Motion core library implements the Ingenia Motion Control Bus protocol.

• Develop for embedded devices, from low performance MCU to powerful MPU
• Developed in C language
• Designed to be integrated into RTOS

The next elements are needed on the platform where this code is going to be added:

• SPI interface
• 1 General purpose input with interrupt capabilities
• 2 General purpose outputs

• This repository follows a modified version of gitflow
• Code style

This repository implements higher layers of the motion control bus. Users has to implement the required Hardware Abstraction Layer (HAL) / Board Support Layer (BSP) or any low layer drivers dependent on the platform.

In order to make the developer life easier, the next facilities has been added into the code:

1. User application code just need to include mcb.h file and use the included API
2. HAL adaptation can be done modifying the file mcb_usr.c (not recommended)
3. HAL adaptation can be done directly on the user code (recommended)
4. mcb_usr.h includes all the functions that should be implemented on the user low layers
5. Description of each function is added inside mcb_usr.h

The recommended procedure to implement the HAL is:

1. Include into the HAL file the mcb_usr.h header

2. Implement the function from the mcb_usr.h

    ******************************************************************************
      File Name  : SPI.c
    
      Description: This file provides code for the configuration
       of the SPI instances.
    ******************************************************************************
    
    include "mcb_usr.h"
    
    
    ...
   
   
    void 
    Mcb_IntfSPITransfer(uint16_t u16Id, uint16_t* pu16In, uint16_t* pu16Out, uint16_t u16Sz)
    {
    	switch (u16Id)
    	{
    		case 0:
    			HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
    			HAL_SPI_TransmitReceive_DMA(&hspi1, (uint8_t*) pu16In, (uint8_t*) pu16Out, u16Sz);
    			break;
    		default:
    			/* Nothing */
    			break;
    	}
    }
   

This repository is maintained by Ingenia FW team.