Emmanuel L.
Use BDCMotor_class.h instead of motor_class.h
Dependents: HelloWorld_IHM04A1
Fork of
X_NUCLEO_IHM04A1
by 
ST
Revision 1:2597a6165252, committed 2016-05-17
- Comitter:
- brdirais
- Date:
- Tue May 17 09:45:13 2016 +0000
- Parent:
- 0:2cb6ce8e07bd
- Child:
- 2:65057305b86e
- Commit message:
- - Add of Doxygen comments to all functions where missing.; - Suppression of non-used library X-NUCLEO-COMMON; - Update of MBed SDK; - Update of comments in source code
Changed in this revision
--- a/Components/Interfaces/Motor_class.h Tue May 03 11:16:57 2016 +0000
+++ b/Components/Interfaces/Motor_class.h Tue May 17 09:45:13 2016 +0000
@@ -1,102 +1,211 @@
-/**
- ******************************************************************************
- * @file Motor_class.h
- * @author AST
- * @version V1.0.0
- * @date April 13th, 2015
- * @brief This file contains the abstract class describing the interface of a
- * motor component.
- ******************************************************************************
- * @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/Common/motor.h
- Revision: 0
-*/
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __MOTOR_CLASS_H
-#define __MOTOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "Component_class.h"
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/** An abstract class for Motor components.
- */
-class Motor : public Component
-{
-public:
- /* ACTION 1 --------------------------------------------------------------*
- * Declare here the interface's methods. *
- * They should be: *
- * + Methods with the same name of the C component's virtual table *
- * (and extended virtual table, if any)'s functions, provided that *
- * the component's driver implements them (i.e.: the corresponding *
- * pointer to function is not "0"). *
- * *
- * Example: *
- * virtual int GetValue(float *f) = 0; *
- *------------------------------------------------------------------------*/
- virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0;
- virtual motorState_t GetDeviceState(uint8_t motorId) = 0;
- virtual uint8_t GetFwVersion(void) = 0;
- virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0;
- virtual void HardStop(uint8_t motorId) = 0;
- virtual void Run(uint8_t stepCount, motorDir_t direction) = 0;
- virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0;
- virtual void CmdDisable(uint8_t bridgeId) = 0;
- virtual void CmdEnable(uint8_t bridgeId) = 0;
- virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0;
- virtual void CmdHardHiZ(uint8_t motorId) = 0;
- virtual void ErrorHandler(uint16_t error) = 0;
- virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0;
- virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0;
- virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0;
- virtual bool SetNbDevices(uint8_t nbDevices) = 0;
-};
-
-#endif /* __MOTOR_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/**
+ ******************************************************************************
+ * @file Motor_class.h
+ * @author AST
+ * @version V1.0.0
+ * @date April 13th, 2015
+ * @brief This file contains the abstract class describing the interface of a
+ * motor component.
+ ******************************************************************************
+ * @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/Common/motor.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __MOTOR_CLASS_H
+#define __MOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "Component_class.h"
+
+
+/* Classes ------------------------------------------------------------------*/
+/** An abstract class for Motor components.
+ */
+class Motor : public Component
+{
+public:
+ /* ACTION 1 --------------------------------------------------------------*
+ * Declare here the interface's methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table *
+ * (and extended virtual table, if any)'s functions, provided that *
+ * the component's driver implements them (i.e.: the corresponding *
+ * pointer to function is not "0"). *
+ * *
+ * Example: *
+ * virtual int GetValue(float *f) = 0; *
+ *------------------------------------------------------------------------*/
+
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
+ virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0;
+
+ /**
+ * @brief Returns the device state
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval State (STEADY or INACTIVE)
+ */
+ virtual motorState_t GetDeviceState(uint8_t motorId) = 0;
+
+ /**
+ * @brief Returns the FW version of the library
+ * @retval L6206_FW_VERSION
+ */
+ virtual uint8_t GetFwVersion(void) = 0;
+
+ /**
+ * @brief Returns the max speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval maxSpeed in % from 0 to 100
+ */
+ virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0;
+
+ /**
+ * @brief Stops the motor without disabling the bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval none
+ */
+ virtual void HardStop(uint8_t motorId) = 0;
+
+ /**
+ * @brief Runs the motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ * @note For unidirectionnal motor, direction parameter has no effect
+ */
+ virtual void Run(uint8_t stepCount, motorDir_t direction) = 0;
+
+ /**
+ * @brief Changes the max speed of the specified device
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] newMaxSpeed in % from 0 to 100
+ * @retval true if the command is successfully executed, else false
+ */
+ virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0;
+
+ /**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ */
+ virtual void CmdDisable(uint8_t bridgeId) = 0;
+
+ /**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ */
+ virtual void CmdEnable(uint8_t bridgeId) = 0;
+
+ /**
+ * @brief Get the status of the bridge enabling of the corresponding bridge
+ * @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+ */
+ virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0;
+
+ /**
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval None
+ * @note if two motors uses the same power bridge, the
+ * power bridge will be disable only if the two motors are stopped
+ */
+ virtual void CmdHardHiZ(uint8_t motorId) = 0;
+
+ /**
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ */
+ virtual void ErrorHandler(uint16_t error) = 0;
+
+ /**
+ * @brief Set dual full bridge parallelling configuration
+ * @param[in] newConfig bridge configuration to apply from
+ * dualFullBridgeConfig_t enum
+ * @retval None
+ */
+ virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0;
+
+ /**
+ * @brief Get the PWM frequency of the specified bridge
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval Freq in Hz
+ */
+ virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0;
+
+ /**
+ * @brief Changes the PWM frequency of the bridge input
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @param[in] newFreq in Hz
+ * @retval None
+ */
+ virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0;
+
+ /**
+ * @brief Sets the number of devices to be used
+ * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ * @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ * devices greater than MAX_NUMBER_OF_DEVICES
+ */
+ virtual bool SetNbDevices(uint8_t nbDevices) = 0;
+};
+
+#endif /* __MOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
--- a/Components/l6206/l6206.h Tue May 03 11:16:57 2016 +0000
+++ b/Components/l6206/l6206.h Tue May 17 09:45:13 2016 +0000
@@ -9,7 +9,7 @@
******************************************************************************
* @attention
*
- * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ * <h2><center>© 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:
@@ -51,6 +51,10 @@
/** @addtogroup BSP
* @{
*/
+
+/** @addtogroup Components
+ * @{
+ */
/** @addtogroup L6206
* @{
@@ -58,7 +62,7 @@
/* Exported Constants --------------------------------------------------------*/
-/** @defgroup L6206_Exported_Constants L6206 Exported Constants
+/** @defgroup L6206_Exported_Defines L6206 Exported Defines
* @{
*/
@@ -193,6 +197,9 @@
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);
+/**
+ * @}
+ */
--- a/Components/l6206/l6206_class.cpp Tue May 03 11:16:57 2016 +0000
+++ b/Components/l6206/l6206_class.cpp Tue May 17 09:45:13 2016 +0000
@@ -1,1258 +1,1282 @@
-/**
- ******************************************************************************
- * @file l6206_class.cpp
- * @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.c
- Revision: 0
-*/
-
-/* Includes ------------------------------------------------------------------*/
-#include "l6206_class.h"
-#include "l6206.h"
-#include "string.h"
-
-/* Private constants ---------------------------------------------------------*/
-
-
-/* Private variables ---------------------------------------------------------*/
-static uint8_t l6206ArrayNbMaxMotorsByConfig[PARALLELING_END_ENUM] = {2,3,3,4,2,3,2,3,2,1,2,1,1};
-
-/* Private constant ---------------------------------------------------------*/
-
-/** @defgroup L6206_Private_Constants L6206 Private Constants
- * @{
- */
-
-/// Max numbers of supported motors depending of the parraleling bridges configuration
-
-
-/* Function prototypes -----------------------------------------------*/
-
-/** @defgroup L6206_Exported_Functions L6206 Exported Functions
- * @{
- */
-
-/* Private function prototypes -----------------------------------------------*/
-
-/** @defgroup L6206_Private_functions L6206 Private functions
- * @{
- */
-/** @defgroup L6206_Exported_Variables L6206 Exported Variables
- * @{
- */
-
-/** @defgroup L6206_Exported_Functions L6206 Exported Functions
- * @{
- */
-
-/******************************************************//**
- * @brief Attaches a user callback to the error Handler.
