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
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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.
Diff: Components/L6208/L6208.h
- Revision:
- 4:0b52159554b5
- Parent:
- 3:63a8d672fe5e
- Child:
- 5:f0856e278c08
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Components/L6208/L6208.h Fri Mar 24 13:29:46 2017 +0000 @@ -0,0 +1,1178 @@ +/** + ****************************************************************************** + * @file L6208.h + * @author IPC Rennes + * @version V1.0.0 + * @date March 18th, 2016 + * @brief This file contains the class of a L6208 Motor Control component. + * @note (C) COPYRIGHT 2016 STMicroelectronics + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ + + +/* Define to prevent recursive inclusion -------------------------------------*/ + +#ifndef __L6208_CLASS_H +#define __L6208_CLASS_H + + +/* Includes ------------------------------------------------------------------*/ + +/* ACTION 1 ------------------------------------------------------------------* + * Include here platform specific header files. * + *----------------------------------------------------------------------------*/ +#include "mbed.h" + +/* ACTION 2 ------------------------------------------------------------------* + * Include here component specific header files. * + *----------------------------------------------------------------------------*/ +#include "L6208_def.h" +/* ACTION 3 ------------------------------------------------------------------* + * Include here interface specific header files. * + * * + * Example: * + * #include "HumiditySensor.h" * + * #include "TemperatureSensor.h" * + *----------------------------------------------------------------------------*/ +#include "StepperMotor.h" + + +/* Classes -------------------------------------------------------------------*/ + +/** + * @brief Class representing a L6208 component. + */ +class L6208 : public StepperMotor +{ +public: + /*** Constructor and Destructor Methods ***/ + + /** + * @brief Constructor. + * @param flag_and_enable_pin pin name of the EN pin of the component. + * @param reset_pin pin name of the RESET pin of the component. + * @param direction_pin pin name of the CW_CCW pin of the component. + * @param half_full_pin pin name of the HALF_FULL pin of the component. + * @param control_pin pin name of the CONTROL pin of the component. + * @param clock_pin pin name of the CLOCK pin of the component. + * @param vrefA_pwm_pin pin name of the PWM connected to the VREFA pin of the component. + * @param vrefB_pwm_pin pin name of the PWM connected to the VREFB pin of the component. + */ + L6208(PinName flag_and_enable_pin, PinName reset_pin, PinName direction_pin, PinName half_full_pin, PinName control_pin, PinName clock_pin, PinName vrefA_pwm_pin, PinName vrefB_pwm_pin) : StepperMotor(), + flag_and_enable(flag_and_enable_pin), + reset_pin(reset_pin), + direction_pin(direction_pin), + half_full_pin(half_full_pin), + control_pin(control_pin), + clock_pin(clock_pin), + vrefA_pwm(vrefA_pwm_pin), + vrefB_pwm(vrefB_pwm_pin) + { + /* Checking stackability. */ + if (numberOfDevices!=0) + error("Instantiation of the L6208 component failed: it can't be stacked on itself.\r\n"); + + /* ACTION 4 ----------------------------------------------------------* + * Initialize here the component's member variables, one variable per * + * line. * + * * + * Example: * + * measure = 0; * + * instance_id = number_of_instances++; * + *--------------------------------------------------------------------*/ + errorHandlerCallback = 0; + deviceInstance = numberOfDevices++; + /* default tick frequency */ + tickFreq = TIMER_TICK_FREQUENCY; + /* waveform microstepping PWM period sample array, 90 deg shifted */ + pMicroTable2 = &(microTable1[16]); + } + + /** + * @brief Destructor. + */ + virtual ~L6208(void) {} + + + /*** Public Component Related Methods ***/ + + /* ACTION 5 --------------------------------------------------------------* + * Implement here the component's public methods, as wrappers of the C * + * component's