Davide Aliprandi
Added ST_INTERFACES library.
Fork of
X_NUCLEO_IHM04A1
by 
ST
Diff: Components/l6206/l6206_class.h
- Revision:
- 1:2597a6165252
- Parent:
- 0:2cb6ce8e07bd
- Child:
- 2:65057305b86e
--- a/Components/l6206/l6206_class.h Tue May 03 11:16:57 2016 +0000
+++ b/Components/l6206/l6206_class.h Tue May 17 09:45:13 2016 +0000
@@ -172,101 +172,222 @@
* return COMPONENT_EnableFeature(); *
* } *
*------------------------------------------------------------------------*/
+
+ /**
+ * @brief Initializing the component.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int Init(void *init = NULL)
{
return (int) L6206_Init((void *) init);
}
-
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int ReadID(uint8_t *id = NULL)
{
return (int) L6206_ReadId((uint8_t *) id);
}
+
+ /**
+ * @brief Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library detects an error
+ * @param[in] callback Name of the callback to attach to the error Hanlder
+ * @retval None
+ */
virtual void AttachErrorHandler(void (*callback)(uint16_t error))
{
L6206_AttachErrorHandler((void (*)(uint16_t error)) callback);
}
+
+ /**
+ * @brief Attaches a user callback to the flag Interrupt
+ * The call back will be then called each time the status
+ * flag pin will be pulled down due to the occurrence of
+ * a programmed alarms ( OCD, thermal alert)
+ * @param[in] callback Name of the callback to attach
+ * to the Flag Interrupt
+ * @retval None
+ */
virtual void AttachFlagInterrupt(void (*callback)(void))
{
L6206_AttachFlagInterrupt((void (*)(void)) callback);
}
+ /**
+ * @brief Returns the current speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval current speed in % from 0 to 100
+ */
virtual uint16_t GetCurrentSpeed(uint8_t motorId)
{
return (uint16_t) L6206_GetCurrentSpeed((uint8_t) motorId);
}
+ /**
+ * @brief Returns the device state
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval State (STEADY or INACTIVE)
+ */
virtual motorState_t GetDeviceState(uint8_t motorId)
{
return (motorState_t) L6206_GetDeviceState((uint8_t) motorId);
}
+ /**
+ * @brief Returns the FW version of the library
+ * @retval L6206_FW_VERSION
+ */
virtual uint8_t GetFwVersion(void)
{
return (uint8_t) L6206_GetFwVersion();
}
+ /**
+ * @brief Returns the max speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval maxSpeed in % from 0 to 100
+ */
virtual uint16_t GetMaxSpeed(uint8_t motorId)
{
return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
}
+ /**
+ * @brief Stops the motor without disabling the bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval none
+ */
virtual void HardStop(uint8_t motorId)
{
L6206_HardStop((uint8_t) motorId);
}
+ /**
+ * @brief Runs the motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ * @note For unidirectionnal motor, direction parameter has no effect
+ */
virtual void Run(uint8_t stepCount, motorDir_t direction)
{
L6206_Run((uint8_t) stepCount, (motorDir_t) direction);
}
+ /**
+ * @brief Changes the max speed of the specified device
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] newMaxSpeed in % from 0 to 100
+ * @retval true if the command is successfully executed, else false
+ */
virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
{
return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
}
+ /**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ */
virtual void CmdDisable(uint8_t bridgeId)
{
L6206_DisableBridge((uint8_t) bridgeId);
}
+ /**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ */
virtual void CmdEnable(uint8_t bridgeId)
{
L6206_EnableBridge((uint8_t) bridgeId);
}
+ /**
+ * @brief Get the status of the bridge enabling of the corresponding bridge
+ * @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+ */
virtual uint16_t CmdGetStatus(uint8_t bridgeId)
{
return (uint16_t) L6206_GetBridgeStatus((uint8_t) bridgeId);
}
+ /**
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval None
+ * @note if two motors uses the same power bridge, the
+ * power bridge will be disable only if the two motors are stopped
+ */
virtual void CmdHardHiZ(uint8_t motorId)
{
L6206_HardHiz((uint8_t) motorId);
}
-
+
+ /**
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ */
virtual void ErrorHandler(uint16_t error)
{
L6206_ErrorHandler((uint16_t) error);
}
+ /**
+ * @brief Set dual full bridge parallelling configuration
+ * @param[in] newConfig bridge configuration to apply from
+ * dualFullBridgeConfig_t enum
+ * @retval None
+ */
virtual void SetDualFullBridgeConfig(uint8_t newConfig)
{
L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
}
+ /**
+ * @brief Get the PWM frequency of the specified bridge
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval Freq in Hz
+ */
virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId)
{
return (uint32_t) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
}
+ /**
+ * @brief Changes the PWM frequency of the bridge input
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @param[in] newFreq in Hz
+ * @retval None
+ */
virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
{
L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
}
+ /**
+ * @brief Sets the number of devices to be used
+ * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ * @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ * devices greater than MAX_NUMBER_OF_DEVICES
+ */
virtual bool SetNbDevices(uint8_t nbDevices)
{
return (bool) L6206_SetNbDevices((uint8_t) nbDevices);
@@ -308,10 +429,10 @@
/**
* @brief Enabling the FLAG interrupt handling.
