motor.h

00001 /**
00002   ******************************************************************************
00003   * @file    motor.h
00004   * @author  IPC Rennes
00005   * @version V1.3.0
00006   * @date    November 12, 2014
00007   * @brief   This file contains all the functions prototypes for motor drivers.   
00008   ******************************************************************************
00009   * @attention
00010   *
00011   * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
00012   *
00013   * Redistribution and use in source and binary forms, with or without modification,
00014   * are permitted provided that the following conditions are met:
00015   *   1. Redistributions of source code must retain the above copyright notice,
00016   *      this list of conditions and the following disclaimer.
00017   *   2. Redistributions in binary form must reproduce the above copyright notice,
00018   *      this list of conditions and the following disclaimer in the documentation
00019   *      and/or other materials provided with the distribution.
00020   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021   *      may be used to endorse or promote products derived from this software
00022   *      without specific prior written permission.
00023   *
00024   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034   *
00035   ******************************************************************************
00036   */ 
00037 
00038 /* Define to prevent recursive inclusion -------------------------------------*/
00039 #ifndef __MOTOR_H
00040 #define __MOTOR_H
00041 
00042 #ifdef __cplusplus
00043  extern "C" {
00044 #endif 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 #include <stdint.h>
00048    
00049 /** @addtogroup BSP
00050   * @{
00051   */
00052 
00053 /** @addtogroup Components
00054   * @{
00055   */ 
00056 
00057 /** @defgroup Motor
00058   * @{
00059   */
00060     
00061 /** @defgroup Motor_Exported_Constants
00062   * @{
00063   */   
00064    
00065 /// boolean for false condition 
00066 #ifndef FALSE
00067 #define FALSE (0)
00068 #endif
00069 /// boolean for true condition 
00070 #ifndef TRUE
00071 #define TRUE  (1)
00072 #endif
00073 
00074    /**
00075   * @}
00076   */
00077    
00078 /** @defgroup Motor_Exported_Types
00079   * @{
00080   */
00081 
00082    /** @defgroup Motor_Boolean_Type
00083   * @{
00084   */
00085 ///bool Type
00086 //mbed typedef uint8_t  bool;
00087 /**
00088   * @}
00089   */   
00090    
00091 /** @defgroup Device_Direction_Options
00092   * @{
00093   */
00094 /// Direction options
00095 typedef enum {
00096   BACKWARD = 0,
00097   FORWARD = 1
00098 } motorDir_t;
00099 /**
00100   * @}
00101   */
00102   
00103 /** @defgroup Device_Action_Options
00104   * @{
00105   */
00106 /// Action options
00107 typedef enum {
00108   ACTION_RESET = ((uint8_t)0x00),
00109   ACTION_COPY  = ((uint8_t)0x08)
00110 } motorAction_t;
00111 /**
00112   * @}
00113   */  
00114 
00115 /** @defgroup Device_States
00116   * @{
00117   */
00118 /// Device states
00119 typedef enum {
00120   ACCELERATING = 0, 
00121   DECELERATING = 1, 
00122   STEADY = 2,
00123   INACTIVE= 3
00124 } motorState_t;
00125 /**
00126   * @}
00127   */   
00128 
00129 /** @defgroup Device_Step_mode
00130   * @{
00131   */
00132  /// Stepping options 
