STSpin240_250_def.h

00001 /**
00002  ******************************************************************************
00003   * @file    STSpin240_250_def.h 
00004   * @author  IPC Rennes
00005   * @version V1.0.0
00006   * @date    February 10, 2016
00007   * @brief   Header for STSpin240 (low voltage dual brush DC motor driver) and 
00008   *          STSpin250 driver (low voltage  brush DC motor driver)
00009   * @note    (C) COPYRIGHT 2016 STMicroelectronics
00010   ******************************************************************************
00011   * @attention
00012   *
00013   * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00014   *
00015   * Redistribution and use in source and binary forms, with or without modification,
00016   * are permitted provided that the following conditions are met:
00017   *   1. Redistributions of source code must retain the above copyright notice,
00018   *      this list of conditions and the following disclaimer.
00019   *   2. Redistributions in binary form must reproduce the above copyright notice,
00020   *      this list of conditions and the following disclaimer in the documentation
00021   *      and/or other materials provided with the distribution.
00022   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00023   *      may be used to endorse or promote products derived from this software
00024   *      without specific prior written permission.
00025   *
00026   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00027   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00028   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00029   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00030   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00031   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00032   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00033   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00034   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00035   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00036   *
00037   ******************************************************************************
00038   */
00039 
00040 /* Define to prevent recursive inclusion -------------------------------------*/
00041 #ifndef __STSPIN240_250_H
00042 #define __STSPIN240_250_H
00043 
00044 #ifdef __cplusplus
00045  extern "C" {
00046 #endif 
00047 
00048 /* Includes ------------------------------------------------------------------*/
00049 #include "STSpin240_250_config.h"
00050 #include "motor_def.h"   
00051    
00052 /* Definitions ---------------------------------------------------------------*/
00053 
00054 /** @addtogroup Components
00055   * @{
00056   */   
00057    
00058 /** @defgroup STSPIN240_250 STSPIN240_250
00059   * @{
00060   */   
00061    
00062 /** @defgroup STSPIN240_250_Exported_Defines STSPIN240_250 Exported Defines
00063   * @{
00064   */   
00065 
00066 /// Current FW version
00067    
00068 /// Current FW major version
00069 #define STSPIN240_250_FW_MAJOR_VERSION (uint8_t)(1)
00070 /// Current FW minor version
00071 #define STSPIN240_250_FW_MINOR_VERSION (uint8_t)(0)
00072 /// Current FW patch version
00073 #define STSPIN240_250_FW_PATCH_VERSION (uint8_t)(0)
00074 /// Current FW version
00075 #define STSPIN240_250_FW_VERSION (uint32_t)((STSPIN240_250_FW_MAJOR_VERSION<<16)|\
00076                                             (STSPIN240_250_FW_MINOR_VERSION<<8)|\
00077                                             (STSPIN240_250_FW_PATCH_VERSION))   
00078 
00079 ///Max number of Brush DC motors
00080 #define STSPIN240_250_NB_MAX_MOTORS (2)
00081 ///Number of Bridges
00082 #define STSPIN240_250_NB_BRIDGES (2)
00083     
00084     /**
00085   * @}
00086   */
00087      
00088 /* Types ---------------------------------------------------------------------*/
00089 
00090 /** @defgroup STSPIN240_250_Exported_Types STSPIN240_250 Exported Types
00091   * @{
00092   */   
00093 
00094 
00095 /** @defgroup Device_Parameters Device Parameters
00096   * @{
00097   */
00098 
00099 /// Device Parameters Structure Type
00100 typedef struct {
00101     /// Pwm frequency of the bridge input
00102     uint32_t bridgePwmFreq[STSPIN240_250_NB_BRIDGES];      
00103     /// Pwm frequency of the ref pin
00104     uint32_t refPwmFreq;      
00105     /// Pwm Duty Cycle of the ref pin
00106     uint8_t refPwmDc;      
00107     /// Speed% (from 0 to 100) of the corresponding motor
00108      uint16_t speed[STSPIN240_250_NB_MAX_MOTORS];  
00109     /// FORWARD or BACKWARD direction of the motors
00110     motorDir_t direction[STSPIN240_250_NB_MAX_MOTORS];                 
00111     /// Current State of the motors
00112      motorState_t motionState[STSPIN240_250_NB_MAX_MOTORS];       
00113     /// Current State of the bridges
00114     bool bridgeEnabled[STSPIN240_250_NB_BRIDGES];    
00115     /// Enabling of a dual bridge configuration
00116     bool dualBridgeEnabled;    
00117 }deviceParams_t; 
00118 
00119 /**
00120   * @}
00121   */
00122 
00123 
00124 
00125 /** @defgroup STSpin240_250_Initialization_Structure STSpin240_250 Initialization Structure
00126   * @{
00127   */
00128 /* ACTION --------------------------------------------------------------------*
00129  * Declare here the component's initialization structure, if any, one         *
00130  * variable per line without initialization.                                  *
00131  *                                                                            *
00132  * Example:                                                                   *
00133  *   typedef struct                                                           *
00134  *   {                                                                        *
00135  *     int frequency;                                                         *
00136  *     int update_mode;                                                       *
00137  *   } COMPONENT_init_t;                                                      *
00138  *----------------------------------------------------------------------------*/  
00139 typedef struct {
00140   /* Frequency of the bridge PWMs in Hz up to 100000Hz */
00141   uint32_t bridgePwmFreq[STSPIN240_250_NB_BRIDGES];
00142   /* Frequency of the PWM used for Ref pin in Hz up to 100000Hz */
00143   uint32_t refPwmFreq; 
00144   /* Duty cycle of the PWM used for Ref pin in % (0..100) */
00145   uint8_t refPwmDc;
00146   /* Dual Bridge configuration  (0 for mono, 1 for dual brush dc (STSPIN240 only) */
00147   bool dualBridgeEnabled;
00148 } STSpin240_250_init_t;
00149 
00150 /**
00151   * @}
00152   */
00153 
00154 /** 
00155  * @brief  Powerstep01 driver data structure definition.
