Diff: Components/Common/motor.h

Revision:

0:2887415a46cd

Child:

1:b38ebb8ea286

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/motor.h	Wed Oct 14 15:12:18 2015 +0000
@@ -0,0 +1,373 @@
+/**
+  ******************************************************************************
+  * @file    motor.h
+  * @author  IPC Rennes
+  * @version V1.3.0
+  * @date    November 12, 2014
+  * @brief   This file contains all the functions prototypes for motor drivers.   
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MOTOR_H
+#define __MOTOR_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+#include "component.h"
+   
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Components
+  * @{
+  */ 
+
+/** @defgroup Motor
+  * @{
+  */
+    
+/** @defgroup Motor_Exported_Constants
+  * @{
+  */   
+   
+/// boolean for false condition 
+#ifndef FALSE
+#define FALSE (0)
+#endif
+/// boolean for true condition 
+#ifndef TRUE
+#define TRUE  (1)
+#endif
+
+   /**
+  * @}
+  */
+   
+/** @defgroup Motor_Exported_Types
+  * @{
+  */
+
+   /** @defgroup Motor_Boolean_Type
+  * @{
+  */
+///bool Type
+//typedef uint8_t bool;
+/**
+  * @}
+  */   
+   
+/** @defgroup Device_Direction_Options
+  * @{
+  */
+/// Direction options
+typedef enum {
+  BACKWARD = 0,
+  FORWARD = 1
+} motorDir_t;
+/**
+  * @}
+  */
+  
+/** @defgroup Device_Action_Options
+  * @{
+  */
+/// Action options
+typedef enum {
+  ACTION_RESET = ((uint8_t)0x00),
+  ACTION_COPY  = ((uint8_t)0x08)
+} motorAction_t;
+/**
+  * @}
+  */  
+
+/** @defgroup Device_States
+  * @{
+  */
+/// Device states
+typedef enum {
+  ACCELERATING = 0, 
+  DECELERATING = 1, 
+  STEADY = 2,
+  INACTIVE= 3
+} motorState_t;
+/**
+  * @}
+  */   
+
+/** @defgroup Device_Step_mode
+  * @{
+  */
+ /// Stepping options 
+typedef enum {
+  STEP_MODE_FULL   = ((uint8_t)0x00), 
+  STEP_MODE_HALF   = ((uint8_t)0x01),
+  STEP_MODE_1_4    = ((uint8_t)0x02),
+  STEP_MODE_1_8    = ((uint8_t)0x03),
+  STEP_MODE_1_16   = ((uint8_t)0x04),
+  STEP_MODE_1_32   = ((uint8_t)0x05),
+  STEP_MODE_1_64   = ((uint8_t)0x06),
+  STEP_MODE_1_128  = ((uint8_t)0x07)
+} motorStepMode_t;
+/**
+  * @}
+  */   
+
+/** @defgroup Device_Commands
+  * @{
+  */
+/// Device commands 
+typedef enum {
+  RUN_CMD, 
+  MOVE_CMD, 
+  SOFT_STOP_CMD, 
+  NO_CMD
+} deviceCommand_t;
+/**
+  * @}
+  */
+
+/** @defgroup Device_Parameters
+  * @{
+  */
+/// Device Parameters Structure Type
+typedef struct {
+  /// accumulator used to store speed increase smaller than 1 pps
+  volatile uint32_t accu;           
+  /// Position in steps at the start of the goto or move commands
+  volatile int32_t currentPosition; 
+  /// position in step at the end of the accelerating phase
+  volatile uint32_t endAccPos;      
+  /// nb steps performed from the beggining of the goto or the move command
+  volatile uint32_t relativePos;    
+  /// position in step at the start of the decelerating phase
+  volatile uint32_t startDecPos;    
+  /// nb steps to perform for the goto or move commands
+  volatile uint32_t stepsToTake;   
+  
+  /// acceleration in pps^2 
+  volatile uint16_t acceleration;  
+  /// deceleration in pps^2
+  volatile uint16_t deceleration;  
+  /// max speed in pps (speed use for goto or move command)
+  volatile uint16_t maxSpeed;      
+  /// min speed in pps
+  volatile uint16_t minSpeed;      
+  /// current speed in pps    
+  volatile uint16_t speed;         
+  
+  /// command under execution
+  volatile deviceCommand_t commandExecuted; 
+  /// FORWARD or BACKWARD direction
+  volatile motorDir_t direction;                 
+  /// Current State of the device
+  volatile motorState_t motionState;       
+} deviceParams_t;
+/**
+  * @}
