Arkadi Rafalovich / X_NUCLEO_IHM01A1_Disabled_Control

Personal fork of the library for direct control instead of library control

Dependencies:   X_NUCLEO_COMMON

Dependents:   Thesis_Rotating_Platform

Fork of X_NUCLEO_IHM01A1 by Arkadi Rafalovich

Components/Common/motor.h@0:2887415a46cd, 2015-10-14 (annotated)

Committer:
Davidroid
Date:
Wed Oct 14 15:12:18 2015 +0000
Revision:
0:2887415a46cd
Child:
1:b38ebb8ea286
Library to handle the X_NUCLEO_IHM01A1 Motor Control Expansion Board.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:2887415a46cd 1 /**
Davidroid 0:2887415a46cd 2 ******************************************************************************
Davidroid 0:2887415a46cd 3 * @file motor.h
Davidroid 0:2887415a46cd 4 * @author IPC Rennes
Davidroid 0:2887415a46cd 5 * @version V1.3.0
Davidroid 0:2887415a46cd 6 * @date November 12, 2014
Davidroid 0:2887415a46cd 7 * @brief This file contains all the functions prototypes for motor drivers.
Davidroid 0:2887415a46cd 8 ******************************************************************************
Davidroid 0:2887415a46cd 9 * @attention
Davidroid 0:2887415a46cd 10 *
Davidroid 0:2887415a46cd 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Davidroid 0:2887415a46cd 12 *
Davidroid 0:2887415a46cd 13 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:2887415a46cd 14 * are permitted provided that the following conditions are met:
Davidroid 0:2887415a46cd 15 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:2887415a46cd 16 * this list of conditions and the following disclaimer.
Davidroid 0:2887415a46cd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:2887415a46cd 18 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:2887415a46cd 19 * and/or other materials provided with the distribution.
Davidroid 0:2887415a46cd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:2887415a46cd 21 * may be used to endorse or promote products derived from this software
Davidroid 0:2887415a46cd 22 * without specific prior written permission.
Davidroid 0:2887415a46cd 23 *
Davidroid 0:2887415a46cd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:2887415a46cd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:2887415a46cd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:2887415a46cd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:2887415a46cd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:2887415a46cd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:2887415a46cd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:2887415a46cd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:2887415a46cd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:2887415a46cd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:2887415a46cd 34 *
Davidroid 0:2887415a46cd 35 ******************************************************************************
Davidroid 0:2887415a46cd 36 */
Davidroid 0:2887415a46cd 37
Davidroid 0:2887415a46cd 38 /* Define to prevent recursive inclusion -------------------------------------*/
Davidroid 0:2887415a46cd 39 #ifndef __MOTOR_H
Davidroid 0:2887415a46cd 40 #define __MOTOR_H
