Class representing a STSpin220 component. More...

#include <STSpin220.h>

Public Member Functions
	STSpin220 (PinName fault_and_enable_pin, PinName stby_reset_pin, PinName direction_mode4_pin, PinName mode1_pin, PinName mode2_pin, PinName stck_mode3_pin, PinName pwm_ref_pin, PinName monitor_pin=NC)
	Constructor.
virtual	~STSpin220 (void)
	Destructor.
virtual int	init (void *init=NULL)
	Public functions inherited from the Component Class.
virtual int	read_id (uint8_t *id=NULL)
	Getting the ID of the component.
virtual unsigned int	get_status (void)
	Public functions inherited from the StepperMotor Class.
virtual signed int	get_position (void)
	Getting the position.
virtual signed int	get_mark (void)
	Getting the marked position.
virtual unsigned int	get_speed (void)
	Getting the current speed in pps.
virtual unsigned int	get_max_speed (void)
	Getting the maximum speed in pps.
virtual unsigned int	get_min_speed (void)
	Getting the minimum speed in pps.
virtual unsigned int	get_acceleration (void)
	Getting the acceleration in pps^2.
virtual unsigned int	get_deceleration (void)
	Getting the deceleration in pps^2.
virtual direction_t	get_direction (void)
	Getting the direction of rotation.
virtual void	set_home (void)
	Setting the current position to be the home position.
virtual void	set_mark (void)
	Setting the current position to be the marked position.
virtual bool	set_max_speed (unsigned int speed)
	Setting the maximum speed in pps.
virtual bool	set_min_speed (unsigned int speed)
	Setting the minimum speed in pps.
virtual bool	set_acceleration (unsigned int acceleration)
	Setting the acceleration in pps^2.
virtual bool	set_deceleration (unsigned int deceleration)
	Setting the deceleration in pps^2.
virtual bool	set_step_mode (step_mode_t step_mode)
	Setting the Step Mode.
virtual void	go_to (signed int position)
	Going to a specified position.
virtual void	go_home (void)
	Going to the home position.
virtual void	go_mark (void)
	Going to the marked position.
virtual void	run (direction_t direction)
	Running the motor towards a specified direction.
virtual void	move (direction_t direction, unsigned int steps)
	Moving the motor towards a specified direction for a certain number of steps.
virtual void	soft_stop (void)
	Stopping the motor through an immediate deceleration up to zero speed.
virtual void	hard_stop (void)
	Stopping the motor through an immediate infinite deceleration.
virtual void	soft_hiz (void)
	Disabling the power bridge after performing a deceleration to zero.
virtual void	hard_hiz (void)
	Disabling the power bridge immediately.
virtual void	wait_while_active (void)
	Waiting while the motor is active.
virtual void	attach_error_handler (void(*fptr)(uint16_t error))
	Public functions NOT inherited.
virtual unsigned int	check_status_hw (void)
	Checks if the device is disabled or/and has an alarm flag set by reading the EN FAULT pin position.
virtual void	disable (void)
	Disabling the device.
virtual void	enable (void)
	Enabling the device.
virtual void	exit_device_from_standby (void)
	Exit STSpin220 device from standby (low power consumption) by setting STBY pin to high level and changing the motion state to INACTIVE.
virtual uint32_t	get_freq_vref_pwm (void)
	Set the frequency of the VREFA and VREFB PWM.
virtual unsigned int	get_fw_version (void)
	Getting the version of the firmware.
virtual step_mode_t	get_step_mode (void)
	Getting the motor step mode.
virtual motorStopMode_t	get_stop_mode (void)
	Getting the motor stop mode.
virtual uint8_t	get_torque (motorTorqueMode_t torqueMode)
	Get the motor torque.
virtual bool	get_torque_boost_enable (void)
	Get the torque boost feature status.
virtual uint16_t	get_torque_boost_threshold (void)
	Get the torque boost threshold.
virtual void	go_to (direction_t direction, signed int position)
	Going to a specified position with a specificied direction.
virtual void	put_device_in_standby (void)
	Put STSpin220 device in standby (low power consumption) by setting STBY pin to low level and changing the motion state to STANDBY.
virtual void	release_reset (void)
	Release the STSpin220 reset (Reset pin set to high level).
virtual void	reset (void)
	Reset the STSpin220 (Reset pin set to low level).
virtual void	set_direction (direction_t direction)
	Set the motor direction.
virtual void	set_freq_vref_pwm (uint32_t frequency)
	Set the frequency of the PWM for REF pin.
virtual void	set_stop_mode (motorStopMode_t stopMode)
	Set the motor stop mode.
virtual void	set_torque (motorTorqueMode_t torqueMode, uint8_t torqueValue)
	Set the motor torque.
virtual void	set_torque_boost_enable (bool enable)
	Enable or disable the motor torque boost feature.
virtual void	set_torque_boost_threshold (uint16_t speedThreshold)
	Set the torque boost threshold.
void	attach_flag_irq (void(*fptr)(void))
	Attaching an interrupt handler to the FLAG interrupt.
void	enable_flag_irq (void)
	Enabling the FLAG interrupt handling.
Protected Member Functions
status_t	STSpin220_Init (void *init)
	Start the STSpin220 library.
void	STSpin220_ApplyTorque (motorTorqueMode_t torqueMode)
	Apply the set torque.
void	STSpin220_Disable (void)
	Disable the power bridges (leave the output bridges HiZ)
void	STSpin220_ErrorHandler (uint16_t error)
	Error handler which calls the user callback (if defined)
void	STSpin220_Enable (void)
	Enable the power bridges.
void	STSpin220_ExitDeviceFromStandby (void)
	Exit STSpin220 device from standby (low power consumption)
uint16_t	STSpin220_GetAcceleration (void)
	Return the acceleration.
uint16_t	STSpin220_GetCurrentSpeed (void)
	Return the current speed.
uint16_t	STSpin220_GetDeceleration (void)
	Return the deceleration.
motorState_t	STSpin220_get_device_state (void)
	Return the device state.
motorDir_t	STSpin220_GetDirection (void)
	Get the motor current direction.
uint32_t	STSpin220_GetFwVersion (void)