- * The call back will be then called each time the library
- * detects an error
- * @param[in] callback Name of the callback to attach
- * to the error Hanlder
- * @retval None
- **********************************************************/
-void L6206::L6206_AttachErrorHandler(void (*callback)(uint16_t error))
-{
- errorHandlerCallback = (void (*)(uint16_t error)) callback;
-}
-
-/******************************************************//**
- * @brief Attaches a user callback to the flag Interrupt
- * The call back will be then called each time the status
- * flag pin will be pulled down due to the occurrence of
- * a programmed alarms ( OCD, thermal alert)
- * @param[in] callback Name of the callback to attach
- * to the Flag Interrupt
- * @retval None
- **********************************************************/
-void L6206::L6206_AttachFlagInterrupt(void (*callback)(void))
-{
- flagInterruptCallback = (void (*)(void))callback;
-}
-
-/******************************************************//**
- * @brief Disable the specified bridge
- * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
- * @retval None
- * @note When input of different brigdes are parallelized
- * together, the disabling of one bridge leads to the disabling
- * of the second one
- **********************************************************/
-void L6206::L6206_DisableBridge(uint8_t bridgeId)
-{
- L6206_Board_DisableBridge(bridgeId);
-
- devicePrm.bridgeEnabled[bridgeId] = FALSE;
- if (devicePrm.config >= PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR)
- {
- if (bridgeId == BRIDGE_A)
- {
- L6206_Board_DisableBridge(BRIDGE_B);
- devicePrm.bridgeEnabled[BRIDGE_B] = FALSE;
- }
- else
- {
- L6206_Board_DisableBridge(BRIDGE_A);
- devicePrm.bridgeEnabled[BRIDGE_A] = FALSE;
- }
- }
-}
-
-/******************************************************//**
- * @brief Enable the specified bridge
- * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
- * @retval None
- * @note When input of different brigdes are parallelized
- * together, the enabling of one bridge leads to the enabling
- * of the second one
- **********************************************************/
-void L6206::L6206_EnableBridge(uint8_t bridgeId)
-{
- devicePrm.bridgeEnabled[bridgeId] = TRUE;
- if (devicePrm.config >= PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR)
- {
- L6206_Board_EnableBridge(bridgeId, 0);
- if (bridgeId == BRIDGE_A)
- {
- L6206_Board_EnableBridge(BRIDGE_B, 1);
- devicePrm.bridgeEnabled[BRIDGE_B] = TRUE;
- }
- else
- {
- L6206_Board_EnableBridge(BRIDGE_A, 1);
- devicePrm.bridgeEnabled[BRIDGE_A] = TRUE;
- }
- }
- else
- {
- L6206_Board_EnableBridge(bridgeId, 1);
- }
-}
-
-/******************************************************//**
- * @brief Start the L6206 library
- * @param[in] init pointer to the initialization data
- * @retval None
- **********************************************************/
-Status_t L6206::L6206_Init(void *init)
-{
- deviceInstance++;
-
- /* Initialise the GPIOs */
- L6206_Board_GpioInit();
-
- if (init == NULL)
- {
- /* Set context variables to the predefined values from l6206_target_config.h */
- /* Set GPIO according to these values */
- L6206_SetDeviceParamsToPredefinedValues();
- }
- else
- {
- L6206_SetDeviceParamsToGivenValues((L6206_Init_t*) init);
- }
-
- /* Initialise input bridges PWMs */
- L6206_SetDualFullBridgeConfig(devicePrm.config);
-
- return COMPONENT_OK;
-}
-
-/******************************************************//**
- * @brief Get the PWM frequency of the specified bridge
- * @param[in] bridgeId 0 for bridge A, 1 for bridge B
- * @retval Freq in Hz
- **********************************************************/
-uint32_t L6206::L6206_GetBridgeInputPwmFreq(uint8_t bridgeId)
-{
- return (devicePrm.pwmFreq[(bridgeId << 1)]);
-}
-
-/******************************************************//**
- * @brief Returns the current speed of the specified motor
- * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval current speed in % from 0 to 100
- **********************************************************/
-uint16_t L6206::L6206_GetCurrentSpeed(uint8_t motorId)
-{
- uint16_t speed = 0;
-
- if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
- {
- L6206_ErrorHandler(L6206_ERROR_1);
- }
- else if (devicePrm.motionState[motorId] != INACTIVE)
- {
- speed = devicePrm.speed[motorId];
- }
-
- return (speed);
-}
-
-/******************************************************//**
- * @brief Returns the device state
- * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval State (STEADY or INACTIVE)
- **********************************************************/
-motorState_t L6206::L6206_GetDeviceState(uint8_t motorId)
-{
- motorState_t state = INACTIVE;
-
- if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
- {
- L6206_ErrorHandler(L6206_ERROR_1);
- }
- else
- {
- state = devicePrm.motionState[motorId];
- }
- return (state);
-}
-
-/******************************************************//**
- * @brief Returns the FW version of the library
- * @retval L6206_FW_VERSION
- **********************************************************/
-uint8_t L6206::L6206_GetFwVersion(void)
-{
- return (L6206_FW_VERSION);
-}
-
-/******************************************************//**
- * @brief Returns the max speed of the specified motor
- * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval maxSpeed in % from 0 to 100
- **********************************************************/
-uint16_t L6206::L6206_GetMaxSpeed(uint8_t motorId)
-{
- uint16_t speed = 0;
- if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
- {
- L6206_ErrorHandler(L6206_ERROR_1);
- }
- else
- {
- speed = devicePrm.speed[motorId];
- }
- return (speed);
-}
-
-
-/******************************************************//**
- * @brief Get the status of the bridge enabling of the corresponding bridge
- * @param[in] bridgeId from 0 for bridge A to 1 for bridge B
- * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
- **********************************************************/
-uint16_t L6206::L6206_GetBridgeStatus(uint8_t bridgeId)
-{
- uint16_t status = L6206_Board_GetFlagPinState(bridgeId);
-
- return (status);
-}
-
-/******************************************************//**
- * @brief Immediatly stops the motor and disable the power bridge
- * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval None
- * @note if two motors uses the same power bridge, the
- * power bridge will be disable only if the two motors are
- * stopped
- **********************************************************/
-void L6206::L6206_HardHiz(uint8_t motorId)
-{
- if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
- {
- L6206_ErrorHandler(L6206_ERROR_1);
- }
- else
- {
- /* Get bridge Id of the corresponding motor */
- uint8_t bridgeId = L6206_GetBridgeIdUsedByMotorId(motorId);
-
- if (devicePrm.bridgeEnabled[bridgeId] != FALSE)
- {
- bool skip = FALSE;
-
- /* Check if another motor is currently running by using the same bridge */
- switch (devicePrm.config)
- {
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if ((motorId > 0) && (devicePrm.motionState[1] == STEADY) && (devicePrm.motionState[2] == STEADY))
- {
- skip = TRUE;
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if ((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
- {
- skip = TRUE;
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if (((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))||
- ((motorId > 1) && (devicePrm.motionState[2] == STEADY) && (devicePrm.motionState[3] == STEADY)))
- {
- skip = TRUE;
- }
- break;
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if ((motorId > 0) && (devicePrm.motionState[1] == STEADY) && (devicePrm.motionState[2] == STEADY))
- {
- skip = TRUE;
- }
- break;
- case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if ((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
- {
- skip = TRUE;
- }
- break;
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
- if ((devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
- {
- skip = TRUE;
- }
- break;
- default:
- break;
- }
-
- if (skip == FALSE)
- {
- /* Disable the bridge */
- L6206_DisableBridge(bridgeId);
- }
- }
- /* Disable the PWM */
- L6206_HardStop(motorId);
- }
-}
-
-/******************************************************//**
- * @brief Stops the motor without disabling the bridge
- * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval none
- **********************************************************/
-void L6206::L6206_HardStop(uint8_t motorId)
-{
- if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
- {
- L6206_ErrorHandler(L6206_ERROR_1);
- }
- else if (devicePrm.motionState[motorId] != INACTIVE)
- {
- uint8_t bridgeInput;
-
- /* Get bridge input of the corresponding motor */
- bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
-
- /* Disable corresponding PWM */
- L6206_Board_PwmStop(bridgeInput);
-
- /* for bidirectionnal motor, disable second PWM*/
- if (L6206_IsBidirectionnalMotor(motorId))
- {
- bridgeInput = L6206_GetSecondBridgeInputUsedByMotorId(motorId);
- L6206_Board_PwmStop(bridgeInput);
- }
- /* Set inactive state */
- devicePrm.motionState[motorId] = INACTIVE;
- }
-}
-
-/******************************************************//**
- * @brief Read id
- * @retval Id of the l6206 Driver Instance
- **********************************************************/
-Status_t L6206::L6206_ReadId(uint8_t *id)
-{
- *id = deviceInstance;
-
- return COMPONENT_OK;
-}
-
-/******************************************************//**
- * @brief Runs the motor
- * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @param[in] direction FORWARD or BACKWARD
- * @retval None
- * @note For unidirectionnal motor, direction parameter has
- * no effect
- **********************************************************/
-void L6206::L6206_Run(uint8_t motorId, motorDir_t direction)
-{
- if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
- {
- L6206_ErrorHandler(L6206_ERROR_1);
- }
- else if ((devicePrm.motionState[motorId] == INACTIVE) ||
- (devicePrm.direction[motorId] != direction))
- {
- uint8_t bridgeId;
- uint8_t bridgeInput;
-
- /* Eventually deactivate motor */
- if (devicePrm.motionState[motorId] != INACTIVE)
- {
- L6206_HardStop(motorId);
- }
-
- /* Store new direction */
- devicePrm.direction[motorId] = direction;
-
- /* Switch to steady state */
- devicePrm.motionState[motorId] = STEADY;
-
- /* Get bridge Id of the corresponding motor */
- bridgeId = L6206_GetBridgeIdUsedByMotorId(motorId);
-
- /* Get bridge input of the corresponding motor */
- bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
-
- /* Enable bridge */
- L6206_EnableBridge(bridgeId);
-
- /* Set PWM */
- if (L6206_IsBidirectionnalMotor(motorId))
- {
- /* for bidirectionnal motor */
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
- bridgeInput = L6206_GetSecondBridgeInputUsedByMotorId(motorId);
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],100);
- }
- else
- {
- /* for unidirectionnal motor */
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
- }
- }
-}
-/******************************************************//**
- * @brief Set dual full bridge parallelling configuration
- * @param[in] newConfig bridge configuration to apply from
- * dualFullBridgeConfig_t enum
- * @retval None
- **********************************************************/
-void L6206::L6206_SetDualFullBridgeConfig(uint8_t newConfig)
-{
- devicePrm.config = (dualFullBridgeConfig_t)newConfig;
-
- /* Start to reset all else if several inits are used successively */
- /* they will fail */
- L6206_Board_PwmDeInit(INPUT_1A);
- L6206_Board_PwmDeInit(INPUT_2A);
- L6206_Board_PwmDeInit(INPUT_1B);
- L6206_Board_PwmDeInit(INPUT_2B);
-
-
- /* Initialise the bridges inputs PWMs --------------------------------------*/
- switch (devicePrm.config)
- {
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- L6206_Board_PwmInit(INPUT_1A);
- L6206_Board_PwmInit(INPUT_2A);
- L6206_Board_PwmInit(INPUT_1B);
- L6206_Board_PwmInit(INPUT_2B);
- break;
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- L6206_Board_PwmDeInit(INPUT_2A);
- L6206_Board_PwmInit(INPUT_1A);
- L6206_Board_PwmInit(INPUT_1B);
- L6206_Board_PwmInit(INPUT_2B);
- break;
- case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- L6206_Board_PwmDeInit(INPUT_2B);
- L6206_Board_PwmInit(INPUT_1A);
- L6206_Board_PwmInit(INPUT_2A);
- L6206_Board_PwmInit(INPUT_1B);
- break;
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
- L6206_Board_PwmDeInit(INPUT_2A);
- L6206_Board_PwmDeInit(INPUT_2B);
- L6206_Board_PwmInit(INPUT_1A);
- L6206_Board_PwmInit(INPUT_1B);
- break;
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
- L6206_Board_PwmDeInit(INPUT_1B);
- L6206_Board_PwmDeInit(INPUT_2B);
- L6206_Board_PwmInit(INPUT_1A);
- L6206_Board_PwmInit(INPUT_2A);
- break;
- case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
- L6206_Board_PwmDeInit(INPUT_2A);
- L6206_Board_PwmDeInit(INPUT_1B);
- L6206_Board_PwmDeInit(INPUT_2B);
- L6206_Board_PwmInit(INPUT_1A);
- break;
- default:
- break;
- }
-}
-/******************************************************//**
- * @brief Changes the max speed of the specified device
- * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @param[in] newMaxSpeed in % from 0 to 100
- * @retval true if the command is successfully executed, else false
- **********************************************************/
-bool L6206::L6206_SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
-{
- bool cmdExecuted = FALSE;
-
- if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
- {
- L6206_ErrorHandler(L6206_ERROR_1);
- }
- else
- {
- devicePrm.speed[motorId] = newMaxSpeed;
- if (devicePrm.motionState[motorId] != INACTIVE)
- {
- uint8_t bridgeInput;
-
- /* Get Bridge input of the corresponding motor */
- bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
-
- /* Set PWM frequency*/
- if (L6206_IsBidirectionnalMotor(motorId))
- {
- /* for bidirectionnal motor */
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
- }
- else
- {
- /* for unidirectionnal motor */
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
- }
- }
- cmdExecuted = TRUE;
- }
- return cmdExecuted;
-}
-
-/******************************************************//**
- * @brief Changes the PWM frequency of the bridge input
- * @param[in] bridgeId 0 for bridge A, 1 for bridge B
- * @param[in] newFreq in Hz
- * @retval None
- **********************************************************/
-void L6206::L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
-{
- uint8_t loop;
-
- if (newFreq > L6206_MAX_PWM_FREQ)
- {
- newFreq = L6206_MAX_PWM_FREQ;
- }
- for (loop = 0; loop < 2;loop ++)
- {
- uint8_t motorId;
- uint8_t bridgeInput = (bridgeId << 1) + loop;
- devicePrm.pwmFreq[bridgeInput] = newFreq;
-
- /* Get motor Id using this bridge */
- motorId = L6206_GetMotorIdUsingbridgeInput(bridgeInput);
-
- /* Immediatly update frequency if motor is running */
- if (devicePrm.motionState[motorId] != INACTIVE)
- {
- /* Test if motor is bidir */
- if (L6206_IsBidirectionnalMotor(motorId))
- {
- if (bridgeInput != L6206_GetSecondBridgeInputUsedByMotorId(motorId))
- {
- /* Set PWM frequency for bidirectionnal motor of the first bridge*/
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
- }
- else
- {
- /* Set PWM frequency for bidirectionnal motor of the second bridge */
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],100);
- }
- }
- else
- {
- /* Set PWM frequency for unidirectionnal motor */
- L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
- }
- }
- }
-}
-/******************************************************//**
- * @brief Sets the number of devices to be used
- * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
- * @retval TRUE if successfull, FALSE if failure, attempt to set a number of
- * devices greater than MAX_NUMBER_OF_DEVICES
- **********************************************************/
-bool L6206::L6206_SetNbDevices(uint8_t nbDevices)
-{
- if (nbDevices <= MAX_NUMBER_OF_DEVICES)
- {
- return TRUE;
- }
- else
- {
- return FALSE;
- }
-}
-
-
-/******************************************************//**
- * @brief Error handler which calls the user callback (if defined)
- * @param[in] error Number of the error
- * @retval None
- **********************************************************/
-void L6206::L6206_ErrorHandler(uint16_t error)
-{
- if (errorHandlerCallback != 0)
- {
- (void) errorHandlerCallback(error);
- }
- else
- {
- while(1)
- {
- /* Infinite loop */
- }
- }
-}
-
-/******************************************************//**
- * @brief Handlers of the flag interrupt which calls the user callback (if defined)
