Robotique FIP
Speed profile working
Fork of
Easyspin_lib
by 
Julien Tiron
Diff: easyspin.cpp
- Revision:
- 0:cba942f8172a
- Child:
- 1:9efe863db15e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/easyspin.cpp Tue Jul 07 20:35:36 2015 +0000
@@ -0,0 +1,1642 @@
+/******************************************************//**
+ * @file easyspin.cpp
+ * @version V1.0
+ * @date June 29, 2015
+ * @brief easyspin library for mbed
+ *
+ * This file is free software; you can redistribute it and/or modify
+ * it under the terms of either the GNU General Public License version 2
+ * or the GNU Lesser General Public License version 2.1, both as
+ * published by the Free Software Foundation.
+ **********************************************************/
+
+#include "easyspin.h"
+#include "mbed.h"
+
+#ifdef _DEBUG_Easyspin
+/// Log buffer
+char EasyspinStrOut[DEBUG_BUFFER_SIZE];
+#endif
+
+const uint16_t Easyspin::prescalerArrayTimer0_1[PRESCALER_ARRAY_TIMER0_1_SIZE] = { 0, 1, 8, 64, 256, 1024};
+const uint16_t Easyspin::prescalerArrayTimer2[PRESCALER_ARRAY_TIMER2_SIZE] = {0, 1, 8, 32, 64, 128, 256, 1024};
+volatile void (*Easyspin::flagInterruptCallback)(void);
+volatile uint8_t Easyspin::numberOfShields;
+uint8_t Easyspin::spiTxBursts[Easyspin_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_SHIELDS];
+uint8_t Easyspin::spiRxBursts[Easyspin_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_SHIELDS];
+volatile bool Easyspin::spiPreemtionByIsr = false;
+volatile bool Easyspin::isrFlag = false;
+volatile class Easyspin* Easyspin::instancePtr = NULL;
+
+/******************************************************//**
+ * @brief Constructor
+ * @param None
+ * @retval None
+ **********************************************************/
+Easyspin::Easyspin():reset(Easyspin_Reset_Pin), dir1(Easyspin_DIR_1_Pin), dir2(Easyspin_DIR_2_Pin),
+ dir3(Easyspin_DIR_3_Pin), CS(Easyspin_CS_Pin), flag(Easyspin_FLAG_Pin), pwm1(Easyspin_PWM_1_Pin),
+ pwm2(Easyspin_PWM_2_Pin), pwm3(Easyspin_PWM_3_Pin), spi(Easyspin_MOSI_Pin, Easyspin_MISO_Pin, Easyspin_SCK_Pin)
+{
+ uint8_t i;
+ for (i = 0; i < MAX_NUMBER_OF_SHIELDS; i++)
+ {
+ shieldPrm[i].motionState = INACTIVE;
+ shieldPrm[i].commandExecuted = NO_CMD;
+ shieldPrm[i].stepsToTake = MAX_STEPS;
+ }
+ instancePtr = this;
+}
+
+/******************************************************//**
+ * @brief Attaches a user callback to the flag Interrupt
+ * The call back will be then called each time the status
+ * flag pin will be pulled down due to the occurrence of
+ * a programmed alarms ( OCD, thermal pre-warning or
+ * shutdown, UVLO, wrong command, non-performable command)
+ * @param[in] callback Name of the callback to attach
+ * to the Flag Interrupt
+ * @retval None
+ **********************************************************/
+void Easyspin::AttachFlagInterrupt(void (*callback)(void))
+{
+ flagInterruptCallback = (volatile void (*)())callback;
+}
+
+/******************************************************//**
+ * @brief Starts the Easyspin library
+ * @param[in] nbShields Number of Easyspin shields to use (from 1 to 3)
+ * @retval None
+ **********************************************************/
+void Easyspin::Begin(uint8_t nbShields)
+{
+ numberOfShields = nbShields;
+
+ // start the SPI library:
+ //SPI.begin();
+ //SPI.setBitOrder(MSBFIRST);
+ spi.format(8, 3);
+ //SPI.setClockDivider(SPI_CLOCK_DIV4);
+
+ // flag pin
+ //pinMode(Easyspin_FLAG_Pin, INPUT_PULLUP);
+ flag.fall(&FlagInterruptHandler);
+
+ //reset pin
+ //pinMode(Easyspin_Reset_Pin, OUTPUT);
+
+ switch (nbShields)
+ {
+ case 3:
+ //pinMode(Easyspin_DIR_3_Pin, OUTPUT);
+ //pinMode(Easyspin_PWM_3_Pin, OUTPUT);
+ PwmInit(2);
+ case 2:
+ //pinMode(Easyspin_DIR_2_Pin, OUTPUT);
+ //pinMode(Easyspin_PWM_2_Pin, OUTPUT);
+ PwmInit(1);
+ case 1:
+ //pinMode(Easyspin_DIR_1_Pin, OUTPUT);
+ //pinMode(Easyspin_PWM_1_Pin, OUTPUT);
+ PwmInit(0);
+ default:
+ ;
+ }
+
+ /* Standby-reset deactivation */
+ ReleaseReset();
+
+ /* Set all registers and context variables to the predefined values from Easyspin_target_config.h */
+ SetShieldParamsToPredefinedValues();
+
+ /* Disable Easyspin powerstage */
+ for (uint32_t i = 0; i < nbShields; i++)
+ {
+ CmdDisable(i);
+ /* Get Status to clear flags after start up */
+ CmdGetStatus(i);
+ }
+}
+
+/******************************************************//**
+ * @brief Returns the acceleration of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval Acceleration in pps^2
+ **********************************************************/
+uint16_t Easyspin::GetAcceleration(uint8_t shieldId)
+{
+ return (shieldPrm[shieldId].acceleration);
+}
+
+/******************************************************//**
+ * @brief Returns the current speed of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval Speed in pps
+ **********************************************************/
+uint16_t Easyspin::GetCurrentSpeed(uint8_t shieldId)
+{
+ return shieldPrm[shieldId].speed;
+}
+
+/******************************************************//**
+ * @brief Returns the deceleration of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval Deceleration in pps^2
+ **********************************************************/
+uint16_t Easyspin::GetDeceleration(uint8_t shieldId)
+{
+ return (shieldPrm[shieldId].deceleration);
+}
+
+/******************************************************//**
+ * @brief Returns the FW version of the library
+ * @param None
+ * @retval Easyspin_FW_VERSION
+ **********************************************************/
+uint8_t Easyspin::GetFwVersion(void)
+{
+ return (Easyspin_FW_VERSION);
+}
+
+/******************************************************//**
+ * @brief Returns the mark position of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval Mark register value converted in a 32b signed integer
+ **********************************************************/
+int32_t Easyspin::GetMark(uint8_t shieldId)
+{
+ return ConvertPosition(CmdGetParam(shieldId,Easyspin_MARK));
+}
+
+/******************************************************//**
+ * @brief Returns the max speed of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval maxSpeed in pps
+ **********************************************************/
+uint16_t Easyspin::GetMaxSpeed(uint8_t shieldId)
+{
+ return (shieldPrm[shieldId].maxSpeed);
+}
+
+/******************************************************//**
+ * @brief Returns the min speed of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval minSpeed in pps
+ **********************************************************/
+uint16_t Easyspin::GetMinSpeed(uint8_t shieldId)
+{
+ return (shieldPrm[shieldId].minSpeed);
+}
+
+/******************************************************//**
+ * @brief Returns the ABS_POSITION of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval ABS_POSITION register value converted in a 32b signed integer
+ **********************************************************/
+int32_t Easyspin::GetPosition(uint8_t shieldId)
+{
+ return ConvertPosition(CmdGetParam(shieldId,Easyspin_ABS_POS));
+}
+
+/******************************************************//**
+ * @brief Returns the shield state
+ * @param[in] shieldId (from 0 to 2)
+ * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
+ **********************************************************/
+shieldState_t Easyspin::GetShieldState(uint8_t shieldId)
+{
+ return shieldPrm[shieldId].motionState;
+}
+
+/******************************************************//**