	Return the FW version.
int32_t	STSpin220_GetMark (void)
	Get the mark position (32b signed)
uint16_t	STSpin220_GetMaxSpeed (void)
	Return the max speed.
uint16_t	STSpin220_GetMinSpeed (void)
	Get the min speed in step/s for full, half and wave modes in microsteps/s for microstep modes.
int32_t	STSpin220_GetPosition (void)
	Get the current position (32b signed)
motorStepMode_t	STSpin220_GetStepMode (void)
	Get the motor step mode.
motorStopMode_t	STSpin220_GetStopMode (void)
	Get the selected stop mode.
uint8_t	STSpin220_GetTorque (motorTorqueMode_t torqueMode)
	Get the torque.
bool	STSpin220_GetTorqueBoostEnable (void)
	Get the torque boost feature status.
uint16_t	STSpin220_GetTorqueBoostThreshold (void)
	Get the torque boost threshold.
void	STSpin220_GoHome (void)
	Go to the home position.
void	STSpin220_GoMark (void)
	Go to the Mark position.
void	STSpin220_GoTo (int32_t targetPosition)
	Request the motor to move to the specified position.
void	STSpin220_GoToDir (motorDir_t direction, int32_t targetPosition)
	move the motor to the absolute position
void	STSpin220_HardHiZ (void)
	Immediately stop the motor and disables the power bridges.
void	STSpin220_HardStop (void)
	Immediatly stop the motor and either set holding torque when stop mode is HOLD_MODE, or call STSpin220_HardHiz function when stop mode is HIZ_MODE, or call STSpin220_PutDeviceInStandby function when stop mode is STANDBY_MODE.
void	STSpin220_Move (motorDir_t direction, uint32_t stepCount)
	Moves the motor of the specified number of steps.
void	STSpin220_PutDeviceInStandby (void)
	Put STSpin220 device in standby (low power consumption)
void	STSpin220_Run (motorDir_t direction)
	Runs the motor.
bool	STSpin220_SetAcceleration (uint16_t newAcc)
	Changes the acceleration.
bool	STSpin220_SetDeceleration (uint16_t newDec)
	Changes the deceleration.
void	STSpin220_SetDirection (motorDir_t direction)
	Specifies the direction.
void	STSpin220_SetHome (void)
	Set current position to be the Home position (current position set to 0)
void	STSpin220_SetMark (void)
	Set current position to be the Mark position.
bool	STSpin220_SetMaxSpeed (uint16_t volatile newSpeed)
	Changes the max speed.
bool	STSpin220_SetMinSpeed (uint16_t volatile newSpeed)
	Changes the min speed.
bool	STSpin220_SetStepMode (motorStepMode_t stepMode)
	Set the stepping mode.
void	STSpin220_SetStopMode (motorStopMode_t stopMode)
	Select the mode to stop the motor.
bool	STSpin220_SoftStop (void)
	Stops the motor by using the device deceleration.
void	STSpin220_SetTorque (motorTorqueMode_t torqueMode, uint8_t torqueValue)
	Set the torque.
void	STSpin220_SetTorqueBoostEnable (bool enable)
	Enable or disable the torque boost feature.
void	STSpin220_SetTorqueBoostThreshold (uint16_t speedThreshold)
	Set the torque boost threshold.
uint32_t	STSpin220_VrefPwmGetFreq (void)
	Get the frequency of REF PWM.
void	STSpin220_VrefPwmSetFreq (uint32_t newFreq)
	Set the frequency of REF PWM.
void	STSpin220_WaitWhileActive (void)
	Locks until the device state becomes Inactive.
void	STSpin220_ApplySpeed (uint16_t newSpeed)
	Updates the current speed of the device.
void	STSpin220_ComputeSpeedProfile (uint32_t nbSteps)
	Computes the speed profile according to the number of steps to move.
void	STSpin220_SetDeviceParamsToGivenValues (STSpin220_init_t *pInitDevicePrm)
	Set the parameters of the device to values of the structure pointed by pInitDevicePrm.
void	STSpin220_SetDeviceParamsOtherValues (void)
	Set the parameters of the device whose values are not defined in stspin220_target_config.h.
void	STSpin220_SetDeviceParamsToPredefinedValues (void)
	Sets the parameters of the device to predefined values from stspin220_target_config.h.
bool	STSpin220_SetStepModeWithoutReset (motorStepMode_t stepMode)
	Set the stepping mode without reset.
void	STSpin220_StartMovement (void)
	Initialises the bridge parameters to start the movement and enable the power bridge.
void	STSpin220_StepClockHandler (void)
	Handles the device state machine at each pulse.
void	STSpin220_Board_Delay (uint32_t delay)
	Making the CPU wait.
void	STSpin220_Board_Disable (void)
	Disable the power bridges (leave the output bridges HiZ).
void	STSpin220_Board_DisableIrq (void)
	Disabling interrupts.
void	STSpin220_Board_Enable (void)
	Enable the power bridges (leave the output bridges HiZ).
void	STSpin220_Board_EnableIrq (void)
	Enabling interrupts.
void	STSpin220_Board_PwmRefSetDutyCycle (uint8_t dutyCycle)
	Set the duty cycle of the PwmOut used for the REF reference voltage generation and actually start the pwm if the duty cycle is not zero.
void	STSpin220_Board_PwmRefSetFreq (uint32_t newFreq)
	Set the frequency of the PwmOut used for the REF reference voltage generation.
void	STSpin220_Board_PwmRefStart (uint32_t frequency, motorTorqueMode_t torqueMode)
	Start the PwmOut for the REF pin.
void	STSpin220_Board_ReleaseReset (void)
	Exit the device from standby reset mode.
void	STSpin220_Board_Reset (void)
	Put the device in standby reset mode.
void	STSpin220_Board_SetDirectionGpio (motorDir_t dir)
	Set the DIR pin.
void	STSpin220_Board_SetFullStep (void)
	Select Full Step mode.
uint8_t	STSpin220_Board_SetModePins (uint8_t modePin1Level,\uint8_t modePin2Level,\uint8_t modePin3Level,\uint8_t modePin4Level)
	Select the STSpin220 mode1, mode2, mode3 and mode4 pins levels.
void	STSpin220_Board_StckMode3_Reset (void)
	Reset the STCK pin.
void	STSpin220_Board_StckMode3_Set (void)
	Set the STCK pin.
void	STSpin220_Board_TimStckInit (bool check)
	Initialises the step clock pin level.
void	STSpin220_Board_TimStckSetFreq (uint16_t newFreq)
	Setting the Stck Timeout delay and attaching a callback function to it.
uint8_t	STSpin220_Board_TimStckStop (volatile uint8_t *pToggleOdd)
	Stopping the Timeout.
void	STSpin220_Board_UnsetFullStep (void)
	Unselect Full Step mode.

