Robotique FIP / X_NUCLEO_IHM01A1

Fork of X_NUCLEO_IHM01A1 by ST

Files at this revision

API Documentation at this revision

Revision 25:456a51498c6b, committed 2016-03-25

Comitter:
julientiron
Date:
Fri Mar 25 21:25:52 2016 +0000
Parent:
24:258f0f60d30c
Commit message:
ez

Changed in this revision

Components/l6474/l6474_target_config.h Show annotated file Show diff for this revision Revisions of this file
X_NUCLEO_COMMON.lib Show diff for this revision Revisions of this file 
diff -r 258f0f60d30c -r 456a51498c6b Components/l6474/l6474_target_config.h
--- a/Components/l6474/l6474_target_config.h	Fri Mar 11 15:46:34 2016 +0000
+++ b/Components/l6474/l6474_target_config.h	Fri Mar 25 21:25:52 2016 +0000
@@ -1,45 +1,42 @@
-/**
- ******************************************************************************
- * @file    l6474_target_config.h
- * @author  IPC Rennes
- * @version V1.5.0
- * @date    November 12, 2014
- * @brief   Predefines values for the L6474 registers
- * and for the devices parameters
- * @note    (C) COPYRIGHT 2014 STMicroelectronics
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
+/**************************************************************************//**
+  * @file    l6474_target_config.h
+  * @author  IPC Rennes
+  * @version V1.5.0
+  * @date    November 12, 2014
+  * @brief   Predefines values for the L6474 registers
+  * and for the devices parameters
+  * @note    (C) COPYRIGHT 2014 STMicroelectronics
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
-
 #ifndef __L6474_TARGET_CONFIG_H
 #define __L6474_TARGET_CONFIG_H
 
@@ -47,13 +44,10 @@
  extern "C" {
 #endif 
 
-
-/* Definitions ---------------------------------------------------------------*/
-
 /** @addtogroup BSP
   * @{
   */   
-
+   
 /** @addtogroup L6474
   * @{
   */   
@@ -61,7 +55,7 @@
 /** @addtogroup L6474_Exported_Constants
   * @{
   */   
-
+   
 /** @defgroup Predefined_L6474_Registers_Values
   * @{
   */   
@@ -72,43 +66,43 @@
 /************************ Speed Profile  *******************************/
 
 /// Acceleration rate in step/s2 for device 0 (must be greater than 0)
-#define L6474_CONF_PARAM_ACC_DEVICE_0        (160)
+#define L6474_CONF_PARAM_ACC_DEVICE_0        (500)
 /// Acceleration rate in step/s2 for device 1 (must be greater than 0)
-#define L6474_CONF_PARAM_ACC_DEVICE_1        (160)
+#define L6474_CONF_PARAM_ACC_DEVICE_1        (500)
 /// Acceleration rate in step/s2 for device 2 (must be greater than 0)
-#define L6474_CONF_PARAM_ACC_DEVICE_2        (160)
+#define L6474_CONF_PARAM_ACC_DEVICE_2        (500)
 
 /// Deceleration rate in step/s2 for device 0 (must be greater than 0)
-#define L6474_CONF_PARAM_DEC_DEVICE_0        (160)
+#define L6474_CONF_PARAM_DEC_DEVICE_0        (500)
 /// Deceleration rate in step/s2 for device 1 (must be greater than 0)
-#define L6474_CONF_PARAM_DEC_DEVICE_1        (160)
+#define L6474_CONF_PARAM_DEC_DEVICE_1        (500)
 /// Deceleration rate in step/s2 for device 2 (must be greater than 0)
-#define L6474_CONF_PARAM_DEC_DEVICE_2        (160)
+#define L6474_CONF_PARAM_DEC_DEVICE_2        (500)
 
 /// Maximum speed in step/s for device 0 (30 step/s < Maximum speed <= 10 000 step/s )
-#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_0  (1600)
+#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_0  (5000)
 /// Maximum speed in step/s for device 1 (30 step/s < Maximum speed <= 10 000 step/s )
-#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_1  (1600)
+#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_1  (5000)
 /// Maximum speed in step/s for device 2 (30 step/s < Maximum speed <= 10 000 step/s )
-#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_2  (1600)
+#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_2  (5000)
 
 /// Minimum speed in step/s for device 0 (30 step/s <= Minimum speed < 10 000 step/s)
-#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_0  (800)
+#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_0  (2000)
 /// Minimum speed in step/s for device 1 (30 step/s <= Minimum speed < 10 000 step/s)
-#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_1  (800)
+#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_1  (2000)
 /// Minimum speed in step/s for device 2 (30 step/s <= Minimum speed < 10 000 step/s)
-#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_2  (800)
+#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_2  (2000)
 
 
 /************************ Phase Current Control *******************************/
 
 // Current value that is assigned to the torque regulation DAC
 /// TVAL register value for device 0 (range 31.25mA to 4000mA)
-#define L6474_CONF_PARAM_TVAL_DEVICE_0  (250)
+#define L6474_CONF_PARAM_TVAL_DEVICE_0  (1000)
 /// TVAL register value for device 1 (range 31.25mA to 4000mA)
-#define L6474_CONF_PARAM_TVAL_DEVICE_1  (250)
+#define L6474_CONF_PARAM_TVAL_DEVICE_1  (1000)
 /// TVAL register value for device 2 (range 31.25mA to 4000mA)
-#define L6474_CONF_PARAM_TVAL_DEVICE_2  (250)
+#define L6474_CONF_PARAM_TVAL_DEVICE_2  (1000)
 
 /// Fall time value (T_FAST field of T_FAST register) for device 0 (range 2us to 32us)
 #define L6474_CONF_PARAM_FAST_STEP_DEVICE_0  (L6474_FAST_STEP_12us)
@@ -141,11 +135,11 @@
 /******************************* Others ***************************************/
 
 /// Overcurrent threshold settings for device 0 (OCD_TH register)
-#define L6474_CONF_PARAM_OCD_TH_DEVICE_0  (L6474_OCD_TH_750mA)
+#define L6474_CONF_PARAM_OCD_TH_DEVICE_0  (L6474_OCD_TH_3000mA)
 /// Overcurrent threshold settings for device 1 (OCD_TH register)
-#define L6474_CONF_PARAM_OCD_TH_DEVICE_1  (L6474_OCD_TH_750mA)
+#define L6474_CONF_PARAM_OCD_TH_DEVICE_1  (L6474_OCD_TH_3000mA)
 /// Overcurrent threshold settings for device 2 (OCD_TH register)
-#define L6474_CONF_PARAM_OCD_TH_DEVICE_2  (L6474_OCD_TH_750mA)
+#define L6474_CONF_PARAM_OCD_TH_DEVICE_2  (L6474_OCD_TH_3000mA)
 
 /// Alarm settings for device 0 (ALARM_EN register)
 #define L6474_CONF_PARAM_ALARM_EN_DEVICE_0  (L6474_ALARM_EN_OVERCURRENT |\
@@ -220,10 +214,9 @@
 /// Clock setting for device 2 (OSC_CLK_SEL field of CONFIG register)
 #define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2  (L6474_CONFIG_INT_16MHZ)
 
+
 #ifdef __cplusplus
   }
 #endif
 
 #endif /* __L6474_TARGET_CONFIG_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

diff -r 258f0f60d30c -r 456a51498c6b X_NUCLEO_COMMON.lib
--- a/X_NUCLEO_COMMON.lib	Fri Mar 11 15:46:34 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#216930edb6b7