- * @retval None
- **********************************************************/
-void L6206::L6206_FlagInterruptHandler(void)
-{
- bool status;
-
- status = L6206_GetBridgeStatus(BRIDGE_A);
- if (status != devicePrm.bridgeEnabled[BRIDGE_A])
- {
- devicePrm.bridgeEnabled[BRIDGE_A] = status;
- }
-
- status = L6206_GetBridgeStatus(BRIDGE_B);
- if (status != devicePrm.bridgeEnabled[BRIDGE_B])
- {
- devicePrm.bridgeEnabled[BRIDGE_B] = status;
- }
-
- if (flagInterruptCallback != 0)
- {
- flagInterruptCallback();
- }
-}
-
-/******************************************************//**
- * @brief Get the bridges Id used by a given motor
- * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval bridgeId 0 for bridge A , 1 for bridge B
- **********************************************************/
-uint8_t L6206::L6206_GetBridgeIdUsedByMotorId(uint8_t motorId)
-{
- uint8_t bridgeId;
-
- switch (devicePrm.config)
- {
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- bridgeId = 0;
- }
- else
- {
- bridgeId = 1;
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (motorId < 2)
- {
- bridgeId = 0;
- }
- else
- {
- bridgeId = 1;
- }
- break;
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
- case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
- default:
- bridgeId = 0;
- break;
- }
- return (bridgeId);
-}
-
-/******************************************************//**
- * @brief Get the motor Id which is using the specified bridge input
- * @param bridgeInput 0 for bridgeInput 1A, 1 for 2A, 2 for 1B, 3 for 3B
- * @retval bridgeId 0 for bridge A , 1 for bridge B
- **********************************************************/
-uint8_t L6206::L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput)
-{
- uint8_t motorId;
-
- switch (devicePrm.config)
- {
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (bridgeInput >= INPUT_1B)
- {
- motorId = 1;
- }
- else
- {
- motorId = 0;
- }
- break;
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if (bridgeInput == INPUT_2B)
- {
- motorId = 2;
- }
- else if (bridgeInput == INPUT_1B)
- {
- motorId = 1;
- }
- else
- {
- motorId = 0;
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (bridgeInput >= INPUT_1B)
- {
- motorId = 2;
- }
- else if (bridgeInput == INPUT_2A)
- {
- motorId = 1;
- }
- else
- {
- motorId = 0;
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if (bridgeInput == INPUT_2B)
- {
- motorId = 3;
- }
- else if (bridgeInput == INPUT_1B)
- {
- motorId = 2;
- }
- else if (bridgeInput == INPUT_2A)
- {
- motorId = 1;
- }
- else
- {
- motorId = 0;
- }
- break;
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
- if ((bridgeInput == INPUT_2A) || (bridgeInput == INPUT_2B))
- {
- motorId = 1;
- }
- else
- {
- motorId = 0;
- }
- break;
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
- case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
- default:
- motorId = 0;
- break;
- }
-
- return (motorId);
-}
-/******************************************************//**
- * @brief Get the PWM input used by a given motor
- * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval PWM input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B
- **********************************************************/
-uint8_t L6206::L6206_GetBridgeInputUsedByMotorId(uint8_t motorId)
-{
- uint8_t bridgeInput;
-
- switch (devicePrm.config)
- {
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- bridgeInput = INPUT_2A;
- }
- }
- else
- {
- if (devicePrm.direction[1] == FORWARD)
- {
- bridgeInput = INPUT_1B;
- }
- else
- {
- bridgeInput = INPUT_2B;
- }
- }
- break;
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- bridgeInput = INPUT_2A;
- }
- }
- else if (motorId == 1)
- {
-
- bridgeInput = INPUT_1B;
- }
- else
- {
- bridgeInput = INPUT_2B;
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- bridgeInput = INPUT_1A;
- }
- else if (motorId == 1)
- {
- bridgeInput = INPUT_2A;
- }
- else
- {
- if (devicePrm.direction[2] == FORWARD)
- {
- bridgeInput = INPUT_1B;
- }
- else
- {
- bridgeInput = INPUT_2B;
- }
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- bridgeInput = INPUT_1A;
- }
- else if (motorId == 1)
- {
- bridgeInput = INPUT_2A;
- }
- else if (motorId == 2)
- {
- bridgeInput = INPUT_1B;
- }
- else
- {
- bridgeInput = INPUT_2B;
- }
- break;
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- if (devicePrm.direction[1] == FORWARD)
- {
- bridgeInput = INPUT_1B;
- }
- else
- {
- bridgeInput = INPUT_2B;
- }
- }
- break;
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- bridgeInput = INPUT_1A;
- }
- else if (motorId == 1)
- {
- bridgeInput = INPUT_1B;
- }
- else
- {
- bridgeInput = INPUT_2B;
- }
- break;
- case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- bridgeInput = INPUT_2A;
- }
- }
- else
- {
- bridgeInput = INPUT_1B;
- }
- break;
- case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- bridgeInput = INPUT_1A;
- }
- else if (motorId == 1)
- {
- bridgeInput = INPUT_2A;
- }
- else
- {
- bridgeInput = INPUT_1B;
- }
- break;
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- bridgeInput = INPUT_1B;
- }
- break;
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- bridgeInput = INPUT_1B;
- }
- break;
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
- if (motorId == 0)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- bridgeInput = INPUT_2A;
- }
- break;
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_1A;
- }
- else
- {
- bridgeInput = INPUT_2A;
- }
- break;
- case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
- default:
- bridgeInput = INPUT_1A;
- break;
- }
- return (bridgeInput);
-}
-
-/******************************************************//**
- * @brief Get the second PWM input used by a given bidirectionnal motor
- * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval PWM input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B
- **********************************************************/
-uint8_t L6206::L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId)
-{
- uint8_t bridgeInput = 0xFF;
-
- switch (devicePrm.config)
- {
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_2A;
- }
- else
- {
- bridgeInput = INPUT_1A;
- }
- }
- else
- {
- if (devicePrm.direction[1] == FORWARD)
- {
- bridgeInput = INPUT_2B;
- }
- else
- {
- bridgeInput = INPUT_1B;
- }
- }
- break;
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_2A;
- }
- else
- {
- bridgeInput = INPUT_1A;
- }
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 2)
- {
- if (devicePrm.direction[2] == FORWARD)
- {
- bridgeInput = INPUT_2B;
- }
- else
- {
- bridgeInput = INPUT_1B;
- }
- }
- break;
-
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 1)
- {
- if (devicePrm.direction[1] == FORWARD)
- {
- bridgeInput = INPUT_2B;
- }
- else
- {
- bridgeInput = INPUT_1B;
- }
- }
- break;
-
- case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_2A;
- }
- else
- {
- bridgeInput = INPUT_1A;
- }
- }
- break;
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_1B;
- }
- else
- {
- bridgeInput = INPUT_1A;
- }
- break;
-
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
- if (devicePrm.direction[0] == FORWARD)
- {
- bridgeInput = INPUT_2A;
- }
- else
- {
- bridgeInput = INPUT_1A;
- }
- break;
- default:
- bridgeInput = 0XFF;
- break;
- }
- if (bridgeInput == 0XFF)
- {
- L6206_ErrorHandler(L6206_ERROR_2);
- }
-
- return (bridgeInput);
-}
-
-/******************************************************//**
- * @brief Test if motor is bidirectionnal
- * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
- * @retval True if motor is bidirectionnal, else false
- **********************************************************/
-bool L6206::L6206_IsBidirectionnalMotor(uint8_t motorId)
-{
- bool isBiDir = FALSE;
-
- switch (devicePrm.config)
- {
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
- case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
- isBiDir = TRUE;
- break;
-
- case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
- case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
- if (motorId == 0)
- {
- isBiDir = TRUE;
- }
- break;
- case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 2)
- {
- isBiDir = TRUE;
- }
- break;
- case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
- if (motorId == 1)
- {
- isBiDir = TRUE;
- }
- break;
-
- default:
- break;
- }
-
- return (isBiDir);