Detailed Description

Class representing a STSpin220 component.

Definition at line 72 of file STSpin220.h.

Constructor & Destructor Documentation

STSpin220	(	PinName	fault_and_enable_pin,
		PinName	stby_reset_pin,
		PinName	direction_mode4_pin,
		PinName	mode1_pin,
		PinName	mode2_pin,
		PinName	stck_mode3_pin,
		PinName	pwm_ref_pin,
		PinName	monitor_pin = `NC`
	)

Constructor.

Parameters:

fault_and_enable_pin	pin name of the EN pin of the component.
stby_reset_pin	pin name of the STBY pin of the component.
direction_mode4_pin	pin name of the MODE4 pin of the component.
mode1_pin	pin name of the MODE1 pin of the component.
mode2_pin	pin name of the MODE2 pin of the component.
stck_mode3_pin	pin name of the MODE3 pin of the component.
pwm_ref_pin	pin name of the PWM connected to the REF pin of the component.
Monitor_pin	pin name for the step clock handler duration Monitoring.

Definition at line 87 of file STSpin220.h.

virtual ~STSpin220 ( void ) [virtual]

Destructor.

Definition at line 128 of file STSpin220.h.

Member Function Documentation

virtual void attach_error_handler ( void(*)(uint16_t error) fptr ) [virtual]

Public functions NOT inherited.

Attaching an error handler.

Parameters:

fptr	An error handler.

Return values:

None.

Definition at line 495 of file STSpin220.h.

void attach_flag_irq ( void(*)(void) fptr )

Attaching an interrupt handler to the FLAG interrupt.

Parameters:

fptr	An interrupt handler.

Return values:

None.

Definition at line 758 of file STSpin220.h.

virtual unsigned int check_status_hw ( void ) [virtual]

Checks if the device is disabled or/and has an alarm flag set by reading the EN FAULT pin position.

Parameters:

None.

Return values:

One	if the EN FAULT pin is low (the device is disabled or/and has an alarm flag set), otherwise zero.

Definition at line 507 of file STSpin220.h.

virtual void disable ( void ) [virtual]

Disabling the device.

Parameters:

None.

Return values:

None.

Definition at line 518 of file STSpin220.h.

virtual void enable ( void ) [virtual]

Enabling the device.

Parameters:

None.

Return values:

None.

Definition at line 528 of file STSpin220.h.

void enable_flag_irq ( void )

Enabling the FLAG interrupt handling.

Parameters:

None.

Return values:

None.

Definition at line 771 of file STSpin220.h.

virtual void exit_device_from_standby ( void ) [virtual]

Exit STSpin220 device from standby (low power consumption) by setting STBY pin to high level and changing the motion state to INACTIVE.

Parameters:

None.

Return values:

None.

Definition at line 540 of file STSpin220.h.

virtual unsigned int get_acceleration ( void ) [virtual]

Getting the acceleration in pps^2.

Parameters:

None.

Return values:

The	acceleration in pps^2.

Definition at line 247 of file STSpin220.h.

virtual unsigned int get_deceleration ( void ) [virtual]

Getting the deceleration in pps^2.

Parameters:

None.

Return values:

The	deceleration in pps^2.

Definition at line 257 of file STSpin220.h.

virtual direction_t get_direction ( void ) [virtual]

Getting the direction of rotation.

Parameters:

None.

Return values:

The	direction of rotation.

Definition at line 267 of file STSpin220.h.

virtual uint32_t get_freq_vref_pwm ( void ) [virtual]

Set the frequency of the VREFA and VREFB PWM.

Parameters:

frequency in Hz

Return values:

None.

Definition at line 550 of file STSpin220.h.

virtual unsigned int get_fw_version ( void ) [virtual]

Getting the version of the firmware.

Parameters:

None.

Return values:

The	version of the firmware.

