Diff: IHM01A1/motorcontrol.cpp

Revision:

0:b9444a40a999

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IHM01A1/motorcontrol.cpp	Sat Sep 05 20:18:14 2015 +0000
@@ -0,0 +1,1339 @@
+/**
+ ******************************************************************************
+ * @file    motorcontrol.c
+ * @author  IPC Rennes
+ * @version V1.0.0
+ * @date    12-November-2014
+ * @brief   This file provides common functions for motor control 
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+/* Includes ------------------------------------------------------------------*/
+#include "motorcontrol.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @defgroup MOTOR_CONTROL
+ * @{
+ */
+
+/** @defgroup MOTOR_CONTROL_Private_Types_Definitions
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup MOTOR_CONTROL_Private_Defines
+ * @{
+ */
+/**
+ * @}
+ */
+
+/** @defgroup MOTOR_CONTROL_Private_Constants
+ * @{
+ */
+/// Error when trying to call undefined functions via motorDrvHandle
+#define MOTOR_CONTROL_ERROR_0   (0x0800)   
+
+/**
+ * @}
+ */
+
+/** @defgroup MOTOR_CONTROL_Private_Macros
+ * @{
+ */
+/// Error when trying to call undefined functions via motorDrvHandle
+#define MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(errorNb)   (BSP_MotorControl_ErrorHandler(MOTOR_CONTROL_ERROR_0|(errorNb)))   
+
+/**
+ * @}
+ */   
+   
+/** @defgroup MOTOR_CONTROL_Private_Variables
+ * @{
+ */
+
+static motorDrv_t *motorDrvHandle = 0;
+static uint16_t MotorControlBoardId;
+/**
+ * @}
+ */
+
+/** @defgroup MOTOR_CONTROL_Weak_Private_Functions
+ * @{
+ */
+/// Get motor handle for L6474
+__weak motorDrv_t* L6474_GetMotorHandle(void){return ((motorDrv_t* )0);}
+/// Get motor handle for Powerstep
+__weak motorDrv_t* Powerstep01_GetMotorHandle(void){return ((motorDrv_t* )0);}
+
+
+/**
+ * @}
+ */
+
+/** @defgroup MOTOR_CONTROL_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 BSP_MotorControl_AttachErrorHandler(void (*callback)(uint16_t))
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->AttachErrorHandler != 0))
+  {
+    motorDrvHandle->AttachErrorHandler(callback);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(1);
+  }
+}
+
+/******************************************************//**
+ * @brief  Attaches a user callback to the Flag interrupt Handler.
+ * The call back will be then called each time the library 
+ * detects a FLAG signal falling edge.
+ * @param[in] callback Name of the callback to attach 
+ * to the Flag interrupt Hanlder
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_AttachFlagInterrupt(void (*callback)(void))
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->AttachFlagInterrupt != 0))
+  {
+    motorDrvHandle->AttachFlagInterrupt(callback);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(2);
+  }  
+}
+
+/******************************************************//**
+ * @brief  Attaches a user callback to the Busy interrupt Handler.
+ * The call back will be then called each time the library 
+ * detects a BUSY signal falling edge.
+ * @param[in] callback Name of the callback to attach 
+ * to the Busy interrupt Hanlder
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_AttachBusyInterrupt(void (*callback)(void))
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->AttachBusyInterrupt != 0))
+  {
+    motorDrvHandle->AttachBusyInterrupt(callback);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(3);
+  }  
+}
+
+/******************************************************//**
+ * @brief Motor control error handler
+ * @param[in] error number of the error
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_ErrorHandler(uint16_t error)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->ErrorHandler != 0))
+  {
+    motorDrvHandle->ErrorHandler(error);
+  }  
+  else
+  {
+    while(1)
+    {
+      /* Infinite loop as Error handler must be defined*/
+    }
+  }
+}
+/******************************************************//**
+ * @brief Initialises the motor driver
+ * @param[in] id Component Id (L6474, Powerstep01,...)