-}
-
-
-/******************************************************//**
- * @brief Sets the parameters of the device to predefined values
- * from l6206_target_config.h
- * @retval None
- **********************************************************/
-void L6206::L6206_SetDeviceParamsToPredefinedValues(void)
-{
- uint32_t i;
-
- memset(&devicePrm, 0, sizeof(devicePrm));
-
- devicePrm.config = L6206_CONF_PARAM_PARALLE_BRIDGES;
-
- devicePrm.pwmFreq[INPUT_1A] = L6206_CONF_PARAM_FREQ_PWM1A;
- devicePrm.pwmFreq[INPUT_2A] = L6206_CONF_PARAM_FREQ_PWM2A;
- devicePrm.pwmFreq[INPUT_1B] = L6206_CONF_PARAM_FREQ_PWM1B;
- devicePrm.pwmFreq[INPUT_2B] = L6206_CONF_PARAM_FREQ_PWM2B;
-
- for (i = 0; i < MAX_NUMBER_OF_BRUSH_DC_MOTORS; i++)
- {
- devicePrm.speed[i] = 100;
- devicePrm.direction[i] = FORWARD;
- devicePrm.motionState[i] = INACTIVE;
- }
- for (i = 0; i < L6206_NB_MAX_BRIDGES; i++)
- {
- devicePrm.bridgeEnabled[i] = FALSE;
- }
-}
-
-
-/******************************************************//**
- * @brief Set the parameters of the device to values of initDevicePrm structure
- * Set GPIO according to these values
- * @param initDevicePrm structure containing values to initialize the device
- * parameters
- * @retval None
- **********************************************************/
-void L6206::L6206_SetDeviceParamsToGivenValues(L6206_Init_t* initDevicePrm)
-{
- memcpy(&devicePrm, initDevicePrm, sizeof(devicePrm));
-}
-
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/**
+ ******************************************************************************
+ * @file l6206_class.cpp
+ * @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) 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* 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.c
+ Revision: 0
+*/
+
+/* Includes ------------------------------------------------------------------*/
+#include "l6206_class.h"
+#include "l6206.h"
+#include "string.h"
+
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6206
+ * @{
+ */
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private variables ---------------------------------------------------------*/
+
+/** @defgroup L6206_Private_Variables L6206 Private Variables
+ * @{
+ */
+static uint8_t l6206ArrayNbMaxMotorsByConfig[PARALLELING_END_ENUM] = {2,3,3,4,2,3,2,3,2,1,2,1,1};
+ /**
+ * @}
+ */
+
+/* Private constant ---------------------------------------------------------*/
+
+
+/* Public Function prototypes -----------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+
+/** @defgroup L6206_Private_functions L6206 Private functions
+ * @{
+ */
+
+
+/******************************************************//**
+ * @brief Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library
+ * detects an error
+ * @param[in] callback Name of the callback to attach
+ * to the error Hanlder
+ * @retval None
+ **********************************************************/
+void L6206::L6206_AttachErrorHandler(void (*callback)(uint16_t error))
+{
+ errorHandlerCallback = (void (*)(uint16_t error)) callback;
+}
+
+/******************************************************//**
+ * @brief Attaches a user callback to the flag Interrupt
+ * The call back will be then called each time the status
+ * flag pin will be pulled down due to the occurrence of
+ * a programmed alarms ( OCD, thermal alert)
+ * @param[in] callback Name of the callback to attach
+ * to the Flag Interrupt
+ * @retval None
+ **********************************************************/
+void L6206::L6206_AttachFlagInterrupt(void (*callback)(void))
+{
+ flagInterruptCallback = (void (*)(void))callback;
+}
+
+/******************************************************//**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ **********************************************************/
+void L6206::L6206_DisableBridge(uint8_t bridgeId)
+{
+ L6206_Board_DisableBridge(bridgeId);
+
+ devicePrm.bridgeEnabled[bridgeId] = FALSE;
+ if (devicePrm.config >= PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR)
+ {
+ if (bridgeId == BRIDGE_A)
+ {
+ L6206_Board_DisableBridge(BRIDGE_B);
+ devicePrm.bridgeEnabled[BRIDGE_B] = FALSE;
+ }
+ else
+ {
+ L6206_Board_DisableBridge(BRIDGE_A);
+ devicePrm.bridgeEnabled[BRIDGE_A] = FALSE;
+ }
+ }
+}
+
+/******************************************************//**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ **********************************************************/
+void L6206::L6206_EnableBridge(uint8_t bridgeId)
+{
+ devicePrm.bridgeEnabled[bridgeId] = TRUE;
+ if (devicePrm.config >= PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR)
+ {
+ L6206_Board_EnableBridge(bridgeId, 0);
+ if (bridgeId == BRIDGE_A)
+ {
+ L6206_Board_EnableBridge(BRIDGE_B, 1);
+ devicePrm.bridgeEnabled[BRIDGE_B] = TRUE;
+ }
+ else
+ {
+ L6206_Board_EnableBridge(BRIDGE_A, 1);
+ devicePrm.bridgeEnabled[BRIDGE_A] = TRUE;
+ }
+ }
+ else
+ {
+ L6206_Board_EnableBridge(bridgeId, 1);
+ }
+}
+
+/******************************************************//**
+ * @brief Start the L6206 library
+ * @param[in] init pointer to the initialization data
+ * @retval None
+ **********************************************************/
+Status_t L6206::L6206_Init(void *init)
+{
+ deviceInstance++;
+
+ /* Initialise the GPIOs */
+ L6206_Board_GpioInit();
+
+ if (init == NULL)
+ {
+ /* Set context variables to the predefined values from l6206_target_config.h */
+ /* Set GPIO according to these values */
+ L6206_SetDeviceParamsToPredefinedValues();
+ }
+ else
+ {
+ L6206_SetDeviceParamsToGivenValues((L6206_Init_t*) init);
+ }
+
+ /* Initialise input bridges PWMs */
+ L6206_SetDualFullBridgeConfig(devicePrm.config);
+
+ return COMPONENT_OK;
+}
+
+/******************************************************//**
+ * @brief Get the PWM frequency of the specified bridge
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval Freq in Hz
+ **********************************************************/
+uint32_t L6206::L6206_GetBridgeInputPwmFreq(uint8_t bridgeId)
+{
+ return (devicePrm.pwmFreq[(bridgeId << 1)]);
+}
+
+/******************************************************//**
+ * @brief Returns the current speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval current speed in % from 0 to 100
+ **********************************************************/
+uint16_t L6206::L6206_GetCurrentSpeed(uint8_t motorId)
+{
+ uint16_t speed = 0;
+
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ speed = devicePrm.speed[motorId];
+ }
+
+ return (speed);
+}
+
+/******************************************************//**
+ * @brief Returns the device state
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval State (STEADY or INACTIVE)
+ **********************************************************/
+motorState_t L6206::L6206_GetDeviceState(uint8_t motorId)
+{
+ motorState_t state = INACTIVE;
+
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ state = devicePrm.motionState[motorId];
+ }
+ return (state);
+}
+
+/******************************************************//**
+ * @brief Returns the FW version of the library
+ * @retval L6206_FW_VERSION
+ **********************************************************/
+uint8_t L6206::L6206_GetFwVersion(void)
+{
+ return (L6206_FW_VERSION);
+}
+
+/******************************************************//**
+ * @brief Returns the max speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval maxSpeed in % from 0 to 100
+ **********************************************************/
+uint16_t L6206::L6206_GetMaxSpeed(uint8_t motorId)
+{
+ uint16_t speed = 0;
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ speed = devicePrm.speed[motorId];
+ }
+ return (speed);
+}
+
+
+/******************************************************//**
+ * @brief Get the status of the bridge enabling of the corresponding bridge
+ * @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+ **********************************************************/
+uint16_t L6206::L6206_GetBridgeStatus(uint8_t bridgeId)
+{
+ uint16_t status = L6206_Board_GetFlagPinState(bridgeId);
+
+ return (status);
+}
+
+/******************************************************//**
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval None
+ * @note if two motors uses the same power bridge, the
+ * power bridge will be disable only if the two motors are
+ * stopped
