ST
Expansion SW library to control a bipolar stepper motor using X-NUCLEO-IHM05A1 expansion board based on L6208.
Dependencies: ST_INTERFACES
Dependents: HelloWorld_IHM05A1 TAU_ROTATING_PLATFORM_IHM05A1 Amaldi_13_Exercise_IHM05A1 Amaldi_13_Exercise_IHM05A1motore ... more
Fork of
X-NUCLEO-IHM05A1
by 
ST Expansion SW Team
Motor Control Library
Library to handle the X-NUCLEO-IHM05A1 Motor Control Expansion Board based on the L6208 component.
It features the:
- Read and write of device parameters
- Configuration of GPIOs and IRQs (for enabling, direction, current decay and microstepping)
- Control of position, speed, acceleration and deceleration
- Command locking until the device completes movement
- Handling of overcurrent and thermal alarms (flag interrupt handling)
The API allows to easily:
- perform various positioning, moves and stops
- get/set or monitor the motor positions
- set home position and mark another position
- get/set minimum and maximum speed
- get current speed
- get/set acceleration and deceleration
- get/set the step mode (up to 1/16)
Board configuration
Platform compatibility
Compatible platforms have been tested with the configurations provided by the HelloWorld_IHM05A1 example.
Components/L6208/L6208.cpp@6:c73faac7197f, 2017-07-28 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Jul 28 13:06:36 2017 +0000
- Revision:
- 6:c73faac7197f
- Parent:
- 4:0b52159554b5
Aligning to ARM mbed coding style.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 2 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 3 | * @file L6208.cpp |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 4 | * @author IPC Rennes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 5 | * @version V1.1.0 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 6 | * @date February 11th, 2016 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 7 | * @brief L6208 product related routines |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 8 | * @note (C) COPYRIGHT 2016 STMicroelectronics |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 9 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 10 | * @attention |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 11 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 13 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 15 | * are permitted provided that the following conditions are met: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 17 | * this list of conditions and the following disclaimer. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 19 | * this list of conditions and the following disclaimer in the documentation |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 20 | * and/or other materials provided with the distribution. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 22 | * may be used to endorse or promote products derived from this software |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 23 | * without specific prior written permission. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 24 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 35 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 36 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 37 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 38 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 39 | /* Includes ------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 40 | #include "L6208.h" |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 41 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 42 | /* Definitions ---------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 43 | /// Bridge A |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 44 | #define BRIDGE_A (0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 45 | /// Bridge B |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 46 | #define BRIDGE_B (1) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 47 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 48 | /// Bitmaps for system flags |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 49 | #define EN_A_set 0x00000001 ///< EN_A pin status |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 50 | #define HiZstop 0x00000002 ///< motor has to be left in HiZ after stopping |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 51 | #define busy 0x00000004 ///< stepper position command executing flag |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 52 | #define running 0x00000008 ///< running motor flag |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 53 | #define velocitymode 0x00000010 ///< velocity controlled stepper motor |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 54 | #define positionmode 0x00000020 ///< position controlled stepper motor |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 55 | #define fullstep 0x00000040 ///< full step mode controlled |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 56 | #define halfstep 0x00000080 ///< half step mode controlled |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 57 | #define microstep 0x00000100 ///< micro step mode controlled |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 58 | #define forward 0x00000200 ///< forward running motor |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 59 | #define dir2change 0x00000400 ///< direction has to be changed while the motor is running |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 60 | #define fastdecaymode 0x00000800 ///< decay mode is fast |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 61 | #define wavestep 0x00001000 ///< wave step mode controlled |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 62 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 63 | /* Variables ----------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 64 | /* Number of devices. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 65 | uint8_t L6208::numberOfDevices = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 66 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 67 | /// RefMicroTable values are 2^L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE*|sin(n/16*PI/2)| |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 68 | /// where n is the index in the table |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 69 | const uint16_t L6208::RefMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD*3] = |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 70 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 71 | 0,3212,6393,9512,12540,15447,18205,20788,23170,25330,27246,28899,30274,31357,32138,32610, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 72 | 32768,32610,32138,31357,30274,28899,27246,25330,23170,20788,18205,15447,12540,9512,6393,3212, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 73 | 0,3212,6393,9512,12540,15447,18205,20788,23170,25330,27246,28899,30274,31357,32138,32610 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 74 | }; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 75 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 76 | /* Methods -------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 77 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 78 | * @brief Start the L6208 library |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 79 | * @param[in] pInit pointer to the initialization data |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 80 | * @retval COMPONENT_OK in case of success. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 81 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 82 | status_t L6208::L6208_Init(void* pInit) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 83 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 84 | if (pInit == NULL) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 85 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 86 | /* Set context variables to the predefined values from l6208_target_config.h */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 87 | /* Set GPIO according to these values */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 88 | L6208_SetDeviceParamsToPredefinedValues(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 89 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 90 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 91 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 92 | L6208_SetDeviceParamsToGivenValues((l6208_init_t*) pInit); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 93 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 94 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 95 | /* Initialise the PWMs */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 96 | L6208_Board_VrefPwmInit(BRIDGE_A, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 97 | L6208_Board_VrefPwmInit(BRIDGE_B, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 98 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 99 | /* Initialise the tick */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 100 | L6208_Board_TickInit(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 101 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 102 | /* Reset L6208 */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 103 | L6208_ResetDevice(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 104 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 105 | /* Align motor mechanical position to driver position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 106 | L6208_Board_VrefPwmStart(BRIDGE_A, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 107 | L6208_Board_VrefPwmStart(BRIDGE_B, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 108 | //L6208_Enable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 109 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 110 | return COMPONENT_OK; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 111 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 112 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 113 | /********************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 114 | * @brief Read id |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 115 | * @param id pointer to the identifier to be read. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 116 | * @retval COMPONENT_OK in case of success. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 117 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 118 | status_t L6208::L6208_ReadID(uint8_t *id) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 119 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 120 | *id = deviceInstance; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 121 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 122 | return COMPONENT_OK; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 123 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 124 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 125 | /********************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 126 | * @brief Attaches a user callback to the error Handler. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 127 | * The call back will be then called each time the library |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 128 | * detects an error |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 129 | * @param[in] callback Name of the callback to attach |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 130 | * to the error Hanlder |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 131 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 132 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 133 | void L6208::L6208_AttachErrorHandler(void (*callback)(uint16_t error)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 134 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 135 | errorHandlerCallback = (void (*)(uint16_t error)) callback; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 136 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 137 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 138 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 139 | * @brief Disable the power bridges (leave the output bridges HiZ) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 140 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 141 | **********************************************************/ |
| Davidroid | 4:0b52159554b5 | 142 | void L6208::L6208_Disable(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 143 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 144 | L6208_Board_Disable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 145 | L6208_ClearSysFlag(EN_A_set); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 146 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 147 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 148 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 149 | * @brief Error handler which calls the user callback (if defined) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 150 | * @param[in] error Number of the error |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 151 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 152 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 153 | void L6208::L6208_ErrorHandler(uint16_t error) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 154 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 155 | if (errorHandlerCallback != 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 156 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 157 | errorHandlerCallback(error); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 158 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 159 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 160 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 161 | while(1) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 162 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 163 | /* Infinite loop */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 164 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 165 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 166 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 167 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 168 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 169 | * @brief Enable the power bridges |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 170 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 171 | **********************************************************/ |
| Davidroid | 4:0b52159554b5 | 172 | void L6208::L6208_Enable(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 173 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 174 | L6208_Board_Enable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 175 | L6208_SetSysFlag(EN_A_set); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 176 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 177 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 178 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 179 | * @brief Get the stepper acceleration rate |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 180 | * in step/s^2 for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 181 | * in microsteps/s^2 for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 182 | * @retval the stepper acceleration rate in step/s^2 or microstep/s^2 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 183 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 184 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 185 | uint16_t L6208::L6208_GetAcceleration(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 186 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 187 | return devicePrm.accelerationSps2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 188 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 189 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 190 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 191 | * @brief Get the current speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 192 | * in step/s for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 193 | * in microsteps/s for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 194 | * @retval return the current speed in step/s or microstep/s |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 195 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 196 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 197 | uint16_t L6208::L6208_GetCurrentSpeed(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 198 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 199 | uint64_t tmp64 = (uint64_t) devicePrm.speedSpt * L6208_Board_TickGetFreq(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 200 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 201 | devicePrm.speedSps = (uint16_t)(tmp64 >> 23); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 202 | if (devicePrm.speedSps & 0x1) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 203 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 204 | devicePrm.speedSps = (devicePrm.speedSps >> 1) + 1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 205 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 206 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 207 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 208 | devicePrm.speedSps = devicePrm.speedSps >> 1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 209 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 210 | return devicePrm.speedSps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 211 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 212 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 213 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 214 | * @brief Get the motor decay mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 215 | * @retval decay mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 216 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 217 | motorDecayMode_t L6208::L6208_get_decay_mode(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 218 | { |
| Davidroid | 6:c73faac7197f | 219 | if (L6208_IsSysFlag(fastdecaymode)) |
| Davidroid | 6:c73faac7197f | 220 | { |
| Davidroid | 6:c73faac7197f | 221 | return (FAST_DECAY); |
| Davidroid | 6:c73faac7197f | 222 | } |
| Davidroid | 6:c73faac7197f | 223 | else |
| Davidroid | 6:c73faac7197f | 224 | { |
| Davidroid | 6:c73faac7197f | 225 | return (SLOW_DECAY); |
