motor_def.h

00001 /**
00002   ******************************************************************************
00003   * @file    motor_def.h
00004   * @author  STM
00005   * @version V1.7.0
00006   * @date    August 7th, 2017
00007   * @brief   This file contains all the functions prototypes for motor drivers.   
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 
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_def.h"
00053 
00054 /** @addtogroup BSP
00055   * @{
00056   */
00057 
00058 /** @addtogroup Components
00059   * @{
00060   */ 
00061 
00062 /** @defgroup Motor Motor
00063   * @{
00064   */
00065     
00066 /** @defgroup Motor_Exported_Constants Motor Exported Constants
00067   * @{
00068   */   
00069    
00070 
00071 /// boolean for false condition 
00072 #ifndef FALSE
00073 #define FALSE (0)
00074 #endif
00075 /// boolean for true condition 
00076 #ifndef TRUE
00077 #define TRUE  (1)
00078 #endif
00079 
00080 /**
00081   * @}
00082   */
00083    
00084 /** @defgroup Motor_Exported_Types Motor Exported Types
00085   * @{
00086   */
00087 
00088 /** @defgroup Motor_Boolean_Type Motor Boolean Type
00089   * @{
00090   */
00091 ///bool Type
00092 typedef uint8_t bool;
00093 /**
00094   * @}
00095   */   
00096    
00097 /** @defgroup Device_Direction_Options Device Direction Options
00098   * @{
00099   */
00100 /// Direction options
00101 typedef enum {
00102   BACKWARD = 0,
00103   FORWARD = 1,
00104   UNKNOW_DIR = ((uint8_t)0xFF)
00105 } motor_direction_t;
00106 /**
00107   * @}
00108   */
00109   
00110 /** @defgroup Device_Action_Options Device Action Options
00111   * @{
00112   */
00113 /// Action options
00114 typedef enum {
00115   ACTION_RESET = ((uint8_t)0x00),
00116   ACTION_COPY  = ((uint8_t)0x08)
00117 } motor_action_t;
00118 /**
00119   * @}
00120   */  
00121 
00122 /** @defgroup Device_States Device States
00123   * @{
00124   */
00125 /// Device states
00126 typedef enum {
00127   ACCELERATING       = 0,
00128   DECELERATINGTOSTOP = 1,  
00129   DECELERATING       = 2, 
00130   STEADY             = 3,
00131   INDEX_ACCEL        = 4,
00132   INDEX_RUN          = 5,
00133   INDEX_DECEL        = 6,
00134   INDEX_DWELL        = 7,
00135   INACTIVE           = 8,
00136   STANDBY            = 9,
00137   STANDBYTOINACTIVE  = 10
00138 } motor_state_t;
00139 /**
00140   * @}
00141   */   
00142 
00143 /** @defgroup Device_Step_mode Device Step mode
00144   * @{
00145   */
00146  /// Stepping options 
00147 typedef enum {
00148   STEP_MODE_FULL   = ((uint8_t)0x00), 
00149   STEP_MODE_HALF   = ((uint8_t)0x01),
00150   STEP_MODE_1_4    = ((uint8_t)0x02),
00151   STEP_MODE_1_8    = ((uint8_t)0x03),
00152   STEP_MODE_1_16   = ((uint8_t)0x04),
00153   STEP_MODE_1_32   = ((uint8_t)0x05),
00154   STEP_MODE_1_64   = ((uint8_t)0x06),
00155   STEP_MODE_1_128  = ((uint8_t)0x07),
00156   STEP_MODE_1_256  = ((uint8_t)0x08),
00157   STEP_MODE_UNKNOW = ((uint8_t)0xFE),
00158   STEP_MODE_WAVE   = ((uint8_t)0xFF)  
00159 } motor_step_mode_t;
00160 
00161 /**
00162   * @}
00163   */
00164   
00165 /** @defgroup Decay_mode Decay mode
00166   * @{
00167   */
00168 /// Decay Mode 
00169 typedef enum {
00170   SLOW_DECAY = 0,
00171   FAST_DECAY = 1,
00172   MIXED_DECAY = 2,
00173   UNKNOW_DECAY = ((uint8_t)0xFF)
00174 } motor_decay_mode_t;
00175 /**
00176   * @}
00177   */
00178   
00179 /** @defgroup Stop_mode Stop mode
00180   * @{
00181   */
00182 /// Stop mode
00183 typedef enum
00184 { 
00185   HOLD_MODE = 0,
00186   HIZ_MODE = 1,
00187   STANDBY_MODE = 2,
00188   UNKNOW_STOP_MODE = ((uint8_t)0xFF)
00189 } motor_stop_mode_t;
00190 /**
00191   * @}
00192   */  
00193 
00194 /** @defgroup Torque_mode Torque mode
