l6206.h

00001 /**
00002   ******************************************************************************
00003   * @file    l6206.h 
00004   * @author  IPC Rennes
00005   * @version V1.2.0
00006   * @date    March 30, 2016
00007   * @brief   Header for L6206 driver (dual full bridge driver)
00008   * @note    (C) COPYRIGHT 2015 STMicroelectronics
00009   ******************************************************************************
00010   * @attention
00011   *
00012   * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013   *
00014   * Redistribution and use in source and binary forms, with or without modification,
00015   * are permitted provided that the following conditions are met:
00016   *   1. Redistributions of source code must retain the above copyright notice,
00017   *      this list of conditions and the following disclaimer.
00018   *   2. Redistributions in binary form must reproduce the above copyright notice,
00019   *      this list of conditions and the following disclaimer in the documentation
00020   *      and/or other materials provided with the distribution.
00021   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022   *      may be used to endorse or promote products derived from this software
00023   *      without specific prior written permission.
00024   *
00025   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035   *
00036   ******************************************************************************
00037   */
00038 
00039 /* Define to prevent recursive inclusion -------------------------------------*/
00040 #ifndef __L6206_H
00041 #define __L6206_H
00042 
00043 #ifdef __cplusplus
00044  extern "C" {
00045 #endif 
00046 
00047 /* Includes ------------------------------------------------------------------*/
00048 #include "l6206_target_config.h"
00049 #include "../Common/motor.h"
00050 
00051 /** @addtogroup BSP
00052   * @{
00053   */   
00054   
00055 /** @addtogroup Components
00056   * @{
00057   */  
00058    
00059 /** @addtogroup L6206
00060   * @{
00061   */   
00062    
00063 /* Exported Constants --------------------------------------------------------*/
00064 
00065 /** @defgroup L6206_Exported_Defines L6206 Exported Defines
00066   * @{
00067   */   
00068 
00069 /// Current FW version
00070 #define L6206_FW_VERSION (0)
00071 ///Max number of Brush DC motors
00072 #define L6206_NB_MAX_MOTORS (4)
00073 ///Max number of Bridges
00074 #define L6206_NB_MAX_BRIDGES (2)
00075 ///Max number of input of Bridges
00076 #define L6206_NB_MAX_BRIDGE_INPUT (2 * L6206_NB_MAX_BRIDGES)
00077 /// MCU wait time in ms after power bridges are enabled
00078 #define BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY    (20)
00079    
00080  /**
00081   * @}
00082   */
00083 
00084      
00085 /* Exported Types  -------------------------------------------------------*/
00086 
00087 /** @defgroup L6206_Exported_Types L6206 Exported Types
00088   * @{
00089   */   
00090 
00091 
00092 
00093 
00094 /** @defgroup Initialization_Structure Initialization Structure
00095   * @{
00096   */
00097 
00098 typedef struct
00099 {
00100     /// Bridge configuration structure.
00101     dualFullBridgeConfig_t config;
00102 
00103     /// PWM frequency
00104     uint32_t pwmFreq[L6206_NB_MAX_BRIDGE_INPUT];
00105 
00106     /// Motor speed
00107     uint16_t speed[L6206_NB_MAX_MOTORS];
00108 
00109     /// Motor direction
00110     motorDir_t direction[L6206_NB_MAX_MOTORS];
00111 
00112     /// Current motor state
00113     motorState_t motionState[L6206_NB_MAX_MOTORS];
00114 
00115     /// Bridge enabled (true) or not (false)
00116     bool bridgeEnabled[L6206_NB_MAX_BRIDGES];
00117 } deviceParams_t;
00118 
00119 
00120 
00121 
00122 typedef deviceParams_t L6206_Init_t;
00123 
00124 
00125 
00126 /**
00127   * @}
00128   */
00129 
00130 
00131 /** @defgroup Data_Structure Data Structure
00132   * @{
00133   */
00134 
00135 /* ACTION --------------------------------------------------------------------*
00136  * Declare here the structure of component's data, if any, one variable per   *
00137  * line without initialization.                                               *
00138  *                                                                            *
00139  * Example:                                                                   *
00140  *   typedef struct                                                           *
00141  *   {                                                                        *
00142  *       int T0_out;                                                          *
00143  *       int T1_out;                                                          *
00144  *       float T0_degC;                                                       *
00145  *       float T1_degC;                                                       *
00146  *   } COMPONENT_Data_t;                                                      *
00147  *----------------------------------------------------------------------------*/
00148 typedef struct
00149 {
00150   /// Function pointer to flag interrupt call back
00151   void (*flagInterruptCallback)(void);
00152 
00153   /// Function pointer to error handler call back
00154   void (*errorHandlerCallback)(uint16_t error);
00155 
00156   /// number of L6206 devices
00157   uint8_t numberOfDevices;
00158 
00159   /// L6206 driver instance
00160   uint8_t deviceInstance;
00161 
00162   /// L6206 Device Paramaters structure
00163   deviceParams_t devicePrm;
00164 } L6206_Data_t;
00165 
00166 /**
00167   * @}
00168   */
00169 
00170 
00171 
00172 /**
00173   * @}
00174   */
00175 
00176 /* Exported functions --------------------------------------------------------*/
00177 
00178 
00179 /** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
00180   * @{
00181   */   
00182 ///Delay of the requested number of milliseconds
00183 extern void L6206_Board_Delay(void *handle, uint32_t delay);
00184 ///Disable the specified bridge
00185 extern void L6206_Board_DisableBridge(void *handle, uint8_t bridgeId);
00186 ///Enable the specified bridge
00187 extern void L6206_Board_EnableBridge(void *handle, uint8_t bridgeId, uint8_t addDelay);
00188 //Get the status of the flag and enable Pin
00189 extern uint32_t L6206_Board_GetFlagPinState(void *handle, uint8_t bridgeId);
00190 ///Initialise GPIOs used for L6206s
00191 extern void L6206_Board_GpioInit(void *handle);
00192 ///Set Briges Inputs PWM frequency and start it
00193 extern void L6206_Board_PwmSetFreq(void *handle, uint8_t bridgeInput, uint32_t newFreq, uint8_t duty);
00194 ///Deinitialise the PWM of the specified bridge input
00195 extern void L6206_Board_PwmDeInit(void *handle, uint8_t bridgeInput);
00196 ///Init the PWM of the specified bridge input
00197 extern void L6206_Board_PwmInit(void *handle, uint8_t bridgeInput);
00198 ///Stop the PWM of the specified bridge input
00199 extern void L6206_Board_PwmStop(void *handle, uint8_t bridgeInput);
00200 /**
00201   * @}
00202   */
00203 
00204 
00205 
00206 /**
00207   * @}
00208   */
00209 
00210 
00211 /**
00212   * @}
00213   */
00214 
00215 /**
00216   * @}
00217   */
00218 
00219 #ifdef __cplusplus
00220   }
00221 #endif
00222 
00223 #endif /* #ifndef __L6206_H */
00224 
00225 
00226 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
00227 
00228