+ * @param[in] nbDevices Number of motor devices to use (from 1 to 3)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_Init(uint16_t  id, uint8_t nbDevices)
+{
+  MotorControlBoardId = id;
+  
+  if (id == BSP_MOTOR_CONTROL_BOARD_ID_L6474)
+  {
+    motorDrvHandle = L6474_GetMotorHandle();
+  }
+  else if (id == BSP_MOTOR_CONTROL_BOARD_ID_POWERSTEP01)
+  {
+    motorDrvHandle = Powerstep01_GetMotorHandle();
+  }
+  else
+  {
+    motorDrvHandle = 0;
+  }
+
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->Init != 0))
+  {
+    motorDrvHandle->Init(nbDevices);
+  }  
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(4);
+  }  
+}
+
+/******************************************************//**
+ * @brief  Handlers of the flag interrupt which calls the user callback (if defined)
+ * @param None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_FlagInterruptHandler(void)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->FlagInterruptHandler != 0))
+  {
+    motorDrvHandle->FlagInterruptHandler();
+  }    
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(5);
+  }  
+}
+/******************************************************//**
+ * @brief Returns the acceleration of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval Acceleration in pps^2
+ **********************************************************/
+uint16_t BSP_MotorControl_GetAcceleration(uint8_t deviceId)
+{                                                  
+  uint16_t acceleration = 0;
+
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetAcceleration != 0))
+  {
+    acceleration = motorDrvHandle->GetAcceleration(deviceId);
+  }      
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(6);
+  }  
+  return(acceleration);    
+}            
+
+/******************************************************//**
+ * @brief Get board Id  the motor driver
+ * @param None
+ * @retval Motor control board Id
+ **********************************************************/
+uint16_t BSP_MotorControl_GetBoardId(void)
+{
+  return (MotorControlBoardId);
+}
+/******************************************************//**
+ * @brief Returns the current speed of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval Speed in pps
+ **********************************************************/
+uint16_t BSP_MotorControl_GetCurrentSpeed(uint8_t deviceId)
+{
+  uint16_t currentSpeed = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetCurrentSpeed != 0))
+  {
+    currentSpeed = motorDrvHandle->GetCurrentSpeed(deviceId);
+  }      
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(7);
+  }  
+  return(currentSpeed); 
+}
+
+/******************************************************//**
+ * @brief Returns the deceleration of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval Deceleration in pps^2
+ **********************************************************/
+uint16_t BSP_MotorControl_GetDeceleration(uint8_t deviceId)
+{                                                  
+  uint16_t deceleration = 0;
+
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetDeceleration != 0))
+  {
+    deceleration = motorDrvHandle->GetDeceleration(deviceId);
+  }      
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(8);
+  }  
+  return(deceleration);   
+}          
+
+/******************************************************//**
+ * @brief Returns the device state
+ * @param[in] deviceId (from 0 to 2)
+ * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
+ **********************************************************/
+motorState_t BSP_MotorControl_GetDeviceState(uint8_t deviceId)
+{
+  motorState_t state = INACTIVE;
+
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetDeviceState != 0))
+  {
+    state = motorDrvHandle->GetDeviceState(deviceId);
+  }      
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(9);
+  }  
+  return(state);   
+}
+
+/******************************************************//**
+ * @brief Returns the FW version of the library
+ * @param None
+ * @retval BSP_MotorControl_FW_VERSION
+ **********************************************************/
+uint8_t BSP_MotorControl_GetFwVersion(void)
+{
+  uint8_t version = 0;
+  
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetFwVersion != 0))
+  {
+    version = motorDrvHandle->GetFwVersion();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(10);
+  }  
+  return(version);
+}
+
+/******************************************************//**
+ * @brief  Returns the mark position  of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval Mark register value converted in a 32b signed integer 
+ **********************************************************/
