Diff: Components/stspin220/STSpin220_def.h

Revision:

4:265c30b9112a

Parent:

3:a132aa6d66e4

Child:

5:fd1315beea32

--- a/Components/stspin220/STSpin220_def.h	Fri Mar 24 10:59:19 2017 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,344 +0,0 @@
-/******************************************************//**
-  * @file    STSpin220.h 
-  * @author  IPC Rennes
-  * @version V1.1.0
-  * @date    May 26th, 2016
-  * @brief   Header for STSpin220 driver (fully integrated microstepping motor driver)
-  * @note    (C) COPYRIGHT 2016 STMicroelectronics
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __STSPIN220_H
-#define __STSPIN220_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-/* Includes ------------------------------------------------------------------*/
-#include "STSpin220_config.h"
-#include "motor_def.h"
-
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup Components
- * @{
- */
-    
-/** @defgroup STSpin220
-  * @{
-  */
-
-/** @defgroup Stspin220_Exported_Constants Stspin220 Exported Constants
-  * @{
-  */
-/// Current FW major version
-#define STSPIN220_FW_MAJOR_VERSION (uint8_t)(1)
-/// Current FW minor version
-#define STSPIN220_FW_MINOR_VERSION (uint8_t)(1)
-/// Current FW patch version
-#define STSPIN220_FW_PATCH_VERSION (uint8_t)(0)
-/// Current FW version
-#define STSPIN220_FW_VERSION       (uint32_t)((STSPIN220_FW_MAJOR_VERSION<<16)|\
-                                              (STSPIN220_FW_MINOR_VERSION<<8)|\
-                                              (STSPIN220_FW_PATCH_VERSION))
-
-/// Max position
-#define STSPIN220_MAX_POSITION           (0x7FFFFFFF)
-
-/// Min position
-#define STSPIN220_MIN_POSITION           (0x80000000)
-
-/// Position range
-#define STSPIN220_POSITION_RANGE         ((uint32_t)(STSPIN220_MAX_POSITION -\
-                                                        STSPIN220_MIN_POSITION))
-/// STSpin220 error base number
-#define STSPIN220_ERROR_BASE             (0xA000)
-
-/// run bit mask
-#define STSPIN220_RUN_BIT_MASK           (0x01)
-
-/// move bit mask
-#define STSPIN220_MOVE_BIT_MASK          (0x02)
-
-/// soft stop bit mask
-#define STSPIN220_SOFT_STOP_BIT_MASK     (0x04)
-   
-/// direction change bit mask
-#define STSPIN220_DIR_CHANGE_BIT_MASK    (0x08)
-
-/// Maximum frequency of the step clock frequency in Hz
-#define STSPIN220_MAX_STCK_FREQ          (10000)
-
-/// Minimum frequency of the step clock frequency in Hz
-#define STSPIN220_MIN_STCK_FREQ          (8)
-
-/// Minimum duration of standby 
-#define STANDBY_MIN_DURATION             (1)
-    
-/// Dead time after standby exit
-#define AFTER_STANDBY_EXIT_DEAD_TIME     (1)
-
-/// Reset delay to select step mode
-#define SELECT_STEP_MODE_DELAY           (1)
-
-/// PWM REF and bridges disable delay
-#define DISABLE_DELAY                    (1)
-
-/// Microstepping sequencer maximum value
-#define SEQUENCER_MAX_VALUE              (uint16_t)(0x3FF)
-
-/// MCU wait time after power bridges are enabled
-#define BRIDGE_TURN_ON_DELAY                                     (10)
-
-/// RC Filtering delay on the PWM
-#define PWM_FILTER_TIME_CONSTANT                                 (5)
-/**
-  * @}
-  */
-
-/* Types ---------------------------------------------------------------------*/
-
-/** @defgroup Stspin220_Exported_Types Stspin220 Exported Types
-  * @{
-  */
-
-/** @defgroup Error_Types Error Types
-  * @{
-  */
-/// Errors
-typedef enum {
-  STSPIN220_ERROR_SET_HOME         = STSPIN220_ERROR_BASE,      /// Error while setting home position
-  STSPIN220_ERROR_SET_MAX_SPEED    = STSPIN220_ERROR_BASE + 1,  /// Error while setting max speed
