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- /******************************************************//**
- * @file l6208.h
- * @author IPC Rennes
- * @version V1.5.0
- * @date June 1st, 2018
- * @brief Header for l6208.c module
- * @note (C) COPYRIGHT 2016 STMicroelectronics
- ******************************************************************************
- * @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 _L6208_H_INCLUDED
- #define _L6208_H_INCLUDED
-
- #ifdef __cplusplus
- extern "C" {
- #endif
-
- /* Includes ------------------------------------------------------------------*/
- #include "l6208_target_config.h"
- #include "motor.h"
-
- /** @addtogroup BSP
- * @{
- */
-
- /** @addtogroup L6208
- * @{
- */
-
- /* Exported Constants --------------------------------------------------------*/
-
- /** @addtogroup L6208_Exported_Constants
- * @{
- */
- /// Current FW major version
- #define L6208_FW_MAJOR_VERSION (uint8_t)(1)
- /// Current FW minor version
- #define L6208_FW_MINOR_VERSION (uint8_t)(4)
- /// Current FW patch version
- #define L6208_FW_PATCH_VERSION (uint8_t)(0)
- /// Current FW version
- #define L6208_FW_VERSION (uint32_t)((L6208_FW_MAJOR_VERSION<<16)|\
- (L6208_FW_MINOR_VERSION<<8)|\
- (L6208_FW_PATCH_VERSION))
-
- /// Max position
- #define L6208_MAX_POSITION (0x7FFFFFFF)
-
- /// Min position
- #define L6208_MIN_POSITION (0x80000000)
-
- /// Position range
- #define L6208_POSITION_RANGE ((uint32_t)(L6208_MAX_POSITION -\
- L6208_MIN_POSITION))
- /// micro step samples per period/4
- #define L6208_USTEPS_PER_QUARTER_PERIOD (16)
-
- /// minimum speed
- #define L6208_MIN_SPEED (16)
-
- /// minimum acceleration and deceleration rate
- #define L6208_MIN_ACC_DEC_RATE (24)
-
- /// Mask for HiZ bit in motorDecayMode_t enum
- #define L6208_FAST_DECAY_MODE_MASK (0x1)
-
- /// L6208 error base number
- #define L6208_ERROR_BASE (0x9000)
- /**
- * @}
- */
-
- /* Exported types ------------------------------------------------------------*/
-
- /** @defgroup Error_Types Error Types
- * @{
- */
- /// Errors
- typedef enum {
- L6208_ERROR_SET_HOME = L6208_ERROR_BASE, /// Error while setting home position
- L6208_ERROR_SET_MAX_SPEED = L6208_ERROR_BASE + 1, /// Error while setting max speed
- L6208_ERROR_SET_MIN_SPEED = L6208_ERROR_BASE + 2, /// Error while setting min speed
- L6208_ERROR_SET_ACCELERATION = L6208_ERROR_BASE + 3, /// Error while setting acceleration
- L6208_ERROR_SET_DECELERATION = L6208_ERROR_BASE + 4, /// Error while setting decelaration
- L6208_ERROR_MCU_OSC_CONFIG = L6208_ERROR_BASE + 5, /// Error while configuring mcu oscillator
- L6208_ERROR_MCU_CLOCK_CONFIG = L6208_ERROR_BASE + 6, /// Error while configuring mcu clock
- L6208_ERROR_POSITION = L6208_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
- L6208_ERROR_SPEED = L6208_ERROR_BASE + 8, /// Unexpected current speed
- L6208_ERROR_INIT = L6208_ERROR_BASE + 9, /// Unexpected number of devices
- L6208_ERROR_SET_DIRECTION = L6208_ERROR_BASE + 10,/// Error while setting direction
- L6208_ERROR_SET_STEP_MODE = L6208_ERROR_BASE + 11,/// Attempt to set an unsupported step mode
- L6208_ERROR_SET_PWM = L6208_ERROR_BASE + 12,/// Error while setting a PWM parameter
- }errorTypes_t;
- /**
- * @}
- */
-
- /** @defgroup Device_Parameters Device Parameters
- * @{
- */
- /// Device Parameters Structure Type
- typedef struct
- {
- /// dwelling waiting time counter (tick)
- volatile uint32_t dwellCounter;
- /// motor position indicator (tick)
- uint32_t ticks;
- /// LSByte copy of the previous position (tick)
- uint8_t lsbOldTicks;
- /// LSByte copy of the previous position (tick) ( micro stepping )
- uint8_t lsbOldUSteppingTicks;
