/** ****************************************************************************** * @file x_nucleo_ihmxx.h * @author IPC Rennes * @version V1.7.0 * @date March 16th, 2018 * @brief This file provides common definitions for motor control ****************************************************************************** * @attention * *

© COPYRIGHT(c) 2018 STMicroelectronics

* * 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 X_NUCLEO_IHMXX_H #define X_NUCLEO_IHMXX_H #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ #include "motor.h" /** @addtogroup BSP * @{ */ /** @addtogroup MOTOR_CONTROL * @{ */ /** @defgroup MOTOR_CONTROL_Exported_Types MOTOR CONTROL Exported Types * @{ */ /** * @} */ /** @defgroup MOTOR_CONTROL_Exported_Constants MOTOR CONTROL Exported Constants * @{ */ /// Motor control error tag (used when trying to call undefined functions via motorDrvHandle) #define MOTOR_CONTROL_ERROR_TAG (0x0800) ///Motor control board id for L6474 #define BSP_MOTOR_CONTROL_BOARD_ID_L6474 (6474) ///Motor control board id for L6470 #define BSP_MOTOR_CONTROL_BOARD_ID_L6470 (6470) ///Motor control board id for L6472 #define BSP_MOTOR_CONTROL_BOARD_ID_L6472 (6472) ///Motor control board id for L6480 #define BSP_MOTOR_CONTROL_BOARD_ID_L6480 (6480) ///Motor control board id for L6482 #define BSP_MOTOR_CONTROL_BOARD_ID_L6482 (6482) ///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) ///Motor control board id for L6206 #define BSP_MOTOR_CONTROL_BOARD_ID_L6206 (6206) ///Motor control board id for L6208 #define BSP_MOTOR_CONTROL_BOARD_ID_L6208 (6208) ///Motor control board id for STSPIN220 #define BSP_MOTOR_CONTROL_BOARD_ID_STSPIN220 (220) ///Motor control board id for STSPIN240 #define BSP_MOTOR_CONTROL_BOARD_ID_STSPIN240 (240) ///Motor control board id for STSPIN250 #define BSP_MOTOR_CONTROL_BOARD_ID_STSPIN250 (250) /** * @} */ /** @defgroup MOTOR_CONTROL_Exported_Macros MOTOR CONTROL Exported Macros * @{ */ #if defined ( __GNUC__ ) #ifndef __weak #define __weak __attribute__((weak)) #endif /* __weak */ #endif /* __GNUC__ */ /** * @} */ /** @defgroup MOTOR_CONTROL_Weak_Function_Prototypes MOTOR CONTROL Weak Function Prototypes * @{ */ __weak motorDrv_t* L6474_GetMotorHandle(void); __weak motorDrv_t* l647x_GetMotorHandle(void); __weak motorDrv_t* l648x_GetMotorHandle(void); __weak motorDrv_t* Powerstep01_GetMotorHandle(void); __weak motorDrv_t* L6206_GetMotorHandle(void); __weak motorDrv_t* L6208_GetMotorHandle(void); __weak motorDrv_t* Stspin220_GetMotorHandle(void); __weak motorDrv_t* Stspin240_250_GetMotorHandle(void); /** * @} */ /** @defgroup MOTOR_CONTROL_Exported_Functions 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, void* initDeviceParameters); 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); uint32_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, int32_t homePosition); void BSP_MotorControl_SetMark(uint8_t deviceId, int32_t markPosition); 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(uint8_t deviceId); void BSP_MotorControl_Reset(uint8_t deviceId); bool BSP_MotorControl_SelectStepMode(uint8_t deviceId, motorStepMode_t stepMode); 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 command, int32_t value); void BSP_MotorControl_WaitForAllDevicesNotBusy(void); void BSP_MotorControl_BusyInterruptHandler(void); void BSP_MotorControl_CmdSoftStop(uint8_t deviceId); void BSP_MotorControl_StartStepClock(uint16_t newFreq); void BSP_MotorControl_StopStepClock(void); void BSP_MotorControl_SetDualFullBridgeConfig(uint8_t config); uint32_t BSP_MotorControl_GetBridgeInputPwmFreq(uint8_t bridgeId); void BSP_MotorControl_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq); void BSP_MotorControl_SetStopMode(uint8_t deviceId, motorStopMode_t stopMode); motorStopMode_t BSP_MotorControl_GetStopMode(uint8_t deviceId); void BSP_MotorControl_SetDecayMode(uint8_t deviceId, motorDecayMode_t decayMode); motorDecayMode_t BSP_MotorControl_GetDecayMode(uint8_t deviceId); motorStepMode_t BSP_MotorControl_GetStepMode(uint8_t deviceId); motorDir_t BSP_MotorControl_GetDirection(uint8_t deviceId); void BSP_MotorControl_ExitDeviceFromReset(uint8_t deviceId); uint8_t BSP_MotorControl_GetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode); void BSP_MotorControl_SetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode, uint8_t torqueValue); void BSP_MotorControl_SetRefFreq(uint8_t refId, uint32_t newFreq); uint32_t BSP_MotorControl_GetRefFreq(uint8_t refId); void BSP_MotorControl_SetRefDc(uint8_t refId, uint8_t newDc); uint8_t BSP_MotorControl_GetRefDc(uint8_t refId); bool BSP_MotorControl_SetNbDevices(uint16_t id, uint8_t nbDevices); bool BSP_MotorControl_SetAnalogValue(uint8_t deviceId, uint32_t param, float value); float BSP_MotorControl_GetAnalogValue(uint8_t deviceId, uint32_t param); void BSP_MotorControl_SetTorqueBoostEnable(uint8_t deviceId, bool enable); bool BSP_MotorControl_GetTorqueBoostEnable(uint8_t deviceId); void BSP_MotorControl_SetTorqueBoostThreshold(uint8_t deviceId, uint16_t speedThreshold); uint16_t BSP_MotorControl_GetTorqueBoostThreshold(uint8_t deviceId); uint8_t BSP_MotorControl_GetDualFullBridgeConfig(void); /** * @} */ /** * @} */ /** * @} */ #ifdef __cplusplus } #endif #endif /* X_NUCLEO_IHMXX_H */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/