+ **********************************************************/
+void L6206::L6206_HardHiz(uint8_t motorId)
+{
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ /* Get bridge Id of the corresponding motor */
+ uint8_t bridgeId = L6206_GetBridgeIdUsedByMotorId(motorId);
+
+ if (devicePrm.bridgeEnabled[bridgeId] != FALSE)
+ {
+ bool skip = FALSE;
+
+ /* Check if another motor is currently running by using the same bridge */
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if ((motorId > 0) && (devicePrm.motionState[1] == STEADY) && (devicePrm.motionState[2] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if ((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))||
+ ((motorId > 1) && (devicePrm.motionState[2] == STEADY) && (devicePrm.motionState[3] == STEADY)))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if ((motorId > 0) && (devicePrm.motionState[1] == STEADY) && (devicePrm.motionState[2] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if ((motorId < 2) && (devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ if ((devicePrm.motionState[0] == STEADY) && (devicePrm.motionState[1] == STEADY))
+ {
+ skip = TRUE;
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (skip == FALSE)
+ {
+ /* Disable the bridge */
+ L6206_DisableBridge(bridgeId);
+ }
+ }
+ /* Disable the PWM */
+ L6206_HardStop(motorId);
+ }
+}
+
+/******************************************************//**
+ * @brief Stops the motor without disabling the bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval none
+ **********************************************************/
+void L6206::L6206_HardStop(uint8_t motorId)
+{
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ uint8_t bridgeInput;
+
+ /* Get bridge input of the corresponding motor */
+ bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
+
+ /* Disable corresponding PWM */
+ L6206_Board_PwmStop(bridgeInput);
+
+ /* for bidirectionnal motor, disable second PWM*/
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ bridgeInput = L6206_GetSecondBridgeInputUsedByMotorId(motorId);
+ L6206_Board_PwmStop(bridgeInput);
+ }
+ /* Set inactive state */
+ devicePrm.motionState[motorId] = INACTIVE;
+ }
+}
+
+/******************************************************//**
+ * @brief Read id
+ * @retval Id of the l6206 Driver Instance
+ **********************************************************/
+Status_t L6206::L6206_ReadId(uint8_t *id)
+{
+ *id = deviceInstance;
+
+ return COMPONENT_OK;
+}
+
+/******************************************************//**
+ * @brief Runs the motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ * @note For unidirectionnal motor, direction parameter has
+ * no effect
+ **********************************************************/
+void L6206::L6206_Run(uint8_t motorId, motorDir_t direction)
+{
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else if ((devicePrm.motionState[motorId] == INACTIVE) ||
+ (devicePrm.direction[motorId] != direction))
+ {
+ uint8_t bridgeId;
+ uint8_t bridgeInput;
+
+ /* Eventually deactivate motor */
+ if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ L6206_HardStop(motorId);
+ }
+
+ /* Store new direction */
+ devicePrm.direction[motorId] = direction;
+
+ /* Switch to steady state */
+ devicePrm.motionState[motorId] = STEADY;
+
+ /* Get bridge Id of the corresponding motor */
+ bridgeId = L6206_GetBridgeIdUsedByMotorId(motorId);
+
+ /* Get bridge input of the corresponding motor */
+ bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
+
+ /* Enable bridge */
+ L6206_EnableBridge(bridgeId);
+
+ /* Set PWM */
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ /* for bidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
+ bridgeInput = L6206_GetSecondBridgeInputUsedByMotorId(motorId);
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],100);
+ }
+ else
+ {
+ /* for unidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
+ }
+ }
+}
+/******************************************************//**
+ * @brief Set dual full bridge parallelling configuration
+ * @param[in] newConfig bridge configuration to apply from
+ * dualFullBridgeConfig_t enum
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetDualFullBridgeConfig(uint8_t newConfig)
+{
+ devicePrm.config = (dualFullBridgeConfig_t)newConfig;
+
+ /* Start to reset all else if several inits are used successively */
+ /* they will fail */
+ L6206_Board_PwmDeInit(INPUT_1A);
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmDeInit(INPUT_1B);
+ L6206_Board_PwmDeInit(INPUT_2B);
+
+
+ /* Initialise the bridges inputs PWMs --------------------------------------*/
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_2A);
+ L6206_Board_PwmInit(INPUT_1B);
+ L6206_Board_PwmInit(INPUT_2B);
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_1B);
+ L6206_Board_PwmInit(INPUT_2B);
+ break;
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_2A);
+ L6206_Board_PwmInit(INPUT_1B);
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_1B);
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ L6206_Board_PwmDeInit(INPUT_1B);
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ L6206_Board_PwmInit(INPUT_2A);
+ break;
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ L6206_Board_PwmDeInit(INPUT_2A);
+ L6206_Board_PwmDeInit(INPUT_1B);
+ L6206_Board_PwmDeInit(INPUT_2B);
+ L6206_Board_PwmInit(INPUT_1A);
+ break;
+ default:
+ break;
+ }
+}
+/******************************************************//**
+ * @brief Changes the max speed of the specified device
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] newMaxSpeed in % from 0 to 100
+ * @retval true if the command is successfully executed, else false
+ **********************************************************/
+bool L6206::L6206_SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
+{
+ bool cmdExecuted = FALSE;
+
+ if (motorId > l6206ArrayNbMaxMotorsByConfig[devicePrm.config])
+ {
+ L6206_ErrorHandler(L6206_ERROR_1);
+ }
+ else
+ {
+ devicePrm.speed[motorId] = newMaxSpeed;
+ if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ uint8_t bridgeInput;
+
+ /* Get Bridge input of the corresponding motor */
+ bridgeInput = L6206_GetBridgeInputUsedByMotorId(motorId);
+
+ /* Set PWM frequency*/
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ /* for bidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
+ }
+ else
+ {
+ /* for unidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
+ }
+ }
+ cmdExecuted = TRUE;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Changes the PWM frequency of the bridge input
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @param[in] newFreq in Hz
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
+{
+ uint8_t loop;
+
+ if (newFreq > L6206_MAX_PWM_FREQ)
+ {
+ newFreq = L6206_MAX_PWM_FREQ;
+ }
+ for (loop = 0; loop < 2;loop ++)
+ {
+ uint8_t motorId;
+ uint8_t bridgeInput = (bridgeId << 1) + loop;
+ devicePrm.pwmFreq[bridgeInput] = newFreq;
+
+ /* Get motor Id using this bridge */
+ motorId = L6206_GetMotorIdUsingbridgeInput(bridgeInput);
+
+ /* Immediatly update frequency if motor is running */
+ if (devicePrm.motionState[motorId] != INACTIVE)
+ {
+ /* Test if motor is bidir */
+ if (L6206_IsBidirectionnalMotor(motorId))
+ {
+ if (bridgeInput != L6206_GetSecondBridgeInputUsedByMotorId(motorId))
+ {
+ /* Set PWM frequency for bidirectionnal motor of the first bridge*/
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],(100 - devicePrm.speed[motorId]));
+ }
+ else
+ {
+ /* Set PWM frequency for bidirectionnal motor of the second bridge */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],100);
+ }
+ }
+ else
+ {
+ /* Set PWM frequency for unidirectionnal motor */
+ L6206_Board_PwmSetFreq(bridgeInput, devicePrm.pwmFreq[bridgeInput],devicePrm.speed[motorId]);
+ }
+ }
+ }
+}
+/******************************************************//**
+ * @brief Sets the number of devices to be used
+ * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ * @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ * devices greater than MAX_NUMBER_OF_DEVICES
+ **********************************************************/
+bool L6206::L6206_SetNbDevices(uint8_t nbDevices)
+{
+ if (nbDevices <= MAX_NUMBER_OF_DEVICES)
+ {
+ return TRUE;
+ }
+ else
+ {
+ return FALSE;
+ }
+}
+
+
+/******************************************************//**