Definition at line 560 of file STSpin220.h.

virtual signed int get_mark ( void ) [virtual]

Getting the marked position.

Parameters:

None.

Return values:

The	marked position.

Definition at line 207 of file STSpin220.h.

virtual unsigned int get_max_speed ( void ) [virtual]

Getting the maximum speed in pps.

Parameters:

None.

Return values:

The	maximum speed in pps.

Definition at line 227 of file STSpin220.h.

virtual unsigned int get_min_speed ( void ) [virtual]

Getting the minimum speed in pps.

Parameters:

None.

Return values:

The	minimum speed in pps.

Definition at line 237 of file STSpin220.h.

virtual signed int get_position ( void ) [virtual]

Getting the position.

Parameters:

None.

Return values:

The position.

Definition at line 197 of file STSpin220.h.

virtual unsigned int get_speed ( void ) [virtual]

Getting the current speed in pps.

Parameters:

None.

Return values:

The	current speed in pps.

Definition at line 217 of file STSpin220.h.

virtual unsigned int get_status ( void ) [virtual]

Public functions inherited from the StepperMotor Class.

Getting the value of the motor state .

Parameters:

None.

Return values:

The	motor state accoring to motorState_t in motor.h

Definition at line 187 of file STSpin220.h.

virtual step_mode_t get_step_mode ( void ) [virtual]

Getting the motor step mode.

Parameters:

None.

Return values:

The	motor step mode.

Definition at line 570 of file STSpin220.h.

virtual motorStopMode_t get_stop_mode ( void ) [virtual]

Getting the motor stop mode.

Parameters:

None.

Return values:

The	motor stop mode.

Definition at line 580 of file STSpin220.h.

virtual uint8_t get_torque ( motorTorqueMode_t torqueMode ) [virtual]

Get the motor torque.

Parameters:

torqueMode Torque mode as specified in enum motorTorqueMode_t

Return values:

the	torqueValue in % (from 0 to 100)

Definition at line 590 of file STSpin220.h.

virtual bool get_torque_boost_enable ( void ) [virtual]

Get the torque boost feature status.

Parameters:

None.

Return values:

true	if enabled, false if disabled

Definition at line 600 of file STSpin220.h.

virtual uint16_t get_torque_boost_threshold ( void ) [virtual]

Get the torque boost threshold.

Return values:

The	torque boost threshold above which the step mode is changed to full step

Definition at line 610 of file STSpin220.h.

virtual void go_home ( void ) [virtual]

Going to the home position.

Parameters:

None.

Return values:

None.

Definition at line 399 of file STSpin220.h.

virtual void go_mark ( void ) [virtual]

Going to the marked position.

Parameters:

None.

Return values:

None.

Definition at line 409 of file STSpin220.h.

virtual void go_to ( signed int position ) [virtual]

Going to a specified position.

Parameters:

position The desired position.

Return values:

None.

Definition at line 389 of file STSpin220.h.

virtual void go_to	(	direction_t	direction,
		signed int	position
	)		`[virtual]`

Going to a specified position with a specificied direction.

Parameters:

direction	The desired direction.
position	The desired position.

Return values:

None.

Definition at line 621 of file STSpin220.h.

virtual void hard_hiz ( void ) [virtual]

Disabling the power bridge immediately.

Parameters:

None.

Return values:

None.

Definition at line 471 of file STSpin220.h.

virtual void hard_stop ( void ) [virtual]

Stopping the motor through an immediate infinite deceleration.

Parameters:

None.

Return values:

None.

Definition at line 450 of file STSpin220.h.

virtual int init ( void * init = NULL ) [virtual]

Public functions inherited from the Component Class.

Initialize the component.

Parameters:

init	Pointer to device specific initalization structure.

Return values:

0	in case of success, an error code otherwise.

Definition at line 163 of file STSpin220.h.

virtual void move	(	direction_t	direction,
		unsigned int	steps
	)		`[virtual]`

Moving the motor towards a specified direction for a certain number of steps.

Parameters:

direction	The direction of rotation.
steps	The desired number of steps.

Return values:

None.

Definition at line 430 of file STSpin220.h.

virtual void put_device_in_standby ( void ) [virtual]

Put STSpin220 device in standby (low power consumption) by setting STBY pin to low level and changing the motion state to STANDBY.

Parameters:

None.

Return values:

None.

Definition at line 633 of file STSpin220.h.

virtual int read_id ( uint8_t * id = NULL ) [virtual]

Getting the ID of the component.

Parameters:

id	Pointer to an allocated variable to store the ID into.

Return values:

0	in case of success, an error code otherwise.

Definition at line 173 of file STSpin220.h.

virtual void release_reset ( void ) [virtual]

Release the STSpin220 reset (Reset pin set to high level).

Parameters:

None.

Return values:

None.

Definition at line 643 of file STSpin220.h.

virtual void reset ( void ) [virtual]

Reset the STSpin220 (Reset pin set to low level).

Parameters:

None.

Return values:

None.

Definition at line 653 of file STSpin220.h.

virtual void run ( direction_t direction ) [virtual]

Running the motor towards a specified direction.

Parameters:

direction The direction of rotation.

Return values:

None.

Definition at line 419 of file STSpin220.h.

virtual bool set_acceleration ( unsigned int acceleration ) [virtual]

Setting the acceleration in pps^2.

Parameters:

acceleration The acceleration in pps/s^2.

Return values:

true	in case of success, "false" otherwise.

Definition at line 338 of file STSpin220.h.

virtual bool set_deceleration ( unsigned int deceleration ) [virtual]

Setting the deceleration in pps^2.

Parameters:

deceleration The deceleration in pps^2.

