motor_def.h

00001 /**
00002   ******************************************************************************
00003   * @file    motor_def.h
00004   * @author  IPC Rennes
00005   * @version V1.5.0
00006   * @date    January 25, 2016
00007   * @brief   This file contains all the functions prototypes for motor drivers.   
00008   ******************************************************************************
00009   * @attention
00010   *
00011   * <h2><center>&copy; COPYRIGHT(c) 2016 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 /* Define to prevent recursive inclusion -------------------------------------*/
00039 #ifndef __MOTOR_H
00040 #define __MOTOR_H
00041 
00042 #ifdef __cplusplus
00043  extern "C" {
00044 #endif 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 #include <stdint.h>
00048 #include "component_def.h"
00049    
00050 /** @addtogroup BSP
00051   * @{
00052   */
00053 
00054 /** @addtogroup Components
00055   * @{
00056   */ 
00057 
00058 /** @defgroup Motor Motor
00059   * @{
00060   */
00061     
00062 /** @defgroup Motor_Exported_Constants Motor Exported Constants
00063   * @{
00064   */   
00065    
00066 /// boolean for false condition 
00067 #ifndef FALSE
00068 #define FALSE (0)
00069 #endif
00070 /// boolean for true condition 
00071 #ifndef TRUE
00072 #define TRUE  (1)
00073 #endif
00074 
00075    /**
00076   * @}
00077   */
00078    
00079 /** @defgroup Motor_Exported_Types Motor Exported Types
00080   * @{
00081   */
00082 
00083 /** @defgroup Motor_Boolean_Type Motor Boolean Type
00084   * @{
00085   */
00086 ///bool Type
00087 //typedef uint8_t  bool;
00088 /**
00089   * @}
00090   */   
00091    
00092 /** @defgroup Device_Direction_Options Device Direction Options
00093   * @{
00094   */
00095 /// Direction options
00096 typedef enum {
00097   BACKWARD = 0,
00098   FORWARD = 1,
00099   UNKNOW_DIR = ((uint8_t)0xFF)
00100 } motorDir_t;
00101 /**
00102   * @}
00103   */
00104   
00105 /** @defgroup Device_Action_Options Device Action Options
00106   * @{
00107   */
00108 /// Action options
00109 typedef enum {
00110   ACTION_RESET = ((uint8_t)0x00),
00111   ACTION_COPY  = ((uint8_t)0x08)
00112 } motorAction_t;
00113 /**
00114   * @}
00115   */  
00116 
00117 /** @defgroup Device_States Device States
00118   * @{
00119   */
00120 /// Device states
00121 typedef enum {
00122   ACCELERATING       = 0,
00123   DECELERATINGTOSTOP = 1,  
00124   DECELERATING       = 2, 
00125   STEADY             = 3,
00126   INDEX_ACCEL        = 4,
00127   INDEX_RUN          = 5,
00128   INDEX_DECEL        = 6,
00129   INDEX_DWELL        = 7,
00130   INACTIVE           = 8,
00131   STANDBY            = 9,
00132   STANDBYTOINACTIVE  = 10
00133 } motorState_t;
00134 /**
00135   * @}
00136   */   
00137 
00138 /** @defgroup Device_Step_mode Device Step mode
00139   * @{
00140   */
00141  /// Stepping options 
00142 typedef enum {
00143   STEP_MODE_FULL   = ((uint8_t)0x00), 
00144   STEP_MODE_HALF   = ((uint8_t)0x01),
00145   STEP_MODE_1_4    = ((uint8_t)0x02),
00146   STEP_MODE_1_8    = ((uint8_t)0x03),
00147   STEP_MODE_1_16   = ((uint8_t)0x04),
00148   STEP_MODE_1_32   = ((uint8_t)0x05),
00149   STEP_MODE_1_64   = ((uint8_t)0x06),
00150   STEP_MODE_1_128  = ((uint8_t)0x07),
00151   STEP_MODE_1_256  = ((uint8_t)0x08),
00152   STEP_MODE_UNKNOW = ((uint8_t)0xFE),
00153   STEP_MODE_WAVE   = ((uint8_t)0xFF)  
00154 } motorStepMode_t;
00155 
00156 /**
00157   * @}
00158   */
00159   
00160 /** @defgroup Decay_mode Decay mode
00161   * @{
00162   */
00163 /// Decay Mode 
00164 typedef enum {
00165   SLOW_DECAY = 0,
00166   FAST_DECAY = 1,
00167   UNKNOW_DECAY = ((uint8_t)0xFF)
00168 } motorDecayMode_t;
00169 /**
00170   * @}
00171   */
00172   
00173 /** @defgroup Stop_mode Stop mode
00174   * @{
00175   */
00176 /// Stop mode
00177 typedef enum
