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@26:e2049a15fb15, 2017-05-24 (annotated)

Committer:
Arkadi
Date:
Wed May 24 13:49:40 2017 +0000
Revision:
26:e2049a15fb15
Parent:
22:ed3a6990a6eb 
Disabled PWM & direction control in library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:2887415a46cd 1 /**
Davidroid 22:ed3a6990a6eb 2 ******************************************************************************
Davidroid 22:ed3a6990a6eb 3 * @file motor.h
Davidroid 22:ed3a6990a6eb 4 * @author IPC Rennes
Davidroid 22:ed3a6990a6eb 5 * @version V1.3.0
Davidroid 22:ed3a6990a6eb 6 * @date November 12, 2014
Davidroid 22:ed3a6990a6eb 7 * @brief This file contains all the functions prototypes for motor drivers.
Davidroid 22:ed3a6990a6eb 8 ******************************************************************************
Davidroid 22:ed3a6990a6eb 9 * @attention
Davidroid 22:ed3a6990a6eb 10 *
Davidroid 22:ed3a6990a6eb 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Davidroid 22:ed3a6990a6eb 12 *
Davidroid 22:ed3a6990a6eb 13 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 22:ed3a6990a6eb 14 * are permitted provided that the following conditions are met:
Davidroid 22:ed3a6990a6eb 15 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 22:ed3a6990a6eb 16 * this list of conditions and the following disclaimer.
Davidroid 22:ed3a6990a6eb 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 22:ed3a6990a6eb 18 * this list of conditions and the following disclaimer in the documentation
Davidroid 22:ed3a6990a6eb 19 * and/or other materials provided with the distribution.
Davidroid 22:ed3a6990a6eb 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 22:ed3a6990a6eb 21 * may be used to endorse or promote products derived from this software
Davidroid 22:ed3a6990a6eb 22 * without specific prior written permission.
Davidroid 22:ed3a6990a6eb 23 *
Davidroid 22:ed3a6990a6eb 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 22:ed3a6990a6eb 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 22:ed3a6990a6eb 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 22:ed3a6990a6eb 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 22:ed3a6990a6eb 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 22:ed3a6990a6eb 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 22:ed3a6990a6eb 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 22:ed3a6990a6eb 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 22:ed3a6990a6eb 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 22:ed3a6990a6eb 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 22:ed3a6990a6eb 34 *
Davidroid 22:ed3a6990a6eb 35 ******************************************************************************
Davidroid 22:ed3a6990a6eb 36 */
Davidroid 22:ed3a6990a6eb 37
Davidroid 0:2887415a46cd 38
Davidroid 0:2887415a46cd 39 /* Define to prevent recursive inclusion -------------------------------------*/
Davidroid 22:ed3a6990a6eb 40
Davidroid 0:2887415a46cd 41 #ifndef __MOTOR_H
Davidroid 0:2887415a46cd 42 #define __MOTOR_H
Davidroid 0:2887415a46cd 43
Davidroid 0:2887415a46cd 44 #ifdef __cplusplus
Davidroid 0:2887415a46cd 45 extern "C" {
