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- /**
- ******************************************************************************
- * @file motor.h
- * @author IPC Rennes
- * @version V1.7.0
- * @date March 16th, 2018
- * @brief This file contains all the functions prototypes for motor drivers.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 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 Motor
- * @{
- */
-
- /** @defgroup Motor_Exported_Constants 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 Motor Exported Types
- * @{
- */
-
- /** @defgroup Motor_Boolean_Type Motor Boolean Type
- * @{
- */
- ///bool Type
- typedef uint8_t bool;
- /**
- * @}
- */
-
- /** @defgroup Device_Direction_Options Device Direction Options
- * @{
- */
- /// Direction options
- typedef enum {
- BACKWARD = 0,
- FORWARD = 1,
- UNKNOW_DIR = ((uint8_t)0xFF)
- } motorDir_t;
- /**
- * @}
- */
-
- /** @defgroup Device_Action_Options Device Action Options
- * @{
- */
- /// Action options
- typedef enum {
- ACTION_RESET = ((uint8_t)0x00),
- ACTION_COPY = ((uint8_t)0x08)
- } motorAction_t;
- /**
- * @}
- */
-
- /** @defgroup Device_States Device States
- * @{
- */
- /// Device states
- typedef enum {
- ACCELERATING = 0,
- DECELERATINGTOSTOP = 1,
- DECELERATING = 2,
- STEADY = 3,
- INDEX_ACCEL = 4,
- INDEX_RUN = 5,
- INDEX_DECEL = 6,
- INDEX_DWELL = 7,
- INACTIVE = 8,
- STANDBY = 9,
- STANDBYTOINACTIVE = 10
- } motorState_t;
- /**
- * @}
- */
-
- /** @defgroup Device_Step_mode 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),
- STEP_MODE_1_256 = ((uint8_t)0x08),
- STEP_MODE_UNKNOW = ((uint8_t)0xFE),
- STEP_MODE_WAVE = ((uint8_t)0xFF)
- } motorStepMode_t;
-
- /**
- * @}
- */
-
- /** @defgroup Decay_mode Decay mode
- * @{
- */
- /// Decay Mode
- typedef enum {
- SLOW_DECAY = 0,
- FAST_DECAY = 1,
- UNKNOW_DECAY = ((uint8_t)0xFF)
- } motorDecayMode_t;
- /**
- * @}
- */
-
- /** @defgroup Stop_mode Stop mode
- * @{
- */
- /// Stop mode
- typedef enum
- {
- HOLD_MODE = 0,
- HIZ_MODE = 1,
- STANDBY_MODE = 2,
- UNKNOW_STOP_MODE = ((uint8_t)0xFF)
- } motorStopMode_t;
- /**
- * @}
- */
-
- /** @defgroup Torque_mode Torque mode
- * @{
- */
- /// Torque mode
- typedef enum
- {
- ACC_TORQUE = 0,
- DEC_TORQUE = 1,
- RUN_TORQUE = 2,
- HOLD_TORQUE = 3,
- CURRENT_TORQUE = 4,
- UNKNOW_TORQUE = ((uint8_t)0xFF)
- } motorTorqueMode_t;
- /**
- * @}
- */
-
- /** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
- * @{
- */
- ///Dual full bridge configurations for brush DC motors
- typedef enum {
- PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
- PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
- PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
- PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
- PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
- PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
- PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
- PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
- PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
- PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
- PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
- PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
- PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
- PARALLELING_END_ENUM = 13
- } dualFullBridgeConfig_t;
- /**
- * @}
- */
-
- /** @defgroup Motor_Driver_Structure Motor Driver Structure
- * @{