Return values:

true	in case of success, "false" otherwise.

Definition at line 355 of file STSpin220.h.

virtual void set_direction ( direction_t direction ) [virtual]

Set the motor direction.

Parameters:

direction The desired direction.

Return values:

None.

Definition at line 663 of file STSpin220.h.

virtual void set_freq_vref_pwm ( uint32_t frequency ) [virtual]

Set the frequency of the PWM for REF pin.

Parameters:

frequency in Hz

Return values:

None.

Definition at line 673 of file STSpin220.h.

virtual void set_home ( void ) [virtual]

Setting the current position to be the home position.

Parameters:

None.

Return values:

None.

Definition at line 284 of file STSpin220.h.

virtual void set_mark ( void ) [virtual]

Setting the current position to be the marked position.

Parameters:

None.

Return values:

None.

Definition at line 294 of file STSpin220.h.

virtual bool set_max_speed ( unsigned int speed ) [virtual]

Setting the maximum speed in pps.

Parameters:

speed The maximum speed in pps.

Return values:

true	in case of success, "false" otherwise.

Definition at line 304 of file STSpin220.h.

virtual bool set_min_speed ( unsigned int speed ) [virtual]

Setting the minimum speed in pps.

Parameters:

speed The minimum speed in pps.

Return values:

true	in case of success, "false" otherwise.

Definition at line 321 of file STSpin220.h.

virtual bool set_step_mode ( step_mode_t step_mode ) [virtual]

Setting the Step Mode.

Parameters:

step_mode The Step Mode.

Return values:

true	in case of success, "false" otherwise.

Note:: step_mode can be one of the following: + STEP_MODE_FULL + STEP_MODE_WAVE + STEP_MODE_HALF + STEP_MODE_1_4 + STEP_MODE_1_8 + STEP_MODE_1_16

Definition at line 379 of file STSpin220.h.

virtual void set_stop_mode ( motorStopMode_t stopMode ) [virtual]

Set the motor stop mode.

Parameters:

stopMode The desired stop mode (HOLD_MODE, HIZ_MODE or STANDBY_MODE).

Return values:

None.

Definition at line 684 of file STSpin220.h.

virtual void set_torque	(	motorTorqueMode_t	torqueMode,
		uint8_t	torqueValue
	)		`[virtual]`

Set the motor torque.

Parameters:

torqueMode	Torque mode as specified in enum motorTorqueMode_t
torqueValue	in % (from 0 to 100)

Return values:

None.

Definition at line 695 of file STSpin220.h.

virtual void set_torque_boost_enable ( bool enable ) [virtual]

Enable or disable the motor torque boost feature.

Parameters:

enable enable true to enable torque boost, false to disable

Return values:

None.

Definition at line 705 of file STSpin220.h.

virtual void set_torque_boost_threshold ( uint16_t speedThreshold ) [virtual]

Set the torque boost threshold.

Parameters:

[in] speedThreshold speed threshold above which the step mode is changed to full step

Return values:

None.

Definition at line 716 of file STSpin220.h.

virtual void soft_hiz ( void ) [virtual]

Disabling the power bridge after performing a deceleration to zero.

Parameters:

None.

Return values:

None.

Definition at line 460 of file STSpin220.h.

virtual void soft_stop ( void ) [virtual]

Stopping the motor through an immediate deceleration up to zero speed.

Parameters:

None.

Return values:

None.

Definition at line 440 of file STSpin220.h.

void STSpin220_ApplySpeed ( uint16_t newSpeed ) [protected]

Updates the current speed of the device.

Parameters:

[in] newSpeed in pps

Return values:

None

Definition at line 981 of file STSpin220.cpp.

void STSpin220_ApplyTorque ( motorTorqueMode_t torqueMode ) [protected]

Apply the set torque.

Parameters:

[in] torqueMode torque mode

Return values:

None

Note:

Definition at line 102 of file STSpin220.cpp.

void STSpin220_Board_Delay ( uint32_t delay ) [protected]

Making the CPU wait.

Parameters:

None.

Return values:

None.

Definition at line 865 of file STSpin220.h.

void STSpin220_Board_Disable ( void ) [protected]

Disable the power bridges (leave the output bridges HiZ).

Parameters:

None.

Return values:

None.

Definition at line 875 of file STSpin220.h.

void STSpin220_Board_DisableIrq ( void ) [protected]

Disabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 887 of file STSpin220.h.

void STSpin220_Board_Enable ( void ) [protected]

Enable the power bridges (leave the output bridges HiZ).

Parameters:

None.

Return values:

None.

Definition at line 897 of file STSpin220.h.

void STSpin220_Board_EnableIrq ( void ) [protected]

Enabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 912 of file STSpin220.h.

void STSpin220_Board_PwmRefSetDutyCycle ( uint8_t dutyCycle ) [protected]

Set the duty cycle of the PwmOut used for the REF reference voltage generation and actually start the pwm if the duty cycle is not zero.

Parameters:

[in] dutyCycle 0 - 100%

Return values:

None

Definition at line 924 of file STSpin220.h.

void STSpin220_Board_PwmRefSetFreq ( uint32_t newFreq ) [protected]

Set the frequency of the PwmOut used for the REF reference voltage generation.

Parameters:

[in] newFreq in Hz.

Return values:

None.

Definition at line 935 of file STSpin220.h.

void STSpin220_Board_PwmRefStart	(	uint32_t	frequency,
		motorTorqueMode_t	torqueMode
	)		`[protected]`

Start the PwmOut for the REF pin.

Parameters:

[in]	frequency	frequency of the PwmOut used to generate the REF reference voltage for the bridges.
[in]	torqueMode	Torque mode as specified in enum motorTorqueMode_t

Return values:

None.

