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Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of X_NUCLEO_IHM01A1 by
Diff: Components/Common/motor_def.h
- Revision:
- 33:8daea0279301
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Components/Common/motor_def.h Fri Mar 10 11:07:50 2017 +0100 @@ -0,0 +1,368 @@ +/** + ****************************************************************************** + * @file motor_def.h + * @author IPC Rennes + * @version V1.3.0 + * @date November 12, 2014 + * @brief This file contains all the functions prototypes for motor drivers. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ + + +/* Define to prevent recursive inclusion -------------------------------------*/ + +#ifndef __MOTOR_H +#define __MOTOR_H + +#ifdef __cplusplus + extern "C" { +#endif + + +/* Includes ------------------------------------------------------------------*/ + +#include <stdint.h> +#include "component_def.h" + + +/* Definitions ---------------------------------------------------------------*/ + +/// boolean for false condition +#ifndef FALSE +#define FALSE (0) +#endif +/// boolean for true condition +#ifndef TRUE +#define TRUE (1) +#endif + + +/* Types ---------------------------------------------------------------------*/ + +/** @addtogroup BSP + * @{ + */ + +/** @addtogroup Components + * @{ + */ + +/** @addtogroup MOTOR + * @{ + */ + +/** @defgroup MOTOR_Exported_Types + * @{ + */ + +/** @defgroup Device_Direction_Options + * @{ + */ +/// Direction options +typedef enum { + BACKWARD = 0, + FORWARD = 1 +} motorDir_t; + +/** + * @} + */ + +/** @defgroup Device_Action_Options + * @{ + */ +/// Action options +typedef enum { + ACTION_RESET = ((uint8_t)0x00), + ACTION_COPY = ((uint8_t)0x08) +} motorAction_t; +/** + * @} + */ + +/** @defgroup Device_States + * @{ + */ +/// Device states +typedef enum { + ACCELERATING = 0, + DECELERATING = 1, + STEADY = 2, + INACTIVE= 3 +} motorState_t; +/** + * @} + */ + +/** @defgroup 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) +} motorStepMode_t; +/** + * @} + */ + +/** @defgroup Device_Commands + * @{ + */ +/// Device commands +typedef enum { + RUN_CMD, + MOVE_CMD, + SOFT_STOP_CMD, + NO_CMD +} deviceCommand_t; +/** + * @} + */ + +/** @defgroup Device_Parameters + * @{ + */ +/// Device Parameters Structure Type +typedef struct { + /// accumulator used to store speed increase smaller than 1 pps + volatile uint32_t accu; + /// Position in steps at the start of the goto or move commands + volatile int32_t currentPosition; + /// position in step at the end of the accelerating phase + volatile uint32_t endAccPos; + /// nb steps performed from the beggining of the goto or the move command + volatile uint32_t relativePos; + /// position in step at the start of the decelerating phase + volatile uint32_t startDecPos; + /// nb steps to perform for the goto or move commands + volatile uint32_t stepsToTake; + /// 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; +} deviceParams_t; +/** + * @} + */ + +/** @defgroup Motor_Driver_Structure + * @{ + */ + +/** + * @brief MOTOR driver virtual table structure definition. + */ +typedef struct +{ + /* ACTION ----------------------------------------------------------------* + * Declare here the component's generic functions. * + * Tag this group of functions with the " Generic " C-style comment. * + * A component's interface has to define at least the two generic * + * functions provided here below within the "Example" section, as the * + * first and second functions of its Virtual Table. They have to be * + * specified exactly in the given way. * + * * + * Example: * + * status_t (*Init) (void *handle, void *init); * + * status_t (*ReadID) (void *handle, uint8_t *id); * + *------------------------------------------------------------------------*/ + /* Generic */ + status_t (*Init)(void *handle, void *init); + status_t (*ReadID)(void *handle, uint8_t *id); + + /* ACTION ----------------------------------------------------------------* + * Declare here the component's interrupts related functions. * + * Tag this group of functions with the " Interrupts " C-style comment. * + * Do not specify any function if not required. * + * * + * Example: * + * void (*ConfigIT) (void *handle, int a); * + *------------------------------------------------------------------------*/ + /* Interrupts */ + /// Function pointer to 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); + + /* ACTION ----------------------------------------------------------------* + * Declare here the component's specific functions. * + * Tag this group of functions with the " Specific " C-style comment. * + * Do not specify any function if not required. * + * * + * Example: * + * status_t (*GetValue) (void *handle, float *f); * + *------------------------------------------------------------------------*/ + /* Specific */ + /// Function pointer to GetAcceleration + uint16_t (*GetAcceleration)(void *handle); + /// Function pointer to GetCurrentSpeed + uint16_t (*GetCurrentSpeed)(void *handle); + /// Function pointer to GetDeceleration + uint16_t (*GetDeceleration)(void *handle); + /// Function pointer to GetDeviceState + motorState_t(*GetDeviceState)(void *handle); + /// 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); + /// Function pointer to GetMinSpeed + uint16_t (*GetMinSpeed)(void *handle); + /// 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, int32_t targetPosition); + /// Function pointer to HardStop + void (*HardStop)(void *handle); + /// Function pointer to Move + void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount); + /// Function pointer to ResetAllDevices + //void (*ResetAllDevices)(void *handle); + /// Function pointer to Run + void (*Run)(void *handle, motorDir_t direction); + /// Function pointer to 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, uint16_t newMaxSpeed); + /// Function pointer to SetMinSpeed + bool (*SetMinSpeed)(void *handle, 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); + /// Function pointer to CmdEnable + void (*CmdEnable)(void *handle); + /// Function pointer to CmdGetParam + uint32_t (*CmdGetParam)(void *handle, uint32_t param); + /// Function pointer to CmdGetStatus + uint16_t (*CmdGetStatus)(void *handle); + /// Function pointer to CmdNop + void (*CmdNop)(void *handle); + /// Function pointer to CmdSetParam + void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value); + /// Function pointer to 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 stepMod); + /// Function pointer to SetDirection + void (*SetDirection)(void *handle, motorDir_t direction); + /// Function pointer to CmdGoToDir + void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition); + /// 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 targetPosition); + /// Function pointer to CmdHardHiZ + void (*CmdHardHiZ)(void *handle); + /// Function pointer to CmdReleaseSw + void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction); + /// Function pointer to CmdResetDevice + void (*CmdResetDevice)(void *handle); + /// Function pointer to CmdResetPos + void (*CmdResetPos)(void *handle); + /// Function pointer to CmdRun + void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition); + /// Function pointer to CmdSoftHiZ + void (*CmdSoftHiZ)(void *handle); + /// Function pointer to CmdStepClock + void (*CmdStepClock)(void *handle, motorDir_t direction); + /// Function pointer to 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 temp, uint32_t command); + /// 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); +} MOTOR_VTable_t; + +#ifdef __cplusplus +} +#endif + +#endif /* __MOTOR_H */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/