| Davidroid | 6:c73faac7197f | 226 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 227 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 228 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 229 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 230 | * @brief Get the stepper deceleration rate |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 231 | * in step/s^2 for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 232 | * in microsteps/s^2 for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 233 | * @retval the stepper deceleration rate in step/s^2 or microstep/s^2 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 234 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 235 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 236 | uint16_t L6208::L6208_GetDeceleration(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 237 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 238 | return devicePrm.decelerationSps2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 239 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 240 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 241 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 242 | * @brief Get the motor current direction |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 243 | * @retval direction |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 244 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 245 | motorDir_t L6208::L6208_GetDirection(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 246 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 247 | if (L6208_IsSysFlag(forward)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 248 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 249 | return FORWARD; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 250 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 251 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 252 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 253 | return BACKWARD; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 254 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 255 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 256 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 257 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 258 | * @brief Return the FW version. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 259 | * @retval FW version |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 260 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 261 | uint32_t L6208::L6208_GetFwVersion(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 262 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 263 | return L6208_FW_VERSION; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 264 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 265 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 266 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 267 | * @brief Get the mark position (32b signed) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 268 | * @retval mark position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 269 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 270 | int32_t L6208::L6208_GetMark(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 271 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 272 | return devicePrm.markPos; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 273 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 274 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 275 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 276 | * @brief Get the max speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 277 | * in step/s for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 278 | * in microsteps/s for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 279 | * @retval return the max speed in step/s or microstep/s |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 280 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 281 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 282 | uint16_t L6208::L6208_GetMaxSpeed(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 283 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 284 | return devicePrm.maxSpeedSps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 285 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 286 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 287 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 288 | * @brief Get the min speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 289 | * in step/s for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 290 | * in microsteps/s for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 291 | * @retval return the min speed in step/s or microstep/s |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 292 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 293 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 294 | uint16_t L6208::L6208_GetMinSpeed(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 295 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 296 | return devicePrm.minSpeedSps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 297 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 298 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 299 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 300 | * @brief Get the stepper state machine index |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 301 | * @retval one of the stepper state machine index in the motorState_t enum |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 302 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 303 | motorState_t L6208::L6208_GetMotionState(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 304 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 305 | // gets the new stepper state machine index |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 306 | return devicePrm.motionState; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 307 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 308 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 309 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 310 | * @brief Get the current position (32b signed) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 311 | * @retval current absoulte position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 312 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 313 | int32_t L6208::L6208_GetPosition(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 314 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 315 | return devicePrm.absolutePos; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 316 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 317 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 318 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 319 | * @brief Get the motor step mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 320 | * @retval step mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 321 | **********************************************************/ |
| Davidroid | 4:0b52159554b5 | 322 | motorStepMode_t L6208::L6208_GetStepMode(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 323 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 324 | return devicePrm.stepMode; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 325 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 326 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 327 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 328 | * @brief Get the selected stop mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 329 | * @retval the selected stop mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 330 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 331 | motorStopMode_t L6208::L6208_GetStopMode(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 332 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 333 | if (L6208_IsSysFlag(HiZstop) == FALSE) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 334 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 335 | return (HOLD_MODE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 336 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 337 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 338 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 339 | return (HIZ_MODE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 340 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 341 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 342 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 343 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 344 | * @brief Go to the home position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 345 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 346 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 347 | void L6208::L6208_GoHome(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 348 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 349 | L6208_GoTo(0); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 350 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 351 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 352 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 353 | * @brief Go to the Mark position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 354 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 355 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 356 | void L6208::L6208_GoMark(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 357 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 358 | L6208_GoTo(devicePrm.markPos); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 359 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 360 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 361 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 362 | * @brief move the motor to the absolute position using the shortest path |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 363 | * @param[in] abs_pos 32 bit signed value position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 364 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 365 | * @note The position is at the resolution corresponding to the |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 366 | * selected step mode. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 367 | * STEP_MODE_FULL or STEP_MODE_WAVE : step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 368 | * STEP_MODE_HALF : 1/2 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 369 | * STEP_MODE_1_4 : 1/4 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 370 | * STEP_MODE_1_8 : 1/8 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 371 | * STEP_MODE_1_16 : 1/16 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 372 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 373 | void L6208::L6208_GoTo(int32_t abs_pos) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 374 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 375 | uint32_t steps = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 376 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 377 | if(L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 378 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 379 | L6208_HardStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 380 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 381 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 382 | if (abs_pos > devicePrm.absolutePos) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 383 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 384 | steps = abs_pos - devicePrm.absolutePos; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 385 | if (steps < (L6208_POSITION_RANGE>>1)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 386 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 387 | L6208_Move(FORWARD, steps); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 388 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 389 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 390 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 391 | L6208_Move(BACKWARD, (L6208_POSITION_RANGE - steps)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 392 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 393 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 394 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 395 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 396 | steps = devicePrm.absolutePos - abs_pos; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 397 | if (steps < (L6208_POSITION_RANGE>>1)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 398 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 399 | L6208_Move(BACKWARD, steps); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 400 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 401 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 402 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 403 | L6208_Move(FORWARD, (L6208_POSITION_RANGE - steps)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 404 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 405 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 406 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 407 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 408 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 409 | * @brief move the motor to the absolute position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 410 | * @param[in] direction FORWARD or BACKWARD |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 411 | * @param[in] abs_pos 32 bit signed value position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 412 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 413 | * @note The position is at the resolution corresponding to the |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 414 | * selected step mode. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 415 | * STEP_MODE_FULL or STEP_MODE_WAVE : step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 416 | * STEP_MODE_HALF : 1/2 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 417 | * STEP_MODE_1_4 : 1/4 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 418 | * STEP_MODE_1_8 : 1/8 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 419 | * STEP_MODE_1_16 : 1/16 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 420 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 421 | void L6208::L6208_GoToDir(motorDir_t direction, int32_t abs_pos) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 422 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 423 | uint32_t steps = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 424 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 425 | if(L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 426 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 427 | L6208_HardStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 428 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 429 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 430 | if (direction != BACKWARD) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 431 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 432 | if (abs_pos > devicePrm.absolutePos) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 433 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 434 | steps = abs_pos - devicePrm.absolutePos; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 435 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 436 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 437 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 438 | steps = L6208_POSITION_RANGE + (abs_pos - devicePrm.absolutePos); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 439 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 440 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 441 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 442 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 443 | if (abs_pos > devicePrm.absolutePos) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 444 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 445 | steps = L6208_POSITION_RANGE + (devicePrm.absolutePos - abs_pos); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 446 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 447 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 448 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 449 | steps = devicePrm.absolutePos - abs_pos; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 450 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 451 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 452 | L6208_Move(direction, steps); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 453 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 454 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 455 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 456 | * @brief Immediately stop the motor and disables the power bridges |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 457 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 458 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 459 | void L6208::L6208_HardHiZ(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 460 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 461 | /* Disables power stage */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 462 | L6208_Disable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 463 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 464 | /* Sets inactive state */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 465 | L6208_SetMotionState(INACTIVE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 466 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 467 | /* Clears the running motor and the position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 468 | L6208_ClearSysFlag(running); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 469 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 470 | /* Disables PWMs */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 471 | L6208_Board_VrefPwmStop(BRIDGE_A); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 472 | L6208_Board_VrefPwmStop(BRIDGE_B); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 473 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 474 | /* Disables tick timer */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 475 | L6208_Board_TickStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 476 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 477 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 478 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 479 | * @brief Immediately stop the motor and keeps holding torque |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 480 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 481 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 482 | void L6208::L6208_HardStop(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 483 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 484 | /* Sets inactive state */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 485 | L6208_SetMotionState(INACTIVE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 486 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 487 | /* Clears the running motor and the position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 488 | L6208_ClearSysFlag(running); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 489 | L6208_VectorCalc(devicePrm.holdTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 490 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 491 | /* Disables tick timer */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 492 | L6208_Board_TickStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 493 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 494 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 495 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 496 | * @brief move the motor by the specified number of steps |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 497 | * in the specified direction |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 498 | * @param[in] direction FORWARD or BACKWARD |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 499 | * @param[in] stepCount 32 bit unsigned step count |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 500 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 501 | * @note The step count resolution is corresponding to the |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 502 | * selected step mode. