Motor_class.h Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ * @file Motor_class.h
+ * @author AST
+ * @version V1.0.0
+ * @date April 13th, 2015
+ * @brief This file contains the abstract class describing the interface of a
+ * motor component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN4/trunk/Drivers/BSP/Components/Common/motor.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __MOTOR_CLASS_H
+#define __MOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "Component_class.h"
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/** An abstract class for Motor components.
+ */
+class Motor : public Component
+{
+public:
+ /* ACTION 1 --------------------------------------------------------------*
+ * Declare here the interface's methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table *
+ * (and extended virtual table, if any)'s functions, provided that *
+ * the component's driver implements them (i.e.: the corresponding *
+ * pointer to function is not "0"). *
+ * *
+ * Example: *
+ * virtual int GetValue(float *f) = 0; *
+ *------------------------------------------------------------------------*/
+ virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0;
+ virtual motorState_t GetDeviceState(uint8_t motorId) = 0;
+ virtual uint8_t GetFwVersion(void) = 0;
+ virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0;
+ virtual void HardStop(uint8_t motorId) = 0;
+ virtual void Run(uint8_t stepCount, motorDir_t direction) = 0;
+ virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0;
+ virtual void CmdDisable(uint8_t bridgeId) = 0;
+ virtual void CmdEnable(uint8_t bridgeId) = 0;
+ virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0;
+ virtual void CmdHardHiZ(uint8_t motorId) = 0;
+ virtual void ErrorHandler(uint16_t error) = 0;
+ virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0;
+ virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0;
+ virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0;
+ virtual bool SetNbDevices(uint8_t nbDevices) = 0;
+};
+
+#endif /* __MOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6206/l6206.h Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,221 @@
+/**
+ ******************************************************************************
+ * @file l6206.h
+ * @author IPC Rennes
+ * @version V1.2.0
+ * @date March 30, 2016
+ * @brief Header for L6206 driver (dual full bridge driver)
+ * @note (C) COPYRIGHT 2015 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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 __L6206_H
+#define __L6206_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "l6206_target_config.h"
+#include "../Common/motor.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup L6206
+ * @{
+ */
+
+/* Exported Constants --------------------------------------------------------*/
+
+/** @defgroup L6206_Exported_Constants L6206 Exported Constants
+ * @{
+ */
+
+/// Current FW version
+#define L6206_FW_VERSION (0)
+///Max number of Brush DC motors
+#define L6206_NB_MAX_MOTORS (4)
+///Max number of Bridges
+#define L6206_NB_MAX_BRIDGES (2)
+///Max number of input of Bridges
+#define L6206_NB_MAX_BRIDGE_INPUT (2 * L6206_NB_MAX_BRIDGES)
+/// MCU wait time in ms after power bridges are enabled
+#define BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY (20)
+
+ /**
+ * @}
+ */
+
+
+/* Exported Types -------------------------------------------------------*/
+
+/** @defgroup L6206_Exported_Types L6206 Exported Types
+ * @{
+ */
+
+
+
+
+/** @defgroup Initialization_Structure Initialization Structure
+ * @{
+ */
+
+typedef struct
+{
+ /// Bridge configuration structure.
+ dualFullBridgeConfig_t config;
+
+ /// PWM frequency
+ uint32_t pwmFreq[L6206_NB_MAX_BRIDGE_INPUT];
+
+ /// Motor speed
+ uint16_t speed[L6206_NB_MAX_MOTORS];
+
+ /// Motor direction
+ motorDir_t direction[L6206_NB_MAX_MOTORS];
+
+ /// Current motor state
+ motorState_t motionState[L6206_NB_MAX_MOTORS];
+
+ /// Bridge enabled (true) or not (false)
+ bool bridgeEnabled[L6206_NB_MAX_BRIDGES];
+} deviceParams_t;
+
+
+
+
+typedef deviceParams_t L6206_Init_t;
+
+
+
+/**
+ * @}
+ */
+
+
+/** @defgroup Data_Structure Data Structure
+ * @{
+ */
+
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the structure of component's data, if any, one variable per *
+ * line without initialization. *
+ * *
+ * Example: *
+ * typedef struct *
+ * { *
+ * int T0_out; *
+ * int T1_out; *
+ * float T0_degC; *
+ * float T1_degC; *
+ * } COMPONENT_Data_t; *
+ *----------------------------------------------------------------------------*/
+typedef struct
+{
+ /// Function pointer to flag interrupt call back
+ void (*flagInterruptCallback)(void);
+
+ /// Function pointer to error handler call back
+ void (*errorHandlerCallback)(uint16_t error);
+
+ /// number of L6206 devices
+ uint8_t numberOfDevices;
+
+ /// L6206 driver instance
+ uint8_t deviceInstance;
+
+ /// L6206 Device Paramaters structure
+ deviceParams_t devicePrm;
+} L6206_Data_t;
+
+/**
+ * @}
+ */
+
+
+
+/**
+ * @}
+ */
+
+/* Exported functions --------------------------------------------------------*/
+
+
+/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
+ * @{
+ */
+///Delay of the requested number of milliseconds
+extern void L6206_Board_Delay(void *handle, uint32_t delay);
+///Disable the specified bridge
+extern void L6206_Board_DisableBridge(void *handle, uint8_t bridgeId);
+///Enable the specified bridge
