l6208.h

00001 /******************************************************//**
00002   * @file    l6208.h 
00003   * @author  IPC Rennes
00004   * @version V1.1.0
00005   * @date    February 11th, 2016
00006   * @brief   Header for l6208.c module
00007   * @note    (C) COPYRIGHT 2016 STMicroelectronics
00008   ******************************************************************************
00009   * @attention
00010   *
00011   * <h2><center>&copy; COPYRIGHT(c) 2016 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 /* Define to prevent recursive inclusion -------------------------------------*/
00039 #ifndef _L6208_H_INCLUDED
00040 #define _L6208_H_INCLUDED
00041 
00042 #ifdef __cplusplus
00043  extern "C" {
00044 #endif 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 #include "l6208_target_config.h"
00048 #include "motor.h" 
00049 
00050 /* Definitions ---------------------------------------------------------------*/
00051 
00052 /** @addtogroup Components
00053  * @{
00054  */
00055     
00056 /** @defgroup L6208
00057   * @{
00058   */
00059 
00060 /** @defgroup L6208_Exported_Defines L6208 Exported Defines
00061   * @{
00062   */
00063 /// Current FW major version
00064 #define L6208_FW_MAJOR_VERSION (uint8_t)(1)
00065 /// Current FW minor version
00066 #define L6208_FW_MINOR_VERSION (uint8_t)(1)
00067 /// Current FW patch version
00068 #define L6208_FW_PATCH_VERSION (uint8_t)(0)
00069 /// Current FW version
00070 #define L6208_FW_VERSION       (uint32_t)((L6208_FW_MAJOR_VERSION<<16)|\
00071                                           (L6208_FW_MINOR_VERSION<<8)|\
00072                                           (L6208_FW_PATCH_VERSION))
00073 
00074 /// Exponent used to scale the sine function for the RefMicroTable
00075 #define L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE (15)
00076 
00077 /// Tick frequency (Hz)
00078 #define TIMER_TICK_FREQUENCY         (10000)
00079 
00080 /// MCU wait time after power bridges are enabled
00081 #define BRIDGE_TURN_ON_DELAY         (10)
00082 
00083 /// The maximum number of devices
00084 #define MAX_NUMBER_OF_DEVICES        (1)
00085 
00086 /// Max position
00087 #define L6208_MAX_POSITION           (0x7FFFFFFF)
00088 
00089 /// Min position
00090 #define L6208_MIN_POSITION           (0x80000000)
00091 
00092 /// Position range
00093 #define L6208_POSITION_RANGE         ((uint32_t)(L6208_MAX_POSITION -\
00094                                                         L6208_MIN_POSITION))
00095 /// micro step samples per period/4 
00096 #define L6208_USTEPS_PER_QUARTER_PERIOD        (16)
00097 
00098 /// minimum speed
00099 #define L6208_MIN_SPEED                        (16)
00100 
00101 /// minimum acceleration and deceleration rate
00102 #define L6208_MIN_ACC_DEC_RATE                 (24)
00103 
00104 /// Mask for HiZ bit in motorDecayMode_t enum
00105 #define L6208_FAST_DECAY_MODE_MASK             (0x1)
00106 
00107 /// L6208 error base number
00108 #define L6208_ERROR_BASE                       (0x9000)
00109 /**
00110   * @}
00111   */
00112 
00113 /* Types ---------------------------------------------------------------------*/
00114 
00115 /** @defgroup L6208_Exported_Types L6208 Exported Types
00116   * @{
00117   */
00118 
00119 /** @defgroup Error_Types Error Types
00120   * @{
00121   */
00122 /// Errors
00123 typedef enum {
00124   L6208_ERROR_SET_HOME         = L6208_ERROR_BASE,     /// Error while setting home position
00125   L6208_ERROR_SET_MAX_SPEED    = L6208_ERROR_BASE + 1, /// Error while setting max speed
00126   L6208_ERROR_SET_MIN_SPEED    = L6208_ERROR_BASE + 2, /// Error while setting min speed
00127   L6208_ERROR_SET_ACCELERATION = L6208_ERROR_BASE + 3, /// Error while setting acceleration
00128   L6208_ERROR_SET_DECELERATION = L6208_ERROR_BASE + 4, /// Error while setting decelaration
00129   L6208_ERROR_MCU_OSC_CONFIG   = L6208_ERROR_BASE + 5, /// Error while configuring mcu oscillator
