X_NUCLEO_IHM14A1

ST Expansion SW Team » Code » X_NUCLEO_IHM14A1

Fork of X_NUCLEO_IHM14A1 by Davide Aliprandi

Components/STSPIN820/STSPIN820.cpp@2:4fd08b67958c, 2018-09-27 (annotated)

Committer:: Davidroid
Date:: Thu Sep 27 14:05:44 2018 +0000
Revision:: 2:4fd08b67958c
Parent:: 1:bc265521eb00

Library to handle the X-NUCLEO-IHM14A1 Motor Control Expansion Board based on the STSPIN820 component.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	1:bc265521eb00	1	/**
Davidroid	2:4fd08b67958c	2	*******************************************************************************
Davidroid	2:4fd08b67958c	3	* @file STSPIN820.cpp
Davidroid	2:4fd08b67958c	4	* @author STM
Davidroid	2:4fd08b67958c	5	* @version V1.0.0
Davidroid	2:4fd08b67958c	6	* @date August 7th, 2017
Davidroid	2:4fd08b67958c	7	* @brief STSPIN820 driver (fully integrated microstepping motor driver).
Davidroid	2:4fd08b67958c	8	* @note (C) COPYRIGHT 2017 STMicroelectronics
Davidroid	2:4fd08b67958c	9	*******************************************************************************
Davidroid	2:4fd08b67958c	10	* @attention
Davidroid	2:4fd08b67958c	11	*
Davidroid	2:4fd08b67958c	12	* <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
Davidroid	2:4fd08b67958c	13	*
Davidroid	2:4fd08b67958c	14	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	2:4fd08b67958c	15	* are permitted provided that the following conditions are met:
Davidroid	2:4fd08b67958c	16	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	2:4fd08b67958c	17	* this list of conditions and the following disclaimer.
Davidroid	2:4fd08b67958c	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	2:4fd08b67958c	19	* this list of conditions and the following disclaimer in the documentation
Davidroid	2:4fd08b67958c	20	* and/or other materials provided with the distribution.
Davidroid	2:4fd08b67958c	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	2:4fd08b67958c	22	* may be used to endorse or promote products derived from this software
Davidroid	2:4fd08b67958c	23	* without specific prior written permission.
Davidroid	2:4fd08b67958c	24	*
Davidroid	2:4fd08b67958c	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	2:4fd08b67958c	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	2:4fd08b67958c	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	2:4fd08b67958c	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	2:4fd08b67958c	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	2:4fd08b67958c	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	2:4fd08b67958c	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	2:4fd08b67958c	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	2:4fd08b67958c	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	2:4fd08b67958c	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	2:4fd08b67958c	35	*
Davidroid	2:4fd08b67958c	36	*******************************************************************************
Davidroid	2:4fd08b67958c	37	*/
Davidroid	1:bc265521eb00	38
Davidroid	1:bc265521eb00	39
Davidroid	1:bc265521eb00	40	/* Generated with STM32CubeTOO -----------------------------------------------*/
Davidroid	1:bc265521eb00	41
Davidroid	1:bc265521eb00	42
Davidroid	1:bc265521eb00	43	/* Revision ------------------------------------------------------------------*/
Davidroid	1:bc265521eb00	44	/*
Davidroid	1:bc265521eb00	45	Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid	1:bc265521eb00	46	Branch/Trunk/Tag: trunk
Davidroid	1:bc265521eb00	47	Based on: X-CUBE-SPN14/trunk/Drivers/BSP/Components/STSPIN820/STSPIN820.c
Davidroid	1:bc265521eb00	48	Revision: 0
Davidroid	1:bc265521eb00	49	*/
Davidroid	1:bc265521eb00	50
Davidroid	1:bc265521eb00	51
Davidroid	1:bc265521eb00	52	/* Includes ------------------------------------------------------------------*/
Davidroid	1:bc265521eb00	53
Davidroid	1:bc265521eb00	54	#include "STSPIN820.h"
Davidroid	1:bc265521eb00	55
Davidroid	2:4fd08b67958c	56
Davidroid	2:4fd08b67958c	57	/* Variables ----------------------------------------------------------------*/
Davidroid	2:4fd08b67958c	58
Davidroid	2:4fd08b67958c	59	/* Number of devices. */
Davidroid	2:4fd08b67958c	60	uint8_t STSPIN820::number_of_devices = 0;
Davidroid	2:4fd08b67958c	61
Davidroid	2:4fd08b67958c	62
Davidroid	1:bc265521eb00	63	/* Private function prototypes -----------------------------------------------*/
Davidroid	1:bc265521eb00	64
Davidroid	1:bc265521eb00	65	/** @defgroup STSPIN820_Private_Functions STSPIN820 Private Functions
Davidroid	1:bc265521eb00	66	* @{
Davidroid	1:bc265521eb00	67	*/
Davidroid	1:bc265521eb00	68	/* Methods -------------------------------------------------------------------*/
Davidroid	1:bc265521eb00	69
Davidroid	1:bc265521eb00	70	/** @defgroup STSPIN820_Exported_Variables STSPIN820 Exported Variables
Davidroid	1:bc265521eb00	71	* @{
Davidroid	1:bc265521eb00	72	*/
Davidroid	1:bc265521eb00	73
Davidroid	1:bc265521eb00	74	/** @defgroup STSPIN820_Library_Functions STSPIN820 Library Functions
Davidroid	1:bc265521eb00	75	* @{
Davidroid	1:bc265521eb00	76	*/
Davidroid	1:bc265521eb00	77
Davidroid	2:4fd08b67958c	78	/**********************************************************
Davidroid	2:4fd08b67958c	79	* @brief Starts the STSPIN820 library
Davidroid	2:4fd08b67958c	80	* @param init Initialization structure.
Davidroid	2:4fd08b67958c	81	* @retval COMPONENT_OK in case of success.
Davidroid	1:bc265521eb00	82	**********************************************************/
Davidroid	2:4fd08b67958c	83	status_t STSPIN820::STSPIN820_Init(void *init)
Davidroid	1:bc265521eb00	84	{
Davidroid	1:bc265521eb00	85	/* Initialise the GPIOs */
Davidroid	2:4fd08b67958c	86	STSPIN820_GpioInit();
Davidroid	1:bc265521eb00	87
Davidroid	1:bc265521eb00	88	/* Initialise the timer used for the step clock and ------------------------*/
Davidroid	1:bc265521eb00	89	/* the PWM for the reference voltage generation ----------------------------*/
Davidroid	2:4fd08b67958c	90	STSPIN820_TimStckInit();
Davidroid	2:4fd08b67958c	91	STSPIN820_PwmRefInit();
Davidroid	1:bc265521eb00	92
Davidroid	2:4fd08b67958c	93	if (init == 0)
Davidroid	1:bc265521eb00	94	{
Davidroid	1:bc265521eb00	95	/* Set all context variables to the predefined values */
Davidroid	1:bc265521eb00	96	/* from STSPIN820_config.h */
Davidroid	1:bc265521eb00	97	STSPIN820_SetDeviceParamsToPredefinedValues();
Davidroid	1:bc265521eb00	98	}
Davidroid	1:bc265521eb00	99	else
Davidroid	1:bc265521eb00	100	{
Davidroid	2:4fd08b67958c	101	STSPIN820_SetDeviceParamsToGivenValues((STSPIN820_init_t*) init);
Davidroid	1:bc265521eb00	102	}
Davidroid	2:4fd08b67958c	103
Davidroid	2:4fd08b67958c	104	return COMPONENT_OK;
Davidroid	1:bc265521eb00	105	}
Davidroid	1:bc265521eb00	106
Davidroid	2:4fd08b67958c	107	/**********************************************************
Davidroid	1:bc265521eb00	108	* @brief Read id
Davidroid	2:4fd08b67958c	109	* @param id pointer to the identifier to be read.
Davidroid	2:4fd08b67958c	110	* @retval COMPONENT_OK in case of success.
Davidroid	1:bc265521eb00	111	**********************************************************/
Davidroid	2:4fd08b67958c	112	status_t STSPIN820::STSPIN820_ReadId(uint8_t *id)
Davidroid	1:bc265521eb00	113	{
Davidroid	2:4fd08b67958c	114	*id = device_instance;
Davidroid	2:4fd08b67958c	115
Davidroid	2:4fd08b67958c	116	return COMPONENT_OK;
Davidroid	1:bc265521eb00	117	}
Davidroid	1:bc265521eb00	118
Davidroid	2:4fd08b67958c	119	/**********************************************************
Davidroid	1:bc265521eb00	120	* @brief Attach a user callback to the error Handler.
Davidroid	1:bc265521eb00	121	* The call back will be then called each time the library
Davidroid	1:bc265521eb00	122	* detects an error
Davidroid	1:bc265521eb00	123	* @param[in] callback Name of the callback to attach
Davidroid	1:bc265521eb00	124	* to the error Hanlder
Davidroid	1:bc265521eb00	125	* @retval None
Davidroid	1:bc265521eb00	126	**********************************************************/
Davidroid	1:bc265521eb00	127	void STSPIN820::STSPIN820_AttachErrorHandler(void (*callback)(uint16_t error))
Davidroid	1:bc265521eb00	128	{
Davidroid	1:bc265521eb00	129	error_handler_callback = (void (*)(uint16_t error))callback;
Davidroid	1:bc265521eb00	130	}
Davidroid	1:bc265521eb00	131
Davidroid	2:4fd08b67958c	132	/**********************************************************
Davidroid	1:bc265521eb00	133	* @brief Attach a user callback to the flag Interrupt
Davidroid	1:bc265521eb00	134	* The call back will be then called each time the status
Davidroid	1:bc265521eb00	135	* flag pin will be pulled down due to the occurrence of
Davidroid	1:bc265521eb00	136	* a programmed alarms ( OCD, thermal pre-warning or
Davidroid	1:bc265521eb00	137	* shutdown, UVLO, wrong command, non-performable command)
Davidroid	1:bc265521eb00	138	* @param[in] callback Name of the callback to attach
Davidroid	1:bc265521eb00	139	* to the Flag Interrupt
Davidroid	1:bc265521eb00	140	* @retval None
Davidroid	1:bc265521eb00	141	**********************************************************/
Davidroid	1:bc265521eb00	142	void STSPIN820::STSPIN820_AttachFlagInterrupt(void (*callback)(void))
Davidroid	1:bc265521eb00	143	{
Davidroid	1:bc265521eb00	144	flag_interrupt_callback = (void (*)(void))callback;
Davidroid	1:bc265521eb00	145	}
Davidroid	1:bc265521eb00	146
Davidroid	2:4fd08b67958c	147	/**********************************************************
Davidroid	1:bc265521eb00	148	* @brief Check if STSPIN820 has a fault by reading EN pin position.
Davidroid	1:bc265521eb00	149	* @retval One if STSPIN820 has EN pin down, otherwise zero
Davidroid	1:bc265521eb00	150	**********************************************************/
Davidroid	1:bc265521eb00	151	uint8_t STSPIN820::STSPIN820_CheckStatusHw(void)
Davidroid	1:bc265521eb00	152	{
Davidroid	2:4fd08b67958c	153	if(!STSPIN820_EN_FAULT_PIN_GetState())
Davidroid	1:bc265521eb00	154	{
Davidroid	1:bc265521eb00	155	return 0x01;
Davidroid	1:bc265521eb00	156	}
Davidroid	1:bc265521eb00	157	else
Davidroid	1:bc265521eb00	158	{
Davidroid	1:bc265521eb00	159	return 0x00;
Davidroid	1:bc265521eb00	160	}
Davidroid	1:bc265521eb00	161	}
Davidroid	1:bc265521eb00	162
Davidroid	2:4fd08b67958c	163	/**********************************************************
Davidroid	1:bc265521eb00	164	* @brief Disable the power bridges (leave the output bridges HiZ)
Davidroid	1:bc265521eb00	165	* @retval None
Davidroid	1:bc265521eb00	166	**********************************************************/
Davidroid	2:4fd08b67958c	167	void STSPIN820::STSPIN820_Disable(void)
Davidroid	1:bc265521eb00	168	{
Davidroid	2:4fd08b67958c	169	STSPIN820_Disable_Power_Bridges();
Davidroid	1:bc265521eb00	170	}
Davidroid	1:bc265521eb00	171
Davidroid	2:4fd08b67958c	172	/**********************************************************
Davidroid	1:bc265521eb00	173	* @brief Enable the power bridges
Davidroid	1:bc265521eb00	174	* @retval None
Davidroid	1:bc265521eb00	175	**********************************************************/
Davidroid	2:4fd08b67958c	176	void STSPIN820::STSPIN820_Enable(void)
Davidroid	1:bc265521eb00	177	{
Davidroid	2:4fd08b67958c	178	STSPIN820_Enable_Power_Bridges();
Davidroid	1:bc265521eb00	179	}
Davidroid	1:bc265521eb00	180
Davidroid	2:4fd08b67958c	181	/**********************************************************
Davidroid	1:bc265521eb00	182	* @brief Error handler which calls the user callback (if defined)
Davidroid	1:bc265521eb00	183	* @param[in] error Number of the error
Davidroid	1:bc265521eb00	184	* @retval None
Davidroid	1:bc265521eb00	185	**********************************************************/
Davidroid	1:bc265521eb00	186	void STSPIN820::STSPIN820_ErrorHandler(uint16_t error)
Davidroid	1:bc265521eb00	187	{
Davidroid	1:bc265521eb00	188	if (error_handler_callback != 0)
Davidroid	1:bc265521eb00	189	{
Davidroid	1:bc265521eb00	190	(void) error_handler_callback(error);
Davidroid	1:bc265521eb00	191	}
Davidroid	1:bc265521eb00	192	else
Davidroid	1:bc265521eb00	193	{
Davidroid	1:bc265521eb00	194	while(1)
Davidroid	1:bc265521eb00	195	{
Davidroid	1:bc265521eb00	196	/* Infinite loop */
Davidroid	1:bc265521eb00	197	}
Davidroid	1:bc265521eb00	198	}
Davidroid	1:bc265521eb00	199	}
Davidroid	1:bc265521eb00	200
Davidroid	2:4fd08b67958c	201	/**********************************************************
Davidroid	1:bc265521eb00	202	* @brief Exit STSPIN820 device from standby (low power consumption)
Davidroid	1:bc265521eb00	203	* @retval None
Davidroid	1:bc265521eb00	204	**********************************************************/
Davidroid	2:4fd08b67958c	205	void STSPIN820::STSPIN820_ExitDeviceFromStandby(void)
Davidroid	1:bc265521eb00	206	{
Davidroid	1:bc265521eb00	207	uint32_t sequencerPosition = device_prm.sequencerPosition;
Davidroid	1:bc265521eb00	208
Davidroid	1:bc265521eb00	209	/* Exit standby and set step mode */
Davidroid	1:bc265521eb00	210	/* Disable step clock */
Davidroid	2:4fd08b67958c	211	if (STSPIN820_TimStckStop(&toggle_odd) == 0)
Davidroid	1:bc265521eb00	212	{
Davidroid	1:bc265521eb00	213	STSPIN820_ErrorHandler(STSPIN820_ERROR_STEP_CLOCK);
Davidroid	1:bc265521eb00	214	}
Davidroid	1:bc265521eb00	215
Davidroid	1:bc265521eb00	216	/* Let the PWM REF and bridges enabled at least for DISABLE_DELAY time */
Davidroid	1:bc265521eb00	217	/* after the last step clock rising edge triggering the last step */
Davidroid	2:4fd08b67958c	218	STSPIN820_Delay(DISABLE_DELAY);
Davidroid	1:bc265521eb00	219	/* Set reference voltage to 0 */
Davidroid	2:4fd08b67958c	220	STSPIN820_SetTorque( CURRENT_TORQUE, 0);
Davidroid	1:bc265521eb00	221
Davidroid	1:bc265521eb00	222	/* Disable power bridges */
Davidroid	2:4fd08b67958c	223	STSPIN820_Disable_Power_Bridges();
Davidroid	1:bc265521eb00	224
Davidroid	1:bc265521eb00	225	device_prm.commandExecuted = NO_CMD;
Davidroid	1:bc265521eb00	226	device_prm.stepsToTake = 0;
Davidroid	1:bc265521eb00	227	device_prm.speed = 0;
Davidroid	1:bc265521eb00	228
Davidroid	1:bc265521eb00	229	/* Reset the microstepping sequencer position */
Davidroid	1:bc265521eb00	230	device_prm.sequencerPosition = 0;
Davidroid	1:bc265521eb00	231
Davidroid	1:bc265521eb00	232	/* Reset current and mark positions */
Davidroid	1:bc265521eb00	233	device_prm.currentPosition = 0;
Davidroid	1:bc265521eb00	234	device_prm.markPosition = 0;