+int32_t BSP_MotorControl_GetMark(uint8_t deviceId)
+{
+  int32_t mark = 0;
+  
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetMark != 0))
+  {
+    mark = motorDrvHandle->GetMark(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(11);
+  }  
+  return(mark);
+}
+
+/******************************************************//**
+ * @brief  Returns the max speed of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval maxSpeed in pps
+ **********************************************************/
+uint16_t BSP_MotorControl_GetMaxSpeed(uint8_t deviceId)
+{                                                  
+  uint16_t maxSpeed = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetMaxSpeed != 0))
+  {
+    maxSpeed = motorDrvHandle->GetMaxSpeed(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(12);
+  }    
+  return(maxSpeed);
+}
+
+/******************************************************//**
+ * @brief  Returns the min speed of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval minSpeed in pps
+ **********************************************************/
+uint16_t BSP_MotorControl_GetMinSpeed(uint8_t deviceId)
+{                                                  
+  uint16_t minSpeed = 0;
+
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetMinSpeed != 0))
+  {
+    minSpeed = motorDrvHandle->GetMinSpeed(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(13);
+  }    
+  return(minSpeed);  
+}                                                     
+
+/******************************************************//**
+ * @brief  Returns the ABS_POSITION of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval ABS_POSITION register value converted in a 32b signed integer
+ **********************************************************/
+int32_t BSP_MotorControl_GetPosition(uint8_t deviceId)
+{
+  int32_t pos = 0;
+  
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetPosition != 0))
+  {
+    pos = motorDrvHandle->GetPosition(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(14);
+  }      
+  return(pos);
+}
+
+/******************************************************//**
+ * @brief  Requests the motor to move to the home position (ABS_POSITION = 0)
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_GoHome(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GoHome != 0))
+  {
+    motorDrvHandle->GoHome(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(15);
+  }      
+} 
+  
+/******************************************************//**
+ * @brief  Requests the motor to move to the mark position 
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_GoMark(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GoMark != 0))
+  {
+    motorDrvHandle->GoMark(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(16);
+  }     
+}
+
+/******************************************************//**
+ * @brief  Requests the motor to move to the specified position 
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] targetPosition absolute position in steps
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_GoTo(uint8_t deviceId, int32_t targetPosition)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GoTo != 0))
+  {
+    motorDrvHandle->GoTo(deviceId, targetPosition);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(17);
+  }      
+}
+
+/******************************************************//**
+ * @brief  Immediatly stops the motor and disable the power bridge
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_HardStop(uint8_t deviceId) 
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->HardStop != 0))
+  {
+    motorDrvHandle->HardStop(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(18);
+  }      
+}
+
+/******************************************************//**
+ * @brief  Moves the motor of the specified number of steps
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] stepCount Number of steps to perform
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->Move != 0))
+  {
+    motorDrvHandle->Move(deviceId, direction, stepCount);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(19);
+  }      
+}
+
+/******************************************************//**
+ * @brief Resets all motor driver devices
+ * @param None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_ResetAllDevices(void)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->ResetAllDevices != 0))
+  {
+    motorDrvHandle->ResetAllDevices(); 
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(20);
+  }      
+}
+
+/******************************************************//**
+ * @brief  Runs the motor. It will accelerate from the min 
+ * speed up to the max speed by using the device acceleration.