Davidroid 0:2887415a46cd 41
Davidroid 0:2887415a46cd 42 #ifdef __cplusplus
Davidroid 0:2887415a46cd 43 extern "C" {
Davidroid 0:2887415a46cd 44 #endif
Davidroid 0:2887415a46cd 45
Davidroid 0:2887415a46cd 46 /* Includes ------------------------------------------------------------------*/
Davidroid 0:2887415a46cd 47 #include <stdint.h>
Davidroid 0:2887415a46cd 48 #include "component.h"
Davidroid 0:2887415a46cd 49
Davidroid 0:2887415a46cd 50 /** @addtogroup BSP
Davidroid 0:2887415a46cd 51 * @{
Davidroid 0:2887415a46cd 52 */
Davidroid 0:2887415a46cd 53
Davidroid 0:2887415a46cd 54 /** @addtogroup Components
Davidroid 0:2887415a46cd 55 * @{
Davidroid 0:2887415a46cd 56 */
Davidroid 0:2887415a46cd 57
Davidroid 0:2887415a46cd 58 /** @defgroup Motor
Davidroid 0:2887415a46cd 59 * @{
Davidroid 0:2887415a46cd 60 */
Davidroid 0:2887415a46cd 61
Davidroid 0:2887415a46cd 62 /** @defgroup Motor_Exported_Constants
Davidroid 0:2887415a46cd 63 * @{
Davidroid 0:2887415a46cd 64 */
Davidroid 0:2887415a46cd 65
Davidroid 0:2887415a46cd 66 /// boolean for false condition
Davidroid 0:2887415a46cd 67 #ifndef FALSE
Davidroid 0:2887415a46cd 68 #define FALSE (0)
Davidroid 0:2887415a46cd 69 #endif
Davidroid 0:2887415a46cd 70 /// boolean for true condition
Davidroid 0:2887415a46cd 71 #ifndef TRUE
Davidroid 0:2887415a46cd 72 #define TRUE (1)
Davidroid 0:2887415a46cd 73 #endif
Davidroid 0:2887415a46cd 74
Davidroid 0:2887415a46cd 75 /**
Davidroid 0:2887415a46cd 76 * @}
Davidroid 0:2887415a46cd 77 */
Davidroid 0:2887415a46cd 78
Davidroid 0:2887415a46cd 79 /** @defgroup Motor_Exported_Types
Davidroid 0:2887415a46cd 80 * @{
Davidroid 0:2887415a46cd 81 */
Davidroid 0:2887415a46cd 82
Davidroid 0:2887415a46cd 83 /** @defgroup Motor_Boolean_Type
Davidroid 0:2887415a46cd 84 * @{
Davidroid 0:2887415a46cd 85 */
Davidroid 0:2887415a46cd 86 ///bool Type
Davidroid 0:2887415a46cd 87 //typedef uint8_t bool;
Davidroid 0:2887415a46cd 88 /**
Davidroid 0:2887415a46cd 89 * @}
Davidroid 0:2887415a46cd 90 */
Davidroid 0:2887415a46cd 91
Davidroid 0:2887415a46cd 92 /** @defgroup Device_Direction_Options
Davidroid 0:2887415a46cd 93 * @{
Davidroid 0:2887415a46cd 94 */
Davidroid 0:2887415a46cd 95 /// Direction options
Davidroid 0:2887415a46cd 96 typedef enum {
Davidroid 0:2887415a46cd 97 BACKWARD = 0,
Davidroid 0:2887415a46cd 98 FORWARD = 1
Davidroid 0:2887415a46cd 99 } motorDir_t;
Davidroid 0:2887415a46cd 100 /**
Davidroid 0:2887415a46cd 101 * @}
Davidroid 0:2887415a46cd 102 */
Davidroid 0:2887415a46cd 103
Davidroid 0:2887415a46cd 104 /** @defgroup Device_Action_Options
Davidroid 0:2887415a46cd 105 * @{
Davidroid 0:2887415a46cd 106 */
Davidroid 0:2887415a46cd 107 /// Action options
Davidroid 0:2887415a46cd 108 typedef enum {
Davidroid 0:2887415a46cd 109 ACTION_RESET = ((uint8_t)0x00),
Davidroid 0:2887415a46cd 110 ACTION_COPY = ((uint8_t)0x08)
Davidroid 0:2887415a46cd 111 } motorAction_t;
Davidroid 0:2887415a46cd 112 /**
Davidroid 0:2887415a46cd 113 * @}
Davidroid 0:2887415a46cd 114 */
Davidroid 0:2887415a46cd 115
Davidroid 0:2887415a46cd 116 /** @defgroup Device_States
Davidroid 0:2887415a46cd 117 * @{
Davidroid 0:2887415a46cd 118 */
