Quirin Bufler
/
X_NUCLEO_IHM04A1
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Diff: Components/l6206/l6206.h
- Revision:
- 4:24158c44f02e
- Parent:
- 1:2597a6165252
diff -r b06e38d365d7 -r 24158c44f02e Components/l6206/l6206.h
--- a/Components/l6206/l6206.h Tue Jun 14 12:14:28 2016 +0000
+++ b/Components/l6206/l6206.h Fri Mar 24 10:59:06 2017 +0100
@@ -1,15 +1,15 @@
/**
******************************************************************************
- * @file l6206.h
+ * @file L6206.h
* @author IPC Rennes
- * @version V1.2.0
- * @date March 30, 2016
- * @brief Header for L6206 driver (dual full bridge driver)
- * @note (C) COPYRIGHT 2015 STMicroelectronics
+ * @version V1.1.0
+ * @date March 02, 2016
+ * @brief L6206 driver (dual full bridge driver)
+ * @note (C) COPYRIGHT 2015 STMicroelectronics
******************************************************************************
* @attention
*
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
@@ -36,193 +36,800 @@
******************************************************************************
*/
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __L6206_H
-#define __L6206_H
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
-#ifdef __cplusplus
- extern "C" {
-#endif
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN4/trunk/Drivers/BSP/Components/L6206/L6206.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6206_CLASS_H
+#define __L6206_CLASS_H
+
/* Includes ------------------------------------------------------------------*/
-#include "l6206_target_config.h"
-#include "../Common/motor.h"
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup L6206
- * @{
- */
-
-/* Exported Constants --------------------------------------------------------*/
-
-/** @defgroup L6206_Exported_Defines L6206 Exported Defines
- * @{
- */
-
-/// Current FW version
-#define L6206_FW_VERSION (0)
-///Max number of Brush DC motors
-#define L6206_NB_MAX_MOTORS (4)
-///Max number of Bridges
-#define L6206_NB_MAX_BRIDGES (2)
-///Max number of input of Bridges
-#define L6206_NB_MAX_BRIDGE_INPUT (2 * L6206_NB_MAX_BRIDGES)
-/// MCU wait time in ms after power bridges are enabled
-#define BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY (20)
-
- /**
- * @}
- */
-
-
-/* Exported Types -------------------------------------------------------*/
-
-/** @defgroup L6206_Exported_Types L6206 Exported Types
- * @{
- */
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "L6206.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "HumiditySensor.h" *
+ * #include "TemperatureSensor.h" *
+ *----------------------------------------------------------------------------*/
+#include "BDCMotor.h"
+/* Private constants ---------------------------------------------------------*/
-/** @defgroup Initialization_Structure Initialization Structure
+/** @defgroup L6206_Private_Constants L6206 Private Constants
* @{
*/
-typedef struct
-{
- /// Bridge configuration structure.
- dualFullBridgeConfig_t config;
+/// The Number of L6206 devices required for initialisation is not supported
+#define L6206_ERROR_0 (0x8000)
+/// Error: Access a motor index greater than the one of the current brigde configuration
+#define L6206_ERROR_1 (0x8001)
+/// Error: Access a motor index which is not bidirectionnal
+#define L6206_ERROR_2 (0x8002)
- /// PWM frequency
- uint32_t pwmFreq[L6206_NB_MAX_BRIDGE_INPUT];
+/// Maximum frequency of the PWMs in Hz
+#define L6206_MAX_PWM_FREQ (100000)
+
+/// Minimum frequency of the PWMs in Hz
+#define L6206_MIN_PWM_FREQ (2)
- /// Motor speed
- uint16_t speed[L6206_NB_MAX_MOTORS];
-
- /// Motor direction
- motorDir_t direction[L6206_NB_MAX_MOTORS];
+/// Bridge Input 1A
+#define INPUT_1A (0)
+/// Bridge Input 2A
+#define INPUT_2A (1)
+/// Bridge Input 1B
+#define INPUT_1B (2)
+/// Bridge Input 2B
+#define INPUT_2B (3)
- /// Current motor state
- motorState_t motionState[L6206_NB_MAX_MOTORS];
+/// Bridge A
+#define BRIDGE_A (0)
+/// Bridge B
+#define BRIDGE_B (1)
- /// Bridge enabled (true) or not (false)
- bool bridgeEnabled[L6206_NB_MAX_BRIDGES];
-} deviceParams_t;
-typedef deviceParams_t L6206_Init_t;
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a L6206 component.
+ */
+class L6206 : public BDCMotor
+{
+public:
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @brief Constructor.