+  */
+
+/** @defgroup Motor_Driver_Initialization_Structure
+  * @{
+  */
+/// Motor driver initialization structure definition  
+typedef struct
+{
+  int placeholder;
+} MOTOR_InitTypeDef;
+/**
+  * @}
+  */
+
+/** @defgroup Motor_Driver_Structure
+  * @{
+  */
+/// Motor driver structure definition  
+typedef struct
+{
+  /* Generic */
+  /* ACTION ----------------------------------------------------------------*
+   * Declare here component's generic functions.                            *
+   *                                                                        *
+   * Example:                                                               *
+   *   DrvStatusTypeDef (*Init)(void *handle, INTERFACE_InitTypeDef *init); *
+   *------------------------------------------------------------------------*/
+  DrvStatusTypeDef (*Init)(void *handle, MOTOR_InitTypeDef *init);
+  DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
+
+  /* Interrupts */
+  /* ACTION ----------------------------------------------------------------*
+   * Declare here component's interrupts related functions.                 *
+   *                                                                        *
+   * Example:                                                               *
+   *   void (*ConfigIT)(void *handle, uint16_t a);                          *
+   *------------------------------------------------------------------------*/
+  /// Function pointer to AttachErrorHandler
+  void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
+  /// Function pointer to AttachFlagInterrupt
+  void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
+  /// Function pointer to AttachBusyInterrupt
+  void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
+  /// Function pointer to FlagInterruptHandler
+  void (*FlagInterruptHandler)(void *handle);
+
+  /* Specific */
+  /* ACTION ----------------------------------------------------------------*
+   * Declare here component's specific functions.                           *
+   *                                                                        *
+   * Example:                                                               *
+   *   DrvStatusTypeDef (*GetValue)(void *handle, float *pfData);           *
+   *------------------------------------------------------------------------*/
+  /// Function pointer to GetAcceleration
+  uint16_t (*GetAcceleration)(void *handle); 
+  /// Function pointer to GetCurrentSpeed
+  uint16_t (*GetCurrentSpeed)(void *handle); 
+  /// Function pointer to GetDeceleration
+  uint16_t (*GetDeceleration)(void *handle); 
+  /// Function pointer to GetDeviceState
+  motorState_t(*GetDeviceState)(void *handle); 
+  /// Function pointer to GetFwVersion
+  uint8_t (*GetFwVersion)(void *handle); 
+  /// Function pointer to GetMark
+  int32_t (*GetMark)(void *handle); 
+  /// Function pointer to GetMaxSpeed
+  uint16_t (*GetMaxSpeed)(void *handle); 
+  /// Function pointer to GetMinSpeed
+  uint16_t (*GetMinSpeed)(void *handle); 
+  /// Function pointer to GetPosition
+  int32_t (*GetPosition)(void *handle); 
+  /// Function pointer to GoHome
+  void (*GoHome)(void *handle); 
+  /// Function pointer to GoMark
+  void (*GoMark)(void *handle); 
+  /// Function pointer to GoTo
+  void (*GoTo)(void *handle, int32_t targetPosition); 
+  /// Function pointer to HardStop
+  void (*HardStop)(void *handle); 
+  /// Function pointer to Move
+  void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount); 
+  /// Function pointer to ResetAllDevices
+  //void (*ResetAllDevices)(void *handle); 
+  /// Function pointer to Run
+  void (*Run)(void *handle, motorDir_t direction);