Davidroid 0:2887415a46cd 119 /// Device states
Davidroid 0:2887415a46cd 120 typedef enum {
Davidroid 0:2887415a46cd 121 ACCELERATING = 0,
Davidroid 0:2887415a46cd 122 DECELERATING = 1,
Davidroid 0:2887415a46cd 123 STEADY = 2,
Davidroid 0:2887415a46cd 124 INACTIVE= 3
Davidroid 0:2887415a46cd 125 } motorState_t;
Davidroid 0:2887415a46cd 126 /**
Davidroid 0:2887415a46cd 127 * @}
Davidroid 0:2887415a46cd 128 */
Davidroid 0:2887415a46cd 129
Davidroid 0:2887415a46cd 130 /** @defgroup Device_Step_mode
Davidroid 0:2887415a46cd 131 * @{
Davidroid 0:2887415a46cd 132 */
Davidroid 0:2887415a46cd 133 /// Stepping options
Davidroid 0:2887415a46cd 134 typedef enum {
Davidroid 0:2887415a46cd 135 STEP_MODE_FULL = ((uint8_t)0x00),
Davidroid 0:2887415a46cd 136 STEP_MODE_HALF = ((uint8_t)0x01),
Davidroid 0:2887415a46cd 137 STEP_MODE_1_4 = ((uint8_t)0x02),
Davidroid 0:2887415a46cd 138 STEP_MODE_1_8 = ((uint8_t)0x03),
Davidroid 0:2887415a46cd 139 STEP_MODE_1_16 = ((uint8_t)0x04),
Davidroid 0:2887415a46cd 140 STEP_MODE_1_32 = ((uint8_t)0x05),
Davidroid 0:2887415a46cd 141 STEP_MODE_1_64 = ((uint8_t)0x06),
Davidroid 0:2887415a46cd 142 STEP_MODE_1_128 = ((uint8_t)0x07)
Davidroid 0:2887415a46cd 143 } motorStepMode_t;
Davidroid 0:2887415a46cd 144 /**
Davidroid 0:2887415a46cd 145 * @}
Davidroid 0:2887415a46cd 146 */
Davidroid 0:2887415a46cd 147
Davidroid 0:2887415a46cd 148 /** @defgroup Device_Commands
Davidroid 0:2887415a46cd 149 * @{
Davidroid 0:2887415a46cd 150 */
Davidroid 0:2887415a46cd 151 /// Device commands
Davidroid 0:2887415a46cd 152 typedef enum {
Davidroid 0:2887415a46cd 153 RUN_CMD,
Davidroid 0:2887415a46cd 154 MOVE_CMD,
Davidroid 0:2887415a46cd 155 SOFT_STOP_CMD,
Davidroid 0:2887415a46cd 156 NO_CMD
Davidroid 0:2887415a46cd 157 } deviceCommand_t;
Davidroid 0:2887415a46cd 158 /**
Davidroid 0:2887415a46cd 159 * @}
Davidroid 0:2887415a46cd 160 */
Davidroid 0:2887415a46cd 161
Davidroid 0:2887415a46cd 162 /** @defgroup Device_Parameters
Davidroid 0:2887415a46cd 163 * @{
Davidroid 0:2887415a46cd 164 */
Davidroid 0:2887415a46cd 165 /// Device Parameters Structure Type
Davidroid 0:2887415a46cd 166 typedef struct {
Davidroid 0:2887415a46cd 167 /// accumulator used to store speed increase smaller than 1 pps
Davidroid 0:2887415a46cd 168 volatile uint32_t accu;
Davidroid 0:2887415a46cd 169 /// Position in steps at the start of the goto or move commands
Davidroid 0:2887415a46cd 170 volatile int32_t currentPosition;
Davidroid 0:2887415a46cd 171 /// position in step at the end of the accelerating phase
Davidroid 0:2887415a46cd 172 volatile uint32_t endAccPos;
Davidroid 0:2887415a46cd 173 /// nb steps performed from the beggining of the goto or the move command
Davidroid 0:2887415a46cd 174 volatile uint32_t relativePos;
Davidroid 0:2887415a46cd 175 /// position in step at the start of the decelerating phase
Davidroid 0:2887415a46cd 176 volatile uint32_t startDecPos;
Davidroid 0:2887415a46cd 177 /// nb steps to perform for the goto or move commands
Davidroid 0:2887415a46cd 178 volatile uint32_t stepsToTake;
Davidroid 0:2887415a46cd 179
Davidroid 0:2887415a46cd 180 /// acceleration in pps^2