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 503 | * STEP_MODE_FULL or STEP_MODE_WAVE : step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 504 | * STEP_MODE_HALF : 1/2 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 505 | * STEP_MODE_1_4 : 1/4 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 506 | * STEP_MODE_1_8 : 1/8 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 507 | * STEP_MODE_1_16 : 1/16 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 508 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 509 | void L6208::L6208_Move(motorDir_t direction, uint32_t stepCount) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 510 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 511 | if(L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 512 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 513 | L6208_HardStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 514 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 515 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 516 | /* clear the velocity driving mode flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 517 | L6208_ClearSysFlag(velocitymode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 518 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 519 | /* Set the indexing driving mode flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 520 | /* and the user command executing flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 521 | L6208_SetSysFlag(positionmode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 522 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 523 | /* store relative number of steps to move */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 524 | devicePrm.positionTarget = stepCount; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 525 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 526 | L6208_SetDirection(direction); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 527 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 528 | /* Motor activation */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 529 | L6208_StartMovement(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 530 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 531 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 532 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 533 | * @brief Release the L6208 reset (Reset pin set to high level) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 534 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 535 | **********************************************************/ |
| Davidroid | 4:0b52159554b5 | 536 | void L6208::L6208_ReleaseReset(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 537 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 538 | L6208_Board_ReleaseReset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 539 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 540 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 541 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 542 | * @brief Reset the L6208 (Reset pin set to low level) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 543 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 544 | **********************************************************/ |
| Davidroid | 4:0b52159554b5 | 545 | void L6208::L6208_Reset(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 546 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 547 | L6208_Board_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 548 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 549 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 550 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 551 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 552 | * @brief Call L6208_SetStepMode with current step mode, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 553 | * the L6208_SetStepMode function along with setting the step mode resets |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 554 | * the L6208 device |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 555 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 556 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 557 | void L6208::L6208_ResetDevice(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 558 | { |
| Davidroid | 4:0b52159554b5 | 559 | L6208_SetStepMode(L6208_GetStepMode()); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 560 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 561 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 562 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 563 | * @brief run the motor in the specified direction |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 564 | * according to the speed profile defined by the minimum speed, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 565 | * maximum speed, and acceleration parameters. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 566 | * The device accelerates from the minimum speed up to the maximum |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 567 | * speed by using the device acceleration. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 568 | * @param[in] direction FORWARD or BACKWARD |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 569 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 570 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 571 | void L6208::L6208_Run(motorDir_t direction) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 572 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 573 | if(L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 574 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 575 | L6208_HardStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 576 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 577 | L6208_SetDirection(direction); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 578 | /* Clear the indexing driving mode flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 579 | L6208_ClearSysFlag(positionmode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 580 | /* Set the velocity driving mode flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 581 | L6208_SetSysFlag(velocitymode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 582 | /* Motor activation */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 583 | L6208_StartMovement(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 584 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 585 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 586 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 587 | * @brief Set the stepper acceleration rate |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 588 | * in step/s^2 and step/tick^2 for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 589 | * in microsteps/s^2 and microsteps/tick^2 for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 590 | * @param[in] newAcc new acceleration rate in step/s^2 or microstep/s^2 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 591 | * @retval TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 592 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 593 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 594 | bool L6208::L6208_SetAcceleration(uint16_t newAcc) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 595 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 596 | uint16_t newAccSpt2 = L6208_ConvertAcceDecelRateValue(newAcc); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 597 | if (newAccSpt2) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 598 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 599 | devicePrm.accelerationSps2 = newAcc; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 600 | devicePrm.accelerationSpt2 = newAccSpt2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 601 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 602 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 603 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 604 | L6208_ErrorHandler(L6208_ERROR_SET_ACCELERATION); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 605 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 606 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 607 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 608 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 609 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 610 | * @brief Select the motor decay mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 611 | * @param[in] decayMode (SLOW_DECAY or FAST_DECAY) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 612 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 613 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 614 | void L6208::L6208_SetDecayMode(motorDecayMode_t decayMode) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 615 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 616 | if ((decayMode & L6208_FAST_DECAY_MODE_MASK) == L6208_FAST_DECAY_MODE_MASK) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 617 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 618 | L6208_Board_CONTROL_PIN_Set(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 619 | L6208_SetSysFlag(fastdecaymode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 620 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 621 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 622 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 623 | L6208_Board_CONTROL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 624 | L6208_ClearSysFlag(fastdecaymode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 625 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 626 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 627 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 628 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 629 | * @brief Set the stepper deceleration rate |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 630 | * in step/s^2 and step/tick^2 for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 631 | * in microsteps/s^2 and microsteps/tick^2 for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 632 | * @param[in] newDec new deceleration rate in step/s^2 or microstep/s^2 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 633 | * @retval TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 634 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 635 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 636 | bool L6208::L6208_SetDeceleration(uint16_t newDec) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 637 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 638 | uint16_t newDecSpt2 = L6208_ConvertAcceDecelRateValue(newDec); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 639 | if (newDecSpt2) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 640 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 641 | devicePrm.decelerationSps2 = newDec; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 642 | devicePrm.decelerationSpt2 = newDecSpt2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 643 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 644 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 645 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 646 | L6208_ErrorHandler(L6208_ERROR_SET_DECELERATION); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 647 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 648 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 649 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 650 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 651 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 652 | * @brief Specify the direction |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 653 | * @param[in] dir FORWARD or BACKWARD |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 654 | * @note In velocity mode a direction change forces the device to stop and |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 655 | * then run in the new direction. In position mode, if the device is |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 656 | * running, a direction change will generate an error. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 657 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 658 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 659 | void L6208::L6208_SetDirection(motorDir_t dir) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 660 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 661 | L6208_ClearSysFlag(dir2change); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 662 | if (dir == FORWARD) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 663 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 664 | if (!L6208_IsSysFlag(forward)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 665 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 666 | if (L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 667 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 668 | /* motor is running */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 669 | if (L6208_IsSysFlag(positionmode)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 670 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 671 | L6208_ErrorHandler(L6208_ERROR_SET_DIRECTION); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 672 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 673 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 674 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 675 | /* set the rotation direction to change flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 676 | L6208_SetSysFlag(dir2change); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 677 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 678 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 679 | else /* the motor is stopped, cw direction selected */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 680 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 681 | L6208_SetSysFlag(forward); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 682 | L6208_Board_DIR_PIN_Set(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 683 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 684 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 685 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 686 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 687 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 688 | if (L6208_IsSysFlag(forward)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 689 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 690 | if (L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 691 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 692 | /* motor is running */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 693 | if (L6208_IsSysFlag(positionmode)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 694 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 695 | L6208_ErrorHandler(L6208_ERROR_SET_DIRECTION); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 696 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 697 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 698 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 699 | /* set the rotation direction to change flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 700 | L6208_SetSysFlag(dir2change); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 701 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 702 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 703 | else /* the motor is stopped, ccw direction selected */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 704 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 705 | L6208_ClearSysFlag(forward); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 706 | L6208_Board_DIR_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 707 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 708 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 709 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 710 | if(L6208_IsSysFlag(dir2change)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 711 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 712 | L6208_VectorCalc(devicePrm.decelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 713 | L6208_SetMotionState(DECELERATINGTOSTOP); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 714 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 715 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 716 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 717 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 718 | * @brief Set current position to be the home position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 719 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 720 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 721 | void L6208::L6208_SetHome(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 722 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 723 | if (!L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 724 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 725 | devicePrm.absolutePos = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 726 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 727 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 728 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 729 | L6208_ErrorHandler(L6208_ERROR_SET_HOME); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 730 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 731 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 732 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 733 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 734 | * @brief Set current position to be the mark position |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 735 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 736 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 737 | void L6208::L6208_SetMark(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 738 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 739 | devicePrm.markPos = devicePrm.absolutePos; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 740 