Davidroid 0:2887415a46cd 46 #endif
Davidroid 0:2887415a46cd 47
Davidroid 22:ed3a6990a6eb 48
Davidroid 0:2887415a46cd 49 /* Includes ------------------------------------------------------------------*/
Davidroid 22:ed3a6990a6eb 50
Davidroid 0:2887415a46cd 51 #include <stdint.h>
Davidroid 0:2887415a46cd 52 #include "component.h"
Davidroid 0:2887415a46cd 53
Davidroid 0:2887415a46cd 54
Davidroid 22:ed3a6990a6eb 55 /* Definitions ---------------------------------------------------------------*/
Davidroid 22:ed3a6990a6eb 56
Davidroid 0:2887415a46cd 57 /// boolean for false condition
Davidroid 0:2887415a46cd 58 #ifndef FALSE
Davidroid 0:2887415a46cd 59 #define FALSE (0)
Davidroid 0:2887415a46cd 60 #endif
Davidroid 0:2887415a46cd 61 /// boolean for true condition
Davidroid 0:2887415a46cd 62 #ifndef TRUE
Davidroid 0:2887415a46cd 63 #define TRUE (1)
Davidroid 0:2887415a46cd 64 #endif
Davidroid 0:2887415a46cd 65
Davidroid 22:ed3a6990a6eb 66
Davidroid 22:ed3a6990a6eb 67 /* Types ---------------------------------------------------------------------*/
Davidroid 22:ed3a6990a6eb 68
Davidroid 22:ed3a6990a6eb 69 /** @addtogroup BSP
Davidroid 0:2887415a46cd 70 * @{
Davidroid 0:2887415a46cd 71 */
Davidroid 0:2887415a46cd 72
Davidroid 22:ed3a6990a6eb 73 /** @addtogroup Components
Davidroid 22:ed3a6990a6eb 74 * @{
Davidroid 22:ed3a6990a6eb 75 */
Davidroid 22:ed3a6990a6eb 76
Davidroid 22:ed3a6990a6eb 77 /** @addtogroup MOTOR
Davidroid 22:ed3a6990a6eb 78 * @{
Davidroid 22:ed3a6990a6eb 79 */
Davidroid 22:ed3a6990a6eb 80
Davidroid 22:ed3a6990a6eb 81 /** @defgroup MOTOR_Exported_Types
Davidroid 22:ed3a6990a6eb 82 * @{
Davidroid 22:ed3a6990a6eb 83 */
Davidroid 22:ed3a6990a6eb 84
Davidroid 0:2887415a46cd 85 /** @defgroup Device_Direction_Options
Davidroid 0:2887415a46cd 86 * @{
Davidroid 0:2887415a46cd 87 */
Davidroid 0:2887415a46cd 88 /// Direction options
Davidroid 0:2887415a46cd 89 typedef enum {
Davidroid 0:2887415a46cd 90 BACKWARD = 0,
Davidroid 0:2887415a46cd 91 FORWARD = 1
Davidroid 0:2887415a46cd 92 } motorDir_t;
Davidroid 1:b38ebb8ea286 93
Davidroid 0:2887415a46cd 94 /**
Davidroid 0:2887415a46cd 95 * @}
Davidroid 0:2887415a46cd 96 */
Davidroid 0:2887415a46cd 97
Davidroid 0:2887415a46cd 98 /** @defgroup Device_Action_Options
Davidroid 0:2887415a46cd 99 * @{
Davidroid 0:2887415a46cd 100 */
Davidroid 0:2887415a46cd 101 /// Action options
Davidroid 0:2887415a46cd 102 typedef enum {
Davidroid 0:2887415a46cd 103 ACTION_RESET = ((uint8_t)0x00),
Davidroid 0:2887415a46cd 104 ACTION_COPY = ((uint8_t)0x08)
Davidroid 0:2887415a46cd 105 } motorAction_t;
Davidroid 0:2887415a46cd 106 /**
Davidroid 0:2887415a46cd 107 * @}
Davidroid 0:2887415a46cd 108 */
Davidroid 0:2887415a46cd 109
Davidroid 0:2887415a46cd 110 /** @defgroup Device_States
Davidroid 0:2887415a46cd 111 * @{
Davidroid 0:2887415a46cd 112 */
Davidroid 0:2887415a46cd 113 /// Device states
Davidroid 0:2887415a46cd 114 typedef enum {
Davidroid 0:2887415a46cd 115 ACCELERATING = 0,
Davidroid 0:2887415a46cd 116 DECELERATING = 1,
Davidroid 0:2887415a46cd 117 STEADY = 2,
Davidroid 0:2887415a46cd 118 INACTIVE= 3
Davidroid 0:2887415a46cd 119 } motorState_t;
Davidroid 0:2887415a46cd 120 /**
