Davide Aliprandi / X_NUCLEO_IHM04A1

Added ST_INTERFACES library.

Dependencies:   ST_INTERFACES

Fork of X_NUCLEO_IHM04A1 by ST

Components/l6206/l6206_class.h@0:2cb6ce8e07bd, 2016-05-03 (annotated)

Committer:
brdirais
Date:
Tue May 03 11:16:57 2016 +0000
Revision:
0:2cb6ce8e07bd
Child:
1:2597a6165252
Initial version of X-NUCLEO-IHM04A1 library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brdirais 0:2cb6ce8e07bd 1 /**
brdirais 0:2cb6ce8e07bd 2 ******************************************************************************
brdirais 0:2cb6ce8e07bd 3 * @file l6206_class.h
brdirais 0:2cb6ce8e07bd 4 * @author IPC Rennes
brdirais 0:2cb6ce8e07bd 5 * @version V1.1.0
brdirais 0:2cb6ce8e07bd 6 * @date March 02, 2016
brdirais 0:2cb6ce8e07bd 7 * @brief L6206 driver (dual full bridge driver)
brdirais 0:2cb6ce8e07bd 8 * @note (C) COPYRIGHT 2015 STMicroelectronics
brdirais 0:2cb6ce8e07bd 9 ******************************************************************************
brdirais 0:2cb6ce8e07bd 10 * @attention
brdirais 0:2cb6ce8e07bd 11 *
brdirais 0:2cb6ce8e07bd 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
brdirais 0:2cb6ce8e07bd 13 *
brdirais 0:2cb6ce8e07bd 14 * Redistribution and use in source and binary forms, with or without modification,
brdirais 0:2cb6ce8e07bd 15 * are permitted provided that the following conditions are met:
brdirais 0:2cb6ce8e07bd 16 * 1. Redistributions of source code must retain the above copyright notice,
brdirais 0:2cb6ce8e07bd 17 * this list of conditions and the following disclaimer.
brdirais 0:2cb6ce8e07bd 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
brdirais 0:2cb6ce8e07bd 19 * this list of conditions and the following disclaimer in the documentation
brdirais 0:2cb6ce8e07bd 20 * and/or other materials provided with the distribution.
brdirais 0:2cb6ce8e07bd 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
brdirais 0:2cb6ce8e07bd 22 * may be used to endorse or promote products derived from this software
brdirais 0:2cb6ce8e07bd 23 * without specific prior written permission.
brdirais 0:2cb6ce8e07bd 24 *
brdirais 0:2cb6ce8e07bd 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
brdirais 0:2cb6ce8e07bd 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
brdirais 0:2cb6ce8e07bd 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
brdirais 0:2cb6ce8e07bd 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
brdirais 0:2cb6ce8e07bd 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
brdirais 0:2cb6ce8e07bd 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
brdirais 0:2cb6ce8e07bd 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
brdirais 0:2cb6ce8e07bd 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
brdirais 0:2cb6ce8e07bd 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
brdirais 0:2cb6ce8e07bd 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
brdirais 0:2cb6ce8e07bd 35 *
brdirais 0:2cb6ce8e07bd 36 ******************************************************************************
brdirais 0:2cb6ce8e07bd 37 */
brdirais 0:2cb6ce8e07bd 38
brdirais 0:2cb6ce8e07bd 39
brdirais 0:2cb6ce8e07bd 40 /* Generated with STM32CubeTOO -----------------------------------------------*/
brdirais 0:2cb6ce8e07bd 41
brdirais 0:2cb6ce8e07bd 42
brdirais 0:2cb6ce8e07bd 43 /* Revision ------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 44 /*
brdirais 0:2cb6ce8e07bd 45 Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
brdirais 0:2cb6ce8e07bd 46 Branch/Trunk/Tag: trunk
brdirais 0:2cb6ce8e07bd 47 Based on: X-CUBE-SPN4/trunk/Drivers/BSP/Components/l6206/l6206.h
brdirais 0:2cb6ce8e07bd 48 Revision: 0
brdirais 0:2cb6ce8e07bd 49 */
brdirais 0:2cb6ce8e07bd 50
brdirais 0:2cb6ce8e07bd 51
brdirais 0:2cb6ce8e07bd 52 /* Define to prevent recursive inclusion -------------------------------------*/
brdirais 0:2cb6ce8e07bd 53
brdirais 0:2cb6ce8e07bd 54 #ifndef __L6206_CLASS_H
brdirais 0:2cb6ce8e07bd 55 #define __L6206_CLASS_H
brdirais 0:2cb6ce8e07bd 56
brdirais 0:2cb6ce8e07bd 57
brdirais 0:2cb6ce8e07bd 58 /* Includes ------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 59
brdirais 0:2cb6ce8e07bd 60 /* ACTION 1 ------------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 61 * Include here platform specific header files. *
brdirais 0:2cb6ce8e07bd 62 *----------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 63 #include "mbed.h"
