X-CUBE-SPN1-20150128 example source code for one motor compiled under mbed. Tested OK on Nucleo F401. l6474.cpp is modified from original with defines in l6474_target_config.h to select the original behaviour (motor de-energised when halted), or new mode to continue powering with a (reduced) current in the coils (braking/position hold capability). On F401 avoid using mbed's InterruptIn on pins 10-15 (any port). Beware of other conflicts! L0 & F0 are included but untested.
IHM01A1/motor.h
- Committer:
- gregeric
- Date:
- 2015-10-13
- Revision:
- 6:19c1b4a04c24
- Parent:
- 0:b9444a40a999
File content as of revision 6:19c1b4a04c24:
/** ****************************************************************************** * @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>© 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****/