functions. * + * They should be: * + * + Methods with the same name of the C component's virtual table's * + * functions (1); * + * + Methods with the same name of the C component's extended virtual * + * table's functions, if any (2). * + * * + * Example: * + * virtual int GetValue(float *pData) //(1) * + * { * + * return COMPONENT_GetValue(float *pfData); * + * } * + * * + * virtual int EnableFeature(void) //(2) * + * { * + * return COMPONENT_EnableFeature(); * + * } * + *------------------------------------------------------------------------*/ + + /** + * @brief Public functions inherited from the Component Class + */ + + /** + * @brief Initialize the component. + * @param init Pointer to device specific initalization structure. + * @retval "0" in case of success, an error code otherwise. + */ + virtual int init(void *init = NULL) + { + return (int) L6208_Init((void *) init); + } + + /** + * @brief Getting the ID of the component. + * @param id Pointer to an allocated variable to store the ID into. + * @retval "0" in case of success, an error code otherwise. + */ + virtual int read_id(uint8_t *id = NULL) + { + return (int) L6208_ReadID((uint8_t *) id); + } + + /** + * @brief Public functions inherited from the StepperMotor Class + */ + + /** + * @brief Getting the value of the motor state . + * @param None. + * @retval The motor state accoring to motorState_t in motor.h + */ + virtual unsigned int get_status(void) + { + return (unsigned int) L6208_GetMotionState(); + } + + /** + * @brief Getting the position. + * @param None. + * @retval The position. + */ + virtual signed int get_position(void) + { + return (signed int)L6208_GetPosition(); + } + + /** + * @brief Getting the marked position. + * @param None. + * @retval The marked position. + */ + virtual signed int get_mark(void) + { + return (signed int)L6208_GetMark(); + } + + /** + * @brief Getting the current speed in pps. + * @param None. + * @retval The current speed in pps. + */ + virtual unsigned int get_speed(void) + { + return (unsigned int)L6208_GetCurrentSpeed(); + } + + /** + * @brief Getting the maximum speed in pps. + * @param None. + * @retval The maximum speed in pps. + */ + virtual unsigned int get_max_speed(void) + { + return (unsigned int)L6208_GetMaxSpeed(); + } + + /** + * @brief Getting the minimum speed in pps. + * @param None. + * @retval The minimum speed in pps. + */ + virtual unsigned int get_min_speed(void) + { + return (unsigned int)L6208_GetMinSpeed(); + } + + /** + * @brief Getting the acceleration in pps^2. + * @param None. + * @retval The acceleration in pps^2. + */ + virtual unsigned int get_acceleration(void) + { + return (unsigned int)L6208_GetAcceleration(); + } + + /** + * @brief Getting the deceleration in pps^2. + * @param None. + * @retval The deceleration in pps^2. + */ + virtual unsigned int get_deceleration(void) + { + return (unsigned int)L6208_GetDeceleration(); + } + + /** + * @brief Getting the direction of rotation. + * @param None. + * @retval The direction of rotation. + */ + virtual direction_t get_direction(void) + { + if (L6208_GetDirection()!=BACKWARD) + { + return FWD; + } + else + { + return BWD; + } + } + + /** + * @brief Setting the current position to be the home position. + * @param None. + * @retval None. + */ + virtual void set_home(void) + { + L6208_SetHome(); + } + + /** + * @brief Setting the current position to be the marked position. + * @param None. + * @retval None. + */ + virtual void set_mark(void) + { + L6208_SetMark(); + } + + /** + * @brief Setting the maximum speed in pps. + * @param speed The maximum speed in pps. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_max_speed(unsigned int speed) + { + if (speed <= 0xFFFF) + { + return L6208_SetMaxSpeed((uint16_t) speed); + } + else + { + return false; + } + } + + /** + * @brief Setting the minimum speed in pps. + * @param speed The minimum speed in pps. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_min_speed(unsigned int speed) + { + if (speed <= 0xFFFF) + { + return L6208_SetMinSpeed((uint16_t) speed); + } + else + { + return false; + } + } + + /** + * @brief Setting the acceleration in pps^2. + * @param acceleration The acceleration in pps/s^2. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_acceleration(unsigned int acceleration) + { + if (acceleration <= 0xFFFF) + { + return L6208_SetAcceleration((uint16_t) acceleration); + } + else + { + return false; + } + } + + /** + * @brief Setting the deceleration in pps^2. + * @param deceleration The deceleration in pps^2. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_deceleration(unsigned int deceleration) + { + if (deceleration <= 0xFFFF) + { + return L6208_SetDeceleration((uint16_t) deceleration); + } + else + { + return false; + } + } + + /** + * @brief Setting the Step Mode. + * @param step_mode The Step Mode. + * @retval "true" in case of success, "false" otherwise. + * @note step_mode can be one of the following: + * + STEP_MODE_FULL + * + STEP_MODE_WAVE + * + STEP_MODE_HALF + * + STEP_MODE_1_4 + * + STEP_MODE_1_8 + * + STEP_MODE_1_16 + */ + virtual bool set_step_mode(step_mode_t step_mode) + { + return L6208_SetStepMode((motorStepMode_t) step_mode); + } + + /** + * @brief Going to a specified position. + * @param position The desired position. + * @retval None. + */ + virtual void go_to(signed int position) + { + L6208_GoTo((int32_t)position); + } + + /** + * @brief Going to the home position. + * @param None. + * @retval None. + */ + virtual void go_home(void) + { + L6208_GoHome(); + } + + /** + * @brief Going to the marked position. + * @param None. + * @retval None. + */ + virtual void go_mark(void) + { + L6208_GoMark(); + } + + /** + * @brief Running the motor towards a specified direction. + * @param direction The direction of rotation. + * @retval None. + */ + virtual void run(direction_t direction) + { + L6208_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); + } + + /** + * @brief Moving the motor towards a specified direction for a certain number of steps. + * @param direction The direction of rotation. + * @param steps The desired number of steps. + * @retval None. + */ + virtual void move(direction_t direction, unsigned int steps) + { + L6208_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps); + } + + /** + * @brief Stopping the motor through an immediate deceleration up to zero speed. + * @param None. + * @retval None. + */ + virtual void soft_stop(void) + { + L6208_SoftStop(); + } + + /** + * @brief Stopping the motor through an immediate infinite deceleration. + * @param None. + * @retval None. + */ + virtual void hard_stop(void) + { + L6208_HardStop(); + } + + /** + * @brief Disabling the power bridge after performing a deceleration to zero. + * @param None. + * @retval None. + */ + virtual void soft_hiz(void) + { + motorStopMode_t stopMode = L6208_GetStopMode(); + if (stopMode==HIZ_MODE) + { + L6208_SoftStop(); + } + else + { + L6208_SetStopMode(HIZ_MODE); + L6208_SoftStop(); + L6208_SetStopMode(stopMode); + } + } + + /** + * @brief Disabling the power bridge immediately. + * @param None. + * @retval None. + */ + virtual void hard_hiz(void) + { + L6208_HardHiZ(); + } + + /** + * @brief Waiting while the motor is active. + * @param None. + * @retval None. + */ + virtual void wait_while_active(void) + { + L6208_WaitWhileActive(); + } + + /** + * @brief Public functions NOT inherited + */ + + /** + * @brief Attaching an error handler. + * @param fptr An error handler. + * @retval None. + */ + virtual void attach_error_handler(void (*fptr)(uint16_t error)) + { + L6208_AttachErrorHandler((void (*)(uint16_t error)) fptr); + } + + /** + * @brief Checks if the device is disabled or/and has an alarm flag set + * by reading the EN pin position. + * @param None. + * @retval One if the EN pin is low (the device is disabled or/and + * has an alarm flag set), otherwise zero. + */ + virtual unsigned int check_status_hw(void) + { + if (!flag_and_enable.read()) return 0x01; + else return 0x00; + } + + /** + * @brief Disabling the device. + * @param None. + * @retval None. + */ + virtual void disable(void) + { + L6208_Disable(); + } + + /** + * @brief Enabling the device. + * @param None. + * @retval None. + */ + virtual void enable(void) + { + L6208_Enable(); + } + + /** + * @brief Getting the motor decay mode. + * @param None. + * @retval The motor decay mode. + */ + virtual motorDecayMode_t get_decay_mode() + { + return L6208_get_decay_mode(); + } + + /** + * @brief Set the frequency of the VREFA and VREFB PWM + * @param frequency in Hz + * @retval None. + */ + virtual uint32_t get_freq_vref_pwm(void) + { + return L6208_VrefPwmGetFreq(); + } + + /** + * @brief Getting the version of the firmware. + * @param None. + * @retval The version of the firmware. + */ + virtual unsigned int get_fw_version(void) + { + return (unsigned int) L6208_GetFwVersion(); + } + + /** + * @brief Getting the motor step mode. + * @param None. + * @retval The motor step mode. + */ + virtual step_mode_t get_step_mode(void) + { + return (step_mode_t) L6208_GetStepMode(); + } + + /** + * @brief Getting the motor stop mode. + * @param None. + * @retval The motor stop mode. + */ + virtual motorStopMode_t get_stop_mode(void) + { + return L6208_GetStopMode(); + } + + /** + * @brief Going to a specified position with a specificied direction. + * @param direction The desired direction. + * @param position The desired position. + * @retval None. + */ + virtual void go_to(direction_t direction, signed int position) + { + L6208_GoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position); + } + + /** + * @brief Release the L6208 reset (Reset pin set to high level). + * @param None. + * @retval None. + */ + virtual void release_reset(void) + { + L6208_ReleaseReset(); + } + + /** + * @brief Reset the device with current step mode, resets current speed, + * positions and microstep variables. + * @param None. + * @retval None. + */ + virtual void reset(void) + { + L6208_Reset(); + } + + /** + * @brief Reset the L6208 (Reset pin set to low level). + * @param None. + * @retval None. + */ + virtual void reset_device(void) + { + L6208_ResetDevice(); + } + + /** + * @brief Set the motor decay mode. + * @param decayMode The desired decay mode (SLOW_DECAY or FAST_DECAY). + * @retval None. + */ + virtual void set_decay_mode(motorDecayMode_t decayMode) + { + L6208_SetDecayMode(decayMode); + } + + /** + * @brief Set the motor direction. + * @param direction The desired direction. + * @retval None. + */ + virtual void set_direction(direction_t direction) + { + L6208_SetDirection((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); + } + + /** + * @brief Set the frequency of the VREFA and VREFB PWM + * @param frequency in Hz + * @retval None. + */ + virtual void set_freq_vref_pwm(uint32_t frequency) + { + L6208_VrefPwmSetFreq(frequency); + } + + /** + * @brief Set the motor stop mode. + * @param stopMode The desired stop mode (HOLD_MODE or HIZ_MODE). + * @retval None. + */ + virtual void set_stop_mode(motorStopMode_t stopMode) + { + L6208_SetStopMode(stopMode); + } + + /*** Public Interrupt Related Methods ***/ + + /* ACTION 6 --------------------------------------------------------------* + * Implement here interrupt related methods, if any. * + * Note that interrupt handling is platform dependent, e.g.: * + * + mbed: * + * InterruptIn feature_irq(pin); //Interrupt object. * + * feature_irq.rise(callback); //Attach a callback. * + * feature_irq.mode(PullNone); //Set interrupt mode. * + * feature_irq.enable_irq(); //Enable interrupt. * + * feature_irq.disable_irq(); //Disable interrupt. * + * + Arduino: * + * attachInterrupt(pin, callback, RISING); //Attach a callback. * + * detachInterrupt(pin); //Detach a callback. * + * * + * Example (mbed): * + * void attach_feature_irq(void (*fptr) (void)) * + * { * + * feature_irq.rise(fptr); * + * } * + * * + * void enable_feature_irq(void) * + * { * + * feature_irq.enable_irq(); * + * } * + * * + * void disable_feature_irq(void) * + * { * + * feature_irq.disable_irq(); * + * } * + *------------------------------------------------------------------------*/ + /** + * @brief Attaching an interrupt handler to the FLAG interrupt. + * @param fptr An interrupt handler. + * @retval None. + */ + + void attach_flag_irq(void (*fptr)(void)) + { + flag_and_enable.mode(PullDown); + flag_and_enable.fall(fptr); + } + + /** + * @brief Enabling the FLAG interrupt handling. + * @param None. + * @retval None. + */ + void enable_flag_irq(void) + { + flag_and_enable.enable_irq(); + } + +protected: + + /*** Protected Component Related Methods ***/ + + /* ACTION 7 --------------------------------------------------------------* + * Declare here the component's specific methods. * + * They should be: * + * + Methods with the same name of the C component's virtual table's * + * functions (1); * + * + Methods with the same name of the C component's extended virtual * + * table's functions, if any (2); * + * + Helper methods, if any, like functions declared in the component's * + * source files but not pointed by the component's virtual table (3). * + * * + * Example: * + * status_t COMPONENT_get_value(float *f); //(1) * + * status_t COMPONENT_enable_feature(void); //(2) * + * status_t COMPONENT_compute_average(void); //(3) * + *------------------------------------------------------------------------*/ + status_t L6208_Init(void *init); + status_t L6208_ReadID(uint8_t *id); + void L6208_AttachErrorHandler(void (*callback)(uint16_t error)); + void L6208_Disable(void); + void L6208_ErrorHandler(uint16_t error); + void L6208_Enable(void); + uint16_t L6208_GetAcceleration(void); + uint16_t L6208_GetCurrentSpeed(void); + uint16_t L6208_GetDeceleration(void); + motorDecayMode_t L6208_get_decay_mode(void); + motorDir_t L6208_GetDirection(void); + uint32_t L6208_GetFwVersion(void); + int32_t L6208_GetMark(void); + uint16_t L6208_GetMaxSpeed(void); + uint16_t L6208_GetMinSpeed(void); + motorState_t L6208_GetMotionState(void); + int32_t L6208_GetPosition(void); + motorStepMode_t L6208_GetStepMode(void); + motorStopMode_t L6208_GetStopMode(void); + void L6208_GoHome(void); + void L6208_GoMark(void); + void L6208_GoTo(int32_t targetPosition); + void L6208_GoToDir(motorDir_t direction, int32_t targetPosition); + void L6208_HardHiZ(void); + void L6208_HardStop(void); + void L6208_Move(motorDir_t direction, uint32_t stepCount); + void L6208_ReleaseReset(void); + void L6208_Reset(void); + void L6208_ResetDevice(void); + void L6208_Run(motorDir_t direction); + bool L6208_SetAcceleration(uint16_t newAcc); + void L6208_SetDecayMode(motorDecayMode_t decayMode); + bool L6208_SetDeceleration(uint16_t newDec); + void L6208_SetDirection(motorDir_t direction); + void L6208_SetHome(void); + void L6208_SetMark(void); + bool L6208_SetMaxSpeed(uint16_t volatile newSpeed); + bool L6208_SetMinSpeed(uint16_t volatile newSpeed); + bool L6208_SetStepMode(motorStepMode_t stepMode); + void L6208_SetStopMode(motorStopMode_t stopMode); + bool L6208_SoftStop(void); + void L6208_TickHandler(void); + uint32_t L6208_VrefPwmGetFreq(void); + void L6208_VrefPwmSetFreq(uint32_t newFreq); + void L6208_WaitWhileActive(void); + + /*** Functions intended to be used only internally ***/ + + void L6208_ClearSysFlag(uint32_t mask); + uint32_t L6208_ComputeNbAccOrDecSteps(uint16_t accOrDecRate); + uint16_t L6208_ConvertAcceDecelRateValue(uint16_t newAccOrDecRate); + void L6208_DoAccel(void); + void L6208_DoDecel(void); + void L6208_DoRun(void); + uint8_t L6208_GetMicrostepSample2Scale(void); + void L6208_Indexmodeinit(void); + bool L6208_IsSysFlag(uint32_t mask); + void L6208_ResetSteps(void); + uint32_t L6208_ScaleWaveformSample(uint8_t sampleIndex); + void L6208_ScaleWaveformTable(void); + void L6208_SetDeviceParamsToGivenValues(l6208_init_t* pInitDevicePrm); + void L6208_SetDeviceParamsToPredefinedValues(void); + void L6208_SetMicrostepSample2Scale(uint8_t value); + void L6208_SetMicrostepSample2Update(uint8_t value); + void L6208_SetMotionState(motorState_t newMotionState); + bool L6208_SetSpeed(uint16_t newSpeed, uint32_t volatile *pSpeed); + void L6208_SetSysFlag(uint32_t mask); + bool L6208_StartMovement(void); + void L6208_UpdateScanWaveformTable(void); + void L6208_UstepWaveformHandling(void); + bool L6208_VectorCalc(uint8_t newTorque); + bool L6208_VrefPwmComputePulseWidth(uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle); + void