brdirais 0:2cb6ce8e07bd 64 /* ACTION 2 ------------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 65 * Include here component specific header files. *
brdirais 0:2cb6ce8e07bd 66 *----------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 67 #include "l6206.h"
brdirais 0:2cb6ce8e07bd 68 /* ACTION 3 ------------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 69 * Include here interface specific header files. *
brdirais 0:2cb6ce8e07bd 70 * *
brdirais 0:2cb6ce8e07bd 71 * Example: *
brdirais 0:2cb6ce8e07bd 72 * #include "../Interfaces/Humidity_class.h" *
brdirais 0:2cb6ce8e07bd 73 * #include "../Interfaces/Temperature_class.h" *
brdirais 0:2cb6ce8e07bd 74 *----------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 75 #include "../Interfaces/Motor_class.h"
brdirais 0:2cb6ce8e07bd 76
brdirais 0:2cb6ce8e07bd 77
brdirais 0:2cb6ce8e07bd 78
brdirais 0:2cb6ce8e07bd 79 /* Private constants ---------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 80
brdirais 0:2cb6ce8e07bd 81 /** @defgroup L6206_Private_Constants L6206 Private Constants
brdirais 0:2cb6ce8e07bd 82 * @{
brdirais 0:2cb6ce8e07bd 83 */
brdirais 0:2cb6ce8e07bd 84
brdirais 0:2cb6ce8e07bd 85 /// The Number of L6206 devices required for initialisation is not supported
brdirais 0:2cb6ce8e07bd 86 #define L6206_ERROR_0 (0x8000)
brdirais 0:2cb6ce8e07bd 87 /// Error: Access a motor index greater than the one of the current brigde configuration
brdirais 0:2cb6ce8e07bd 88 #define L6206_ERROR_1 (0x8001)
brdirais 0:2cb6ce8e07bd 89 /// Error: Access a motor index which is not bidirectionnal
brdirais 0:2cb6ce8e07bd 90 #define L6206_ERROR_2 (0x8002)
brdirais 0:2cb6ce8e07bd 91
brdirais 0:2cb6ce8e07bd 92 /// Maximum frequency of the PWMs in Hz
brdirais 0:2cb6ce8e07bd 93 #define L6206_MAX_PWM_FREQ (100000)
brdirais 0:2cb6ce8e07bd 94
brdirais 0:2cb6ce8e07bd 95 /// Minimum frequency of the PWMs in Hz
brdirais 0:2cb6ce8e07bd 96 #define L6206_MIN_PWM_FREQ (2)
brdirais 0:2cb6ce8e07bd 97
brdirais 0:2cb6ce8e07bd 98 /// Bridge Input 1A
brdirais 0:2cb6ce8e07bd 99 #define INPUT_1A (0)
brdirais 0:2cb6ce8e07bd 100 /// Bridge Input 2A
brdirais 0:2cb6ce8e07bd 101 #define INPUT_2A (1)
brdirais 0:2cb6ce8e07bd 102 /// Bridge Input 1B
brdirais 0:2cb6ce8e07bd 103 #define INPUT_1B (2)
brdirais 0:2cb6ce8e07bd 104 /// Bridge Input 2B
brdirais 0:2cb6ce8e07bd 105 #define INPUT_2B (3)
brdirais 0:2cb6ce8e07bd 106
brdirais 0:2cb6ce8e07bd 107 /// Bridge A
brdirais 0:2cb6ce8e07bd 108 #define BRIDGE_A (0)
brdirais 0:2cb6ce8e07bd 109 /// Bridge B
brdirais 0:2cb6ce8e07bd 110 #define BRIDGE_B (1)
brdirais 0:2cb6ce8e07bd 111
brdirais 0:2cb6ce8e07bd 112
brdirais 0:2cb6ce8e07bd 113
brdirais 0:2cb6ce8e07bd 114
brdirais 0:2cb6ce8e07bd 115
brdirais 0:2cb6ce8e07bd 116 /* Classes -------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 117
brdirais 0:2cb6ce8e07bd 118 /**
brdirais 0:2cb6ce8e07bd 119 * @brief Class representing a L6206 component.
brdirais 0:2cb6ce8e07bd 120 */
brdirais 0:2cb6ce8e07bd 121 class L6206 : public Motor
brdirais 0:2cb6ce8e07bd 122 {
brdirais 0:2cb6ce8e07bd 123 public:
brdirais 0:2cb6ce8e07bd 124
brdirais 0:2cb6ce8e07bd 125 /*** Constructor and Destructor Methods ***/
brdirais 0:2cb6ce8e07bd 126
brdirais 0:2cb6ce8e07bd 127 /**
brdirais 0:2cb6ce8e07bd 128 * @brief Constructor.
brdirais 0:2cb6ce8e07bd 129 */
brdirais 0:2cb6ce8e07bd 130 L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : Motor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
brdirais 0:2cb6ce8e07bd 131 {
brdirais 0:2cb6ce8e07bd 132 /* ACTION 4 ----------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 133 * Initialize here the component's member variables, one variable per *
brdirais 0:2cb6ce8e07bd 134 * line. *
brdirais 0:2cb6ce8e07bd 135 * *
brdirais 0:2cb6ce8e07bd 136 * Example: *
brdirais 0:2cb6ce8e07bd 137 * measure = 0; *
brdirais 0:2cb6ce8e07bd 138 * instance_id = number_of_instances++; *
brdirais 0:2cb6ce8e07bd 139 *--------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 140
brdirais 0:2cb6ce8e07bd 141 flagInterruptCallback = 0;
brdirais 0:2cb6ce8e07bd 142 errorHandlerCallback = 0;
brdirais 0:2cb6ce8e07bd 143 numberOfDevices = 0;
brdirais 0:2cb6ce8e07bd 144 deviceInstance = 0;
brdirais 0:2cb6ce8e07bd 145 }
brdirais 0:2cb6ce8e07bd 146
brdirais 0:2cb6ce8e07bd 147 /**
brdirais 0:2cb6ce8e07bd 148 * @brief Destructor.