+ * @brief Requests the motor to move to the home position (ABS_POSITION = 0)
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::GoHome(uint8_t shieldId)
+{
+ GoTo(shieldId, 0);
+}
+
+/******************************************************//**
+ * @brief Requests the motor to move to the mark position
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::GoMark(uint8_t shieldId)
+{
+ uint32_t mark;
+
+ mark = ConvertPosition(CmdGetParam(shieldId,Easyspin_MARK));
+ GoTo(shieldId,mark);
+}
+
+/******************************************************//**
+ * @brief Requests the motor to move to the specified position
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] targetPosition absolute position in steps
+ * @retval None
+ **********************************************************/
+void Easyspin::GoTo(uint8_t shieldId, int32_t targetPosition)
+{
+ dir_t direction;
+ int32_t steps;
+
+ /* Eventually deactivate motor */
+ if (shieldPrm[shieldId].motionState != INACTIVE)
+ {
+ HardStop(shieldId);
+ }
+
+ /* Get current position */
+ shieldPrm[shieldId].currentPosition = ConvertPosition(CmdGetParam(shieldId,Easyspin_ABS_POS));
+
+ /* Compute the number of steps to perform */
+ steps = targetPosition - shieldPrm[shieldId].currentPosition;
+
+ if (steps >= 0)
+ {
+ shieldPrm[shieldId].stepsToTake = steps;
+ direction = FORWARD;
+
+ }
+ else
+ {
+ shieldPrm[shieldId].stepsToTake = -steps;
+ direction = BACKWARD;
+ }
+
+ if (steps != 0)
+ {
+
+ shieldPrm[shieldId].commandExecuted = MOVE_CMD;
+
+ /* Direction setup */
+ SetDirection(shieldId,direction);
+
+ ComputeSpeedProfile(shieldId, shieldPrm[shieldId].stepsToTake);
+
+ /* Motor activation */
+ StartMovement(shieldId);
+ }
+}
+
+/******************************************************//**
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::HardStop(uint8_t shieldId)
+{
+ /* Disable corresponding PWM */
+ PwmStop(shieldId);
+
+ /* Disable power stage */
+ CmdDisable(shieldId);
+
+ /* Set inactive state */
+ shieldPrm[shieldId].motionState = INACTIVE;
+ shieldPrm[shieldId].commandExecuted = NO_CMD;
+ shieldPrm[shieldId].stepsToTake = MAX_STEPS;
+
+#ifdef _DEBUG_Easyspin
+ Serial.println("Inactive\n");
+#endif
+}
+
+/******************************************************//**
+ * @brief Moves the motor of the specified number of steps
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] stepCount Number of steps to perform
+ * @retval None
+ **********************************************************/
+void Easyspin::Move(uint8_t shieldId, dir_t direction, uint32_t stepCount)
+{
+ /* Eventually deactivate motor */
+ if (shieldPrm[shieldId].motionState != INACTIVE)
+ {
+ HardStop(shieldId);
+ }
+
+ if (stepCount != 0)
+ {
+ shieldPrm[shieldId].stepsToTake = stepCount;
+
+ shieldPrm[shieldId].commandExecuted = MOVE_CMD;
+
+ shieldPrm[shieldId].currentPosition = ConvertPosition(CmdGetParam(shieldId,Easyspin_ABS_POS));
+
+ /* Direction setup */
+ SetDirection(shieldId,direction);
+
+ ComputeSpeedProfile(shieldId, stepCount);
+
+ /* Motor activation */
+ StartMovement(shieldId);
+ }
+}
+
+/******************************************************//**
+ * @brief Resets all Easyspin shields
+ * @param None
+ * @retval None
+ **********************************************************/
+void Easyspin::ResetAllShields(void)
+{
+ uint8_t loop;
+
+ for (loop = 0; loop < numberOfShields; loop++)
+ {
+ /* Stop movement and disable power stage*/
+ HardStop(loop);
+ }
+ Reset();
+ WaitUs(20); // Reset pin must be forced low for at least 10us
+ ReleaseReset();
+}
+
+/******************************************************//**
+ * @brief Runs the motor. It will accelerate from the min
+ * speed up to the max speed by using the shield acceleration.
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ **********************************************************/
+void Easyspin::Run(uint8_t shieldId, dir_t direction)
+{
+ /* Eventually deactivate motor */
+ if (shieldPrm[shieldId].motionState != INACTIVE)
+ {
+ HardStop(shieldId);
+ }
+
+ /* Direction setup */
+ SetDirection(shieldId,direction);
+
+ shieldPrm[shieldId].commandExecuted = RUN_CMD;
+
+ /* Motor activation */
+ StartMovement(shieldId);
+}
+
+/******************************************************//**
+ * @brief Changes the acceleration of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] newAcc New acceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the shield is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool Easyspin::SetAcceleration(uint8_t shieldId,uint16_t newAcc)
+{
+ bool cmdExecuted = false;
+ if ((newAcc != 0)&&
+ ((shieldPrm[shieldId].motionState == INACTIVE)||
+ (shieldPrm[shieldId].commandExecuted == RUN_CMD)))
+ {
+ shieldPrm[shieldId].acceleration = newAcc;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Changes the deceleration of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] newDec New deceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the shield is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool Easyspin::SetDeceleration(uint8_t shieldId, uint16_t newDec)
+{
+ bool cmdExecuted = false;
+ if ((newDec != 0)&&
+ ((shieldPrm[shieldId].motionState == INACTIVE)||
+ (shieldPrm[shieldId].commandExecuted == RUN_CMD)))
+ {
+ shieldPrm[shieldId].deceleration = newDec;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Set current position to be the Home position (ABS pos set to 0)
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::SetHome(uint8_t shieldId)
+{
+ CmdSetParam(shieldId, Easyspin_ABS_POS, 0);
+}
+
+/******************************************************//**
+ * @brief Sets current position to be the Mark position
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::SetMark(uint8_t shieldId)
+{
+ uint32_t mark = CmdGetParam(shieldId,Easyspin_ABS_POS);
+ CmdSetParam(shieldId,Easyspin_MARK, mark);
+}
+
+/******************************************************//**
+ * @brief Changes the max speed of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] newMaxSpeed New max speed to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the shield is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool Easyspin::SetMaxSpeed(uint8_t shieldId, uint16_t newMaxSpeed)
+{
+ bool cmdExecuted = false;
+ if ((newMaxSpeed > Easyspin_MIN_PWM_FREQ)&&
+ (newMaxSpeed <= Easyspin_MAX_PWM_FREQ) &&
+ (shieldPrm[shieldId].minSpeed <= newMaxSpeed) &&
+ ((shieldPrm[shieldId].motionState == INACTIVE)||
+ (shieldPrm[shieldId].commandExecuted == RUN_CMD)))
+ {
+ shieldPrm[shieldId].maxSpeed = newMaxSpeed;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Changes the min speed of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] newMinSpeed New min speed to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the shield is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool Easyspin::SetMinSpeed(uint8_t shieldId, uint16_t newMinSpeed)
+{
+ bool cmdExecuted = false;
+ if ((newMinSpeed >= Easyspin_MIN_PWM_FREQ)&&
+ (newMinSpeed < Easyspin_MAX_PWM_FREQ) &&
+ (newMinSpeed <= shieldPrm[shieldId].maxSpeed) &&
+ ((shieldPrm[shieldId].motionState == INACTIVE)||
+ (shieldPrm[shieldId].commandExecuted == RUN_CMD)))
+ {
+ shieldPrm[shieldId].minSpeed = newMinSpeed;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Stops the motor by using the shield deceleration
+ * @param[in] shieldId (from 0 to 2)
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the shield is in INACTIVE state.