00178 { 
00179   HOLD_MODE = 0,
00180   HIZ_MODE = 1,
00181   STANDBY_MODE = 2,
00182   UNKNOW_STOP_MODE = ((uint8_t)0xFF)
00183 } motorStopMode_t;
00184 /**
00185   * @}
00186   */  
00187 
00188 /** @defgroup Torque_mode Torque mode
00189   * @{
00190   */
00191 /// Torque mode
00192 typedef enum
00193 { 
00194   ACC_TORQUE = 0,
00195   DEC_TORQUE = 1,
00196   RUN_TORQUE = 2,
00197   HOLD_TORQUE = 3,
00198   CURRENT_TORQUE = 4,
00199   UNKNOW_TORQUE = ((uint8_t)0xFF)
00200 } motorTorqueMode_t;
00201 /**
00202   * @}
00203   */  
00204     
00205 /** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
00206   * @{
00207   */
00208 ///Dual full bridge configurations for brush DC motors
00209 typedef enum {
00210   PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
00211   PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
00212   PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
00213   PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
00214   PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
00215   PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
00216   PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
00217   PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
00218   PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
00219   PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
00220   PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
00221   PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
00222   PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
00223   PARALLELING_END_ENUM = 13 
00224 } dualFullBridgeConfig_t;
00225 /**
00226   * @}
00227   */
00228 
00229 /** @defgroup Motor_Driver_Structure Motor Driver Structure
00230   * @{
00231   */
00232 /// Motor driver structure definition  
00233 typedef struct
00234 {
00235 
00236     /* Generic */
00237     status_t (*init)(void *handle, void *init);
00238     status_t (*read_id)(void *handle, uint8_t *id);
00239 
00240     /* Interrupts */
00241     /// Function pointer to attach_error_handler
00242     void(*attach_error_handler)(void *handle, void (*callback)(void *handle, uint16_t error));
00243     /// Function pointer to attach_flag_interrupt
00244     void (*attach_flag_interrupt)(void *handle, void (*callback)(void *handle));
00245     /// Function pointer to AttachBusyInterrupt
00246     void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
00247     /// Function pointer to FlagInterruptHandler
00248     void (*FlagInterruptHandler)(void *handle);
00249 
00250     /* Specific */
00251     /// Function pointer to get_acceleration
00252     uint16_t (*get_acceleration)(void *handle);
00253     /// Function pointer to GetCurrentSpeed
00254     uint16_t (*GetCurrentSpeed)(void *handle, uint8_t motorId);
00255     /// Function pointer to get_deceleration
00256     uint16_t (*get_deceleration)(void *handle);
00257     /// Function pointer to get_device_state
00258     motorState_t(*get_device_state)(void *handle, uint8_t motorId);
00259     /// Function pointer to get_fw_version
00260     uint8_t (*get_fw_version)(void *handle);
00261     /// Function pointer to get_mark
00262     int32_t (*get_mark)(void *handle);
00263     /// Function pointer to get_max_speed
00264     uint16_t (*get_max_speed)(void *handle, uint8_t motorId);
00265     /// Function pointer to get_min_speed
00266     uint16_t (*get_min_speed)(void *handle, uint8_t motorId);
00267     /// Function pointer to get_position
00268     int32_t (*get_position)(void *handle);
00269     /// Function pointer to go_home
00270     void (*go_home)(void *handle);
00271     /// Function pointer to go_mark
00272     void (*go_mark)(void *handle);
00273     /// Function pointer to go_to
00274     void (*go_to)(void *handle, uint8_t deviceId, int32_t motorId);