brdirais 0:2cb6ce8e07bd 149 */
brdirais 0:2cb6ce8e07bd 150 virtual ~L6206(void) {}
brdirais 0:2cb6ce8e07bd 151
brdirais 0:2cb6ce8e07bd 152
brdirais 0:2cb6ce8e07bd 153 /*** Public Component Related Methods ***/
brdirais 0:2cb6ce8e07bd 154
brdirais 0:2cb6ce8e07bd 155 /* ACTION 5 --------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 156 * Implement here the component's public methods, as wrappers of the C *
brdirais 0:2cb6ce8e07bd 157 * component's functions. *
brdirais 0:2cb6ce8e07bd 158 * They should be: *
brdirais 0:2cb6ce8e07bd 159 * + Methods with the same name of the C component's virtual table's *
brdirais 0:2cb6ce8e07bd 160 * functions (1); *
brdirais 0:2cb6ce8e07bd 161 * + Methods with the same name of the C component's extended virtual *
brdirais 0:2cb6ce8e07bd 162 * table's functions, if any (2). *
brdirais 0:2cb6ce8e07bd 163 * *
brdirais 0:2cb6ce8e07bd 164 * Example: *
brdirais 0:2cb6ce8e07bd 165 * virtual int GetValue(float *f) //(1) *
brdirais 0:2cb6ce8e07bd 166 * { *
brdirais 0:2cb6ce8e07bd 167 * return COMPONENT_GetValue(float *f); *
brdirais 0:2cb6ce8e07bd 168 * } *
brdirais 0:2cb6ce8e07bd 169 * *
brdirais 0:2cb6ce8e07bd 170 * virtual int EnableFeature(void) //(2) *
brdirais 0:2cb6ce8e07bd 171 * { *
brdirais 0:2cb6ce8e07bd 172 * return COMPONENT_EnableFeature(); *
brdirais 0:2cb6ce8e07bd 173 * } *
brdirais 0:2cb6ce8e07bd 174 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 175 virtual int Init(void *init = NULL)
brdirais 0:2cb6ce8e07bd 176 {
brdirais 0:2cb6ce8e07bd 177 return (int) L6206_Init((void *) init);
brdirais 0:2cb6ce8e07bd 178 }
brdirais 0:2cb6ce8e07bd 179
brdirais 0:2cb6ce8e07bd 180 virtual int ReadID(uint8_t *id = NULL)
brdirais 0:2cb6ce8e07bd 181 {
brdirais 0:2cb6ce8e07bd 182 return (int) L6206_ReadId((uint8_t *) id);
brdirais 0:2cb6ce8e07bd 183 }
brdirais 0:2cb6ce8e07bd 184
brdirais 0:2cb6ce8e07bd 185 virtual void AttachErrorHandler(void (*callback)(uint16_t error))
brdirais 0:2cb6ce8e07bd 186 {
brdirais 0:2cb6ce8e07bd 187 L6206_AttachErrorHandler((void (*)(uint16_t error)) callback);
brdirais 0:2cb6ce8e07bd 188 }
brdirais 0:2cb6ce8e07bd 189
brdirais 0:2cb6ce8e07bd 190 virtual void AttachFlagInterrupt(void (*callback)(void))
brdirais 0:2cb6ce8e07bd 191 {
brdirais 0:2cb6ce8e07bd 192 L6206_AttachFlagInterrupt((void (*)(void)) callback);
brdirais 0:2cb6ce8e07bd 193 }
brdirais 0:2cb6ce8e07bd 194
brdirais 0:2cb6ce8e07bd 195 virtual uint16_t GetCurrentSpeed(uint8_t motorId)
brdirais 0:2cb6ce8e07bd 196 {
brdirais 0:2cb6ce8e07bd 197 return (uint16_t) L6206_GetCurrentSpeed((uint8_t) motorId);
brdirais 0:2cb6ce8e07bd 198 }
brdirais 0:2cb6ce8e07bd 199
brdirais 0:2cb6ce8e07bd 200 virtual motorState_t GetDeviceState(uint8_t motorId)
brdirais 0:2cb6ce8e07bd 201 {
brdirais 0:2cb6ce8e07bd 202 return (motorState_t) L6206_GetDeviceState((uint8_t) motorId);
brdirais 0:2cb6ce8e07bd 203 }
brdirais 0:2cb6ce8e07bd 204
brdirais 0:2cb6ce8e07bd 205 virtual uint8_t GetFwVersion(void)
brdirais 0:2cb6ce8e07bd 206 {
brdirais 0:2cb6ce8e07bd 207 return (uint8_t) L6206_GetFwVersion();
brdirais 0:2cb6ce8e07bd 208 }
brdirais 0:2cb6ce8e07bd 209
brdirais 0:2cb6ce8e07bd 210 virtual uint16_t GetMaxSpeed(uint8_t motorId)
brdirais 0:2cb6ce8e07bd 211 {
brdirais 0:2cb6ce8e07bd 212 return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
brdirais 0:2cb6ce8e07bd 213 }
brdirais 0:2cb6ce8e07bd 214
brdirais 0:2cb6ce8e07bd 215 virtual void HardStop(uint8_t motorId)
brdirais 0:2cb6ce8e07bd 216 {
brdirais 0:2cb6ce8e07bd 217 L6206_HardStop((uint8_t) motorId);
brdirais 0:2cb6ce8e07bd 218 }
brdirais 0:2cb6ce8e07bd 219
brdirais 0:2cb6ce8e07bd 220 virtual void Run(uint8_t stepCount, motorDir_t direction)
brdirais 0:2cb6ce8e07bd 221 {
brdirais 0:2cb6ce8e07bd 222 L6206_Run((uint8_t) stepCount, (motorDir_t) direction);
brdirais 0:2cb6ce8e07bd 223 }
brdirais 0:2cb6ce8e07bd 224
brdirais 0:2cb6ce8e07bd 225 virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
brdirais 0:2cb6ce8e07bd 226 {
brdirais 0:2cb6ce8e07bd 227 return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
brdirais 0:2cb6ce8e07bd 228 }
brdirais 0:2cb6ce8e07bd 229
brdirais 0:2cb6ce8e07bd 230 virtual void CmdDisable(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 231 {
brdirais 0:2cb6ce8e07bd 232 L6206_DisableBridge((uint8_t) bridgeId);
brdirais 0:2cb6ce8e07bd 233 }
brdirais 0:2cb6ce8e07bd 234
brdirais 0:2cb6ce8e07bd 235 virtual void CmdEnable(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 236 {
brdirais 0:2cb6ce8e07bd 237 L6206_EnableBridge((uint8_t) bridgeId);
brdirais 0:2cb6ce8e07bd 238 }
brdirais 0:2cb6ce8e07bd 239