+ */
+ L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : BDCMotor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
+ {
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+
+ flagInterruptCallback = 0;
+ errorHandlerCallback = 0;
+ numberOfDevices = 0;
+ deviceInstance = 0;
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~L6206(void) {}
+
+
+ /*** Public Component Related Methods ***/
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int GetValue(float *f) //(1) *
+ * { *
+ * return COMPONENT_GetValue(float *f); *
+ * } *
+ * *
+ * virtual int EnableFeature(void) //(2) *
+ * { *
+ * return COMPONENT_EnableFeature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
+ /**
+ * @brief Initializing the component.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int init(void *init = NULL)
+ {
+ return (int) L6206_Init((void *) init);
+ }
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int read_id(uint8_t *id = NULL)
+ {
+ return (int) L6206_ReadId((uint8_t *) id);
+ }
-/**
- * @}
- */
+ /**
+ * @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
+ */
+ virtual void attach_error_handler(void (*callback)(uint16_t error))
+ {
+ L6206_AttachErrorHandler((void (*)(uint16_t error)) callback);
+ }
-/** @defgroup Data_Structure Data Structure
- * @{
- */
+ /**
+ * @brief Attaches a user callback to the flag Interrupt
+ * The call back will be then called each time the status
+ * flag pin will be pulled down due to the occurrence of
+ * a programmed alarms ( OCD, thermal alert)
+ * @param[in] callback Name of the callback to attach
+ * to the Flag Interrupt
+ * @retval None
+ */
+ virtual void attach_flag_interrupt(void (*callback)(void))
+ {
+ L6206_attach_flag_interrupt((void (*)(void)) callback);
+ }
+
+ /**
+ * @brief Returns the current speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval current speed in % from 0 to 100
+ */
+ virtual unsigned int get_speed(unsigned int motorId)
+ {
+ return (unsigned int) L6206_GetCurrentSpeed((uint8_t) motorId);
+ }
+
+ /**
+ * @brief Returns the device state
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval State (STEADY or INACTIVE)
+ */
+ virtual motorState_t get_device_state(unsigned int motorId)
+ {
+ return (motorState_t) L6206_get_device_state((uint8_t) motorId);
+ }
+
+ /**
+ * @brief Returns the FW version of the library
+ * @retval L6206_FW_VERSION
+ */
+ virtual uint8_t get_fw_version(void)
+ {
+ return (uint8_t) L6206_GetFwVersion();
+ }
+
+ /**
+ * @brief Returns the max speed of the specified motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval maxSpeed in % from 0 to 100
+ */
+ virtual uint16_t get_max_speed(unsigned int motorId)
+ {
+ return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
+ }
+
+ /**
+ * @brief Stops the motor without disabling the bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval none
+ */
+ virtual void hard_stop(unsigned int motorId)
+ {
+ L6206_HardStop((uint8_t) motorId);
+ }
+
+ /**
+ * @brief Runs the motor
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ * @note For unidirectionnal motor, direction parameter has no effect
+ */
+ virtual void run(unsigned int motorId, direction_t direction)
+ {
+ L6206_Run((uint8_t) motorId, (motorDir_t) direction);
+ }
+
+ /**
+ * @brief Changes the max speed of the specified device
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @param[in] newMaxSpeed in % from 0 to 100
+ * @retval true if the command is successfully executed, else false
+ */
+ virtual bool set_speed(unsigned int motorId, unsigned int newMaxSpeed)
+ {
+ return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
+ }
+
+ /**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ */
+ virtual void disable_bridge(unsigned int bridgeId)
+ {
+ L6206_DisableBridge((uint8_t) bridgeId);
+ }
+
+ /**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ */
+ virtual void enable_bridge(unsigned int bridgeId)
+ {
+ L6206_EnableBridge((uint8_t) bridgeId);
+ }
+
+ /**
+ * @brief Get the status of the bridge enabling of the corresponding bridge
+ * @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+ */