-  STSPIN220_ERROR_SET_MIN_SPEED    = STSPIN220_ERROR_BASE + 2,  /// Error while setting min speed
-  STSPIN220_ERROR_SET_ACCELERATION = STSPIN220_ERROR_BASE + 3,  /// Error while setting acceleration
-  STSPIN220_ERROR_SET_DECELERATION = STSPIN220_ERROR_BASE + 4,  /// Error while setting decelaration
-  STSPIN220_ERROR_MCU_OSC_CONFIG   = STSPIN220_ERROR_BASE + 5,  /// Error while configuring mcu oscillator
-  STSPIN220_ERROR_MCU_CLOCK_CONFIG = STSPIN220_ERROR_BASE + 6,  /// Error while configuring mcu clock
-  STSPIN220_ERROR_POSITION         = STSPIN220_ERROR_BASE + 7,  /// Unexpected current position (wrong number of steps)
-  STSPIN220_ERROR_SPEED            = STSPIN220_ERROR_BASE + 8,  /// Unexpected current speed
-  STSPIN220_ERROR_INIT             = STSPIN220_ERROR_BASE + 9,  /// Unexpected number of devices or unexpected value for predefined parameter
-  STSPIN220_ERROR_SET_DIRECTION    = STSPIN220_ERROR_BASE + 10, /// Error while setting direction
-  STSPIN220_ERROR_SET_STEP_MODE    = STSPIN220_ERROR_BASE + 11, /// Attempt to set an unsupported step mode
-  STSPIN220_ERROR_APPLY_SPEED      = STSPIN220_ERROR_BASE + 12, /// Error while applying speed
-  STSPIN220_ERROR_SET_TORQUE       = STSPIN220_ERROR_BASE + 13, /// Error while setting torque
-  STSPIN220_ERROR_STEP_CLOCK       = STSPIN220_ERROR_BASE + 14  /// Error related to step clock
-}errorTypes_t;
-/**
-  * @}
-  */
-
-/** @defgroup Device_Commands Device Commands
-  * @{
-  */
-/// Device commands 
-typedef enum {
-  NO_CMD              = 0x00, 
-  RUN_CMD             = (STSPIN220_RUN_BIT_MASK),
-  MOVE_CMD            = (STSPIN220_MOVE_BIT_MASK),
-} deviceCommand_t;
-/**
-  * @}
-  */
-
-/** @defgroup Device_Parameters Device Parameters
-  * @{
-  */
-/// Device Parameters Structure Type
-typedef struct {
-    /// accumulator used to store speed increase smaller than 1 pps
-    volatile uint32_t accu;           
-    /// Position in microstep according to current step mode
-    volatile int32_t currentPosition;
-    /// Position of sequencer
-    volatile int16_t sequencerPosition;
-    /// mark position in microstep (motor position control mode)
-    volatile int32_t markPosition;
-    /// position in microstep at the end of the accelerating phase
-    volatile uint32_t endAccPos;      
-    /// nb of in microstep performed from the beggining of the goto or the move command 
-    volatile uint32_t relativePos;    
-    /// position in microstep step at the start of the decelerating phase
-    volatile uint32_t startDecPos;    
-    /// nb of microstep steps to perform for the goto or move commands
-    uint32_t stepsToTake;
-    
-    /// constant speed phase torque value (%)
-    volatile uint8_t runTorque;
-    /// acceleration phase torque value (%)
-    volatile uint8_t accelTorque;
-    /// deceleration phase torque value (%)
-    volatile uint8_t decelTorque;
-    /// holding phase torque value (%)
-    volatile uint8_t holdTorque;
-    /// current selected torque value
-    volatile uint8_t currentTorque;
-    /// torque update
-    volatile bool updateTorque;
-    /// PWM frequency used to generate REF voltage
-    volatile uint32_t refPwmFreq;
-    /// torque boost enable
-    volatile bool torqueBoostEnable;
-    /// torque boost speed threshold
-    volatile uint16_t torqueBoostSpeedThreshold;
-    
-    /// acceleration in pps^2 
-    volatile uint16_t acceleration;
-    /// deceleration in pps^2
-    volatile uint16_t deceleration;
-    /// max speed in pps (speed use for goto or move command)
-    volatile uint16_t maxSpeed;
-    /// min speed in pps
-    volatile uint16_t minSpeed;
-    /// current speed in pps