brdirais 0:2cb6ce8e07bd 240 virtual uint16_t CmdGetStatus(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 241 {
brdirais 0:2cb6ce8e07bd 242 return (uint16_t) L6206_GetBridgeStatus((uint8_t) bridgeId);
brdirais 0:2cb6ce8e07bd 243 }
brdirais 0:2cb6ce8e07bd 244
brdirais 0:2cb6ce8e07bd 245 virtual void CmdHardHiZ(uint8_t motorId)
brdirais 0:2cb6ce8e07bd 246 {
brdirais 0:2cb6ce8e07bd 247 L6206_HardHiz((uint8_t) motorId);
brdirais 0:2cb6ce8e07bd 248 }
brdirais 0:2cb6ce8e07bd 249
brdirais 0:2cb6ce8e07bd 250 virtual void ErrorHandler(uint16_t error)
brdirais 0:2cb6ce8e07bd 251 {
brdirais 0:2cb6ce8e07bd 252 L6206_ErrorHandler((uint16_t) error);
brdirais 0:2cb6ce8e07bd 253 }
brdirais 0:2cb6ce8e07bd 254
brdirais 0:2cb6ce8e07bd 255 virtual void SetDualFullBridgeConfig(uint8_t newConfig)
brdirais 0:2cb6ce8e07bd 256 {
brdirais 0:2cb6ce8e07bd 257 L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
brdirais 0:2cb6ce8e07bd 258 }
brdirais 0:2cb6ce8e07bd 259
brdirais 0:2cb6ce8e07bd 260 virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 261 {
brdirais 0:2cb6ce8e07bd 262 return (uint32_t) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
brdirais 0:2cb6ce8e07bd 263 }
brdirais 0:2cb6ce8e07bd 264
brdirais 0:2cb6ce8e07bd 265 virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
brdirais 0:2cb6ce8e07bd 266 {
brdirais 0:2cb6ce8e07bd 267 L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
brdirais 0:2cb6ce8e07bd 268 }
brdirais 0:2cb6ce8e07bd 269
brdirais 0:2cb6ce8e07bd 270 virtual bool SetNbDevices(uint8_t nbDevices)
brdirais 0:2cb6ce8e07bd 271 {
brdirais 0:2cb6ce8e07bd 272 return (bool) L6206_SetNbDevices((uint8_t) nbDevices);
brdirais 0:2cb6ce8e07bd 273 }
brdirais 0:2cb6ce8e07bd 274
brdirais 0:2cb6ce8e07bd 275
brdirais 0:2cb6ce8e07bd 276 /*** Public Interrupt Related Methods ***/
brdirais 0:2cb6ce8e07bd 277
brdirais 0:2cb6ce8e07bd 278 /* ACTION 6 --------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 279 * Implement here interrupt related methods, if any. *
brdirais 0:2cb6ce8e07bd 280 * Note that interrupt handling is platform dependent, e.g.: *
brdirais 0:2cb6ce8e07bd 281 * + mbed: *
brdirais 0:2cb6ce8e07bd 282 * InterruptIn feature_irq(pin); //Interrupt object. *
brdirais 0:2cb6ce8e07bd 283 * feature_irq.fall(callback); //Attach a callback. *
brdirais 0:2cb6ce8e07bd 284 * feature_irq.mode(PullNone); //Set interrupt mode. *
brdirais 0:2cb6ce8e07bd 285 * feature_irq.enable_irq(); //Enable interrupt. *
brdirais 0:2cb6ce8e07bd 286 * feature_irq.disable_irq(); //Disable interrupt. *
brdirais 0:2cb6ce8e07bd 287 * + Arduino: *
brdirais 0:2cb6ce8e07bd 288 * attachInterrupt(pin, callback, RISING); //Attach a callback. *
brdirais 0:2cb6ce8e07bd 289 * detachInterrupt(pin); //Detach a callback. *
brdirais 0:2cb6ce8e07bd 290 * *
brdirais 0:2cb6ce8e07bd 291 * Example (mbed): *
brdirais 0:2cb6ce8e07bd 292 * void AttachFeatureIRQ(void (*fptr) (void)) *
brdirais 0:2cb6ce8e07bd 293 * { *
brdirais 0:2cb6ce8e07bd 294 * feature_irq.fall(fptr); *
brdirais 0:2cb6ce8e07bd 295 * } *
brdirais 0:2cb6ce8e07bd 296 * *
brdirais 0:2cb6ce8e07bd 297 * void EnableFeatureIRQ(void) *
brdirais 0:2cb6ce8e07bd 298 * { *
brdirais 0:2cb6ce8e07bd 299 * feature_irq.enable_irq(); *
brdirais 0:2cb6ce8e07bd 300 * } *
brdirais 0:2cb6ce8e07bd 301 * *
brdirais 0:2cb6ce8e07bd 302 * void DisableFeatureIRQ(void) *
brdirais 0:2cb6ce8e07bd 303 * { *
brdirais 0:2cb6ce8e07bd 304 * feature_irq.disable_irq(); *
brdirais 0:2cb6ce8e07bd 305 * } *
brdirais 0:2cb6ce8e07bd 306 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 307
brdirais 0:2cb6ce8e07bd 308
brdirais 0:2cb6ce8e07bd 309 /**
brdirais 0:2cb6ce8e07bd 310 * @brief Enabling the FLAG interrupt handling.
brdirais 0:2cb6ce8e07bd 311 * @param None.
brdirais 0:2cb6ce8e07bd 312 * @retval None.
brdirais 0:2cb6ce8e07bd 313 */
brdirais 0:2cb6ce8e07bd 314 void EnableFlagIRQ(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 315 {
brdirais 0:2cb6ce8e07bd 316 if (bridgeId == BRIDGE_A)
brdirais 0:2cb6ce8e07bd 317 {
brdirais 0:2cb6ce8e07bd 318 flag_A_irq.mode(PullUp);
brdirais 0:2cb6ce8e07bd 319 flag_A_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
brdirais 0:2cb6ce8e07bd 320 }
brdirais 0:2cb6ce8e07bd 321 else
brdirais 0:2cb6ce8e07bd 322 {
brdirais 0:2cb6ce8e07bd 323 flag_B_irq.mode(PullUp);
brdirais 0:2cb6ce8e07bd 324 flag_B_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
brdirais 0:2cb6ce8e07bd 325 }
brdirais 0:2cb6ce8e07bd 326 }
brdirais 0:2cb6ce8e07bd 327
brdirais 0:2cb6ce8e07bd 328 /**
brdirais 0:2cb6ce8e07bd 329 * @brief Disabling the FLAG interrupt handling.
brdirais 0:2cb6ce8e07bd 330 * @param None.
brdirais 0:2cb6ce8e07bd 331 * @retval None.