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_Run(uint8_t deviceId, motorDir_t direction)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->Run != 0))
+  {
+    motorDrvHandle->Run(deviceId, direction); 
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(21);
+  }      
+}
+/******************************************************//**
+ * @brief  Changes the acceleration of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] newAcc New acceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool BSP_MotorControl_SetAcceleration(uint8_t deviceId,uint16_t newAcc)
+{                                                  
+  bool status = FALSE;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SetAcceleration != 0))
+  {
+    status = motorDrvHandle->SetAcceleration(deviceId, newAcc);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(22);
+  }      
+  return (status);
+}            
+
+/******************************************************//**
+ * @brief  Changes the deceleration of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] newDec New deceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool BSP_MotorControl_SetDeceleration(uint8_t deviceId, uint16_t newDec)
+{                                                  
+  bool status = FALSE;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SetDeceleration != 0))
+  {
+    status = motorDrvHandle->SetDeceleration(deviceId, newDec);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(23);
+  }        
+  return (status);
+}        
+
+/******************************************************//**
+ * @brief  Set current position to be the Home position (ABS pos set to 0)
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_SetHome(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SetHome != 0))
+  {
+    motorDrvHandle->SetHome(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(24);
+  }        
+}
+ 
+/******************************************************//**
+ * @brief  Sets current position to be the Mark position 
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_SetMark(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SetMark != 0))
+  {
+    motorDrvHandle->SetMark(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(25);
+  }    
+}
+
+/******************************************************//**
+ * @brief  Changes the max speed of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] newMaxSpeed New max speed  to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool BSP_MotorControl_SetMaxSpeed(uint8_t deviceId, uint16_t newMaxSpeed)
+{                                                  
+  bool status = FALSE;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SetMaxSpeed != 0))
+  {
+    status = motorDrvHandle->SetMaxSpeed(deviceId, newMaxSpeed);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(26);
+  }     
+  return (status);  
+}                                                     
+
+/******************************************************//**
+ * @brief  Changes the min speed of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] newMinSpeed New min speed  to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool BSP_MotorControl_SetMinSpeed(uint8_t deviceId, uint16_t newMinSpeed)
+{                                                  
+  bool status = FALSE;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SetMinSpeed != 0))
+  {
+    status = motorDrvHandle->SetMinSpeed(deviceId, newMinSpeed);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(27);
+  }     
+  
+  return (status);  
+}                 
+
+/******************************************************//**
+ * @brief  Stops the motor by using the device deceleration
+ * @param[in] deviceId (from 0 to 2)
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is in INACTIVE state.
+ **********************************************************/
+bool BSP_MotorControl_SoftStop(uint8_t deviceId)
+{   
+  bool status = FALSE;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SoftStop != 0))
+  {
+    status = motorDrvHandle->SoftStop(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(28);
+  }    
+  return (status);  
+}
+
+/******************************************************//**
+ * @brief  Handles the device state machine at each ste
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ * @note Must only be called by the timer ISR
+ **********************************************************/
+void BSP_MotorControl_StepClockHandler(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->StepClockHandler != 0))
+  {
+    motorDrvHandle->StepClockHandler(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(29);
+  }   
+}
+/******************************************************//**
+ * @brief  Locks until the device state becomes Inactive
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_WaitWhileActive(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->WaitWhileActive != 0))
+  {
+    motorDrvHandle->WaitWhileActive(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(30);
+  }    
+}
+
+/**
+  * @}
+  */
+
+/** @defgroup BSP_MotorControl_Control_Functions
+  * @{
+  */   
+
+/******************************************************//**
+ * @brief  Issue the Disable command to the motor driver of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdDisable(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdDisable != 0))
+  {
+    motorDrvHandle->CmdDisable(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(31);
+  }    
+}
+
+/******************************************************//**
+ * @brief  Issues the Enable command to the motor driver of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdEnable(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdEnable != 0))
+  {
+    motorDrvHandle->CmdEnable(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(32);
+  }      
+}
+
+/******************************************************//**
+ * @brief  Issues the GetParam command to the motor driver of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] param Register adress (BSP_MotorControl_ABS_POS, BSP_MotorControl_MARK,...)
+ * @retval Register value
+ **********************************************************/
+uint32_t BSP_MotorControl_CmdGetParam(uint8_t deviceId,
+                                      uint32_t param)
+{
+  uint32_t value = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdGetParam != 0))
+  {
+    value = motorDrvHandle->CmdGetParam(deviceId, param);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(33);
+  }       
+  return (value);
+}
+
+/******************************************************//**
+ * @brief  Issues the GetStatus command to the motor driver of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval Status Register value
+ * @note Once the GetStatus command is performed, the flags of the status register
+ * are reset. This is not the case when the status register is read with the
+ * GetParam command (via the functions ReadStatusRegister or CmdGetParam).