00130   L6208_ERROR_MCU_CLOCK_CONFIG = L6208_ERROR_BASE + 6, /// Error while configuring mcu clock
00131   L6208_ERROR_POSITION         = L6208_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
00132   L6208_ERROR_SPEED            = L6208_ERROR_BASE + 8, /// Unexpected current speed
00133   L6208_ERROR_INIT             = L6208_ERROR_BASE + 9, /// Unexpected number of devices
00134   L6208_ERROR_SET_DIRECTION    = L6208_ERROR_BASE + 10,/// Error while setting direction
00135   L6208_ERROR_SET_STEP_MODE    = L6208_ERROR_BASE + 11,/// Attempt to set an unsupported step mode
00136   L6208_ERROR_SET_PWM          = L6208_ERROR_BASE + 12,/// Error while setting a PWM parameter
00137 }errorTypes_t;
00138 /**
00139   * @}
00140   */
00141 
00142 /** @defgroup Device_Parameters Device Parameters
00143   * @{
00144   */
00145 /// Device Parameters Structure Type
00146 typedef struct
00147 {
00148   /// dwelling waiting time counter (tick)
00149   volatile uint32_t dwellCounter;
00150   /// motor position indicator (tick)
00151   uint32_t ticks;
00152   /// LSByte copy of the previous position (tick)
00153   uint8_t lsbOldTicks;
00154   /// LSByte copy of the previous position (tick) ( micro stepping )
00155   uint8_t lsbOldUSteppingTicks;
00156   /// LSByte copy of the current position (tick)
00157   uint8_t lsbTicks;
00158   /// P1 = acceleration phase steps number (motor position control mode)
00159   uint32_t positionTarget1;
00160   /// P2 = constant speed steps number (motor position control mode)
00161   uint32_t positionTarget2;
00162   /// P3 = deceleration phase steps number (motor position control mode)
00163   uint32_t positionTarget3;
00164   /// P = total move distance in steps (motor position control mode)
00165   uint32_t positionTarget;
00166   /// absolute motor position in microsteps (motor position control mode)
00167   volatile int32_t absolutePos;
00168   /// mark position in microsteps (motor position control mode)
00169   volatile int32_t markPos;
00170   /// motor position in microsteps (motor position control mode)
00171   volatile uint32_t step;
00172   /// dwelling time after position got (ms)
00173   volatile uint16_t moveDwellTime;
00174   /// number of micro stepping waveform samples to be rescaled according to selected torque value
00175   volatile uint8_t uStepsample2scale;
00176   /// number of micro stepping waveform samples to be updated into the waveform scanning table  
00177   volatile uint8_t uStepsample2update;
00178   /// microstepping waveform sample index  
00179   volatile uint8_t uStepSample;
00180   /// system status flags
00181   volatile uint32_t flags;
00182   /// current stepper state machine index
00183   volatile motorState_t motionState;
00184   /// current step mode
00185   volatile motorStepMode_t stepMode;
00186   /// micro stepping waveform scanning sample index increment
00187   uint8_t uStepInc;
00188   /// frequency of the VREFA and VREFB PWM
00189   uint32_t vrefPwmFreq;
00190   /// period of the VREFA and VREFB PWM in 1/256th of a microsecond
00191   uint16_t vrefPwmPeriod;
00192   /// pulse width target of the VREFA PWM in 1/256th of a microsecond
00193   volatile uint16_t vrefPwmPulseWidthTargetA;
00194   /// pulse width target of the VREFB PWM in 1/256th of a microsecond
00195   volatile uint16_t vrefPwmPulseWidthTargetB;
00196   /// pulse width to be generated for VREFA PWM in 1/256th of a microsecond
00197   volatile int16_t vrefPwmPulseWidthToBeGeneratedA;
00198   /// pulse width to be generated for VREFB PWM in 1/256th of a microsecond
00199   volatile int16_t vrefPwmPulseWidthToBeGeneratedB;
00200   /// current selected torque value
00201   volatile uint16_t curTorqueScaler;
00202   /// selected VREFA value (%)
00203   volatile uint16_t vRefAVal;
00204   /// selected VREFB value (%)
00205   volatile uint16_t vRefBVal;
00206   /// constant speed phase torque value (%)
00207   volatile uint8_t runTorque;
00208   /// acceleration phase torque value (%)
00209   volatile uint8_t accelTorque;