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 741 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 742 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 743 | * @brief Set the user selected maximum speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 744 | * in step/s and step/tick for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 745 | * in microsteps/s and microsteps/tick for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 746 | * @param[in] newSpeed speed value (step/s or microstep/s) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 747 | * @retval TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 748 | * @note One microstep is 1/16 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 749 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 750 | bool L6208::L6208_SetMaxSpeed(uint16_t newSpeed) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 751 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 752 | if (L6208_SetSpeed(newSpeed, &devicePrm.maxSpeedSpt)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 753 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 754 | devicePrm.maxSpeedSps = newSpeed; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 755 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 756 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 757 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 758 | L6208_ErrorHandler(L6208_ERROR_SET_MAX_SPEED); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 759 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 760 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 761 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 762 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 763 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 764 | * @brief Set the user selected minimum speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 765 | * in step/s and step/tick for full, half and wave modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 766 | * in microsteps/s and microsteps/tick for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 767 | * @param[in] newSpeed speed value (step/s or microstep/s) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 768 | * @retval TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 769 | * @note One microstep is 1/16 step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 770 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 771 | bool L6208::L6208_SetMinSpeed(uint16_t newSpeed) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 772 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 773 | if (L6208_SetSpeed(newSpeed, &devicePrm.minSpeedSpt)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 774 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 775 | devicePrm.minSpeedSps = newSpeed; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 776 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 777 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 778 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 779 | L6208_ErrorHandler(L6208_ERROR_SET_MIN_SPEED); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 780 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 781 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 782 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 783 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 784 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 785 | * @brief Set the step mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 786 | * @param[in] stepMode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 787 | * @retval true if the command is successfully executed, else false |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 788 | * @note Every time the step mode is changed, the step state machine is reset |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 789 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 790 | bool L6208::L6208_SetStepMode(motorStepMode_t stepMode) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 791 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 792 | devicePrm.stepMode = stepMode; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 793 | L6208_ClearSysFlag(fullstep | halfstep | microstep | wavestep); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 794 | switch (stepMode) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 795 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 796 | case STEP_MODE_HALF: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 797 | /* Set the Half/Full pin low and Reset and the set the Half/Full pin high*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 798 | L6208_Board_HALF_FULL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 799 | L6208_Board_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 800 | L6208_Board_HALF_FULL_PIN_Set(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 801 | /* Set system flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 802 | L6208_SetSysFlag(halfstep); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 803 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 804 | case STEP_MODE_FULL: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 805 | /* Set the Half/Full pin low and Reset */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 806 | L6208_Board_HALF_FULL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 807 | L6208_Board_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 808 | /* Set system flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 809 | L6208_SetSysFlag(fullstep); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 810 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 811 | case STEP_MODE_WAVE: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 812 | /* Set the Half/Full pin low and Reset and the set the Half/Full pin high*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 813 | L6208_Board_CLOCK_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 814 | L6208_Board_HALF_FULL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 815 | L6208_Board_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 816 | L6208_Board_CLOCK_PIN_Set(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 817 | L6208_Board_HALF_FULL_PIN_Set(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 818 | L6208_Board_Delay(2); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 819 | L6208_Board_CLOCK_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 820 | L6208_Board_Delay(2); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 821 | L6208_Board_HALF_FULL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 822 | /* Set system flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 823 | L6208_SetSysFlag(wavestep); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 824 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 825 | case STEP_MODE_1_4: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 826 | /* Set the Half/Full pin low and Reset */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 827 | L6208_Board_HALF_FULL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 828 | L6208_Board_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 829 | /* Set system flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 830 | L6208_SetSysFlag(microstep); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 831 | devicePrm.uStepInc = 4; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 832 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 833 | case STEP_MODE_1_8: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 834 | /* Set the Half/Full pin low and Reset */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 835 | L6208_Board_HALF_FULL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 836 | L6208_Board_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 837 | /* Set system flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 838 | L6208_SetSysFlag(microstep); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 839 | devicePrm.uStepInc = 2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 840 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 841 | case STEP_MODE_1_16: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 842 | /* Set the Half/Full pin low and Reset */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 843 | L6208_Board_HALF_FULL_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 844 | L6208_Board_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 845 | /* Set system flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 846 | L6208_SetSysFlag(microstep); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 847 | devicePrm.uStepInc = 1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 848 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 849 | default: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 850 | return FALSE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 851 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 852 | L6208_Board_Delay(2); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 853 | L6208_Board_ReleaseReset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 854 | L6208_ResetSteps(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 855 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 856 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 857 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 858 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 859 | * @brief Select the mode to stop the motor. When the motor |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 860 | * is stopped, if autoHiZ is TRUE, the power bridges are disabled |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 861 | * if autoHiZ is FALSE, the power bridges are kept enabled. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 862 | * @param[in] stopMode HOLD_MODE to let power bridge enabled |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 863 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 864 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 865 | void L6208::L6208_SetStopMode(motorStopMode_t stopMode) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 866 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 867 | if (stopMode == HOLD_MODE) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 868 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 869 | L6208_ClearSysFlag(HiZstop); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 870 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 871 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 872 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 873 | L6208_SetSysFlag(HiZstop); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 874 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 875 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 876 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 877 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 878 | * @brief Stop the motor by using the device deceleration and set deceleration torque |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 879 | * @retval true if the command is successfully executed, else false |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 880 | * @note . |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 881 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 882 | bool L6208::L6208_SoftStop(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 883 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 884 | L6208_VectorCalc(devicePrm.decelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 885 | L6208_SetMotionState(DECELERATINGTOSTOP); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 886 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 887 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 888 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 889 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 890 | * @brief Handle the device state machine at each tick timer pulse end. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 891 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 892 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 893 | void L6208::L6208_TickHandler(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 894 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 895 | uint32_t locMaxSpeedSpt = devicePrm.maxSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 896 | uint32_t locMinSpeedSpt = devicePrm.minSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 897 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 898 | /* Update state, target speed, acceleration and deceleration rates */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 899 | L6208_Board_CLOCK_PIN_Reset(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 900 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 901 | switch(L6208_GetMotionState()) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 902 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 903 | /* ============ Velocity control mode states ======================== */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 904 | case ACCELERATING: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 905 | /* velocity mode: acceleration phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 906 | /* Increase Speed and update position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 907 | L6208_DoAccel(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 908 | if(locMaxSpeedSpt < devicePrm.speedSpt) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 909 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 910 | /*Target speed reached */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 911 | devicePrm.speedSpt = locMaxSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 912 | L6208_VectorCalc(devicePrm.runTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 913 | L6208_SetMotionState(STEADY); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 914 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 915 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 916 | case STEADY: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 917 | /* velocity mode: constant speed phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 918 | /* Update position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 919 | L6208_DoRun(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 920 | if(locMaxSpeedSpt != devicePrm.speedSpt) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 921 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 922 | /* targeted speed has changed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 923 | if(locMaxSpeedSpt< devicePrm.speedSpt) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 924 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 925 | /* Slow down the motor */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 926 | L6208_VectorCalc(devicePrm.decelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 927 | L6208_SetMotionState(DECELERATING); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 928 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 929 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 930 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 931 | /* speed up the motor */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 932 | L6208_VectorCalc(devicePrm.accelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 933 | L6208_SetMotionState(ACCELERATING); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 934 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 935 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 936 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 937 | case DECELERATING: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 938 | /* velocity mode: running motor deceleration phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 939 | /* Decrease Speed and update position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 940 | L6208_DoDecel(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 941 | if(locMaxSpeedSpt > devicePrm.speedSpt) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 942 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 943 | /*Target speed reached but motor has still to be run*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 944 | devicePrm.speedSpt = locMaxSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 945 | L6208_VectorCalc(devicePrm.runTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 946 | L6208_SetMotionState(STEADY); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 947 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 948 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 949 | case DECELERATINGTOSTOP: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 950 | /* velocity mode: decelerate to stopped phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 951 | /* Decrease current speed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 952 | L6208_DoDecel(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 953 | if(devicePrm.speedSpt == locMinSpeedSpt) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 954 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 955 | if (L6208_IsSysFlag(dir2change)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 956 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 957 | L6208_ClearSysFlag(running); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 958 | /* Change direction */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 959 | if (L6208_IsSysFlag(forward)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 960 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 961 | /* switch to reverse rotation */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 962 | L6208_SetDirection(BACKWARD); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 963 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 964 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 965 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 966 | /* switch to forward rotation */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 967 | L6208_SetDirection(FORWARD); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 968 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 969 | L6208_SetSysFlag(running); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 970 | L6208_SetMotionState(ACCELERATING); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 971 | /* Set VRefA and VRefB to the selected acceleration torque */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 972 | L6208_VectorCalc(devicePrm.accelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 973 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 974 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 975 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 976 | if (L6208_IsSysFlag(HiZstop)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 977 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 978 | L6208_HardHiZ(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 979 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 980 