+ **********************************************************/
+uint16_t BSP_MotorControl_CmdGetStatus(uint8_t deviceId)
+{
+  uint16_t status = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdGetStatus != 0))
+  {
+    status = motorDrvHandle->CmdGetStatus(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(34);
+  }      
+  return (status);
+}
+
+/******************************************************//**
+ * @brief  Issues the Nop command to the motor driver of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdNop(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdNop != 0))
+  {
+    motorDrvHandle->CmdNop(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(35);
+  }   
+}
+
+/******************************************************//**
+ * @brief  Issues the SetParam command to the motor driver of the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] param Register adress (BSP_MotorControl_ABS_POS, BSP_MotorControl_MARK,...)
+ * @param[in] value Value to set in the register
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdSetParam(uint8_t deviceId,
+                                   uint32_t param,
+                                   uint32_t value)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdSetParam != 0))
+  {
+    motorDrvHandle->CmdSetParam(deviceId, param, value);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(36);
+  }     
+}
+
+/******************************************************//**
+ * @brief  Reads the Status Register value
+ * @param[in] deviceId (from 0 to 2)
+ * @retval Status register valued
+ * @note The status register flags are not cleared 
+ * at the difference with CmdGetStatus()
+ **********************************************************/
+uint16_t BSP_MotorControl_ReadStatusRegister(uint8_t deviceId)
+{
+  uint16_t status = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->ReadStatusRegister != 0))
+  {
+    status = motorDrvHandle->ReadStatusRegister(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(37);
+  }   
+  return (status);
+}
+
+/******************************************************//**
+ * @brief  Releases the motor driver (pin set to High) of all devices
+ * @param  None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_ReleaseReset(void)
+{ 
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->ReleaseReset != 0))
+  {
+    motorDrvHandle->ReleaseReset();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(38);
+  }   
+}
+
+/******************************************************//**
+ * @brief  Resets the motor driver (reset pin set to low) of all devices
+ * @param  None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_Reset(void)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->Reset != 0))
+  {
+    motorDrvHandle->Reset();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(39);
+  }   
+}
+
+/******************************************************//**
+ * @brief  Set the stepping mode 
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] stepMod from full step to 1/16 microstep as specified in enum BSP_MotorControl_STEP_SEL_t
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_SelectStepMode(uint8_t deviceId, motorStepMode_t stepMod)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SelectStepMode != 0))
+  {
+    motorDrvHandle->SelectStepMode(deviceId, stepMod);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(40);
+  }   
+}
+
+/******************************************************//**
+ * @brief  Specifies the direction 
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] dir FORWARD or BACKWARD
+ * @note The direction change is only applied if the device 
+ * is in INACTIVE state
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_SetDirection(uint8_t deviceId, motorDir_t dir)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SetDirection != 0))
+  {
+    motorDrvHandle->SetDirection(deviceId, dir);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(41);
+  }     
+}
+
+/******************************************************//**
+ * @brief Issues Go To Dir command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @param[in] dir movement direction
+ * @param[in] abs_pos absolute position where requested to move
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdGoToDir(uint8_t deviceId, motorDir_t dir, int32_t abs_pos)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdGoToDir != 0))
+  {
+    motorDrvHandle->CmdGoToDir(deviceId, dir, abs_pos);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(42);
+  }
+}
+
+/******************************************************//**
+ * @brief Checks if at least one device is busy by checking 
+ * busy pin position. 
+ * The busy pin is shared between all devices.