Davidroid	1:bc265521eb00	235
Davidroid	2:4fd08b67958c	236	STSPIN820_SetStepMode(device_prm.stepMode);
Davidroid	2:4fd08b67958c	237	STSPIN820_ReleaseReset();
Davidroid	2:4fd08b67958c	238	STSPIN820_Delay(AFTER_STANDBY_EXIT_DEAD_TIME);
Davidroid	1:bc265521eb00	239
Davidroid	2:4fd08b67958c	240	STSPIN820_SetHome();
Davidroid	2:4fd08b67958c	241	STSPIN820_SetMark();
Davidroid	1:bc265521eb00	242
Davidroid	1:bc265521eb00	243	if (device_prm.sequencerPosition != 0)
Davidroid	1:bc265521eb00	244	{
Davidroid	1:bc265521eb00	245	/* Set direction to FORWARD to ensure the HW sequencer is increased at */
Davidroid	1:bc265521eb00	246	/* each step clock rising edge */
Davidroid	2:4fd08b67958c	247	STSPIN820_SetDirection(FORWARD);
Davidroid	1:bc265521eb00	248	/* Going out of standby */
Davidroid	1:bc265521eb00	249	device_prm.motionState = STANDBYTOINACTIVE;
Davidroid	1:bc265521eb00	250	/* Initialize the step clock timer */
Davidroid	2:4fd08b67958c	251	STSPIN820_TimStckInit();
Davidroid	1:bc265521eb00	252	/* Program the step clock */
Davidroid	2:4fd08b67958c	253	STSPIN820_TimStckCompareInit();
Davidroid	2:4fd08b67958c	254	STSPIN820_TimStckSetFreq(STSPIN820_MAX_STCK_FREQ);
Davidroid	1:bc265521eb00	255	toggle_odd = 0;
Davidroid	2:4fd08b67958c	256	STSPIN820_TimStckStart();
Davidroid	1:bc265521eb00	257	while (device_prm.sequencerPosition != 0);
Davidroid	1:bc265521eb00	258	while (toggle_odd!=0);
Davidroid	1:bc265521eb00	259	device_prm.sequencerPosition = sequencerPosition;
Davidroid	1:bc265521eb00	260	}
Davidroid	1:bc265521eb00	261
Davidroid	1:bc265521eb00	262	device_prm.motionState = INACTIVE;
Davidroid	1:bc265521eb00	263	}
Davidroid	1:bc265521eb00	264
Davidroid	2:4fd08b67958c	265	/**********************************************************
Davidroid	1:bc265521eb00	266	* @brief Return the acceleration of the specified device
Davidroid	1:bc265521eb00	267	* @retval Acceleration in pps^2
Davidroid	1:bc265521eb00	268	**********************************************************/
Davidroid	2:4fd08b67958c	269	uint16_t STSPIN820::STSPIN820_GetAcceleration(void)
Davidroid	1:bc265521eb00	270	{
Davidroid	1:bc265521eb00	271	return (device_prm.acceleration);
Davidroid	1:bc265521eb00	272	}
Davidroid	1:bc265521eb00	273
Davidroid	2:4fd08b67958c	274	/**********************************************************
Davidroid	1:bc265521eb00	275	* @brief Return the current speed of the specified device
Davidroid	1:bc265521eb00	276	* @retval Speed in pps
Davidroid	1:bc265521eb00	277	**********************************************************/
Davidroid	2:4fd08b67958c	278	uint16_t STSPIN820::STSPIN820_GetCurrentSpeed(void)
Davidroid	1:bc265521eb00	279	{
Davidroid	1:bc265521eb00	280	return device_prm.speed;
Davidroid	1:bc265521eb00	281	}
Davidroid	1:bc265521eb00	282
Davidroid	2:4fd08b67958c	283	/**********************************************************
Davidroid	1:bc265521eb00	284	* @brief Return the decay mode of the specified device
Davidroid	1:bc265521eb00	285	* @retval Decay Mode State (SLOW or MIXED)
Davidroid	1:bc265521eb00	286	**********************************************************/
Davidroid	2:4fd08b67958c	287	motor_decay_mode_t STSPIN820::STSPIN820_GetDecayMode(void)
Davidroid	1:bc265521eb00	288	{
Davidroid	1:bc265521eb00	289	motor_decay_mode_t status;
Davidroid	2:4fd08b67958c	290	if (STSPIN820_GetDecayGpio() != 0)
Davidroid	1:bc265521eb00	291	{
Davidroid	1:bc265521eb00	292	status = SLOW_DECAY;
Davidroid	1:bc265521eb00	293	}
Davidroid	1:bc265521eb00	294	else
Davidroid	1:bc265521eb00	295	{
Davidroid	1:bc265521eb00	296	status = MIXED_DECAY;
Davidroid	1:bc265521eb00	297	}
Davidroid	1:bc265521eb00	298
Davidroid	1:bc265521eb00	299	return status;
Davidroid	1:bc265521eb00	300	}
Davidroid	1:bc265521eb00	301
Davidroid	2:4fd08b67958c	302	/**********************************************************
Davidroid	1:bc265521eb00	303	* @brief Return the deceleration of the specified device
Davidroid	1:bc265521eb00	304	* @retval Deceleration in pps^2
Davidroid	1:bc265521eb00	305	**********************************************************/
Davidroid	2:4fd08b67958c	306	uint16_t STSPIN820::STSPIN820_GetDeceleration(void)
Davidroid	1:bc265521eb00	307	{
Davidroid	1:bc265521eb00	308	return (device_prm.deceleration);
Davidroid	1:bc265521eb00	309	}
Davidroid	1:bc265521eb00	310
Davidroid	2:4fd08b67958c	311	/**********************************************************
Davidroid	1:bc265521eb00	312	* @brief Return the device state
Davidroid	1:bc265521eb00	313	* @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
Davidroid	1:bc265521eb00	314	**********************************************************/
Davidroid	2:4fd08b67958c	315	motor_state_t STSPIN820::STSPIN820_GetDeviceState(void)
Davidroid	1:bc265521eb00	316	{
Davidroid	1:bc265521eb00	317	return device_prm.motionState;
Davidroid	1:bc265521eb00	318	}
Davidroid	1:bc265521eb00	319
Davidroid	2:4fd08b67958c	320	/**********************************************************
Davidroid	1:bc265521eb00	321	* @brief Get the motor current direction
Davidroid	1:bc265521eb00	322	* @retval direction
Davidroid	1:bc265521eb00	323	**********************************************************/
Davidroid	2:4fd08b67958c	324	motor_direction_t STSPIN820::STSPIN820_GetDirection(void)
Davidroid	1:bc265521eb00	325	{
Davidroid	1:bc265521eb00	326	return device_prm.direction;
Davidroid	1:bc265521eb00	327	}
Davidroid	1:bc265521eb00	328
Davidroid	2:4fd08b67958c	329	/**********************************************************
Davidroid	1:bc265521eb00	330	* @brief Return the FW version of the library
Davidroid	1:bc265521eb00	331	* @retval Stspin220_FW_VERSION
Davidroid	1:bc265521eb00	332	**********************************************************/
Davidroid	1:bc265521eb00	333	uint32_t STSPIN820::STSPIN820_GetFwVersion(void)
Davidroid	1:bc265521eb00	334	{
Davidroid	1:bc265521eb00	335	return (STSPIN820_FW_VERSION);
Davidroid	1:bc265521eb00	336	}
Davidroid	1:bc265521eb00	337
Davidroid	2:4fd08b67958c	338	/**********************************************************
Davidroid	1:bc265521eb00	339	* @brief Return the mark position of the specified device
Davidroid	1:bc265521eb00	340	* @retval mark position value
Davidroid	1:bc265521eb00	341	**********************************************************/
Davidroid	2:4fd08b67958c	342	int32_t STSPIN820::STSPIN820_GetMark(void)
Davidroid	1:bc265521eb00	343	{
Davidroid	1:bc265521eb00	344	return device_prm.markPosition;
Davidroid	1:bc265521eb00	345	}
Davidroid	1:bc265521eb00	346
Davidroid	2:4fd08b67958c	347	/**********************************************************
Davidroid	1:bc265521eb00	348	* @brief Return the max speed of the specified device
Davidroid	1:bc265521eb00	349	* @retval maxSpeed in pps
Davidroid	1:bc265521eb00	350	**********************************************************/
Davidroid	2:4fd08b67958c	351	uint16_t STSPIN820::STSPIN820_GetMaxSpeed(void)
Davidroid	1:bc265521eb00	352	{
Davidroid	1:bc265521eb00	353	return (device_prm.maxSpeed);
Davidroid	1:bc265521eb00	354	}
Davidroid	1:bc265521eb00	355
Davidroid	2:4fd08b67958c	356	/**********************************************************
Davidroid	1:bc265521eb00	357	* @brief Return the min speed of the specified device
Davidroid	1:bc265521eb00	358	* @retval minSpeed in pps
Davidroid	1:bc265521eb00	359	**********************************************************/
Davidroid	2:4fd08b67958c	360	uint16_t STSPIN820::STSPIN820_GetMinSpeed(void)
Davidroid	1:bc265521eb00	361	{
Davidroid	1:bc265521eb00	362	return (device_prm.minSpeed);
Davidroid	1:bc265521eb00	363	}
Davidroid	1:bc265521eb00	364
Davidroid	2:4fd08b67958c	365	/**********************************************************
Davidroid	1:bc265521eb00	366	* @brief Returns the number of devices
Davidroid	1:bc265521eb00	367	* @retval number of devices
Davidroid	1:bc265521eb00	368	**********************************************************/
Davidroid	1:bc265521eb00	369	uint8_t STSPIN820::STSPIN820_GetNbDevices(void)
Davidroid	1:bc265521eb00	370	{
Davidroid	1:bc265521eb00	371	return (number_of_devices);
Davidroid	1:bc265521eb00	372	}
Davidroid	1:bc265521eb00	373
Davidroid	2:4fd08b67958c	374	/**********************************************************
Davidroid	1:bc265521eb00	375	* @brief Return the current position value of the specified device
Davidroid	1:bc265521eb00	376	* @retval current position value
Davidroid	1:bc265521eb00	377	**********************************************************/
Davidroid	2:4fd08b67958c	378	int32_t STSPIN820::STSPIN820_GetPosition(void)
Davidroid	1:bc265521eb00	379	{
Davidroid	1:bc265521eb00	380	return device_prm.currentPosition;
Davidroid	1:bc265521eb00	381	}
Davidroid	1:bc265521eb00	382
Davidroid	2:4fd08b67958c	383	/**********************************************************
Davidroid	1:bc265521eb00	384	* @brief Get the motor step mode
Davidroid	1:bc265521eb00	385	* @retval step mode
Davidroid	1:bc265521eb00	386	**********************************************************/
Davidroid	2:4fd08b67958c	387	motor_step_mode_t STSPIN820::STSPIN820_GetStepMode(void)
Davidroid	1:bc265521eb00	388	{
Davidroid	1:bc265521eb00	389	return device_prm.stepMode;
Davidroid	1:bc265521eb00	390	}
Davidroid	1:bc265521eb00	391
Davidroid	2:4fd08b67958c	392	/**********************************************************
Davidroid	1:bc265521eb00	393	* @brief Get the selected stop mode
Davidroid	1:bc265521eb00	394	* @retval the selected stop mode
Davidroid	1:bc265521eb00	395	**********************************************************/
Davidroid	2:4fd08b67958c	396	motor_stop_mode_t STSPIN820::STSPIN820_GetStopMode(void)
Davidroid	1:bc265521eb00	397	{
Davidroid	1:bc265521eb00	398	return device_prm.stopMode;
Davidroid	1:bc265521eb00	399	}
Davidroid	1:bc265521eb00	400
Davidroid	2:4fd08b67958c	401	/**********************************************************
Davidroid	1:bc265521eb00	402	* @brief Get the torque of the specified device
Davidroid	1:bc265521eb00	403	* @param[in] torqueMode torque mode
Davidroid	1:bc265521eb00	404	* @retval the torqueValue in % (from 0 to 100)
Davidroid	1:bc265521eb00	405	* @note
Davidroid	1:bc265521eb00	406	**********************************************************/
Davidroid	2:4fd08b67958c	407	uint8_t STSPIN820::STSPIN820_GetTorque(motor_torque_mode_t torqueMode)
Davidroid	1:bc265521eb00	408	{
Davidroid	1:bc265521eb00	409	uint8_t torqueValue = 0;
Davidroid	1:bc265521eb00	410	switch(torqueMode)
Davidroid	1:bc265521eb00	411	{
Davidroid	1:bc265521eb00	412	case ACC_TORQUE:
Davidroid	1:bc265521eb00	413	torqueValue = device_prm.accelTorque;
Davidroid	1:bc265521eb00	414	break;
Davidroid	1:bc265521eb00	415	case DEC_TORQUE:
Davidroid	1:bc265521eb00	416	torqueValue = device_prm.decelTorque;
Davidroid	1:bc265521eb00	417	break;
Davidroid	1:bc265521eb00	418	case RUN_TORQUE:
Davidroid	1:bc265521eb00	419	torqueValue = device_prm.runTorque;
Davidroid	1:bc265521eb00	420	break;
Davidroid	1:bc265521eb00	421	case HOLD_TORQUE:
Davidroid	1:bc265521eb00	422	torqueValue = device_prm.holdTorque;
Davidroid	1:bc265521eb00	423	break;
Davidroid	1:bc265521eb00	424	case CURRENT_TORQUE:
Davidroid	1:bc265521eb00	425	torqueValue = device_prm.currentTorque;
Davidroid	1:bc265521eb00	426	break;
Davidroid	1:bc265521eb00	427	default:
Davidroid	1:bc265521eb00	428	break;
Davidroid	1:bc265521eb00	429	}
Davidroid	1:bc265521eb00	430	return torqueValue;
Davidroid	1:bc265521eb00	431	}
Davidroid	1:bc265521eb00	432
Davidroid	2:4fd08b67958c	433	/**********************************************************
Davidroid	1:bc265521eb00	434	* @brief Get the torque boost feature status
Davidroid	1:bc265521eb00	435	* @retval TRUE if enabled, FALSE if disabled
Davidroid	1:bc265521eb00	436	**********************************************************/
Davidroid	2:4fd08b67958c	437	bool STSPIN820::STSPIN820_GetTorqueBoostEnable(void)
Davidroid	1:bc265521eb00	438	{
Davidroid	1:bc265521eb00	439	return device_prm.torqueBoostEnable;
Davidroid	1:bc265521eb00	440	}
Davidroid	1:bc265521eb00	441
Davidroid	2:4fd08b67958c	442	/**********************************************************
Davidroid	1:bc265521eb00	443	* @brief Get the torque boost threshold
Davidroid	2:4fd08b67958c	444	* @param[in] (from 0 to MAX_NUMBER_OF_DEVICES - 1)
Davidroid	1:bc265521eb00	445	* @retval the torque boost threshold above which the step mode is
Davidroid	1:bc265521eb00	446	* changed to full step
Davidroid	1:bc265521eb00	447	**********************************************************/
Davidroid	2:4fd08b67958c	448	uint16_t STSPIN820::STSPIN820_GetTorqueBoostThreshold(void)
Davidroid	1:bc265521eb00	449	{
Davidroid	1:bc265521eb00	450	return device_prm.torqueBoostSpeedThreshold;
Davidroid	1:bc265521eb00	451	}
Davidroid	1:bc265521eb00	452
Davidroid	2:4fd08b67958c	453	/**********************************************************
Davidroid	1:bc265521eb00	454	* @brief Request the motor to move to the home position (ABS_POSITION = 0)
Davidroid	1:bc265521eb00	455	* @retval None
Davidroid	1:bc265521eb00	456	**********************************************************/
Davidroid	2:4fd08b67958c	457	void STSPIN820::STSPIN820_GoHome(void)
Davidroid	1:bc265521eb00	458	{
Davidroid	2:4fd08b67958c	459	STSPIN820_GoTo(0);
Davidroid	1:bc265521eb00	460	}
Davidroid	1:bc265521eb00	461
Davidroid	2:4fd08b67958c	462	/**********************************************************
Davidroid	1:bc265521eb00	463	* @brief Request the motor to move to the mark position
Davidroid	1:bc265521eb00	464	* @retval None
Davidroid	1:bc265521eb00	465	**********************************************************/
Davidroid	2:4fd08b67958c	466	void STSPIN820::STSPIN820_GoMark(void)
Davidroid	1:bc265521eb00	467	{
Davidroid	2:4fd08b67958c	468	STSPIN820_GoTo(device_prm.markPosition);
Davidroid	1:bc265521eb00	469	}
Davidroid	1:bc265521eb00	470
Davidroid	2:4fd08b67958c	471	/**********************************************************
Davidroid	1:bc265521eb00	472	* @brief Request the motor to move to the specified position
Davidroid	1:bc265521eb00	473	* @param[in] targetPosition absolute position in steps
Davidroid	1:bc265521eb00	474	* @retval None
Davidroid	1:bc265521eb00	475	* @note The position is at the resolution corresponding to the
Davidroid	1:bc265521eb00	476	* selected step mode.