- /// LSByte copy of the current position (tick)
- uint8_t lsbTicks;
- /// P1 = acceleration phase steps number (motor position control mode)
- uint32_t positionTarget1;
- /// P2 = constant speed steps number (motor position control mode)
- uint32_t positionTarget2;
- /// P3 = deceleration phase steps number (motor position control mode)
- uint32_t positionTarget3;
- /// P = total move distance in steps (motor position control mode)
- uint32_t positionTarget;
- /// absolute motor position in microsteps (motor position control mode)
- volatile int32_t absolutePos;
- /// mark position in microsteps (motor position control mode)
- volatile int32_t markPos;
- /// motor position in microsteps (motor position control mode)
- volatile uint32_t step;
- /// dwelling time after position got (ms)
- volatile uint16_t moveDwellTime;
- /// number of micro stepping waveform samples to be rescaled according to selected torque value
- volatile uint8_t uStepsample2scale;
- /// number of micro stepping waveform samples to be updated into the waveform scanning table
- volatile uint8_t uStepsample2update;
- /// microstepping waveform sample index
- volatile uint8_t uStepSample;
- /// system status flags
- volatile uint32_t flags;
- /// current stepper state machine index
- volatile motorState_t motionState;
- /// current step mode
- volatile motorStepMode_t stepMode;
- /// micro stepping waveform scanning sample index increment
- uint8_t uStepInc;
- /// frequency of the VREFA and VREFB PWM
- uint32_t vrefPwmFreq;
- /// current selected torque value
- volatile uint8_t curTorqueScaler;
- /// constant speed phase torque value (%)
- volatile uint8_t runTorque;
- /// acceleration phase torque value (%)
- volatile uint8_t accelTorque;
- /// deceleration phase torque value (%)
- volatile uint8_t decelTorque;
- /// holding phase torque value (%)
- volatile uint8_t holdTorque;
- /// acceleration (steps/s^2)
- volatile uint16_t accelerationSps2;
- /// deceleration (steps/s^2)
- volatile uint16_t decelerationSps2;
- /// acceleration (steps/tick^2)
- volatile uint16_t accelerationSpt2;
- /// deceleration (steps/tick^2)
- volatile uint16_t decelerationSpt2;
- /// maximum speed (steps/s)
- volatile uint16_t maxSpeedSps;
- /// minimum speed (steps/s)
- volatile uint16_t minSpeedSps;
- /// current speed (steps/s)
- volatile uint16_t speedSps;
- /// maximum speed (steps/tick)
- volatile uint32_t maxSpeedSpt;
- /// minimum speed (steps/tick)
- volatile uint32_t minSpeedSpt;
- /// current speed (steps/tick)
- volatile uint32_t speedSpt;
- }deviceParams_t;
- /**
- * @}
- */
-
- /// Motor driver initialization structure definition
- typedef struct
- {
- /// acceleration (steps/s^2)
- uint16_t accelerationSps2;
- /// acceleration phase torque value (%)
- uint8_t accelTorque;
- /// deceleration (steps/s^2)
- uint16_t decelerationSps2;
- /// deceleration phase torque value (%)
- uint8_t decelTorque;
- /// maximum speed (steps/s)
- uint16_t maxSpeedSps;
- /// constant speed phase torque value (%)
- uint8_t runTorque;
- /// holding phase torque value (%)
- uint8_t holdTorque;
- /// current step mode
- motorStepMode_t stepMode;
- /// current decay mode (SLOW_DECAY or FAST_DECAY)
- motorDecayMode_t decayMode;
- /// dwelling time after position got (ms)
- uint16_t moveDwellTime;
- /// automatic HiZ on stop
- bool autoHiZstop;
- /// frequency of the VREFA and VREFB PWM
- uint32_t vrefPwmFreq;
- } l6208_Init_t;
-
-
-
- /* Exported functions --------------------------------------------------------*/
-
- /** @defgroup L6208_Exported_Functions L6208 Exported Functions
- * @{
- */
- motorDrv_t* L6208_GetMotorHandle(void); //Return handle of the motor driver handle