+extern void L6206_Board_EnableBridge(void *handle, uint8_t bridgeId, uint8_t addDelay);
+//Get the status of the flag and enable Pin
+extern uint32_t L6206_Board_GetFlagPinState(void *handle, uint8_t bridgeId);
+///Initialise GPIOs used for L6206s
+extern void L6206_Board_GpioInit(void *handle);
+///Set Briges Inputs PWM frequency and start it
+extern void L6206_Board_PwmSetFreq(void *handle, uint8_t bridgeInput, uint32_t newFreq, uint8_t duty);
+///Deinitialise the PWM of the specified bridge input
+extern void L6206_Board_PwmDeInit(void *handle, uint8_t bridgeInput);
+///Init the PWM of the specified bridge input
+extern void L6206_Board_PwmInit(void *handle, uint8_t bridgeInput);
+///Stop the PWM of the specified bridge input
+extern void L6206_Board_PwmStop(void *handle, uint8_t bridgeInput);
+
+
+
+/**
+ * @}
+ */
+
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* #ifndef __L6206_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6206/l6206_class.cpp Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,1258 @@
+/**
+ ******************************************************************************
+ * @file l6206_class.cpp
+ * @author IPC Rennes
+ * @version V1.1.0
+ * @date March 02, 2016
+ * @brief L6206 driver (dual full bridge driver)
+ * @note (C) COPYRIGHT 2015 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN4/trunk/Drivers/BSP/Components/l6206/l6206.c
+ Revision: 0
+*/
+
+/* Includes ------------------------------------------------------------------*/
+#include "l6206_class.h"
+#include "l6206.h"
+#include "string.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private variables ---------------------------------------------------------*/
+static uint8_t l6206ArrayNbMaxMotorsByConfig[PARALLELING_END_ENUM] = {2,3,3,4,2,3,2,3,2,1,2,1,1};
+
+/* Private constant ---------------------------------------------------------*/
+
+/** @defgroup L6206_Private_Constants L6206 Private Constants
+ * @{
+ */
+
+/// Max numbers of supported motors depending of the parraleling bridges configuration
+
+
+/* Function prototypes -----------------------------------------------*/
+
+/** @defgroup L6206_Exported_Functions L6206 Exported Functions
+ * @{
+ */
+
+/* Private function prototypes -----------------------------------------------*/
+
+/** @defgroup L6206_Private_functions L6206 Private functions
+ * @{
+ */
+/** @defgroup L6206_Exported_Variables L6206 Exported Variables
+ * @{
+ */
+
+/** @defgroup L6206_Exported_Functions L6206 Exported Functions
+ * @{
+ */
+
+/******************************************************//**
+ * @brief Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library
+ * detects an error
+ * @param[in] callback Name of the callback to attach
+ * to the error Hanlder
+ * @retval None
+ **********************************************************/
+void L6206::L6206_AttachErrorHandler(void (*callback)(uint16_t error))
+{
+ errorHandlerCallback = (void (*)(uint16_t error)) callback;
+}
+
+/******************************************************//**
+ * @brief Attaches a user callback to the flag Interrupt
+ * The call back will be then called each time the status
+ * flag pin will be pulled down due to the occurrence of
+ * a programmed alarms ( OCD, thermal alert)
+ * @param[in] callback Name of the callback to attach
+ * to the Flag Interrupt
+ * @retval None
+ **********************************************************/
+void L6206::L6206_AttachFlagInterrupt(void (*callback)(void))
+{
+ flagInterruptCallback = (void (*)(void))callback;
+}
+
+/******************************************************//**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ **********************************************************/
+void L6206::L6206_DisableBridge(uint8_t bridgeId)
+{
+ L6206_Board_DisableBridge(bridgeId);
+
+ devicePrm.bridgeEnabled[bridgeId] = FALSE;
+ if (devicePrm.config >= PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR)
+ {
+ if (bridgeId == BRIDGE_A)
+ {
+ L6206_Board_DisableBridge(BRIDGE_B);
+ devicePrm.bridgeEnabled[BRIDGE_B] = FALSE;
+ }
+ else
+ {
+ L6206_Board_DisableBridge(BRIDGE_A);
+ devicePrm.bridgeEnabled[BRIDGE_A] = FALSE;
+ }
+ }
+}
+
+/******************************************************//**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ **********************************************************/
+void L6206::L6206_EnableBridge(uint8_t bridgeId)
+{
+ devicePrm.bridgeEnabled[bridgeId] = TRUE;
+ if (devicePrm.config >= PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR)
+ {
+ L6206_Board_EnableBridge(bridgeId, 0);
+ if (bridgeId == BRIDGE_A)
+ {
+ L6206_Board_EnableBridge(BRIDGE_B, 1);
+ devicePrm.bridgeEnabled[BRIDGE_B] = TRUE;
+ }
+ else
+ {
+ L6206_Board_EnableBridge(BRIDGE_A, 1);
+ devicePrm.bridgeEnabled[BRIDGE_A] = TRUE;
+ }
+ }
+ else
+ {
+ L6206_Board_EnableBridge(bridgeId, 1);
+ }
+}
+
+/******************************************************//**
+ * @brief Start the L6206 library
+ * @param[in] init pointer to the initialization data
+ * @retval None
+ **********************************************************/
+Status_t L6206::L6206_Init(void *init)
+{
+ deviceInstance++;
+
+ /* Initialise the GPIOs */
+ L6206_Board_GpioInit();
+
+ if (init == NULL)
+ {
+ /* Set context variables to the predefined values from l6206_target_config.h */
+ /* Set GPIO according to these values */
+ L6206_SetDeviceParamsToPredefinedValues();
+ }
+ else
+ {
