Diff: Components/Common/microstepping_motor.h

Revision:

14:e614697ebf34

Parent:

11:1aca63b2f034

--- a/Components/Common/microstepping_motor.h	Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/Common/microstepping_motor.h	Tue Feb 09 16:01:30 2016 +0000
@@ -1,42 +1,44 @@
 /**
-  ******************************************************************************
-  * @file    microstepping_motor.h
-  * @author  IPD SYSTEM LAB & TECH MKTG
-  * @version V0.0.1
-  * @date    04-June-2015
-  * @brief   This file contains all the functions prototypes for the microstepping
-  *          motor driver with motion engine.   
-  ******************************************************************************
-  * @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.
-  *
-  ******************************************************************************
-  */ 
+ ******************************************************************************
+ * @file    microstepping_motor.h
+ * @author  IPD SYSTEM LAB & TECH MKTG
+ * @version V0.0.1
+ * @date    04-June-2015
+ * @brief   This file contains all the functions prototypes for the microstepping
+ *          motor driver with motion engine.   
+ ******************************************************************************
+ * @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 __MICROSTEPPINGMOTOR_H
 #define __MICROSTEPPINGMOTOR_H
 
@@ -44,10 +46,15 @@
  extern "C" {
 #endif 
 
+
 /* Includes ------------------------------------------------------------------*/
+
 #include <stdint.h>
 #include "component.h"
    
+
+/* Types ---------------------------------------------------------------------*/
+
 /** @addtogroup BSP
   * @{
   */
@@ -92,7 +99,7 @@
   L6470_STEP_MODE_ID,           //!< Step mode
   L6470_ALARM_EN_ID,            //!< Alarm enable
   L6470_CONFIG_ID,              //!< IC configuration
-  L6470_STATUS_ID               //!< Status, (the reset value is according to startup conditions)
+  L6470_STATUS_ID               //!< Status, (the reset value is according to startup conditions)  
 } eL6470_RegId_t;
 
 /**
@@ -305,9 +312,9 @@
   uint16_t  STATUS;                 //!< Status Register
 } StepperMotorRegister_t;
 
-/**
-  * @brief Stepper Motor Driver Structure
-  */
+/** 
+ * @brief  MICROSTEPPING_MOTOR driver virtual table structure definition.
+ */
 typedef struct
 {
   /* ACTION ----------------------------------------------------------------*
@@ -319,12 +326,12 @@
    * specified exactly in the given way.                                    *
    *                                                                        *
    * Example:                                                               *
-   *   DrvStatusTypeDef (*Init)(void *handle, void *init);                  *
-   *   DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);               *
+   *   Status_t (*Init)   (void *handle, void *init);                       *
+   *   Status_t (*ReadID) (void *handle, uint8_t *id);                      *
    *------------------------------------------------------------------------*/
   /* Generic */
-  DrvStatusTypeDef (*Init)(void *handle, void *init);
-  DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
+  Status_t (*Init)(void *handle, void *init);
+  Status_t (*ReadID)(void *handle, uint8_t *id);
   
   /* ACTION ----------------------------------------------------------------*
    * Declare here the component's specific functions.                       *
@@ -332,7 +339,7 @@
    * Do not specify any function if not required.                           *
    *                                                                        *
    * Example:                                                               *
-   *   DrvStatusTypeDef (*GetValue)(void *handle, float *pfData);           *
+   *   Status_t (*GetValue) (void *handle, float *f);                       *
    *------------------------------------------------------------------------*/
   /* Specific */
   void     (*SetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
@@ -400,7 +407,8 @@
   uint8_t  (*mA_2_OcdTh)(void *handle, float mA);
   float    (*StallTh_2_mA)(void *handle, uint8_t StallTh);
   uint8_t  (*mA_2_StallTh)(void *handle, float mA);
-} MICROSTEPPING_MOTOR_DrvVTableTypeDef;
+  uint32_t (*ExtractReturnedData)(void *handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
+} MICROSTEPPING_MOTOR_VTable_t;
 
 /**
   * @brief Stepper Motor Board Driver Structure
@@ -427,7 +435,7 @@
   uint16_t (*GetStatus)(uint8_t, uint8_t);
   uint8_t  (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
   uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
-} MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef;
+} MICROSTEPPING_MOTOR_EB_VTable_t;
 
 /**
   * @brief  Stepper Motor Handle Structure
@@ -435,7 +443,8 @@
 typedef struct __StepperMotorDriver_HandleTypeDef
 {
   uint8_t DaisyChainPosition;
-  MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
+  void (*Config)(void*);
+  MICROSTEPPING_MOTOR_VTable_t *Command;
 } StepperMotorDriverHandle_t;
 
 /**
@@ -444,7 +453,8 @@
 typedef struct __StepperMotorBoard_HandleTypeDef
 {
   uint8_t StackedPosition;
-  MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
+  void (*Config)(void*);
+  MICROSTEPPING_MOTOR_EB_VTable_t *Command;
   StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
   uint8_t (*Select)(uint8_t);
 } StepperMotorBoardHandle_t;