brdirais 0:2cb6ce8e07bd 332 */
brdirais 0:2cb6ce8e07bd 333 void DisableFlagIRQ(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 334 {
brdirais 0:2cb6ce8e07bd 335 if (bridgeId == BRIDGE_A)
brdirais 0:2cb6ce8e07bd 336 flag_A_irq.fall(NULL);
brdirais 0:2cb6ce8e07bd 337 else
brdirais 0:2cb6ce8e07bd 338 flag_B_irq.fall(NULL);
brdirais 0:2cb6ce8e07bd 339 }
brdirais 0:2cb6ce8e07bd 340
brdirais 0:2cb6ce8e07bd 341
brdirais 0:2cb6ce8e07bd 342 /*** Public In/Out Related Methods ***/
brdirais 0:2cb6ce8e07bd 343
brdirais 0:2cb6ce8e07bd 344 void OutVal( uint8_t bridgeId, uint8_t val)
brdirais 0:2cb6ce8e07bd 345 {
brdirais 0:2cb6ce8e07bd 346 if( bridgeId == BRIDGE_A)
brdirais 0:2cb6ce8e07bd 347 {
brdirais 0:2cb6ce8e07bd 348 EN_flag_A.output();
brdirais 0:2cb6ce8e07bd 349 EN_flag_A.mode(PullNone);
brdirais 0:2cb6ce8e07bd 350 EN_flag_A.write(val);
brdirais 0:2cb6ce8e07bd 351 }
brdirais 0:2cb6ce8e07bd 352 else
brdirais 0:2cb6ce8e07bd 353 {
brdirais 0:2cb6ce8e07bd 354 EN_flag_B.output();
brdirais 0:2cb6ce8e07bd 355 EN_flag_B.mode(PullNone);
brdirais 0:2cb6ce8e07bd 356 EN_flag_B.write(val);
brdirais 0:2cb6ce8e07bd 357 }
brdirais 0:2cb6ce8e07bd 358 }
brdirais 0:2cb6ce8e07bd 359
brdirais 0:2cb6ce8e07bd 360 protected:
brdirais 0:2cb6ce8e07bd 361
brdirais 0:2cb6ce8e07bd 362 /*** Protected Component Related Methods ***/
brdirais 0:2cb6ce8e07bd 363
brdirais 0:2cb6ce8e07bd 364 /* ACTION 7 --------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 365 * Declare here the component's specific methods. *
brdirais 0:2cb6ce8e07bd 366 * They should be: *
brdirais 0:2cb6ce8e07bd 367 * + Methods with the same name of the C component's virtual table's *
brdirais 0:2cb6ce8e07bd 368 * functions (1); *
brdirais 0:2cb6ce8e07bd 369 * + Methods with the same name of the C component's extended virtual *
brdirais 0:2cb6ce8e07bd 370 * table's functions, if any (2); *
brdirais 0:2cb6ce8e07bd 371 * + Helper methods, if any, like functions declared in the component's *
brdirais 0:2cb6ce8e07bd 372 * source files but not pointed by the component's virtual table (3). *
brdirais 0:2cb6ce8e07bd 373 * *
brdirais 0:2cb6ce8e07bd 374 * Example: *
brdirais 0:2cb6ce8e07bd 375 * Status_t COMPONENT_GetValue(float *f); //(1) *
brdirais 0:2cb6ce8e07bd 376 * Status_t COMPONENT_EnableFeature(void); //(2) *
brdirais 0:2cb6ce8e07bd 377 * Status_t COMPONENT_ComputeAverage(void); //(3) *
brdirais 0:2cb6ce8e07bd 378 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 379 Status_t L6206_Init(void *init);
brdirais 0:2cb6ce8e07bd 380 Status_t L6206_ReadId(uint8_t *id);
brdirais 0:2cb6ce8e07bd 381 void L6206_TickHandler(uint8_t deviceId); //Handle the device state machine at each tick timer pulse end
brdirais 0:2cb6ce8e07bd 382 void L6206_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler
brdirais 0:2cb6ce8e07bd 383 void L6206_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
brdirais 0:2cb6ce8e07bd 384 void L6206_DisableBridge(uint8_t bridgeId); //Disable the specified bridge
brdirais 0:2cb6ce8e07bd 385 void L6206_EnableBridge(uint8_t bridgeId); //Enable the specified bridge
brdirais 0:2cb6ce8e07bd 386 uint16_t L6206_GetBridgeStatus(uint8_t deviceId); //Get bridge status
brdirais 0:2cb6ce8e07bd 387 uint16_t L6206_GetCurrentSpeed(uint8_t motorId); //Return the current speed in pps
brdirais 0:2cb6ce8e07bd 388 motorState_t L6206_GetDeviceState(uint8_t motorId); //Return the device state
brdirais 0:2cb6ce8e07bd 389 uint8_t L6206_GetFwVersion(void); //Return the FW version
brdirais 0:2cb6ce8e07bd 390 uint16_t L6206_GetMaxSpeed(uint8_t motorId); //Return the max speed in pps
brdirais 0:2cb6ce8e07bd 391 void L6206_HardHiz(uint8_t motorId); //Stop the motor and disable the power bridge
brdirais 0:2cb6ce8e07bd 392 void L6206_HardStop(uint8_t motorId); //Stop the motor without disabling the power bridge
brdirais 0:2cb6ce8e07bd 393 void L6206_Run(uint8_t motorId, motorDir_t direction); //Run the motor
brdirais 0:2cb6ce8e07bd 394 uint32_t L6206_GetBridgeInputPwmFreq(uint8_t bridgeId); // Get the PWM frequency of the bridge input
brdirais 0:2cb6ce8e07bd 395 void L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq); // Set the PWM frequency of the bridge input