- void L6208_Init(void* pInit); //Start the L6208 library
- uint16_t L6208_ReadId(void); //Read Id to get driver instance
- void L6208_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error Handler
- void L6208_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
- uint8_t L6208_CheckStatusHw(void); //Check if L6208 has a fault by reading EN pin position
- void L6208_Disable(uint8_t deviceId); //Disable the power bridge
- void L6208_ErrorHandler(uint16_t error); //Error handler which calls the user callback
- void L6208_Enable(uint8_t deviceId); //Enable the power bridge
- void L6208_FlagInterruptHandler(void); //Handler of the flag interrupt which calls the user callback (if defined)
- uint16_t L6208_GetAcceleration(uint8_t deviceId); //Return the acceleration in pps^2
- uint16_t L6208_GetCurrentSpeed(uint8_t deviceId); //Return the current speed in pps
- motorDecayMode_t L6208_GetDecayMode(uint8_t deviceId); //Get the motor decay mode
- uint16_t L6208_GetDeceleration(uint8_t deviceId); //Return the deceleration in pps^2
- motorDir_t L6208_GetDirection(uint8_t deviceId); //Get the motor current direction
- uint32_t L6208_GetFwVersion(void); //Return the FW version
- int32_t L6208_GetMark(uint8_t deviceId); //Get the mark position (32b signed)
- uint16_t L6208_GetMaxSpeed(uint8_t deviceId); //Return the max speed in pps
- uint16_t L6208_GetMinSpeed(uint8_t deviceId); //Return the min speed in pps
- motorState_t L6208_GetMotionState(uint8_t deviceId); //Return the motion state
- int32_t L6208_GetPosition(uint8_t deviceId); //Get the current position (32b signed)
- motorStepMode_t L6208_GetStepMode(uint8_t deviceId); //Get the motor step mode
- motorStopMode_t L6208_GetStopMode(uint8_t deviceId); //Get the selected mode to stop the motor
- uint8_t L6208_GetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode); //Get the torque value according to the torque mode
- void L6208_GoHome(uint8_t deviceId); //Go to the home position
- void L6208_GoMark(uint8_t deviceId); //Go to the Mark position
- void L6208_GoTo(uint8_t deviceId, int32_t abs_pos); //Go to the specified position
- void L6208_GoToDir(uint8_t deviceId, motorDir_t direction, int32_t abs_pos); //Go to the specified position using the specified direction
- void L6208_HardHiZ(uint8_t deviceId); //Stop the motor by using the device deceleration and disables the power bridges
- void L6208_HardStop(uint8_t deviceId); //Stop the motor and keeps holding torque
- void L6208_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount); //Move the motor by the specified number of steps in the specified direction
- void L6208_ReleaseReset(uint8_t deviceId); //Release the reset pin
- void L6208_Reset(uint8_t deviceId); //Set the reset pin
- void L6208_ResetDevice(void); //Reset L6208 device
- void L6208_Run(uint8_t deviceId, motorDir_t direction); //Run the motor in the specified direction
- bool L6208_SetAcceleration(uint8_t deviceId, uint16_t newAcc); //Set the acceleration in pps^2
- void L6208_SetDecayMode(uint8_t deviceId, motorDecayMode_t decayMode); //Set the motor decay mode
- bool L6208_SetDeceleration(uint8_t deviceId, uint16_t newDec); //Set the deceleration in pps^2
- void L6208_SetDirection(uint8_t deviceId, motorDir_t direction); //Set the motor direction
- void L6208_SetHome(uint8_t deviceId, int32_t homePos); //Set the home position
- void L6208_SetMark(uint8_t deviceId, int32_t markPos); //Set the mark position
- bool L6208_SetMaxSpeed(uint8_t deviceId, uint16_t volatile newSpeed); //Set the max speed value in pps
- bool L6208_SetMinSpeed(uint8_t deviceId, uint16_t volatile newSpeed); //Set the max speed value in pps