-    volatile uint16_t speed;
-    
-    /// command under execution
-    volatile deviceCommand_t commandExecuted; 
-    /// FORWARD or BACKWARD direction
-    volatile motorDir_t direction;                 
-    /// current state of the device
-    volatile motorState_t motionState;
-    /// current step mode
-    volatile motorStepMode_t stepMode;
-    /// latched step mode
-    motorStepMode_t stepModeLatched;
-    /// current stop mode
-    motorStopMode_t stopMode;
-    
-}deviceParams_t; 
-/**
-  * @}
-  */
-
-/// Motor driver initialization structure definition  
-typedef struct
-{
-  /// acceleration in pps^2
-  uint16_t acceleration;
-  /// deceleration in pps^2
-  uint16_t deceleration;
-  /// max speed in pps (speed use for goto or move command)
-  uint16_t maxSpeed;
-  /// min speed in pps
-  uint16_t minSpeed;
-  /// acceleration phase torque value (%)
-  uint8_t accelTorque;
-  /// deceleration phase torque value (%)
-  uint8_t decelTorque;
-  /// constant speed phase torque value (%)
-  uint8_t runTorque;
-  /// holding phase torque value (%)
-  uint8_t holdTorque;
-  /// torque boost enable
-  bool torqueBoostEnable;
-  /// torque boost speed threshold
-  uint16_t torqueBoostSpeedThreshold;
-  /// step mode
-  motorStepMode_t stepMode;
-  /// stop mode
-  motorStopMode_t stopMode;
-  /// PWM frequency used to generate REF voltage
-  uint32_t vrefPwmFreq;
-} Stspin220_init_t;
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/* Functions --------------------------------------------------------*/
-
-/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
-  * @{
-  */
-///Delay of the requested number of milliseconds
-extern void Stspin220_Board_Delay(uint32_t delay);
-///Enable Irq
-extern void Stspin220_Board_EnableIrq(void);
-///Disable Irq
-extern void Stspin220_Board_DisableIrq(void);
-///Setting the Stck Timeout delay and attaching a callback function to it
-extern void Stspin220_Board_TimStckSetFreq(uint16_t newFreq);
-///Initialises the step clock pin level
-extern void Stspin220_Board_TimStckInit(void);
-///Stopping the Timeout
-extern uint8_t Stspin220_Board_TimStckStop(volatile uint8_t *pToggleOdd);
-///Set the duty cycle of the PwmOut used for the REF
-extern void Stspin220_Board_PwmRefSetDutyCycle(uint8_t dutyCycle);
-///Set the frequency of the PwmOut used for the REF
-extern void Stspin220_Board_PwmRefSetFreq(uint32_t newFreq);
-///Start the reference voltage pwm
-extern void Stspin220_Board_PwmRefStart(void);
-///Reset the STSpin220 reset pin
-extern void Stspin220_Board_Releasereset(void);
-///Set the STSpin220 reset pin 
-extern void Stspin220_Board_reset(void);
-///Set direction GPIO
-extern void Stspin220_Board_SetDirectionGpio(uint8_t gpioState);
-///Reset the STCK\MODE3 pin
-extern void Stspin220_Board_StckMode3_reset(void);
-///Set the STCK\MODE3 pin
-extern void Stspin220_Board_StckMode3_Set(void);
-///Enable the power bridges (leave the output bridges HiZ)
-extern void Stspin220_Board_enable(void); 
-///Disable the power bridges (leave the output bridges HiZ)    
-extern void Stspin220_Board_disable(void); 
-///Select the STSpin220 mode1, mode2, mode3 and mode4 pins levels
-extern bool Stspin220_Board_SetModePins(uint8_t modePin1Level,\
-  uint8_t modePin2Level,\
-  uint8_t modePin3Level,\
-  uint8_t modePin4Level);
-///Select Full Step mode
-extern void Stspin220_Board_SetFullStep(void);
-///Unselect Full Step mode
-extern void Stspin220_Board_UnsetFullStep(void);
-/**
-  * @}
-  */
-
-  /**
-  * @}
-  */
-
-/**
-  * @}
-  */
-  
-#ifdef __cplusplus
-  }
-#endif
-
-#endif /* #ifndef __STSPIN220_H */
-
-/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/