+ **********************************************************/
+bool Easyspin::SoftStop(uint8_t shieldId)
+{
+ bool cmdExecuted = false;
+ if (shieldPrm[shieldId].motionState != INACTIVE)
+ {
+ shieldPrm[shieldId].commandExecuted = SOFT_STOP_CMD;
+ cmdExecuted = true;
+ }
+ return (cmdExecuted);
+}
+
+/******************************************************//**
+ * @brief Locks until the shield state becomes Inactive
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::WaitWhileActive(uint8_t shieldId)
+ {
+ /* Wait while motor is running */
+ while (GetShieldState(shieldId) != INACTIVE);
+}
+
+/******************************************************//**
+ * @brief Issue the Disable command to the Easyspin of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::CmdDisable(uint8_t shieldId)
+{
+ SendCommand(shieldId, Easyspin_DISABLE);
+}
+
+/******************************************************//**
+ * @brief Issues the Enable command to the Easyspin of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::CmdEnable(uint8_t shieldId)
+{
+ SendCommand(shieldId, Easyspin_ENABLE);
+}
+
+/******************************************************//**
+ * @brief Issues the GetParam command to the Easyspin of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] param Register adress (Easyspin_ABS_POS, Easyspin_MARK,...)
+ * @retval Register value
+ **********************************************************/
+uint32_t Easyspin::CmdGetParam(uint8_t shieldId, Easyspin_Registers_t param)
+{
+ uint32_t i;
+ uint32_t spiRxData;
+ uint8_t maxArgumentNbBytes = 0;
+ uint8_t spiIndex = numberOfShields - shieldId - 1;
+ bool itDisable = false;
+
+ do
+ {
+ spiPreemtionByIsr = false;
+ if (itDisable)
+ {
+ /* re-enable interrupts if disable in previous iteration */
+ flag.enable_irq();
+ itDisable = false;
+ }
+
+ for (i = 0; i < numberOfShields; i++)
+ {
+ spiTxBursts[0][i] = Easyspin_NOP;
+ spiTxBursts[1][i] = Easyspin_NOP;
+ spiTxBursts[2][i] = Easyspin_NOP;
+ spiTxBursts[3][i] = Easyspin_NOP;
+ spiRxBursts[1][i] = 0;
+ spiRxBursts[2][i] = 0;
+ spiRxBursts[3][i] = 0;
+ }
+ switch (param)
+ {
+ case Easyspin_ABS_POS: ;
+ case Easyspin_MARK:
+ spiTxBursts[0][spiIndex] = ((uint8_t)Easyspin_GET_PARAM )| (param);
+ maxArgumentNbBytes = 3;
+ break;
+ case Easyspin_EL_POS: ;
+ case Easyspin_CONFIG: ;
+ case Easyspin_STATUS:
+ spiTxBursts[1][spiIndex] = ((uint8_t)Easyspin_GET_PARAM )| (param);
+ maxArgumentNbBytes = 2;
+ break;
+ default:
+ spiTxBursts[2][spiIndex] = ((uint8_t)Easyspin_GET_PARAM )| (param);
+ maxArgumentNbBytes = 1;
+ }
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ flag.disable_irq();
+ itDisable = true;
+ } while (spiPreemtionByIsr); // check pre-emption by ISR
+
+ for (i = Easyspin_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
+ i < Easyspin_CMD_ARG_MAX_NB_BYTES;
+ i++)
+ {
+ WriteBytes(&spiTxBursts[i][0],
+ &spiRxBursts[i][0]);
+ }
+
+ spiRxData = ((uint32_t)spiRxBursts[1][spiIndex] << 16)|
+ (spiRxBursts[2][spiIndex] << 8) |
+ (spiRxBursts[3][spiIndex]);
+
+ /* re-enable interrupts after SPI transfers*/
+ flag.enable_irq();
+
+ return (spiRxData);
+}
+
+/******************************************************//**
+ * @brief Issues the GetStatus command to the Easyspin of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval Status Register value
+ * @note Once the GetStatus command is performed, the flags of the status register
+ * are reset. This is not the case when the status register is read with the
+ * GetParam command (via the functions ReadStatusRegister or CmdGetParam).
+ **********************************************************/
+uint16_t Easyspin::CmdGetStatus(uint8_t shieldId)
+{
+ uint32_t i;
+ uint16_t status;
+ uint8_t spiIndex = numberOfShields - shieldId - 1;
+ bool itDisable = false;
+
+ do
+ {
+ spiPreemtionByIsr = false;
+ if (itDisable)
+ {
+ /* re-enable interrupts if disable in previous iteration */
+ flag.enable_irq();
+ itDisable = false;
+ }
+
+ for (i = 0; i < numberOfShields; i++)
+ {
+ spiTxBursts[0][i] = Easyspin_NOP;
+ spiTxBursts[1][i] = Easyspin_NOP;
+ spiTxBursts[2][i] = Easyspin_NOP;
+ spiRxBursts[1][i] = 0;
+ spiRxBursts[2][i] = 0;
+ }
+ spiTxBursts[0][spiIndex] = Easyspin_GET_STATUS;
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ flag.disable_irq();
+ itDisable = true;
+ } while (spiPreemtionByIsr); // check pre-emption by ISR
+
+ for (i = 0; i < Easyspin_CMD_ARG_NB_BYTES_GET_STATUS + Easyspin_RSP_NB_BYTES_GET_STATUS; i++)
+ {
+ WriteBytes(&spiTxBursts[i][0], &spiRxBursts[i][0]);
+ }
+ status = (spiRxBursts[1][spiIndex] << 8) | (spiRxBursts[2][spiIndex]);
+
+ /* re-enable interrupts after SPI transfers*/
+ flag.enable_irq();
+
+ return (status);
+}
+
+/******************************************************//**
+ * @brief Issues the Nop command to the Easyspin of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::CmdNop(uint8_t shieldId)
+{
+ SendCommand(shieldId, Easyspin_NOP);
+}
+
+/******************************************************//**
+ * @brief Issues the SetParam command to the Easyspin of the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] param Register adress (Easyspin_ABS_POS, Easyspin_MARK,...)
