Emmanuel L.
Use BDCMotor_class.h instead of motor_class.h
Dependents: HelloWorld_IHM04A1
Fork of
X_NUCLEO_IHM04A1
by 
ST
Diff: Components/l6206/l6206_class.h
- Revision:
- 0:2cb6ce8e07bd
- Child:
- 1:2597a6165252
diff -r 000000000000 -r 2cb6ce8e07bd Components/l6206/l6206_class.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6206/l6206_class.h Tue May 03 11:16:57 2016 +0000
@@ -0,0 +1,651 @@
+/**
+ ******************************************************************************
+ * @file l6206_class.h
+ * @author IPC Rennes
+ * @version V1.1.0
+ * @date March 02, 2016
+ * @brief L6206 driver (dual full bridge driver)
+ * @note (C) COPYRIGHT 2015 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN4/trunk/Drivers/BSP/Components/l6206/l6206.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6206_CLASS_H
+#define __L6206_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "l6206.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "../Interfaces/Humidity_class.h" *
+ * #include "../Interfaces/Temperature_class.h" *
+ *----------------------------------------------------------------------------*/
+#include "../Interfaces/Motor_class.h"
+
+
+
+/* Private constants ---------------------------------------------------------*/
+
+/** @defgroup L6206_Private_Constants L6206 Private Constants
+ * @{
+ */
+
+/// The Number of L6206 devices required for initialisation is not supported
+#define L6206_ERROR_0 (0x8000)
+/// Error: Access a motor index greater than the one of the current brigde configuration
+#define L6206_ERROR_1 (0x8001)
+/// Error: Access a motor index which is not bidirectionnal
+#define L6206_ERROR_2 (0x8002)
+
+/// Maximum frequency of the PWMs in Hz
+#define L6206_MAX_PWM_FREQ (100000)
+
+/// Minimum frequency of the PWMs in Hz
+#define L6206_MIN_PWM_FREQ (2)
+
+/// Bridge Input 1A
+#define INPUT_1A (0)
+/// Bridge Input 2A
+#define INPUT_2A (1)
+/// Bridge Input 1B
+#define INPUT_1B (2)
+/// Bridge Input 2B
+#define INPUT_2B (3)
+
+/// Bridge A
+#define BRIDGE_A (0)
+/// Bridge B
+#define BRIDGE_B (1)
+
+
+
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a L6206 component.
+ */
+class L6206 : public Motor
+{
+public:
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @brief Constructor.
+ */
+ L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : Motor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
+ {
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+
+ flagInterruptCallback = 0;
+ errorHandlerCallback = 0;
+ numberOfDevices = 0;
+ deviceInstance = 0;
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~L6206(void) {}
+
+
+ /*** Public Component Related Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int GetValue(float *f) //(1) *
+ * { *
+ * return COMPONENT_GetValue(float *f); *
+ * } *
+ * *
+ * virtual int EnableFeature(void) //(2) *
+ * { *
+ * return COMPONENT_EnableFeature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ virtual int Init(void *init = NULL)
+ {
+ return (int) L6206_Init((void *) init);
+ }
+
+ virtual int ReadID(uint8_t *id = NULL)
+ {
+ return (int) L6206_ReadId((uint8_t *) id);
+ }
+
+ virtual void AttachErrorHandler(void (*callback)(uint16_t error))
+ {
+ L6206_AttachErrorHandler((void (*)(uint16_t error)) callback);
+ }
+
+ virtual void AttachFlagInterrupt(void (*callback)(void))
+ {
+ L6206_AttachFlagInterrupt((void (*)(void)) callback);
+ }
+
+ virtual uint16_t GetCurrentSpeed(uint8_t motorId)
+ {
+ return (uint16_t) L6206_GetCurrentSpeed((uint8_t) motorId);
+ }
+
+ virtual motorState_t GetDeviceState(uint8_t motorId)
+ {
+ return (motorState_t) L6206_GetDeviceState((uint8_t) motorId);
+ }
+
+ virtual uint8_t GetFwVersion(void)
+ {
+ return (uint8_t) L6206_GetFwVersion();
+ }
+
+ virtual uint16_t GetMaxSpeed(uint8_t motorId)
+ {
+ return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
+ }
+
+ virtual void HardStop(uint8_t motorId)
+ {
+ L6206_HardStop((uint8_t) motorId);
+ }
+
+ virtual void Run(uint8_t stepCount, motorDir_t direction)
+ {
+ L6206_Run((uint8_t) stepCount, (motorDir_t) direction);
+ }
+
+ virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
