motor.h

00001 /**
00002  ******************************************************************************
00003  * @file    motor.h
00004  * @author  IPC Rennes
00005  * @version V1.3.0
00006  * @date    November 12, 2014
00007  * @brief   This file contains all the functions prototypes for motor drivers.   
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036  */ 
00037 
00038 
00039 /* Define to prevent recursive inclusion -------------------------------------*/
00040 
00041 #ifndef __MOTOR_H
00042 #define __MOTOR_H
00043 
00044 #ifdef __cplusplus
00045  extern "C" {
00046 #endif 
00047 
00048 
00049 /* Includes ------------------------------------------------------------------*/
00050 
00051 #include <stdint.h>
00052 #include "component.h"
00053    
00054 
00055 /* Definitions ---------------------------------------------------------------*/
00056 
00057 /// boolean for false condition 
00058 #ifndef FALSE
00059 #define FALSE (0)
00060 #endif
00061 /// boolean for true condition 
00062 #ifndef TRUE
00063 #define TRUE  (1)
00064 #endif
00065 
00066 
00067 /* Types ---------------------------------------------------------------------*/
00068 
00069 /** @addtogroup BSP
00070   * @{
00071   */
00072 
00073 /** @addtogroup Components
00074   * @{
00075   */
00076     
00077 /** @addtogroup MOTOR
00078   * @{
00079   */
00080 
00081 /** @defgroup MOTOR_Exported_Types
00082   * @{
00083   */
00084 
00085 /** @defgroup Device_Direction_Options
00086   * @{
00087   */
00088 /// Direction options
00089 typedef enum {
00090   BACKWARD = 0,
00091   FORWARD = 1
00092 } motorDir_t;
00093 
00094 /**
00095   * @}
00096   */
00097   
00098 /** @defgroup Device_Action_Options
00099   * @{
00100   */
00101 /// Action options
00102 typedef enum {
00103   ACTION_RESET = ((uint8_t)0x00),
00104   ACTION_COPY  = ((uint8_t)0x08)
00105 } motorAction_t;
00106 /**
00107   * @}
00108   */  
00109 
00110 /** @defgroup Device_States
00111   * @{
00112   */
00113 /// Device states
00114 typedef enum {
00115   ACCELERATING = 0, 
00116   DECELERATING = 1, 
00117   STEADY = 2,
00118   INACTIVE= 3
00119 } motorState_t;
00120 /**
00121   * @}
00122   */   
00123 
00124 /** @defgroup Device_Step_mode
00125   * @{
00126   */
00127  /// Stepping options 
00128 typedef enum {
00129   STEP_MODE_FULL   = ((uint8_t)0x00), 
00130   STEP_MODE_HALF   = ((uint8_t)0x01),
00131   STEP_MODE_1_4    = ((uint8_t)0x02),
00132   STEP_MODE_1_8    = ((uint8_t)0x03),
00133   STEP_MODE_1_16   = ((uint8_t)0x04),
00134   STEP_MODE_1_32   = ((uint8_t)0x05),
00135   STEP_MODE_1_64   = ((uint8_t)0x06),
00136   STEP_MODE_1_128  = ((uint8_t)0x07)
00137 } motorStepMode_t;
00138 /**
00139   * @}
00140   */   
00141 
00142 /** @defgroup Device_Commands
00143   * @{
00144   */
00145 /// Device commands 
00146 typedef enum {
00147   RUN_CMD, 
00148   MOVE_CMD, 
00149   SOFT_STOP_CMD, 
00150   NO_CMD
00151 } deviceCommand_t;
00152 /**
00153   * @}
00154   */
00155 
00156 /** @defgroup Device_Parameters
00157   * @{
00158   */
00159 /// Device Parameters Structure Type
00160 typedef struct {
00161   /// accumulator used to store speed increase smaller than 1 pps
00162   volatile uint32_t accu;           
00163   /// Position in steps at the start of the goto or move commands
00164   volatile int32_t currentPosition; 
00165   /// position in step at the end of the accelerating phase
00166   volatile uint32_t endAccPos;      
00167   /// nb steps performed from the beggining of the goto or the move command
00168   volatile uint32_t relativePos;    
00169   /// position in step at the start of the decelerating phase
00170   volatile uint32_t startDecPos;    
00171   /// nb steps to perform for the goto or move commands
00172   volatile uint32_t stepsToTake;   
00173   /// acceleration in pps^2 
00174   volatile uint16_t acceleration;  
00175   /// deceleration in pps^2
00176   volatile uint16_t deceleration;  
00177   /// max speed in pps (speed use for goto or move command)
00178   volatile uint16_t maxSpeed;      
00179   /// min speed in pps
00180   volatile uint16_t minSpeed;      
00181   /// current speed in pps    
00182   volatile uint16_t speed;         
00183   /// command under execution
00184   volatile deviceCommand_t commandExecuted; 
00185   /// FORWARD or BACKWARD direction
00186   volatile motorDir_t direction;                 
00187   /// Current State of the device
00188   volatile motorState_t motionState;       
00189 } deviceParams_t;
00190 /**
00191   * @}
00192   */
00193 
00194 /** @defgroup Motor_Driver_Structure
00195   * @{
00196   */
00197 
00198 /** 
00199  * @brief  MOTOR driver virtual table structure definition.