+ * @param[in] value Value to set in the register
+ * @retval None
+ **********************************************************/
+void Easyspin::CmdSetParam(uint8_t shieldId,
+ Easyspin_Registers_t param,
+ uint32_t value)
+{
+ uint32_t i;
+ uint8_t maxArgumentNbBytes = 0;
+ uint8_t spiIndex = numberOfShields - shieldId - 1;
+ bool itDisable = false;
+ do
+ {
+ spiPreemtionByIsr = false;
+ if (itDisable)
+ {
+ /* re-enable interrupts if disable in previous iteration */
+ flag.enable_irq();//interrupts();
+ itDisable = false;
+ }
+ for (i = 0; i < numberOfShields; i++)
+ {
+ spiTxBursts[0][i] = Easyspin_NOP;
+ spiTxBursts[1][i] = Easyspin_NOP;
+ spiTxBursts[2][i] = Easyspin_NOP;
+ spiTxBursts[3][i] = Easyspin_NOP;
+ }
+ switch (param)
+ {
+ case Easyspin_ABS_POS: ;
+ case Easyspin_MARK:
+ spiTxBursts[0][spiIndex] = param;
+ spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
+ spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ maxArgumentNbBytes = 3;
+ break;
+ case Easyspin_EL_POS: ;
+ case Easyspin_CONFIG:
+ spiTxBursts[1][spiIndex] = param;
+ spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ maxArgumentNbBytes = 2;
+ break;
+ default:
+ spiTxBursts[2][spiIndex] = param;
+ maxArgumentNbBytes = 1;
+ }
+ spiTxBursts[3][spiIndex] = (uint8_t)(value);
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ flag.disable_irq();
+ itDisable = true;
+ } while (spiPreemtionByIsr); // check pre-emption by ISR
+
+ /* SPI transfer */
+ for (i = Easyspin_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
+ i < Easyspin_CMD_ARG_MAX_NB_BYTES;
+ i++)
+ {
+ WriteBytes(&spiTxBursts[i][0],&spiRxBursts[i][0]);
+ }
+ /* re-enable interrupts after SPI transfers*/
+ flag.enable_irq();
+}
+
+/******************************************************//**
+ * @brief Reads the Status Register value
+ * @param[in] shieldId (from 0 to 2)
+ * @retval Status register valued
+ * @note The status register flags are not cleared
+ * at the difference with CmdGetStatus()
+ **********************************************************/
+uint16_t Easyspin::ReadStatusRegister(uint8_t shieldId)
+{
+ return (CmdGetParam(shieldId,Easyspin_STATUS));
+}
+
+/******************************************************//**
+ * @brief Releases the Easyspin reset (pin set to High) of all shields
+ * @param None
+ * @retval None
+ **********************************************************/
+void Easyspin::ReleaseReset(void)
+{
+ reset = 1;
+}
+
+/******************************************************//**
+ * @brief Resets the Easyspin (reset pin set to low) of all shields
+ * @param None
+ * @retval None
+ **********************************************************/
+void Easyspin::Reset(void)
+{
+ reset = 0;
+}
+
+/******************************************************//**
+ * @brief Set the stepping mode
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] stepMod from full step to 1/16 microstep as specified in enum Easyspin_STEP_SEL_t
+ * @retval None
+ **********************************************************/
+void Easyspin::SelectStepMode(uint8_t shieldId, Easyspin_STEP_SEL_t stepMod)
+{
+ uint8_t stepModeRegister;
+
+ /* Eventually deactivate motor */
+ if (shieldPrm[shieldId].motionState != INACTIVE)
+ {
+ HardStop(shieldId);
+ }
+
+ /* Read Step mode register and clear STEP_SEL field */
+ stepModeRegister = (uint8_t)(0xF8 & CmdGetParam(shieldId,Easyspin_STEP_MODE)) ;
+
+ /* Apply new step mode */
+ CmdSetParam(shieldId, Easyspin_STEP_MODE, stepModeRegister | (uint8_t)stepMod);
+
+ /* Reset abs pos register */
+ SetHome(shieldId);
+}
+
+/******************************************************//**
+ * @brief Specifies the direction
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] dir FORWARD or BACKWARD
+ * @note The direction change is only applied if the shield
+ * is in INACTIVE state
+ * @retval None
+ **********************************************************/
+void Easyspin::SetDirection(uint8_t shieldId, dir_t dir)
+{
+ if (shieldPrm[shieldId].motionState == INACTIVE)
+ {
+ shieldPrm[shieldId].direction = dir;
+
+ switch (shieldId)
+ {
+ case 2:
+ dir3 = dir;
+ break;
+ case 1:
+ dir2 = dir;
+ break;
+ case 0:
+ dir1 = dir;
+ break;
+ default:
+ ;
+ }
+ }
+}
+
+/******************************************************//**
+ * @brief Waits for the specify delay in milliseconds
+ * @param[in] msDelay delay in milliseconds
+ * @retval None
+ * @note Should only be used for 3 shields configuration.
+ * Else, prefer the standard Arduino function delay().
+ **********************************************************/
+void Easyspin::WaitMs(uint16_t msDelay)
+{
+ uint16_t i;
+ for (i = 0; i < msDelay ; i++)
+ {
+ WaitUs(1000);
+ }
+}
+
+/******************************************************//**
+ * @brief Waits for the specify delay in microseconds
+ * @param[in] usDelay delay in microseconds
+ * @retval None
+ * @note Should be only used for 3 shields configuration.
+ * Else, prefer the standard Arduino function delayMicroseconds().
+ * Besides, this function is a copy of delayMicroseconds inside
+ * the Easyspin library to avoid dependencies conflicts
+ * (a redefinition of ISR(TIMER0_OVF_vect)).
+ **********************************************************/
+void Easyspin::WaitUs(uint16_t usDelay)
+{
+ // calling avrlib's delay_us() function with low values (e.g. 1 or
+ // 2 microseconds) gives delays longer than desired.
+ //delay_us(us);
+#if F_CPU >= 20000000L
+ // for the 20 MHz clock on rare Arduino boards
+
+ // for a one-microsecond delay, simply wait 2 cycle and return. The overhead
+ // of the function call yields a delay of exactly a one microsecond.
+ __asm__ __volatile__ (
+ "nop" "\n\t"
+ "nop"); //just waiting 2 cycle
+ if (--usDelay == 0)
+ return;
+
+ // the following loop takes a 1/5 of a microsecond (4 cycles)
+ // per iteration, so execute it five times for each microsecond of
+ // delay requested.
+ usDelay = (usDelay<<2) + usDelay; // x5 us
+
+ // account for the time taken in the preceeding commands.
+ usDelay -= 2;
+
+#elif F_CPU >= 16000000L
+ // for the 16 MHz clock on most Arduino boards
+
+ // for a one-microsecond delay, simply return. the overhead
+ // of the function call yields a delay of approximately 1 1/8 us.
+ if (--usDelay == 0)
+ return;
+
+ // the following loop takes a quarter of a microsecond (4 cycles)
+ // per iteration, so execute it four times for each microsecond of
+ // delay requested.
+ usDelay <<= 2;
+
+ // account for the time taken in the preceeding commands.
+ usDelay -= 2;
+#else
+ // for the 8 MHz internal clock on the ATmega168
+
+ // for a one- or two-microsecond delay, simply return. the overhead of
+ // the function calls takes more than two microseconds. can't just
+ // subtract two, since us is unsigned; we'd overflow.
+ if (--usDelay == 0)
+ return;
+ if (--usDelay == 0)
+ return;
+
+ // the following loop takes half of a microsecond (4 cycles)
+ // per iteration, so execute it twice for each microsecond of
+ // delay requested.