00195   * @{
00196   */
00197 /// Torque mode
00198 typedef enum
00199 { 
00200   ACC_TORQUE = 0,
00201   DEC_TORQUE = 1,
00202   RUN_TORQUE = 2,
00203   HOLD_TORQUE = 3,
00204   CURRENT_TORQUE = 4,
00205   UNKNOW_TORQUE = ((uint8_t)0xFF)
00206 } motor_torque_mode_t;
00207 /**
00208   * @}
00209   */  
00210     
00211 /** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
00212   * @{
00213   */
00214 ///Dual full bridge configurations for brush DC motors
00215 typedef enum {
00216   PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
00217   PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
00218   PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
00219   PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
00220   PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
00221   PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
00222   PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
00223   PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
00224   PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
00225   PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
00226   PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
00227   PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
00228   PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
00229   PARALLELING_END_ENUM = 13 
00230 } dual_full_bridge_config_t;
00231 /**
00232   * @}
00233   */
00234 
00235 /** @defgroup Motor_Driver_Structure Motor Driver Structure
00236   * @{
00237   */
00238 /// Motor driver structure definition  
00239 typedef struct
00240 {
00241   /* ACTION ----------------------------------------------------------------*
00242    * Declare here the component's generic functions.                        *
00243    * Tag this group of functions with the " Generic " C-style comment.      *
00244    * A component's interface has to define at least the two generic         *
00245    * functions provided here below within the "Example" section, as the     *
00246    * first and second functions of its Virtual Table. They have to be       *
00247    * specified exactly in the given way.                                    *
00248    *                                                                        *
00249    * Example:                                                               *
00250    *   status_t (*Init)   (void *handle, void *init);                       *
00251    *   status_t (*ReadID) (void *handle, uint8_t *id);                      *
00252    *------------------------------------------------------------------------*/
00253   /* Generic */
00254   /// Function pointer to Init
00255   status_t (*Init)(void *handle, void *init);
00256   /// Function pointer to ReadID
00257   status_t (*ReadID)(void *handle, uint8_t *id);
00258 
00259   /* ACTION ----------------------------------------------------------------*
00260    * Declare here the component's interrupts related functions.             *
00261    * Tag this group of functions with the " Interrupts " C-style comment.   *
00262    * Do not specify any function if not required.                           *
00263    *                                                                        *
00264    * Example:                                                               *
00265    *   void     (*ConfigIT) (void *handle, int a);                          *
00266    *------------------------------------------------------------------------*/
00267   /* Interrupts */
00268   /// Function pointer to AttachErrorHandler
00269   void(*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
00270   /// Function pointer to AttachFlagInterrupt