Davidroid	1:bc265521eb00	477	* STEP_MODE_FULL : Full step
Davidroid	1:bc265521eb00	478	* STEP_MODE_HALF : 1/2 step
Davidroid	1:bc265521eb00	479	* STEP_MODE_1_4 : 1/4 step
Davidroid	1:bc265521eb00	480	* STEP_MODE_1_8 : 1/8 step
Davidroid	1:bc265521eb00	481	* STEP_MODE_1_16 : 1/16 step
Davidroid	1:bc265521eb00	482	* STEP_MODE_1_32 : 1/32 step
Davidroid	1:bc265521eb00	483	* STEP_MODE_1_128 : 1/128 step
Davidroid	1:bc265521eb00	484	* STEP_MODE_1_256 : 1/256 step
Davidroid	1:bc265521eb00	485	* @note The 1/64 step mode is not allowed
Davidroid	1:bc265521eb00	486	**********************************************************/
Davidroid	2:4fd08b67958c	487	void STSPIN820::STSPIN820_GoTo(int32_t targetPosition)
Davidroid	1:bc265521eb00	488	{
Davidroid	1:bc265521eb00	489	motor_direction_t direction;
Davidroid	1:bc265521eb00	490
Davidroid	1:bc265521eb00	491	/* Exit from standby if needed */
Davidroid	1:bc265521eb00	492	if (device_prm.motionState == STANDBY)
Davidroid	1:bc265521eb00	493	{
Davidroid	2:4fd08b67958c	494	STSPIN820_ExitDeviceFromStandby();
Davidroid	1:bc265521eb00	495	}
Davidroid	1:bc265521eb00	496	/* Deactivate motor if needed */
Davidroid	1:bc265521eb00	497	else if (device_prm.motionState != INACTIVE)
Davidroid	1:bc265521eb00	498	{
Davidroid	2:4fd08b67958c	499	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	500	}
Davidroid	1:bc265521eb00	501
Davidroid	1:bc265521eb00	502	if (targetPosition > device_prm.currentPosition)
Davidroid	1:bc265521eb00	503	{
Davidroid	1:bc265521eb00	504	device_prm.stepsToTake = targetPosition -\
Davidroid	1:bc265521eb00	505	device_prm.currentPosition;
Davidroid	1:bc265521eb00	506	if (device_prm.stepsToTake < (STSPIN820_POSITION_RANGE>>1))
Davidroid	1:bc265521eb00	507	{
Davidroid	1:bc265521eb00	508	direction = FORWARD;
Davidroid	1:bc265521eb00	509	}
Davidroid	1:bc265521eb00	510	else
Davidroid	1:bc265521eb00	511	{
Davidroid	1:bc265521eb00	512	direction = BACKWARD;
Davidroid	1:bc265521eb00	513	device_prm.stepsToTake = STSPIN820_POSITION_RANGE -\
Davidroid	1:bc265521eb00	514	device_prm.stepsToTake;
Davidroid	1:bc265521eb00	515	}
Davidroid	1:bc265521eb00	516	}
Davidroid	1:bc265521eb00	517	else
Davidroid	1:bc265521eb00	518	{
Davidroid	1:bc265521eb00	519	device_prm.stepsToTake = device_prm.currentPosition -\
Davidroid	1:bc265521eb00	520	targetPosition;
Davidroid	1:bc265521eb00	521	if (device_prm.stepsToTake < (STSPIN820_POSITION_RANGE>>1))
Davidroid	1:bc265521eb00	522	{
Davidroid	1:bc265521eb00	523	direction = BACKWARD;
Davidroid	1:bc265521eb00	524	}
Davidroid	1:bc265521eb00	525	else
Davidroid	1:bc265521eb00	526	{
Davidroid	1:bc265521eb00	527	direction = FORWARD;
Davidroid	1:bc265521eb00	528	device_prm.stepsToTake = STSPIN820_POSITION_RANGE -\
Davidroid	1:bc265521eb00	529	device_prm.stepsToTake;
Davidroid	1:bc265521eb00	530	}
Davidroid	1:bc265521eb00	531	}
Davidroid	1:bc265521eb00	532
Davidroid	1:bc265521eb00	533	if (device_prm.stepsToTake != 0)
Davidroid	1:bc265521eb00	534	{
Davidroid	1:bc265521eb00	535	device_prm.commandExecuted = MOVE_CMD;
Davidroid	1:bc265521eb00	536
Davidroid	1:bc265521eb00	537	/* Direction setup */
Davidroid	2:4fd08b67958c	538	STSPIN820_SetDirection(direction);
Davidroid	1:bc265521eb00	539
Davidroid	2:4fd08b67958c	540	STSPIN820_ComputeSpeedProfile(device_prm.stepsToTake);
Davidroid	1:bc265521eb00	541
Davidroid	1:bc265521eb00	542	/* Motor activation */
Davidroid	2:4fd08b67958c	543	STSPIN820_StartMovement();
Davidroid	1:bc265521eb00	544	}
Davidroid	1:bc265521eb00	545	}
Davidroid	1:bc265521eb00	546
Davidroid	2:4fd08b67958c	547	/**********************************************************
Davidroid	1:bc265521eb00	548	* @brief Move the motor to the absolute position
Davidroid	1:bc265521eb00	549	* @param[in] direction FORWARD or BACKWARD
Davidroid	1:bc265521eb00	550	* @param[in] targetPosition 32 bit signed value position
Davidroid	1:bc265521eb00	551	* @retval None
Davidroid	1:bc265521eb00	552	* @note The position is at the resolution corresponding to the
Davidroid	1:bc265521eb00	553	* selected step mode.
Davidroid	1:bc265521eb00	554	* STEP_MODE_FULL : step
Davidroid	1:bc265521eb00	555	* STEP_MODE_HALF : 1/2 step
Davidroid	1:bc265521eb00	556	* STEP_MODE_1_4 : 1/4 step
Davidroid	1:bc265521eb00	557	* STEP_MODE_1_8 : 1/8 step
Davidroid	1:bc265521eb00	558	* STEP_MODE_1_16 : 1/16 step
Davidroid	1:bc265521eb00	559	* STEP_MODE_1_32 : 1/32 step
Davidroid	1:bc265521eb00	560	* STEP_MODE_1_128 : 1/128 step
Davidroid	1:bc265521eb00	561	* STEP_MODE_1_256 : 1/256 step
Davidroid	1:bc265521eb00	562	* @note The 1/64 step mode is not allowed
Davidroid	1:bc265521eb00	563	**********************************************************/
Davidroid	2:4fd08b67958c	564	void STSPIN820::STSPIN820_GoToDir(motor_direction_t direction, int32_t targetPosition)
Davidroid	1:bc265521eb00	565	{
Davidroid	1:bc265521eb00	566	/* Exit from standby if needed */
Davidroid	1:bc265521eb00	567	if (device_prm.motionState == STANDBY)
Davidroid	1:bc265521eb00	568	{
Davidroid	2:4fd08b67958c	569	STSPIN820_ExitDeviceFromStandby();
Davidroid	1:bc265521eb00	570	}
Davidroid	1:bc265521eb00	571	/* Deactivate motor if needed */
Davidroid	1:bc265521eb00	572	else if (device_prm.motionState != INACTIVE)
Davidroid	1:bc265521eb00	573	{
Davidroid	2:4fd08b67958c	574	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	575	}
Davidroid	1:bc265521eb00	576
Davidroid	1:bc265521eb00	577	if (direction != BACKWARD)
Davidroid	1:bc265521eb00	578	{
Davidroid	1:bc265521eb00	579	if (targetPosition > device_prm.currentPosition)
Davidroid	1:bc265521eb00	580	{
Davidroid	1:bc265521eb00	581	device_prm.stepsToTake = targetPosition -\
Davidroid	1:bc265521eb00	582	device_prm.currentPosition;
Davidroid	1:bc265521eb00	583	}
Davidroid	1:bc265521eb00	584	else
Davidroid	1:bc265521eb00	585	{
Davidroid	1:bc265521eb00	586	device_prm.stepsToTake = STSPIN820_POSITION_RANGE +\
Davidroid	1:bc265521eb00	587	(targetPosition -\
Davidroid	1:bc265521eb00	588	device_prm.currentPosition);
Davidroid	1:bc265521eb00	589	}
Davidroid	1:bc265521eb00	590	}
Davidroid	1:bc265521eb00	591	else
Davidroid	1:bc265521eb00	592	{
Davidroid	1:bc265521eb00	593	if (targetPosition > device_prm.currentPosition)
Davidroid	1:bc265521eb00	594	{
Davidroid	1:bc265521eb00	595	device_prm.stepsToTake = STSPIN820_POSITION_RANGE +\
Davidroid	1:bc265521eb00	596	(device_prm.currentPosition -\
Davidroid	1:bc265521eb00	597	targetPosition);
Davidroid	1:bc265521eb00	598	}
Davidroid	1:bc265521eb00	599	else
Davidroid	1:bc265521eb00	600	{
Davidroid	1:bc265521eb00	601	device_prm.stepsToTake = device_prm.currentPosition -\
Davidroid	1:bc265521eb00	602	targetPosition;
Davidroid	1:bc265521eb00	603	}
Davidroid	1:bc265521eb00	604	}
Davidroid	1:bc265521eb00	605
Davidroid	1:bc265521eb00	606	if (device_prm.stepsToTake != 0)
Davidroid	1:bc265521eb00	607	{
Davidroid	1:bc265521eb00	608	device_prm.commandExecuted = MOVE_CMD;
Davidroid	1:bc265521eb00	609
Davidroid	1:bc265521eb00	610	/* Direction setup */
Davidroid	2:4fd08b67958c	611	STSPIN820_SetDirection(direction);
Davidroid	1:bc265521eb00	612
Davidroid	2:4fd08b67958c	613	STSPIN820_ComputeSpeedProfile(device_prm.stepsToTake);
Davidroid	1:bc265521eb00	614
Davidroid	1:bc265521eb00	615	/* Motor activation */
Davidroid	2:4fd08b67958c	616	STSPIN820_StartMovement();
Davidroid	1:bc265521eb00	617	}
Davidroid	1:bc265521eb00	618	}
Davidroid	1:bc265521eb00	619
Davidroid	2:4fd08b67958c	620	/**********************************************************
Davidroid	1:bc265521eb00	621	* @brief Immediatly stop the motor and disable the power bridge
Davidroid	1:bc265521eb00	622	* @retval None
Davidroid	1:bc265521eb00	623	**********************************************************/
Davidroid	2:4fd08b67958c	624	void STSPIN820::STSPIN820_HardHiZ(void)
Davidroid	1:bc265521eb00	625	{
Davidroid	1:bc265521eb00	626	/* Set inactive state */
Davidroid	1:bc265521eb00	627	device_prm.motionState = INACTIVE;
Davidroid	1:bc265521eb00	628
Davidroid	1:bc265521eb00	629	/* Disable step clock */
Davidroid	2:4fd08b67958c	630	if (STSPIN820_TimStckStop(&toggle_odd) == 0)
Davidroid	1:bc265521eb00	631	{
Davidroid	1:bc265521eb00	632	STSPIN820_ErrorHandler(STSPIN820_ERROR_STEP_CLOCK);
Davidroid	1:bc265521eb00	633	}
Davidroid	1:bc265521eb00	634
Davidroid	1:bc265521eb00	635	/* Let the PWM REF and bridges enabled at least for DISABLE_DELAY time */
Davidroid	1:bc265521eb00	636	/* after the last step clock rising edge triggering the last step */
Davidroid	2:4fd08b67958c	637	STSPIN820_Delay(DISABLE_DELAY);
Davidroid	1:bc265521eb00	638
Davidroid	1:bc265521eb00	639	/* Set reference voltage to 0 */
Davidroid	2:4fd08b67958c	640	STSPIN820_SetTorque(CURRENT_TORQUE, 0);
Davidroid	1:bc265521eb00	641
Davidroid	1:bc265521eb00	642	/* Disable power bridges */
Davidroid	2:4fd08b67958c	643	STSPIN820_Disable_Power_Bridges();
Davidroid	1:bc265521eb00	644
Davidroid	1:bc265521eb00	645	/* Comeback to nominal step mode */
Davidroid	1:bc265521eb00	646	if (device_prm.stepModeLatched != device_prm.stepMode)
Davidroid	1:bc265521eb00	647	{
Davidroid	1:bc265521eb00	648	motor_step_mode_t StepMode = device_prm.stepModeLatched;
Davidroid	2:4fd08b67958c	649	STSPIN820_SetStepMode(StepMode);
Davidroid	1:bc265521eb00	650	device_prm.stepMode = device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	651	}
Davidroid	1:bc265521eb00	652
Davidroid	1:bc265521eb00	653	device_prm.commandExecuted = NO_CMD;
Davidroid	1:bc265521eb00	654	device_prm.stepsToTake = 0;
Davidroid	1:bc265521eb00	655	device_prm.speed = 0;
Davidroid	1:bc265521eb00	656	}
Davidroid	1:bc265521eb00	657
Davidroid	2:4fd08b67958c	658	/**********************************************************
Davidroid	1:bc265521eb00	659	* @brief Immediatly stop the motor
Davidroid	1:bc265521eb00	660	* and either set holding torque when stop mode is HOLD_MODE,
Davidroid	1:bc265521eb00	661	* or call STSPIN820_HardHiz function when stop mode is HIZ_MODE,
Davidroid	1:bc265521eb00	662	* or call STSPIN820_PutDeviceInStandby function when stop mode is STANDBY_MODE
Davidroid	1:bc265521eb00	663	* @retval None
Davidroid	1:bc265521eb00	664	**********************************************************/
Davidroid	2:4fd08b67958c	665	void STSPIN820::STSPIN820_HardStop(void)
Davidroid	1:bc265521eb00	666	{
Davidroid	1:bc265521eb00	667	if (device_prm.stopMode == HOLD_MODE)
Davidroid	1:bc265521eb00	668	{
Davidroid	1:bc265521eb00	669	/* Set inactive state */
Davidroid	1:bc265521eb00	670	device_prm.motionState = INACTIVE;
Davidroid	1:bc265521eb00	671
Davidroid	1:bc265521eb00	672	/* Disable step clock */
Davidroid	2:4fd08b67958c	673	if (STSPIN820_TimStckStop(&toggle_odd) == 0)
Davidroid	1:bc265521eb00	674	{
Davidroid	1:bc265521eb00	675	STSPIN820_ErrorHandler(STSPIN820_ERROR_STEP_CLOCK);
Davidroid	1:bc265521eb00	676	}
Davidroid	1:bc265521eb00	677
Davidroid	1:bc265521eb00	678	/* Set holding torque */
Davidroid	2:4fd08b67958c	679	STSPIN820_ApplyTorque(HOLD_TORQUE);
Davidroid	1:bc265521eb00	680
Davidroid	1:bc265521eb00	681	/* Comeback to nominal step mode */
Davidroid	1:bc265521eb00	682	if (device_prm.stepModeLatched != device_prm.stepMode)
Davidroid	1:bc265521eb00	683	{
Davidroid	1:bc265521eb00	684	motor_step_mode_t StepMode = device_prm.stepModeLatched;
Davidroid	2:4fd08b67958c	685	STSPIN820_SetStepMode(StepMode);
Davidroid	1:bc265521eb00	686	device_prm.stepMode = device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	687	}
Davidroid	1:bc265521eb00	688
Davidroid	1:bc265521eb00	689	device_prm.commandExecuted = NO_CMD;
Davidroid	1:bc265521eb00	690	device_prm.stepsToTake = 0;
Davidroid	1:bc265521eb00	691	device_prm.speed = 0;
Davidroid	1:bc265521eb00	692	}
Davidroid	1:bc265521eb00	693	else if (device_prm.stopMode == HIZ_MODE)
Davidroid	1:bc265521eb00	694	{
Davidroid	2:4fd08b67958c	695	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	696	}
Davidroid	1:bc265521eb00	697	else if (device_prm.stopMode == STANDBY_MODE)
Davidroid	1:bc265521eb00	698	{
Davidroid	2:4fd08b67958c	699	STSPIN820_PutDeviceInStandby();
Davidroid	1:bc265521eb00	700	}
Davidroid	1:bc265521eb00	701	}
Davidroid	1:bc265521eb00	702
Davidroid	2:4fd08b67958c	703	/**********************************************************
Davidroid	1:bc265521eb00	704	* @brief Moves the motor of the specified number of steps
Davidroid	1:bc265521eb00	705	* @param[in] direction FORWARD or BACKWARD
Davidroid	1:bc265521eb00	706	* @param[in] stepCount Number of steps to perform
Davidroid	1:bc265521eb00	707	* @retval None
Davidroid	1:bc265521eb00	708	**********************************************************/
Davidroid	2:4fd08b67958c	709	void STSPIN820::STSPIN820_Move(motor_direction_t direction, uint32_t stepCount)
Davidroid	1:bc265521eb00	710	{
Davidroid	1:bc265521eb00	711	/* Exit from standby if needed */
Davidroid	1:bc265521eb00	712	if (device_prm.motionState == STANDBY)
Davidroid	1:bc265521eb00	713	{
Davidroid	2:4fd08b67958c	714	STSPIN820_ExitDeviceFromStandby();
Davidroid	1:bc265521eb00	715	}
Davidroid	1:bc265521eb00	716	/* Deactivate motor if needed */
Davidroid	1:bc265521eb00	717	else if (device_prm.motionState != INACTIVE)
Davidroid	1:bc265521eb00	718	{
Davidroid	2:4fd08b67958c	719	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	720	}
Davidroid	1:bc265521eb00	721
Davidroid	1:bc265521eb00	722	if (stepCount != 0)
Davidroid	1:bc265521eb00	723	{
Davidroid	1:bc265521eb00	724	device_prm.stepsToTake = stepCount;
Davidroid	1:bc265521eb00	725	device_prm.commandExecuted = MOVE_CMD;
Davidroid	1:bc265521eb00	726
Davidroid	1:bc265521eb00	727	/* Direction setup */
Davidroid	2:4fd08b67958c	728	STSPIN820_SetDirection(direction);
Davidroid	1:bc265521eb00	729
Davidroid	2:4fd08b67958c	730	STSPIN820_ComputeSpeedProfile(stepCount);
Davidroid	1:bc265521eb00	731
Davidroid	1:bc265521eb00	732	/* Motor activation */
Davidroid	2:4fd08b67958c	733	STSPIN820_StartMovement();
Davidroid	1:bc265521eb00	734	}
Davidroid	1:bc265521eb00	735	}
Davidroid	1:bc265521eb00	736
Davidroid	2:4fd08b67958c	737	/**********************************************************
Davidroid	1:bc265521eb00	738	* @brief Put STSPIN820 device in standby (low power consumption)
Davidroid	1:bc265521eb00	739	* @retval None
Davidroid	1:bc265521eb00	740	**********************************************************/
Davidroid	2:4fd08b67958c	741	void STSPIN820::STSPIN820_PutDeviceInStandby(void)
Davidroid	1:bc265521eb00	742	{
Davidroid	1:bc265521eb00	743	/* Stop movement */
Davidroid	2:4fd08b67958c	744	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	745
Davidroid	1:bc265521eb00	746	/* Enter standby */
Davidroid	2:4fd08b67958c	747	STSPIN820_Reset();
Davidroid	1:bc265521eb00	748
Davidroid	1:bc265521eb00	749	device_prm.motionState = STANDBY;
Davidroid	1:bc265521eb00	750	}
Davidroid	1:bc265521eb00	751
Davidroid	2:4fd08b67958c	752	/**********************************************************
Davidroid	1:bc265521eb00	753	* @brief Runs the motor. It will accelerate from the min
Davidroid	1:bc265521eb00	754	* speed up to the max speed by using the device acceleration.