+ usDelay <<= 1;
+
+ // partially compensate for the time taken by the preceeding commands.
+ // we can't subtract any more than this or we'd overflow w/ small delays.
+ usDelay--;
+#endif
+}
+
+/******************************************************//**
+ * @brief Gets the pointer to the Easyspin instance
+ * @param None
+ * @retval Pointer to the instance of Easyspin
+ **********************************************************/
+class Easyspin* Easyspin::GetInstancePtr(void)
+{
+ return (class Easyspin*)instancePtr;
+}
+
+/******************************************************//**
+ * @brief Handles the shield state machine at each ste
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ * @note Must only be called by the timer ISR
+ **********************************************************/
+void Easyspin::StepClockHandler(uint8_t shieldId)
+{
+ /* Set isr flag */
+ isrFlag = true;
+
+ /* Incrementation of the relative position */
+ shieldPrm[shieldId].relativePos++;
+
+ /* Periodically check that estimated position is correct */
+ if ((shieldPrm[shieldId].commandExecuted != RUN_CMD) &&
+ ((shieldPrm[shieldId].relativePos % 10) == 00))
+ {
+ uint32_t AbsPos= ConvertPosition(CmdGetParam(shieldId,Easyspin_ABS_POS));
+
+ /* Correct estimated position if needed */
+ if (AbsPos != 0)
+ {
+ if ((shieldPrm[shieldId].direction == FORWARD) &&
+ (AbsPos != shieldPrm[shieldId].currentPosition + shieldPrm[shieldId].relativePos))
+ {
+#ifdef _DEBUG_Easyspin
+ snprintf(EasyspinStrOut, DEBUG_BUFFER_SIZE, "F EstPos:%ld RealPos: %ld\n",shieldPrm[shieldId].relativePos,(AbsPos - shieldPrm[shieldId].currentPosition));
+ Serial.println(EasyspinStrOut);
+#endif
+ shieldPrm[shieldId].relativePos = AbsPos - shieldPrm[shieldId].currentPosition;
+
+ }
+ else if ((shieldPrm[shieldId].direction == BACKWARD) &&
+ (AbsPos != shieldPrm[shieldId].currentPosition - shieldPrm[shieldId].relativePos))
+ {
+#ifdef _DEBUG_Easyspin
+ snprintf(EasyspinStrOut, DEBUG_BUFFER_SIZE, "B EstPos:%ld RealPos: %ld\n",shieldPrm[shieldId].relativePos,(AbsPos - shieldPrm[shieldId].currentPosition));
+ Serial.println(EasyspinStrOut);
+#endif
+ shieldPrm[shieldId].relativePos = shieldPrm[shieldId].currentPosition - AbsPos;
+ }
+ }
+ }
+
+ switch (shieldPrm[shieldId].motionState)
+ {
+ case ACCELERATING:
+ {
+ if ((shieldPrm[shieldId].commandExecuted == SOFT_STOP_CMD)||
+ ((shieldPrm[shieldId].commandExecuted != RUN_CMD)&&
+ (shieldPrm[shieldId].relativePos == shieldPrm[shieldId].startDecPos)))
+ {
+ shieldPrm[shieldId].motionState = DECELERATING;
+ shieldPrm[shieldId].accu = 0;
+#ifdef _DEBUG_Easyspin
+ snprintf(EasyspinStrOut, DEBUG_BUFFER_SIZE, "Acc->Dec: speed: %u relativepos: %ld \n",shieldPrm[shieldId].speed,shieldPrm[shieldId].relativePos);
+ Serial.println(EasyspinStrOut);
+#endif
+ }
+ else if ((shieldPrm[shieldId].speed >= shieldPrm[shieldId].maxSpeed)||
+ ((shieldPrm[shieldId].commandExecuted != RUN_CMD)&&
+ (shieldPrm[shieldId].relativePos == shieldPrm[shieldId].endAccPos)))
+ {
+ shieldPrm[shieldId].motionState = STEADY;
+#ifdef _DEBUG_Easyspin
+ snprintf(EasyspinStrOut, DEBUG_BUFFER_SIZE, "Acc->Steady: speed: %u relativepos: %ld \n",shieldPrm[shieldId].speed,shieldPrm[shieldId].relativePos);
+ Serial.println(EasyspinStrOut);
+#endif
+ }
+ else
+ {
+ bool speedUpdated = false;
+ /* Go on accelerating */
+ shieldPrm[shieldId].accu += ((uint32_t)shieldPrm[shieldId].acceleration << 16) / shieldPrm[shieldId].speed;
+ while (shieldPrm[shieldId].accu >= (0X10000L))
+ {
+ shieldPrm[shieldId].accu -= (0X10000L);
+ shieldPrm[shieldId].speed +=1;
+ speedUpdated = true;
+ }
+
+ if (speedUpdated)
+ {
+ ApplySpeed(shieldId, shieldPrm[shieldId].speed);
+ }
+ }
+ break;
+ }
+ case STEADY:
+ {
+ if ((shieldPrm[shieldId].commandExecuted == SOFT_STOP_CMD)||
+ ((shieldPrm[shieldId].commandExecuted != RUN_CMD)&&
+ (shieldPrm[shieldId].relativePos >= (shieldPrm[shieldId].startDecPos))) ||
+ ((shieldPrm[shieldId].commandExecuted == RUN_CMD)&&
+ (shieldPrm[shieldId].speed > shieldPrm[shieldId].maxSpeed)))
+ {
+ shieldPrm[shieldId].motionState = DECELERATING;
+ shieldPrm[shieldId].accu = 0;
+ }
+ else if ((shieldPrm[shieldId].commandExecuted == RUN_CMD)&&
+ (shieldPrm[shieldId].speed < shieldPrm[shieldId].maxSpeed))
+ {
+ shieldPrm[shieldId].motionState = ACCELERATING;
+ shieldPrm[shieldId].accu = 0;
+ }
+ break;
+ }
+ case DECELERATING:
+ {
+ if (((shieldPrm[shieldId].commandExecuted == SOFT_STOP_CMD)&&(shieldPrm[shieldId].speed <= shieldPrm[shieldId].minSpeed))||
+ ((shieldPrm[shieldId].commandExecuted != RUN_CMD)&&
+ (shieldPrm[shieldId].relativePos >= shieldPrm[shieldId].stepsToTake)))
+ {
+ /* Motion process complete */
+ HardStop(shieldId);
+#ifdef _DEBUG_Easyspin
+ snprintf(EasyspinStrOut, DEBUG_BUFFER_SIZE, "Dec->Stop: speed: %u relativepos: %ld \n",shieldPrm[shieldId].speed,shieldPrm[shieldId].relativePos );
+ Serial.println(EasyspinStrOut);
+#endif
+ }
+ else if ((shieldPrm[shieldId].commandExecuted == RUN_CMD)&&
+ (shieldPrm[shieldId].speed <= shieldPrm[shieldId].maxSpeed))
+ {
+ shieldPrm[shieldId].motionState = STEADY;
+#ifdef _DEBUG_Easyspin
+ snprintf(EasyspinStrOut, DEBUG_BUFFER_SIZE, "Dec->Steady: speed: %u relativepos: %ld \n",shieldPrm[shieldId].speed,shieldPrm[shieldId].relativePos);
+ Serial.println(EasyspinStrOut);
+#endif
+ }
+ else
+ {
+ /* Go on decelerating */
+ if (shieldPrm[shieldId].speed > shieldPrm[shieldId].minSpeed)
+ {
+ bool speedUpdated = false;
+ shieldPrm[shieldId].accu += ((uint32_t)shieldPrm[shieldId].deceleration << 16) / shieldPrm[shieldId].speed;
+ while (shieldPrm[shieldId].accu >= (0X10000L))
+ {
+ shieldPrm[shieldId].accu -= (0X10000L);
+ shieldPrm[shieldId].speed -=1;
+ speedUpdated = true;
+ }
+ if (speedUpdated)
+ {
+ ApplySpeed(shieldId, shieldPrm[shieldId].speed);
+ }
+ }
+ }
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+ /* Set isr flag */
+ isrFlag = false;
+}
+
+/******************************************************//**
+ * @brief Updates the current speed of the shield
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] newSpeed in pps
+ * @retval None
+ **********************************************************/
+void Easyspin::ApplySpeed(uint8_t shieldId, uint16_t newSpeed)
+{
+ if (newSpeed < Easyspin_MIN_PWM_FREQ)
+ {
+ newSpeed = Easyspin_MIN_PWM_FREQ;
+ }
+ if (newSpeed > Easyspin_MAX_PWM_FREQ)
+ {
+ newSpeed = Easyspin_MAX_PWM_FREQ;
+ }
+
+ shieldPrm[shieldId].speed = newSpeed;
+
+ switch (shieldId)
+ {
+ case 0:
+ Pwm1SetFreq(newSpeed);
+ break;
+ case 1:
+ Pwm2SetFreq(newSpeed);
+ break;
+ case 2:
+ Pwm3SetFreq(newSpeed);
+ break;
+ default:
+ break; //ignore error
+ }
+}
+
+/******************************************************//**
+ * @brief Computes the speed profile according to the number of steps to move
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] nbSteps number of steps to perform
+ * @retval None
+ * @note Using the acceleration and deceleration of the shield,
+ * 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.