brdirais 0:2cb6ce8e07bd 396 void L6206_SetDualFullBridgeConfig(uint8_t newConfig); // Set dual full bridge configuration
brdirais 0:2cb6ce8e07bd 397 bool L6206_SetMaxSpeed(uint8_t motorId,uint16_t newMaxSpeed); //Set the max speed in pps
brdirais 0:2cb6ce8e07bd 398 bool L6206_SetNbDevices(uint8_t nbDevices); //Set the number of driver devices
brdirais 0:2cb6ce8e07bd 399 void L6206_ErrorHandler(uint16_t error);
brdirais 0:2cb6ce8e07bd 400 void L6206_FlagInterruptHandler(void);
brdirais 0:2cb6ce8e07bd 401 uint8_t L6206_GetBridgeIdUsedByMotorId(uint8_t motorId);
brdirais 0:2cb6ce8e07bd 402 uint8_t L6206_GetBridgeInputUsedByMotorId(uint8_t motorId);
brdirais 0:2cb6ce8e07bd 403 uint8_t L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput);
brdirais 0:2cb6ce8e07bd 404 uint8_t L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId);
brdirais 0:2cb6ce8e07bd 405 bool L6206_IsBidirectionnalMotor(uint8_t motorId);
brdirais 0:2cb6ce8e07bd 406 void L6206_SetDeviceParamsToPredefinedValues(void);
brdirais 0:2cb6ce8e07bd 407 void L6206_SetDeviceParamsToGivenValues(L6206_Init_t* initDevicePrm);
brdirais 0:2cb6ce8e07bd 408
brdirais 0:2cb6ce8e07bd 409 /*** Component's I/O Methods ***/
brdirais 0:2cb6ce8e07bd 410
brdirais 0:2cb6ce8e07bd 411 /* ACTION 8 --------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 412 * Implement here other I/O methods beyond those already implemented *
brdirais 0:2cb6ce8e07bd 413 * above, which are declared extern within the component's header file. *
brdirais 0:2cb6ce8e07bd 414 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 415 void L6206_Board_Delay(uint32_t delay)
brdirais 0:2cb6ce8e07bd 416 {
brdirais 0:2cb6ce8e07bd 417 wait_ms(delay);
brdirais 0:2cb6ce8e07bd 418 }
brdirais 0:2cb6ce8e07bd 419
brdirais 0:2cb6ce8e07bd 420 void L6206_Board_DisableBridge(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 421 {
brdirais 0:2cb6ce8e07bd 422 DisableFlagIRQ(BRIDGE_A);
brdirais 0:2cb6ce8e07bd 423 DisableFlagIRQ(BRIDGE_B);
brdirais 0:2cb6ce8e07bd 424
brdirais 0:2cb6ce8e07bd 425 __disable_irq();
brdirais 0:2cb6ce8e07bd 426 OutVal( bridgeId, 0);
brdirais 0:2cb6ce8e07bd 427 __enable_irq();
brdirais 0:2cb6ce8e07bd 428 }
brdirais 0:2cb6ce8e07bd 429
brdirais 0:2cb6ce8e07bd 430 void L6206_Board_EnableBridge(uint8_t bridgeId, uint8_t addDelay)
brdirais 0:2cb6ce8e07bd 431 {
brdirais 0:2cb6ce8e07bd 432 OutVal( bridgeId, 1);
brdirais 0:2cb6ce8e07bd 433
brdirais 0:2cb6ce8e07bd 434 if (addDelay != 0)
brdirais 0:2cb6ce8e07bd 435 {
brdirais 0:2cb6ce8e07bd 436 wait_ms(BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY);
brdirais 0:2cb6ce8e07bd 437 }
brdirais 0:2cb6ce8e07bd 438
brdirais 0:2cb6ce8e07bd 439 EnableFlagIRQ( bridgeId);
brdirais 0:2cb6ce8e07bd 440 }
brdirais 0:2cb6ce8e07bd 441
brdirais 0:2cb6ce8e07bd 442
brdirais 0:2cb6ce8e07bd 443 uint32_t L6206_Board_GetFlagPinState(uint8_t bridgeId)
brdirais 0:2cb6ce8e07bd 444 {
brdirais 0:2cb6ce8e07bd 445 if (bridgeId == 0)
brdirais 0:2cb6ce8e07bd 446 {
brdirais 0:2cb6ce8e07bd 447 EN_flag_A.input();
brdirais 0:2cb6ce8e07bd 448 return EN_flag_A.read();
brdirais 0:2cb6ce8e07bd 449 }
brdirais 0:2cb6ce8e07bd 450 else
brdirais 0:2cb6ce8e07bd 451 {
brdirais 0:2cb6ce8e07bd 452 EN_flag_B.input();
brdirais 0:2cb6ce8e07bd 453 return EN_flag_B.read();
brdirais 0:2cb6ce8e07bd 454 }
brdirais 0:2cb6ce8e07bd 455 }
brdirais 0:2cb6ce8e07bd 456
brdirais 0:2cb6ce8e07bd 457 void L6206_Board_GpioInit(void)
brdirais 0:2cb6ce8e07bd 458 {
brdirais 0:2cb6ce8e07bd 459 /* Init bridge Enable */
brdirais 0:2cb6ce8e07bd 460 EN_flag_A.output();
brdirais 0:2cb6ce8e07bd 461 EN_flag_A.write(0);
brdirais 0:2cb6ce8e07bd 462 EN_flag_A.input();
brdirais 0:2cb6ce8e07bd 463
brdirais 0:2cb6ce8e07bd 464 EN_flag_B.output();
brdirais 0:2cb6ce8e07bd 465 EN_flag_B.write(0);
brdirais 0:2cb6ce8e07bd 466 EN_flag_B.input();
brdirais 0:2cb6ce8e07bd 467
brdirais 0:2cb6ce8e07bd 468
brdirais 0:2cb6ce8e07bd 469 /* Init flag Irq */
brdirais 0:2cb6ce8e07bd 470 DisableFlagIRQ(BRIDGE_A);
brdirais 0:2cb6ce8e07bd 471 DisableFlagIRQ(BRIDGE_B);
brdirais 0:2cb6ce8e07bd 472
brdirais 0:2cb6ce8e07bd 473 }
brdirais 0:2cb6ce8e07bd 474