00210   /// deceleration phase torque value (%)
00211   volatile uint8_t decelTorque;
00212   /// holding phase torque value (%)
00213   volatile uint8_t holdTorque;
00214   /// acceleration (steps/s^2)
00215   volatile uint16_t accelerationSps2;
00216   /// deceleration (steps/s^2)
00217   volatile uint16_t decelerationSps2;
00218   /// acceleration (steps/tick^2)
00219   volatile uint16_t accelerationSpt2;
00220   /// deceleration (steps/tick^2)
00221   volatile uint16_t decelerationSpt2;
00222   /// maximum speed (steps/s)
00223   volatile uint16_t maxSpeedSps;
00224   /// minimum speed (steps/s)
00225   volatile uint16_t minSpeedSps;
00226   /// current speed (steps/s)
00227   volatile uint16_t speedSps;
00228   /// maximum speed (steps/tick)
00229   volatile uint32_t maxSpeedSpt;
00230   /// minimum speed (steps/tick)
00231   volatile uint32_t minSpeedSpt;
00232   /// current speed (steps/tick) 
00233   volatile uint32_t speedSpt;
00234 }deviceParams_t;
00235 /**
00236   * @}
00237   */
00238 
00239 /// Motor driver initialization structure definition  
00240 typedef struct
00241 {
00242   /// acceleration (steps/s^2)
00243   uint16_t accelerationSps2;
00244   /// acceleration phase torque value (%)
00245   uint8_t accelTorque;
00246   /// deceleration (steps/s^2)
00247   uint16_t decelerationSps2;
00248   /// deceleration phase torque value (%)
00249   uint8_t decelTorque;
00250   /// maximum speed (steps/s)
00251   uint16_t maxSpeedSps;
00252   /// constant speed phase torque value (%)
00253   uint8_t runTorque;
00254   /// holding phase torque value (%)
00255   uint8_t holdTorque;
00256   /// current step mode
00257   motorStepMode_t stepMode;
00258   /// current decay mode (SLOW_DECAY or FAST_DECAY)
00259   motorDecayMode_t decayMode;
00260   /// dwelling time after position got (ms)
00261   uint16_t moveDwellTime;
00262   /// automatic HiZ on stop
00263   bool autoHiZstop;
00264   /// frequency of the VREFA and VREFB PWM
00265   uint32_t vrefPwmFreq;
00266 } l6208_Init_t;
00267 /**
00268   * @}
00269   */
00270 
00271 /* Functions --------------------------------------------------------*/
00272 
00273 /** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
00274   * @{
00275   */
00276 ///Delay of the requested number of milliseconds
00277 extern void L6208_Board_Delay(uint32_t delay);
00278 ///Enable Irq
00279 extern void L6208_Board_EnableIrq(void);
00280 ///Disable Irq
00281 extern void L6208_Board_DisableIrq(void);
00282 //Initialize the VREFA or VREFB PWM
00283 extern bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq);
00284 ///Initialize the tick
00285 extern void L6208_Board_TickInit(void);
00286 ///Release the reset pin 
00287 extern void L6208_Board_ReleaseReset(void);
00288 ///Set the reset pin
00289 extern void L6208_Board_Reset(void);
00290 ///Set the control pin
00291 extern void L6208_Board_CONTROL_PIN_Set(void);
00292 ///Reset the control pin
00293 extern void L6208_Board_CONTROL_PIN_Reset(void);
00294 ///Set the clock pin
00295 extern void L6208_Board_CLOCK_PIN_Set(void);
00296 ///Reset the clock pin
00297 extern void L6208_Board_CLOCK_PIN_Reset(void);
00298 ///Set the half full pin
00299 extern void L6208_Board_HALF_FULL_PIN_Set(void);
00300 ///Reset the half full pin
00301 extern void L6208_Board_HALF_FULL_PIN_Reset(void);
00302 ///Set the dir pin
00303 extern void L6208_Board_DIR_PIN_Set(void);
00304 ///Reset the dir pin
00305 extern void L6208_Board_DIR_PIN_Reset(void);
00306 ///Enable the power bridges (leave the output bridges HiZ)
00307 extern void L6208_Board_Enable(void);
00308 ///Disable the power bridges (leave the output bridges HiZ)
00309 extern void L6208_Board_Disable(void);
00310 /**
00311   * @}
00312   */
00313 
00314   /**
00315   * @}
00316   */
00317 
00318 /**
00319   * @}
00320   */
00321   
00322 #ifdef __cplusplus
00323   }
00324 #endif
00325 
00326 #endif /* __L6208_H */
00327 
00328 /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/