+ L6206_SetDeviceParamsToGivenValues((L6206_Init_t*) init);
+ }
+
+ /* Initialise input bridges PWMs */
+ L6206_SetDualFullBridgeConfig(devicePrm.config);
+
+ return COMPONENT_OK;
+}
+
+/******************************************************//**
+ * @brief Get the PWM frequency of the specified bridge
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval Freq in Hz
+ **********************************************************/
+uint32_t L6206::L6206_GetBridgeInputPwmFreq(uint8_t bridgeId)
+{
+ return (devicePrm.pwmFreq[(bridgeId << 1)]);
+}
+
+/******************************************************//**
+ * @brief Returns the current speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval current speed in % from 0 to 100
+ **********************************************************/
+uint16_t L6206::L6206_GetCurrentSpeed(uint8_t motorId)
+{
+ uint16_t speed = 0;
+
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ speed = devicePrm.speed[motorId];
+ }
+
+ return (speed);
+}
+
+/******************************************************//**
+ * @brief Returns the device state
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval State (STEADY or INACTIVE)
+ **********************************************************/
+motorState_t L6206::L6206_GetDeviceState(uint8_t motorId)
+{
+ motorState_t state = INACTIVE;
+
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ state = devicePrm.motionState[motorId];
+ }
+ return (state);
+}
+
+/******************************************************//**
+ * @brief Returns the FW version of the library
+ * @retval L6206_FW_VERSION
+ **********************************************************/
+uint8_t L6206::L6206_GetFwVersion(void)
+{
+ return (L6206_FW_VERSION);
+}
+
+/******************************************************//**
+ * @brief Returns the max speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval maxSpeed in % from 0 to 100
+ **********************************************************/
+uint16_t L6206::L6206_GetMaxSpeed(uint8_t motorId)
+{
+ uint16_t speed = 0;
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ speed = devicePrm.speed[motorId];
+ }
+ return (speed);
+}
+
+
+/******************************************************//**
+ * @brief Get the status of the bridge enabling of the corresponding bridge
+ * @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+ **********************************************************/
+uint16_t L6206::L6206_GetBridgeStatus(uint8_t bridgeId)
+{
+ uint16_t status = L6206_Board_GetFlagPinState(bridgeId);
+
+ return (status);
+}
+
+/******************************************************//**
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval None
+ * @note if two motors uses the same power bridge, the
+ * power bridge will be disable only if the two motors are
+ * stopped
+ **********************************************************/
+void L6206::L6206_HardHiz(uint8_t motorId)
+{
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ /* Get bridge Id of the corresponding motor */
+ uint8_t bridgeId = L6206_GetBridgeIdUsedByMotorId(motorId);
+
+ if (devicePrm.bridgeEnabled[bridgeId] != FALSE)
+ {
+ bool skip = FALSE;
+
+ /* Check if another motor is currently running by using the same bridge */
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if ((motorId > 0) && (devicePrm.motionState[1] == STEADY) && (devicePrm.motionState[2] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if ((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))||
+ ((motorId > 1) && (devicePrm.motionState[2] == STEADY) && (devicePrm.motionState[3] == STEADY)))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if ((motorId > 0) && (devicePrm.motionState[1] == STEADY) && (devicePrm.motionState[2] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if ((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ if ((devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (skip == FALSE)
+ {
+ /* Disable the bridge */
+ L6206_DisableBridge(bridgeId);
+ }
+ }
+ /* Disable the PWM */
+ L6206_HardStop(motorId);
+ }
+}
+
+/******************************************************//**
+ * @brief Stops the motor without disabling the bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval none
+ **********************************************************/
+void L6206::L6206_HardStop(uint8_t motorId)
+{
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ uint8_t bridgeInput;
+
+ /* Get bridge input of the corresponding motor */
+ bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
+
+ /* Disable corresponding PWM */
+ L6206_Board_PwmStop(bridgeInput);
+
+ /* for bidirectionnal motor, disable second PWM*/
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ bridgeInput = L6206_GetSecondBridgeInputUsedByMotorId(motorId);
+ L6206_Board_PwmStop(bridgeInput);
+ }
+ /* Set inactive state */
+ devicePrm.motionState[motorId] = INACTIVE;
+ }
+}
+
+/******************************************************//**
+ * @brief Read id
+ * @retval Id of the l6206 Driver Instance
+ **********************************************************/
+Status_t L6206::L6206_ReadId(uint8_t *id)
+{
+ *id = deviceInstance;
+
+ return COMPONENT_OK;
+}
+
+/******************************************************//**
+ * @brief Runs the motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ * @note For unidirectionnal motor, direction parameter has
+ * no effect