Davidroid	1:bc265521eb00	755	* @param[in] direction FORWARD or BACKWARD
Davidroid	1:bc265521eb00	756	* @retval None
Davidroid	1:bc265521eb00	757	**********************************************************/
Davidroid	2:4fd08b67958c	758	void STSPIN820::STSPIN820_Run(motor_direction_t direction)
Davidroid	1:bc265521eb00	759	{
Davidroid	1:bc265521eb00	760	/* Exit from standby if needed */
Davidroid	1:bc265521eb00	761	if (device_prm.motionState == STANDBY)
Davidroid	1:bc265521eb00	762	{
Davidroid	2:4fd08b67958c	763	STSPIN820_ExitDeviceFromStandby();
Davidroid	1:bc265521eb00	764	}
Davidroid	1:bc265521eb00	765	/* Deactivate motor if needed */
Davidroid	1:bc265521eb00	766	else if (device_prm.motionState != INACTIVE)
Davidroid	1:bc265521eb00	767	{
Davidroid	2:4fd08b67958c	768	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	769	}
Davidroid	1:bc265521eb00	770
Davidroid	1:bc265521eb00	771	/* Direction setup */
Davidroid	2:4fd08b67958c	772	STSPIN820_SetDirection(direction);
Davidroid	1:bc265521eb00	773	device_prm.commandExecuted = RUN_CMD;
Davidroid	1:bc265521eb00	774	/* Motor activation */
Davidroid	2:4fd08b67958c	775	STSPIN820_StartMovement();
Davidroid	1:bc265521eb00	776	}
Davidroid	1:bc265521eb00	777
Davidroid	2:4fd08b67958c	778	/**********************************************************
Davidroid	1:bc265521eb00	779	* @brief Changes the acceleration of the specified device
Davidroid	1:bc265521eb00	780	* @param[in] newAcc New acceleration to apply in pps^2
Davidroid	1:bc265521eb00	781	* @retval true if the command is successfully executed, else false
Davidroid	1:bc265521eb00	782	* @note The command is not performed if the device is executing
Davidroid	1:bc265521eb00	783	* a MOVE or GOTO command (but it can be used during a RUN command)
Davidroid	1:bc265521eb00	784	**********************************************************/
Davidroid	2:4fd08b67958c	785	bool STSPIN820::STSPIN820_SetAcceleration(uint16_t newAcc)
Davidroid	1:bc265521eb00	786	{
Davidroid	1:bc265521eb00	787	bool cmdExecuted = FALSE;
Davidroid	1:bc265521eb00	788	if ((newAcc != 0)&&
Davidroid	1:bc265521eb00	789	(((device_prm.motionState & INACTIVE) == INACTIVE)\|\|
Davidroid	1:bc265521eb00	790	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	1:bc265521eb00	791	{
Davidroid	1:bc265521eb00	792	device_prm.acceleration = newAcc;
Davidroid	1:bc265521eb00	793	cmdExecuted = TRUE;
Davidroid	1:bc265521eb00	794	}
Davidroid	1:bc265521eb00	795	return cmdExecuted;
Davidroid	1:bc265521eb00	796	}
Davidroid	1:bc265521eb00	797
Davidroid	2:4fd08b67958c	798	/**********************************************************
Davidroid	1:bc265521eb00	799	* @brief Specifies the decay mode
Davidroid	1:bc265521eb00	800	* @param[in] decay SLOW_DECAY or MIXED_DECAY
Davidroid	1:bc265521eb00	801	* @retval true if the command is successfully executed, else false
Davidroid	1:bc265521eb00	802	**********************************************************/
Davidroid	2:4fd08b67958c	803	void STSPIN820::STSPIN820_SetDecayMode(motor_decay_mode_t decay)
Davidroid	1:bc265521eb00	804	{
Davidroid	1:bc265521eb00	805	if (decay == SLOW_DECAY)
Davidroid	1:bc265521eb00	806	{
Davidroid	2:4fd08b67958c	807	STSPIN820_SetDecayGpio(1);
Davidroid	1:bc265521eb00	808	}
Davidroid	1:bc265521eb00	809	else if (decay == MIXED_DECAY)
Davidroid	1:bc265521eb00	810	{
Davidroid	2:4fd08b67958c	811	STSPIN820_SetDecayGpio(0);
Davidroid	1:bc265521eb00	812	}
Davidroid	1:bc265521eb00	813	}
Davidroid	1:bc265521eb00	814
Davidroid	2:4fd08b67958c	815	/**********************************************************
Davidroid	1:bc265521eb00	816	* @brief Changes the deceleration of the specified device
Davidroid	1:bc265521eb00	817	* @param[in] newDec New deceleration to apply in pps^2
Davidroid	1:bc265521eb00	818	* @retval true if the command is successfully executed, else false
Davidroid	1:bc265521eb00	819	* @note The command is not performed if the device is executing
Davidroid	1:bc265521eb00	820	* a MOVE or GOTO command (but it can be used during a RUN command)
Davidroid	1:bc265521eb00	821	**********************************************************/
Davidroid	2:4fd08b67958c	822	bool STSPIN820::STSPIN820_SetDeceleration(uint16_t newDec)
Davidroid	1:bc265521eb00	823	{
Davidroid	1:bc265521eb00	824	bool cmdExecuted = FALSE;
Davidroid	1:bc265521eb00	825	if ((newDec != 0)&&
Davidroid	1:bc265521eb00	826	(((device_prm.motionState & INACTIVE) == INACTIVE)\|\|
Davidroid	1:bc265521eb00	827	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	1:bc265521eb00	828	{
Davidroid	1:bc265521eb00	829	device_prm.deceleration = newDec;
Davidroid	1:bc265521eb00	830	cmdExecuted = TRUE;
Davidroid	1:bc265521eb00	831	}
Davidroid	1:bc265521eb00	832	return cmdExecuted;
Davidroid	1:bc265521eb00	833	}
Davidroid	1:bc265521eb00	834
Davidroid	2:4fd08b67958c	835	/**********************************************************
Davidroid	1:bc265521eb00	836	* @brief Specifies the direction
Davidroid	1:bc265521eb00	837	* @param[in] dir FORWARD or BACKWARD
Davidroid	1:bc265521eb00	838	* @note The direction change is applied if the device
Davidroid	1:bc265521eb00	839	* is in INACTIVE or STANDBY state or if the device is
Davidroid	1:bc265521eb00	840	* executing a run command
Davidroid	1:bc265521eb00	841	* @retval None
Davidroid	1:bc265521eb00	842	**********************************************************/
Davidroid	2:4fd08b67958c	843	void STSPIN820::STSPIN820_SetDirection(motor_direction_t dir)
Davidroid	1:bc265521eb00	844	{
Davidroid	1:bc265521eb00	845	if ((device_prm.motionState == INACTIVE)\|\|\
Davidroid	1:bc265521eb00	846	(device_prm.motionState == STANDBY))
Davidroid	1:bc265521eb00	847	{
Davidroid	1:bc265521eb00	848	device_prm.direction = dir;
Davidroid	2:4fd08b67958c	849	STSPIN820_SetDirectionGpio(dir);
Davidroid	1:bc265521eb00	850	}
Davidroid	1:bc265521eb00	851	else if ((device_prm.commandExecuted&RUN_CMD)!=0)
Davidroid	1:bc265521eb00	852	{
Davidroid	2:4fd08b67958c	853	device_prm.commandExecuted = (device_command_t) (device_prm.commandExecuted \| STSPIN820_DIR_CHANGE_BIT_MASK);
Davidroid	1:bc265521eb00	854	}
Davidroid	1:bc265521eb00	855	}
Davidroid	1:bc265521eb00	856
Davidroid	2:4fd08b67958c	857	/**********************************************************
Davidroid	1:bc265521eb00	858	* @brief Set current position to be the Home position
Davidroid	1:bc265521eb00	859	* (current position set to 0)
Davidroid	1:bc265521eb00	860	* @retval None
Davidroid	1:bc265521eb00	861	**********************************************************/
Davidroid	2:4fd08b67958c	862	void STSPIN820::STSPIN820_SetHome(void)
Davidroid	1:bc265521eb00	863	{
Davidroid	1:bc265521eb00	864	device_prm.currentPosition = 0;
Davidroid	1:bc265521eb00	865	}
Davidroid	1:bc265521eb00	866
Davidroid	2:4fd08b67958c	867	/**********************************************************
Davidroid	1:bc265521eb00	868	* @brief Set current position to be the Mark position
Davidroid	1:bc265521eb00	869	* @retval None
Davidroid	1:bc265521eb00	870	**********************************************************/
Davidroid	2:4fd08b67958c	871	void STSPIN820::STSPIN820_SetMark(void)
Davidroid	1:bc265521eb00	872	{
Davidroid	1:bc265521eb00	873	device_prm.markPosition = device_prm.currentPosition;
Davidroid	1:bc265521eb00	874	}
Davidroid	1:bc265521eb00	875
Davidroid	2:4fd08b67958c	876	/**********************************************************
Davidroid	1:bc265521eb00	877	* @brief Changes the max speed of the specified device
Davidroid	1:bc265521eb00	878	* @param[in] newMaxSpeed New max speed to apply in pps
Davidroid	1:bc265521eb00	879	* @retval true if the command is successfully executed, else false
Davidroid	1:bc265521eb00	880	* @note The command is not performed is the device is executing
Davidroid	1:bc265521eb00	881	* a MOVE or GOTO command (but it can be used during a RUN command).
Davidroid	1:bc265521eb00	882	**********************************************************/
Davidroid	2:4fd08b67958c	883	bool STSPIN820::STSPIN820_SetMaxSpeed(uint16_t newMaxSpeed)
Davidroid	1:bc265521eb00	884	{
Davidroid	1:bc265521eb00	885	bool cmdExecuted = FALSE;
Davidroid	1:bc265521eb00	886	if ((newMaxSpeed >= STSPIN820_MIN_STCK_FREQ)&&\
Davidroid	1:bc265521eb00	887	((newMaxSpeed <= STSPIN820_MAX_STCK_FREQ)\|\|\
Davidroid	1:bc265521eb00	888	((device_prm.torqueBoostEnable != FALSE)&&\
Davidroid	2:4fd08b67958c	889	((newMaxSpeed>>STSPIN820_GetStepMode())<= STSPIN820_MAX_STCK_FREQ)))&&\
Davidroid	1:bc265521eb00	890	(device_prm.minSpeed <= newMaxSpeed) &&\
Davidroid	1:bc265521eb00	891	(((device_prm.motionState & INACTIVE) == INACTIVE)\|\|\
Davidroid	1:bc265521eb00	892	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	1:bc265521eb00	893	{
Davidroid	1:bc265521eb00	894	device_prm.maxSpeed = newMaxSpeed;
Davidroid	1:bc265521eb00	895	cmdExecuted = TRUE;
Davidroid	1:bc265521eb00	896	}
Davidroid	1:bc265521eb00	897	return cmdExecuted;
Davidroid	1:bc265521eb00	898	}
Davidroid	1:bc265521eb00	899
Davidroid	2:4fd08b67958c	900	/**********************************************************
Davidroid	1:bc265521eb00	901	* @brief Changes the min speed of the specified device
Davidroid	1:bc265521eb00	902	* @param[in] newMinSpeed New min speed to apply in pps
Davidroid	1:bc265521eb00	903	* @retval true if the command is successfully executed, else false
Davidroid	1:bc265521eb00	904	* @note The command is not performed is the device is executing
Davidroid	1:bc265521eb00	905	* a MOVE or GOTO command (but it can be used during a RUN command).