- * @param None.
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
* @retval None.
*/
- void EnableFlagIRQ(uint8_t bridgeId)
+ virtual void EnableFlagIRQ(uint8_t bridgeId)
{
if (bridgeId == BRIDGE_A)
{
@@ -327,10 +448,10 @@
/**
* @brief Disabling the FLAG interrupt handling.
- * @param None.
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
* @retval None.
*/
- void DisableFlagIRQ(uint8_t bridgeId)
+ virtual void DisableFlagIRQ(uint8_t bridgeId)
{
if (bridgeId == BRIDGE_A)
flag_A_irq.fall(NULL);
@@ -341,21 +462,7 @@
/*** Public In/Out Related Methods ***/
- void OutVal( uint8_t bridgeId, uint8_t val)
- {
- if( bridgeId == BRIDGE_A)
- {
- EN_flag_A.output();
- EN_flag_A.mode(PullNone);
- EN_flag_A.write(val);
- }
- else
- {
- EN_flag_B.output();
- EN_flag_B.mode(PullNone);
- EN_flag_B.write(val);
- }
- }
+
protected:
@@ -412,24 +519,68 @@
* Implement here other I/O methods beyond those already implemented *
* above, which are declared extern within the component's header file. *
*------------------------------------------------------------------------*/
+
+ /**
+ * @brief Utility function to set or unset EN pin for Bridge A or Bridge B.
+ * @param[out] none
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval none
+ */
+ void L6206_OutVal( uint8_t bridgeId, uint8_t val)
+ {
+ if( bridgeId == BRIDGE_A)
+ {
+ EN_flag_A.output();
+ EN_flag_A.mode(PullNone);
+ EN_flag_A.write(val);
+ }
+ else
+ {
+ EN_flag_B.output();
+ EN_flag_B.mode(PullNone);
+ EN_flag_B.write(val);
+ }
+ }
+
+ /**
+ * @brief Making the CPU wait.
+ * @param None.
+ * @retval None.
+ */
void L6206_Board_Delay(uint32_t delay)
{
wait_ms(delay);
}
+ /**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ */
void L6206_Board_DisableBridge(uint8_t bridgeId)
{
DisableFlagIRQ(BRIDGE_A);
DisableFlagIRQ(BRIDGE_B);
__disable_irq();
- OutVal( bridgeId, 0);
+ L6206_OutVal( bridgeId, 0);
__enable_irq();
}
+ /**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ */
void L6206_Board_EnableBridge(uint8_t bridgeId, uint8_t addDelay)
{
- OutVal( bridgeId, 1);
+ L6206_OutVal( bridgeId, 1);
if (addDelay != 0)
{
@@ -439,7 +590,11 @@
EnableFlagIRQ( bridgeId);
}
-
+ /**
+ * @brief Returns the FLAG pin state.
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval The FLAG pin value.
+ */
uint32_t L6206_Board_GetFlagPinState(uint8_t bridgeId)
{
if (bridgeId == 0)
@@ -454,6 +609,10 @@
}
}
+ /**
+ * @brief Initiliases the GPIOs used by the L6206s
+ * @retval None
+ */
void L6206_Board_GpioInit(void)
{
/* Init bridge Enable */
@@ -472,8 +631,15 @@
}
- /** Board PWM management **/
-
+ /**
+ * @brief Sets the frequency of PWM used for bridges inputs
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @param[in] newFreq in Hz
+ * @param[in] duty Duty cycle
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ */
void L6206_Board_PwmSetFreq(uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
{
/* Computing the period of PWM. */
@@ -513,6 +679,12 @@
}
}
+ /**
+ * @brief Reset the PWM for the specified brigde input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
void L6206_Board_PwmDeInit(uint8_t bridgeInput)
{
switch (bridgeInput)
@@ -536,10 +708,22 @@
}
}
+ /**
+ * @brief Set the PWM frequency the for the specified bridge input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
void L6206_Board_PwmInit(uint8_t bridgeInput)
{
}
+ /**
+ * @brief Stops the PWM uses for the specified brige input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
void L6206_Board_PwmStop(uint8_t bridgeInput)
{
switch (bridgeInput)