File content as of revision 3:b06e38d365d7:

/**
  ******************************************************************************
  * @file    motor.h
  * @author  IPC Rennes
  * @version V1.5.0
  * @date    January 25, 2016
  * @brief   This file contains all the functions prototypes for motor drivers.   
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT(c) 2016 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 __MOTOR_H
#define __MOTOR_H

#ifdef __cplusplus
 extern "C" {
#endif 

/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
#include "component.h"
   
/** @addtogroup BSP
  * @{
  */

/** @addtogroup Components
  * @{
  */ 

/** @defgroup Motor Motor
  * @{
  */
    
/** @defgroup Motor_Exported_Constants Motor Exported Constants
  * @{
  */   
   
/// boolean for false condition 
#ifndef FALSE
#define FALSE (0)
#endif
/// boolean for true condition 
#ifndef TRUE
#define TRUE  (1)
#endif

   /**
  * @}
  */
   
/** @defgroup Motor_Exported_Types Motor Exported Types
  * @{
  */

/** @defgroup Motor_Boolean_Type Motor Boolean Type
  * @{
  */
///bool Type
//typedef uint8_t  bool;
/**
  * @}
  */   
   
/** @defgroup Device_Direction_Options Device Direction Options
  * @{
  */
/// Direction options
typedef enum {
  BACKWARD = 0,
  FORWARD = 1,
  UNKNOW_DIR = ((uint8_t)0xFF)
} motorDir_t;
/**
  * @}
  */
  
/** @defgroup Device_Action_Options Device Action Options
  * @{
  */
/// Action options
typedef enum {
  ACTION_RESET = ((uint8_t)0x00),
  ACTION_COPY  = ((uint8_t)0x08)
} motorAction_t;
/**
  * @}
  */  

/** @defgroup Device_States Device States
  * @{
  */
/// Device states
typedef enum {
  ACCELERATING       = 0,
  DECELERATINGTOSTOP = 1,  
  DECELERATING       = 2, 
  STEADY             = 3,
  INDEX_ACCEL        = 4,
  INDEX_RUN          = 5,
  INDEX_DECEL        = 6,
  INDEX_DWELL        = 7,
  INACTIVE           = 8,
  STANDBY            = 9,
  STANDBYTOINACTIVE  = 10
} motorState_t;
/**
  * @}
  */   

/** @defgroup Device_Step_mode Device Step mode
  * @{
  */
 /// Stepping options 
typedef enum {
  STEP_MODE_FULL   = ((uint8_t)0x00), 
  STEP_MODE_HALF   = ((uint8_t)0x01),
  STEP_MODE_1_4    = ((uint8_t)0x02),
  STEP_MODE_1_8    = ((uint8_t)0x03),
  STEP_MODE_1_16   = ((uint8_t)0x04),
  STEP_MODE_1_32   = ((uint8_t)0x05),
  STEP_MODE_1_64   = ((uint8_t)0x06),
  STEP_MODE_1_128  = ((uint8_t)0x07),
  STEP_MODE_1_256  = ((uint8_t)0x08),
  STEP_MODE_UNKNOW = ((uint8_t)0xFE),
  STEP_MODE_WAVE   = ((uint8_t)0xFF)  
} motorStepMode_t;

/**
  * @}
  */
  
/** @defgroup Decay_mode Decay mode
  * @{
  */
/// Decay Mode 
typedef enum {
  SLOW_DECAY = 0,
  FAST_DECAY = 1,
  UNKNOW_DECAY = ((uint8_t)0xFF)
} motorDecayMode_t;
/**
  * @}
  */
  
/** @defgroup Stop_mode Stop mode
  * @{
  */
/// Stop mode
typedef enum
{ 
  HOLD_MODE = 0,
  HIZ_MODE = 1,
  STANDBY_MODE = 2,
  UNKNOW_STOP_MODE = ((uint8_t)0xFF)
} motorStopMode_t;
/**
  * @}
  */  

/** @defgroup Torque_mode Torque mode
  * @{
  */
/// Torque mode
typedef enum
{ 
  ACC_TORQUE = 0,
  DEC_TORQUE = 1,
  RUN_TORQUE = 2,
  HOLD_TORQUE = 3,
  CURRENT_TORQUE = 4,
  UNKNOW_TORQUE = ((uint8_t)0xFF)
} motorTorqueMode_t;
/**
  * @}
  */  
    
/** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
  * @{
  */
///Dual full bridge configurations for brush DC motors
typedef enum {
  PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
  PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
  PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
  PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
  PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
  PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
  PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
  PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
  PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
  PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
  PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
  PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
  PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
  PARALLELING_END_ENUM = 13 
} dualFullBridgeConfig_t;
/**
  * @}
  */