Davidroid	1:bc265521eb00	906	**********************************************************/
Davidroid	2:4fd08b67958c	907	bool STSPIN820::STSPIN820_SetMinSpeed(uint16_t newMinSpeed)
Davidroid	1:bc265521eb00	908	{
Davidroid	1:bc265521eb00	909	bool cmdExecuted = FALSE;
Davidroid	1:bc265521eb00	910	if ((newMinSpeed >= STSPIN820_MIN_STCK_FREQ)&&
Davidroid	1:bc265521eb00	911	(newMinSpeed <= STSPIN820_MAX_STCK_FREQ) &&
Davidroid	1:bc265521eb00	912	(newMinSpeed <= device_prm.maxSpeed) &&
Davidroid	1:bc265521eb00	913	(((device_prm.motionState & INACTIVE) == INACTIVE)\|\|
Davidroid	1:bc265521eb00	914	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	1:bc265521eb00	915	{
Davidroid	1:bc265521eb00	916	device_prm.minSpeed = newMinSpeed;
Davidroid	1:bc265521eb00	917	cmdExecuted = TRUE;
Davidroid	1:bc265521eb00	918	}
Davidroid	1:bc265521eb00	919	return cmdExecuted;
Davidroid	1:bc265521eb00	920	}
Davidroid	1:bc265521eb00	921
Davidroid	2:4fd08b67958c	922	/**********************************************************
Davidroid	1:bc265521eb00	923	* @brief Sets the number of devices to be used
Davidroid	1:bc265521eb00	924	* @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
Davidroid	1:bc265521eb00	925	* @retval TRUE if successfull, FALSE if failure, attempt to set a number of
Davidroid	1:bc265521eb00	926	* devices greater than MAX_NUMBER_OF_DEVICES
Davidroid	1:bc265521eb00	927	**********************************************************/
Davidroid	1:bc265521eb00	928	bool STSPIN820::STSPIN820_SetNbDevices(uint8_t nbDevices)
Davidroid	1:bc265521eb00	929	{
Davidroid	1:bc265521eb00	930	if (nbDevices <= MAX_NUMBER_OF_DEVICES)
Davidroid	1:bc265521eb00	931	{
Davidroid	1:bc265521eb00	932	number_of_devices = nbDevices;
Davidroid	1:bc265521eb00	933	return TRUE;
Davidroid	1:bc265521eb00	934	}
Davidroid	1:bc265521eb00	935	else
Davidroid	1:bc265521eb00	936	{
Davidroid	1:bc265521eb00	937	return FALSE;
Davidroid	1:bc265521eb00	938	}
Davidroid	1:bc265521eb00	939	}
Davidroid	1:bc265521eb00	940
Davidroid	2:4fd08b67958c	941	/**********************************************************
Davidroid	1:bc265521eb00	942	* @brief Set the stepping mode
Davidroid	1:bc265521eb00	943	* @param[in] stepMode from full step to 1/256 microstep
Davidroid	1:bc265521eb00	944	* as specified in enum motor_step_mode_t
Davidroid	1:bc265521eb00	945	* 1/64 microstep mode not supported by STSPIN820
Davidroid	1:bc265521eb00	946	* @retval true if the command is successfully executed, else false
Davidroid	1:bc265521eb00	947	**********************************************************/
Davidroid	2:4fd08b67958c	948	bool STSPIN820::STSPIN820_SetStepMode(motor_step_mode_t stepMode)
Davidroid	1:bc265521eb00	949	{
Davidroid	1:bc265521eb00	950	/* Store step mode */
Davidroid	1:bc265521eb00	951	device_prm.stepMode = stepMode;
Davidroid	1:bc265521eb00	952	device_prm.stepModeLatched = stepMode;
Davidroid	1:bc265521eb00	953
Davidroid	1:bc265521eb00	954	/* Set the mode pins to the levels corresponding to the selected step mode */
Davidroid	1:bc265521eb00	955	switch (stepMode)
Davidroid	1:bc265521eb00	956	{
Davidroid	1:bc265521eb00	957	case STEP_MODE_FULL:
Davidroid	2:4fd08b67958c	958	STSPIN820_SetFullStep();
Davidroid	1:bc265521eb00	959	break;
Davidroid	1:bc265521eb00	960	case STEP_MODE_HALF:
Davidroid	2:4fd08b67958c	961	STSPIN820_SetModePins(1, 0, 0);
Davidroid	1:bc265521eb00	962	break;
Davidroid	1:bc265521eb00	963	case STEP_MODE_1_4:
Davidroid	2:4fd08b67958c	964	STSPIN820_SetModePins(0, 1, 0);
Davidroid	1:bc265521eb00	965	break;
Davidroid	1:bc265521eb00	966	case STEP_MODE_1_8:
Davidroid	2:4fd08b67958c	967	STSPIN820_SetModePins(1, 1, 0);
Davidroid	1:bc265521eb00	968	break;
Davidroid	1:bc265521eb00	969	case STEP_MODE_1_16:
Davidroid	2:4fd08b67958c	970	STSPIN820_SetModePins(0, 0, 1);
Davidroid	1:bc265521eb00	971	break;
Davidroid	1:bc265521eb00	972	case STEP_MODE_1_32:
Davidroid	2:4fd08b67958c	973	STSPIN820_SetModePins(1, 0, 1);
Davidroid	1:bc265521eb00	974	break;
Davidroid	1:bc265521eb00	975	case STEP_MODE_1_128:
Davidroid	2:4fd08b67958c	976	STSPIN820_SetModePins(0, 1, 1);
Davidroid	1:bc265521eb00	977	break;
Davidroid	1:bc265521eb00	978	case STEP_MODE_1_256:
Davidroid	2:4fd08b67958c	979	STSPIN820_SetModePins(1, 1, 1);
Davidroid	1:bc265521eb00	980	break;
Davidroid	1:bc265521eb00	981	default:
Davidroid	1:bc265521eb00	982	return FALSE;
Davidroid	1:bc265521eb00	983	}
Davidroid	1:bc265521eb00	984
Davidroid	1:bc265521eb00	985	return TRUE;
Davidroid	1:bc265521eb00	986
Davidroid	1:bc265521eb00	987	}
Davidroid	1:bc265521eb00	988
Davidroid	2:4fd08b67958c	989	/**********************************************************
Davidroid	1:bc265521eb00	990	* @brief Select the mode to stop the motor.
Davidroid	1:bc265521eb00	991	* @param[in] stopMode HOLD_MODE to let power bridge enabled
Davidroid	1:bc265521eb00	992	* @retval None
Davidroid	1:bc265521eb00	993	**********************************************************/
Davidroid	2:4fd08b67958c	994	void STSPIN820::STSPIN820_SetStopMode(motor_stop_mode_t stopMode)
Davidroid	1:bc265521eb00	995	{
Davidroid	1:bc265521eb00	996	device_prm.stopMode = stopMode;
Davidroid	1:bc265521eb00	997	}
Davidroid	1:bc265521eb00	998
Davidroid	2:4fd08b67958c	999	/**********************************************************
Davidroid	1:bc265521eb00	1000	* @brief Set the torque of the specified device
Davidroid	1:bc265521eb00	1001	* @param[in] torqueMode Torque mode as specified in enum motor_torque_mode_t
Davidroid	1:bc265521eb00	1002	* @param[in] torqueValue in % (from 0 to 100)
Davidroid	1:bc265521eb00	1003	* @retval None
Davidroid	1:bc265521eb00	1004	* @note
Davidroid	1:bc265521eb00	1005	**********************************************************/
Davidroid	2:4fd08b67958c	1006	void STSPIN820::STSPIN820_SetTorque(motor_torque_mode_t torqueMode, uint8_t torqueValue)
Davidroid	1:bc265521eb00	1007	{
Davidroid	1:bc265521eb00	1008	device_prm.updateTorque = TRUE;
Davidroid	1:bc265521eb00	1009	if (torqueValue>100)
Davidroid	1:bc265521eb00	1010	{
Davidroid	1:bc265521eb00	1011	torqueValue = 100;
Davidroid	1:bc265521eb00	1012	}
Davidroid	1:bc265521eb00	1013	switch(torqueMode)
Davidroid	1:bc265521eb00	1014	{
Davidroid	1:bc265521eb00	1015	case ACC_TORQUE:
Davidroid	1:bc265521eb00	1016	device_prm.accelTorque = torqueValue;
Davidroid	1:bc265521eb00	1017	break;
Davidroid	1:bc265521eb00	1018	case DEC_TORQUE:
Davidroid	1:bc265521eb00	1019	device_prm.decelTorque = torqueValue;
Davidroid	1:bc265521eb00	1020	break;
Davidroid	1:bc265521eb00	1021	case RUN_TORQUE:
Davidroid	1:bc265521eb00	1022	device_prm.runTorque = torqueValue;
Davidroid	1:bc265521eb00	1023	break;
Davidroid	1:bc265521eb00	1024	case HOLD_TORQUE:
Davidroid	1:bc265521eb00	1025	device_prm.holdTorque = torqueValue;
Davidroid	1:bc265521eb00	1026	if (device_prm.motionState != INACTIVE)
Davidroid	1:bc265521eb00	1027	{
Davidroid	1:bc265521eb00	1028	break;
Davidroid	1:bc265521eb00	1029	}
Davidroid	1:bc265521eb00	1030	case CURRENT_TORQUE:
Davidroid	1:bc265521eb00	1031	device_prm.currentTorque = torqueValue;
Davidroid	2:4fd08b67958c	1032	STSPIN820_PwmRefSetFreqAndDutyCycle(device_prm.refPwmFreq,torqueValue);
Davidroid	1:bc265521eb00	1033	default:
Davidroid	1:bc265521eb00	1034	device_prm.updateTorque = FALSE;
Davidroid	1:bc265521eb00	1035	break; //ignore error
Davidroid	1:bc265521eb00	1036	}
Davidroid	1:bc265521eb00	1037	}
Davidroid	1:bc265521eb00	1038
Davidroid	2:4fd08b67958c	1039	/**********************************************************
Davidroid	1:bc265521eb00	1040	* @brief Enable or disable the torque boost feature
Davidroid	1:bc265521eb00	1041	* @param[in] enable true to enable torque boost, false to disable
Davidroid	1:bc265521eb00	1042	* @retval None
Davidroid	1:bc265521eb00	1043	**********************************************************/
Davidroid	2:4fd08b67958c	1044	void STSPIN820::STSPIN820_SetTorqueBoostEnable(bool enable)
Davidroid	1:bc265521eb00	1045	{
Davidroid	1:bc265521eb00	1046	device_prm.torqueBoostEnable = enable;
Davidroid	1:bc265521eb00	1047	}
Davidroid	1:bc265521eb00	1048
Davidroid	2:4fd08b67958c	1049	/**********************************************************
Davidroid	1:bc265521eb00	1050	* @brief Set the torque boost threshold
Davidroid	2:4fd08b67958c	1051	* @param[in] (from 0 to MAX_NUMBER_OF_DEVICES - 1)
Davidroid	1:bc265521eb00	1052	* @param[in] speedThreshold speed threshold above which the step mode is
Davidroid	1:bc265521eb00	1053	* changed to full step
Davidroid	1:bc265521eb00	1054	* @retval None
Davidroid	1:bc265521eb00	1055	**********************************************************/
Davidroid	2:4fd08b67958c	1056	void STSPIN820::STSPIN820_SetTorqueBoostThreshold(uint16_t speedThreshold)
Davidroid	1:bc265521eb00	1057	{
Davidroid	1:bc265521eb00	1058	device_prm.torqueBoostSpeedThreshold = speedThreshold;
Davidroid	1:bc265521eb00	1059	}
Davidroid	1:bc265521eb00	1060
Davidroid	2:4fd08b67958c	1061	/**********************************************************
Davidroid	1:bc265521eb00	1062	* @brief Stops the motor by using the device deceleration
Davidroid	1:bc265521eb00	1063	* @retval true if the command is successfully executed, else false
Davidroid	1:bc265521eb00	1064	* @note The command is not performed if the device is in INACTIVE,
Davidroid	1:bc265521eb00	1065	* STANDBYTOINACTIVE or STANDBY state.
Davidroid	1:bc265521eb00	1066	**********************************************************/
Davidroid	2:4fd08b67958c	1067	bool STSPIN820::STSPIN820_SoftStop(void)
Davidroid	1:bc265521eb00	1068	{
Davidroid	1:bc265521eb00	1069	bool cmdExecuted = FALSE;
Davidroid	1:bc265521eb00	1070	if ((device_prm.motionState & INACTIVE) != INACTIVE)
Davidroid	1:bc265521eb00	1071	{
Davidroid	2:4fd08b67958c	1072	device_prm.commandExecuted = (device_command_t) (device_prm.commandExecuted \| STSPIN820_SOFT_STOP_BIT_MASK);
Davidroid	1:bc265521eb00	1073	cmdExecuted = TRUE;
Davidroid	1:bc265521eb00	1074	}
Davidroid	1:bc265521eb00	1075	return (cmdExecuted);
Davidroid	1:bc265521eb00	1076	}
Davidroid	1:bc265521eb00	1077
Davidroid	2:4fd08b67958c	1078	/**********************************************************
Davidroid	1:bc265521eb00	1079	* @brief Get the frequency of REF PWM of the specified device
Davidroid	1:bc265521eb00	1080	* @retval the frequency of REF PWM in Hz
Davidroid	1:bc265521eb00	1081	* @note
Davidroid	1:bc265521eb00	1082	**********************************************************/
Davidroid	2:4fd08b67958c	1083	uint32_t STSPIN820::STSPIN820_VrefPwmGetFreq(void)
Davidroid	1:bc265521eb00	1084	{
Davidroid	1:bc265521eb00	1085	return device_prm.refPwmFreq;
Davidroid	1:bc265521eb00	1086	}
Davidroid	1:bc265521eb00	1087
Davidroid	2:4fd08b67958c	1088	/**********************************************************
Davidroid	1:bc265521eb00	1089	* @brief Set the frequency of REF PWM of the specified device
Davidroid	1:bc265521eb00	1090	* @param[in] newFreq in Hz
Davidroid	1:bc265521eb00	1091	* @retval None
Davidroid	1:bc265521eb00	1092	* @note
Davidroid	1:bc265521eb00	1093	**********************************************************/
Davidroid	2:4fd08b67958c	1094	void STSPIN820::STSPIN820_VrefPwmSetFreq(uint32_t newFreq)
Davidroid	1:bc265521eb00	1095	{
Davidroid	1:bc265521eb00	1096	device_prm.refPwmFreq = newFreq;
Davidroid	2:4fd08b67958c	1097	STSPIN820_PwmRefSetFreqAndDutyCycle(newFreq,device_prm.currentTorque);
Davidroid	1:bc265521eb00	1098	}
Davidroid	1:bc265521eb00	1099
Davidroid	2:4fd08b67958c	1100	/**********************************************************
Davidroid	1:bc265521eb00	1101	* @brief Locks until the device state becomes Inactive
Davidroid	1:bc265521eb00	1102	* @retval None
Davidroid	1:bc265521eb00	1103	**********************************************************/
Davidroid	2:4fd08b67958c	1104	void STSPIN820::STSPIN820_WaitWhileActive(void)
Davidroid	1:bc265521eb00	1105	{
Davidroid	1:bc265521eb00	1106	/* Wait while motor is running */
Davidroid	2:4fd08b67958c	1107	while (((STSPIN820_GetDeviceState()&INACTIVE)!=INACTIVE)\|\|\
Davidroid	2:4fd08b67958c	1108	(((STSPIN820_GetDeviceState()&INACTIVE)==INACTIVE)&&(toggle_odd!=0)));
Davidroid	1:bc265521eb00	1109	}
Davidroid	1:bc265521eb00	1110
Davidroid	2:4fd08b67958c	1111	/**********************************************************