+ virtual unsigned int get_bridge_status(unsigned int bridgeId)
+ {
+ return (unsigned int) L6206_GetBridgeStatus((uint8_t) bridgeId);
+ }
-/* ACTION --------------------------------------------------------------------*
- * Declare here the structure of component's data, if any, one variable per *
- * line without initialization. *
- * *
- * Example: *
- * typedef struct *
- * { *
- * int T0_out; *
- * int T1_out; *
- * float T0_degC; *
- * float T1_degC; *
- * } COMPONENT_Data_t; *
- *----------------------------------------------------------------------------*/
-typedef struct
-{
- /// Function pointer to flag interrupt call back
- void (*flagInterruptCallback)(void);
+ /**
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
+ * @retval None
+ * @note if two motors uses the same power bridge, the
+ * power bridge will be disable only if the two motors are stopped
+ */
+ virtual void hard_hiz(unsigned int motorId)
+ {
+ L6206_HardHiz((uint8_t) motorId);
+ }
+
+ /**
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ */
+ virtual void error_handler(uint16_t error)
+ {
+ L6206_ErrorHandler((uint16_t) error);
+ }
+
+ /**
+ * @brief Set dual full bridge parallelling configuration
+ * @param[in] newConfig bridge configuration to apply from
+ * dualFullBridgeConfig_t enum
+ * @retval None
+ */
+ virtual void set_dual_full_bridge_config(unsigned int newConfig)
+ {
+ L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
+ }
+
+ /**
+ * @brief Get the PWM frequency of the specified bridge
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval Freq in Hz
+ */
+ virtual unsigned int get_bridge_input_pwm_freq(unsigned int bridgeId)
+ {
+ return (unsigned int) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
+ }
+
+ /**
+ * @brief Changes the PWM frequency of the bridge input
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @param[in] newFreq in Hz
+ * @retval None
+ */
+ virtual void set_bridge_input_pwm_freq(unsigned int bridgeId, unsigned int newFreq)
+ {
+ L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
+ }
+
+ /**
+ * @brief Sets the number of devices to be used
+ * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ * @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ * devices greater than MAX_NUMBER_OF_DEVICES
+ */
+ virtual bool set_nb_devices(uint8_t nbDevices)
+ {
+ return (bool) L6206_SetNbDevices((uint8_t) nbDevices);
+ }
+
- /// Function pointer to error handler call back
- void (*errorHandlerCallback)(uint16_t error);
+ /*** Public Interrupt Related Methods ***/
- /// number of L6206 devices
- uint8_t numberOfDevices;
+ /* ACTION 6 --------------------------------------------------------------*
+ * Implement here interrupt related methods, if any. *
+ * Note that interrupt handling is platform dependent, e.g.: *
+ * + mbed: *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.fall(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void attach_feature_irq(void (*fptr) (void)) *
+ * { *
+ * feature_irq.fall(fptr); *
+ * } *
+ * *
+ * void enable_feature_irq(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void disable_feature_irq(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
- /// L6206 driver instance
- uint8_t deviceInstance;
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval None.
+ */
+ virtual void enable_flag_irq(uint8_t bridgeId)
+ {
+ if (bridgeId == BRIDGE_A)
+ {
+ flag_A_irq.mode(PullUp);
+ flag_A_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+ }
+ else
+ {
+ flag_B_irq.mode(PullUp);
+ flag_B_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+ }
+ }
- /// L6206 Device Paramaters structure
- deviceParams_t devicePrm;
-} L6206_Data_t;
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval None.
+ */
+ virtual void disable_flag_irq(uint8_t bridgeId)
+ {
+ if (bridgeId == BRIDGE_A)
+ flag_A_irq.fall(NULL);
+ else
+ flag_B_irq.fall(NULL);
+ }
-/**
- * @}
- */
+
+ /*** Public In/Out Related Methods ***/
-/**
- * @}
- */
+protected:
+
+ /*** Protected Component Related Methods ***/
+
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * status_t COMPONENT_get_value(float *f); //(1) *