/** @defgroup Motor_Driver_Structure Motor Driver Structure
  * @{
  */
/// Motor driver structure definition  
typedef struct
{

	/* Generic */
	Status_t (*Init)(void *handle, void *init);
	Status_t (*ReadID)(void *handle, uint8_t *id);

	/* Interrupts */
	/// Function pointer to AttachErrorHandler
	void(*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
	/// Function pointer to AttachFlagInterrupt
	void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
	/// Function pointer to AttachBusyInterrupt
	void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
	/// Function pointer to FlagInterruptHandler
	void (*FlagInterruptHandler)(void *handle);

	/* Specific */
	/// Function pointer to GetAcceleration
	uint16_t (*GetAcceleration)(void *handle);
	/// Function pointer to GetCurrentSpeed
	uint16_t (*GetCurrentSpeed)(void *handle, uint8_t motorId);
	/// Function pointer to GetDeceleration
	uint16_t (*GetDeceleration)(void *handle);
	/// Function pointer to GetDeviceState
	motorState_t(*GetDeviceState)(void *handle, uint8_t motorId);
	/// Function pointer to GetFwVersion
	uint8_t (*GetFwVersion)(void *handle);
	/// Function pointer to GetMark
	int32_t (*GetMark)(void *handle);
	/// Function pointer to GetMaxSpeed
	uint16_t (*GetMaxSpeed)(void *handle, uint8_t motorId);
	/// Function pointer to GetMinSpeed
	uint16_t (*GetMinSpeed)(void *handle, uint8_t motorId);
	/// Function pointer to GetPosition
	int32_t (*GetPosition)(void *handle);
	/// Function pointer to GoHome
	void (*GoHome)(void *handle);
	/// Function pointer to GoMark
	void (*GoMark)(void *handle);
	/// Function pointer to GoTo
	void (*GoTo)(void *handle, uint8_t deviceId, int32_t motorId);
	/// Function pointer to HardStop
	void (*HardStop)(void *handle, uint8_t motorId);
	/// Function pointer to Move
	void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount);
	/// Function pointer to ResetAllDevices
	void (*ResetAllDevices)(void *handle);
	/// Function pointer to Run
	void (*Run)(void *handle, uint8_t stepCount, motorDir_t direction);
	/// Function pointer to SetAcceleration
	bool(*SetAcceleration)(void *handle, uint16_t newAcc);
	/// Function pointer to SetDeceleration
	bool(*SetDeceleration)(void *handle, uint16_t newDec);
	/// Function pointer to SetHome
	void (*SetHome)(void *handle);
	/// Function pointer to SetMark
	void (*SetMark)(void *handle);
	/// Function pointer to SetMaxSpeed
	bool (*SetMaxSpeed)(void *handle, uint8_t motorId, uint16_t newMaxSpeed);
	/// Function pointer to SetMinSpeed
	bool (*SetMinSpeed)(void *handle, uint8_t motorId, uint16_t newMinSpeed);
	/// Function pointer to SoftStop
	bool (*SoftStop)(void *handle);
	/// Function pointer to StepClockHandler
	void (*StepClockHandler)(void *handle);
	/// Function pointer to WaitWhileActive
	void (*WaitWhileActive)(void *handle);
	/// Function pointer to CmdDisable
	void (*CmdDisable)(void *handle, uint8_t bridgeId);
	/// Function pointer to CmdEnable
	void (*CmdEnable)(void *handle, uint8_t bridgeId);
	/// Function pointer to CmdGetParam
	uint32_t (*CmdGetParam)(void *handle, uint32_t param);
	/// Function pointer to CmdGetStatus
	uint16_t (*CmdGetStatus)(void *handle, uint8_t bridgeId);
	/// Function pointer to CmdNop
	void (*CmdNop)(void *handle);
	/// Function pointer to CmdSetParam
	void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
	/// Function pointer to ReadStatusRegister
	uint16_t (*ReadStatusRegister)(void *handle);
	/// Function pointer to ReleaseReset
	void (*ReleaseReset)(void *handle);
	/// Function pointer to Reset
	void (*Reset)(void *handle);
	/// Function pointer to SelectStepMode
	void (*SelectStepMode)(void *handle, motorStepMode_t stepMode);
	/// Function pointer to SetDirection
	void (*SetDirection)(void *handle, motorDir_t direction);
	/// Function pointer to CmdGoToDir
	void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t abs_pos);
	/// Function pointer to CheckBusyHw