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ **********************************************************/
+void L6206::L6206_ErrorHandler(uint16_t error)
+{
+ if (errorHandlerCallback != 0)
+ {
+ (void) errorHandlerCallback(error);
+ }
+ else
+ {
+ while(1)
+ {
+ /* Infinite loop */
+ }
+ }
+}
+
+/******************************************************//**
+ * @brief Handlers of the flag interrupt which calls the user callback (if defined)
+ * @retval None
+ **********************************************************/
+void L6206::L6206_FlagInterruptHandler(void)
+{
+ bool status;
+
+ status = L6206_GetBridgeStatus(BRIDGE_A);
+ if (status != devicePrm.bridgeEnabled[BRIDGE_A])
+ {
+ devicePrm.bridgeEnabled[BRIDGE_A] = status;
+ }
+
+ status = L6206_GetBridgeStatus(BRIDGE_B);
+ if (status != devicePrm.bridgeEnabled[BRIDGE_B])
+ {
+ devicePrm.bridgeEnabled[BRIDGE_B] = status;
+ }
+
+ if (flagInterruptCallback != 0)
+ {
+ flagInterruptCallback();
+ }
+}
+
+/******************************************************//**
+ * @brief Get the bridges Id used by a given motor
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval bridgeId 0 for bridge A , 1 for bridge B
+ **********************************************************/
+uint8_t L6206::L6206_GetBridgeIdUsedByMotorId(uint8_t motorId)
+{
+ uint8_t bridgeId;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeId = 0;
+ }
+ else
+ {
+ bridgeId = 1;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId < 2)
+ {
+ bridgeId = 0;
+ }
+ else
+ {
+ bridgeId = 1;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ default:
+ bridgeId = 0;
+ break;
+ }
+ return (bridgeId);
+}
+
+/******************************************************//**
+ * @brief Get the motor Id which is using the specified bridge input
+ * @param bridgeInput 0 for bridgeInput 1A, 1 for 2A, 2 for 1B, 3 for 3B
+ * @retval bridgeId 0 for bridge A , 1 for bridge B
+ **********************************************************/
+uint8_t L6206::L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput)
+{
+ uint8_t motorId;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput >= INPUT_1B)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput == INPUT_2B)
+ {
+ motorId = 2;
+ }
+ else if (bridgeInput == INPUT_1B)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput >= INPUT_1B)
+ {
+ motorId = 2;
+ }
+ else if (bridgeInput == INPUT_2A)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (bridgeInput == INPUT_2B)
+ {
+ motorId = 3;
+ }
+ else if (bridgeInput == INPUT_1B)
+ {
+ motorId = 2;
+ }
+ else if (bridgeInput == INPUT_2A)
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ if ((bridgeInput == INPUT_2A) || (bridgeInput == INPUT_2B))
+ {
+ motorId = 1;
+ }
+ else
+ {
+ motorId = 0;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ default:
+ motorId = 0;
+ break;
+ }
+
+ return (motorId);
+}
+/******************************************************//**
+ * @brief Get the PWM input used by a given motor
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval PWM input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B
+ **********************************************************/
+uint8_t L6206::L6206_GetBridgeInputUsedByMotorId(uint8_t motorId)
+{
+ uint8_t bridgeInput;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ }
+ else
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ }
+ break;
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ }
+ else if (motorId == 1)
+ {
+
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ if (devicePrm.direction[2] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else if (motorId == 2)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_2B;
+ }
+ break;
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else if (motorId == 1)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A:
+ if (motorId == 0)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ break;
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1A;
+ }
+ else
+ {
+ bridgeInput = INPUT_2A;
+ }
+ break;
+ case PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR:
+ default:
+ bridgeInput = INPUT_1A;
+ break;
+ }
+ return (bridgeInput);
+}
+
+/******************************************************//**
+ * @brief Get the second PWM input used by a given bidirectionnal motor
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval PWM input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B
+ **********************************************************/
+uint8_t L6206::L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId)
+{
+ uint8_t bridgeInput = 0xFF;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ }
+ else
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_2B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ }
+ break;
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 2)
+ {
+ if (devicePrm.direction[2] == FORWARD)
+ {
+ bridgeInput = INPUT_2B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ }
+ break;
+
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 1)
+ {
+ if (devicePrm.direction[1] == FORWARD)
+ {
+ bridgeInput = INPUT_2B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1B;
+ }
+ }
+ break;
+
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_1B;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ break;
+
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ if (devicePrm.direction[0] == FORWARD)
+ {
+ bridgeInput = INPUT_2A;
+ }
+ else
+ {
+ bridgeInput = INPUT_1A;
+ }
+ break;
+ default:
+ bridgeInput = 0XFF;
+ break;
+ }
+ if (bridgeInput == 0XFF)
+ {
+ L6206_ErrorHandler(L6206_ERROR_2);
+ }
+
+ return (bridgeInput);
+}
+
+/******************************************************//**
+ * @brief Test if motor is bidirectionnal
+ * @param motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval True if motor is bidirectionnal, else false
+ **********************************************************/
+bool L6206::L6206_IsBidirectionnalMotor(uint8_t motorId)
+{
+ bool isBiDir = FALSE;
+
+ switch (devicePrm.config)
+ {
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR:
+ case PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR:
+ isBiDir = TRUE;
+ break;
+
+ case PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B:
+ case PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B:
+ if (motorId == 0)
+ {
+ isBiDir = TRUE;
+ }
+ break;
+ case PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 2)
+ {
+ isBiDir = TRUE;
+ }
+ break;
+ case PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B:
+ if (motorId == 1)
+ {
+ isBiDir = TRUE;
+ }
+ break;
+
+ default:
+ break;
+ }
+
+ return (isBiDir);
+}
+
+
+/******************************************************//**
+ * @brief Sets the parameters of the device to predefined values
+ * from l6206_target_config.h
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetDeviceParamsToPredefinedValues(void)
+{
+ uint32_t i;
+
+ memset(&devicePrm, 0, sizeof(devicePrm));
+
+ devicePrm.config = L6206_CONF_PARAM_PARALLE_BRIDGES;
+
+ devicePrm.pwmFreq[INPUT_1A] = L6206_CONF_PARAM_FREQ_PWM1A;
+ devicePrm.pwmFreq[INPUT_2A] = L6206_CONF_PARAM_FREQ_PWM2A;
+ devicePrm.pwmFreq[INPUT_1B] = L6206_CONF_PARAM_FREQ_PWM1B;
+ devicePrm.pwmFreq[INPUT_2B] = L6206_CONF_PARAM_FREQ_PWM2B;
+
+ for (i = 0; i < MAX_NUMBER_OF_BRUSH_DC_MOTORS; i++)
+ {
+ devicePrm.speed[i] = 100;
+ devicePrm.direction[i] = FORWARD;
+ devicePrm.motionState[i] = INACTIVE;
+ }
+ for (i = 0; i < L6206_NB_MAX_BRIDGES; i++)
+ {
+ devicePrm.bridgeEnabled[i] = FALSE;
+ }
+}
+
+
+/******************************************************//**
+ * @brief Set the parameters of the device to values of initDevicePrm structure
+ * Set GPIO according to these values
+ * @param initDevicePrm structure containing values to initialize the device
+ * parameters
+ * @retval None
+ **********************************************************/
+void L6206::L6206_SetDeviceParamsToGivenValues(L6206_Init_t* initDevicePrm)
+{
+ memcpy(&devicePrm, initDevicePrm, sizeof(devicePrm));
+}
+
+ /**
+ * @}
+ */
+
+
+
+
+ /**
+ * @}
+ */
+
+ /**
+ * @}
+ */
+
+ /**
+ * @}
+ */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+
+
+
--- a/Components/l6206/l6206_class.h Tue May 03 11:16:57 2016 +0000
+++ b/Components/l6206/l6206_class.h Tue May 17 09:45:13 2016 +0000
@@ -172,101 +172,222 @@
* return COMPONENT_EnableFeature(); *