Definition at line 947 of file STSpin220.h.

void STSpin220_Board_ReleaseReset ( void ) [protected]

Exit the device from standby reset mode.

Parameters:

None.

Return values:

None.

Definition at line 961 of file STSpin220.h.

void STSpin220_Board_Reset ( void ) [protected]

Put the device in standby reset mode.

Parameters:

None.

Return values:

None.

Definition at line 971 of file STSpin220.h.

void STSpin220_Board_SetDirectionGpio ( motorDir_t dir ) [protected]

Set the DIR pin.

Parameters:

dir	motor direction FORWARD or BACKWARD.

Return values:

None.

Definition at line 981 of file STSpin220.h.

void STSpin220_Board_SetFullStep ( void ) [protected]

Select Full Step mode.

Parameters:

None.

Return values:

None

Definition at line 998 of file STSpin220.h.

uint8_t STSpin220_Board_SetModePins	(	uint8_t	modePin1Level,
		\uint8_t	modePin2Level,
		\uint8_t	modePin3Level,
		\uint8_t	modePin4Level
	)		`[protected]`

Select the STSpin220 mode1, mode2, mode3 and mode4 pins levels.

Parameters:

[in]	modePin1Level	level of the mode1 gpio (0 low, 1+ high)
[in]	modePin2Level	level of the mode2 gpio (0 low, 1+ high)
[in]	modePin3Level	level of the mode3 gpio (0 low, 1+ high)
[in]	modePin4Level	level of the mode4 gpio (0 low, 1+ high)

Return values:

1

Definition at line 1012 of file STSpin220.h.

void STSpin220_Board_StckMode3_Reset ( void ) [protected]

Reset the STCK pin.

Parameters:

None.

Return values:

None.

Definition at line 1029 of file STSpin220.h.

void STSpin220_Board_StckMode3_Set ( void ) [protected]

Set the STCK pin.

Parameters:

None.

Return values:

None.

Definition at line 1039 of file STSpin220.h.

void STSpin220_Board_TimStckInit ( bool check ) [protected]

Initialises the step clock pin level.

Parameters:

None.

Return values:

None

Definition at line 1049 of file STSpin220.h.

void STSpin220_Board_TimStckSetFreq ( uint16_t newFreq ) [protected]

Setting the Stck Timeout delay and attaching a callback function to it.

Parameters:

frequency The frequency corresponding to the delay.

Return values:

None.

Definition at line 1074 of file STSpin220.h.

uint8_t STSpin220_Board_TimStckStop ( volatile uint8_t * pToggleOdd ) [protected]

Stopping the Timeout.

Parameters:

None.

Return values:

None.

Definition at line 1105 of file STSpin220.h.

void STSpin220_Board_UnsetFullStep ( void ) [protected]

Unselect Full Step mode.

Parameters:

None.

Return values:

None

Definition at line 1128 of file STSpin220.h.

void STSpin220_ComputeSpeedProfile ( uint32_t nbSteps ) [protected]

Computes the speed profile according to the number of steps to move.

Parameters:

[in] nbSteps number of steps to perform

Return values:

None

Note:: Using the acceleration and deceleration of the device, this function determines the duration in steps of the acceleration, steady and deceleration phases. If the total number of steps to perform is big enough, a trapezoidal move is performed (i.e. there is a steady phase where the motor runs at the maximum speed. Else, a triangular move is performed (no steady phase: the maximum speed is never reached.

Definition at line 1059 of file STSpin220.cpp.

void STSpin220_Disable ( void ) [protected]

Disable the power bridges (leave the output bridges HiZ)

Return values:

None

Definition at line 133 of file STSpin220.cpp.

void STSpin220_Enable ( void ) [protected]

Enable the power bridges.

Return values:

None

Definition at line 142 of file STSpin220.cpp.

void STSpin220_ErrorHandler ( uint16_t error ) [protected]

Error handler which calls the user callback (if defined)

Parameters:

[in] error Number of the error

Return values:

None

Definition at line 152 of file STSpin220.cpp.

void STSpin220_ExitDeviceFromStandby ( void ) [protected]

Exit STSpin220 device from standby (low power consumption)

Return values:

None

Definition at line 171 of file STSpin220.cpp.

motorState_t STSpin220_get_device_state ( void ) [protected]

Return the device state.

Return values:

State (ACCELERATING, DECELERATING, STEADY or INACTIVE)

Definition at line 228 of file STSpin220.cpp.

uint16_t STSpin220_GetAcceleration ( void ) [protected]

Return the acceleration.

Return values:

Acceleration in pps^2

Definition at line 201 of file STSpin220.cpp.

uint16_t STSpin220_GetCurrentSpeed ( void ) [protected]

Return the current speed.

Return values:

Speed in pps

Definition at line 210 of file STSpin220.cpp.

uint16_t STSpin220_GetDeceleration ( void ) [protected]

Return the deceleration.

Return values:

Deceleration in pps^2

Definition at line 219 of file STSpin220.cpp.

motorDir_t STSpin220_GetDirection ( void ) [protected]

Get the motor current direction.

Return values:

direction

Definition at line 237 of file STSpin220.cpp.

uint32_t STSpin220_GetFwVersion ( void ) [protected]

Return the FW version.

Return values:

FW version

Definition at line 246 of file STSpin220.cpp.

int32_t STSpin220_GetMark ( void ) [protected]

Get the mark position (32b signed)

Return values:

mark position

Definition at line 255 of file STSpin220.cpp.

uint16_t STSpin220_GetMaxSpeed ( void ) [protected]

Return the max speed.