+  /// Function pointer to SetAcceleration
+  bool(*SetAcceleration)(void *handle,uint16_t newAcc);
+  /// Function pointer to SetDeceleration
+  bool(*SetDeceleration)(void *handle, uint16_t newDec);
+  /// Function pointer to SetHome
+  void (*SetHome)(void *handle); 
+  /// Function pointer to SetMark
+  void (*SetMark)(void *handle); 
+  /// Function pointer to SetMaxSpeed
+  bool (*SetMaxSpeed)(void *handle, uint16_t newMaxSpeed); 
+  /// Function pointer to SetMinSpeed
+  bool (*SetMinSpeed)(void *handle, uint16_t newMinSpeed); 
+  /// Function pointer to SoftStop
+  bool (*SoftStop)(void *handle); 
+  /// Function pointer to StepClockHandler
+  void (*StepClockHandler)(void *handle);  
+  /// Function pointer to CmdDisable
+  void (*CmdDisable)(void *handle); 
+  /// Function pointer to CmdEnable
+  void (*CmdEnable)(void *handle);
+  /// Function pointer to CmdGetParam
+  uint32_t (*CmdGetParam)(void *handle, uint32_t param);
+  /// Function pointer to CmdGetStatus
+  uint16_t (*CmdGetStatus)(void *handle); 
+  /// Function pointer to CmdNop
+  void (*CmdNop)(void *handle); 
+  /// Function pointer to CmdSetParam  
+  void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
+  /// Function pointer to ReadStatusRegister
+  uint16_t (*ReadStatusRegister)(void *handle); 
+  /// Function pointer to ReleaseReset
+  void (*ReleaseReset)(void *handle);
+  /// Function pointer to Reset
+  void (*Reset)(void *handle); 
+  /// Function pointer to SelectStepMode
+  void (*SelectStepMode)(void *handle, motorStepMode_t stepMod); 
+  /// Function pointer to SetDirection
+  void (*SetDirection)(void *handle, motorDir_t direction);  
+  /// Function pointer to CmdGoToDir
+  void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
+  /// Function pointer to CheckBusyHw
+  uint8_t (*CheckBusyHw)(void *handle);
+  /// Function pointer to CheckStatusHw
+  uint8_t (*CheckStatusHw)(void *handle);
+  /// Function pointer to CmdGoUntil
+  void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition);
+  /// Function pointer to CmdHardHiZ
+  void (*CmdHardHiZ)(void *handle);
+  /// Function pointer to CmdReleaseSw
+  void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
+  /// Function pointer to CmdResetDevice
+  void (*CmdResetDevice)(void *handle);
+  /// Function pointer to CmdResetPos
+  void (*CmdResetPos)(void *handle);
+  /// Function pointer to CmdRun
+  void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition);
+  /// Function pointer to CmdSoftHiZ
+  void (*CmdSoftHiZ)(void *handle);
+  /// Function pointer to CmdStepClock
+  void (*CmdStepClock)(void *handle, motorDir_t direction);
+  /// Function pointer to FetchAndClearAllStatus
+  void (*FetchAndClearAllStatus)(void *handle);
+  /// Function pointer to GetFetchedStatus
+  uint16_t (*GetFetchedStatus)(void *handle);
+  /// Function pointer to GetNbDevices
+  uint8_t (*GetNbDevices)(void *handle);
+  /// Function pointer to IsDeviceBusy
+  bool (*IsDeviceBusy)(void *handle);
+  /// Function pointer to SendQueuedCommands
+  void (*SendQueuedCommands)(void *handle);
+  /// Function pointer to QueueCommands  
+  void (*QueueCommands)(void *handle, uint8_t temp, uint32_t command);
+  /// Function pointer to WaitForAllDevicesNotBusy  
+  void (*WaitForAllDevicesNotBusy)(void *handle);  
+  /// Function pointer to ErrorHandler  
+  void (*ErrorHandler)(void *handle, uint16_t error);
+  /// Function pointer to BusyInterruptHandler
+  void (*BusyInterruptHandler)(void *handle);
+  /// Function pointer to CmdSoftStop
+  void (*CmdSoftStop)(void *handle); 
+} MOTOR_DrvVTableTypeDef;    
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MOTOR_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/