Diff: IHM01A1/motor.h

Revision:

0:b9444a40a999

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IHM01A1/motor.h	Sat Sep 05 20:18:14 2015 +0000
@@ -0,0 +1,308 @@
+/**
+  ******************************************************************************
+  * @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>
+   
+/** @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
+//mbed 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 Motor_Driver_Structure
+  * @{
+  */
+/// Motor driver structure definition  
+typedef struct
+{
+  /// Function pointer to Init
+  void (*Init)(uint8_t); 
+  /// Function pointer to ReadID
+  uint16_t (*ReadID)(void);   
+  /// Function pointer to AttachErrorHandler
+  void(*AttachErrorHandler)(void (*callback)(uint16_t));
+  /// Function pointer to AttachFlagInterrupt
+  void (*AttachFlagInterrupt)(void (*callback)(void));
+  /// Function pointer to AttachBusyInterrupt
+  void (*AttachBusyInterrupt)(void (*callback)(void));
+  /// Function pointer to FlagInterruptHandler
+  void (*FlagInterruptHandler)(void);  
+  /// Function pointer to GetAcceleration
+  uint16_t (*GetAcceleration)(uint8_t); 
+  /// Function pointer to GetCurrentSpeed
+  uint16_t (*GetCurrentSpeed)(uint8_t); 
+  /// Function pointer to GetDeceleration
+  uint16_t (*GetDeceleration)(uint8_t); 
+  /// Function pointer to GetDeviceState
+  motorState_t(*GetDeviceState)(uint8_t); 
+  /// Function pointer to GetFwVersion
+  uint8_t (*GetFwVersion)(void); 
+  /// Function pointer to GetMark
+  int32_t (*GetMark)(uint8_t); 
+  /// Function pointer to GetMaxSpeed
+  uint16_t (*GetMaxSpeed)(uint8_t); 
+  /// Function pointer to GetMinSpeed
+  uint16_t (*GetMinSpeed)(uint8_t); 
+  /// Function pointer to GetPosition
+  int32_t (*GetPosition)(uint8_t); 
+  /// Function pointer to GoHome
+  void (*GoHome)(uint8_t); 
+  /// Function pointer to GoMark
+  void (*GoMark)(uint8_t); 
+  /// Function pointer to GoTo
+  void (*GoTo)(uint8_t, int32_t); 
+  /// Function pointer to HardStop
+  void (*HardStop)(uint8_t); 
+  /// Function pointer to Move
+  void (*Move)(uint8_t, motorDir_t, uint32_t ); 
+  /// Function pointer to ResetAllDevices
+  void (*ResetAllDevices)(void); 
+  /// Function pointer to Run
+  void (*Run)(uint8_t, motorDir_t); 
+  /// Function pointer to SetAcceleration
+  bool(*SetAcceleration)(uint8_t ,uint16_t ); 
+  /// Function pointer to SetDeceleration
+  bool(*SetDeceleration)(uint8_t , uint16_t ); 
+  /// Function pointer to SetHome
+  void (*SetHome)(uint8_t); 
+  /// Function pointer to SetMark
+  void (*SetMark)(uint8_t); 
+  /// Function pointer to SetMaxSpeed
+  bool (*SetMaxSpeed)(uint8_t, uint16_t ); 
+  /// Function pointer to SetMinSpeed
+  bool (*SetMinSpeed)(uint8_t, uint16_t ); 
+  /// Function pointer to SoftStop
+  bool (*SoftStop)(uint8_t); 
+  /// Function pointer to StepClockHandler
+  void (*StepClockHandler)(uint8_t deviceId);  
+  /// Function pointer to WaitWhileActive
+  void (*WaitWhileActive)(uint8_t); 
+  /// Function pointer to CmdDisable
+  void (*CmdDisable)(uint8_t); 
+  /// Function pointer to CmdEnable
+  void (*CmdEnable)(uint8_t);
+  /// Function pointer to CmdGetParam
+  uint32_t (*CmdGetParam)(uint8_t, uint32_t);
+  /// Function pointer to CmdGetStatus
+  uint16_t (*CmdGetStatus)(uint8_t); 
+  /// Function pointer to CmdNop
+  void (*CmdNop)(uint8_t); 
+  /// Function pointer to CmdSetParam  
+  void (*CmdSetParam)(uint8_t, uint32_t, uint32_t);
+  /// Function pointer to ReadStatusRegister
+  uint16_t (*ReadStatusRegister)(uint8_t); 
+  /// Function pointer to ReleaseReset
+  void (*ReleaseReset)(void);
+  /// Function pointer to Reset
+  void (*Reset)(void); 
+  /// Function pointer to SelectStepMode
+  void (*SelectStepMode)(uint8_t deviceId, motorStepMode_t); 
+  /// Function pointer to SetDirection
+  void (*SetDirection)(uint8_t, motorDir_t);  
+  /// Function pointer to CmdGoToDir
+  void (*CmdGoToDir)(uint8_t, motorDir_t, int32_t);
+  /// Function pointer to CheckBusyHw
+  uint8_t (*CheckBusyHw)(void);
+  /// Function pointer to CheckStatusHw
+  uint8_t (*CheckStatusHw)(void);
+  /// Function pointer to CmdGoUntil
+  void (*CmdGoUntil)(uint8_t, motorAction_t, motorDir_t, uint32_t);
+  /// Function pointer to CmdHardHiZ
+  void (*CmdHardHiZ)(uint8_t);
+  /// Function pointer to CmdReleaseSw
+  void (*CmdReleaseSw)(uint8_t, motorAction_t, motorDir_t);
+  /// Function pointer to CmdResetDevice
+  void (*CmdResetDevice)(uint8_t);
+  /// Function pointer to CmdResetPos
+  void (*CmdResetPos)(uint8_t);
+  /// Function pointer to CmdRun
+  void (*CmdRun)(uint8_t, motorDir_t, uint32_t);
+  /// Function pointer to CmdSoftHiZ
+  void (*CmdSoftHiZ)(uint8_t);
+  /// Function pointer to CmdStepClock
+  void (*CmdStepClock)(uint8_t, motorDir_t);
+  /// Function pointer to FetchAndClearAllStatus
+  void (*FetchAndClearAllStatus)(void);
+  /// Function pointer to GetFetchedStatus
+  uint16_t (*GetFetchedStatus)(uint8_t);
+  /// Function pointer to GetNbDevices
+  uint8_t (*GetNbDevices)(void);
+  /// Function pointer to IsDeviceBusy
+  bool (*IsDeviceBusy)(uint8_t);
+  /// Function pointer to SendQueuedCommands
+  void (*SendQueuedCommands)(void);
+  /// Function pointer to QueueCommands  
+  void (*QueueCommands)(uint8_t, uint8_t, uint32_t);
+  /// Function pointer to WaitForAllDevicesNotBusy  
+  void (*WaitForAllDevicesNotBusy)(void);  
+  /// Function pointer to ErrorHandler  
+  void (*ErrorHandler)(uint16_t);
+  /// Function pointer to BusyInterruptHandler  
+  void (*BusyInterruptHandler)(void);
+  void (*CmdSoftStop)(uint8_t); 
+}motorDrv_t;    
+      
+/**
+  
+* @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MOTOR_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/