Davidroid	1:bc265521eb00	1112	* @brief Updates the current speed of the device
Davidroid	1:bc265521eb00	1113	* @param[in] newSpeed in pps
Davidroid	1:bc265521eb00	1114	* @retval None
Davidroid	1:bc265521eb00	1115	**********************************************************/
Davidroid	2:4fd08b67958c	1116	void STSPIN820::STSPIN820_ApplySpeed(uint16_t newSpeed)
Davidroid	1:bc265521eb00	1117	{
Davidroid	1:bc265521eb00	1118	if (device_prm.torqueBoostEnable != FALSE)
Davidroid	1:bc265521eb00	1119	{
Davidroid	1:bc265521eb00	1120	if (device_prm.stepMode > STEP_MODE_1_256)
Davidroid	1:bc265521eb00	1121	{
Davidroid	1:bc265521eb00	1122	STSPIN820_ErrorHandler(STSPIN820_ERROR_APPLY_SPEED);
Davidroid	1:bc265521eb00	1123	}
Davidroid	1:bc265521eb00	1124	if (device_prm.stepMode != STEP_MODE_FULL)
Davidroid	1:bc265521eb00	1125	{
Davidroid	1:bc265521eb00	1126	if (((newSpeed>>device_prm.stepModeLatched)>\
Davidroid	1:bc265521eb00	1127	device_prm.torqueBoostSpeedThreshold)&&\
Davidroid	1:bc265521eb00	1128	(((device_prm.commandExecuted & STSPIN820_MOVE_BIT_MASK) != MOVE_CMD) \|\|\
Davidroid	1:bc265521eb00	1129	((device_prm.stepsToTake-device_prm.relativePos)>=\
Davidroid	1:bc265521eb00	1130	(1<<device_prm.stepModeLatched))))
Davidroid	1:bc265521eb00	1131	{
Davidroid	1:bc265521eb00	1132	if ((device_prm.sequencerPosition & 0xFF) == 0x80)
Davidroid	1:bc265521eb00	1133	{
Davidroid	2:4fd08b67958c	1134	STSPIN820_SetFullStep();
Davidroid	2:4fd08b67958c	1135	device_prm.stepMode = (motor_step_mode_t) STEP_MODE_FULL;
Davidroid	1:bc265521eb00	1136	device_prm.accu >>= device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1137	newSpeed >>= device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1138	}
Davidroid	1:bc265521eb00	1139	}
Davidroid	1:bc265521eb00	1140	}
Davidroid	1:bc265521eb00	1141	else if (((newSpeed <= device_prm.torqueBoostSpeedThreshold) &&\
Davidroid	1:bc265521eb00	1142	(device_prm.stepModeLatched != STEP_MODE_FULL))\|\|\
Davidroid	1:bc265521eb00	1143	(((device_prm.commandExecuted & STSPIN820_MOVE_BIT_MASK) == MOVE_CMD)&&\
Davidroid	1:bc265521eb00	1144	((device_prm.stepsToTake-device_prm.relativePos)<=\
Davidroid	1:bc265521eb00	1145	(1<<device_prm.stepModeLatched))))
Davidroid	1:bc265521eb00	1146	{
Davidroid	2:4fd08b67958c	1147	STSPIN820_SetStepMode(device_prm.stepModeLatched);
Davidroid	1:bc265521eb00	1148	device_prm.stepMode = device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1149	device_prm.accu <<= device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1150	newSpeed <<= device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1151	}
Davidroid	1:bc265521eb00	1152	}
Davidroid	1:bc265521eb00	1153	else if (device_prm.stepMode != device_prm.stepModeLatched)
Davidroid	1:bc265521eb00	1154	{
Davidroid	1:bc265521eb00	1155	//torqueBoostEnable has just been disabled
Davidroid	2:4fd08b67958c	1156	STSPIN820_SetStepMode(device_prm.stepModeLatched);
Davidroid	1:bc265521eb00	1157	device_prm.stepMode = device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1158	device_prm.accu <<= device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1159	newSpeed <<= device_prm.stepModeLatched;
Davidroid	1:bc265521eb00	1160	}
Davidroid	1:bc265521eb00	1161
Davidroid	1:bc265521eb00	1162	if (newSpeed < STSPIN820_MIN_STCK_FREQ)
Davidroid	1:bc265521eb00	1163	{
Davidroid	1:bc265521eb00	1164	newSpeed = STSPIN820_MIN_STCK_FREQ;
Davidroid	1:bc265521eb00	1165	}
Davidroid	1:bc265521eb00	1166	if (newSpeed > STSPIN820_MAX_STCK_FREQ)
Davidroid	1:bc265521eb00	1167	{
Davidroid	1:bc265521eb00	1168	newSpeed = STSPIN820_MAX_STCK_FREQ;
Davidroid	1:bc265521eb00	1169	}
Davidroid	1:bc265521eb00	1170
Davidroid	1:bc265521eb00	1171	device_prm.speed = newSpeed;
Davidroid	2:4fd08b67958c	1172	STSPIN820_TimStckSetFreq(newSpeed);
Davidroid	1:bc265521eb00	1173
Davidroid	1:bc265521eb00	1174	}
Davidroid	1:bc265521eb00	1175
Davidroid	2:4fd08b67958c	1176	/**********************************************************
Davidroid	1:bc265521eb00	1177	* @brief Apply the set torque to the specified device
Davidroid	1:bc265521eb00	1178	* @param[in] torqueMode torque mode
Davidroid	1:bc265521eb00	1179	* @retval None
Davidroid	1:bc265521eb00	1180	* @note
Davidroid	1:bc265521eb00	1181	**********************************************************/
Davidroid	2:4fd08b67958c	1182	void STSPIN820::STSPIN820_ApplyTorque(motor_torque_mode_t torqueMode)
Davidroid	1:bc265521eb00	1183	{
Davidroid	1:bc265521eb00	1184	uint8_t torqueValue = 0;
Davidroid	1:bc265521eb00	1185	device_prm.updateTorque = FALSE;
Davidroid	1:bc265521eb00	1186	switch(torqueMode)
Davidroid	1:bc265521eb00	1187	{
Davidroid	1:bc265521eb00	1188	case ACC_TORQUE:
Davidroid	1:bc265521eb00	1189	device_prm.currentTorque = device_prm.accelTorque;
Davidroid	1:bc265521eb00	1190	break;
Davidroid	1:bc265521eb00	1191	case DEC_TORQUE:
Davidroid	1:bc265521eb00	1192	device_prm.currentTorque = device_prm.decelTorque;
Davidroid	1:bc265521eb00	1193	break;
Davidroid	1:bc265521eb00	1194	case RUN_TORQUE:
Davidroid	1:bc265521eb00	1195	device_prm.currentTorque = device_prm.runTorque;
Davidroid	1:bc265521eb00	1196	break;
Davidroid	1:bc265521eb00	1197	case HOLD_TORQUE:
Davidroid	1:bc265521eb00	1198	device_prm.currentTorque = device_prm.holdTorque;
Davidroid	1:bc265521eb00	1199	break;
Davidroid	1:bc265521eb00	1200	case CURRENT_TORQUE:
Davidroid	1:bc265521eb00	1201	break;
Davidroid	1:bc265521eb00	1202	default:
Davidroid	1:bc265521eb00	1203	return; //ignore error
Davidroid	1:bc265521eb00	1204	}
Davidroid	1:bc265521eb00	1205	torqueValue = device_prm.currentTorque;
Davidroid	2:4fd08b67958c	1206	STSPIN820_PwmRefSetFreqAndDutyCycle(device_prm.refPwmFreq,torqueValue);
Davidroid	1:bc265521eb00	1207	}
Davidroid	1:bc265521eb00	1208
Davidroid	2:4fd08b67958c	1209	/**********************************************************
Davidroid	1:bc265521eb00	1210	* @brief Computes the speed profile according to the number of steps to move
Davidroid	1:bc265521eb00	1211	* @param[in] nbSteps number of steps to perform
Davidroid	1:bc265521eb00	1212	* @retval None
Davidroid	1:bc265521eb00	1213	* @note Using the acceleration and deceleration of the device,
Davidroid	1:bc265521eb00	1214	* this function determines the duration in steps of the acceleration,
Davidroid	1:bc265521eb00	1215	* steady and deceleration phases.
Davidroid	1:bc265521eb00	1216	* If the total number of steps to perform is big enough, a trapezoidal move
Davidroid	1:bc265521eb00	1217	* is performed (i.e. there is a steady phase where the motor runs at the maximum
Davidroid	1:bc265521eb00	1218	* speed.
Davidroid	1:bc265521eb00	1219	* Else, a triangular move is performed (no steady phase: the maximum speed is never
Davidroid	1:bc265521eb00	1220	* reached.
Davidroid	1:bc265521eb00	1221	**********************************************************/
Davidroid	2:4fd08b67958c	1222	void STSPIN820::STSPIN820_ComputeSpeedProfile(uint32_t nbSteps)
Davidroid	1:bc265521eb00	1223	{
Davidroid	1:bc265521eb00	1224	uint32_t reqAccSteps;
Davidroid	1:bc265521eb00	1225	uint32_t reqDecSteps;
Davidroid	1:bc265521eb00	1226
Davidroid	1:bc265521eb00	1227	/* compute the number of steps to get the targeted speed */
Davidroid	1:bc265521eb00	1228	uint16_t minSpeed = device_prm.minSpeed;
Davidroid	1:bc265521eb00	1229	reqAccSteps = (device_prm.maxSpeed - minSpeed);
Davidroid	1:bc265521eb00	1230	reqAccSteps *= (device_prm.maxSpeed + minSpeed);
Davidroid	1:bc265521eb00	1231	reqDecSteps = reqAccSteps;
Davidroid	1:bc265521eb00	1232	reqAccSteps /= (uint32_t)device_prm.acceleration;
Davidroid	1:bc265521eb00	1233	reqAccSteps /= 2;
Davidroid	1:bc265521eb00	1234
Davidroid	1:bc265521eb00	1235	/* compute the number of steps to stop */
Davidroid	1:bc265521eb00	1236	reqDecSteps /= (uint32_t)device_prm.deceleration;
Davidroid	1:bc265521eb00	1237	reqDecSteps /= 2;
Davidroid	1:bc265521eb00	1238
Davidroid	1:bc265521eb00	1239	if(( reqAccSteps + reqDecSteps ) > nbSteps)
Davidroid	1:bc265521eb00	1240	{
Davidroid	1:bc265521eb00	1241	/* Triangular move */
Davidroid	1:bc265521eb00	1242	/* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
Davidroid	1:bc265521eb00	1243	uint32_t dec = device_prm.deceleration;
Davidroid	1:bc265521eb00	1244	uint32_t acc = device_prm.acceleration;
Davidroid	1:bc265521eb00	1245
Davidroid	1:bc265521eb00	1246	reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
Davidroid	1:bc265521eb00	1247	if (reqDecSteps > 1)
Davidroid	1:bc265521eb00	1248	{
Davidroid	1:bc265521eb00	1249	reqAccSteps = reqDecSteps - 1;
Davidroid	1:bc265521eb00	1250	if(reqAccSteps == 0)
Davidroid	1:bc265521eb00	1251	{
Davidroid	1:bc265521eb00	1252	reqAccSteps = 1;
Davidroid	1:bc265521eb00	1253	}
Davidroid	1:bc265521eb00	1254	}
Davidroid	1:bc265521eb00	1255	else
Davidroid	1:bc265521eb00	1256	{
Davidroid	1:bc265521eb00	1257	reqAccSteps = 0;
Davidroid	1:bc265521eb00	1258	}
Davidroid	1:bc265521eb00	1259	device_prm.endAccPos = reqAccSteps;
Davidroid	1:bc265521eb00	1260	device_prm.startDecPos = reqDecSteps;
Davidroid	1:bc265521eb00	1261	}
Davidroid	1:bc265521eb00	1262	else
Davidroid	1:bc265521eb00	1263	{
Davidroid	1:bc265521eb00	1264	/* Trapezoidal move */
Davidroid	1:bc265521eb00	1265	/* accelerating phase to endAccPos */
Davidroid	1:bc265521eb00	1266	/* steady phase from endAccPos to startDecPos */
Davidroid	1:bc265521eb00	1267	/* decelerating from startDecPos to stepsToTake*/
Davidroid	1:bc265521eb00	1268	device_prm.endAccPos = reqAccSteps;
Davidroid	1:bc265521eb00	1269	device_prm.startDecPos = nbSteps - reqDecSteps - 1;
Davidroid	1:bc265521eb00	1270	}
Davidroid	1:bc265521eb00	1271	}
Davidroid	1:bc265521eb00	1272
Davidroid	2:4fd08b67958c	1273	/**********************************************************
Davidroid	1:bc265521eb00	1274	* @brief Handlers of the flag interrupt which calls the user callback (if defined)
Davidroid	1:bc265521eb00	1275	* @retval None
Davidroid	1:bc265521eb00	1276	**********************************************************/
Davidroid	1:bc265521eb00	1277	void STSPIN820::STSPIN820_FlagInterruptHandler(void)
Davidroid	1:bc265521eb00	1278	{
Davidroid	1:bc265521eb00	1279	if (flag_interrupt_callback != 0)
Davidroid	1:bc265521eb00	1280	{
Davidroid	1:bc265521eb00	1281	flag_interrupt_callback();
Davidroid	1:bc265521eb00	1282	}
Davidroid	1:bc265521eb00	1283	}
Davidroid	1:bc265521eb00	1284
Davidroid	2:4fd08b67958c	1285	/**********************************************************
Davidroid	1:bc265521eb00	1286	* @brief Set the parameters of the device whose values are not defined in
Davidroid	1:bc265521eb00	1287	* STSPIN820_config.h
Davidroid	1:bc265521eb00	1288	* @retval None
Davidroid	1:bc265521eb00	1289	**********************************************************/
Davidroid	1:bc265521eb00	1290	void STSPIN820::STSPIN820_SetDeviceParamsOtherValues(void)
Davidroid	1:bc265521eb00	1291	{
Davidroid	1:bc265521eb00	1292	uint16_t tmp;
Davidroid	1:bc265521eb00	1293
Davidroid	1:bc265521eb00	1294	device_prm.accu = 0;
Davidroid	1:bc265521eb00	1295	device_prm.currentPosition = 0;
Davidroid	1:bc265521eb00	1296	device_prm.sequencerPosition = 0;
Davidroid	1:bc265521eb00	1297	device_prm.endAccPos = 0;
Davidroid	1:bc265521eb00	1298	device_prm.relativePos = 0;
Davidroid	1:bc265521eb00	1299	device_prm.startDecPos = 0;
Davidroid	1:bc265521eb00	1300	device_prm.stepsToTake = 0;
Davidroid	1:bc265521eb00	1301	device_prm.updateTorque = FALSE;
Davidroid	1:bc265521eb00	1302	device_prm.speed = 0;
Davidroid	1:bc265521eb00	1303	device_prm.commandExecuted = NO_CMD;
Davidroid	1:bc265521eb00	1304	device_prm.direction = FORWARD;
Davidroid	1:bc265521eb00	1305	tmp = device_prm.minSpeed;
Davidroid	1:bc265521eb00	1306	if (((device_prm.torqueBoostEnable != FALSE)&&\
Davidroid	1:bc265521eb00	1307	(device_prm.torqueBoostSpeedThreshold>STSPIN820_MAX_STCK_FREQ))\|\|\
Davidroid	1:bc265521eb00	1308	(tmp>device_prm.maxSpeed))
Davidroid	1:bc265521eb00	1309	{
Davidroid	1:bc265521eb00	1310	STSPIN820_ErrorHandler(STSPIN820_ERROR_INIT);
Davidroid	1:bc265521eb00	1311	}
Davidroid	1:bc265521eb00	1312	}
Davidroid	1:bc265521eb00	1313
Davidroid	2:4fd08b67958c	1314	/**********************************************************
Davidroid	1:bc265521eb00	1315	* @brief Set the parameters of the device to values of initDevicePrm structure