00133 typedef enum {
00134   STEP_MODE_FULL   = ((uint8_t)0x00), 
00135   STEP_MODE_HALF   = ((uint8_t)0x01),
00136   STEP_MODE_1_4    = ((uint8_t)0x02),
00137   STEP_MODE_1_8    = ((uint8_t)0x03),
00138   STEP_MODE_1_16   = ((uint8_t)0x04),
00139   STEP_MODE_1_32   = ((uint8_t)0x05),
00140   STEP_MODE_1_64   = ((uint8_t)0x06),
00141   STEP_MODE_1_128  = ((uint8_t)0x07)
00142 } motorStepMode_t;
00143 /**
00144   * @}
00145   */   
00146 
00147 
00148 /** @defgroup Motor_Driver_Structure
00149   * @{
00150   */
00151 /// Motor driver structure definition  
00152 typedef struct
00153 {
00154   /// Function pointer to Init
00155   void (*Init)(uint8_t); 
00156   /// Function pointer to ReadID
00157   uint16_t (*ReadID)(void);   
00158   /// Function pointer to AttachErrorHandler
00159   void(*AttachErrorHandler)(void (*callback)(uint16_t));
00160   /// Function pointer to AttachFlagInterrupt
00161   void (*AttachFlagInterrupt)(void (*callback)(void));
00162   /// Function pointer to AttachBusyInterrupt
00163   void (*AttachBusyInterrupt)(void (*callback)(void));
00164   /// Function pointer to FlagInterruptHandler
00165   void (*FlagInterruptHandler)(void);  
00166   /// Function pointer to GetAcceleration
00167   uint16_t (*GetAcceleration)(uint8_t); 
00168   /// Function pointer to GetCurrentSpeed
00169   uint16_t (*GetCurrentSpeed)(uint8_t); 
00170   /// Function pointer to GetDeceleration
00171   uint16_t (*GetDeceleration)(uint8_t); 
00172   /// Function pointer to GetDeviceState
00173   motorState_t(*GetDeviceState)(uint8_t); 
00174   /// Function pointer to GetFwVersion
00175   uint8_t (*GetFwVersion)(void); 
00176   /// Function pointer to GetMark
00177   int32_t (*GetMark)(uint8_t); 
00178   /// Function pointer to GetMaxSpeed
00179   uint16_t (*GetMaxSpeed)(uint8_t); 
00180   /// Function pointer to GetMinSpeed
00181   uint16_t (*GetMinSpeed)(uint8_t); 
00182   /// Function pointer to GetPosition
00183   int32_t (*GetPosition)(uint8_t); 
00184   /// Function pointer to GoHome
00185   void (*GoHome)(uint8_t); 
00186   /// Function pointer to GoMark
00187   void (*GoMark)(uint8_t); 
00188   /// Function pointer to GoTo
00189   void (*GoTo)(uint8_t, int32_t); 
00190   /// Function pointer to HardStop
00191   void (*HardStop)(uint8_t); 
00192   /// Function pointer to Move
00193   void (*Move)(uint8_t, motorDir_t, uint32_t ); 
00194   /// Function pointer to ResetAllDevices
00195   void (*ResetAllDevices)(void); 
00196   /// Function pointer to Run
00197   void (*Run)(uint8_t, motorDir_t); 
00198   /// Function pointer to SetAcceleration
00199   bool(*SetAcceleration)(uint8_t ,uint16_t ); 
00200   /// Function pointer to SetDeceleration
00201   bool(*SetDeceleration)(uint8_t , uint16_t ); 
00202   /// Function pointer to SetHome
00203   void (*SetHome)(uint8_t); 
00204   /// Function pointer to SetMark
00205   void (*SetMark)(uint8_t); 
00206   /// Function pointer to SetMaxSpeed
00207   bool (*SetMaxSpeed)(uint8_t, uint16_t ); 
00208   /// Function pointer to SetMinSpeed
00209   bool (*SetMinSpeed)(uint8_t, uint16_t ); 
00210   /// Function pointer to SoftStop
00211   bool (*SoftStop)(uint8_t); 
00212   /// Function pointer to StepClockHandler
00213   void (*StepClockHandler)(uint8_t deviceId);  
00214   /// Function pointer to WaitWhileActive