- */
- /// Motor driver structure definition
- typedef struct
- {
- /// Function pointer to Init
- void (*Init)(void*);
- /// 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
- uint32_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, int32_t);
- /// Function pointer to SetMark
- void (*SetMark)(uint8_t, int32_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)(uint8_t);
- /// Function pointer to Reset
- void (*Reset)(uint8_t);
- /// Function pointer to SelectStepMode
- bool (*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, int32_t);
- /// Function pointer to WaitForAllDevicesNotBusy
- void (*WaitForAllDevicesNotBusy)(void);
- /// Function pointer to ErrorHandler
- void (*ErrorHandler)(uint16_t);
- /// Function pointer to BusyInterruptHandler
- void (*BusyInterruptHandler)(void);
- /// Function pointer to CmdSoftStop
- void (*CmdSoftStop)(uint8_t);
- /// Function pointer to StartStepClock
- void (*StartStepClock)(uint16_t);
- /// Function pointer to StopStepClock
- void (*StopStepClock)(void);
- /// Function pointer to SetDualFullBridgeConfig
- void (*SetDualFullBridgeConfig)(uint8_t);
- /// Function pointer to GetBridgeInputPwmFreq
- uint32_t (*GetBridgeInputPwmFreq)(uint8_t);
- /// Function pointer to SetBridgeInputPwmFreq
- void (*SetBridgeInputPwmFreq)(uint8_t, uint32_t);
- /// Function pointer to SetStopMode
- void (*SetStopMode)(uint8_t, motorStopMode_t);
- /// Function pointer to GetStopMode
- motorStopMode_t (*GetStopMode)(uint8_t);
- /// Function pointer to SetDecayMode
- void (*SetDecayMode)(uint8_t, motorDecayMode_t);
- /// Function pointer to GetDecayMode
- motorDecayMode_t (*GetDecayMode)(uint8_t);
- /// Function pointer to GetStepMode
- motorStepMode_t (*GetStepMode)(uint8_t);
- /// Function pointer to GetDirection
- motorDir_t (*GetDirection)(uint8_t);
- /// Function pointer to ExitDeviceFromReset
- void (*ExitDeviceFromReset)(uint8_t);
- /// Function pointer to SetTorque
- void (*SetTorque)(uint8_t, motorTorqueMode_t, uint8_t);
- /// Function pointer to GetTorque
- uint8_t (*GetTorque)(uint8_t, motorTorqueMode_t);
- /// Function pointer to SetVRefFreq
- void (*SetRefFreq)(uint8_t, uint32_t);
- /// Function pointer to GetVRefFreq
- uint32_t (*GetRefFreq)(uint8_t);
- /// Function pointer to SetVRefDc
- void (*SetRefDc)(uint8_t, uint8_t);
- /// Function pointer to GetVRefDc
- uint8_t (*GetRefDc)(uint8_t);
- /// Function pointer to SetNbDevices
- bool (*SetNbDevices)(uint8_t);
- /// Function pointer to SetAnalogValue
- bool (*SetAnalogValue)(uint8_t, uint32_t, float);
- /// Function pointer to GetAnalogValue
- float (*GetAnalogValue)(uint8_t, uint32_t);
- /// Function pointer to SetTorqueBoostEnable
- void (*SetTorqueBoostEnable) (uint8_t, bool);
- /// Function pointer to GetTorqueBoostEnable
- bool (*GetTorqueBoostEnable) (uint8_t);
- /// Function pointer to SetTorqueBoostThreshold
- void (*SetTorqueBoostThreshold) (uint8_t, uint16_t);
- /// Function pointer to GetTorqueBoostThreshold
- uint16_t (*GetTorqueBoostThreshold) (uint8_t);
- /// Function pointer to GetDualFullBridgeConfig
- uint8_t (*GetDualFullBridgeConfig) (void);
- }motorDrv_t;
-
- /**
-
- * @}
- */
-
- /**
- * @}
- */
-
- /**
- * @}
- */
-
- /**
- * @}
- */
-
- /**
- * @}
- */
-
- #ifdef __cplusplus
- }
- #endif
-
- #endif /* __MOTOR_H */
-
- /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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