Davidroid 0:2887415a46cd 121 * @}
Davidroid 0:2887415a46cd 122 */
Davidroid 0:2887415a46cd 123
Davidroid 0:2887415a46cd 124 /** @defgroup Device_Step_mode
Davidroid 0:2887415a46cd 125 * @{
Davidroid 0:2887415a46cd 126 */
Davidroid 0:2887415a46cd 127 /// Stepping options
Davidroid 0:2887415a46cd 128 typedef enum {
Davidroid 0:2887415a46cd 129 STEP_MODE_FULL = ((uint8_t)0x00),
Davidroid 0:2887415a46cd 130 STEP_MODE_HALF = ((uint8_t)0x01),
Davidroid 0:2887415a46cd 131 STEP_MODE_1_4 = ((uint8_t)0x02),
Davidroid 0:2887415a46cd 132 STEP_MODE_1_8 = ((uint8_t)0x03),
Davidroid 0:2887415a46cd 133 STEP_MODE_1_16 = ((uint8_t)0x04),
Davidroid 0:2887415a46cd 134 STEP_MODE_1_32 = ((uint8_t)0x05),
Davidroid 0:2887415a46cd 135 STEP_MODE_1_64 = ((uint8_t)0x06),
Davidroid 0:2887415a46cd 136 STEP_MODE_1_128 = ((uint8_t)0x07)
Davidroid 0:2887415a46cd 137 } motorStepMode_t;
Davidroid 0:2887415a46cd 138 /**
Davidroid 0:2887415a46cd 139 * @}
Davidroid 0:2887415a46cd 140 */
Davidroid 0:2887415a46cd 141
Davidroid 0:2887415a46cd 142 /** @defgroup Device_Commands
Davidroid 0:2887415a46cd 143 * @{
Davidroid 0:2887415a46cd 144 */
Davidroid 0:2887415a46cd 145 /// Device commands
Davidroid 0:2887415a46cd 146 typedef enum {
Davidroid 0:2887415a46cd 147 RUN_CMD,
Davidroid 0:2887415a46cd 148 MOVE_CMD,
Davidroid 0:2887415a46cd 149 SOFT_STOP_CMD,
Davidroid 0:2887415a46cd 150 NO_CMD
Davidroid 0:2887415a46cd 151 } deviceCommand_t;
Davidroid 0:2887415a46cd 152 /**
Davidroid 0:2887415a46cd 153 * @}
Davidroid 0:2887415a46cd 154 */
Davidroid 0:2887415a46cd 155
Davidroid 0:2887415a46cd 156 /** @defgroup Device_Parameters
Davidroid 0:2887415a46cd 157 * @{
Davidroid 0:2887415a46cd 158 */
Davidroid 0:2887415a46cd 159 /// Device Parameters Structure Type
Davidroid 0:2887415a46cd 160 typedef struct {
Davidroid 0:2887415a46cd 161 /// accumulator used to store speed increase smaller than 1 pps
Davidroid 0:2887415a46cd 162 volatile uint32_t accu;
Davidroid 0:2887415a46cd 163 /// Position in steps at the start of the goto or move commands
Davidroid 0:2887415a46cd 164 volatile int32_t currentPosition;
Davidroid 0:2887415a46cd 165 /// position in step at the end of the accelerating phase
Davidroid 0:2887415a46cd 166 volatile uint32_t endAccPos;
Davidroid 0:2887415a46cd 167 /// nb steps performed from the beggining of the goto or the move command
Davidroid 0:2887415a46cd 168 volatile uint32_t relativePos;
Davidroid 0:2887415a46cd 169 /// position in step at the start of the decelerating phase
Davidroid 0:2887415a46cd 170 volatile uint32_t startDecPos;
Davidroid 0:2887415a46cd 171 /// nb steps to perform for the goto or move commands
Davidroid 0:2887415a46cd 172 volatile uint32_t stepsToTake;
Davidroid 0:2887415a46cd 173 /// acceleration in pps^2
Davidroid 0:2887415a46cd 174 volatile uint16_t acceleration;
Davidroid 0:2887415a46cd 175 /// deceleration in pps^2
Davidroid 0:2887415a46cd 176 volatile uint16_t deceleration;
Davidroid 0:2887415a46cd 177 /// max speed in pps (speed use for goto or move command)
Davidroid 0:2887415a46cd 178 volatile uint16_t maxSpeed;
Davidroid 0:2887415a46cd 179 /// min speed in pps
Davidroid 0:2887415a46cd 180 volatile uint16_t minSpeed;