Davidroid	1:bc265521eb00	1316	* @param pInitDevicePrm structure containing values to initialize the device
Davidroid	1:bc265521eb00	1317	* parameters
Davidroid	1:bc265521eb00	1318	* @retval None
Davidroid	1:bc265521eb00	1319	**********************************************************/
Davidroid	1:bc265521eb00	1320	void STSPIN820::STSPIN820_SetDeviceParamsToGivenValues(STSPIN820_init_t* pInitDevicePrm)
Davidroid	1:bc265521eb00	1321	{
Davidroid	2:4fd08b67958c	1322	int i = 100;
Davidroid	2:4fd08b67958c	1323	printf("%d\r\n", i++);
Davidroid	1:bc265521eb00	1324	device_prm.motionState = STANDBY;;
Davidroid	1:bc265521eb00	1325
Davidroid	2:4fd08b67958c	1326	if (STSPIN820_SetAcceleration(pInitDevicePrm->acceleration)==FALSE)
Davidroid	1:bc265521eb00	1327	{
Davidroid	1:bc265521eb00	1328	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_ACCELERATION);
Davidroid	1:bc265521eb00	1329	}
Davidroid	2:4fd08b67958c	1330	printf("%d\r\n", i++);
Davidroid	2:4fd08b67958c	1331	if (STSPIN820_SetDeceleration(pInitDevicePrm->deceleration)==FALSE)
Davidroid	1:bc265521eb00	1332	{
Davidroid	1:bc265521eb00	1333	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_DECELERATION);
Davidroid	1:bc265521eb00	1334	}
Davidroid	2:4fd08b67958c	1335	printf("%d\r\n", i++);
Davidroid	2:4fd08b67958c	1336	if (STSPIN820_SetMaxSpeed(pInitDevicePrm->maxSpeed)==FALSE)
Davidroid	1:bc265521eb00	1337	{
Davidroid	1:bc265521eb00	1338	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_MAX_SPEED);
Davidroid	1:bc265521eb00	1339	}
Davidroid	2:4fd08b67958c	1340	printf("%d\r\n", i++);
Davidroid	2:4fd08b67958c	1341	if (STSPIN820_SetMinSpeed(pInitDevicePrm->minSpeed)==FALSE)
Davidroid	1:bc265521eb00	1342	{
Davidroid	1:bc265521eb00	1343	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_MIN_SPEED);
Davidroid	1:bc265521eb00	1344	}
Davidroid	2:4fd08b67958c	1345	printf("%d\r\n", i++);
Davidroid	2:4fd08b67958c	1346	STSPIN820_VrefPwmSetFreq(pInitDevicePrm->vrefPwmFreq);
Davidroid	2:4fd08b67958c	1347	STSPIN820_SetTorque(ACC_TORQUE,pInitDevicePrm->accelTorque);
Davidroid	2:4fd08b67958c	1348	STSPIN820_SetTorque(DEC_TORQUE,pInitDevicePrm->decelTorque);
Davidroid	2:4fd08b67958c	1349	STSPIN820_SetTorque(RUN_TORQUE,pInitDevicePrm->runTorque);
Davidroid	2:4fd08b67958c	1350	STSPIN820_SetTorque(HOLD_TORQUE,pInitDevicePrm->holdTorque);
Davidroid	1:bc265521eb00	1351	device_prm.torqueBoostEnable = pInitDevicePrm->torqueBoostEnable;
Davidroid	1:bc265521eb00	1352	device_prm.torqueBoostSpeedThreshold = pInitDevicePrm->torqueBoostSpeedThreshold;
Davidroid	2:4fd08b67958c	1353	STSPIN820_SetStopMode(pInitDevicePrm->stopMode);
Davidroid	2:4fd08b67958c	1354	printf("%d\r\n", i++);
Davidroid	1:bc265521eb00	1355	STSPIN820_SetDeviceParamsOtherValues();
Davidroid	2:4fd08b67958c	1356	printf("%d\r\n", i++);
Davidroid	1:bc265521eb00	1357	/* Eventually deactivate motor */
Davidroid	1:bc265521eb00	1358	if ((device_prm.motionState != INACTIVE)&&\
Davidroid	1:bc265521eb00	1359	(device_prm.motionState != STANDBY))
Davidroid	1:bc265521eb00	1360	{
Davidroid	2:4fd08b67958c	1361	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	1362	}
Davidroid	1:bc265521eb00	1363
Davidroid	1:bc265521eb00	1364	/* Enter standby */
Davidroid	2:4fd08b67958c	1365	STSPIN820_Reset();
Davidroid	1:bc265521eb00	1366
Davidroid	1:bc265521eb00	1367	/* Reset the microstepping sequencer position */
Davidroid	1:bc265521eb00	1368	device_prm.sequencerPosition = 0;
Davidroid	1:bc265521eb00	1369
Davidroid	1:bc265521eb00	1370	/* Reset current and mark positions */
Davidroid	1:bc265521eb00	1371	device_prm.currentPosition = 0;
Davidroid	1:bc265521eb00	1372	device_prm.markPosition = 0;
Davidroid	1:bc265521eb00	1373
Davidroid	1:bc265521eb00	1374	/* Set predefined step mode */
Davidroid	2:4fd08b67958c	1375	STSPIN820_SetStepMode(pInitDevicePrm->stepMode);
Davidroid	1:bc265521eb00	1376
Davidroid	1:bc265521eb00	1377	/* Wait */
Davidroid	2:4fd08b67958c	1378	STSPIN820_Delay(SELECT_STEP_MODE_DELAY);
Davidroid	1:bc265521eb00	1379
Davidroid	1:bc265521eb00	1380	/* Exit standby */
Davidroid	2:4fd08b67958c	1381	STSPIN820_ReleaseReset();
Davidroid	1:bc265521eb00	1382
Davidroid	1:bc265521eb00	1383	/* Let a delay after reset release*/
Davidroid	2:4fd08b67958c	1384	STSPIN820_Delay(AFTER_STANDBY_EXIT_DEAD_TIME);
Davidroid	1:bc265521eb00	1385
Davidroid	1:bc265521eb00	1386	}
Davidroid	1:bc265521eb00	1387
Davidroid	2:4fd08b67958c	1388	/**********************************************************
Davidroid	1:bc265521eb00	1389	* @brief Sets the parameters of the device to predefined values
Davidroid	1:bc265521eb00	1390	* from STSPIN820_config.h
Davidroid	1:bc265521eb00	1391	* @retval None
Davidroid	1:bc265521eb00	1392	**********************************************************/
Davidroid	1:bc265521eb00	1393	void STSPIN820::STSPIN820_SetDeviceParamsToPredefinedValues(void)
Davidroid	1:bc265521eb00	1394	{
Davidroid	1:bc265521eb00	1395	device_prm.motionState = STANDBY;
Davidroid	1:bc265521eb00	1396
Davidroid	2:4fd08b67958c	1397	if (STSPIN820_SetAcceleration(STSPIN820_CONF_PARAM_ACC)==FALSE)
Davidroid	1:bc265521eb00	1398	{
Davidroid	1:bc265521eb00	1399	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_ACCELERATION);
Davidroid	1:bc265521eb00	1400	}
Davidroid	2:4fd08b67958c	1401	if (STSPIN820_SetDeceleration(STSPIN820_CONF_PARAM_DEC)==FALSE)
Davidroid	1:bc265521eb00	1402	{
Davidroid	1:bc265521eb00	1403	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_DECELERATION);
Davidroid	1:bc265521eb00	1404	}
Davidroid	2:4fd08b67958c	1405	if (STSPIN820_SetMaxSpeed(STSPIN820_CONF_PARAM_RUNNING_SPEED)==FALSE)
Davidroid	1:bc265521eb00	1406	{
Davidroid	1:bc265521eb00	1407	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_MAX_SPEED);
Davidroid	1:bc265521eb00	1408	}
Davidroid	2:4fd08b67958c	1409	if (STSPIN820_SetMinSpeed(STSPIN820_CONF_PARAM_MIN_SPEED)==FALSE)
Davidroid	1:bc265521eb00	1410	{
Davidroid	1:bc265521eb00	1411	STSPIN820_ErrorHandler(STSPIN820_ERROR_SET_MIN_SPEED);
Davidroid	1:bc265521eb00	1412	}
Davidroid	1:bc265521eb00	1413
Davidroid	2:4fd08b67958c	1414	STSPIN820_VrefPwmSetFreq(STSPIN820_CONF_PARAM_REF_PWM_FREQUENCY);
Davidroid	2:4fd08b67958c	1415	STSPIN820_SetTorque(ACC_TORQUE,STSPIN820_CONF_PARAM_ACC_TORQUE);
Davidroid	2:4fd08b67958c	1416	STSPIN820_SetTorque(DEC_TORQUE,STSPIN820_CONF_PARAM_DEC_TORQUE);
Davidroid	2:4fd08b67958c	1417	STSPIN820_SetTorque(RUN_TORQUE,STSPIN820_CONF_PARAM_RUNNING_TORQUE);
Davidroid	2:4fd08b67958c	1418	STSPIN820_SetTorque(HOLD_TORQUE,STSPIN820_CONF_PARAM_HOLDING_TORQUE);
Davidroid	1:bc265521eb00	1419	device_prm.torqueBoostEnable = STSPIN820_CONF_PARAM_TORQUE_BOOST_EN;
Davidroid	1:bc265521eb00	1420	device_prm.torqueBoostSpeedThreshold = STSPIN820_CONF_PARAM_TORQUE_BOOST_TH;
Davidroid	2:4fd08b67958c	1421	STSPIN820_SetStopMode(STSPIN820_CONF_PARAM_AUTO_HIZ_STOP);
Davidroid	1:bc265521eb00	1422
Davidroid	1:bc265521eb00	1423	STSPIN820_SetDeviceParamsOtherValues();
Davidroid	1:bc265521eb00	1424
Davidroid	1:bc265521eb00	1425	/* Eventually deactivate motor */
Davidroid	1:bc265521eb00	1426	if ((device_prm.motionState != INACTIVE)&&\
Davidroid	1:bc265521eb00	1427	(device_prm.motionState != STANDBY))
Davidroid	1:bc265521eb00	1428	{
Davidroid	2:4fd08b67958c	1429	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	1430	}
Davidroid	1:bc265521eb00	1431
Davidroid	1:bc265521eb00	1432	/* Enter standby */
Davidroid	2:4fd08b67958c	1433	STSPIN820_Reset();
Davidroid	1:bc265521eb00	1434
Davidroid	1:bc265521eb00	1435	/* Reset the microstepping sequencer position */
Davidroid	1:bc265521eb00	1436	device_prm.sequencerPosition = 0;
Davidroid	1:bc265521eb00	1437
Davidroid	1:bc265521eb00	1438	/* Reset current and mark positions */
Davidroid	1:bc265521eb00	1439	device_prm.currentPosition = 0;
Davidroid	1:bc265521eb00	1440	device_prm.markPosition = 0;
Davidroid	1:bc265521eb00	1441
Davidroid	1:bc265521eb00	1442	/* Set predefined step mode */
Davidroid	2:4fd08b67958c	1443	STSPIN820_SetStepMode((motor_step_mode_t) STSPIN820_CONF_PARAM_STEP_MODE);
Davidroid	1:bc265521eb00	1444
Davidroid	1:bc265521eb00	1445	/* Wait */
Davidroid	2:4fd08b67958c	1446	STSPIN820_Delay(SELECT_STEP_MODE_DELAY);
Davidroid	1:bc265521eb00	1447
Davidroid	1:bc265521eb00	1448	/* Exit standby */
Davidroid	2:4fd08b67958c	1449	STSPIN820_ReleaseReset();
Davidroid	1:bc265521eb00	1450
Davidroid	1:bc265521eb00	1451	/* Let a delay after reset release*/
Davidroid	2:4fd08b67958c	1452	STSPIN820_Delay(AFTER_STANDBY_EXIT_DEAD_TIME);
Davidroid	1:bc265521eb00	1453	}
Davidroid	1:bc265521eb00	1454
Davidroid	2:4fd08b67958c	1455	/**********************************************************
Davidroid	1:bc265521eb00	1456	* @brief Initialises the bridge parameters to start the movement
Davidroid	1:bc265521eb00	1457	* and enable the power bridge
Davidroid	1:bc265521eb00	1458	* @retval None
Davidroid	1:bc265521eb00	1459	**********************************************************/
Davidroid	2:4fd08b67958c	1460	void STSPIN820::STSPIN820_StartMovement(void)
Davidroid	1:bc265521eb00	1461	{
Davidroid	1:bc265521eb00	1462	/* Enable STSPIN820 powerstage */
Davidroid	2:4fd08b67958c	1463	STSPIN820_Enable();
Davidroid	1:bc265521eb00	1464	toggle_odd = 0;
Davidroid	1:bc265521eb00	1465	device_prm.accu = 0;
Davidroid	1:bc265521eb00	1466	device_prm.relativePos = 0;
Davidroid	1:bc265521eb00	1467	if ((device_prm.endAccPos == 0)&&\
Davidroid	1:bc265521eb00	1468	(device_prm.commandExecuted != RUN_CMD))
Davidroid	1:bc265521eb00	1469	{
Davidroid	1:bc265521eb00	1470	device_prm.motionState = DECELERATING;
Davidroid	2:4fd08b67958c	1471	STSPIN820_ApplyTorque(DEC_TORQUE);
Davidroid	1:bc265521eb00	1472	}
Davidroid	1:bc265521eb00	1473	else
Davidroid	1:bc265521eb00	1474	{
Davidroid	1:bc265521eb00	1475	device_prm.motionState = ACCELERATING;
Davidroid	2:4fd08b67958c	1476	STSPIN820_ApplyTorque(ACC_TORQUE);
Davidroid	1:bc265521eb00	1477	}
Davidroid	2:4fd08b67958c	1478	STSPIN820_PwmRefStart();
Davidroid	1:bc265521eb00	1479	/* Initialize the step clock timer */
Davidroid	2:4fd08b67958c	1480	STSPIN820_TimStckInit();
Davidroid	1:bc265521eb00	1481	/* Program the step clock */
Davidroid	2:4fd08b67958c	1482	STSPIN820_TimStckCompareInit();
Davidroid	2:4fd08b67958c	1483	STSPIN820_ApplySpeed(device_prm.minSpeed);
Davidroid	2:4fd08b67958c	1484	STSPIN820_TimStckStart();
Davidroid	1:bc265521eb00	1485	}
Davidroid	1:bc265521eb00	1486
Davidroid	2:4fd08b67958c	1487	/**********************************************************
Davidroid	1:bc265521eb00	1488	* @brief Handles the device state machine at each pulse
Davidroid	1:bc265521eb00	1489	* @retval None
Davidroid	1:bc265521eb00	1490	* @note Must only be called by the timer ISR
Davidroid	1:bc265521eb00	1491	**********************************************************/
Davidroid	2:4fd08b67958c	1492	void STSPIN820::STSPIN820_StepClockHandler(void)
Davidroid	1:bc265521eb00	1493	{
Davidroid	1:bc265521eb00	1494	uint32_t stepModeShift = device_prm.stepModeLatched - device_prm.stepMode;
Davidroid	1:bc265521eb00	1495	uint16_t tmp;
Davidroid	2:4fd08b67958c	1496
Davidroid	1:bc265521eb00	1497	if (device_prm.motionState == STANDBYTOINACTIVE)
Davidroid	1:bc265521eb00	1498	{
Davidroid	1:bc265521eb00	1499	if (toggle_odd != 0)
Davidroid	1:bc265521eb00	1500	{
Davidroid	1:bc265521eb00	1501	toggle_odd = 0;
Davidroid	1:bc265521eb00	1502	if (device_prm.sequencerPosition == 0)
Davidroid	1:bc265521eb00	1503	{
Davidroid	2:4fd08b67958c	1504	if (STSPIN820_TimStckStop(&toggle_odd) == 0)
Davidroid	1:bc265521eb00	1505	{
Davidroid	1:bc265521eb00	1506	STSPIN820_ErrorHandler(STSPIN820_ERROR_STEP_CLOCK);
Davidroid	1:bc265521eb00	1507	}
Davidroid	1:bc265521eb00	1508	return;
Davidroid	1:bc265521eb00	1509	}
Davidroid	1:bc265521eb00	1510	}
Davidroid	1:bc265521eb00	1511	else
Davidroid	1:bc265521eb00	1512	{
Davidroid	1:bc265521eb00	1513	toggle_odd = 1;
Davidroid	1:bc265521eb00	1514	tmp = (1 << (STEP_MODE_1_256-device_prm.stepMode));
Davidroid	1:bc265521eb00	1515	device_prm.sequencerPosition -= tmp;
Davidroid	1:bc265521eb00	1516	}
Davidroid	2:4fd08b67958c	1517	STSPIN820_TimStckSetFreq(STSPIN820_MAX_STCK_FREQ);
Davidroid	1:bc265521eb00	1518	return;
Davidroid	1:bc265521eb00	1519	}
Davidroid	1:bc265521eb00	1520