* } *
*------------------------------------------------------------------------*/
+
+ /**
+ * @brief Initializing the component.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int Init(void *init = NULL)
{
return (int) L6206_Init((void *) init);
}
-
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int ReadID(uint8_t *id = NULL)
{
return (int) L6206_ReadId((uint8_t *) id);
}
+
+ /**
+ * @brief Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library detects an error
+ * @param[in] callback Name of the callback to attach to the error Hanlder
+ * @retval None
+ */
virtual void AttachErrorHandler(void (*callback)(uint16_t error))
{
L6206_AttachErrorHandler((void (*)(uint16_t error)) callback);
}
+
+ /**
+ * @brief Attaches a user callback to the flag Interrupt
+ * The call back will be then called each time the status
+ * flag pin will be pulled down due to the occurrence of
+ * a programmed alarms ( OCD, thermal alert)
+ * @param[in] callback Name of the callback to attach
+ * to the Flag Interrupt
+ * @retval None
+ */
virtual void AttachFlagInterrupt(void (*callback)(void))
{
L6206_AttachFlagInterrupt((void (*)(void)) callback);
}
+ /**
+ * @brief Returns the current speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval current speed in % from 0 to 100
+ */
virtual uint16_t GetCurrentSpeed(uint8_t motorId)
{
return (uint16_t) L6206_GetCurrentSpeed((uint8_t) motorId);
}
+ /**
+ * @brief Returns the device state
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval State (STEADY or INACTIVE)
+ */
virtual motorState_t GetDeviceState(uint8_t motorId)
{
return (motorState_t) L6206_GetDeviceState((uint8_t) motorId);
}
+ /**
+ * @brief Returns the FW version of the library
+ * @retval L6206_FW_VERSION
+ */
virtual uint8_t GetFwVersion(void)
{
return (uint8_t) L6206_GetFwVersion();
}
+ /**
+ * @brief Returns the max speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval maxSpeed in % from 0 to 100
+ */
virtual uint16_t GetMaxSpeed(uint8_t motorId)
{
return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
}
+ /**
+ * @brief Stops the motor without disabling the bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval none
+ */
virtual void HardStop(uint8_t motorId)
{
L6206_HardStop((uint8_t) motorId);
}
+ /**
+ * @brief Runs the motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ * @note For unidirectionnal motor, direction parameter has no effect
+ */
virtual void Run(uint8_t stepCount, motorDir_t direction)
{
L6206_Run((uint8_t) stepCount, (motorDir_t) direction);
}
+ /**
+ * @brief Changes the max speed of the specified device
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] newMaxSpeed in % from 0 to 100
+ * @retval true if the command is successfully executed, else false
+ */
virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
{
return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
}
+ /**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ */
virtual void CmdDisable(uint8_t bridgeId)
{
L6206_DisableBridge((uint8_t) bridgeId);
}
+ /**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ */
virtual void CmdEnable(uint8_t bridgeId)
{
L6206_EnableBridge((uint8_t) bridgeId);
}
+ /**
+ * @brief Get the status of the bridge enabling of the corresponding bridge
+ * @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+ */
virtual uint16_t CmdGetStatus(uint8_t bridgeId)
{
return (uint16_t) L6206_GetBridgeStatus((uint8_t) bridgeId);
}
+ /**
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval None
+ * @note if two motors uses the same power bridge, the
+ * power bridge will be disable only if the two motors are stopped
+ */
virtual void CmdHardHiZ(uint8_t motorId)
{
L6206_HardHiz((uint8_t) motorId);
}
-
+
+ /**
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ */
virtual void ErrorHandler(uint16_t error)
{
L6206_ErrorHandler((uint16_t) error);
}
+ /**
+ * @brief Set dual full bridge parallelling configuration
+ * @param[in] newConfig bridge configuration to apply from
+ * dualFullBridgeConfig_t enum
+ * @retval None
+ */
virtual void SetDualFullBridgeConfig(uint8_t newConfig)
{
L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
}
+ /**
+ * @brief Get the PWM frequency of the specified bridge
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval Freq in Hz
+ */
virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId)
{
return (uint32_t) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
}
+ /**
+ * @brief Changes the PWM frequency of the bridge input
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @param[in] newFreq in Hz
+ * @retval None
+ */
virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
{
L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
}
+ /**
+ * @brief Sets the number of devices to be used
+ * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ * @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ * devices greater than MAX_NUMBER_OF_DEVICES
+ */
virtual bool SetNbDevices(uint8_t nbDevices)
{
return (bool) L6206_SetNbDevices((uint8_t) nbDevices);
@@ -308,10 +429,10 @@
/**
* @brief Enabling the FLAG interrupt handling.
- * @param None.
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
* @retval None.
*/
- void EnableFlagIRQ(uint8_t bridgeId)
+ virtual void EnableFlagIRQ(uint8_t bridgeId)
{
if (bridgeId == BRIDGE_A)
{
@@ -327,10 +448,10 @@
/**
* @brief Disabling the FLAG interrupt handling.
- * @param None.
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
* @retval None.
*/
- void DisableFlagIRQ(uint8_t bridgeId)
+ virtual void DisableFlagIRQ(uint8_t bridgeId)
{
if (bridgeId == BRIDGE_A)
flag_A_irq.fall(NULL);
@@ -341,21 +462,7 @@
/*** 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:
@@ -412,24 +519,68 @@
* Implement here other I/O methods beyond those already implemented *
* above, which are declared extern within the component's header file. *
*------------------------------------------------------------------------*/
+
+ /**
+ * @brief Utility function to set or unset EN pin for Bridge A or Bridge B.
+ * @param[out] none
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval none
+ */
+ void L6206_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);
+ }
+ }
+
+ /**
+ * @brief Making the CPU wait.
+ * @param None.
+ * @retval None.
+ */
void L6206_Board_Delay(uint32_t delay)
{
wait_ms(delay);
}
+ /**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ */
void L6206_Board_DisableBridge(uint8_t bridgeId)
{
DisableFlagIRQ(BRIDGE_A);
DisableFlagIRQ(BRIDGE_B);
__disable_irq();
- OutVal( bridgeId, 0);
+ L6206_OutVal( bridgeId, 0);
__enable_irq();
}
+ /**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ */
void L6206_Board_EnableBridge(uint8_t bridgeId, uint8_t addDelay)
{
- OutVal( bridgeId, 1);
+ L6206_OutVal( bridgeId, 1);
if (addDelay != 0)
{
@@ -439,7 +590,11 @@
EnableFlagIRQ( bridgeId);
}
-
+ /**
+ * @brief Returns the FLAG pin state.
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval The FLAG pin value.
+ */
uint32_t L6206_Board_GetFlagPinState(uint8_t bridgeId)
{
if (bridgeId == 0)
@@ -454,6 +609,10 @@
}
}
+ /**
+ * @brief Initiliases the GPIOs used by the L6206s
+ * @retval None
+ */
void L6206_Board_GpioInit(void)
{
/* Init bridge Enable */
@@ -472,8 +631,15 @@
}
- /** Board PWM management **/
-
+ /**
+ * @brief Sets the frequency of PWM used for bridges inputs
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @param[in] newFreq in Hz
+ * @param[in] duty Duty cycle
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ */
void L6206_Board_PwmSetFreq(uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
{
/* Computing the period of PWM. */
@@ -513,6 +679,12 @@
}
}
+ /**
+ * @brief Reset the PWM for the specified brigde input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
void L6206_Board_PwmDeInit(uint8_t bridgeInput)
{
switch (bridgeInput)
@@ -536,10 +708,22 @@
}
}
+ /**
+ * @brief Set the PWM frequency the for the specified bridge input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
void L6206_Board_PwmInit(uint8_t bridgeInput)
{
}
+ /**
+ * @brief Stops the PWM uses for the specified brige input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
void L6206_Board_PwmStop(uint8_t bridgeInput)
{
switch (bridgeInput)
--- a/X_NUCLEO_COMMON.lib Tue May 03 11:16:57 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#216930edb6b7