Davidroid 0:2887415a46cd 181 /// current speed in pps
Davidroid 0:2887415a46cd 182 volatile uint16_t speed;
Davidroid 0:2887415a46cd 183 /// command under execution
Davidroid 0:2887415a46cd 184 volatile deviceCommand_t commandExecuted;
Davidroid 0:2887415a46cd 185 /// FORWARD or BACKWARD direction
Davidroid 0:2887415a46cd 186 volatile motorDir_t direction;
Davidroid 0:2887415a46cd 187 /// Current State of the device
Davidroid 0:2887415a46cd 188 volatile motorState_t motionState;
Davidroid 0:2887415a46cd 189 } deviceParams_t;
Davidroid 0:2887415a46cd 190 /**
Davidroid 0:2887415a46cd 191 * @}
Davidroid 0:2887415a46cd 192 */
Davidroid 0:2887415a46cd 193
Davidroid 0:2887415a46cd 194 /** @defgroup Motor_Driver_Structure
Davidroid 0:2887415a46cd 195 * @{
Davidroid 0:2887415a46cd 196 */
Davidroid 22:ed3a6990a6eb 197
Davidroid 22:ed3a6990a6eb 198 /**
Davidroid 22:ed3a6990a6eb 199 * @brief MOTOR driver virtual table structure definition.
Davidroid 22:ed3a6990a6eb 200 */
Davidroid 0:2887415a46cd 201 typedef struct
Davidroid 0:2887415a46cd 202 {
Davidroid 0:2887415a46cd 203 /* ACTION ----------------------------------------------------------------*
Davidroid 22:ed3a6990a6eb 204 * Declare here the component's generic functions. *
Davidroid 22:ed3a6990a6eb 205 * Tag this group of functions with the " Generic " C-style comment. *
Davidroid 22:ed3a6990a6eb 206 * A component's interface has to define at least the two generic *
Davidroid 22:ed3a6990a6eb 207 * functions provided here below within the "Example" section, as the *
Davidroid 22:ed3a6990a6eb 208 * first and second functions of its Virtual Table. They have to be *
Davidroid 22:ed3a6990a6eb 209 * specified exactly in the given way. *
Davidroid 0:2887415a46cd 210 * *
Davidroid 0:2887415a46cd 211 * Example: *
Davidroid 22:ed3a6990a6eb 212 * Status_t (*Init) (void *handle, void *init); *
Davidroid 22:ed3a6990a6eb 213 * Status_t (*ReadID) (void *handle, uint8_t *id); *
Davidroid 0:2887415a46cd 214 *------------------------------------------------------------------------*/
Davidroid 22:ed3a6990a6eb 215 /* Generic */
Davidroid 22:ed3a6990a6eb 216 Status_t (*Init)(void *handle, void *init);
Davidroid 22:ed3a6990a6eb 217 Status_t (*ReadID)(void *handle, uint8_t *id);
Davidroid 0:2887415a46cd 218
Davidroid 0:2887415a46cd 219 /* ACTION ----------------------------------------------------------------*
Davidroid 22:ed3a6990a6eb 220 * Declare here the component's interrupts related functions. *
Davidroid 22:ed3a6990a6eb 221 * Tag this group of functions with the " Interrupts " C-style comment. *
Davidroid 22:ed3a6990a6eb 222 * Do not specify any function if not required. *
Davidroid 0:2887415a46cd 223 * *
Davidroid 0:2887415a46cd 224 * Example: *
Davidroid 22:ed3a6990a6eb 225 * void (*ConfigIT) (void *handle, int a); *
Davidroid 0:2887415a46cd 226 *------------------------------------------------------------------------*/
Davidroid 22:ed3a6990a6eb 227 /* Interrupts */
Davidroid 0:2887415a46cd 228 /// Function pointer to AttachErrorHandler
Davidroid 0:2887415a46cd 229 void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