Davidroid 0:2887415a46cd 181 volatile uint16_t acceleration;
Davidroid 0:2887415a46cd 182 /// deceleration in pps^2
Davidroid 0:2887415a46cd 183 volatile uint16_t deceleration;
Davidroid 0:2887415a46cd 184 /// max speed in pps (speed use for goto or move command)
Davidroid 0:2887415a46cd 185 volatile uint16_t maxSpeed;
Davidroid 0:2887415a46cd 186 /// min speed in pps
Davidroid 0:2887415a46cd 187 volatile uint16_t minSpeed;
Davidroid 0:2887415a46cd 188 /// current speed in pps
Davidroid 0:2887415a46cd 189 volatile uint16_t speed;
Davidroid 0:2887415a46cd 190
Davidroid 0:2887415a46cd 191 /// command under execution
Davidroid 0:2887415a46cd 192 volatile deviceCommand_t commandExecuted;
Davidroid 0:2887415a46cd 193 /// FORWARD or BACKWARD direction
Davidroid 0:2887415a46cd 194 volatile motorDir_t direction;
Davidroid 0:2887415a46cd 195 /// Current State of the device
Davidroid 0:2887415a46cd 196 volatile motorState_t motionState;
Davidroid 0:2887415a46cd 197 } deviceParams_t;
Davidroid 0:2887415a46cd 198 /**
Davidroid 0:2887415a46cd 199 * @}
Davidroid 0:2887415a46cd 200 */
Davidroid 0:2887415a46cd 201
Davidroid 0:2887415a46cd 202 /** @defgroup Motor_Driver_Initialization_Structure
Davidroid 0:2887415a46cd 203 * @{
Davidroid 0:2887415a46cd 204 */
Davidroid 0:2887415a46cd 205 /// Motor driver initialization structure definition
Davidroid 0:2887415a46cd 206 typedef struct
Davidroid 0:2887415a46cd 207 {
Davidroid 0:2887415a46cd 208 int placeholder;
Davidroid 0:2887415a46cd 209 } MOTOR_InitTypeDef;
Davidroid 0:2887415a46cd 210 /**
Davidroid 0:2887415a46cd 211 * @}
Davidroid 0:2887415a46cd 212 */
Davidroid 0:2887415a46cd 213
Davidroid 0:2887415a46cd 214 /** @defgroup Motor_Driver_Structure
Davidroid 0:2887415a46cd 215 * @{
Davidroid 0:2887415a46cd 216 */
Davidroid 0:2887415a46cd 217 /// Motor driver structure definition
Davidroid 0:2887415a46cd 218 typedef struct
Davidroid 0:2887415a46cd 219 {
Davidroid 0:2887415a46cd 220 /* Generic */
Davidroid 0:2887415a46cd 221 /* ACTION ----------------------------------------------------------------*
Davidroid 0:2887415a46cd 222 * Declare here component's generic functions. *
Davidroid 0:2887415a46cd 223 * *
Davidroid 0:2887415a46cd 224 * Example: *
Davidroid 0:2887415a46cd 225 * DrvStatusTypeDef (*Init)(void *handle, INTERFACE_InitTypeDef *init); *
Davidroid 0:2887415a46cd 226 *------------------------------------------------------------------------*/
Davidroid 0:2887415a46cd 227 DrvStatusTypeDef (*Init)(void *handle, MOTOR_InitTypeDef *init);
Davidroid 0:2887415a46cd 228 DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
Davidroid 0:2887415a46cd 229
Davidroid 0:2887415a46cd 230 /* Interrupts */
Davidroid 0:2887415a46cd 231 /* ACTION ----------------------------------------------------------------*
Davidroid 0:2887415a46cd 232 * Declare here component's interrupts related functions. *
Davidroid 0:2887415a46cd 233 * *
Davidroid 0:2887415a46cd 234 * Example: *
Davidroid 0:2887415a46cd 235 * void (*ConfigIT)(void *handle, uint16_t a); *
Davidroid 0:2887415a46cd 236 *------------------------------------------------------------------------*/
