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/motorcontrol.h
- Committer:
- gregeric
- Date:
- 2015-10-13
- Revision:
- 6:19c1b4a04c24
- Parent:
- 0:b9444a40a999
File content as of revision 6:19c1b4a04c24:
/** ****************************************************************************** * @file motorcontrol.h * @author IPC Rennes * @version V1.0.0 * @date 12-November-2014 * @brief This file provides common definitions for motor control ****************************************************************************** * @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_CONTROL_H #define __MOTOR_CONTROL_H #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ #include "motor.h" /** @addtogroup BSP * @{ */ /** @addtogroup MOTOR_CONTROL * @{ */ /** @defgroup MOTOR_CONTROL_Exported_Types * @{ */ /** * @} */ /** @defgroup MOTOR_CONTROL_Exported_Constants * @{ */ ///Motor control board id for L6474 #define BSP_MOTOR_CONTROL_BOARD_ID_L6474 (6474) ///Motor control board id for Powerstep01 #define BSP_MOTOR_CONTROL_BOARD_ID_POWERSTEP01 (0001) /** * @} */ /** @defgroup MOTOR_CONTROL_Exported_Macros * @{ */ #if defined ( __GNUC__ ) #ifndef __weak #define __weak __attribute__((weak)) #endif /* __weak */ #endif /* __GNUC__ */ /** * @} */ /** @defgroup MOTOR_CONTROL_Weak_Function_Prototypes * @{ */ __weak motorDrv_t* L6474_GetMotorHandle(void); __weak motorDrv_t* Powerstep01_GetMotorHandle(void); /** * @} */ /** @defgroup MOTOR_CONTROL_Exported_Functions * @{ */ void BSP_MotorControl_AttachErrorHandler(void (*callback)(uint16_t)); void BSP_MotorControl_AttachFlagInterrupt(void (*callback)(void)); void BSP_MotorControl_AttachBusyInterrupt(void (*callback)(void)); void BSP_MotorControl_ErrorHandler(uint16_t error); void BSP_MotorControl_Init(uint16_t id, uint8_t nbDevices); void BSP_MotorControl_FlagInterruptHandler(void); uint16_t BSP_MotorControl_GetAcceleration(uint8_t deviceId); uint16_t BSP_MotorControl_GetBoardId(void); uint16_t BSP_MotorControl_GetCurrentSpeed(uint8_t deviceId); uint16_t BSP_MotorControl_GetDeceleration(uint8_t deviceId); motorState_t BSP_MotorControl_GetDeviceState(uint8_t deviceId); uint8_t BSP_MotorControl_GetFwVersion(void); int32_t BSP_MotorControl_GetMark(uint8_t deviceId); uint16_t BSP_MotorControl_GetMaxSpeed(uint8_t deviceId); uint16_t BSP_MotorControl_GetMinSpeed(uint8_t deviceId); int32_t BSP_MotorControl_GetPosition(uint8_t deviceId); void BSP_MotorControl_GoHome(uint8_t deviceId); void BSP_MotorControl_GoMark(uint8_t deviceId); void BSP_MotorControl_GoTo(uint8_t deviceId, int32_t targetPosition); void BSP_MotorControl_HardStop(uint8_t deviceId); void BSP_MotorControl_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount); void BSP_MotorControl_ResetAllDevices(void); void BSP_MotorControl_Run(uint8_t deviceId, motorDir_t direction); bool BSP_MotorControl_SetAcceleration(uint8_t deviceId,uint16_t newAcc); bool BSP_MotorControl_SetDeceleration(uint8_t deviceId, uint16_t newDec); void BSP_MotorControl_SetHome(uint8_t deviceId); void BSP_MotorControl_SetMark(uint8_t deviceId); bool BSP_MotorControl_SetMaxSpeed(uint8_t deviceId, uint16_t newMaxSpeed); bool BSP_MotorControl_SetMinSpeed(uint8_t deviceId, uint16_t newMinSpeed); bool BSP_MotorControl_SoftStop(uint8_t deviceId); void BSP_MotorControl_StepClockHandler(uint8_t deviceId); void BSP_MotorControl_WaitWhileActive(uint8_t deviceId); void BSP_MotorControl_CmdDisable(uint8_t deviceId); void BSP_MotorControl_CmdEnable(uint8_t deviceId); uint32_t BSP_MotorControl_CmdGetParam(uint8_t deviceId, uint32_t param); uint16_t BSP_MotorControl_CmdGetStatus(uint8_t deviceId); void BSP_MotorControl_CmdNop(uint8_t deviceId); void BSP_MotorControl_CmdSetParam(uint8_t deviceId, uint32_t param, uint32_t value); uint16_t BSP_MotorControl_ReadStatusRegister(uint8_t deviceId); void BSP_MotorControl_ReleaseReset(void) ; void BSP_MotorControl_Reset(void); void BSP_MotorControl_SelectStepMode(uint8_t deviceId, motorStepMode_t stepMod); void BSP_MotorControl_SetDirection(uint8_t deviceId, motorDir_t dir); void BSP_MotorControl_CmdGoToDir(uint8_t deviceId, motorDir_t dir, int32_t abs_pos); uint8_t BSP_MotorControl_CheckBusyHw(void); uint8_t BSP_MotorControl_CheckStatusHw(void); void BSP_MotorControl_CmdGoUntil(uint8_t deviceId, motorAction_t action, motorDir_t dir, uint32_t speed); void BSP_MotorControl_CmdHardHiZ(uint8_t deviceId); void BSP_MotorControl_CmdReleaseSw(uint8_t deviceId, motorAction_t action, motorDir_t dir); void BSP_MotorControl_CmdResetDevice(uint8_t deviceId); void BSP_MotorControl_CmdResetPos(uint8_t deviceId); void BSP_MotorControl_CmdRun(uint8_t deviceId, motorDir_t dir, uint32_t speed); void BSP_MotorControl_CmdSoftHiZ(uint8_t deviceId); void BSP_MotorControl_CmdStepClock(uint8_t deviceId, motorDir_t dir); void BSP_MotorControl_FetchAndClearAllStatus(void); uint16_t BSP_MotorControl_GetFetchedStatus(uint8_t deviceId); uint8_t BSP_MotorControl_GetNbDevices(void); bool BSP_MotorControl_IsDeviceBusy(uint8_t deviceId); void BSP_MotorControl_SendQueuedCommands(void); void BSP_MotorControl_QueueCommands(uint8_t deviceId, uint8_t param, uint32_t value); void BSP_MotorControl_WaitForAllDevicesNotBusy(void); void BSP_MotorControl_BusyInterruptHandler(void); void BSP_MotorControl_CmdSoftStop(uint8_t deviceId); /** * @} */ /** * @} */ /** * @} */ #ifdef __cplusplus } #endif #endif /* __MOTOR_CONTROL_H */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/