Davidroid 0:2887415a46cd 230 /// Function pointer to AttachFlagInterrupt
Davidroid 0:2887415a46cd 231 void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
Davidroid 0:2887415a46cd 232 /// Function pointer to AttachBusyInterrupt
Davidroid 0:2887415a46cd 233 void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
Davidroid 0:2887415a46cd 234 /// Function pointer to FlagInterruptHandler
Davidroid 0:2887415a46cd 235 void (*FlagInterruptHandler)(void *handle);
Davidroid 0:2887415a46cd 236
Davidroid 0:2887415a46cd 237 /* ACTION ----------------------------------------------------------------*
Davidroid 22:ed3a6990a6eb 238 * Declare here the component's specific functions. *
Davidroid 22:ed3a6990a6eb 239 * Tag this group of functions with the " Specific " C-style comment. *
Davidroid 22:ed3a6990a6eb 240 * Do not specify any function if not required. *
Davidroid 0:2887415a46cd 241 * *
Davidroid 0:2887415a46cd 242 * Example: *
Davidroid 22:ed3a6990a6eb 243 * Status_t (*GetValue) (void *handle, float *f); *
Davidroid 0:2887415a46cd 244 *------------------------------------------------------------------------*/
Davidroid 22:ed3a6990a6eb 245 /* Specific */
Davidroid 0:2887415a46cd 246 /// Function pointer to GetAcceleration
Davidroid 0:2887415a46cd 247 uint16_t (*GetAcceleration)(void *handle);
Davidroid 0:2887415a46cd 248 /// Function pointer to GetCurrentSpeed
Davidroid 0:2887415a46cd 249 uint16_t (*GetCurrentSpeed)(void *handle);
Davidroid 0:2887415a46cd 250 /// Function pointer to GetDeceleration
Davidroid 0:2887415a46cd 251 uint16_t (*GetDeceleration)(void *handle);
Davidroid 0:2887415a46cd 252 /// Function pointer to GetDeviceState
Davidroid 0:2887415a46cd 253 motorState_t(*GetDeviceState)(void *handle);
Davidroid 0:2887415a46cd 254 /// Function pointer to GetFwVersion
Davidroid 0:2887415a46cd 255 uint8_t (*GetFwVersion)(void *handle);
Davidroid 0:2887415a46cd 256 /// Function pointer to GetMark
Davidroid 0:2887415a46cd 257 int32_t (*GetMark)(void *handle);
Davidroid 0:2887415a46cd 258 /// Function pointer to GetMaxSpeed
Davidroid 0:2887415a46cd 259 uint16_t (*GetMaxSpeed)(void *handle);
Davidroid 0:2887415a46cd 260 /// Function pointer to GetMinSpeed
Davidroid 0:2887415a46cd 261 uint16_t (*GetMinSpeed)(void *handle);
Davidroid 0:2887415a46cd 262 /// Function pointer to GetPosition
Davidroid 0:2887415a46cd 263 int32_t (*GetPosition)(void *handle);
Davidroid 0:2887415a46cd 264 /// Function pointer to GoHome
Davidroid 0:2887415a46cd 265 void (*GoHome)(void *handle);
Davidroid 0:2887415a46cd 266 /// Function pointer to GoMark
Davidroid 0:2887415a46cd 267 void (*GoMark)(void *handle);
Davidroid 0:2887415a46cd 268 /// Function pointer to GoTo
Davidroid 0:2887415a46cd 269 void (*GoTo)(void *handle, int32_t targetPosition);
Davidroid 0:2887415a46cd 270 /// Function pointer to HardStop
Davidroid 0:2887415a46cd 271 void (*HardStop)(void *handle);
Davidroid 0:2887415a46cd 272 /// Function pointer to Move
Davidroid 0:2887415a46cd 273 void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount);
Davidroid 0:2887415a46cd 274 /// Function pointer to ResetAllDevices
Davidroid 0:2887415a46cd 275 //void (*ResetAllDevices)(void *handle);