+ {
+ return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
+ }
+
+ virtual void CmdDisable(uint8_t bridgeId)
+ {
+ L6206_DisableBridge((uint8_t) bridgeId);
+ }
+
+ virtual void CmdEnable(uint8_t bridgeId)
+ {
+ L6206_EnableBridge((uint8_t) bridgeId);
+ }
+
+ virtual uint16_t CmdGetStatus(uint8_t bridgeId)
+ {
+ return (uint16_t) L6206_GetBridgeStatus((uint8_t) bridgeId);
+ }
+
+ virtual void CmdHardHiZ(uint8_t motorId)
+ {
+ L6206_HardHiz((uint8_t) motorId);
+ }
+
+ virtual void ErrorHandler(uint16_t error)
+ {
+ L6206_ErrorHandler((uint16_t) error);
+ }
+
+ virtual void SetDualFullBridgeConfig(uint8_t newConfig)
+ {
+ L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
+ }
+
+ virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId)
+ {
+ return (uint32_t) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
+ }
+
+ virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
+ {
+ L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
+ }
+
+ virtual bool SetNbDevices(uint8_t nbDevices)
+ {
+ return (bool) L6206_SetNbDevices((uint8_t) nbDevices);
+ }
+
+
+ /*** Public Interrupt Related Methods ***/
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Implement here interrupt related methods, if any. *
+ * Note that interrupt handling is platform dependent, e.g.: *
+ * + mbed: *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.fall(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void AttachFeatureIRQ(void (*fptr) (void)) *
+ * { *
+ * feature_irq.fall(fptr); *
+ * } *
+ * *
+ * void EnableFeatureIRQ(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void DisableFeatureIRQ(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
+
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableFlagIRQ(uint8_t bridgeId)
+ {
+ if (bridgeId == BRIDGE_A)
+ {
+ flag_A_irq.mode(PullUp);
+ flag_A_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+ }
+ else
+ {
+ flag_B_irq.mode(PullUp);
+ flag_B_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+ }
+ }
+
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableFlagIRQ(uint8_t bridgeId)
+ {
+ if (bridgeId == BRIDGE_A)
+ flag_A_irq.fall(NULL);
+ else
+ flag_B_irq.fall(NULL);
+ }
+
+
+ /*** 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:
+
+ /*** Protected Component Related Methods ***/
+
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * Status_t COMPONENT_GetValue(float *f); //(1) *
+ * Status_t COMPONENT_EnableFeature(void); //(2) *
+ * Status_t COMPONENT_ComputeAverage(void); //(3) *
+ *------------------------------------------------------------------------*/
+ Status_t L6206_Init(void *init);
+ Status_t L6206_ReadId(uint8_t *id);
+ void L6206_TickHandler(uint8_t deviceId); //Handle the device state machine at each tick timer pulse end
+ void L6206_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler
+ void L6206_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
+ void L6206_DisableBridge(uint8_t bridgeId); //Disable the specified bridge
+ void L6206_EnableBridge(uint8_t bridgeId); //Enable the specified bridge
+ uint16_t L6206_GetBridgeStatus(uint8_t deviceId); //Get bridge status
+ uint16_t L6206_GetCurrentSpeed(uint8_t motorId); //Return the current speed in pps
+ motorState_t L6206_GetDeviceState(uint8_t motorId); //Return the device state
+ uint8_t L6206_GetFwVersion(void); //Return the FW version
+ uint16_t L6206_GetMaxSpeed(uint8_t motorId); //Return the max speed in pps
+ void L6206_HardHiz(uint8_t motorId); //Stop the motor and disable the power bridge
+ void L6206_HardStop(uint8_t motorId); //Stop the motor without disabling the power bridge
+ void L6206_Run(uint8_t motorId, motorDir_t direction); //Run the motor
+ uint32_t L6206_GetBridgeInputPwmFreq(uint8_t bridgeId); // Get the PWM frequency of the bridge input
+ void L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq); // Set the PWM frequency of the bridge input
+ void L6206_SetDualFullBridgeConfig(uint8_t newConfig); // Set dual full bridge configuration
+ bool L6206_SetMaxSpeed(uint8_t motorId,uint16_t newMaxSpeed); //Set the max speed in pps