+ **********************************************************/
+void L6206::L6206_Run(uint8_t motorId, motorDir_t direction)
+{
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else if ((devicePrm.motionState[motorId] == INACTIVE) ||
+ (devicePrm.direction[motorId] != direction))
+ {
+ uint8_t bridgeId;
+ uint8_t bridgeInput;
+
+ /* Eventually deactivate motor */
+ if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ L6206_HardStop(motorId);
+ }
+
+ /* Store new direction */
+ devicePrm.direction[motorId] = direction;
+
+ /* Switch to steady state */
+ devicePrm.motionState[motorId] = STEADY;
+
+ /* Get bridge Id of the corresponding motor */
+ bridgeId = L6206_GetBridgeIdUsedByMotorId(motorId);
+
+ /* Get bridge input of the corresponding motor */
+ bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
+
+ /* Enable bridge */
+ L6206_EnableBridge(bridgeId);
+
+ /* Set PWM */
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ /* for bidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
+ bridgeInput = L6206_GetSecondBridgeInputUsedByMotorId(motorId);
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],100);
+ }
+ else
+ {
+ /* for unidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
+ }
+ }
+}
+/******************************************************//**
+ * @brief Set dual full bridge parallelling configuration
+ * @param[in] newConfig bridge configuration to apply from
+ * dualFullBridgeConfig_t enum
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetDualFullBridgeConfig(uint8_t newConfig)
+{
+ devicePrm.config = (dualFullBridgeConfig_t)newConfig;
+
+ /* Start to reset all else if several inits are used successively */
+ /* they will fail */
+ L6206_Board_PwmDeInit(INPUT_1A);
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmDeInit(INPUT_1B);
+ L6206_Board_PwmDeInit(INPUT_2B);
+
+
+ /* Initialise the bridges inputs PWMs --------------------------------------*/
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_2A);
+ L6206_Board_PwmInit(INPUT_1B);
+ L6206_Board_PwmInit(INPUT_2B);
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_1B);
+ L6206_Board_PwmInit(INPUT_2B);
+ break;
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_2A);
+ L6206_Board_PwmInit(INPUT_1B);
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_1B);
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ L6206_Board_PwmDeInit(INPUT_1B);
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_2A);
+ break;
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmDeInit(INPUT_1B);
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ break;
+ default:
+ break;
+ }
+}
+/******************************************************//**
+ * @brief Changes the max speed of the specified device
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] newMaxSpeed in % from 0 to 100
+ * @retval true if the command is successfully executed, else false
+ **********************************************************/
+bool L6206::L6206_SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
+{
+ bool cmdExecuted = FALSE;
+
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ devicePrm.speed[motorId] = newMaxSpeed;
+ if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ uint8_t bridgeInput;
+
+ /* Get Bridge input of the corresponding motor */
+ bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
+
+ /* Set PWM frequency*/
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ /* for bidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
+ }
+ else
+ {
+ /* for unidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
+ }
+ }
+ cmdExecuted = TRUE;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Changes the PWM frequency of the bridge input
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @param[in] newFreq in Hz
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
+{
+ uint8_t loop;
+
+ if (newFreq > L6206_MAX_PWM_FREQ)
+ {
+ newFreq = L6206_MAX_PWM_FREQ;
+ }
+ for (loop = 0; loop < 2;loop ++)
+ {
+ uint8_t motorId;
+ uint8_t bridgeInput = (bridgeId << 1) + loop;
+ devicePrm.pwmFreq[bridgeInput] = newFreq;
+
+ /* Get motor Id using this bridge */
+ motorId = L6206_GetMotorIdUsingbridgeInput(bridgeInput);
+
+ /* Immediatly update frequency if motor is running */
+ if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ /* Test if motor is bidir */
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ if (bridgeInput != L6206_GetSecondBridgeInputUsedByMotorId(motorId))
+ {
+ /* Set PWM frequency for bidirectionnal motor of the first bridge*/
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
+ }
+ else
+ {
+ /* Set PWM frequency for bidirectionnal motor of the second bridge */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],100);
+ }
+ }
+ else
+ {
+ /* Set PWM frequency for unidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
+ }
+ }
+ }
+}
+/******************************************************//**
+ * @brief Sets the number of devices to be used
+ * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ * @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ * devices greater than MAX_NUMBER_OF_DEVICES
+ **********************************************************/
+bool L6206::L6206_SetNbDevices(uint8_t nbDevices)
+{
+ if (nbDevices <= MAX_NUMBER_OF_DEVICES)
+ {
+ return TRUE;
+ }
+ else
+ {
+ return FALSE;
+ }
+}
+
+
+/******************************************************//**
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ **********************************************************/