Davidroid 0:2887415a46cd 237 /// Function pointer to AttachErrorHandler
Davidroid 0:2887415a46cd 238 void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
Davidroid 0:2887415a46cd 239 /// Function pointer to AttachFlagInterrupt
Davidroid 0:2887415a46cd 240 void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
Davidroid 0:2887415a46cd 241 /// Function pointer to AttachBusyInterrupt
Davidroid 0:2887415a46cd 242 void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
Davidroid 0:2887415a46cd 243 /// Function pointer to FlagInterruptHandler
Davidroid 0:2887415a46cd 244 void (*FlagInterruptHandler)(void *handle);
Davidroid 0:2887415a46cd 245
Davidroid 0:2887415a46cd 246 /* Specific */
Davidroid 0:2887415a46cd 247 /* ACTION ----------------------------------------------------------------*
Davidroid 0:2887415a46cd 248 * Declare here component's specific functions. *
Davidroid 0:2887415a46cd 249 * *
Davidroid 0:2887415a46cd 250 * Example: *
Davidroid 0:2887415a46cd 251 * DrvStatusTypeDef (*GetValue)(void *handle, float *pfData); *
Davidroid 0:2887415a46cd 252 *------------------------------------------------------------------------*/
Davidroid 0:2887415a46cd 253 /// Function pointer to GetAcceleration
Davidroid 0:2887415a46cd 254 uint16_t (*GetAcceleration)(void *handle);
Davidroid 0:2887415a46cd 255 /// Function pointer to GetCurrentSpeed
Davidroid 0:2887415a46cd 256 uint16_t (*GetCurrentSpeed)(void *handle);
Davidroid 0:2887415a46cd 257 /// Function pointer to GetDeceleration
Davidroid 0:2887415a46cd 258 uint16_t (*GetDeceleration)(void *handle);
Davidroid 0:2887415a46cd 259 /// Function pointer to GetDeviceState
Davidroid 0:2887415a46cd 260 motorState_t(*GetDeviceState)(void *handle);
Davidroid 0:2887415a46cd 261 /// Function pointer to GetFwVersion
Davidroid 0:2887415a46cd 262 uint8_t (*GetFwVersion)(void *handle);
Davidroid 0:2887415a46cd 263 /// Function pointer to GetMark
Davidroid 0:2887415a46cd 264 int32_t (*GetMark)(void *handle);
Davidroid 0:2887415a46cd 265 /// Function pointer to GetMaxSpeed
Davidroid 0:2887415a46cd 266 uint16_t (*GetMaxSpeed)(void *handle);
Davidroid 0:2887415a46cd 267 /// Function pointer to GetMinSpeed
Davidroid 0:2887415a46cd 268 uint16_t (*GetMinSpeed)(void *handle);
Davidroid 0:2887415a46cd 269 /// Function pointer to GetPosition
Davidroid 0:2887415a46cd 270 int32_t (*GetPosition)(void *handle);
Davidroid 0:2887415a46cd 271 /// Function pointer to GoHome
Davidroid 0:2887415a46cd 272 void (*GoHome)(void *handle);
Davidroid 0:2887415a46cd 273 /// Function pointer to GoMark
Davidroid 0:2887415a46cd 274 void (*GoMark)(void *handle);
Davidroid 0:2887415a46cd 275 /// Function pointer to GoTo
Davidroid 0:2887415a46cd 276 void (*GoTo)(void *handle, int32_t targetPosition);
Davidroid 0:2887415a46cd 277 /// Function pointer to HardStop
Davidroid 0:2887415a46cd 278 void (*HardStop)(void *handle);
Davidroid 0:2887415a46cd 279 /// Function pointer to Move
Davidroid 0:2887415a46cd 280 void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount);
Davidroid 0:2887415a46cd 281 /// Function pointer to ResetAllDevices