- bool L6208_SetNbDevices(uint8_t nbDevices); //Set the number of devices
- bool L6208_SetStepMode(uint8_t deviceId, motorStepMode_t stepMode); //Set the motor step mode
- void L6208_SetStopMode(uint8_t deviceId, motorStopMode_t stopMode); //Select the mode to stop the motor
- void L6208_SetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode, uint8_t torqueValue); //Set the torque value according to the torque mode
- bool L6208_SoftStop(uint8_t deviceId); //Progressively stop the motor by using the device deceleration and set deceleration torque
- void L6208_TickHandler(uint8_t deviceId); //Handle the device state machine at each tick timer pulse end
- uint32_t L6208_VrefPwmGetFreq(uint8_t deviceId); //Get the frequency of VREFA and VREFB PWM
- void L6208_VrefPwmSetFreq(uint8_t deviceId, uint32_t newFreq); //Set the frequency of the VREFA and VREFB PWM
- void L6208_WaitWhileActive(uint8_t deviceId); //Wait for the device state becomes Inactive
-
-
-
-
- /**
- * @}
- */
-
- /** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
- * @{
- */
- ///Delay of the requested number of milliseconds
- extern void L6208_Board_Delay(uint32_t delay);
- ///Enable Irq
- extern void L6208_Board_EnableIrq(void);
- ///Disable Irq
- extern void L6208_Board_DisableIrq(void);
- ///Initialise GPIOs used for L6208
- extern void L6208_Board_GpioInit(void);
- //Initialize the VREFA or VREFB PWM
- extern bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq);
- ///Set duty cycle of VREFA or VREFB PWM
- extern bool L6208_Board_VrefPwmSetDutyCycle(uint8_t bridgeId,\
- uint16_t value,\
- bool valueIsPwmDutyCycle);
- ///Start the timer for the VREFA or VREFB PWM
- extern bool L6208_Board_VrefPwmStart(uint8_t bridgeId,\
- uint32_t pwmFreq);
- ///Stop the timer for the VREFA or VREFB PWM
- extern bool L6208_Board_VrefPwmStop(uint8_t bridgeId);
- ///Get the period of VREFA and VREFB PWM
- extern uint32_t L6208_Board_VrefPwmGetPeriod(void);
- ///Check that the new VREFA and VREFB PWM frequency is nor too low nor too high
- bool L6208_Board_VrefPwmFreqCheck(uint32_t newFreq);
- ///Initialize the tick
- extern void L6208_Board_TickInit(void);
- ///Start the timer for the tick by using the set tick frequency
- extern void L6208_Board_TickStart(void);
- ///Stop the timer for the tick
- extern void L6208_Board_TickStop(void);
- ///Get the tick frequency in Hz
- extern uint32_t L6208_Board_TickGetFreq(void);
- ///Release the reset pin
- extern void L6208_Board_ReleaseReset(void);
- ///Set the reset pin
- extern void L6208_Board_Reset(void);
- ///Set the control pin
- extern void L6208_Board_CONTROL_PIN_Set(void);
- ///Reset the control pin
- extern void L6208_Board_CONTROL_PIN_Reset(void);
- ///Set the clock pin
- extern void L6208_Board_CLOCK_PIN_Set(void);
- ///Reset the clock pin
- extern void L6208_Board_CLOCK_PIN_Reset(void);
- ///Set the half full pin
- extern void L6208_Board_HALF_FULL_PIN_Set(void);
- ///Reset the half full pin
- extern void L6208_Board_HALF_FULL_PIN_Reset(void);
- ///Set the dir pin
- extern void L6208_Board_DIR_PIN_Set(void);
- ///Reset the dir pin
- extern void L6208_Board_DIR_PIN_Reset(void);
- ///Returns the EN pin state
- extern uint32_t L6208_Board_FLAG_PIN_GetState(void);
- ///Enable the power bridges (leave the output bridges HiZ)
- extern void L6208_Board_Enable(void);
- ///Disable the power bridges (leave the output bridges HiZ)
- extern void L6208_Board_Disable(void);
- /**
- * @}
- */
-
- /**
- * @}
- */
-
- /**
- * @}
- */
-
- #ifdef __cplusplus
- }
- #endif
-
- #endif /* __L6208_H */
-
- /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
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