00275     /// Function pointer to hard_stop
00276     void (*hard_stop)(void *handle, uint8_t motorId);
00277     /// Function pointer to move
00278     void (*move)(void *handle, motorDir_t direction, uint32_t stepCount);
00279     /// Function pointer to ResetAllDevices
00280     void (*ResetAllDevices)(void *handle);
00281     /// Function pointer to run
00282     void (*run)(void *handle, uint8_t stepCount, motorDir_t direction);
00283     /// Function pointer to set_acceleration
00284     bool(*set_acceleration)(void *handle, uint16_t newAcc);
00285     /// Function pointer to set_deceleration
00286     bool(*set_deceleration)(void *handle, uint16_t newDec);
00287     /// Function pointer to set_home
00288     void (*set_home)(void *handle);
00289     /// Function pointer to set_mark
00290     void (*set_mark)(void *handle);
00291     /// Function pointer to set_max_speed
00292     bool (*set_max_speed)(void *handle, uint8_t motorId, uint16_t newMaxSpeed);
00293     /// Function pointer to set_min_speed
00294     bool (*set_min_speed)(void *handle, uint8_t motorId, uint16_t newMinSpeed);
00295     /// Function pointer to soft_stop
00296     bool (*soft_stop)(void *handle);
00297     /// Function pointer to StepClockHandler
00298     void (*StepClockHandler)(void *handle);
00299     /// Function pointer to wait_while_active
00300     void (*wait_while_active)(void *handle);
00301     /// Function pointer to CmdDisable
00302     void (*CmdDisable)(void *handle, uint8_t bridgeId);
00303     /// Function pointer to CmdEnable
00304     void (*CmdEnable)(void *handle, uint8_t bridgeId);
00305     /// Function pointer to CmdGetParam
00306     uint32_t (*CmdGetParam)(void *handle, uint32_t param);
00307     /// Function pointer to CmdGetStatus
00308     uint16_t (*CmdGetStatus)(void *handle, uint8_t bridgeId);
00309     /// Function pointer to CmdNop
00310     void (*CmdNop)(void *handle);
00311     /// Function pointer to CmdSetParam
00312     void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
00313     /// Function pointer to read_status_register
00314     uint16_t (*read_status_register)(void *handle);
00315     /// Function pointer to release_reset
00316     void (*release_reset)(void *handle);
00317     /// Function pointer to Reset
00318     void (*Reset)(void *handle);
00319     /// Function pointer to SelectStepMode
00320     void (*SelectStepMode)(void *handle, motorStepMode_t stepMode);
00321     /// Function pointer to set_direction
00322     void (*set_direction)(void *handle, motorDir_t direction);
00323     /// Function pointer to CmdGoToDir
00324     void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t abs_pos);
00325     /// Function pointer to check_busy_hw
00326     uint8_t (*check_busy_hw)(void *handle);
00327     /// Function pointer to check_status_hw
00328     uint8_t (*check_status_hw)(void *handle);
00329     /// Function pointer to CmdGoUntil
00330     void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t speed);
00331     /// Function pointer to CmdHardHiZ
00332     void (*CmdHardHiZ)(void *handle, uint8_t motorId);
00333     /// Function pointer to CmdReleaseSw
00334     void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
00335     /// Function pointer to CmdResetDevice
00336     void (*CmdResetDevice)(void *handle);
00337     /// Function pointer to CmdResetPos
00338     void (*CmdResetPos)(void *handle);
00339     /// Function pointer to CmdRun
00340     void (*CmdRun)(void *handle, motorDir_t direction, uint32_t speed);
00341     /// Function pointer to CmdSoftHiZ
00342     void (*CmdSoftHiZ)(void *handle);
00343     /// Function pointer to CmdStepClock
00344     void (*CmdStepClock)(void *handle, motorDir_t direction);
00345     /// Function pointer to fetch_and_clear_all_status
00346     void (*fetch_and_clear_all_status)(void *handle);