Davidroid 0:2887415a46cd 282 //void (*ResetAllDevices)(void *handle);
Davidroid 0:2887415a46cd 283 /// Function pointer to Run
Davidroid 0:2887415a46cd 284 void (*Run)(void *handle, motorDir_t direction);
Davidroid 0:2887415a46cd 285 /// Function pointer to SetAcceleration
Davidroid 0:2887415a46cd 286 bool(*SetAcceleration)(void *handle,uint16_t newAcc);
Davidroid 0:2887415a46cd 287 /// Function pointer to SetDeceleration
Davidroid 0:2887415a46cd 288 bool(*SetDeceleration)(void *handle, uint16_t newDec);
Davidroid 0:2887415a46cd 289 /// Function pointer to SetHome
Davidroid 0:2887415a46cd 290 void (*SetHome)(void *handle);
Davidroid 0:2887415a46cd 291 /// Function pointer to SetMark
Davidroid 0:2887415a46cd 292 void (*SetMark)(void *handle);
Davidroid 0:2887415a46cd 293 /// Function pointer to SetMaxSpeed
Davidroid 0:2887415a46cd 294 bool (*SetMaxSpeed)(void *handle, uint16_t newMaxSpeed);
Davidroid 0:2887415a46cd 295 /// Function pointer to SetMinSpeed
Davidroid 0:2887415a46cd 296 bool (*SetMinSpeed)(void *handle, uint16_t newMinSpeed);
Davidroid 0:2887415a46cd 297 /// Function pointer to SoftStop
Davidroid 0:2887415a46cd 298 bool (*SoftStop)(void *handle);
Davidroid 0:2887415a46cd 299 /// Function pointer to StepClockHandler
Davidroid 0:2887415a46cd 300 void (*StepClockHandler)(void *handle);
Davidroid 0:2887415a46cd 301 /// Function pointer to CmdDisable
Davidroid 0:2887415a46cd 302 void (*CmdDisable)(void *handle);
Davidroid 0:2887415a46cd 303 /// Function pointer to CmdEnable
Davidroid 0:2887415a46cd 304 void (*CmdEnable)(void *handle);
Davidroid 0:2887415a46cd 305 /// Function pointer to CmdGetParam
Davidroid 0:2887415a46cd 306 uint32_t (*CmdGetParam)(void *handle, uint32_t param);
Davidroid 0:2887415a46cd 307 /// Function pointer to CmdGetStatus
Davidroid 0:2887415a46cd 308 uint16_t (*CmdGetStatus)(void *handle);
Davidroid 0:2887415a46cd 309 /// Function pointer to CmdNop
Davidroid 0:2887415a46cd 310 void (*CmdNop)(void *handle);
Davidroid 0:2887415a46cd 311 /// Function pointer to CmdSetParam
Davidroid 0:2887415a46cd 312 void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
Davidroid 0:2887415a46cd 313 /// Function pointer to ReadStatusRegister
Davidroid 0:2887415a46cd 314 uint16_t (*ReadStatusRegister)(void *handle);
Davidroid 0:2887415a46cd 315 /// Function pointer to ReleaseReset
Davidroid 0:2887415a46cd 316 void (*ReleaseReset)(void *handle);
Davidroid 0:2887415a46cd 317 /// Function pointer to Reset
Davidroid 0:2887415a46cd 318 void (*Reset)(void *handle);
Davidroid 0:2887415a46cd 319 /// Function pointer to SelectStepMode
Davidroid 0:2887415a46cd 320 void (*SelectStepMode)(void *handle, motorStepMode_t stepMod);
Davidroid 0:2887415a46cd 321 /// Function pointer to SetDirection
Davidroid 0:2887415a46cd 322 void (*SetDirection)(void *handle, motorDir_t direction);
Davidroid 0:2887415a46cd 323 /// Function pointer to CmdGoToDir
Davidroid 0:2887415a46cd 324 void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
Davidroid 0:2887415a46cd 325 /// Function pointer to CheckBusyHw
Davidroid 0:2887415a46cd 326 uint8_t (*CheckBusyHw)(void *handle);