+void L6206::L6206_ErrorHandler(uint16_t error)
+{
+ if (errorHandlerCallback != 0)
+ {
+ (void) errorHandlerCallback(error);
+ }
+ else
+ {
+ while(1)
+ {
+ /* Infinite loop */
+ }
+ }
+}
+
+/******************************************************//**
+ * @brief Handlers of the flag interrupt which calls the user callback (if defined)
+ * @retval None
+ **********************************************************/
+void L6206::L6206_FlagInterruptHandler(void)
+{
+ bool status;
+
+ status = L6206_GetBridgeStatus(BRIDGE_A);
+ if (status != devicePrm.bridgeEnabled[BRIDGE_A])
+ {
+ devicePrm.bridgeEnabled[BRIDGE_A] = status;
+ }
+
+ status = L6206_GetBridgeStatus(BRIDGE_B);
+ if (status != devicePrm.bridgeEnabled[BRIDGE_B])
+ {
+ devicePrm.bridgeEnabled[BRIDGE_B] = status;
+ }
+
+ if (flagInterruptCallback != 0)
+ {
+ flagInterruptCallback();
+ }
+}
+
+/******************************************************//**
+ * @brief Get the bridges Id used by a given motor
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval bridgeId 0 for bridge A , 1 for bridge B
+ **********************************************************/
+uint8_t L6206::L6206_GetBridgeIdUsedByMotorId(uint8_t motorId)
+{
+ uint8_t bridgeId;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeId = 0;
+ }
+ else
+ {
+ bridgeId = 1;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId < 2)
+ {
+ bridgeId = 0;
+ }
+ else
+ {
+ bridgeId = 1;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ default:
+ bridgeId = 0;
+ break;
+ }
+ return (bridgeId);
+}
+
+/******************************************************//**
+ * @brief Get the motor Id which is using the specified bridge input
+ * @param bridgeInput 0 for bridgeInput 1A, 1 for 2A, 2 for 1B, 3 for 3B
+ * @retval bridgeId 0 for bridge A , 1 for bridge B
+ **********************************************************/
+uint8_t L6206::L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput)
+{
+ uint8_t motorId;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput >= INPUT_1B)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput == INPUT_2B)
+ {
+ motorId = 2;
+ }
+ else if (bridgeInput == INPUT_1B)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput >= INPUT_1B)
+ {
+ motorId = 2;
+ }
+ else if (bridgeInput == INPUT_2A)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput == INPUT_2B)
+ {
+ motorId = 3;
+ }
+ else if (bridgeInput == INPUT_1B)
+ {
+ motorId = 2;
+ }
+ else if (bridgeInput == INPUT_2A)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ if ((bridgeInput == INPUT_2A) || (bridgeInput == INPUT_2B))
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ default:
+ motorId = 0;
+ break;
+ }
+
+ return (motorId);
+}
+/******************************************************//**
+ * @brief Get the PWM input used by a given motor
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval PWM input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B
+ **********************************************************/
+uint8_t L6206::L6206_GetBridgeInputUsedByMotorId(uint8_t motorId)
+{
+ uint8_t bridgeInput;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ }
+ else
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ }
+ break;
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ }
+ else if (motorId == 1)
+ {
+
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ if (devicePrm.direction[2] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else if (motorId == 2)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ break;
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ break;
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ default:
+ bridgeInput = INPUT_1A;
+ break;
+ }
+ return (bridgeInput);
+}
+
+/******************************************************//**
+ * @brief Get the second PWM input used by a given bidirectionnal motor
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval PWM input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B
+ **********************************************************/
+uint8_t L6206::L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId)
+{
+ uint8_t bridgeInput = 0xFF;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ }
+ else
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_2B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ }
+ break;
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 2)
+ {
+ if (devicePrm.direction[2] == FORWARD)
+ {
+ bridgeInput = INPUT_2B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ }
+ break;
+
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 1)
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_2B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ }
+ break;
+
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ break;
+
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ break;
+ default:
+ bridgeInput = 0XFF;
+ break;
+ }
+ if (bridgeInput == 0XFF)
+ {
+ L6206_ErrorHandler(L6206_ERROR_2);
+ }
+
+ return (bridgeInput);
+}
+
+/******************************************************//**
+ * @brief Test if motor is bidirectionnal
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval True if motor is bidirectionnal, else false
+ **********************************************************/
+bool L6206::L6206_IsBidirectionnalMotor(uint8_t motorId)
+{
+ bool isBiDir = FALSE;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ isBiDir = TRUE;