00347     /// Function pointer to get_fetched_status
00348     uint16_t (*get_fetched_status)(void *handle);
00349     /// Function pointer to get_nb_devices
00350     uint8_t (*get_nb_devices)(void *handle);
00351     /// Function pointer to is_device_busy
00352     bool (*is_device_busy)(void *handle);
00353     /// Function pointer to send_queued_commands
00354     void (*send_queued_commands)(void *handle);
00355     /// Function pointer to queue_commands
00356     void (*queue_commands)(void *handle, uint8_t param, int32_t value);
00357     /// Function pointer to WaitForAllDevicesNotBusy
00358     void (*WaitForAllDevicesNotBusy)(void *handle);
00359     /// Function pointer to error_handler
00360     void (*error_handler)(void *handle, uint16_t error);
00361     /// Function pointer to BusyInterruptHandler
00362     void (*BusyInterruptHandler)(void *handle);
00363     /// Function pointer to CmdSoftStop
00364     void (*CmdSoftStop)(void *handle);
00365     /// Function pointer to StartStepClock
00366     void (*StartStepClock)(void *handle);
00367     /// Function pointer to StopStepClock
00368     void (*StopStepClock)(void *handle);
00369     /// Function pointer to set_dual_full_bridge_config
00370     void (*set_dual_full_bridge_config)(void *handle, uint8_t newConfig);
00371     /// Function pointer to get_bridge_input_pwm_freq
00372     uint32_t (*get_bridge_input_pwm_freq)(void *handle, uint8_t bridgeId);
00373     /// Function pointer to set_bridge_input_pwm_freq
00374     void (*set_bridge_input_pwm_freq)(void *handle, uint8_t bridgeId, uint32_t newFreq);
00375     /// Function pointer to set_stop_mode
00376     void (*set_stop_mode)(void *handle, motorStopMode_t stopMode);
00377     /// Function pointer to get_stop_mode
00378     motorStopMode_t (*get_stop_mode)(void *handle);
00379     /// Function pointer to set_decay_mode
00380     void (*set_decay_mode)(void *handle, motorDecayMode_t decayMode);
00381     /// Function pointer to get_decay_mode
00382     motorDecayMode_t (*get_decay_mode)(void *handle);
00383     /// Function pointer to get_step_mode
00384     motorStepMode_t (*get_step_mode)(void *handle);
00385     /// Function pointer to get_direction
00386     motorDir_t (*get_direction)(void *handle);
00387     /// Function pointer to ExitDeviceFromReset
00388     void (*ExitDeviceFromReset)(void *handle);
00389     /// Function pointer to set_torque
00390     void (*set_torque)(void *handle, motorTorqueMode_t torqueMode, uint8_t torqueValue);
00391     /// Function pointer to get_torque
00392     uint8_t (*get_torque)(void *handle, motorTorqueMode_t torqueMode);
00393     /// Function pointer to SetVRefFreq
00394     void (*SetRefFreq)(void *handle, uint32_t freq);
00395     /// Function pointer to GetVRefFreq
00396     uint32_t (*GetRefFreq)(void *handle);
00397     /// Function pointer to SetVRefDc
00398     void (*SetRefDc)(void *handle, uint8_t RefDc);
00399     /// Function pointer to GetVRefDc
00400     uint8_t (*GetRefDc)(void *handle);
00401     /// Function pointer to set_nb_devices
00402     bool (*set_nb_devices)(void *handle, uint8_t nbDevices);
00403     /// Function pointer to set a parameter
00404     bool (*set_analog_value)(void *handle, uint32_t param, float value);
00405     /// Function pointer to get a parameter
00406     float (*get_analog_value)(void *handle, uint32_t param);
00407 } MOTOR_VTable_t;
00408       
00409 /**
00410   
00411 * @}
00412   */ 
00413 
00414 /**
00415   * @}
00416   */ 
00417 
00418 /**
00419   * @}
00420   */
00421   
00422 /**
00423   * @}
00424   */ 
00425 
00426 /**
00427   * @}
00428   */ 
00429 
00430 #ifdef __cplusplus
00431 }
00432 #endif
00433 
00434 #endif /* __MOTOR_H */
00435 
00436 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
00437