Return values:

maxSpeed in pps

Definition at line 264 of file STSpin220.cpp.

uint16_t STSpin220_GetMinSpeed ( void ) [protected]

Get the min speed in step/s for full, half and wave modes in microsteps/s for microstep modes.

Return values:

return the min speed in step/s or microstep/s

Note:

Definition at line 276 of file STSpin220.cpp.

int32_t STSpin220_GetPosition ( void ) [protected]

Get the current position (32b signed)

Return values:

current position value

Definition at line 285 of file STSpin220.cpp.

motorStepMode_t STSpin220_GetStepMode ( void ) [protected]

Get the motor step mode.

Return values:

step mode

Definition at line 294 of file STSpin220.cpp.

motorStopMode_t STSpin220_GetStopMode ( void ) [protected]

Get the selected stop mode.

Return values:

the	selected stop mode

Definition at line 303 of file STSpin220.cpp.

uint8_t STSpin220_GetTorque ( motorTorqueMode_t torqueMode ) [protected]

Get the torque.

Parameters:

[in] torqueMode torque mode

Return values:

the	torqueValue in % (from 0 to 100)

Note:

Definition at line 314 of file STSpin220.cpp.

bool STSpin220_GetTorqueBoostEnable ( void ) [protected]

Get the torque boost feature status.

Return values:

TRUE	if enabled, FALSE if disabled

Definition at line 344 of file STSpin220.cpp.

uint16_t STSpin220_GetTorqueBoostThreshold ( void ) [protected]

Get the torque boost threshold.

Return values:

The	torque boost threshold above which the step mode is changed to full step

Definition at line 354 of file STSpin220.cpp.

void STSpin220_GoHome ( void ) [protected]

Go to the home position.

Return values:

None

Definition at line 363 of file STSpin220.cpp.

void STSpin220_GoMark ( void ) [protected]

Go to the Mark position.

Return values:

None

Definition at line 372 of file STSpin220.cpp.

void STSpin220_GoTo ( int32_t targetPosition ) [protected]

Request the motor to move to the specified position.

Parameters:

[in] targetPosition absolute position in steps

Return values:

None

Note:: The position is at the resolution corresponding to the selected step mode. STEP_MODE_FULL : step STEP_MODE_HALF : 1/2 step STEP_MODE_1_4 : 1/4 step STEP_MODE_1_8 : 1/8 step STEP_MODE_1_16 : 1/16 step STEP_MODE_1_32 : 1/32 step STEP_MODE_1_64 : 1/64 step STEP_MODE_1_128 : 1/128 step STEP_MODE_1_256 : 1/256 step

Definition at line 393 of file STSpin220.cpp.

void STSpin220_GoToDir	(	motorDir_t	direction,
		int32_t	targetPosition
	)		`[protected]`

move the motor to the absolute position

Parameters:

[in]	direction	FORWARD or BACKWARD
[in]	targetPosition	32 bit signed value position

Return values:

None

Note:: The position is at the resolution corresponding to the selected step mode. STEP_MODE_FULL : step STEP_MODE_HALF : 1/2 step STEP_MODE_1_4 : 1/4 step STEP_MODE_1_8 : 1/8 step STEP_MODE_1_16 : 1/16 step STEP_MODE_1_32 : 1/32 step STEP_MODE_1_64 : 1/64 step STEP_MODE_1_128 : 1/128 step STEP_MODE_1_256 : 1/256 step

Definition at line 473 of file STSpin220.cpp.

void STSpin220_HardHiZ ( void ) [protected]

Immediately stop the motor and disables the power bridges.

Return values:

None

Definition at line 536 of file STSpin220.cpp.

void STSpin220_HardStop ( void ) [protected]

Immediatly stop the motor and either set holding torque when stop mode is HOLD_MODE, or call STSpin220_HardHiz function when stop mode is HIZ_MODE, or call STSpin220_PutDeviceInStandby function when stop mode is STANDBY_MODE.

Return values:

None

Definition at line 576 of file STSpin220.cpp.

status_t STSpin220_Init ( void * pInit ) [protected]

Start the STSpin220 library.

Parameters:

[in] pInit pointer to the initialization data

Return values:

COMPONENT_OK in case of success.

Definition at line 54 of file STSpin220.cpp.

void STSpin220_Move	(	motorDir_t	direction,
		uint32_t	stepCount
	)		`[protected]`

Moves the motor of the specified number of steps.

Parameters:

[in]	direction	FORWARD or BACKWARD
[in]	stepCount	Number of steps to perform

Return values:

None

Definition at line 619 of file STSpin220.cpp.

void STSpin220_PutDeviceInStandby ( void ) [protected]

Put STSpin220 device in standby (low power consumption)

Return values:

None

Definition at line 654 of file STSpin220.cpp.

void STSpin220_Run ( motorDir_t direction ) [protected]

Runs the motor.

It will accelerate from the min speed up to the max speed by using the device acceleration.

Parameters:

[in] direction FORWARD or BACKWARD

Return values:

None

Definition at line 671 of file STSpin220.cpp.

bool STSpin220_SetAcceleration ( uint16_t newAcc ) [protected]

Changes the acceleration.

Parameters:

[in] newAcc New acceleration to apply in pps^2

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed if the device is executing a MOVE or GOTO command (but it can be used during a RUN command)

Definition at line 701 of file STSpin220.cpp.

bool STSpin220_SetDeceleration ( uint16_t newDec ) [protected]

Changes the deceleration.