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 981 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 982 | L6208_HardStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 983 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 984 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 985 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 986 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 987 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 988 | /* ============ Position (indexed) control mode states ======================== */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 989 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 990 | case INDEX_ACCEL: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 991 | /* position mode: acceleration state*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 992 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 993 | /* Increase Speed and update position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 994 | L6208_DoAccel(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 995 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 996 | if(devicePrm.positionTarget1 <= devicePrm.step) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 997 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 998 | /* End of acceleration phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 999 | L6208_VectorCalc(devicePrm.runTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1000 | L6208_SetMotionState(INDEX_RUN); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1001 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1002 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1003 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1004 | case INDEX_RUN: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1005 | /* position mode: constant speed phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1006 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1007 | /* Update position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1008 | L6208_DoRun(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1009 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1010 | if(devicePrm.positionTarget2 <= devicePrm.step) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1011 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1012 | /* reach position targeted for constant speed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1013 | L6208_VectorCalc(devicePrm.decelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1014 | L6208_SetMotionState(INDEX_DECEL); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1015 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1016 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1017 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1018 | case INDEX_DECEL: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1019 | /* position mode: deceleration phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1020 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1021 | /* Decrease Speed and update position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1022 | L6208_DoDecel(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1023 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1024 | if(devicePrm.positionTarget3 <= devicePrm.step) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1025 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1026 | /* reach position targeted for deceleration phase */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1027 | /* the motor terminated its run */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1028 | /* the torque will be the deceleration one */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1029 | devicePrm.step = devicePrm.positionTarget3; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1030 | L6208_SetMotionState(INDEX_DWELL); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1031 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1032 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1033 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1034 | case INDEX_DWELL: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1035 | /* position mode: dwelling state */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1036 | if(devicePrm.dwellCounter > 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1037 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1038 | /* decrease the dwelling wait tick counter */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1039 | devicePrm.dwellCounter--; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1040 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1041 | if(devicePrm.dwellCounter == 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1042 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1043 | /* dwelling wait time is elapsed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1044 | /* so stop the motor */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1045 | if (L6208_IsSysFlag(HiZstop)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1046 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1047 | L6208_HardHiZ(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1048 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1049 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1050 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1051 | L6208_HardStop(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1052 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1053 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1054 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1055 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1056 | /* ============ stopped state ======================== */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1057 | case INACTIVE: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1058 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1059 | if(L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1060 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1061 | /* clear the user move command executing */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1062 | /* and the motor running flags */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1063 | L6208_ClearSysFlag(running); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1064 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1065 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1066 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1067 | default: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1068 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1069 | } /* switch(L6208_GetMotionState()) */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1070 | if(L6208_GetMotionState() != INACTIVE) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1071 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1072 | if (L6208_IsSysFlag(microstep)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1073 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1074 | /* Microstep handling */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1075 | switch(devicePrm.uStepInc) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1076 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1077 | default: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1078 | case 1: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1079 | /* 1 microstep increment */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1080 | devicePrm.lsbTicks = (uint8_t)(devicePrm.ticks>>16); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1081 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1082 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1083 | case 2: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1084 | /* 2 microsteps increment */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1085 | devicePrm.lsbTicks = (uint8_t)(devicePrm.ticks>>17); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1086 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1087 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1088 | case 4: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1089 | /* 4 microsteps increment */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1090 | devicePrm.lsbTicks = (uint8_t)(devicePrm.ticks>>18); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1091 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1092 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1093 | devicePrm.lsbTicks &= 0x01; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1094 | if(devicePrm.lsbOldUSteppingTicks != devicePrm.lsbTicks) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1095 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1096 | /* waveform sample to update */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1097 | devicePrm.lsbOldUSteppingTicks = devicePrm.lsbTicks; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1098 | devicePrm.step++; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1099 | if(L6208_IsSysFlag(forward)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1100 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1101 | /* the motor is going forward */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1102 | devicePrm.absolutePos++; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1103 | /* Reset the absolute motor position in step/microsteps */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1104 | /* Get next microstep sample */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1105 | devicePrm.uStepSample += devicePrm.uStepInc; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1106 | if(devicePrm.uStepSample > 31) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1107 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1108 | devicePrm.uStepSample = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1109 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1110 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1111 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1112 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1113 | /* the motor is going backward */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1114 | devicePrm.absolutePos--; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1115 | if(devicePrm.uStepSample >= devicePrm.uStepInc) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1116 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1117 | /* Get previous microstep sample */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1118 | devicePrm.uStepSample -= devicePrm.uStepInc; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1119 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1120 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1121 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1122 | devicePrm.uStepSample = 32 - devicePrm.uStepInc; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1123 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1124 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1125 | /* set the PWM to update VRefs */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1126 | L6208_VrefPwmComputePulseWidth(BRIDGE_A, pMicroTable2[devicePrm.uStepSample], FALSE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1127 | L6208_VrefPwmComputePulseWidth(BRIDGE_B, microTable1[devicePrm.uStepSample], FALSE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1128 | if(devicePrm.uStepsample2update > 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1129 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1130 | /* the waveform samples table has been recalculated |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1131 | so update the waveform scanning table */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1132 | L6208_UpdateScanWaveformTable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1133 | devicePrm.uStepsample2update = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1134 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1135 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1136 | /* Microstep: use the bit4 toggling as step clock */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1137 | /* this bit is used because there are 16 microstep samples per quarter period */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1138 | devicePrm.lsbTicks = (uint8_t)((devicePrm.uStepSample>>4) & 0x01); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1139 | if(devicePrm.lsbOldTicks != devicePrm.lsbTicks) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1140 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1141 | /* the selected bit status changed ==> get the next motor step |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1142 | save the current masked motor tick position for step setting scope ... */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1143 | devicePrm.lsbOldTicks = devicePrm.lsbTicks; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1144 | L6208_Board_CLOCK_PIN_Set(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1145 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1146 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1147 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1148 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1149 | /* Full and half step handling code */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1150 | if(!L6208_IsSysFlag(halfstep)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1151 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1152 | /* Full step: use the bit 16 toggling as step clock */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1153 | devicePrm.lsbTicks = (uint8_t)((devicePrm.ticks>>16) & 0x00000001); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1154 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1155 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1156 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1157 | /* half step: use the bit 15 toggling as step clock */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1158 | devicePrm.lsbTicks = (uint8_t)((devicePrm.ticks>>15) & 0x00000001); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1159 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1160 | if(devicePrm.lsbOldTicks != devicePrm.lsbTicks) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1161 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1162 | /* the selected bit status changed ==> get the next motor step */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1163 | devicePrm.step++; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1164 | if(L6208_IsSysFlag(forward)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1165 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1166 | /* the motor is going forward */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1167 | devicePrm.absolutePos++; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1168 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1169 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1170 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1171 | /* the motor is going backward */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1172 | devicePrm.absolutePos--; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1173 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1174 | /* save the current masked motor tick position for step setting scope ... */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1175 | devicePrm.lsbOldTicks = devicePrm.lsbTicks; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1176 | L6208_Board_CLOCK_PIN_Set(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1177 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1178 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1179 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1180 | L6208_UstepWaveformHandling(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1181 | L6208_VrefPwmUpdatePulseWidth(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1182 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1183 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1184 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1185 | * @brief Get the frequency of VREFA and VREFB PWM |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1186 | * @retval the frequency of VREFA and VREFB PWM in Hz |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1187 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1188 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1189 | uint32_t L6208::L6208_VrefPwmGetFreq(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1190 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1191 | return devicePrm.vrefPwmFreq; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1192 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1193 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1194 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1195 | * @brief Set the frequency of the VREFA and VREFB PWM |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1196 | * @param[in] newFreq in Hz |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1197 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1198 | * @note |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1199 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1200 | void L6208::L6208_VrefPwmSetFreq(uint32_t newFreq) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1201 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1202 | devicePrm.vrefPwmFreq = newFreq; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1203 | /* Compute the pwm period in 1/256th of a microsecond */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1204 | devicePrm.vrefPwmPeriod = (uint16_t)((1000000<<8)/newFreq); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1205 | /* Re-Initialise the PWMs -----------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1206 | L6208_Board_VrefPwmInit(BRIDGE_A, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1207 | L6208_Board_VrefPwmInit(BRIDGE_B, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1208 | /* Recompute the waveform samples according to the new PWM frequency */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1209 | L6208_ScaleWaveformTable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1210 | /* Update the waveform scanning table */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1211 | L6208_UpdateScanWaveformTable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1212 | if (L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1213 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1214 | L6208_Board_VrefPwmStart(BRIDGE_A, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1215 | L6208_Board_VrefPwmStart(BRIDGE_B, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1216 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1217 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1218 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1219 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1220 | * @brief Lock while motor is running |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1221 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1222 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1223 | void L6208::L6208_WaitWhileActive(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1224 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1225 | /* Wait while motor is running */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1226 | while (L6208_IsSysFlag(running)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1227 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1228 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1229 | /* ------------------------------------------------------------------------- */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1230 | /* Private functions ------------------------------------------------------- */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1231 | /* ------------------------------------------------------------------------- */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1232 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1233 | * @brief Clear the bit/s of flags according to the specified mask |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1234 | * @param[in] mask flag bit mask |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1235 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1236 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1237 | inline void L6208::L6208_ClearSysFlag(uint32_t mask) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1238 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1239 | devicePrm.flags &= ~mask; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1240 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1241 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1242 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1243 | * @brief Compute the number of steps at the end of the accereration/deceleration phase |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1244 | * P = position in steps at the end of the acceleration/deceleration phase |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1245 | * T = acceleration/deceleration time in seconds |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1246 | * A = acceleration/deceleration rate in steps per second per second (steps/sec^2) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1247 | * V = peak velocity during acceleration/deceleration phase |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1248 | * V1 = average velocity during acceleration/deceleration phase |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1249 | * T = V/A |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1250 | * V1 = V/2 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1251 | * P = V1*T |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1252 | * P = V^2/2A |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1253 | * @param accOrDecRate acceleration/deceleration rate in steps per second per second (steps/sec^2) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1254 | * @retval end position or 0xFFFFFFFF on error |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1255 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1256 | uint32_t L6208::L6208_ComputeNbAccOrDecSteps(uint16_t accOrDecRate) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1257 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1258 | uint32_t nbAccOrDecSteps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1259 | uint32_t locMaxSpeedSps = (uint32_t)devicePrm.maxSpeedSps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1260 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1261 | if (L6208_IsSysFlag(microstep)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1262 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1263 | switch(devicePrm.uStepInc) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1264 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1265 | case 1: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1266 | locMaxSpeedSps = (uint32_t)devicePrm.maxSpeedSps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1267 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1268 | case 2: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1269 | locMaxSpeedSps = ((uint32_t)devicePrm.maxSpeedSps)>>1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1270 | accOrDecRate >>= 1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1271 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1272 | case 4: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1273 | locMaxSpeedSps = ((uint32_t)devicePrm.maxSpeedSps)>>2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1274 | accOrDecRate >>= 2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1275 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1276 | default: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1277 | break; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1278 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1279 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1280 | else if (L6208_IsSysFlag(halfstep)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1281 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1282 | locMaxSpeedSps = ((uint32_t)devicePrm.maxSpeedSps)<<1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1283 | accOrDecRate <<= 1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1284 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1285 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1286 | if(accOrDecRate == 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1287 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1288 | /* division by 0 error */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1289 | return 0xFFFFFFFF; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1290 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1291 | nbAccOrDecSteps = locMaxSpeedSps * locMaxSpeedSps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1292 | nbAccOrDecSteps /= (uint32_t)accOrDecRate; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1293 | nbAccOrDecSteps /= 2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1294 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1295 | return nbAccOrDecSteps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1296 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1297 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1298 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1299 | * @brief Compute the acceleration/deceleration speed increment value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1300 | * @param[in] newAccOrDecRate acceleration or deceleration value (steps/s^2) greater or equal than 24 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1301 | * @retval the speed (step/tick) increment value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1302 | * LSB = 2^-24 step/tick^2 or 2^-20 microstep/tick^2 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1303 | * @note return 0 if the rate is too low or if the tick frequency is too small |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1304 | * or if the device is running in position mode |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1305 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1306 | uint16_t L6208::L6208_ConvertAcceDecelRateValue(uint16_t newAccOrDecRate) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1307 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1308 | uint64_t tmp64; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1309 | uint32_t tmp32; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1310 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1311 | if (((L6208_IsSysFlag(running))&&(L6208_IsSysFlag(positionmode)))||\ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1312 | (newAccOrDecRate < L6208_MIN_ACC_DEC_RATE)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1313 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1314 | return 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1315 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1316 | /* Compute (tick frequency)^2 */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1317 | tmp32 = (uint32_t)L6208_Board_TickGetFreq(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1318 | tmp32 *= tmp32; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1319 | /* Return 0 if the (tick frequency)^2 is too small */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1320 | if ( tmp32 < (uint32_t)newAccOrDecRate ) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1321 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1322 | return 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1323 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1324 | /* Compute the decimal number of microstep or step per tick^2 */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1325 | /* Decimal part is on 32 bits */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1326 | tmp64 = (uint64_t)newAccOrDecRate << 32; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1327 | tmp64 /= ((uint64_t)tmp32); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1328 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1329 | return (uint16_t)((tmp64 & 0x00000000FFFFFFFF)>>8); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1330 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1331 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1332 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1333 | * @brief Compute next position and speed according to the acceleration rate |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1334 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1335 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1336 | void L6208::L6208_DoAccel(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1337 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1338 | /* Increase speed by acceleration rate */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1339 | uint32_t locAccelerationSpt2 = (uint32_t)devicePrm.accelerationSpt2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1340 | uint32_t locMinSpeedSpt = devicePrm.minSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1341 | if ((devicePrm.speedSpt + locAccelerationSpt2) < locMinSpeedSpt) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1342 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1343 | devicePrm.speedSpt = locMinSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1344 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1345 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1346 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1347 | devicePrm.speedSpt += locAccelerationSpt2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1348 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1349 | /* Compute next position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1350 | L6208_DoRun(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1351 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1352 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1353 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1354 | * @brief Compute next position and speed according to the deceleration rate |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1355 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1356 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1357 | void L6208::L6208_DoDecel(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1358 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1359 | /* Decrease current speed by deceleration rate */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1360 | uint32_t locDecelerationSpt2 = (uint32_t)devicePrm.decelerationSpt2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1361 | uint32_t locMinSpeedSpt = devicePrm.minSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1362 | if((devicePrm.speedSpt - locMinSpeedSpt) > (uint32_t)locDecelerationSpt2) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1363 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1364 | devicePrm.speedSpt -= (uint32_t)locDecelerationSpt2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1365 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1366 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1367 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1368 | /* Set minimum speed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1369 | devicePrm.speedSpt = locMinSpeedSpt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1370 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1371 | /* Compute next position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1372 | L6208_DoRun(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1373 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1374 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1375 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1376 | * @brief Compute next position by adding current speed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1377 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1378 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1379 | void L6208::L6208_DoRun(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1380 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1381 | devicePrm.ticks += (devicePrm.speedSpt >> 8) & 0x0000FFFF; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1382 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1383 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1384 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1385 | * @brief Get number of samples to rescale |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1386 | * @retval uStepsample2scale the number of micro stepping waveform samples to rescale |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1387 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1388 | uint8_t L6208::L6208_GetMicrostepSample2Scale(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1389 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1390 | return devicePrm.uStepsample2scale; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1391 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1392 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1393 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1394 | * @brief Initialize the system for position mode motor moving command |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1395 | * P = total move distance in steps |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1396 | * P1 = steps required to accel from 0 to V |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1397 | * P2 = steps required to decel from V to 0 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1398 | * V = peak velocity in steps per second (steps/sec) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1399 | * V1 = average velocity during accel or decel* |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1400 | * A = required accel rate in steps per second per second (steps/sec2) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1401 | * D = required decel rate in steps per second per second (steps/sec2) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1402 | * T1 = acceleration time in seconds |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1403 | * T2 = deceleration time in seconds* |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1404 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1405 | * 1) T1 = V / A |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1406 | * 2) V1 = V / 2 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1407 | * 3) P1 = V1 T1 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1408 | * Substituting 1 and 2 into 3 yields: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1409 | * 4) P1 = V2 / 2A |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1410 | * In the same manner we have: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1411 | * 5) P2 = V2 / 2D |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1412 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1413 | * P1 = PD/(D+A) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1414 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1415 | * \sa Application Note: AN2044 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1416 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1417 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1418 | void L6208::L6208_Indexmodeinit(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1419 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1420 | uint32_t tmpVal0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1421 | uint32_t tmpVal1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1422 | uint32_t locAccelSteps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1423 | uint32_t locDecSteps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1424 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1425 | /* calculate the number of steps to get the running speed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1426 | locAccelSteps = L6208_ComputeNbAccOrDecSteps(devicePrm.accelerationSps2); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1427 | /* calculate the number of steps to get the motor stopped */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1428 | locDecSteps = L6208_ComputeNbAccOrDecSteps(devicePrm.decelerationSps2); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1429 | if(( locAccelSteps + locDecSteps ) > devicePrm.positionTarget) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1430 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1431 | /* Triangular move needed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1432 | /* accelsteps = P1 = PD/(D+A) */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1433 | tmpVal0 = devicePrm.positionTarget * devicePrm.decelerationSps2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1434 | tmpVal1 = (uint32_t)devicePrm.decelerationSps2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1435 | tmpVal1 += (uint32_t)devicePrm.accelerationSps2; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1436 | locAccelSteps = tmpVal0 / tmpVal1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1437 | devicePrm.positionTarget1 = locAccelSteps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1438 | devicePrm.positionTarget2 = devicePrm.positionTarget1 + 1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1439 | devicePrm.positionTarget3 = devicePrm.positionTarget; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1440 | if(devicePrm.positionTarget1 == 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1441 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1442 | devicePrm.positionTarget1 = 1; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1443 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1444 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1445 