L6208_VrefPwmUpdatePulseWidth(void); + + /*** Component's I/O Methods ***/ + + /* ACTION 8 --------------------------------------------------------------* + * Implement here other I/O methods beyond those already implemented * + * above, which are declared extern within the component's header file. * + *------------------------------------------------------------------------*/ + /** + * @brief Reset the clock pin. + * @param None. + * @retval None. + */ + void L6208_Board_CLOCK_PIN_Reset(void) + { + clock_pin = 0; + } + /** + * @brief Set the clock pin. + * @param None. + * @retval None. + */ + void L6208_Board_CLOCK_PIN_Set(void) + { + clock_pin = 1; + } + + /** + * @brief Set the control pin. + * @param None. + * @retval None. + */ + void L6208_Board_CONTROL_PIN_Set(void) + { + control_pin = 1; + } + + /** + * @brief Reset the control pin. + * @param None. + * @retval None. + */ + void L6208_Board_CONTROL_PIN_Reset(void) + { + control_pin = 0; + } + + /** + * @brief Making the CPU wait. + * @param None. + * @retval None. + */ + void L6208_Board_Delay(uint32_t delay) + { + wait_ms(delay); + } + + /** + * @brief Reset the dir pin. + * @param None. + * @retval None. + */ + void L6208_Board_DIR_PIN_Reset(void) + { + direction_pin = 0; + } + + /** + * @brief Set the dir pin. + * @param None. + * @retval None. + */ + void L6208_Board_DIR_PIN_Set(void) + { + direction_pin = 1; + } + + /** + * @brief Disable the power bridges (leave the output bridges HiZ). + * @param None. + * @retval None. + */ + void L6208_Board_Disable(void) + { + flag_and_enable.disable_irq(); + flag_and_enable.mode(PullDown); + } + + /** + * @brief Disabling interrupts. + * @param None. + * @retval None. + */ + void L6208_Board_DisableIrq(void) + { + __disable_irq(); + } + + /** + * @brief Enable the power bridges (leave the output bridges HiZ). + * @param None. + * @retval None. + */ + void L6208_Board_Enable(void) + { + flag_and_enable.mode(PullUp); + flag_and_enable.enable_irq(); + } + + /** + * @brief Enabling interrupts. + * @param None. + * @retval None. + */ + void L6208_Board_EnableIrq(void) + { + __enable_irq(); + } + + /** + * @brief Reset the half full pin. + * @param None. + * @retval None. + */ + void L6208_Board_HALF_FULL_PIN_Reset(void) + { + half_full_pin = 0; + } + + /** + * @brief Set the half full pin. + * @param None. + * @retval None. + */ + void L6208_Board_HALF_FULL_PIN_Set(void) + { + half_full_pin = 1; + } + + /** + * @brief Initialising the the VREFA or VREFB PWM. + * @param None. + * @retval None. + */ + void L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq) {} + + /** + * @brief Exit the device from reset mode. + * @param None. + * @retval None. + */ + void L6208_Board_ReleaseReset(void) + { + reset_pin = 1; + } + + /** + * @brief Put the device in reset mode. + * @param None. + * @retval None. + */ + void L6208_Board_Reset(void) + { + reset_pin = 0; + } + + /** + * @brief Get the tick timer frequency in Hz. + * @param None. + * @retval The tick timer frequency in Hz. + */ + uint32_t L6208_Board_TickGetFreq(void) + { + return TIMER_TICK_FREQUENCY; + } + + /** + * @brief Initialising the tick. + * @param None. + * @retval None. + */ + void L6208_Board_TickInit(void) {} + + /** + * @brief Starting the tick timer, setting its frequency + * and attaching a tick handler function to it. + * @param frequency the frequency of the tick. + * @retval None. + */ + void L6208_Board_TickStart(uint16_t frequency) + { + /* Computing the period of the tick. */ + double period = 1.0f / frequency; + + /* Attaching a tick handler function which updates */ + /* the state machine every elapsed period time. */ + ticker.attach(this, &L6208::L6208_TickHandler, period); + } + + /** + * @brief Stopping the tick. + * @param None. + * @retval None. + */ + void L6208_Board_TickStop(void) + { + ticker.detach(); + } + + /** + * @brief Set the pulse width of the VREFA PWM. + * @param[in] pulseWidthInUs pulse width of the PWM in microsecond. + * @retval None. + */ + void L6208_Board_VrefPwmSetPulseWidthA(uint8_t pulseWidthInUs) + { + vrefA_pwm.pulsewidth_us(pulseWidthInUs); + } + + /** + * @brief