Diff: Components/l6206/l6206.h

Revision:

0:2cb6ce8e07bd

Child:

1:2597a6165252

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6206/l6206.h	Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,221 @@
+/**
+  ******************************************************************************
+  * @file    l6206.h 
+  * @author  IPC Rennes
+  * @version V1.2.0
+  * @date    March 30, 2016
+  * @brief   Header for L6206 driver (dual full bridge driver)
+  * @note    (C) COPYRIGHT 2015 STMicroelectronics
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __L6206_H
+#define __L6206_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/* Includes ------------------------------------------------------------------*/
+#include "l6206_target_config.h"
+#include "../Common/motor.h"
+
+/** @addtogroup BSP
+  * @{
+  */   
+   
+/** @addtogroup L6206
+  * @{
+  */   
+   
+/* Exported Constants --------------------------------------------------------*/
+
+/** @defgroup L6206_Exported_Constants L6206 Exported Constants
+  * @{
+  */   
+
+/// Current FW version
+#define L6206_FW_VERSION (0)
+///Max number of Brush DC motors
+#define L6206_NB_MAX_MOTORS (4)
+///Max number of Bridges
+#define L6206_NB_MAX_BRIDGES (2)
+///Max number of input of Bridges
+#define L6206_NB_MAX_BRIDGE_INPUT (2 * L6206_NB_MAX_BRIDGES)
+/// MCU wait time in ms after power bridges are enabled
+#define BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY    (20)
+   
+ /**
+  * @}
+  */
+
+     
+/* Exported Types  -------------------------------------------------------*/
+
+/** @defgroup L6206_Exported_Types L6206 Exported Types
+  * @{
+  */   
+
+
+
+
+/** @defgroup Initialization_Structure Initialization Structure
+  * @{
+  */
+
+typedef struct
+{
+    /// Bridge configuration structure.
+    dualFullBridgeConfig_t config;
+
+    /// PWM frequency
+    uint32_t pwmFreq[L6206_NB_MAX_BRIDGE_INPUT];
+
+    /// Motor speed
+    uint16_t speed[L6206_NB_MAX_MOTORS];
+
+    /// Motor direction
+    motorDir_t direction[L6206_NB_MAX_MOTORS];
+
+    /// Current motor state
+    motorState_t motionState[L6206_NB_MAX_MOTORS];
+
+    /// Bridge enabled (true) or not (false)
+    bool bridgeEnabled[L6206_NB_MAX_BRIDGES];
+} deviceParams_t;
+
+
+
+
+typedef deviceParams_t L6206_Init_t;
+
+
+
+/**
+  * @}
+  */
+
+
+/** @defgroup Data_Structure Data Structure
+  * @{
+  */
+
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the structure of component's data, if any, one variable per   *
+ * line without initialization.                                               *
+ *                                                                            *
+ * Example:                                                                   *
+ *   typedef struct                                                           *
+ *   {                                                                        *
+ *       int T0_out;                                                          *
+ *       int T1_out;                                                          *
+ *       float T0_degC;                                                       *
+ *       float T1_degC;                                                       *
+ *   } COMPONENT_Data_t;                                                      *
+ *----------------------------------------------------------------------------*/
+typedef struct
+{
+  /// Function pointer to flag interrupt call back
+  void (*flagInterruptCallback)(void);
+
+  /// Function pointer to error handler call back
+  void (*errorHandlerCallback)(uint16_t error);
+
+  /// number of L6206 devices
+  uint8_t numberOfDevices;
+
+  /// L6206 driver instance
+  uint8_t deviceInstance;
+
+  /// L6206 Device Paramaters structure
+  deviceParams_t devicePrm;
+} L6206_Data_t;
+
+/**
+  * @}
+  */
+
+
+
+/**
+  * @}
+  */
+
+/* Exported functions --------------------------------------------------------*/
+
+
+/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
+  * @{
+  */   
+///Delay of the requested number of milliseconds
+extern void L6206_Board_Delay(void *handle, uint32_t delay);
+///Disable the specified bridge
+extern void L6206_Board_DisableBridge(void *handle, uint8_t bridgeId);
+///Enable the specified bridge
+extern void L6206_Board_EnableBridge(void *handle, uint8_t bridgeId, uint8_t addDelay);
+//Get the status of the flag and enable Pin
+extern uint32_t L6206_Board_GetFlagPinState(void *handle, uint8_t bridgeId);
+///Initialise GPIOs used for L6206s
+extern void L6206_Board_GpioInit(void *handle);
+///Set Briges Inputs PWM frequency and start it
+extern void L6206_Board_PwmSetFreq(void *handle, uint8_t bridgeInput, uint32_t newFreq, uint8_t duty);
+///Deinitialise the PWM of the specified bridge input
+extern void L6206_Board_PwmDeInit(void *handle, uint8_t bridgeInput);
+///Init the PWM of the specified bridge input
+extern void L6206_Board_PwmInit(void *handle, uint8_t bridgeInput);
+///Stop the PWM of the specified bridge input
+extern void L6206_Board_PwmStop(void *handle, uint8_t bridgeInput);
+
+
+
+/**
+  * @}
+  */
+
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+  }
+#endif
+
+#endif /* #ifndef __L6206_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+