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1446 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1447 | /* trapezoidal move needed */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1448 | /* P1 = V^2/2A */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1449 | /* P2 = P - V^2/2D */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1450 | devicePrm.positionTarget1 = locAccelSteps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1451 | devicePrm.positionTarget2 = devicePrm.positionTarget - locDecSteps; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1452 | devicePrm.positionTarget3 = devicePrm.positionTarget; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1453 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1454 | L6208_SetMotionState(INDEX_ACCEL); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1455 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1456 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1457 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1458 | * @brief Check the bit/s of flags according to the specified mask |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1459 | * @param[in] mask flag bit mask |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1460 | * @retval TRUE if the bit of the mask are set |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1461 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1462 | inline bool L6208::L6208_IsSysFlag(uint32_t mask) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1463 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1464 | return (bool)((devicePrm.flags & mask) == mask); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1465 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1466 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1467 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1468 | * @brief Stepper driver device step state reset subroutine |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1469 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1470 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1471 | void L6208::L6208_ResetSteps(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1472 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1473 | devicePrm.speedSpt = 0; // reset the current speed value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1474 | devicePrm.ticks = 0; // reset the current ticks counter value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1475 | devicePrm.step = 0; // reset the current step counter value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1476 | devicePrm.lsbOldTicks = 0; // reset copy of the previous position (tick) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1477 | devicePrm.lsbOldUSteppingTicks = 0; // reset copy of the previous position (tick) ( micro stepping ) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1478 | devicePrm.lsbTicks = 0; // reset copy of the current position (tick) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1479 | devicePrm.absolutePos = 0; // reset the absolute motor position in step/microsteps |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1480 | devicePrm.uStepSample = 0; // reset the microstepping waveform sample index |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1481 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1482 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1483 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1484 | * @brief Compute the specified micro stepping waveform sample with the |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1485 | * current selected torque and pwm period |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1486 | * @param[in] sampleIndex sample Index |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1487 | * @retval scaled sample value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1488 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1489 | uint32_t L6208::L6208_ScaleWaveformSample(uint8_t sampleIndex) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1490 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1491 | uint32_t sample; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1492 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1493 | sample = (uint32_t)RefMicroTable[sampleIndex]; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1494 | sample *= devicePrm.vrefPwmPeriod; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1495 | sample >>= (uint32_t)L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1496 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1497 | sample *= (uint32_t)devicePrm.curTorqueScaler; // torque val (%) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1498 | sample /= (uint32_t)100; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1499 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1500 | return sample; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1501 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1502 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1503 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1504 | * @brief Compute the micro stepping waveform sample table samples with the |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1505 | * current selected torque and pwm period |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1506 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1507 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1508 | void L6208::L6208_ScaleWaveformTable(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1509 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1510 | uint8_t index; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1511 | for(index=0; index<=L6208_USTEPS_PER_QUARTER_PERIOD; index++) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1512 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1513 | /* Calculate the scaled sample and save its value into the waveform to update table */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1514 | updatedMicroTable[index] = (uint16_t)L6208_ScaleWaveformSample(index); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1515 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1516 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1517 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1518 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1519 | * @brief Set the parameters of the device to values of the structure pointed |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1520 | * by pInitDevicePrm. Set GPIO according to these values. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1521 | * @param pInitDevicePrm pointer onto the structure containing values to |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1522 | * initialize the device parameters. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1523 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1524 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1525 | void L6208::L6208_SetDeviceParamsToGivenValues(l6208_init_t* pInitDevicePrm) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1526 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1527 | memset(&devicePrm, 0, sizeof(devicePrm)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1528 | L6208_SetAcceleration(pInitDevicePrm->accelerationSps2); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1529 | L6208_SetDeceleration(pInitDevicePrm->decelerationSps2); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1530 | L6208_SetMaxSpeed(pInitDevicePrm->maxSpeedSps); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1531 | L6208_SetMinSpeed(L6208_MIN_SPEED); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1532 | devicePrm.accelTorque = pInitDevicePrm->accelTorque; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1533 | devicePrm.decelTorque = pInitDevicePrm->decelTorque; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1534 | devicePrm.runTorque = pInitDevicePrm->runTorque; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1535 | devicePrm.holdTorque = pInitDevicePrm->holdTorque; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1536 | /* Only once acceleration, deceleration, min speed and max speed have been */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1537 | /* initialized, set the step mode */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1538 | devicePrm.stepMode = pInitDevicePrm->stepMode; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1539 | L6208_SetDecayMode(pInitDevicePrm->decayMode); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1540 | devicePrm.moveDwellTime = pInitDevicePrm->moveDwellTime; |
| Davidroid | 6:c73faac7197f | 1541 | if (L6208_CONF_PARAM_AUTO_HIZ_STOP) |
| Davidroid | 6:c73faac7197f | 1542 | { |
| Davidroid | 6:c73faac7197f | 1543 | L6208_SetSysFlag(pInitDevicePrm->autoHiZstop); |
| Davidroid | 6:c73faac7197f | 1544 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1545 | devicePrm.vrefPwmFreq = pInitDevicePrm->vrefPwmFreq; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1546 | devicePrm.vrefPwmPeriod = (uint16_t)((1000000<<8)/pInitDevicePrm->vrefPwmFreq); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1547 | /* Initialize current stepper state machine index */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1548 | L6208_SetMotionState(INACTIVE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1549 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1550 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1551 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1552 | * @brief Set the parameters of the device to predefined values |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1553 | * Set GPIO according to these values |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1554 | * from l6208_target_config.h |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1555 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1556 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1557 | void L6208::L6208_SetDeviceParamsToPredefinedValues(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1558 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1559 | memset(&devicePrm, 0, sizeof(devicePrm)); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1560 | L6208_SetAcceleration(L6208_CONF_PARAM_ACC_RATE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1561 | L6208_SetDeceleration(L6208_CONF_PARAM_DEC_RATE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1562 | L6208_SetMaxSpeed(L6208_CONF_PARAM_RUNNING_SPEED); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1563 | L6208_SetMinSpeed(L6208_MIN_SPEED); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1564 | devicePrm.accelTorque = L6208_CONF_PARAM_ACC_CURRENT; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1565 | devicePrm.decelTorque = L6208_CONF_PARAM_DEC_CURRENT; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1566 | devicePrm.runTorque = L6208_CONF_PARAM_RUNNING_CURRENT; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1567 | devicePrm.holdTorque = L6208_CONF_PARAM_HOLDING_CURRENT; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1568 | /* Only once acceleration, deceleration, min speed and max speed have been */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1569 | /* initialized, set the step mode */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1570 | devicePrm.stepMode = (motorStepMode_t) L6208_CONF_PARAM_STEP_MODE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1571 | L6208_SetDecayMode(L6208_CONF_PARAM_DECAY_MODE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1572 | devicePrm.moveDwellTime = L6208_CONF_PARAM_DWELL_TIME; |
| Davidroid | 6:c73faac7197f | 1573 | if (L6208_CONF_PARAM_AUTO_HIZ_STOP) |
| Davidroid | 6:c73faac7197f | 1574 | { |
| Davidroid | 6:c73faac7197f | 1575 | L6208_SetSysFlag(HiZstop); |
| Davidroid | 6:c73faac7197f | 1576 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1577 | devicePrm.vrefPwmFreq = L6208_CONF_VREF_PWM_FREQUENCY; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1578 | devicePrm.vrefPwmPeriod = (uint16_t)((1000000<<8)/L6208_CONF_VREF_PWM_FREQUENCY); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1579 | /* Initialize current stepper state machine index */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1580 | L6208_SetMotionState(INACTIVE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1581 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1582 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1583 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1584 | * @brief Set the number of micro stepping waveform samples to rescale |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1585 | * @param[in] value number of micro stepping waveform samples |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1586 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1587 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1588 | void L6208::L6208_SetMicrostepSample2Scale(uint8_t value) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1589 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1590 | if(value > L6208_USTEPS_PER_QUARTER_PERIOD) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1591 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1592 | value = L6208_USTEPS_PER_QUARTER_PERIOD; // clamp to maximum number of samples per period/4 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1593 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1594 | devicePrm.uStepsample2scale = value; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1595 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1596 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1597 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1598 | * @brief Set the number of micro stepping waveform samples to update into scanning |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1599 | * @param[in] value number of micro stepping waveform samples |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1600 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1601 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1602 | void L6208::L6208_SetMicrostepSample2Update(uint8_t value) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1603 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1604 | // clamp to maximum number of samples per period/4 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1605 | if(value > L6208_USTEPS_PER_QUARTER_PERIOD) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1606 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1607 | value = L6208_USTEPS_PER_QUARTER_PERIOD; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1608 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1609 | // copy the stepper acceleration rate |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1610 | devicePrm.uStepsample2update = value; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1611 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1612 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1613 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1614 | * @brief Set the stepper state machine index |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1615 | * @param[in] newMotionState |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1616 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1617 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1618 | void L6208::L6208_SetMotionState(motorState_t newMotionState) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1619 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1620 | // sets the new stepper state machine index |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1621 | devicePrm.motionState = newMotionState; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1622 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1623 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1624 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1625 | * @brief Set the user selected speed in step/tick |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1626 | * @param[in] newSpeed speed value (step/s) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1627 | * @param[in] pSpeed pointer to the selected speed field |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1628 | * @retval return FALSE if the speed is too low or too high |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1629 | * or if the device is running in position mode, else TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1630 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1631 | bool L6208::L6208_SetSpeed(uint16_t newSpeed, uint32_t volatile *pSpeed) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1632 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1633 | uint64_t tmp64; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1634 | uint32_t tmp32; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1635 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1636 | if (((L6208_IsSysFlag(running))&&(L6208_IsSysFlag(positionmode)))||\ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1637 | (newSpeed < L6208_MIN_SPEED)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1638 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1639 | return FALSE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1640 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1641 | tmp32 = (uint32_t)L6208_Board_TickGetFreq(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1642 | if (tmp32 < newSpeed) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1643 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1644 | return FALSE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1645 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1646 | /* Compute the decimal number of microstep or step per tick */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1647 | /* Decimal part is on 32 bits */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1648 | tmp64 = (uint64_t)newSpeed << 32; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1649 | tmp64 /= ((uint64_t)tmp32); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1650 | /* set the running constant speed value (step/tick) */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1651 | *pSpeed = (uint32_t)((tmp64 & 0x00000000FFFFFFFF)>>8); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1652 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1653 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1654 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1655 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1656 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1657 | * @brief Set the bit/s of flags according to the specified mask |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1658 | * @param[in] mask flag bit mask |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1659 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1660 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1661 | inline void L6208::L6208_SetSysFlag(uint32_t