+ break;
+
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ isBiDir = TRUE;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 2)
+ {
+ isBiDir = TRUE;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 1)
+ {
+ isBiDir = TRUE;
+ }
+ break;
+
+ default:
+ break;
+ }
+
+ return (isBiDir);
+}
+
+
+/******************************************************//**
+ * @brief Sets the parameters of the device to predefined values
+ * from l6206_target_config.h
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetDeviceParamsToPredefinedValues(void)
+{
+ uint32_t i;
+
+ memset(&devicePrm, 0, sizeof(devicePrm));
+
+ devicePrm.config = L6206_CONF_PARAM_PARALLE_BRIDGES;
+
+ devicePrm.pwmFreq[INPUT_1A] = L6206_CONF_PARAM_FREQ_PWM1A;
+ devicePrm.pwmFreq[INPUT_2A] = L6206_CONF_PARAM_FREQ_PWM2A;
+ devicePrm.pwmFreq[INPUT_1B] = L6206_CONF_PARAM_FREQ_PWM1B;
+ devicePrm.pwmFreq[INPUT_2B] = L6206_CONF_PARAM_FREQ_PWM2B;
+
+ for (i = 0; i < MAX_NUMBER_OF_BRUSH_DC_MOTORS; i++)
+ {
+ devicePrm.speed[i] = 100;
+ devicePrm.direction[i] = FORWARD;
+ devicePrm.motionState[i] = INACTIVE;
+ }
+ for (i = 0; i < L6206_NB_MAX_BRIDGES; i++)
+ {
+ devicePrm.bridgeEnabled[i] = FALSE;
+ }
+}
+
+
+/******************************************************//**
+ * @brief Set the parameters of the device to values of initDevicePrm structure
+ * Set GPIO according to these values
+ * @param initDevicePrm structure containing values to initialize the device
+ * parameters
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetDeviceParamsToGivenValues(L6206_Init_t* initDevicePrm)
+{
+ memcpy(&devicePrm, initDevicePrm, sizeof(devicePrm));
+}
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6206/l6206_class.h Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,651 @@
+/**
+ ******************************************************************************
+ * @file l6206_class.h
+ * @author IPC Rennes
+ * @version V1.1.0
+ * @date March 02, 2016
+ * @brief L6206 driver (dual full bridge driver)
+ * @note (C) COPYRIGHT 2015 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN4/trunk/Drivers/BSP/Components/l6206/l6206.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6206_CLASS_H
+#define __L6206_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "l6206.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "../Interfaces/Humidity_class.h" *
+ * #include "../Interfaces/Temperature_class.h" *
+ *----------------------------------------------------------------------------*/
+#include "../Interfaces/Motor_class.h"
+
+
+
+/* Private constants ---------------------------------------------------------*/
+
+/** @defgroup L6206_Private_Constants L6206 Private Constants
+ * @{
+ */
+
+/// The Number of L6206 devices required for initialisation is not supported
+#define L6206_ERROR_0 (0x8000)
+/// Error: Access a motor index greater than the one of the current brigde configuration
+#define L6206_ERROR_1 (0x8001)
+/// Error: Access a motor index which is not bidirectionnal
+#define L6206_ERROR_2 (0x8002)
+
+/// Maximum frequency of the PWMs in Hz
+#define L6206_MAX_PWM_FREQ (100000)
+
+/// Minimum frequency of the PWMs in Hz
+#define L6206_MIN_PWM_FREQ (2)
+
+/// Bridge Input 1A
+#define INPUT_1A (0)
+/// Bridge Input 2A
+#define INPUT_2A (1)
+/// Bridge Input 1B
+#define INPUT_1B (2)
+/// Bridge Input 2B
+#define INPUT_2B (3)
+
+/// Bridge A
+#define BRIDGE_A (0)
+/// Bridge B
+#define BRIDGE_B (1)
+
+
+
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a L6206 component.
+ */
+class L6206 : public Motor
+{
+public:
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @brief Constructor.
+ */
+ L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : Motor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
+ {
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+
+ flagInterruptCallback = 0;
+ errorHandlerCallback = 0;
+ numberOfDevices = 0;
+ deviceInstance = 0;
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~L6206(void) {}
+
+
+ /*** Public Component Related Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int GetValue(float *f) //(1) *
+ * { *
+ * return COMPONENT_GetValue(float *f); *
+ * } *
+ * *
+ * virtual int EnableFeature(void) //(2) *
+ * { *
+ * return COMPONENT_EnableFeature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ virtual int Init(void *init = NULL)
+ {
+ return (int) L6206_Init((void *) init);
+ }
+
+ virtual int ReadID(uint8_t *id = NULL)
+ {
+ return (int) L6206_ReadId((uint8_t *) id);
+ }
+
+ virtual void AttachErrorHandler(void (*callback)(uint16_t error))
+ {
+ L6206_AttachErrorHandler((void (*)(uint16_t error)) callback);
+ }
+
+ virtual void AttachFlagInterrupt(void (*callback)(void))
+ {
+ L6206_AttachFlagInterrupt((void (*)(void)) callback);
+ }
+
+ virtual uint16_t GetCurrentSpeed(uint8_t motorId)
+ {
+ return (uint16_t) L6206_GetCurrentSpeed((uint8_t) motorId);
+ }
+
+ virtual motorState_t GetDeviceState(uint8_t motorId)
+ {
+ return (motorState_t) L6206_GetDeviceState((uint8_t) motorId);
+ }
+
+ virtual uint8_t GetFwVersion(void)
+ {
+ return (uint8_t) L6206_GetFwVersion();
+ }
+
+ virtual uint16_t GetMaxSpeed(uint8_t motorId)
+ {
+ return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
+ }
+
+ virtual void HardStop(uint8_t motorId)
+ {
+ L6206_HardStop((uint8_t) motorId);
+ }
+
+ virtual void Run(uint8_t stepCount, motorDir_t direction)
+ {
+ L6206_Run((uint8_t) stepCount, (motorDir_t) direction);