Davidroid 0:2887415a46cd 276 /// Function pointer to Run
Davidroid 0:2887415a46cd 277 void (*Run)(void *handle, motorDir_t direction);
Davidroid 0:2887415a46cd 278 /// Function pointer to SetAcceleration
Davidroid 22:ed3a6990a6eb 279 bool (*SetAcceleration)(void *handle, uint16_t newAcc);
Davidroid 0:2887415a46cd 280 /// Function pointer to SetDeceleration
Davidroid 22:ed3a6990a6eb 281 bool (*SetDeceleration)(void *handle, uint16_t newDec);
Davidroid 0:2887415a46cd 282 /// Function pointer to SetHome
Davidroid 0:2887415a46cd 283 void (*SetHome)(void *handle);
Davidroid 0:2887415a46cd 284 /// Function pointer to SetMark
Davidroid 0:2887415a46cd 285 void (*SetMark)(void *handle);
Davidroid 0:2887415a46cd 286 /// Function pointer to SetMaxSpeed
Davidroid 0:2887415a46cd 287 bool (*SetMaxSpeed)(void *handle, uint16_t newMaxSpeed);
Davidroid 0:2887415a46cd 288 /// Function pointer to SetMinSpeed
Davidroid 0:2887415a46cd 289 bool (*SetMinSpeed)(void *handle, uint16_t newMinSpeed);
Davidroid 0:2887415a46cd 290 /// Function pointer to SoftStop
Davidroid 0:2887415a46cd 291 bool (*SoftStop)(void *handle);
Davidroid 0:2887415a46cd 292 /// Function pointer to StepClockHandler
Davidroid 0:2887415a46cd 293 void (*StepClockHandler)(void *handle);
Davidroid 1:b38ebb8ea286 294 /// Function pointer to WaitWhileActive
Davidroid 1:b38ebb8ea286 295 void (*WaitWhileActive)(void *handle);
Davidroid 0:2887415a46cd 296 /// Function pointer to CmdDisable
Davidroid 0:2887415a46cd 297 void (*CmdDisable)(void *handle);
Davidroid 0:2887415a46cd 298 /// Function pointer to CmdEnable
Davidroid 0:2887415a46cd 299 void (*CmdEnable)(void *handle);
Davidroid 0:2887415a46cd 300 /// Function pointer to CmdGetParam
Davidroid 0:2887415a46cd 301 uint32_t (*CmdGetParam)(void *handle, uint32_t param);
Davidroid 0:2887415a46cd 302 /// Function pointer to CmdGetStatus
Davidroid 0:2887415a46cd 303 uint16_t (*CmdGetStatus)(void *handle);
Davidroid 0:2887415a46cd 304 /// Function pointer to CmdNop
Davidroid 0:2887415a46cd 305 void (*CmdNop)(void *handle);
Davidroid 0:2887415a46cd 306 /// Function pointer to CmdSetParam
Davidroid 0:2887415a46cd 307 void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
Davidroid 0:2887415a46cd 308 /// Function pointer to ReadStatusRegister
Davidroid 0:2887415a46cd 309 uint16_t (*ReadStatusRegister)(void *handle);
Davidroid 0:2887415a46cd 310 /// Function pointer to ReleaseReset
Davidroid 0:2887415a46cd 311 void (*ReleaseReset)(void *handle);
Davidroid 0:2887415a46cd 312 /// Function pointer to Reset
Davidroid 0:2887415a46cd 313 void (*Reset)(void *handle);
Davidroid 0:2887415a46cd 314 /// Function pointer to SelectStepMode
Davidroid 0:2887415a46cd 315 void (*SelectStepMode)(void *handle, motorStepMode_t stepMod);
Davidroid 0:2887415a46cd 316 /// Function pointer to SetDirection
Davidroid 0:2887415a46cd 317 void (*SetDirection)(void *handle, motorDir_t direction);
Davidroid 0:2887415a46cd 318 /// Function pointer to CmdGoToDir
Davidroid 0:2887415a46cd 319 void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
Davidroid 0:2887415a46cd 320 /// Function pointer to CheckBusyHw
