motorcontrol.h

00001 /**
00002   ******************************************************************************
00003   * @file    motorcontrol.h
00004   * @author  IPC Rennes
00005   * @version V1.0.0
00006   * @date    12-November-2014
00007   * @brief   This file provides common definitions for motor control 
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 
00039 /* Define to prevent recursive inclusion -------------------------------------*/
00040 #ifndef __MOTOR_CONTROL_H
00041 #define __MOTOR_CONTROL_H
00042 
00043 #ifdef __cplusplus
00044  extern "C" {
00045 #endif
00046 
00047 /* Includes ------------------------------------------------------------------*/
00048 #include "motor.h"   
00049    
00050 /** @addtogroup BSP
00051   * @{
00052   */
00053 
00054 /** @addtogroup MOTOR_CONTROL
00055   * @{
00056   */
00057 
00058 /** @defgroup MOTOR_CONTROL_Exported_Types
00059   * @{
00060   */
00061 
00062 
00063 
00064 /**
00065   * @}
00066   */
00067 
00068 /** @defgroup MOTOR_CONTROL_Exported_Constants
00069   * @{
00070   */
00071 ///Motor control board id for L6474
00072 #define BSP_MOTOR_CONTROL_BOARD_ID_L6474  (6474)
00073 ///Motor control board id for Powerstep01
00074 #define BSP_MOTOR_CONTROL_BOARD_ID_POWERSTEP01 (0001)
00075 
00076 /**
00077   * @}
00078   */
00079 
00080 
00081 /** @defgroup MOTOR_CONTROL_Exported_Macros
00082   * @{
00083   */
00084 #if  defined ( __GNUC__ )
00085   #ifndef __weak
00086     #define __weak   __attribute__((weak))
00087   #endif /* __weak */
00088 #endif /* __GNUC__ */
00089 /**
00090   * @}
00091   */
00092 
00093 /** @defgroup MOTOR_CONTROL_Weak_Function_Prototypes
00094   * @{
00095   */
00096  __weak motorDrv_t* L6474_GetMotorHandle(void);
00097  __weak motorDrv_t* Powerstep01_GetMotorHandle(void);
00098 /**
00099   * @}
00100   */   
00101    
00102 /** @defgroup MOTOR_CONTROL_Exported_Functions
00103   * @{
00104   */
00105 void BSP_MotorControl_AttachErrorHandler(void (*callback)(uint16_t));
00106 void BSP_MotorControl_AttachFlagInterrupt(void (*callback)(void));
00107 void BSP_MotorControl_AttachBusyInterrupt(void (*callback)(void));
00108 void BSP_MotorControl_ErrorHandler(uint16_t error);
00109 void BSP_MotorControl_Init(uint16_t  id, uint8_t nbDevices); 
00110 void BSP_MotorControl_FlagInterruptHandler(void);
00111 uint16_t BSP_MotorControl_GetAcceleration(uint8_t deviceId); 
00112 uint16_t BSP_MotorControl_GetBoardId(void);
00113 uint16_t BSP_MotorControl_GetCurrentSpeed(uint8_t deviceId); 
00114 uint16_t BSP_MotorControl_GetDeceleration(uint8_t deviceId); 
00115 motorState_t BSP_MotorControl_GetDeviceState(uint8_t deviceId); 
00116 uint8_t BSP_MotorControl_GetFwVersion(void); 
00117 int32_t BSP_MotorControl_GetMark(uint8_t deviceId); 
00118 uint16_t BSP_MotorControl_GetMaxSpeed(uint8_t deviceId); 
00119 uint16_t BSP_MotorControl_GetMinSpeed(uint8_t deviceId); 
00120 int32_t BSP_MotorControl_GetPosition(uint8_t deviceId); 
00121 void BSP_MotorControl_GoHome(uint8_t deviceId); 
00122 void BSP_MotorControl_GoMark(uint8_t deviceId); 
00123 void BSP_MotorControl_GoTo(uint8_t deviceId, int32_t targetPosition); 
00124 void BSP_MotorControl_HardStop(uint8_t deviceId); 