Davidroid 0:2887415a46cd 327 /// Function pointer to CheckStatusHw
Davidroid 0:2887415a46cd 328 uint8_t (*CheckStatusHw)(void *handle);
Davidroid 0:2887415a46cd 329 /// Function pointer to CmdGoUntil
Davidroid 0:2887415a46cd 330 void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition);
Davidroid 0:2887415a46cd 331 /// Function pointer to CmdHardHiZ
Davidroid 0:2887415a46cd 332 void (*CmdHardHiZ)(void *handle);
Davidroid 0:2887415a46cd 333 /// Function pointer to CmdReleaseSw
Davidroid 0:2887415a46cd 334 void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
Davidroid 0:2887415a46cd 335 /// Function pointer to CmdResetDevice
Davidroid 0:2887415a46cd 336 void (*CmdResetDevice)(void *handle);
Davidroid 0:2887415a46cd 337 /// Function pointer to CmdResetPos
Davidroid 0:2887415a46cd 338 void (*CmdResetPos)(void *handle);
Davidroid 0:2887415a46cd 339 /// Function pointer to CmdRun
Davidroid 0:2887415a46cd 340 void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition);
Davidroid 0:2887415a46cd 341 /// Function pointer to CmdSoftHiZ
Davidroid 0:2887415a46cd 342 void (*CmdSoftHiZ)(void *handle);
Davidroid 0:2887415a46cd 343 /// Function pointer to CmdStepClock
Davidroid 0:2887415a46cd 344 void (*CmdStepClock)(void *handle, motorDir_t direction);
Davidroid 0:2887415a46cd 345 /// Function pointer to FetchAndClearAllStatus
Davidroid 0:2887415a46cd 346 void (*FetchAndClearAllStatus)(void *handle);
Davidroid 0:2887415a46cd 347 /// Function pointer to GetFetchedStatus
Davidroid 0:2887415a46cd 348 uint16_t (*GetFetchedStatus)(void *handle);
Davidroid 0:2887415a46cd 349 /// Function pointer to GetNbDevices
Davidroid 0:2887415a46cd 350 uint8_t (*GetNbDevices)(void *handle);
Davidroid 0:2887415a46cd 351 /// Function pointer to IsDeviceBusy
Davidroid 0:2887415a46cd 352 bool (*IsDeviceBusy)(void *handle);
Davidroid 0:2887415a46cd 353 /// Function pointer to SendQueuedCommands
Davidroid 0:2887415a46cd 354 void (*SendQueuedCommands)(void *handle);
Davidroid 0:2887415a46cd 355 /// Function pointer to QueueCommands
Davidroid 0:2887415a46cd 356 void (*QueueCommands)(void *handle, uint8_t temp, uint32_t command);
Davidroid 0:2887415a46cd 357 /// Function pointer to WaitForAllDevicesNotBusy
Davidroid 0:2887415a46cd 358 void (*WaitForAllDevicesNotBusy)(void *handle);
Davidroid 0:2887415a46cd 359 /// Function pointer to ErrorHandler
Davidroid 0:2887415a46cd 360 void (*ErrorHandler)(void *handle, uint16_t error);
Davidroid 0:2887415a46cd 361 /// Function pointer to BusyInterruptHandler
Davidroid 0:2887415a46cd 362 void (*BusyInterruptHandler)(void *handle);
Davidroid 0:2887415a46cd 363 /// Function pointer to CmdSoftStop
Davidroid 0:2887415a46cd 364 void (*CmdSoftStop)(void *handle);
Davidroid 0:2887415a46cd 365 } MOTOR_DrvVTableTypeDef;
Davidroid 0:2887415a46cd 366
Davidroid 0:2887415a46cd 367 #ifdef __cplusplus
Davidroid 0:2887415a46cd 368 }
Davidroid 0:2887415a46cd 369 #endif
Davidroid 0:2887415a46cd 370
Davidroid 0:2887415a46cd 371 #endif /* __MOTOR_H */
Davidroid 0:2887415a46cd 372
Davidroid 0:2887415a46cd 373 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/