00200  */
00201 typedef struct
00202 {
00203   /* ACTION ----------------------------------------------------------------*
00204    * Declare here the component's generic functions.                        *
00205    * Tag this group of functions with the " Generic " C-style comment.      *
00206    * A component's interface has to define at least the two generic         *
00207    * functions provided here below within the "Example" section, as the     *
00208    * first and second functions of its Virtual Table. They have to be       *
00209    * specified exactly in the given way.                                    *
00210    *                                                                        *
00211    * Example:                                                               *
00212    *   Status_t (*Init)   (void *handle, void *init);                       *
00213    *   Status_t (*ReadID) (void *handle, uint8_t *id);                      *
00214    *------------------------------------------------------------------------*/
00215   /* Generic */
00216   Status_t (*Init)(void *handle, void *init);
00217   Status_t (*ReadID)(void *handle, uint8_t *id);
00218 
00219   /* ACTION ----------------------------------------------------------------*
00220    * Declare here the component's interrupts related functions.             *
00221    * Tag this group of functions with the " Interrupts " C-style comment.   *
00222    * Do not specify any function if not required.                           *
00223    *                                                                        *
00224    * Example:                                                               *
00225    *   void     (*ConfigIT) (void *handle, int a);                          *
00226    *------------------------------------------------------------------------*/
00227   /* Interrupts */
00228   /// Function pointer to AttachErrorHandler
00229   void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
00230   /// Function pointer to AttachFlagInterrupt
00231   void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
00232   /// Function pointer to AttachBusyInterrupt
00233   void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
00234   /// Function pointer to FlagInterruptHandler
00235   void (*FlagInterruptHandler)(void *handle);
00236 
00237   /* ACTION ----------------------------------------------------------------*
00238    * Declare here the component's specific functions.                       *
00239    * Tag this group of functions with the " Specific " C-style comment.     *
00240    * Do not specify any function if not required.                           *
00241    *                                                                        *
00242    * Example:                                                               *
00243    *   Status_t (*GetValue) (void *handle, float *f);                       *
00244    *------------------------------------------------------------------------*/
00245   /* Specific */
00246   /// Function pointer to GetAcceleration
00247   uint16_t (*GetAcceleration)(void *handle); 
00248   /// Function pointer to GetCurrentSpeed
00249   uint16_t (*GetCurrentSpeed)(void *handle); 
00250   /// Function pointer to GetDeceleration
00251   uint16_t (*GetDeceleration)(void *handle); 
00252   /// Function pointer to GetDeviceState
00253   motorState_t(*GetDeviceState)(void *handle); 
00254   /// Function pointer to GetFwVersion
00255   uint8_t (*GetFwVersion)(void *handle); 
00256   /// Function pointer to GetMark
00257   int32_t (*GetMark)(void *handle); 
00258   /// Function pointer to GetMaxSpeed
00259   uint16_t (*GetMaxSpeed)(void *handle); 
00260   /// Function pointer to GetMinSpeed
00261   uint16_t (*GetMinSpeed)(void *handle); 
00262   /// Function pointer to GetPosition
00263   int32_t (*GetPosition)(void *handle); 
00264   /// Function pointer to GoHome
00265   void (*GoHome)(void *handle); 
00266   /// Function pointer to GoMark
00267   void (*GoMark)(void *handle); 
00268   /// Function pointer to GoTo
00269   void (*GoTo)(void *handle, int32_t targetPosition); 
00270   /// Function pointer to HardStop
00271   void (*HardStop)(void *handle); 
00272   /// Function pointer to Move
00273   void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount); 
00274   /// Function pointer to ResetAllDevices