Davidroid 0:2887415a46cd 321 uint8_t (*CheckBusyHw)(void *handle);
Davidroid 0:2887415a46cd 322 /// Function pointer to CheckStatusHw
Davidroid 0:2887415a46cd 323 uint8_t (*CheckStatusHw)(void *handle);
Davidroid 0:2887415a46cd 324 /// Function pointer to CmdGoUntil
Davidroid 0:2887415a46cd 325 void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition);
Davidroid 0:2887415a46cd 326 /// Function pointer to CmdHardHiZ
Davidroid 0:2887415a46cd 327 void (*CmdHardHiZ)(void *handle);
Davidroid 0:2887415a46cd 328 /// Function pointer to CmdReleaseSw
Davidroid 0:2887415a46cd 329 void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
Davidroid 0:2887415a46cd 330 /// Function pointer to CmdResetDevice
Davidroid 0:2887415a46cd 331 void (*CmdResetDevice)(void *handle);
Davidroid 0:2887415a46cd 332 /// Function pointer to CmdResetPos
Davidroid 0:2887415a46cd 333 void (*CmdResetPos)(void *handle);
Davidroid 0:2887415a46cd 334 /// Function pointer to CmdRun
Davidroid 0:2887415a46cd 335 void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition);
Davidroid 0:2887415a46cd 336 /// Function pointer to CmdSoftHiZ
Davidroid 0:2887415a46cd 337 void (*CmdSoftHiZ)(void *handle);
Davidroid 0:2887415a46cd 338 /// Function pointer to CmdStepClock
Davidroid 0:2887415a46cd 339 void (*CmdStepClock)(void *handle, motorDir_t direction);
Davidroid 0:2887415a46cd 340 /// Function pointer to FetchAndClearAllStatus
Davidroid 0:2887415a46cd 341 void (*FetchAndClearAllStatus)(void *handle);
Davidroid 0:2887415a46cd 342 /// Function pointer to GetFetchedStatus
Davidroid 0:2887415a46cd 343 uint16_t (*GetFetchedStatus)(void *handle);
Davidroid 0:2887415a46cd 344 /// Function pointer to GetNbDevices
Davidroid 0:2887415a46cd 345 uint8_t (*GetNbDevices)(void *handle);
Davidroid 0:2887415a46cd 346 /// Function pointer to IsDeviceBusy
Davidroid 0:2887415a46cd 347 bool (*IsDeviceBusy)(void *handle);
Davidroid 0:2887415a46cd 348 /// Function pointer to SendQueuedCommands
Davidroid 0:2887415a46cd 349 void (*SendQueuedCommands)(void *handle);
Davidroid 0:2887415a46cd 350 /// Function pointer to QueueCommands
Davidroid 0:2887415a46cd 351 void (*QueueCommands)(void *handle, uint8_t temp, uint32_t command);
Davidroid 0:2887415a46cd 352 /// Function pointer to WaitForAllDevicesNotBusy
Davidroid 0:2887415a46cd 353 void (*WaitForAllDevicesNotBusy)(void *handle);
Davidroid 0:2887415a46cd 354 /// Function pointer to ErrorHandler
Davidroid 0:2887415a46cd 355 void (*ErrorHandler)(void *handle, uint16_t error);
Davidroid 0:2887415a46cd 356 /// Function pointer to BusyInterruptHandler
Davidroid 0:2887415a46cd 357 void (*BusyInterruptHandler)(void *handle);
Davidroid 0:2887415a46cd 358 /// Function pointer to CmdSoftStop
Davidroid 0:2887415a46cd 359 void (*CmdSoftStop)(void *handle);
Davidroid 22:ed3a6990a6eb 360 } MOTOR_VTable_t;
Davidroid 0:2887415a46cd 361
Davidroid 0:2887415a46cd 362 #ifdef __cplusplus
Davidroid 0:2887415a46cd 363 }
Davidroid 0:2887415a46cd 364 #endif
Davidroid 0:2887415a46cd 365
Davidroid 0:2887415a46cd 366 #endif /* __MOTOR_H */
Davidroid 0:2887415a46cd 367
Davidroid 0:2887415a46cd 368 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/