+ **********************************************************/
+void Easyspin::ComputeSpeedProfile(uint8_t shieldId, uint32_t nbSteps)
+{
+ uint32_t reqAccSteps;
+ uint32_t reqDecSteps;
+
+ /* compute the number of steps to get the targeted speed */
+ reqAccSteps = (shieldPrm[shieldId].maxSpeed - shieldPrm[shieldId].minSpeed);
+ reqAccSteps *= (shieldPrm[shieldId].maxSpeed + shieldPrm[shieldId].minSpeed);
+ reqDecSteps = reqAccSteps;
+ reqAccSteps /= (uint32_t)shieldPrm[shieldId].acceleration;
+ reqAccSteps /= 2;
+
+ /* compute the number of steps to stop */
+ reqDecSteps /= (uint32_t)shieldPrm[shieldId].deceleration;
+ reqDecSteps /= 2;
+
+ if(( reqAccSteps + reqDecSteps ) > nbSteps)
+ {
+ /* Triangular move */
+ /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
+
+ reqDecSteps = ((uint32_t) shieldPrm[shieldId].deceleration * nbSteps) / (shieldPrm[shieldId].acceleration + shieldPrm[shieldId].deceleration);
+ if (reqDecSteps > 1)
+ {
+ reqAccSteps = reqDecSteps - 1;
+ if(reqAccSteps == 0)
+ {
+ reqAccSteps = 1;
+ }
+ }
+ else
+ {
+ reqAccSteps = 0;
+ }
+ shieldPrm[shieldId].endAccPos = reqAccSteps;
+ shieldPrm[shieldId].startDecPos = reqDecSteps;
+ }
+ else
+ {
+ /* Trapezoidal move */
+ /* accelerating phase to endAccPos */
+ /* steady phase from endAccPos to startDecPos */
+ /* decelerating from startDecPos to stepsToTake*/
+ shieldPrm[shieldId].endAccPos = reqAccSteps;
+ shieldPrm[shieldId].startDecPos = nbSteps - reqDecSteps - 1;
+ }
+}
+
+/******************************************************//**
+ * @brief Converts the ABS_POSITION register value to a 32b signed integer
+ * @param[in] abs_position_reg value of the ABS_POSITION register
+ * @retval operation_result 32b signed integer corresponding to the absolute position
+ **********************************************************/
+int32_t Easyspin::ConvertPosition(uint32_t abs_position_reg)
+{
+ int32_t operation_result;
+
+ if (abs_position_reg & Easyspin_ABS_POS_SIGN_BIT_MASK)
+ {
+ /* Negative register value */
+ abs_position_reg = ~abs_position_reg;
+ abs_position_reg += 1;
+
+ operation_result = (int32_t) (abs_position_reg & Easyspin_ABS_POS_VALUE_MASK);
+ operation_result = -operation_result;
+ }
+ else
+ {
+ operation_result = (int32_t) abs_position_reg;
+ }
+ return operation_result;
+}
+
+/******************************************************//**
+ * @brief Handlers of the flag interrupt which calls the user callback (if defined)
+ * @param None
+ * @retval None
+ **********************************************************/
+void Easyspin::FlagInterruptHandler(void)
+{
+ if (flagInterruptCallback != NULL)
+ {
+ /* Set isr flag */
+ isrFlag = true;
+
+ flagInterruptCallback();
+
+ /* Reset isr flag */
+ isrFlag = false;
+ }
+}
+
+/******************************************************//**
+ * @brief Sends a command without arguments to the Easyspin via the SPI
+ * @param[in] shieldId (from 0 to 2)
+ * @param[in] param Command to send
+ * @retval None
+ **********************************************************/
+void Easyspin::SendCommand(uint8_t shieldId, uint8_t param)
+{
+ uint8_t spiIndex = numberOfShields - shieldId - 1;
+ bool itDisable = false;
+
+ do
+ {
+ spiPreemtionByIsr = false;
+ if (itDisable)
+ {
+ /* re-enable interrupts if disable in previous iteration */
+ flag.enable_irq();
+ itDisable = false;
+ }
+
+ for (uint32_t i = 0; i < numberOfShields; i++)
+ {
+ spiTxBursts[3][i] = Easyspin_NOP;
+ }
+ spiTxBursts[3][spiIndex] = param;
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ flag.disable_irq();
+ itDisable = true;
+ } while (spiPreemtionByIsr); // check pre-emption by ISR
+
+ WriteBytes(&spiTxBursts[3][0], &spiRxBursts[3][0]);
+
+ /* re-enable interrupts after SPI transfers*/
+ flag.enable_irq();
+}
+
+/******************************************************//**
+ * @brief Sets the registers of the Easyspin to their predefined values
+ * from Easyspin_target_config.h
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::SetRegisterToPredefinedValues(uint8_t shieldId)
+{
+ CmdSetParam(shieldId,
+ Easyspin_ABS_POS,
+ 0);
+ CmdSetParam(shieldId,
+ Easyspin_EL_POS,
+ 0);
+ CmdSetParam(shieldId,
+ Easyspin_MARK,
+ 0);
+ switch (shieldId)
+ {
+ case 0:
+ CmdSetParam(shieldId,
+ Easyspin_TVAL,
+ Tval_Current_to_Par(Easyspin_CONF_PARAM_TVAL_SHIELD_0));
+ CmdSetParam(shieldId,
+ Easyspin_T_FAST,
+ (uint8_t)Easyspin_CONF_PARAM_TOFF_FAST_SHIELD_0 |
+ (uint8_t)Easyspin_CONF_PARAM_FAST_STEP_SHIELD_0);
+ CmdSetParam(shieldId,
+ Easyspin_TON_MIN,
+ Tmin_Time_to_Par(Easyspin_CONF_PARAM_TON_MIN_SHIELD_0));
+ CmdSetParam(shieldId,
+ Easyspin_TOFF_MIN,
+ Tmin_Time_to_Par(Easyspin_CONF_PARAM_TOFF_MIN_SHIELD_0));
+ CmdSetParam(shieldId,
+ Easyspin_OCD_TH,
+ Easyspin_CONF_PARAM_OCD_TH_SHIELD_0);
+ CmdSetParam(shieldId,
+ Easyspin_STEP_MODE,
+ (uint8_t)Easyspin_CONF_PARAM_STEP_SEL_SHIELD_0 |