+ * @param None
+ * @retval One if at least one device is busy, otherwise zero
+ **********************************************************/
+uint8_t BSP_MotorControl_CheckBusyHw(void)
+{
+  uint8_t value = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CheckBusyHw != 0))
+  {
+    value = motorDrvHandle->CheckBusyHw();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(43);
+  }
+  return (value);
+}
+
+/******************************************************//**
+ * @brief Checks if at least one device has an alarm flag set
+ * by reading flag pin position.
+ * The flag pin is shared between all devices.
+ * @param None
+ * @retval One if at least one device has an alarm flag set ,
+ * otherwise zero
+ **********************************************************/
+uint8_t BSP_MotorControl_CheckStatusHw(void)
+{
+  uint8_t value = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CheckStatusHw != 0))
+  {
+    value = motorDrvHandle->CheckStatusHw();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(44);
+  }
+  return (value);
+}
+
+/******************************************************//**
+ * @brief Issues Go Until command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @param[in] action ACTION_RESET or ACTION_COPY
+ * @param[in] dir movement direction
+ * @param[in] speed
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdGoUntil(uint8_t deviceId, motorAction_t action, motorDir_t dir, uint32_t speed)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdGoUntil != 0))
+  {
+    motorDrvHandle->CmdGoUntil(deviceId, action, dir, speed);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(45);
+  }
+}
+
+/******************************************************//**
+ * @brief Issues Hard HiZ command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdHardHiZ(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdHardHiZ != 0))
+  {
+    motorDrvHandle->CmdHardHiZ(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(46);
+  }
+}
+
+/******************************************************//**
+ * @brief Issues Release SW command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @param[in] action
+ * @param[in] dir movement direction
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdReleaseSw(uint8_t deviceId, motorAction_t action, motorDir_t dir)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdReleaseSw != 0))
+  {
+    motorDrvHandle->CmdReleaseSw(deviceId, action, dir);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(47);
+  }
+}
+
+/******************************************************//**
+ * @brief Issues Reset Device command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdResetDevice(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdResetDevice != 0))
+  {
+    motorDrvHandle->CmdResetDevice(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(48);
+  }
+}
+
+/******************************************************//**
+ * @brief Issues Reset Pos command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdResetPos(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdResetPos != 0))
+  {
+    motorDrvHandle->CmdResetPos(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(49);
+  }
+}
+
+/******************************************************//**
+ * @brief Issues Run command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @param[in] dir Movement direction (FORWARD, BACKWARD)
+ * @param[in] speed in steps/s
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdRun(uint8_t deviceId, motorDir_t dir, uint32_t speed)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdRun != 0))
+  {
+    motorDrvHandle->CmdRun(deviceId, dir, speed);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(50);
+  }
+}
+
+/******************************************************//**
+ * @brief Issues Soft HiZ command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdSoftHiZ(uint8_t deviceId)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdSoftHiZ != 0))
+  {
+    motorDrvHandle->CmdSoftHiZ(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(51);
+  }
+}
+
+/******************************************************//**
+ * @brief Issues Step Clock command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @param[in] dir Movement direction (FORWARD, BACKWARD)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdStepClock(uint8_t deviceId, motorDir_t dir)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdStepClock != 0))
+  {
+    motorDrvHandle->CmdStepClock(deviceId, dir);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(52);
+  }
+}
+
+/******************************************************//**
+ * @brief Fetch and clear status flags of all devices 
+ * by issuing a GET_STATUS command simultaneously  
+ * to all devices.
+ * Then, the fetched status of each device can be retrieved
+ * by using the BSP_MotorControl_GetFetchedStatus function
+ * provided there is no other calls to functions which 
+ * use the SPI in between.
+ * @param None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_FetchAndClearAllStatus(void)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->FetchAndClearAllStatus != 0))
+  {
+    motorDrvHandle->FetchAndClearAllStatus();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(53);
+  }
+}
+
+/******************************************************//**
+ * @brief Get the value of the STATUS register which was 
+ * fetched by using BSP_MotorControl_FetchAndClearAllStatus.