00271   void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
00272   /// Function pointer to AttachBusyInterrupt
00273   void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
00274   /// Function pointer to FlagInterruptHandler
00275   void (*FlagInterruptHandler)(void *handle);
00276 
00277   /* ACTION ----------------------------------------------------------------*
00278    * Declare here the component's specific functions.                       *
00279    * Tag this group of functions with the " Specific " C-style comment.     *
00280    * Do not specify any function if not required.                           *
00281    *                                                                        *
00282    * Example:                                                               *
00283    *   status_t (*GetValue) (void *handle, float *f);                       *
00284    *------------------------------------------------------------------------*/
00285   /* Specific */
00286   /// Function pointer to GetAcceleration
00287   uint16_t (*GetAcceleration)(void *handle, uint8_t deviceId);
00288   /// Function pointer to GetCurrentSpeed
00289   uint16_t (*GetCurrentSpeed)(void *handle, uint8_t deviceId);
00290   /// Function pointer to GetDeceleration
00291   uint16_t (*GetDeceleration)(void *handle, uint8_t deviceId);
00292   /// Function pointer to GetDeviceState
00293   motor_state_t(*GetDeviceState)(void *handle, uint8_t deviceId);
00294   /// Function pointer to GetFwVersion
00295   uint32_t (*GetFwVersion)(void *handle);
00296   /// Function pointer to GetMark
00297   int32_t (*GetMark)(void *handle, uint8_t deviceId);
00298   /// Function pointer to GetMaxSpeed
00299   uint16_t (*GetMaxSpeed)(void *handle, uint8_t deviceId);
00300   /// Function pointer to GetMinSpeed
00301   uint16_t (*GetMinSpeed)(void *handle, uint8_t deviceId);
00302   /// Function pointer to GetPosition
00303   int32_t (*GetPosition)(void *handle, uint8_t deviceId);
00304   /// Function pointer to GoHome
00305   void (*GoHome)(void *handle, uint8_t deviceId);
00306   /// Function pointer to GoMark
00307   void (*GoMark)(void *handle, uint8_t deviceId);
00308   /// Function pointer to GoTo
00309   void (*GoTo)(void *handle, uint8_t deviceId, int32_t targetPosition);
00310   /// Function pointer to HardStop
00311   void (*HardStop)(void *handle, uint8_t deviceId);
00312   /// Function pointer to Move
00313   void (*Move)(void *handle, uint8_t deviceId, motor_direction_t direction, uint32_t stepCount);
00314   /// Function pointer to ResetAllDevices
00315   void (*ResetAllDevices)(void *handle);
00316   /// Function pointer to Run
00317   void (*Run)(void *handle, uint8_t deviceId, motor_direction_t direction);
00318   /// Function pointer to SetAcceleration
00319   bool(*SetAcceleration)(void *handle, uint8_t deviceId, uint16_t newAcc);
00320   /// Function pointer to SetDeceleration
00321   bool(*SetDeceleration)(void *handle, uint8_t deviceId, uint16_t newDec);
00322   /// Function pointer to SetHome
00323   void (*SetHome)(void *handle, uint8_t deviceId);
00324   /// Function pointer to SetMark
00325   void (*SetMark)(void *handle, uint8_t deviceId);
00326   /// Function pointer to SetMaxSpeed
00327   bool (*SetMaxSpeed)(void *handle, uint8_t deviceId, uint16_t newMaxSpeed);
00328   /// Function pointer to SetMinSpeed
00329   bool (*SetMinSpeed)(void *handle, uint8_t deviceId, uint16_t newMinSpeed);
00330   /// Function pointer to SoftStop
00331   bool (*SoftStop)(void *handle, uint8_t deviceId);
00332   /// Function pointer to StepClockHandler
00333   void (*StepClockHandler)(void *handle, uint8_t deviceId);