brdirais 0:2cb6ce8e07bd 475 /** Board PWM management **/
brdirais 0:2cb6ce8e07bd 476
brdirais 0:2cb6ce8e07bd 477 void L6206_Board_PwmSetFreq(uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
brdirais 0:2cb6ce8e07bd 478 {
brdirais 0:2cb6ce8e07bd 479 /* Computing the period of PWM. */
brdirais 0:2cb6ce8e07bd 480 float period = 1.0f / newFreq;
brdirais 0:2cb6ce8e07bd 481 float duty_cycle;
brdirais 0:2cb6ce8e07bd 482 int period_us = (int)(period * 1E6);
brdirais 0:2cb6ce8e07bd 483
brdirais 0:2cb6ce8e07bd 484 if (duty > 100) duty = 100;
brdirais 0:2cb6ce8e07bd 485 duty_cycle = (float)duty / 100.0f;
brdirais 0:2cb6ce8e07bd 486
brdirais 0:2cb6ce8e07bd 487 switch (bridgeInput)
brdirais 0:2cb6ce8e07bd 488 {
brdirais 0:2cb6ce8e07bd 489 case 0:
brdirais 0:2cb6ce8e07bd 490 default:
brdirais 0:2cb6ce8e07bd 491 /* Setting the period and the duty-cycle of PWM. */
brdirais 0:2cb6ce8e07bd 492 pwm_1A.period_us(period_us);
brdirais 0:2cb6ce8e07bd 493 pwm_1A.write(duty_cycle);
brdirais 0:2cb6ce8e07bd 494 break;
brdirais 0:2cb6ce8e07bd 495
brdirais 0:2cb6ce8e07bd 496 case 1:
brdirais 0:2cb6ce8e07bd 497 /* Setting the period and the duty-cycle of PWM. */
brdirais 0:2cb6ce8e07bd 498 pwm_2A.period_us(period_us);
brdirais 0:2cb6ce8e07bd 499 pwm_2A.write(duty_cycle);
brdirais 0:2cb6ce8e07bd 500 break;
brdirais 0:2cb6ce8e07bd 501
brdirais 0:2cb6ce8e07bd 502 case 2:
brdirais 0:2cb6ce8e07bd 503 /* Setting the period and the duty-cycle of PWM. */
brdirais 0:2cb6ce8e07bd 504 pwm_1B.period_us(period_us);
brdirais 0:2cb6ce8e07bd 505 pwm_1B.write(duty_cycle);
brdirais 0:2cb6ce8e07bd 506 break;
brdirais 0:2cb6ce8e07bd 507
brdirais 0:2cb6ce8e07bd 508 case 3:
brdirais 0:2cb6ce8e07bd 509 /* Setting the period and the duty-cycle of PWM. */
brdirais 0:2cb6ce8e07bd 510 pwm_2B.period_us(period_us);
brdirais 0:2cb6ce8e07bd 511 pwm_2B.write(duty_cycle);
brdirais 0:2cb6ce8e07bd 512 break;
brdirais 0:2cb6ce8e07bd 513 }
brdirais 0:2cb6ce8e07bd 514 }
brdirais 0:2cb6ce8e07bd 515
brdirais 0:2cb6ce8e07bd 516 void L6206_Board_PwmDeInit(uint8_t bridgeInput)
brdirais 0:2cb6ce8e07bd 517 {
brdirais 0:2cb6ce8e07bd 518 switch (bridgeInput)
brdirais 0:2cb6ce8e07bd 519 {
brdirais 0:2cb6ce8e07bd 520 case 0:
brdirais 0:2cb6ce8e07bd 521 default:
brdirais 0:2cb6ce8e07bd 522 //timer_pwm_1A.detach();
brdirais 0:2cb6ce8e07bd 523 break;
brdirais 0:2cb6ce8e07bd 524
brdirais 0:2cb6ce8e07bd 525 case 1:
brdirais 0:2cb6ce8e07bd 526 //timer_pwm_2A.detach();
brdirais 0:2cb6ce8e07bd 527 break;
brdirais 0:2cb6ce8e07bd 528
brdirais 0:2cb6ce8e07bd 529 case 2:
brdirais 0:2cb6ce8e07bd 530 //timer_pwm_1B.detach();
brdirais 0:2cb6ce8e07bd 531 break;
brdirais 0:2cb6ce8e07bd 532
brdirais 0:2cb6ce8e07bd 533 case 3:
brdirais 0:2cb6ce8e07bd 534 //timer_pwm_2B.detach();
brdirais 0:2cb6ce8e07bd 535 break;
brdirais 0:2cb6ce8e07bd 536 }
brdirais 0:2cb6ce8e07bd 537 }
brdirais 0:2cb6ce8e07bd 538
brdirais 0:2cb6ce8e07bd 539 void L6206_Board_PwmInit(uint8_t bridgeInput)
brdirais 0:2cb6ce8e07bd 540 {
brdirais 0:2cb6ce8e07bd 541 }
brdirais 0:2cb6ce8e07bd 542
brdirais 0:2cb6ce8e07bd 543 void L6206_Board_PwmStop(uint8_t bridgeInput)
brdirais 0:2cb6ce8e07bd 544 {
brdirais 0:2cb6ce8e07bd 545 switch (bridgeInput)
brdirais 0:2cb6ce8e07bd 546 {
brdirais 0:2cb6ce8e07bd 547 case 0:
brdirais 0:2cb6ce8e07bd 548 default:
brdirais 0:2cb6ce8e07bd 549 pwm_1A.write(0.0);
brdirais 0:2cb6ce8e07bd 550 break;
brdirais 0:2cb6ce8e07bd 551
brdirais 0:2cb6ce8e07bd 552 case 1:
brdirais 0:2cb6ce8e07bd 553 pwm_2A.write(0.0);
brdirais 0:2cb6ce8e07bd 554 break;
brdirais 0:2cb6ce8e07bd 555
brdirais 0:2cb6ce8e07bd 556 case 2:
brdirais 0:2cb6ce8e07bd 557 pwm_1B.write(0.0);
brdirais 0:2cb6ce8e07bd 558 break;
brdirais 0:2cb6ce8e07bd 559
brdirais 0:2cb6ce8e07bd 560 case 3:
brdirais 0:2cb6ce8e07bd 561 pwm_2B.write(0.0);
brdirais 0:2cb6ce8e07bd 562 break;
brdirais 0:2cb6ce8e07bd 563 }
brdirais 0:2cb6ce8e07bd 564 }
brdirais 0:2cb6ce8e07bd 565
brdirais 0:2cb6ce8e07bd 566
brdirais 0:2cb6ce8e07bd 567 /*** Component's Instance Variables ***/
brdirais 0:2cb6ce8e07bd 568
brdirais 0:2cb6ce8e07bd 569 /* ACTION 9 --------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 570 * Declare here interrupt related variables, if needed. *