+ }
+
+ virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
+ {
+ return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
+ }
+
+ virtual void CmdDisable(uint8_t bridgeId)
+ {
+ L6206_DisableBridge((uint8_t) bridgeId);
+ }
+
+ virtual void CmdEnable(uint8_t bridgeId)
+ {
+ L6206_EnableBridge((uint8_t) bridgeId);
+ }
+
+ virtual uint16_t CmdGetStatus(uint8_t bridgeId)
+ {
+ return (uint16_t) L6206_GetBridgeStatus((uint8_t) bridgeId);
+ }
+
+ virtual void CmdHardHiZ(uint8_t motorId)
+ {
+ L6206_HardHiz((uint8_t) motorId);
+ }
+
+ virtual void ErrorHandler(uint16_t error)
+ {
+ L6206_ErrorHandler((uint16_t) error);
+ }
+
+ virtual void SetDualFullBridgeConfig(uint8_t newConfig)
+ {
+ L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
+ }
+
+ virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId)
+ {
+ return (uint32_t) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
+ }
+
+ virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
+ {
+ L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
+ }
+
+ virtual bool SetNbDevices(uint8_t nbDevices)
+ {
+ return (bool) L6206_SetNbDevices((uint8_t) nbDevices);
+ }
+
+
+ /*** Public Interrupt Related Methods ***/
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Implement here interrupt related methods, if any. *
+ * Note that interrupt handling is platform dependent, e.g.: *
+ * + mbed: *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.fall(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void AttachFeatureIRQ(void (*fptr) (void)) *
+ * { *
+ * feature_irq.fall(fptr); *
+ * } *
+ * *
+ * void EnableFeatureIRQ(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void DisableFeatureIRQ(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
+
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableFlagIRQ(uint8_t bridgeId)
+ {
+ if (bridgeId == BRIDGE_A)
+ {
+ flag_A_irq.mode(PullUp);
+ flag_A_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+ }
+ else
+ {
+ flag_B_irq.mode(PullUp);
+ flag_B_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+ }
+ }
+
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableFlagIRQ(uint8_t bridgeId)
+ {
+ if (bridgeId == BRIDGE_A)
+ flag_A_irq.fall(NULL);
+ else
+ flag_B_irq.fall(NULL);
+ }
+
+
+ /*** Public In/Out Related Methods ***/
+
+ void OutVal( uint8_t bridgeId, uint8_t val)
+ {
+ if( bridgeId == BRIDGE_A)
+ {
+ EN_flag_A.output();
+ EN_flag_A.mode(PullNone);
+ EN_flag_A.write(val);
+ }
+ else
+ {
+ EN_flag_B.output();
+ EN_flag_B.mode(PullNone);
+ EN_flag_B.write(val);
+ }
+ }
+
+protected:
+
+ /*** Protected Component Related Methods ***/
+
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * Status_t COMPONENT_GetValue(float *f); //(1) *
+ * Status_t COMPONENT_EnableFeature(void); //(2) *
+ * Status_t COMPONENT_ComputeAverage(void); //(3) *
+ *------------------------------------------------------------------------*/
+ Status_t L6206_Init(void *init);
+ Status_t L6206_ReadId(uint8_t *id);
+ void L6206_TickHandler(uint8_t deviceId); //Handle the device state machine at each tick timer pulse end
+ void L6206_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler
+ void L6206_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
+ void L6206_DisableBridge(uint8_t bridgeId); //Disable the specified bridge
+ void L6206_EnableBridge(uint8_t bridgeId); //Enable the specified bridge
+ uint16_t L6206_GetBridgeStatus(uint8_t deviceId); //Get bridge status
+ uint16_t L6206_GetCurrentSpeed(uint8_t motorId); //Return the current speed in pps
+ motorState_t L6206_GetDeviceState(uint8_t motorId); //Return the device state
+ uint8_t L6206_GetFwVersion(void); //Return the FW version
+ uint16_t L6206_GetMaxSpeed(uint8_t motorId); //Return the max speed in pps
+ void L6206_HardHiz(uint8_t motorId); //Stop the motor and disable the power bridge
+ void L6206_HardStop(uint8_t motorId); //Stop the motor without disabling the power bridge
+ void L6206_Run(uint8_t motorId, motorDir_t direction); //Run the motor
+ uint32_t L6206_GetBridgeInputPwmFreq(uint8_t bridgeId); // Get the PWM frequency of the bridge input
+ void L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq); // Set the PWM frequency of the bridge input
+ void L6206_SetDualFullBridgeConfig(uint8_t newConfig); // Set dual full bridge configuration
+ bool L6206_SetMaxSpeed(uint8_t motorId,uint16_t newMaxSpeed); //Set the max speed in pps
+ bool L6206_SetNbDevices(uint8_t nbDevices); //Set the number of driver devices
+ void L6206_ErrorHandler(uint16_t error);
+ void L6206_FlagInterruptHandler(void);
+ uint8_t L6206_GetBridgeIdUsedByMotorId(uint8_t motorId);
+ uint8_t L6206_GetBridgeInputUsedByMotorId(uint8_t motorId);
+ uint8_t L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput);
+ uint8_t L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId);
+ bool L6206_IsBidirectionnalMotor(uint8_t motorId);
+ void L6206_SetDeviceParamsToPredefinedValues(void);
+ void L6206_SetDeviceParamsToGivenValues(L6206_Init_t* initDevicePrm);
+
+ /*** Component's I/O Methods ***/
+
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+ void L6206_Board_Delay(uint32_t delay)
+ {
+ wait_ms(delay);
+ }
+
+ void L6206_Board_DisableBridge(uint8_t bridgeId)
+ {
+ DisableFlagIRQ(BRIDGE_A);
+ DisableFlagIRQ(BRIDGE_B);
+
+ __disable_irq();
+ OutVal( bridgeId, 0);
+ __enable_irq();
+ }
+
+ void L6206_Board_EnableBridge(uint8_t bridgeId, uint8_t addDelay)
+ {
+ OutVal( bridgeId, 1);