00334   /// Function pointer to WaitWhileActive
00335   void (*WaitWhileActive)(void *handle, uint8_t deviceId);
00336   /// Function pointer to CmdDisable
00337   void (*CmdDisable)(void *handle, uint8_t deviceId);
00338   /// Function pointer to CmdEnable
00339   void (*CmdEnable)(void *handle, uint8_t deviceId);
00340   /// Function pointer to CmdGetParam
00341   uint32_t (*CmdGetParam)(void *handle, uint8_t deviceId, uint32_t cmd);
00342   /// Function pointer to CmdGetStatus
00343   uint16_t (*CmdGetStatus)(void *handle, uint8_t deviceId);
00344   /// Function pointer to CmdNop
00345   void (*CmdNop)(void *handle, uint8_t deviceId);
00346   /// Function pointer to CmdSetParam
00347   void (*CmdSetParam)(void *handle, uint8_t deviceId, uint32_t cmd, uint32_t param);
00348   /// Function pointer to ReadStatusRegister
00349   uint16_t (*ReadStatusRegister)(void *handle, uint8_t deviceId);
00350   /// Function pointer to ReleaseReset
00351   void (*ReleaseReset)(void *handle, uint8_t deviceId);
00352   /// Function pointer to Reset
00353   void (*Reset)(void *handle, uint8_t deviceId);
00354   /// Function pointer to SelectStepMode
00355   bool (*SelectStepMode)(void *handle, uint8_t deviceId, motor_step_mode_t stepMode);
00356   /// Function pointer to SetDirection
00357   void (*SetDirection)(void *handle, uint8_t deviceId, motor_direction_t direction);
00358   /// Function pointer to CmdGoToDir
00359   void (*CmdGoToDir)(void *handle, uint8_t deviceId, motor_direction_t direction, int32_t targetPosition);
00360   /// Function pointer to CheckBusyHw
00361   uint8_t (*CheckBusyHw)(void *handle);
00362   /// Function pointer to CheckStatusHw
00363   uint8_t (*CheckStatusHw)(void *handle);
00364   /// Function pointer to CmdGoUntil
00365   void (*CmdGoUntil)(void *handle, uint8_t deviceId, motor_action_t action, motor_direction_t direction, uint32_t position);
00366   /// Function pointer to CmdHardHiZ
00367   void (*CmdHardHiZ)(void *handle, uint8_t deviceId);
00368   /// Function pointer to CmdReleaseSw
00369   void (*CmdReleaseSw)(void *handle, uint8_t deviceId, motor_action_t action, motor_direction_t direction);
00370   /// Function pointer to CmdResetDevice
00371   void (*CmdResetDevice)(void *handle, uint8_t deviceId);
00372   /// Function pointer to CmdResetPos
00373   void (*CmdResetPos)(void *handle, uint8_t deviceId);
00374   /// Function pointer to CmdRun
00375   void (*CmdRun)(void *handle, uint8_t deviceId, motor_direction_t position, uint32_t p);
00376   /// Function pointer to CmdSoftHiZ
00377   void (*CmdSoftHiZ)(void *handle, uint8_t deviceId);
00378   /// Function pointer to CmdStepClock
00379   void (*CmdStepClock)(void *handle, uint8_t deviceId, motor_direction_t direction);
00380   /// Function pointer to FetchAndClearAllStatus
00381   void (*FetchAndClearAllStatus)(void *handle);
00382   /// Function pointer to GetFetchedStatus
00383   uint16_t (*GetFetchedStatus)(void *handle, uint8_t deviceId);
00384   /// Function pointer to GetNbDevices
00385   uint8_t (*GetNbDevices)(void *handle);
00386   /// Function pointer to IsDeviceBusy
00387   bool (*IsDeviceBusy)(void *handle, uint8_t deviceId);
00388   /// Function pointer to SendQueuedCommands
00389   void (*SendQueuedCommands)(void *handle);
00390   /// Function pointer to QueueCommands
00391   void (*QueueCommands)(void *handle, uint8_t deviceId, uint8_t p1, int32_t p2);
00392   /// Function pointer to WaitForAllDevicesNotBusy
00393   void (*WaitForAllDevicesNotBusy)(void *handle);
00394   /// Function pointer to ErrorHandler
00395   void (*ErrorHandler)(void *handle, uint16_t error);
00396   /// Function pointer to BusyInterruptHandler