00156  */ 
00157 /* ACTION --------------------------------------------------------------------*
00158  * Declare here the structure of component's data, if any, one variable per   *
00159  * line without initialization.                                               *
00160  *                                                                            *
00161  * Example:                                                                   *
00162  *   typedef struct                                                           *
00163  *   {                                                                        *
00164  *       int T0_out;                                                          *
00165  *       int T1_out;                                                          *
00166  *       float T0_degC;                                                       *
00167  *       float T1_degC;                                                       *
00168  *   } COMPONENT_Data_t;                                                      *
00169  *----------------------------------------------------------------------------*/
00170 
00171 /**
00172   * @}
00173   */
00174 
00175 /**
00176   * @}
00177   */
00178 
00179 /* Functions -----------------------------------------------------------------*/
00180 
00181 
00182 /** @defgroup STSPIN240_250_Board_Linked_Functions STSPIN240_250 Board Linked Functions
00183   * @{
00184   */  
00185 
00186 /* ACTION --------------------------------------------------------------------*
00187  * Declare here extern platform-dependent APIs you might need (e.g.: I/O and  *
00188  * interrupt related functions), and implement them in a glue-logic file on   *
00189  * the target environment, for example within the "x_nucleo_board.c" file.    *
00190  * E.g.:                                                                      *
00191  *   extern status_t COMPONENT_IO_Init (void *handle);                        *
00192  *   extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
00193  *   extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
00194  *   extern void     COMPONENT_IO_ITConfig(void);                             *
00195  *----------------------------------------------------------------------------*/
00196     
00197 ///Delay of the requested number of milliseconds
00198 extern void STSpin240_250_Board_Delay(void *handle, uint32_t delay);         
00199 ///Disable the bridges
00200 extern void STSpin240_250_Board_DisableBridge(void *handle);     
00201 ///Enable the specified bridge
00202 extern void STSpin240_250_Board_EnableBridge(void *handle, uint8_t addDelay);      
00203 //Get the status of the flag and enable Pin
00204 extern uint8_t STSpin240_250_Board_GetFaultPinState(void *handle);
00205 //Get the status of the reset Pin
00206 extern uint8_t STSpin240_250_Board_GetResetPinState(void *handle);
00207 ///Set Briges Inputs PWM frequency and start it
00208 extern void STSpin240_250_Board_PwmSetFreq(void *handle, uint8_t pwmId, uint32_t newFreq, uint8_t duty); 
00209 ///Deinitialise the PWM of the specified bridge input
00210 extern void STSpin240_250_Board_PwmDeInit(void *handle, uint8_t pwmId);
00211 ///init the PWM of the specified bridge input
00212 extern void STSpin240_250_Board_PwmInit(void *handle, uint8_t pwmId, uint8_t onlyChannel);    
00213 ///Stop the PWM of the specified brigde input
00214 extern void STSpin240_250_Board_PwmStop(void *handle, uint8_t pwmId);
00215 ///Release the reset pin of the STSpin240 or STSpin250
00216 extern void STSpin240_250_Board_ReleaseReset(void *handle, uint8_t deviceId); 
00217 ///Reset the STSpin240 or STSpin250
00218 extern void STSpin240_250_Board_Reset(void *handle, uint8_t deviceId);  
00219 ///Set direction of the specified bridge
00220 extern void STSpin240_250_Board_SetDirectionGpio(void *handle, uint8_t bridgeId, uint8_t gpioState); 
00221 
00222 
00223 /**
00224   * @}
00225   */
00226 
00227 
00228 /**
00229   * @}
00230   */
00231 
00232 /**
00233   * @}
00234   */
00235 
00236 #ifdef __cplusplus
00237   }
00238 #endif
00239 
00240 #endif /* #ifndef __STSPIN240_250_H */
00241 
00242 
00243 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/