+ * The fetched values are available  as long as there
+ * no other calls to functions which use the SPI.
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval Last fetched value of the STATUS register
+ **********************************************************/
+uint16_t BSP_MotorControl_GetFetchedStatus(uint8_t deviceId)
+{
+  uint16_t value = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetFetchedStatus != 0))
+  {
+    value = motorDrvHandle->GetFetchedStatus(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(54);
+  }
+  return (value);
+}
+
+/******************************************************//**
+ * @brief Return the number of devices in the daisy chain 
+ * @param None
+ * @retval number of devices from 1 to MAX_NUMBER_OF_DEVICES
+ **********************************************************/
+uint8_t BSP_MotorControl_GetNbDevices(void)
+{
+  uint8_t value = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->GetNbDevices != 0))
+  {
+    value = motorDrvHandle->GetNbDevices();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(55);
+  }
+  return (value);
+}
+
+/******************************************************//**
+ * @brief Checks if the specified device is busy
+ * by reading the Busy flag bit ot its status Register
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval true if device is busy, false zero
+ **********************************************************/
+bool BSP_MotorControl_IsDeviceBusy(uint8_t deviceId)
+{
+  bool value = 0;
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->IsDeviceBusy != 0))
+  {
+    value = motorDrvHandle->IsDeviceBusy(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(56);
+  }
+  return (value);
+}
+
+/******************************************************//**
+ * @brief Sends commands stored in the queue by previously
+ * Powerstep01_QueueCommands
+ * @param None
+ * @retval None
+ *********************************************************/
+void BSP_MotorControl_SendQueuedCommands(void)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->SendQueuedCommands != 0))
+  {
+    motorDrvHandle->SendQueuedCommands();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(57);
+  }
+}
+
+/******************************************************//**
+ * @brief Put commands in queue before synchronous sending
+ * done by calling BSP_MotorControl_SendQueuedCommands.
+ * Any call to functions that use the SPI between the calls of 
+ * BSP_MotorControl_QueueCommands and BSP_MotorControl_SendQueuedCommands 
+ * will corrupt the queue.
+ * A command for each device of the daisy chain must be 
+ * specified before calling BSP_MotorControl_SendQueuedCommands.
+ * @param[in] deviceId deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @param[in] param Command to queue (all BSP_MotorControl commmands 
+ * except SET_PARAM, GET_PARAM, GET_STATUS)
+ * @param[in] value argument of the command to queue
+ * @retval None
+ *********************************************************/
+void BSP_MotorControl_QueueCommands(uint8_t deviceId, uint8_t param, uint32_t value)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->QueueCommands != 0))
+  {
+    motorDrvHandle->QueueCommands(deviceId, param, value);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(58);
+  }
+}
+
+/******************************************************//**
+ * @brief  Locks until all devices become not busy
+ * @param None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_WaitForAllDevicesNotBusy(void)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->WaitForAllDevicesNotBusy != 0))
+  {
+    motorDrvHandle->WaitForAllDevicesNotBusy();
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(59);
+  }  
+}
+
+/******************************************************//**
+ * @brief Handler of the busy interrupt which calls the user callback (if defined)
+ * @param None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_BusyInterruptHandler(void)
+{
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->BusyInterruptHandler != 0))
+  {
+    motorDrvHandle->BusyInterruptHandler();
+  }    
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(60);
+  }  
+}
+
+/******************************************************//**
+ * @brief Issues PowerStep01 Soft Stop command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval None
+ **********************************************************/
+void BSP_MotorControl_CmdSoftStop(uint8_t deviceId)
+{   
+  if ((motorDrvHandle != 0)&&(motorDrvHandle->CmdSoftStop != 0))
+  {
+    motorDrvHandle->CmdSoftStop(deviceId);
+  }
+  else
+  {
+    MOTOR_CONTROL_ERROR_UNDEFINED_FUNCTION(61);
+  }    
+}
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/