brdirais 0:2cb6ce8e07bd 571 * Note that interrupt handling is platform dependent, see *
brdirais 0:2cb6ce8e07bd 572 * "Interrupt Related Methods" above. *
brdirais 0:2cb6ce8e07bd 573 * *
brdirais 0:2cb6ce8e07bd 574 * Example: *
brdirais 0:2cb6ce8e07bd 575 * + mbed: *
brdirais 0:2cb6ce8e07bd 576 * InterruptIn feature_irq; *
brdirais 0:2cb6ce8e07bd 577 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 578
brdirais 0:2cb6ce8e07bd 579 /* Flag Interrupt. */
brdirais 0:2cb6ce8e07bd 580 InterruptIn flag_A_irq;
brdirais 0:2cb6ce8e07bd 581 InterruptIn flag_B_irq;
brdirais 0:2cb6ce8e07bd 582
brdirais 0:2cb6ce8e07bd 583 /* ACTION 10 -------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 584 * Declare here other pin related variables, if needed. *
brdirais 0:2cb6ce8e07bd 585 * *
brdirais 0:2cb6ce8e07bd 586 * Example: *
brdirais 0:2cb6ce8e07bd 587 * + mbed: *
brdirais 0:2cb6ce8e07bd 588 * DigitalOut standby_reset; *
brdirais 0:2cb6ce8e07bd 589 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 590
brdirais 0:2cb6ce8e07bd 591 /* Digital In/Out for Flag EN pin */
brdirais 0:2cb6ce8e07bd 592 DigitalInOut EN_flag_A;
brdirais 0:2cb6ce8e07bd 593 DigitalInOut EN_flag_B;
brdirais 0:2cb6ce8e07bd 594
brdirais 0:2cb6ce8e07bd 595 /* PWM Out pin */
brdirais 0:2cb6ce8e07bd 596 PwmOut pwm_1A;
brdirais 0:2cb6ce8e07bd 597 PwmOut pwm_2A;
brdirais 0:2cb6ce8e07bd 598 PwmOut pwm_1B;
brdirais 0:2cb6ce8e07bd 599 PwmOut pwm_2B;
brdirais 0:2cb6ce8e07bd 600
brdirais 0:2cb6ce8e07bd 601 /* ACTION 11 -------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 602 * Declare here communication related variables, if needed. *
brdirais 0:2cb6ce8e07bd 603 * *
brdirais 0:2cb6ce8e07bd 604 * Example: *
brdirais 0:2cb6ce8e07bd 605 * + mbed: *
brdirais 0:2cb6ce8e07bd 606 * DigitalOut address; *
brdirais 0:2cb6ce8e07bd 607 * DevI2C &dev_i2c; *
brdirais 0:2cb6ce8e07bd 608 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 609
brdirais 0:2cb6ce8e07bd 610 /* ACTION 12 -------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 611 * Declare here identity related variables, if needed. *
brdirais 0:2cb6ce8e07bd 612 * Note that there should be only a unique identifier for each component, *
brdirais 0:2cb6ce8e07bd 613 * which should be the "who_am_i" parameter. *
brdirais 0:2cb6ce8e07bd 614 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 615 /* Identity */
brdirais 0:2cb6ce8e07bd 616 uint8_t who_am_i;
brdirais 0:2cb6ce8e07bd 617
brdirais 0:2cb6ce8e07bd 618 /* ACTION 13 -------------------------------------------------------------*
brdirais 0:2cb6ce8e07bd 619 * Declare here the component's static and non-static data, one variable *
brdirais 0:2cb6ce8e07bd 620 * per line. *
brdirais 0:2cb6ce8e07bd 621 * *
brdirais 0:2cb6ce8e07bd 622 * Example: *
brdirais 0:2cb6ce8e07bd 623 * float measure; *
brdirais 0:2cb6ce8e07bd 624 * int instance_id; *
brdirais 0:2cb6ce8e07bd 625 * static int number_of_instances; *
brdirais 0:2cb6ce8e07bd 626 *------------------------------------------------------------------------*/
brdirais 0:2cb6ce8e07bd 627 void (*flagInterruptCallback)(void);
brdirais 0:2cb6ce8e07bd 628
brdirais 0:2cb6ce8e07bd 629 void (*errorHandlerCallback)(uint16_t error);
brdirais 0:2cb6ce8e07bd 630
brdirais 0:2cb6ce8e07bd 631 uint8_t numberOfDevices;
brdirais 0:2cb6ce8e07bd 632
brdirais 0:2cb6ce8e07bd 633 uint8_t deviceInstance;
brdirais 0:2cb6ce8e07bd 634
brdirais 0:2cb6ce8e07bd 635 deviceParams_t devicePrm;
brdirais 0:2cb6ce8e07bd 636
brdirais 0:2cb6ce8e07bd 637
brdirais 0:2cb6ce8e07bd 638 /** PWM timer variables */
brdirais 0:2cb6ce8e07bd 639
brdirais 0:2cb6ce8e07bd 640 bool pwm_1A_activated;
brdirais 0:2cb6ce8e07bd 641 bool pwm_2A_activated;
brdirais 0:2cb6ce8e07bd 642 bool pwm_1B_activated;
brdirais 0:2cb6ce8e07bd 643 bool pwm_2B_activated;
brdirais 0:2cb6ce8e07bd 644 };
brdirais 0:2cb6ce8e07bd 645
brdirais 0:2cb6ce8e07bd 646 #endif /* __L6206_CLASS_H */
brdirais 0:2cb6ce8e07bd 647
brdirais 0:2cb6ce8e07bd 648 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
brdirais 0:2cb6ce8e07bd 649
brdirais 0:2cb6ce8e07bd 650
brdirais 0:2cb6ce8e07bd 651