mask) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1662 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1663 | devicePrm.flags |= mask; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1664 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1665 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1666 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1667 | * @brief Stepper motor start command |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1668 | * @retval true on correct command execution |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1669 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1670 | bool L6208::L6208_StartMovement(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1671 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1672 | uint32_t tmp; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1673 | if (L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1674 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1675 | /* Motor is already running ==> quit */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1676 | return FALSE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1677 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1678 | if (!L6208_IsSysFlag(positionmode)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1679 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1680 | /* Set the VREFA and VREFB to the selected acc. torque */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1681 | L6208_VectorCalc(devicePrm.accelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1682 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1683 | /* If the speed control mode is selected */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1684 | /* setup the motor acceleration for velocity mode driving */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1685 | L6208_SetMotionState(ACCELERATING); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1686 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1687 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1688 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1689 | /* if position control mode is selected, reset the current step counter */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1690 | devicePrm.step = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1691 | if(devicePrm.uStepSample > 31) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1692 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1693 | /* check the micro stepping waveform sample index */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1694 | devicePrm.uStepSample = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1695 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1696 | /* Set the position dwelling wait time */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1697 | /* compute number of ticks per millisecond */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1698 | tmp = (uint32_t)L6208_Board_TickGetFreq() / 1000; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1699 | /* Compute the dwelling time in ticks => dwellCounter (ticks) */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1700 | devicePrm.dwellCounter = tmp * (uint32_t)devicePrm.moveDwellTime; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1701 | if (devicePrm.positionTarget == 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1702 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1703 | /* if the position to go is 0 (no move) */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1704 | /* Set the deceleration torque */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1705 | L6208_VectorCalc(devicePrm.decelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1706 | /* Set the dwelling delay state index */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1707 | L6208_SetMotionState(INDEX_DWELL); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1708 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1709 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1710 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1711 | /* Set the VREFA and VREFB to the selected acc. torque */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1712 | L6208_VectorCalc(devicePrm.accelTorque); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1713 | /* go to the selected position */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1714 | L6208_Indexmodeinit(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1715 | L6208_SetMotionState(INDEX_ACCEL); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1716 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1717 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1718 | /* Sets the motor running flag */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1719 | L6208_SetSysFlag(running); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1720 | /* Start the VREFA and VREFB PWMs */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1721 | L6208_Board_VrefPwmStart(BRIDGE_A, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1722 | L6208_Board_VrefPwmStart(BRIDGE_B, devicePrm.vrefPwmPeriod); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1723 | if (!(L6208_IsSysFlag(EN_A_set))) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1724 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1725 | /* Enable power bridges */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1726 | L6208_Enable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1727 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1728 | /* Start the tick */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1729 | L6208_Board_TickStart(L6208::tickFreq); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1730 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1731 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1732 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1733 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1734 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1735 | * @brief Update the micro stepping waveform samples table with the |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1736 | * values previously scaled with current selected torque and tick period |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1737 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1738 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1739 | void L6208::L6208_UpdateScanWaveformTable(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1740 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1741 | uint8_t index; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1742 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1743 | for(index=0; index<=L6208_USTEPS_PER_QUARTER_PERIOD; index++) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1744 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1745 | microTable1[index] = updatedMicroTable[index]; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1746 | microTable1[L6208_USTEPS_PER_QUARTER_PERIOD*2 - index] = microTable1[index]; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1747 | microTable1[index + L6208_USTEPS_PER_QUARTER_PERIOD*2] = updatedMicroTable[index]; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1748 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1749 | /* clear the number of samples to update */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1750 | L6208_SetMicrostepSample2Update(0); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1751 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1752 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1753 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1754 | * @brief Check if there are waveform samples to rescale and if so, perform the rescaling |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1755 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1756 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1757 | void L6208::L6208_UstepWaveformHandling(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1758 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1759 | /* micro stepper waveform samples rescaling ... and updating */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1760 | uint8_t nbSamplesToRescale = L6208_GetMicrostepSample2Scale(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1761 | if(nbSamplesToRescale > 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1762 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1763 | /* Current torque value has been changed, so recalculate the waveform table */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1764 | L6208_ScaleWaveformTable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1765 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1766 | /* Set the number of samples to update */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1767 | L6208_SetMicrostepSample2Update(L6208_USTEPS_PER_QUARTER_PERIOD); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1768 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1769 | /* Reset the number of samples to rescaled afer rescaling */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1770 | L6208_SetMicrostepSample2Scale(0); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1771 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1772 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1773 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1774 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1775 | * @brief Set the current torque value (Vref) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1776 | * @param[in] newTorque Selected torque value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1777 | * @retval always TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1778 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1779 | bool L6208::L6208_VectorCalc(uint8_t newTorque) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1780 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1781 | /* save current selected torque value */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1782 | devicePrm.curTorqueScaler = (uint16_t)newTorque; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1783 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1784 | if(!L6208_IsSysFlag(microstep)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1785 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1786 | /* full/half step mode or the motor is not running */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1787 | /* set the PWM duty cycle according to the current torque value (%). */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1788 | /* The TON value will be calculated inside the TIMx_PWM_duty_setup f(). */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1789 | L6208_VrefPwmComputePulseWidth(BRIDGE_A, devicePrm.curTorqueScaler, TRUE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1790 | L6208_VrefPwmComputePulseWidth(BRIDGE_B, devicePrm.curTorqueScaler, TRUE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1791 | devicePrm.vRefAVal = devicePrm.curTorqueScaler; // save current VREFA value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1792 | devicePrm.vRefBVal = devicePrm.curTorqueScaler; // save current VREFB value |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1793 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1794 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1795 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1796 | /* microstep mode */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1797 | if(L6208_IsSysFlag(running)) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1798 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1799 | /* set the number of waveform sample to rescale according current selected */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1800 | /* torque value */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1801 | L6208_SetMicrostepSample2Scale(L6208_USTEPS_PER_QUARTER_PERIOD); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1802 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1803 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1804 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1805 | /* micro stepping mode motor stopped */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1806 | L6208_ScaleWaveformTable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1807 | L6208_UpdateScanWaveformTable(); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1808 | /* Set the VREF timer PWM TON to update VREFA and VREFB */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1809 | L6208_VrefPwmComputePulseWidth(BRIDGE_A, pMicroTable2[devicePrm.uStepSample], FALSE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1810 | L6208_VrefPwmComputePulseWidth(BRIDGE_B, microTable1[devicePrm.uStepSample], FALSE); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1811 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1812 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1813 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1814 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1815 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1816 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1817 | * @brief Compute the pulse width of VREFA or VREFB PWM |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1818 | * @param[in] bridgeId |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1819 | * 0 for BRIDGE_A |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1820 | * 1 for BRIDGE_B |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1821 | * @param[in] value pulse length in 1/256th of microsecond |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1822 | * or PWM duty cycle: 0 - 100 % |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1823 | * @param[in] valueIsPwmDutyCycle must be TRUE if value is a PWM duty cycle |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1824 | * @retval FALSE if wrong timer handle is used, else TRUE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1825 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1826 | bool L6208::L6208_VrefPwmComputePulseWidth(uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1827 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1828 | if(valueIsPwmDutyCycle) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1829 | { |
| Davidroid | 6:c73faac7197f | 1830 | if (value > 100) |
| Davidroid | 6:c73faac7197f | 1831 | { |
| Davidroid | 6:c73faac7197f | 1832 | value = 100; |
| Davidroid | 6:c73faac7197f | 1833 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1834 | value = (uint16_t)(((uint32_t)devicePrm.vrefPwmPeriod * (uint32_t)value) / 100); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1835 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1836 | if (bridgeId == 0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1837 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1838 | devicePrm.vrefPwmPulseWidthTargetA = value; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1839 | devicePrm.vrefPwmPulseWidthToBeGeneratedA = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1840 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1841 | else if (bridgeId == 1) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1842 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1843 | devicePrm.vrefPwmPulseWidthTargetB = value; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1844 | devicePrm.vrefPwmPulseWidthToBeGeneratedB = 0; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1845 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1846 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1847 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1848 | return FALSE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1849 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1850 | return TRUE; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1851 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1852 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1853 | /******************************************************//** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1854 | * @brief Update the pulse width of VREFA or VREFB PWM |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1855 | * @param None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1856 | * @retval None |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1857 | **********************************************************/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1858 | void L6208::L6208_VrefPwmUpdatePulseWidth(void) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1859 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1860 | uint16_t pulseWidthUs; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1861 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1862 | devicePrm.vrefPwmPulseWidthToBeGeneratedA += devicePrm.vrefPwmPulseWidthTargetA; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1863 | pulseWidthUs = devicePrm.vrefPwmPulseWidthToBeGeneratedA>>8; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1864 | if (pulseWidthUs!=0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1865 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1866 | L6208_Board_VrefPwmSetPulseWidthA(pulseWidthUs); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1867 | devicePrm.vrefPwmPulseWidthToBeGeneratedA -= (pulseWidthUs<<8); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1868 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1869 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1870 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1871 | L6208_Board_VrefPwmSetPulseWidthA(0); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1872 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1873 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1874 | devicePrm.vrefPwmPulseWidthToBeGeneratedB += devicePrm.vrefPwmPulseWidthTargetB; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1875 | pulseWidthUs = devicePrm.vrefPwmPulseWidthToBeGeneratedB>>8; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1876 | if (pulseWidthUs!=0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1877 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1878 | L6208_Board_VrefPwmSetPulseWidthB(pulseWidthUs); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1879 | devicePrm.vrefPwmPulseWidthToBeGeneratedB -= (pulseWidthUs<<8); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1880 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1881 | else |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1882 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1883 | L6208_Board_VrefPwmSetPulseWidthB(0); |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1884 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1885 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1886 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1887 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
X-NUCLEO-IHM05A1 Bipolar Stepper Motor Driver