+
+ if (addDelay != 0)
+ {
+ wait_ms(BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY);
+ }
+
+ EnableFlagIRQ( bridgeId);
+ }
+
+
+ uint32_t L6206_Board_GetFlagPinState(uint8_t bridgeId)
+ {
+ if (bridgeId == 0)
+ {
+ EN_flag_A.input();
+ return EN_flag_A.read();
+ }
+ else
+ {
+ EN_flag_B.input();
+ return EN_flag_B.read();
+ }
+ }
+
+ void L6206_Board_GpioInit(void)
+ {
+ /* Init bridge Enable */
+ EN_flag_A.output();
+ EN_flag_A.write(0);
+ EN_flag_A.input();
+
+ EN_flag_B.output();
+ EN_flag_B.write(0);
+ EN_flag_B.input();
+
+
+ /* Init flag Irq */
+ DisableFlagIRQ(BRIDGE_A);
+ DisableFlagIRQ(BRIDGE_B);
+
+ }
+
+ /** Board PWM management **/
+
+ void L6206_Board_PwmSetFreq(uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
+ {
+ /* Computing the period of PWM. */
+ float period = 1.0f / newFreq;
+ float duty_cycle;
+ int period_us = (int)(period * 1E6);
+
+ if (duty > 100) duty = 100;
+ duty_cycle = (float)duty / 100.0f;
+
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_1A.period_us(period_us);
+ pwm_1A.write(duty_cycle);
+ break;
+
+ case 1:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_2A.period_us(period_us);
+ pwm_2A.write(duty_cycle);
+ break;
+
+ case 2:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_1B.period_us(period_us);
+ pwm_1B.write(duty_cycle);
+ break;
+
+ case 3:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_2B.period_us(period_us);
+ pwm_2B.write(duty_cycle);
+ break;
+ }
+ }
+
+ void L6206_Board_PwmDeInit(uint8_t bridgeInput)
+ {
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ //timer_pwm_1A.detach();
+ break;
+
+ case 1:
+ //timer_pwm_2A.detach();
+ break;
+
+ case 2:
+ //timer_pwm_1B.detach();
+ break;
+
+ case 3:
+ //timer_pwm_2B.detach();
+ break;
+ }
+ }
+
+ void L6206_Board_PwmInit(uint8_t bridgeInput)
+ {
+ }
+
+ void L6206_Board_PwmStop(uint8_t bridgeInput)
+ {
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ pwm_1A.write(0.0);
+ break;
+
+ case 1:
+ pwm_2A.write(0.0);
+ break;
+
+ case 2:
+ pwm_1B.write(0.0);
+ break;
+
+ case 3:
+ pwm_2B.write(0.0);
+ break;
+ }
+ }
+
+
+ /*** Component's Instance Variables ***/
+
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+
+ /* Flag Interrupt. */
+ InterruptIn flag_A_irq;
+ InterruptIn flag_B_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+
+ /* Digital In/Out for Flag EN pin */
+ DigitalInOut EN_flag_A;
+ DigitalInOut EN_flag_B;
+
+ /* PWM Out pin */
+ PwmOut pwm_1A;
+ PwmOut pwm_2A;
+ PwmOut pwm_1B;
+ PwmOut pwm_2B;
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut address; *
+ * DevI2C &dev_i2c; *
+ *------------------------------------------------------------------------*/
+
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ void (*flagInterruptCallback)(void);
+
+ void (*errorHandlerCallback)(uint16_t error);
+
+ uint8_t numberOfDevices;
+
+ uint8_t deviceInstance;
+
+ deviceParams_t devicePrm;
+
+
+ /** PWM timer variables */
+
+ bool pwm_1A_activated;
+ bool pwm_2A_activated;
+ bool pwm_1B_activated;
+ bool pwm_2B_activated;
+};
+
+#endif /* __L6206_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6206/l6206_target_config.h Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,104 @@
+/**************************************************************************//**
+ * @file L6206_target_config.h
+ * @author IPC Rennes
+ * @version V1.0.0
+ * @date January 06, 2015
+ * @brief Predefines values for the L6206 parameters
+ * and for the devices parameters
+ * @note (C) COPYRIGHT 2015 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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 __L6206_TARGET_CONFIG_H
+#define __L6206_TARGET_CONFIG_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup L6474
+ * @{
+ */
+
+/** @addtogroup L6206_Exported_Constants
+ * @{
+ */
+
+/** @defgroup Predefined_L6206_Parameters_Values Predefined L6206 Parameters Values
+ * @{
+ */
+
+/// The maximum number of L6206 devices
+#define MAX_NUMBER_OF_DEVICES (1)
+
+/// The maximum number of BLDC motors connected to the L6206
+#define MAX_NUMBER_OF_BRUSH_DC_MOTORS (4)
+
+/// Frequency of PWM of Input 1 Bridge A in Hz up to 100000Hz
+#define L6206_CONF_PARAM_FREQ_PWM1A (20000)
+/// Frequency of PWM of Input 2 Bridge A in Hz up to 100000Hz
+/// ON IHM04A1, must be identical to L6206_CONF_PARAM_FREQ_PWM1A as used timer is the same
+#define L6206_CONF_PARAM_FREQ_PWM2A (20000)
+/// Frequency of PWM of Input 1 Bridge B in Hz up to 100000Hz
+#define L6206_CONF_PARAM_FREQ_PWM1B (20000)
+/// Frequency of PWM of Input 2 Bridge B in Hz up to 100000Hz
+/// On IHM04A1, must be identical to L6206_CONF_PARAM_FREQ_PWM2B as used timer is the same
+#define L6206_CONF_PARAM_FREQ_PWM2B (20000)
+
+/// Frequency of PWM of Input 2 Bridge B (in kHz)
+#define L6206_CONF_PARAM_PARALLE_BRIDGES (PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B)
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* __L6206_TARGET_CONFIG_H */
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_COMMON.lib Tue May 03 11:16:57 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#216930edb6b7
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Repository details
| Type: | Library |
|---|---|
| Created: | 17 May 2016 |
| Imports: | 138 |
| Forks: | 1 |
| Commits: | 7 |
| Dependents: | 9 |
| Dependencies: | 1 |
| Followers: | 409 |
The code in this repository is Apache licensed.
Components
X-NUCLEO-IHM04A1 Dual Brush DC Motor Driver