00275   //void (*ResetAllDevices)(void *handle); 
00276   /// Function pointer to Run
00277   void (*Run)(void *handle, motorDir_t direction);
00278   /// Function pointer to SetAcceleration
00279   bool (*SetAcceleration)(void *handle, uint16_t newAcc);
00280   /// Function pointer to SetDeceleration
00281   bool (*SetDeceleration)(void *handle, uint16_t newDec);
00282   /// Function pointer to SetHome
00283   void (*SetHome)(void *handle); 
00284   /// Function pointer to SetMark
00285   void (*SetMark)(void *handle); 
00286   /// Function pointer to SetMaxSpeed
00287   bool (*SetMaxSpeed)(void *handle, uint16_t newMaxSpeed); 
00288   /// Function pointer to SetMinSpeed
00289   bool (*SetMinSpeed)(void *handle, uint16_t newMinSpeed); 
00290   /// Function pointer to SoftStop
00291   bool (*SoftStop)(void *handle); 
00292   /// Function pointer to StepClockHandler
00293   void (*StepClockHandler)(void *handle);  
00294   /// Function pointer to WaitWhileActive
00295   void (*WaitWhileActive)(void *handle);
00296   /// Function pointer to CmdDisable
00297   void (*CmdDisable)(void *handle); 
00298   /// Function pointer to CmdEnable
00299   void (*CmdEnable)(void *handle);
00300   /// Function pointer to CmdGetParam
00301   uint32_t (*CmdGetParam)(void *handle, uint32_t param);
00302   /// Function pointer to CmdGetStatus
00303   uint16_t (*CmdGetStatus)(void *handle); 
00304   /// Function pointer to CmdNop
00305   void (*CmdNop)(void *handle); 
00306   /// Function pointer to CmdSetParam  
00307   void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
00308   /// Function pointer to ReadStatusRegister
00309   uint16_t (*ReadStatusRegister)(void *handle); 
00310   /// Function pointer to ReleaseReset
00311   void (*ReleaseReset)(void *handle);
00312   /// Function pointer to Reset
00313   void (*Reset)(void *handle); 
00314   /// Function pointer to SelectStepMode
00315   void (*SelectStepMode)(void *handle, motorStepMode_t stepMod); 
00316   /// Function pointer to SetDirection
00317   void (*SetDirection)(void *handle, motorDir_t direction);  
00318   /// Function pointer to CmdGoToDir
00319   void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
00320   /// Function pointer to CheckBusyHw
00321   uint8_t (*CheckBusyHw)(void *handle);
00322   /// Function pointer to CheckStatusHw
00323   uint8_t (*CheckStatusHw)(void *handle);
00324   /// Function pointer to CmdGoUntil
00325   void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition);
00326   /// Function pointer to CmdHardHiZ
00327   void (*CmdHardHiZ)(void *handle);
00328   /// Function pointer to CmdReleaseSw
00329   void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
00330   /// Function pointer to CmdResetDevice
00331   void (*CmdResetDevice)(void *handle);
00332   /// Function pointer to CmdResetPos
00333   void (*CmdResetPos)(void *handle);
00334   /// Function pointer to CmdRun
00335   void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition);
00336   /// Function pointer to CmdSoftHiZ
00337   void (*CmdSoftHiZ)(void *handle);
00338   /// Function pointer to CmdStepClock
00339   void (*CmdStepClock)(void *handle, motorDir_t direction);
00340   /// Function pointer to FetchAndClearAllStatus
00341   void (*FetchAndClearAllStatus)(void *handle);
00342   /// Function pointer to GetFetchedStatus
00343   uint16_t (*GetFetchedStatus)(void *handle);
00344   /// Function pointer to GetNbDevices
00345   uint8_t (*GetNbDevices)(void *handle);
00346   /// Function pointer to IsDeviceBusy
00347   bool (*IsDeviceBusy)(void *handle);
00348   /// Function pointer to SendQueuedCommands
00349   void (*SendQueuedCommands)(void *handle);
00350   /// Function pointer to QueueCommands  
00351   void (*QueueCommands)(void *handle, uint8_t temp, uint32_t command);
00352   /// Function pointer to WaitForAllDevicesNotBusy  
00353   void (*WaitForAllDevicesNotBusy)(void *handle);  
00354   /// Function pointer to ErrorHandler  
00355   void (*ErrorHandler)(void *handle, uint16_t error);
00356   /// Function pointer to BusyInterruptHandler
00357   void (*BusyInterruptHandler)(void *handle);
00358   /// Function pointer to CmdSoftStop
00359   void (*CmdSoftStop)(void *handle); 
00360 } MOTOR_VTable_t;    
00361 
00362 #ifdef __cplusplus
00363 }
00364 #endif
00365 
00366 #endif /* __MOTOR_H */
00367 
00368 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/