+ * status_t COMPONENT_enable_feature(void); //(2) *
+ * status_t COMPONENT_compute_average(void); //(3) *
+ *------------------------------------------------------------------------*/
+ status_t L6206_Init(void *init);
+ status_t L6206_ReadId(uint8_t *id);
+ void L6206_TickHandler(uint8_t deviceId); //Handle the device state machine at each tick timer pulse end
+ void L6206_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler
+ void L6206_attach_flag_interrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
+ void L6206_DisableBridge(uint8_t bridgeId); //Disable the specified bridge
+ void L6206_EnableBridge(uint8_t bridgeId); //Enable the specified bridge
+ uint16_t L6206_GetBridgeStatus(uint8_t deviceId); //Get bridge status
+ uint16_t L6206_GetCurrentSpeed(uint8_t motorId); //Return the current speed in pps
+ motorState_t L6206_get_device_state(uint8_t motorId); //Return the device state
+ uint8_t L6206_GetFwVersion(void); //Return the FW version
+ uint16_t L6206_GetMaxSpeed(uint8_t motorId); //Return the max speed in pps
+ void L6206_HardHiz(uint8_t motorId); //Stop the motor and disable the power bridge
+ void L6206_HardStop(uint8_t motorId); //Stop the motor without disabling the power bridge
+ void L6206_Run(uint8_t motorId, motorDir_t direction); //run the motor
+ uint32_t L6206_GetBridgeInputPwmFreq(uint8_t bridgeId); // Get the PWM frequency of the bridge input
+ void L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq); // Set the PWM frequency of the bridge input
+ void L6206_SetDualFullBridgeConfig(uint8_t newConfig); // Set dual full bridge configuration
+ bool L6206_SetMaxSpeed(uint8_t motorId,uint16_t newMaxSpeed); //Set the max speed in pps
+ bool L6206_SetNbDevices(uint8_t nbDevices); //Set the number of driver devices
+ void L6206_ErrorHandler(uint16_t error);
+ void L6206_FlagInterruptHandler(void);
+ uint8_t L6206_GetBridgeIdUsedByMotorId(uint8_t motorId);
+ uint8_t L6206_GetBridgeInputUsedByMotorId(uint8_t motorId);
+ uint8_t L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput);
+ uint8_t L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId);
+ bool L6206_IsBidirectionnalMotor(uint8_t motorId);
+ void L6206_SetDeviceParamsToPredefinedValues(void);
+ void L6206_SetDeviceParamsToGivenValues(L6206_init_t* initDevicePrm);
+
+ /*** Component's I/O Methods ***/
+
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+
+ /**
+ * @brief Utility function to set or unset EN pin for Bridge A or Bridge B.
+ * @param[out] none
+ * @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ * @retval none
+ */
+ void L6206_OutVal( uint8_t bridgeId, uint8_t val)
+ {
+ if( bridgeId == BRIDGE_A)
+ {
+ EN_flag_A.output();
+ EN_flag_A.mode(PullNone);
+ EN_flag_A.write(val);
+ }
+ else
+ {
+ EN_flag_B.output();
+ EN_flag_B.mode(PullNone);
+ EN_flag_B.write(val);
+ }
+ }
+
+ /**
+ * @brief Making the CPU wait.
+ * @param None.
+ * @retval None.
+ */
+ void L6206_Board_Delay(uint32_t delay)
+ {
+ wait_ms(delay);
+ }
+
+ /**
+ * @brief Disable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the disabling of one bridge leads to the disabling
+ * of the second one
+ */
+ void L6206_Board_DisableBridge(uint8_t bridgeId)
+ {
+ disable_flag_irq(BRIDGE_A);
+ disable_flag_irq(BRIDGE_B);
+
+ __disable_irq();
+ L6206_OutVal( bridgeId, 0);
+ __enable_irq();
+ }
+
+ /**
+ * @brief Enable the specified bridge
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval None
+ * @note When input of different brigdes are parallelized
+ * together, the enabling of one bridge leads to the enabling
+ * of the second one
+ */
+ void L6206_Board_EnableBridge(uint8_t bridgeId, uint8_t addDelay)
+ {
+ L6206_OutVal( bridgeId, 1);
+
+ if (addDelay != 0)
+ {
+ wait_ms(BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY);
+ }
-/* Exported functions --------------------------------------------------------*/
+ enable_flag_irq( bridgeId);
+ }
+
+ /**
+ * @brief Returns the FLAG pin state.
+ * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ * @retval The FLAG pin value.