+ (uint8_t)Easyspin_CONF_PARAM_SYNC_SEL_SHIELD_0);
+ CmdSetParam(shieldId,
+ Easyspin_ALARM_EN,
+ Easyspin_CONF_PARAM_ALARM_EN_SHIELD_0);
+ CmdSetParam(shieldId,
+ Easyspin_CONFIG,
+ (uint16_t)Easyspin_CONF_PARAM_CLOCK_SETTING_SHIELD_0 |
+ (uint16_t)Easyspin_CONF_PARAM_TQ_REG_SHIELD_0 |
+ (uint16_t)Easyspin_CONF_PARAM_OC_SD_SHIELD_0 |
+ (uint16_t)Easyspin_CONF_PARAM_SR_SHIELD_0 |
+ (uint16_t)Easyspin_CONF_PARAM_TOFF_SHIELD_0);
+ break;
+ case 1:
+ CmdSetParam(shieldId,
+ Easyspin_TVAL,
+ Tval_Current_to_Par(Easyspin_CONF_PARAM_TVAL_SHIELD_1));
+ CmdSetParam(shieldId,
+ Easyspin_T_FAST,
+ (uint8_t)Easyspin_CONF_PARAM_TOFF_FAST_SHIELD_1 |
+ (uint8_t)Easyspin_CONF_PARAM_FAST_STEP_SHIELD_1);
+ CmdSetParam(shieldId,
+ Easyspin_TON_MIN,
+ Tmin_Time_to_Par(Easyspin_CONF_PARAM_TON_MIN_SHIELD_1));
+ CmdSetParam(shieldId,
+ Easyspin_TOFF_MIN,
+ Tmin_Time_to_Par(Easyspin_CONF_PARAM_TOFF_MIN_SHIELD_1));
+ CmdSetParam(shieldId,
+ Easyspin_OCD_TH,
+ Easyspin_CONF_PARAM_OCD_TH_SHIELD_1);
+ CmdSetParam(shieldId,
+ Easyspin_STEP_MODE,
+ (uint8_t)Easyspin_CONF_PARAM_STEP_SEL_SHIELD_1 |
+ (uint8_t)Easyspin_CONF_PARAM_SYNC_SEL_SHIELD_1);
+ CmdSetParam(shieldId,
+ Easyspin_ALARM_EN,
+ Easyspin_CONF_PARAM_ALARM_EN_SHIELD_1);
+ CmdSetParam(shieldId,
+ Easyspin_CONFIG,
+ (uint16_t)Easyspin_CONF_PARAM_CLOCK_SETTING_SHIELD_1 |
+ (uint16_t)Easyspin_CONF_PARAM_TQ_REG_SHIELD_1 |
+ (uint16_t)Easyspin_CONF_PARAM_OC_SD_SHIELD_1 |
+ (uint16_t)Easyspin_CONF_PARAM_SR_SHIELD_1 |
+ (uint16_t)Easyspin_CONF_PARAM_TOFF_SHIELD_1);
+ break;
+ case 2:
+ CmdSetParam(shieldId,
+ Easyspin_TVAL,
+ Tval_Current_to_Par(Easyspin_CONF_PARAM_TVAL_SHIELD_2));
+ CmdSetParam(shieldId,
+ Easyspin_T_FAST,
+ (uint8_t)Easyspin_CONF_PARAM_TOFF_FAST_SHIELD_2 |
+ (uint8_t)Easyspin_CONF_PARAM_FAST_STEP_SHIELD_2);
+ CmdSetParam(shieldId,
+ Easyspin_TON_MIN,
+ Tmin_Time_to_Par(Easyspin_CONF_PARAM_TON_MIN_SHIELD_2));
+ CmdSetParam(shieldId,
+ Easyspin_TOFF_MIN,
+ Tmin_Time_to_Par(Easyspin_CONF_PARAM_TOFF_MIN_SHIELD_2));
+ CmdSetParam(shieldId,
+ Easyspin_OCD_TH,
+ Easyspin_CONF_PARAM_OCD_TH_SHIELD_2);
+ CmdSetParam(shieldId,
+ Easyspin_STEP_MODE,
+ (uint8_t)Easyspin_CONF_PARAM_STEP_SEL_SHIELD_2 |
+ (uint8_t)Easyspin_CONF_PARAM_SYNC_SEL_SHIELD_2);
+ CmdSetParam(shieldId,
+ Easyspin_ALARM_EN,
+ Easyspin_CONF_PARAM_ALARM_EN_SHIELD_2);
+ CmdSetParam(shieldId,
+ Easyspin_CONFIG,
+ (uint16_t)Easyspin_CONF_PARAM_CLOCK_SETTING_SHIELD_2 |
+ (uint16_t)Easyspin_CONF_PARAM_TQ_REG_SHIELD_2 |
+ (uint16_t)Easyspin_CONF_PARAM_OC_SD_SHIELD_2 |
+ (uint16_t)Easyspin_CONF_PARAM_SR_SHIELD_2 |
+ (uint16_t)Easyspin_CONF_PARAM_TOFF_SHIELD_2);
+ break;
+ default: ;
+ }
+}
+
+/******************************************************//**
+ * @brief Sets the registers of the Easyspin to their predefined values
+ * from Easyspin_target_config.h
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+{
+ CS = 0;
+ for (uint32_t i = 0; i < numberOfShields; i++)
+ {
+ *pReceivedByte = spi.write(*pByteToTransmit);
+ pByteToTransmit++;
+ pReceivedByte++;
+ }
+ CS = 1;
+ if (isrFlag)
+ {
+ spiPreemtionByIsr = true;
+ }
+}
+
+/******************************************************//**
+ * @brief Initialises the PWM uses by the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ * @note Shield 0 uses PW1 based on timer 1
+ * Shield 1 uses PWM 2 based on timer 2
+ * Shield 2 uses PWM3 based timer 0
+ **********************************************************/
+void Easyspin::PwmInit(uint8_t shieldId)
+{
+ switch (shieldId)
+ {
+ case 0:
+ /* PWM1 uses timer 1 */
+ /* Initialise timer by setting waveform generation mode
+ to PWM phase and Frequency correct: mode = 8
+ (WGM10 = 0, WGM11 = 0, WGM12 = 0, WGM13 = 1) */
+
+ /* Stop timer1 by clearing CSS bits and set WGM13 and WGM12 */
+ //TCCR1B = 0x10;
+
+ /* Set WGM10 and WGM11 */
+ //TCCR1A = 0x00;
+
+ /* Disable Timer1 interrupt */
+ //TIMSK1 = 0;
+ //pwm1.period_us(400);
+ //pwm1.pulsewidth_us(200);
+
+ break;
+ case 1:
+ /* PWM2 uses timer 2 */
+ /* Initialise timer by setting waveform generation mode
+ to PWM phase correct: mode = 5
+ (WGM0 = 1, WGM21 = 0, WGM22 = 1) */
+
+ /* Stop timer2 by clearing CSS bits and set WGM22 */
+ //TCCR2B = 0x08;
+
+ /* Set WGM20 and WGM21 */
+ //TCCR2A = 0x01;
+
+ /* Disable Timer2 interrupt */
+ //TIMSK2 = 0;
+ //pwm2.period_us(500);
+ //pwm2.pulsewidth_us(100);
+ break;
+
+
+ case 2:
+ /* PWM3 uses timer 0 */
+ /* !!!!! Caution: Calling this configuration will break */
+ /* all default Arduino's timing functions as delay(),millis()... */
+
+ /* Initialise timer by setting waveform generation mode
+ to PWM phase correct: mode = 5
+ (WGM0 = 1, WGM21 = 0, WGM22 = 1) */
+
+ /* Stop timer0 by clearing CSS bits and set WGM22 */
+ //TCCR0B = 0x08;
+
+ /* Set WGM00 and WGM01 */
+ //TCCR0A = 0x01;
+
+ /* Disable Timer0 interrupt */
+ //TIMSK0 = 0;
+ //pwm3.period_ms(10);
+ //pwm3.pulsewidth_ms(1);
+ break;
+ default:
+ break;//ignore error