	uint8_t (*CheckBusyHw)(void *handle);
	/// Function pointer to CheckStatusHw
	uint8_t (*CheckStatusHw)(void *handle);
	/// Function pointer to CmdGoUntil
	void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t speed);
	/// Function pointer to CmdHardHiZ
	void (*CmdHardHiZ)(void *handle, uint8_t motorId);
	/// Function pointer to CmdReleaseSw
	void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
	/// Function pointer to CmdResetDevice
	void (*CmdResetDevice)(void *handle);
	/// Function pointer to CmdResetPos
	void (*CmdResetPos)(void *handle);
	/// Function pointer to CmdRun
	void (*CmdRun)(void *handle, motorDir_t direction, uint32_t speed);
	/// Function pointer to CmdSoftHiZ
	void (*CmdSoftHiZ)(void *handle);
	/// Function pointer to CmdStepClock
	void (*CmdStepClock)(void *handle, motorDir_t direction);
	/// Function pointer to FetchAndClearAllStatus
	void (*FetchAndClearAllStatus)(void *handle);
	/// Function pointer to GetFetchedStatus
	uint16_t (*GetFetchedStatus)(void *handle);
	/// Function pointer to GetNbDevices
	uint8_t (*GetNbDevices)(void *handle);
	/// Function pointer to IsDeviceBusy
	bool (*IsDeviceBusy)(void *handle);
	/// Function pointer to SendQueuedCommands
	void (*SendQueuedCommands)(void *handle);
	/// Function pointer to QueueCommands
	void (*QueueCommands)(void *handle, uint8_t param, int32_t value);
	/// Function pointer to WaitForAllDevicesNotBusy
	void (*WaitForAllDevicesNotBusy)(void *handle);
	/// Function pointer to ErrorHandler
	void (*ErrorHandler)(void *handle, uint16_t error);
	/// Function pointer to BusyInterruptHandler
	void (*BusyInterruptHandler)(void *handle);
	/// Function pointer to CmdSoftStop
	void (*CmdSoftStop)(void *handle);
	/// Function pointer to StartStepClock
	void (*StartStepClock)(void *handle);
	/// Function pointer to StopStepClock
	void (*StopStepClock)(void *handle);
	/// Function pointer to SetDualFullBridgeConfig
	void (*SetDualFullBridgeConfig)(void *handle, uint8_t newConfig);
	/// Function pointer to GetBridgeInputPwmFreq
	uint32_t (*GetBridgeInputPwmFreq)(void *handle, uint8_t bridgeId);
	/// Function pointer to SetBridgeInputPwmFreq
	void (*SetBridgeInputPwmFreq)(void *handle, uint8_t bridgeId, uint32_t newFreq);
	/// Function pointer to SetStopMode
	void (*SetStopMode)(void *handle, motorStopMode_t stopMode);
	/// Function pointer to GetStopMode
	motorStopMode_t (*GetStopMode)(void *handle);
	/// Function pointer to SetDecayMode
	void (*SetDecayMode)(void *handle, motorDecayMode_t decayMode);
	/// Function pointer to GetDecayMode
	motorDecayMode_t (*GetDecayMode)(void *handle);
	/// Function pointer to GetStepMode
	motorStepMode_t (*GetStepMode)(void *handle);
	/// Function pointer to GetDirection
	motorDir_t (*GetDirection)(void *handle);
	/// Function pointer to ExitDeviceFromReset
	void (*ExitDeviceFromReset)(void *handle);
	/// Function pointer to SetTorque
	void (*SetTorque)(void *handle, motorTorqueMode_t torqueMode, uint8_t torqueValue);
	/// Function pointer to GetTorque
	uint8_t (*GetTorque)(void *handle, motorTorqueMode_t torqueMode);
	/// Function pointer to SetVRefFreq
	void (*SetRefFreq)(void *handle, uint32_t freq);
	/// Function pointer to GetVRefFreq
	uint32_t (*GetRefFreq)(void *handle);
	/// Function pointer to SetVRefDc
	void (*SetRefDc)(void *handle, uint8_t RefDc);
	/// Function pointer to GetVRefDc
	uint8_t (*GetRefDc)(void *handle);
	/// Function pointer to SetNbDevices
	bool (*SetNbDevices)(void *handle, uint8_t nbDevices);
	/// Function pointer to set a parameter
	bool (*SetAnalogValue)(void *handle, uint32_t param, float value);
	/// Function pointer to get a parameter
	float (*GetAnalogValue)(void *handle, uint32_t param);
} MOTOR_VTable_t;
      
/**
  
* @}
  */ 

/**
  * @}
  */ 

/**
  * @}
  */
  
/**
  * @}
  */ 

/**
  * @}
  */ 

#ifdef __cplusplus
}
#endif

#endif /* __MOTOR_H */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/