Parameters:

[in] newDec New deceleration to apply in pps^2

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed if the device is executing a MOVE or GOTO command (but it can be used during a RUN command)

Definition at line 721 of file STSpin220.cpp.

void STSpin220_SetDeviceParamsOtherValues ( void ) [protected]

Set the parameters of the device whose values are not defined in stspin220_target_config.h.

Return values:

None

Definition at line 1115 of file STSpin220.cpp.

void STSpin220_SetDeviceParamsToGivenValues ( STSpin220_init_t * pInitDevicePrm ) [protected]

Set the parameters of the device to values of the structure pointed by pInitDevicePrm.

Set GPIO according to these values.

Parameters:

pInitDevicePrm pointer onto the structure containing values to initialize the device parameters.

Return values:

None

Definition at line 1146 of file STSpin220.cpp.

void STSpin220_SetDeviceParamsToPredefinedValues ( void ) [protected]

Sets the parameters of the device to predefined values from stspin220_target_config.h.

Return values:

None

Definition at line 1188 of file STSpin220.cpp.

void STSpin220_SetDirection ( motorDir_t dir ) [protected]

Specifies the direction.

Parameters:

[in] dir FORWARD or BACKWARD

Note:: The direction change is applied if the device is in INACTIVE or STANDBY state or if the device is executing a run command

Return values:

None

Definition at line 742 of file STSpin220.cpp.

void STSpin220_SetHome ( void ) [protected]

Set current position to be the Home position (current position set to 0)

Return values:

None

Definition at line 765 of file STSpin220.cpp.

void STSpin220_SetMark ( void ) [protected]

Set current position to be the Mark position.

Return values:

None

Definition at line 774 of file STSpin220.cpp.

bool STSpin220_SetMaxSpeed ( uint16_t volatile newSpeed ) [protected]

Changes the max speed.

Parameters:

[in] newMaxSpeed New max speed to apply in pps

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command).

Definition at line 786 of file STSpin220.cpp.

bool STSpin220_SetMinSpeed ( uint16_t volatile newSpeed ) [protected]

Changes the min speed.

Parameters:

[in] newMinSpeed New min speed to apply in pps

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command).

Definition at line 810 of file STSpin220.cpp.

bool STSpin220_SetStepMode ( motorStepMode_t stepMode ) [protected]

Set the stepping mode.

Parameters:

[in] stepMode from full step to 1/256 microstep as specified in enum motorStepMode_t

Return values:

true	if the command is successfully executed, else false

Definition at line 831 of file STSpin220.cpp.

bool STSpin220_SetStepModeWithoutReset ( motorStepMode_t stepMode ) [protected]

Set the stepping mode without reset.

Parameters:

[in] stepMode from full step to 1/256 microstep as specified in enum motorStepMode_t

Return values:

true	if the command is successfully executed, else false

Definition at line 1231 of file STSpin220.cpp.

void STSpin220_SetStopMode ( motorStopMode_t stopMode ) [protected]

Select the mode to stop the motor.

Parameters:

[in] stopMode HOLD_MODE to let power bridge enabled

Return values:

None

Definition at line 859 of file STSpin220.cpp.

void STSpin220_SetTorque	(	motorTorqueMode_t	torqueMode,
		uint8_t	torqueValue
	)		`[protected]`

Set the torque.

Parameters:

[in]	torqueMode	Torque mode as specified in enum motorTorqueMode_t
[in]	torqueValue	in % (from 0 to 100)

Return values:

None

Note:

Definition at line 871 of file STSpin220.cpp.

void STSpin220_SetTorqueBoostEnable ( bool enable ) [protected]

Enable or disable the torque boost feature.

Parameters:

[in] enable true to enable torque boost, false to disable

Return values:

None

Definition at line 906 of file STSpin220.cpp.

void STSpin220_SetTorqueBoostThreshold ( uint16_t speedThreshold ) [protected]

Set the torque boost threshold.

Parameters:

[in] speedThreshold speed threshold above which the step mode is changed to full step

Return values:

None

Definition at line 917 of file STSpin220.cpp.

bool STSpin220_SoftStop ( void ) [protected]

Stops the motor by using the device deceleration.

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed if the device is in INACTIVE, STANDBYTOINACTIVE or STANDBY state.

Definition at line 928 of file STSpin220.cpp.

void STSpin220_StartMovement ( void ) [protected]

Initialises the bridge parameters to start the movement and enable the power bridge.

Return values:

None

Definition at line 1295 of file STSpin220.cpp.

void STSpin220_StepClockHandler ( void ) [protected]

Handles the device state machine at each pulse.

Return values:

None

Note:: Must only be called by the timer ISR

Definition at line 1323 of file STSpin220.cpp.

uint32_t STSpin220_VrefPwmGetFreq ( void ) [protected]

Get the frequency of REF PWM.

Return values:

the	frequency of REF PWM in Hz

Note:

Definition at line 945 of file STSpin220.cpp.

void STSpin220_VrefPwmSetFreq ( uint32_t newFreq ) [protected]

Set the frequency of REF PWM.

Parameters:

[in] newFreq in Hz

Return values:

None

Note:

Definition at line 956 of file STSpin220.cpp.

void STSpin220_WaitWhileActive ( void ) [protected]

Locks until the device state becomes Inactive.

Return values:

None

Definition at line 966 of file STSpin220.cpp.

virtual void wait_while_active ( void ) [virtual]

Waiting while the motor is active.

Parameters:

None.

Return values:

None.

Definition at line 481 of file STSpin220.h.

Type:	Library
Created:	29 Jul 2016
Imports:	69
Forks:	0
Commits:	6
Dependents:	1
Dependencies:	1
Followers:	406

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STSpin220 Class Reference

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