+ }
+}
+
+/******************************************************//**
+ * @brief Sets the frequency of PWM1 used by shield 0
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note The frequency is directly the current speed of the shield
+ **********************************************************/
+void Easyspin::Pwm1SetFreq(uint16_t newFreq)
+{
+ pwm1.period_us(newFreq);
+ pwm1.pulsewidth_us(newFreq/2);
+}
+
+/******************************************************//**
+ * @brief Sets the frequency of PWM2 used by shield 1
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note The frequency is directly the current speed of the shield
+ **********************************************************/
+void Easyspin::Pwm2SetFreq(uint16_t newFreq)
+{
+ pwm2.period_us(newFreq);
+ pwm2.pulsewidth_us(newFreq/2);
+}
+
+/******************************************************//**
+ * @brief Sets the frequency of PWM3 used by shield 2
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note The frequency is directly the current speed of the shield
+ **********************************************************/
+void Easyspin::Pwm3SetFreq(uint16_t newFreq)
+{
+ pwm3.period_us(newFreq);
+ pwm3.pulsewidth_us(newFreq/2);
+}
+
+/******************************************************//**
+ * @brief Stops the PWM uses by the specified shield
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::PwmStop(uint8_t shieldId)
+{
+ switch (shieldId)
+ {
+ case 0:
+ pwm1.period_us(0);
+ pwm1.pulsewidth_us(0);
+ break;
+ case 1:
+ pwm2.period_us(0);
+ pwm2.pulsewidth_us(0);
+ break;
+ case 2:
+ pwm3.write(0.0f);
+ break;
+ default:
+ break;//ignore error
+ }
+}
+
+/******************************************************//**
+ * @brief Sets the parameters of the shield to predefined values
+ * from Easyspin_target_config.h
+ * @param None
+ * @retval None
+ **********************************************************/
+void Easyspin::SetShieldParamsToPredefinedValues(void)
+{
+ shieldPrm[0].acceleration = Easyspin_CONF_PARAM_ACC_SHIELD_0;
+ shieldPrm[0].deceleration = Easyspin_CONF_PARAM_DEC_SHIELD_0;
+ shieldPrm[0].maxSpeed = Easyspin_CONF_PARAM_MAX_SPEED_SHIELD_0;
+ shieldPrm[0].minSpeed = Easyspin_CONF_PARAM_MIN_SPEED_SHIELD_0;
+
+ shieldPrm[1].acceleration = Easyspin_CONF_PARAM_ACC_SHIELD_1;
+ shieldPrm[1].deceleration = Easyspin_CONF_PARAM_DEC_SHIELD_1;
+ shieldPrm[1].maxSpeed = Easyspin_CONF_PARAM_MAX_SPEED_SHIELD_1;
+ shieldPrm[1].minSpeed = Easyspin_CONF_PARAM_MIN_SPEED_SHIELD_1;
+
+ shieldPrm[2].acceleration = Easyspin_CONF_PARAM_ACC_SHIELD_2;
+ shieldPrm[2].deceleration = Easyspin_CONF_PARAM_DEC_SHIELD_2;
+ shieldPrm[2].maxSpeed = Easyspin_CONF_PARAM_MAX_SPEED_SHIELD_2;
+ shieldPrm[2].minSpeed = Easyspin_CONF_PARAM_MIN_SPEED_SHIELD_2;
+
+ for (uint8_t i = 0; i < numberOfShields; i++)
+ {
+ SetRegisterToPredefinedValues(i);
+ }
+}
+
+/******************************************************//**
+ * @brief Initialises the bridge parameters to start the movement
+ * and enable the power bridge
+ * @param[in] shieldId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void Easyspin::StartMovement(uint8_t shieldId)
+{
+ /* Enable Easyspin powerstage */
+ CmdEnable(shieldId);
+
+ if (shieldPrm[shieldId].endAccPos != 0)
+ {
+ shieldPrm[shieldId].motionState = ACCELERATING;;
+ }
+ else
+ {
+ shieldPrm[shieldId].motionState = DECELERATING;
+ }
+
+ shieldPrm[shieldId].accu = 0;
+ shieldPrm[shieldId].relativePos = 0;
+ ApplySpeed(shieldId, shieldPrm[shieldId].minSpeed);
+#ifdef _DEBUG_Easyspin
+ snprintf(EasyspinStrOut, DEBUG_BUFFER_SIZE, "Stop->Acc: speed: %u relPos: %ld\n", shieldPrm[shieldId].minSpeed, shieldPrm[shieldId].relativePos) ;
+ Serial.println(EasyspinStrOut);
+#endif
+}
+
+/******************************************************//**
+ * @brief Converts mA in compatible values for TVAL register
+ * @param[in] Tval
+ * @retval TVAL values
+ **********************************************************/
+inline uint8_t Easyspin::Tval_Current_to_Par(double Tval)
+{
+ return ((uint8_t)(((Tval - 31.25)/31.25)+0.5));
+}
+
+/******************************************************//**
+ * @brief Convert time in us in compatible values
+ * for TON_MIN register
+ * @param[in] Tmin
+ * @retval TON_MIN values
+ **********************************************************/
+inline uint8_t Easyspin::Tmin_Time_to_Par(double Tmin)
+{
+ return ((uint8_t)(((Tmin - 0.5)*2)+0.5));
+}
+
+
+
+/******************************************************//**
+ * @brief Debug function to get the amount of free ram
+ * @param None
+ * @retval number of bytes of free ram
+ **********************************************************/
+#ifdef _DEBUG_Easyspin
+uint16_t GetFreeRam (void)
+{
+ extern uint16_t __heap_start, *__brkval;
+ uint16_t v;
+ return (uint16_t) &v - (__brkval == 0 ? (uint16_t) &__heap_start : (uint16_t) __brkval);
+}
+#endif