+ */
+ uint32_t L6206_Board_GetFlagPinState(uint8_t bridgeId)
+ {
+ if (bridgeId == 0)
+ {
+ EN_flag_A.input();
+ return EN_flag_A.read();
+ }
+ else
+ {
+ EN_flag_B.input();
+ return EN_flag_B.read();
+ }
+ }
+
+ /**
+ * @brief Initiliases the GPIOs used by the L6206s
+ * @retval None
+ */
+ void L6206_Board_GpioInit(void)
+ {
+ /* init bridge Enable */
+ EN_flag_A.output();
+ EN_flag_A.write(0);
+ EN_flag_A.input();
+
+ EN_flag_B.output();
+ EN_flag_B.write(0);
+ EN_flag_B.input();
+
+
+ /* init flag Irq */
+ disable_flag_irq(BRIDGE_A);
+ disable_flag_irq(BRIDGE_B);
+
+ }
+
+ /**
+ * @brief Sets the frequency of PWM used for bridges inputs
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @param[in] newFreq in Hz
+ * @param[in] duty Duty cycle
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ */
+ void L6206_Board_PwmSetFreq(uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
+ {
+ /* Computing the period of PWM. */
+ float period = 1.0f / newFreq;
+ float duty_cycle;
+ int period_us = (int)(period * 1000000);
+
+ if (duty > 100) duty = 100;
+ duty_cycle = (float)duty / 100.0f;
+
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_1A.period_us(period_us);
+ pwm_1A.write(duty_cycle);
+ break;
+
+ case 1:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_2A.period_us(period_us);
+ pwm_2A.write(duty_cycle);
+ break;
+
+ case 2:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_1B.period_us(period_us);
+ pwm_1B.write(duty_cycle);
+ break;
+
+ case 3:
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm_2B.period_us(period_us);
+ pwm_2B.write(duty_cycle);
+ break;
+ }
+ }
+
+ /**
+ * @brief Reset the PWM for the specified brigde input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
+ void L6206_Board_PwmDeInit(uint8_t bridgeInput)
+ {
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ //timer_pwm_1A.detach();
+ break;
+
+ case 1:
+ //timer_pwm_2A.detach();
+ break;
+
+ case 2:
+ //timer_pwm_1B.detach();
+ break;
+
+ case 3:
+ //timer_pwm_2B.detach();
+ break;
+ }
+ }
+
+ /**
+ * @brief Set the PWM frequency the for the specified bridge input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
+ void L6206_Board_PwmInit(uint8_t bridgeInput)
+ {
+ }
+
+ /**
+ * @brief Stops the PWM uses for the specified brige input
+ * @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ * 2 for input 1B, 3 for input 2B
+ * @retval None
+ */
+ void L6206_Board_PwmStop(uint8_t bridgeInput)
+ {
+ switch (bridgeInput)
+ {
+ case 0:
+ default:
+ pwm_1A.write(0.0);
+ break;
+
+ case 1:
+ pwm_2A.write(0.0);
+ break;
+
+ case 2:
+ pwm_1B.write(0.0);
+ break;
+
+ case 3:
+ pwm_2B.write(0.0);
+ break;
+ }
+ }
-/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
- * @{
- */
-///Delay of the requested number of milliseconds
-extern void L6206_Board_Delay(void *handle, uint32_t delay);
-///Disable the specified bridge
-extern void L6206_Board_DisableBridge(void *handle, uint8_t bridgeId);
-///Enable the specified bridge
-extern void L6206_Board_EnableBridge(void *handle, uint8_t bridgeId, uint8_t addDelay);
-//Get the status of the flag and enable Pin
-extern uint32_t L6206_Board_GetFlagPinState(void *handle, uint8_t bridgeId);
-///Initialise GPIOs used for L6206s
-extern void L6206_Board_GpioInit(void *handle);
-///Set Briges Inputs PWM frequency and start it
-extern void L6206_Board_PwmSetFreq(void *handle, uint8_t bridgeInput, uint32_t newFreq, uint8_t duty);
-///Deinitialise the PWM of the specified bridge input
-extern void L6206_Board_PwmDeInit(void *handle, uint8_t bridgeInput);
-///Init the PWM of the specified bridge input
-extern void L6206_Board_PwmInit(void *handle, uint8_t bridgeInput);
-///Stop the PWM of the specified bridge input
-extern void L6206_Board_PwmStop(void *handle, uint8_t bridgeInput);
-/**
- * @}
- */
+ /*** Component's Instance Variables ***/
+
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+
+ /* Flag Interrupt. */
+ InterruptIn flag_A_irq;
+ InterruptIn flag_B_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+
+ /* Digital In/Out for Flag EN pin */
+ DigitalInOut EN_flag_A;
+ DigitalInOut EN_flag_B;
+
+ /* PWM Out pin */
+ PwmOut pwm_1A;
+ PwmOut pwm_2A;
+ PwmOut pwm_1B;
+ PwmOut pwm_2B;
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut address; *
+ * DevI2C &dev_i2c; *
+ *------------------------------------------------------------------------*/
+
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ void (*flagInterruptCallback)(void);
+
+ void (*errorHandlerCallback)(uint16_t error);
+
+ uint8_t numberOfDevices;
+
+ uint8_t deviceInstance;
+
+ deviceParams_t devicePrm;
-
-/**
- * @}
- */
-
-
-/**
- * @}
- */
+ /** PWM timer variables */
-/**
- * @}
- */
+ bool pwm_1A_activated;
+ bool pwm_2A_activated;
+ bool pwm_1B_activated;
+ bool pwm_2B_activated;
+};
-#ifdef __cplusplus
- }
-#endif
-
-#endif /* #ifndef __L6206_H */
-
+#endif /* __L6206_CLASS_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+