00397   void (*BusyInterruptHandler)(void *handle);
00398   /// Function pointer to CmdSoftStop
00399   void (*CmdSoftStop)(void *handle, uint8_t deviceId);
00400   /// Function pointer to StartStepClock
00401   void (*StartStepClock)(void *handle, uint16_t p);
00402   /// Function pointer to StopStepClock
00403   void (*StopStepClock)(void *handle);
00404   /// Function pointer to SetDualFullBridgeConfig
00405   void (*SetDualFullBridgeConfig)(void *handle, uint8_t deviceId);
00406   /// Function pointer to GetBridgeInputPwmFreq
00407   uint32_t (*GetBridgeInputPwmFreq)(void *handle, uint8_t deviceId);
00408   /// Function pointer to SetBridgeInputPwmFreq
00409   void (*SetBridgeInputPwmFreq)(void *handle, uint8_t deviceId, uint32_t newFreq);
00410   /// Function pointer to SetStopMode
00411   void (*SetStopMode)(void *handle, uint8_t deviceId, motor_stop_mode_t stopMode);
00412   /// Function pointer to GetStopMode
00413   motor_stop_mode_t (*GetStopMode)(void *handle, uint8_t deviceId);
00414   /// Function pointer to SetDecayMode
00415   void (*SetDecayMode)(void *handle, uint8_t deviceId, motor_decay_mode_t decayMode);
00416   /// Function pointer to GetDecayMode
00417   motor_decay_mode_t (*GetDecayMode)(void *handle, uint8_t deviceId);
00418   /// Function pointer to GetStepMode
00419   motor_step_mode_t (*GetStepMode)(void *handle, uint8_t deviceId);
00420   /// Function pointer to GetDirection
00421   motor_direction_t (*GetDirection)(void *handle, uint8_t deviceId);
00422   /// Function pointer to ExitDeviceFromReset
00423   void (*ExitDeviceFromReset)(void *handle, uint8_t deviceId);
00424   /// Function pointer to SetTorque
00425   void (*SetTorque)(void *handle, uint8_t deviceId, motor_torque_mode_t torqueMode, uint8_t torqueValue);
00426   /// Function pointer to GetTorque
00427   uint8_t (*GetTorque)(void *handle, uint8_t deviceId, motor_torque_mode_t torqueMode);
00428   /// Function pointer to SetVRefFreq
00429   void (*SetRefFreq)(void *handle, uint8_t deviceId, uint32_t refFreq);
00430   /// Function pointer to GetVRefFreq
00431   uint32_t (*GetRefFreq)(void *handle, uint8_t deviceId);
00432   /// Function pointer to SetVRefDc
00433   void (*SetRefDc)(void *handle, uint8_t deviceId, uint8_t refDc);
00434   /// Function pointer to GetVRefDc
00435   uint8_t (*GetRefDc)(void *handle, uint8_t deviceId);
00436   /// Function pointer to SetNbDevices
00437   bool (*SetNbDevices)(void *handle, uint8_t deviceId);
00438   /// Function pointer to SetAnalogValue
00439   bool (*SetAnalogValue)(void *handle, uint8_t deviceId, uint32_t param, float value);
00440   /// Function pointer to GetAnalogValue
00441   float (*GetAnalogValue)(void *handle, uint8_t deviceId, uint32_t param);
00442   /// Function pointer to SetTorqueBoostEnable
00443   void (*SetTorqueBoostEnable)(void *handle, uint8_t deviceId, bool enable);
00444   /// Function pointer to GetTorqueBoostEnable
00445   bool (*GetTorqueBoostEnable)(void *handle, uint8_t deviceId);
00446   /// Function pointer to SetTorqueBoostThreshold
00447   void (*SetTorqueBoostThreshold)(void *handle, uint8_t deviceId, uint16_t speedThreshold);
00448   /// Function pointer to GetTorqueBoostThreshold
00449   uint16_t (*GetTorqueBoostThreshold)(void *handle, uint8_t deviceId);
00450 } MOTOR_vt_t;
00451       
00452 /**
00453   
00454 * @}
00455   */ 
00456 
00457 /**
00458   * @}
00459   */ 
00460 
00461 /**
00462   * @}
00463   */
00464   
00465 /**
00466   * @}
00467   */ 
00468 
00469 /**
00470   * @}
00471   */ 
00472 
00473 #ifdef __cplusplus
00474 }
00475 #endif
00476 
00477 #endif /* __MOTOR_H */
00478 
00479 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/