Davidroid	1:bc265521eb00	1521	if (toggle_odd == 0)
Davidroid	1:bc265521eb00	1522	{
Davidroid	1:bc265521eb00	1523	toggle_odd = 1;
Davidroid	1:bc265521eb00	1524	}
Davidroid	1:bc265521eb00	1525	else
Davidroid	1:bc265521eb00	1526	{
Davidroid	1:bc265521eb00	1527	toggle_odd = 0;
Davidroid	1:bc265521eb00	1528	/* Incrementation of the relative position */
Davidroid	1:bc265521eb00	1529	device_prm.relativePos += (1 << stepModeShift);
Davidroid	1:bc265521eb00	1530
Davidroid	1:bc265521eb00	1531	/* Incrementation of the current position */
Davidroid	1:bc265521eb00	1532	if (device_prm.direction != BACKWARD)
Davidroid	1:bc265521eb00	1533	{
Davidroid	1:bc265521eb00	1534	device_prm.currentPosition += (1 << stepModeShift);
Davidroid	1:bc265521eb00	1535	tmp = (1 << (STEP_MODE_1_256-device_prm.stepMode));
Davidroid	1:bc265521eb00	1536	device_prm.sequencerPosition += tmp;
Davidroid	1:bc265521eb00	1537	if (device_prm.sequencerPosition >= (SEQUENCER_MAX_VALUE+1))
Davidroid	1:bc265521eb00	1538	{
Davidroid	1:bc265521eb00	1539	device_prm.sequencerPosition -= (SEQUENCER_MAX_VALUE+1);
Davidroid	1:bc265521eb00	1540	}
Davidroid	1:bc265521eb00	1541	}
Davidroid	1:bc265521eb00	1542	else
Davidroid	1:bc265521eb00	1543	{
Davidroid	1:bc265521eb00	1544	device_prm.currentPosition -= (1 << stepModeShift);
Davidroid	1:bc265521eb00	1545	tmp = (1 << (STEP_MODE_1_256-device_prm.stepMode));
Davidroid	1:bc265521eb00	1546	device_prm.sequencerPosition -= tmp;
Davidroid	1:bc265521eb00	1547	if (device_prm.sequencerPosition < 0)
Davidroid	1:bc265521eb00	1548	{
Davidroid	1:bc265521eb00	1549	device_prm.sequencerPosition += (SEQUENCER_MAX_VALUE+1);
Davidroid	1:bc265521eb00	1550	}
Davidroid	1:bc265521eb00	1551	}
Davidroid	1:bc265521eb00	1552
Davidroid	1:bc265521eb00	1553	switch (device_prm.motionState)
Davidroid	1:bc265521eb00	1554	{
Davidroid	1:bc265521eb00	1555	case ACCELERATING:
Davidroid	1:bc265521eb00	1556	{
Davidroid	1:bc265521eb00	1557	uint32_t relPos = device_prm.relativePos;
Davidroid	1:bc265521eb00	1558	uint32_t endAccPos = device_prm.endAccPos;
Davidroid	1:bc265521eb00	1559	uint16_t speed = device_prm.speed;
Davidroid	1:bc265521eb00	1560	uint32_t acc = ((uint32_t)device_prm.acceleration << 16)>>stepModeShift;
Davidroid	1:bc265521eb00	1561
Davidroid	1:bc265521eb00	1562	if (((device_prm.commandExecuted&(STSPIN820_SOFT_STOP_BIT_MASK\|STSPIN820_DIR_CHANGE_BIT_MASK))!=0)\|\|\
Davidroid	1:bc265521eb00	1563	((device_prm.commandExecuted==MOVE_CMD)&&(relPos>=device_prm.startDecPos)))
Davidroid	1:bc265521eb00	1564	{
Davidroid	1:bc265521eb00	1565	device_prm.motionState = DECELERATING;
Davidroid	1:bc265521eb00	1566	device_prm.accu = 0;
Davidroid	1:bc265521eb00	1567	/* Apply decelerating torque */
Davidroid	2:4fd08b67958c	1568	STSPIN820_ApplyTorque(DEC_TORQUE);
Davidroid	1:bc265521eb00	1569	}
Davidroid	1:bc265521eb00	1570	else if ((speed>=(device_prm.maxSpeed>>stepModeShift))\|\|\
Davidroid	1:bc265521eb00	1571	((device_prm.commandExecuted==MOVE_CMD)&&(relPos >= endAccPos)))
Davidroid	1:bc265521eb00	1572	{
Davidroid	1:bc265521eb00	1573	device_prm.motionState = STEADY;
Davidroid	1:bc265521eb00	1574	/* Apply running torque */
Davidroid	2:4fd08b67958c	1575	STSPIN820_ApplyTorque(RUN_TORQUE);
Davidroid	1:bc265521eb00	1576	}
Davidroid	1:bc265521eb00	1577	else
Davidroid	1:bc265521eb00	1578	{
Davidroid	1:bc265521eb00	1579	bool speedUpdated = FALSE;
Davidroid	1:bc265521eb00	1580	/* Go on accelerating */
Davidroid	1:bc265521eb00	1581	if (speed==0)
Davidroid	1:bc265521eb00	1582	{
Davidroid	1:bc265521eb00	1583	speed =1;
Davidroid	1:bc265521eb00	1584	}
Davidroid	1:bc265521eb00	1585	device_prm.accu += acc / speed;
Davidroid	1:bc265521eb00	1586	while (device_prm.accu>=(0X10000L))
Davidroid	1:bc265521eb00	1587	{
Davidroid	1:bc265521eb00	1588	device_prm.accu -= (0X10000L);
Davidroid	1:bc265521eb00	1589	speed +=1;
Davidroid	1:bc265521eb00	1590	speedUpdated = TRUE;
Davidroid	1:bc265521eb00	1591	}
Davidroid	1:bc265521eb00	1592
Davidroid	1:bc265521eb00	1593	if (speedUpdated)
Davidroid	1:bc265521eb00	1594	{
Davidroid	1:bc265521eb00	1595	if (speed>(device_prm.maxSpeed>>stepModeShift))
Davidroid	1:bc265521eb00	1596	{
Davidroid	1:bc265521eb00	1597	speed = device_prm.maxSpeed>>stepModeShift;
Davidroid	1:bc265521eb00	1598	}
Davidroid	1:bc265521eb00	1599	device_prm.speed = speed;
Davidroid	1:bc265521eb00	1600	}
Davidroid	1:bc265521eb00	1601
Davidroid	1:bc265521eb00	1602	if (device_prm.updateTorque!=FALSE)
Davidroid	1:bc265521eb00	1603	{
Davidroid	1:bc265521eb00	1604	/* Apply accelerating torque */
Davidroid	2:4fd08b67958c	1605	STSPIN820_ApplyTorque(ACC_TORQUE);
Davidroid	1:bc265521eb00	1606	}
Davidroid	1:bc265521eb00	1607	}
Davidroid	1:bc265521eb00	1608	break;
Davidroid	1:bc265521eb00	1609	}
Davidroid	1:bc265521eb00	1610	case STEADY:
Davidroid	1:bc265521eb00	1611	{
Davidroid	1:bc265521eb00	1612	uint16_t maxSpeed = device_prm.maxSpeed>>stepModeShift;
Davidroid	1:bc265521eb00	1613	uint32_t relativePos = device_prm.relativePos;
Davidroid	1:bc265521eb00	1614	if (device_prm.updateTorque!=FALSE)
Davidroid	1:bc265521eb00	1615	{
Davidroid	1:bc265521eb00	1616	/* Apply accelerating torque */
Davidroid	2:4fd08b67958c	1617	STSPIN820_ApplyTorque(RUN_TORQUE);
Davidroid	1:bc265521eb00	1618	}
Davidroid	1:bc265521eb00	1619	if (((device_prm.commandExecuted&(STSPIN820_SOFT_STOP_BIT_MASK\|STSPIN820_DIR_CHANGE_BIT_MASK))!=0)\|\|\
Davidroid	1:bc265521eb00	1620	((device_prm.commandExecuted==MOVE_CMD)&&\
Davidroid	1:bc265521eb00	1621	(relativePos>=(device_prm.startDecPos)))\|\|\
Davidroid	1:bc265521eb00	1622	((device_prm.commandExecuted==RUN_CMD)&&\
Davidroid	1:bc265521eb00	1623	(device_prm.speed>maxSpeed)))
Davidroid	1:bc265521eb00	1624	{
Davidroid	1:bc265521eb00	1625	device_prm.motionState = DECELERATING;
Davidroid	1:bc265521eb00	1626	device_prm.accu = 0;
Davidroid	1:bc265521eb00	1627	/* Apply decelerating torque */
Davidroid	2:4fd08b67958c	1628	STSPIN820_ApplyTorque(DEC_TORQUE);
Davidroid	1:bc265521eb00	1629	}
Davidroid	1:bc265521eb00	1630	else if ((device_prm.commandExecuted==RUN_CMD)&&(device_prm.speed<maxSpeed))
Davidroid	1:bc265521eb00	1631	{
Davidroid	1:bc265521eb00	1632	device_prm.motionState = ACCELERATING;
Davidroid	1:bc265521eb00	1633	device_prm.accu = 0;
Davidroid	1:bc265521eb00	1634	/* Apply accelerating torque */
Davidroid	2:4fd08b67958c	1635	STSPIN820_ApplyTorque(ACC_TORQUE);
Davidroid	1:bc265521eb00	1636	}
Davidroid	1:bc265521eb00	1637	break;
Davidroid	1:bc265521eb00	1638	}
Davidroid	1:bc265521eb00	1639	case DECELERATING:
Davidroid	1:bc265521eb00	1640	{
Davidroid	1:bc265521eb00	1641	uint32_t relativePos = device_prm.relativePos;
Davidroid	1:bc265521eb00	1642	uint16_t speed = device_prm.speed;
Davidroid	1:bc265521eb00	1643	uint32_t dec = ((uint32_t)device_prm.deceleration << 16)>>stepModeShift;
Davidroid	1:bc265521eb00	1644	if ((((device_prm.commandExecuted&(STSPIN820_SOFT_STOP_BIT_MASK\|STSPIN820_DIR_CHANGE_BIT_MASK))!=0)&&\
Davidroid	1:bc265521eb00	1645	(speed<=(device_prm.minSpeed>>stepModeShift)))\|\|\
Davidroid	1:bc265521eb00	1646	((device_prm.commandExecuted==MOVE_CMD)&&(relativePos>=device_prm.stepsToTake)))
Davidroid	1:bc265521eb00	1647	{
Davidroid	1:bc265521eb00	1648	/* Motion process complete */
Davidroid	1:bc265521eb00	1649	if ((device_prm.commandExecuted&STSPIN820_DIR_CHANGE_BIT_MASK)!=0)
Davidroid	1:bc265521eb00	1650	{
Davidroid	2:4fd08b67958c	1651	device_prm.commandExecuted = (device_command_t) (device_prm.commandExecuted & ~STSPIN820_DIR_CHANGE_BIT_MASK);
Davidroid	1:bc265521eb00	1652	if (device_prm.direction==BACKWARD)
Davidroid	1:bc265521eb00	1653	{
Davidroid	1:bc265521eb00	1654	device_prm.direction=FORWARD;
Davidroid	1:bc265521eb00	1655	}
Davidroid	1:bc265521eb00	1656	else device_prm.direction=BACKWARD;
Davidroid	2:4fd08b67958c	1657	STSPIN820_SetDirectionGpio(device_prm.direction);
Davidroid	1:bc265521eb00	1658	if ((device_prm.commandExecuted&STSPIN820_SOFT_STOP_BIT_MASK)==0)
Davidroid	1:bc265521eb00	1659	{
Davidroid	1:bc265521eb00	1660	device_prm.motionState = ACCELERATING;
Davidroid	1:bc265521eb00	1661	device_prm.accu = 0;
Davidroid	1:bc265521eb00	1662	/* Apply accelerating torque */
Davidroid	2:4fd08b67958c	1663	STSPIN820_ApplyTorque(ACC_TORQUE);
Davidroid	1:bc265521eb00	1664	break;
Davidroid	1:bc265521eb00	1665	}
Davidroid	1:bc265521eb00	1666	}
Davidroid	1:bc265521eb00	1667	if (device_prm.stopMode==HOLD_MODE)
Davidroid	1:bc265521eb00	1668	{
Davidroid	2:4fd08b67958c	1669	STSPIN820_HardStop();
Davidroid	1:bc265521eb00	1670	}
Davidroid	1:bc265521eb00	1671	else if (device_prm.stopMode==STANDBY_MODE)
Davidroid	1:bc265521eb00	1672	{
Davidroid	2:4fd08b67958c	1673	STSPIN820_PutDeviceInStandby();
Davidroid	1:bc265521eb00	1674	}
Davidroid	1:bc265521eb00	1675	else
Davidroid	1:bc265521eb00	1676	{
Davidroid	2:4fd08b67958c	1677	STSPIN820_HardHiZ();
Davidroid	1:bc265521eb00	1678	}
Davidroid	1:bc265521eb00	1679	}
Davidroid	1:bc265521eb00	1680	else if ((device_prm.commandExecuted==RUN_CMD)&&
Davidroid	1:bc265521eb00	1681	(speed<=(device_prm.maxSpeed>>stepModeShift)))
Davidroid	1:bc265521eb00	1682	{
Davidroid	1:bc265521eb00	1683	device_prm.motionState = STEADY;
Davidroid	1:bc265521eb00	1684	/* Apply running torque */
Davidroid	2:4fd08b67958c	1685	STSPIN820_ApplyTorque(RUN_TORQUE);
Davidroid	1:bc265521eb00	1686	}
Davidroid	1:bc265521eb00	1687	else
Davidroid	1:bc265521eb00	1688	{
Davidroid	1:bc265521eb00	1689	/* Go on decelerating */
Davidroid	1:bc265521eb00	1690	if (speed>(device_prm.minSpeed>>stepModeShift))
Davidroid	1:bc265521eb00	1691	{
Davidroid	1:bc265521eb00	1692	bool speedUpdated = FALSE;
Davidroid	1:bc265521eb00	1693	if (speed==0)
Davidroid	1:bc265521eb00	1694	{
Davidroid	1:bc265521eb00	1695	speed = 1;
Davidroid	1:bc265521eb00	1696	}
Davidroid	1:bc265521eb00	1697	device_prm.accu += dec / speed;
Davidroid	1:bc265521eb00	1698	while (device_prm.accu>=(0X10000L))
Davidroid	1:bc265521eb00	1699	{
Davidroid	1:bc265521eb00	1700	device_prm.accu -= (0X10000L);
Davidroid	1:bc265521eb00	1701	if (speed>1)
Davidroid	1:bc265521eb00	1702	{
Davidroid	1:bc265521eb00	1703	speed -=1;
Davidroid	1:bc265521eb00	1704	}
Davidroid	1:bc265521eb00	1705	speedUpdated = TRUE;
Davidroid	1:bc265521eb00	1706	}
Davidroid	1:bc265521eb00	1707
Davidroid	1:bc265521eb00	1708	if (speedUpdated)
Davidroid	1:bc265521eb00	1709	{
Davidroid	1:bc265521eb00	1710	if (speed<(device_prm.minSpeed>>stepModeShift))
Davidroid	1:bc265521eb00	1711	{
Davidroid	1:bc265521eb00	1712	speed = device_prm.minSpeed>>stepModeShift;
Davidroid	1:bc265521eb00	1713	}
Davidroid	1:bc265521eb00	1714	device_prm.speed = speed;
Davidroid	1:bc265521eb00	1715	}
Davidroid	1:bc265521eb00	1716
Davidroid	1:bc265521eb00	1717	if (device_prm.updateTorque!=FALSE)
Davidroid	1:bc265521eb00	1718	{
Davidroid	1:bc265521eb00	1719	/* Apply decelerating torque */
Davidroid	2:4fd08b67958c	1720	STSPIN820_ApplyTorque(DEC_TORQUE);
Davidroid	1:bc265521eb00	1721	}
Davidroid	1:bc265521eb00	1722	}
Davidroid	1:bc265521eb00	1723	}
Davidroid	1:bc265521eb00	1724	break;
Davidroid	1:bc265521eb00	1725	}
Davidroid	1:bc265521eb00	1726	default:
Davidroid	1:bc265521eb00	1727	{
Davidroid	1:bc265521eb00	1728	break;
Davidroid	1:bc265521eb00	1729	}
Davidroid	1:bc265521eb00	1730	}
Davidroid	1:bc265521eb00	1731	}
Davidroid	1:bc265521eb00	1732	if ((device_prm.motionState & INACTIVE) != INACTIVE)
Davidroid	1:bc265521eb00	1733	{
Davidroid	2:4fd08b67958c	1734	STSPIN820_ApplySpeed(device_prm.speed);
Davidroid	1:bc265521eb00	1735	}
Davidroid	1:bc265521eb00	1736	else
Davidroid	1:bc265521eb00	1737	{
Davidroid	2:4fd08b67958c	1738	if (STSPIN820_TimStckStop(&toggle_odd) == 0)
Davidroid	1:bc265521eb00	1739	{
Davidroid	1:bc265521eb00	1740	STSPIN820_ErrorHandler(STSPIN820_ERROR_STEP_CLOCK);
Davidroid	1:bc265521eb00	1741	}
Davidroid	1:bc265521eb00	1742	}
Davidroid	1:bc265521eb00	1743	}
Davidroid	2:4fd08b67958c	1744
Davidroid	1:bc265521eb00	1745	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	27 Sep 2018
Imports:	2
Forks:	0
Commits:	3
Dependents:	1
Dependencies:	1
Followers:	64

The code in this repository is Apache licensed.

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Components/STSPIN820/STSPIN820.cpp@2:4fd08b67958c, 2018-09-27 (annotated)

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