+ bool L6206_SetNbDevices(uint8_t nbDevices); //Set the number of driver devices
+ void L6206_ErrorHandler(uint16_t error);
+ void L6206_FlagInterruptHandler(void);
+ uint8_t L6206_GetBridgeIdUsedByMotorId(uint8_t motorId);
+ uint8_t L6206_GetBridgeInputUsedByMotorId(uint8_t motorId);
+ uint8_t L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput);
+ uint8_t L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId);
+ bool L6206_IsBidirectionnalMotor(uint8_t motorId);
+ void L6206_SetDeviceParamsToPredefinedValues(void);
+ void L6206_SetDeviceParamsToGivenValues(L6206_Init_t* initDevicePrm);
+
+ /*** Component's I/O Methods ***/
+
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+ void L6206_Board_Delay(uint32_t delay)
+ {
+ wait_ms(delay);
+ }
+
+ void L6206_Board_DisableBridge(uint8_t bridgeId)
+ {
+ DisableFlagIRQ(BRIDGE_A);
+ DisableFlagIRQ(BRIDGE_B);
+
+ __disable_irq();
+ OutVal( bridgeId, 0);
+ __enable_irq();
+ }
+
+ void L6206_Board_EnableBridge(uint8_t bridgeId, uint8_t addDelay)
+ {
+ OutVal( bridgeId, 1);
+
+ if (addDelay != 0)
+ {
+ wait_ms(BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY);
+ }
+
+ EnableFlagIRQ( bridgeId);
+ }
+
+
+ uint32_t L6206_Board_GetFlagPinState(uint8_t bridgeId)
+ {
+ if (bridgeId == 0)
+ {
+ EN_flag_A.input();
+ return EN_flag_A.read();
+ }
+ else
+ {
+ EN_flag_B.input();
+ return EN_flag_B.read();
+ }
+ }
+
+ void L6206_Board_GpioInit(void)
+ {
+ /* Init bridge Enable */
+ EN_flag_A.output();
+ EN_flag_A.write(0);
+ EN_flag_A.input();
+
+ EN_flag_B.output();
+ EN_flag_B.write(0);
+ EN_flag_B.input();
+
+
+ /* Init flag Irq */
+ DisableFlagIRQ(BRIDGE_A);
+ DisableFlagIRQ(BRIDGE_B);
+
+ }
+
+ /** Board PWM management **/
+
+ void L6206_Board_PwmSetFreq(uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
+ {
+ /* Computing the period of PWM. */
+ float period = 1.0f / newFreq;
+ float duty_cycle;
+ int period_us = (int)(period * 1E6);
+
+ if (duty > 100) duty = 100;
+ duty_cycle = (float)duty / 100.0f;
+
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_1A.period_us(period_us);
+ pwm_1A.write(duty_cycle);
+ break;
+
+ case 1:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_2A.period_us(period_us);
+ pwm_2A.write(duty_cycle);
+ break;
+
+ case 2:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_1B.period_us(period_us);
+ pwm_1B.write(duty_cycle);
+ break;
+
+ case 3:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_2B.period_us(period_us);
+ pwm_2B.write(duty_cycle);
+ break;
+ }
+ }
+
+ void L6206_Board_PwmDeInit(uint8_t bridgeInput)
+ {
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ //timer_pwm_1A.detach();
+ break;
+
+ case 1:
+ //timer_pwm_2A.detach();
+ break;
+
+ case 2:
+ //timer_pwm_1B.detach();
+ break;
+
+ case 3:
+ //timer_pwm_2B.detach();
+ break;
+ }
+ }
+
+ void L6206_Board_PwmInit(uint8_t bridgeInput)
+ {
+ }
+
+ void L6206_Board_PwmStop(uint8_t bridgeInput)
+ {
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ pwm_1A.write(0.0);
+ break;
+
+ case 1:
+ pwm_2A.write(0.0);
+ break;
+
+ case 2:
+ pwm_1B.write(0.0);
+ break;
+
+ case 3:
+ pwm_2B.write(0.0);
+ break;
+ }
+ }
+
+
+ /*** Component's Instance Variables ***/
+
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+
+ /* Flag Interrupt. */
+ InterruptIn flag_A_irq;
+ InterruptIn flag_B_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+
+ /* Digital In/Out for Flag EN pin */
+ DigitalInOut EN_flag_A;
+ DigitalInOut EN_flag_B;
+
+ /* PWM Out pin */
+ PwmOut pwm_1A;
+ PwmOut pwm_2A;
+ PwmOut pwm_1B;
+ PwmOut pwm_2B;
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut address; *
+ * DevI2C &dev_i2c; *
+ *------------------------------------------------------------------------*/
+
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ void (*flagInterruptCallback)(void);
+
+ void (*errorHandlerCallback)(uint16_t error);
+
+ uint8_t numberOfDevices;
+
+ uint8_t deviceInstance;
+
+ deviceParams_t devicePrm;
+
+
+ /** PWM timer variables */
+
+ bool pwm_1A_activated;
+ bool pwm_2A_activated;
+ bool pwm_1B_activated;
+ bool pwm_2B_activated;
+};
+
+#endif /* __L6206_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+
+