00215   void (*WaitWhileActive)(uint8_t); 
00216   /// Function pointer to CmdDisable
00217   void (*CmdDisable)(uint8_t); 
00218   /// Function pointer to CmdEnable
00219   void (*CmdEnable)(uint8_t);
00220   /// Function pointer to CmdGetParam
00221   uint32_t (*CmdGetParam)(uint8_t, uint32_t);
00222   /// Function pointer to CmdGetStatus
00223   uint16_t (*CmdGetStatus)(uint8_t); 
00224   /// Function pointer to CmdNop
00225   void (*CmdNop)(uint8_t); 
00226   /// Function pointer to CmdSetParam  
00227   void (*CmdSetParam)(uint8_t, uint32_t, uint32_t);
00228   /// Function pointer to ReadStatusRegister
00229   uint16_t (*ReadStatusRegister)(uint8_t); 
00230   /// Function pointer to ReleaseReset
00231   void (*ReleaseReset)(void);
00232   /// Function pointer to Reset
00233   void (*Reset)(void); 
00234   /// Function pointer to SelectStepMode
00235   void (*SelectStepMode)(uint8_t deviceId, motorStepMode_t); 
00236   /// Function pointer to SetDirection
00237   void (*SetDirection)(uint8_t, motorDir_t);  
00238   /// Function pointer to CmdGoToDir
00239   void (*CmdGoToDir)(uint8_t, motorDir_t, int32_t);
00240   /// Function pointer to CheckBusyHw
00241   uint8_t (*CheckBusyHw)(void);
00242   /// Function pointer to CheckStatusHw
00243   uint8_t (*CheckStatusHw)(void);
00244   /// Function pointer to CmdGoUntil
00245   void (*CmdGoUntil)(uint8_t, motorAction_t, motorDir_t, uint32_t);
00246   /// Function pointer to CmdHardHiZ
00247   void (*CmdHardHiZ)(uint8_t);
00248   /// Function pointer to CmdReleaseSw
00249   void (*CmdReleaseSw)(uint8_t, motorAction_t, motorDir_t);
00250   /// Function pointer to CmdResetDevice
00251   void (*CmdResetDevice)(uint8_t);
00252   /// Function pointer to CmdResetPos
00253   void (*CmdResetPos)(uint8_t);
00254   /// Function pointer to CmdRun
00255   void (*CmdRun)(uint8_t, motorDir_t, uint32_t);
00256   /// Function pointer to CmdSoftHiZ
00257   void (*CmdSoftHiZ)(uint8_t);
00258   /// Function pointer to CmdStepClock
00259   void (*CmdStepClock)(uint8_t, motorDir_t);
00260   /// Function pointer to FetchAndClearAllStatus
00261   void (*FetchAndClearAllStatus)(void);
00262   /// Function pointer to GetFetchedStatus
00263   uint16_t (*GetFetchedStatus)(uint8_t);
00264   /// Function pointer to GetNbDevices
00265   uint8_t (*GetNbDevices)(void);
00266   /// Function pointer to IsDeviceBusy
00267   bool (*IsDeviceBusy)(uint8_t);
00268   /// Function pointer to SendQueuedCommands
00269   void (*SendQueuedCommands)(void);
00270   /// Function pointer to QueueCommands  
00271   void (*QueueCommands)(uint8_t, uint8_t, uint32_t);
00272   /// Function pointer to WaitForAllDevicesNotBusy  
00273   void (*WaitForAllDevicesNotBusy)(void);  
00274   /// Function pointer to ErrorHandler  
00275   void (*ErrorHandler)(uint16_t);
00276   /// Function pointer to BusyInterruptHandler  
00277   void (*BusyInterruptHandler)(void);
00278   void (*CmdSoftStop)(uint8_t); 
00279 }motorDrv_t;    
00280       
00281 /**
00282   
00283 * @}
00284   */ 
00285 
00286 /**
00287   * @}
00288   */ 
00289 
00290 /**
00291   * @}
00292   */
00293   
00294 /**
00295   * @}
00296   */ 
00297 
00298 /**
00299   * @}
00300   */ 
00301 
00302 #ifdef __cplusplus
00303 }
00304 #endif
00305 
00306 #endif /* __MOTOR_H */
00307 
00308 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/