00125 void BSP_MotorControl_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount); 
00126 void BSP_MotorControl_ResetAllDevices(void); 
00127 void BSP_MotorControl_Run(uint8_t deviceId, motorDir_t direction); 
00128 bool BSP_MotorControl_SetAcceleration(uint8_t deviceId,uint16_t newAcc); 
00129 bool BSP_MotorControl_SetDeceleration(uint8_t deviceId, uint16_t newDec); 
00130 void BSP_MotorControl_SetHome(uint8_t deviceId); 
00131 void BSP_MotorControl_SetMark(uint8_t deviceId); 
00132 bool BSP_MotorControl_SetMaxSpeed(uint8_t deviceId, uint16_t newMaxSpeed); 
00133 bool BSP_MotorControl_SetMinSpeed(uint8_t deviceId, uint16_t newMinSpeed); 
00134 bool BSP_MotorControl_SoftStop(uint8_t deviceId); 
00135 void BSP_MotorControl_StepClockHandler(uint8_t deviceId); 
00136 void BSP_MotorControl_WaitWhileActive(uint8_t deviceId); 
00137 void BSP_MotorControl_CmdDisable(uint8_t deviceId); 
00138 void BSP_MotorControl_CmdEnable(uint8_t deviceId); 
00139 uint32_t BSP_MotorControl_CmdGetParam(uint8_t deviceId, uint32_t param); 
00140 uint16_t BSP_MotorControl_CmdGetStatus(uint8_t deviceId);
00141 void BSP_MotorControl_CmdNop(uint8_t deviceId); 
00142 void BSP_MotorControl_CmdSetParam(uint8_t deviceId, uint32_t param, uint32_t value);
00143 uint16_t BSP_MotorControl_ReadStatusRegister(uint8_t deviceId); 
00144 void BSP_MotorControl_ReleaseReset(void) ;
00145 void BSP_MotorControl_Reset(void); 
00146 void BSP_MotorControl_SelectStepMode(uint8_t deviceId,  motorStepMode_t stepMod); 
00147 void BSP_MotorControl_SetDirection(uint8_t deviceId, motorDir_t dir);
00148 void BSP_MotorControl_CmdGoToDir(uint8_t deviceId, motorDir_t dir, int32_t abs_pos);
00149 uint8_t BSP_MotorControl_CheckBusyHw(void);
00150 uint8_t BSP_MotorControl_CheckStatusHw(void);
00151 void BSP_MotorControl_CmdGoUntil(uint8_t deviceId, motorAction_t action, motorDir_t dir, uint32_t speed);
00152 void BSP_MotorControl_CmdHardHiZ(uint8_t deviceId);
00153 void BSP_MotorControl_CmdReleaseSw(uint8_t deviceId, motorAction_t action, motorDir_t dir);
00154 void BSP_MotorControl_CmdResetDevice(uint8_t deviceId);
00155 void BSP_MotorControl_CmdResetPos(uint8_t deviceId);
00156 void BSP_MotorControl_CmdRun(uint8_t deviceId, motorDir_t dir, uint32_t speed);
00157 void BSP_MotorControl_CmdSoftHiZ(uint8_t deviceId);
00158 void BSP_MotorControl_CmdStepClock(uint8_t deviceId, motorDir_t dir);
00159 void BSP_MotorControl_FetchAndClearAllStatus(void);
00160 uint16_t BSP_MotorControl_GetFetchedStatus(uint8_t deviceId);
00161 uint8_t BSP_MotorControl_GetNbDevices(void);
00162 bool BSP_MotorControl_IsDeviceBusy(uint8_t deviceId);
00163 void BSP_MotorControl_SendQueuedCommands(void);
00164 void BSP_MotorControl_QueueCommands(uint8_t deviceId, uint8_t param, uint32_t value);
00165 void BSP_MotorControl_WaitForAllDevicesNotBusy(void);
00166 void BSP_MotorControl_BusyInterruptHandler(void);
00167 void BSP_MotorControl_CmdSoftStop(uint8_t deviceId);
00168 /**
00169   * @}
00170   */
00171 
00172 /**
00173   * @}
00174   */
00175 
00176 /**
00177   * @}
00178   */
00179 
00180 #ifdef __cplusplus
00181   }
00182 #endif
00183 
00184 #endif /* __MOTOR_CONTROL_H */
00185 
00186 
00187 
00188 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/