Set the pulse width of the VREFB PWM. + * @param[in] pulseWidthInUs pulse width of the PWM in microsecond. + * @retval None. + */ + void L6208_Board_VrefPwmSetPulseWidthB(uint8_t pulseWidthInUs) + { + vrefB_pwm.pulsewidth_us(pulseWidthInUs); + } + + /** + * @brief Start the timer for the VREFA or VREFB PWM. + * @param[in] bridgeId + * 0 for BRIDGE_A + * 1 for BRIDGE_B + * @param[in] pwmPeriod period of the PWM used to generate the reference + * voltage for the bridge. + * @retval "true" in case of success, "false" otherwise. + * @note the unit is 1/256th of a microsecond. The VREFA PWM must be started + * before the VREFB PWM. + */ + bool L6208_Board_VrefPwmStart(uint8_t bridgeId, uint16_t pwmPeriod) + { + pwmPeriod>>=8; + /* Setting the period and the duty-cycle of PWM. */ + if (bridgeId == 0) + { + vrefA_pwm.period_us(pwmPeriod); + } + else if (bridgeId == 1) + { + vrefB_pwm.period_us(pwmPeriod); + } + else return false; + return true; + } + + /** + * @brief Stop the timer for the VREFA or VREFB PWM. + * @param[in] bridgeId + * 0 for BRIDGE_A + * 1 for BRIDGE_B + * @retval "true" in case of success, "false" otherwise. + */ + bool L6208_Board_VrefPwmStop(uint8_t bridgeId) + { + if (bridgeId == 0) + { + vrefA_pwm.period_us(0); + } + else if (bridgeId == 1) + { + vrefB_pwm.period_us(0); + } + else return false; + return true; + } + +protected: + + /*** Component's Instance Variables ***/ + + /* ACTION 9 --------------------------------------------------------------* + * Declare here interrupt related variables, if needed. * + * Note that interrupt handling is platform dependent, see * + * "Interrupt Related Methods" above. * + * * + * Example: * + * + mbed: * + * InterruptIn feature_irq; * + *------------------------------------------------------------------------*/ + /* Flag Interrupt and chip enable. */ + InterruptIn flag_and_enable; + + /* ACTION 10 -------------------------------------------------------------* + * Declare here other pin related variables, if needed. * + * * + * Example: * + * + mbed: * + * DigitalOut standby_reset; * + *------------------------------------------------------------------------*/ + /* RESET pin. */ + DigitalOut reset_pin; + /* CW_CCW pin. */ + DigitalOut direction_pin; + /* HALF_FULL pin */ + DigitalOut half_full_pin; + /* CONTROL pin */ + DigitalOut control_pin; + /* CLOCK pin */ + DigitalOut clock_pin; + + /* Pulse Width Modulation pin for VREFA pin */ + PwmOut vrefA_pwm; + /* Pulse Width Modulation pin for VREFA pin */ + PwmOut vrefB_pwm; + + /* Timer for the tick */ + Ticker ticker; + + /* ACTION 11 -------------------------------------------------------------* + * Declare here communication related variables, if needed. * + * * + * Example: * + * + mbed: * + * DigitalOut ssel; * + * DevSPI &dev_spi; * + *------------------------------------------------------------------------*/ + /* Configuration. */ + + /* IO Device. */ + + /* ACTION 12 -------------------------------------------------------------* + * Declare here identity related variables, if needed. * + * Note that there should be only a unique identifier for each component, * + * which should be the "who_am_i" parameter. * + *------------------------------------------------------------------------*/ + /* Identity */ + uint8_t who_am_i; + + /* ACTION 13 -------------------------------------------------------------* + * Declare here the component's static and non-static data, one variable * + * per line. * + * * + * Example: * + * float measure; * + * int instance_id; * + * static int number_of_instances; * + *------------------------------------------------------------------------*/ + /* Data. */ + void (*errorHandlerCallback)(uint16_t error); + deviceParams_t devicePrm; + uint8_t deviceInstance; + uint32_t tickFreq; + /// microstepping PWM period and torque scaled waveform samples array + uint16_t updatedMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD+1]; + /// waveform scanning microstepping PWM period sample arrays for VREFA wave + uint16_t microTable1[L6208_USTEPS_PER_QUARTER_PERIOD*3+1]; + /// waveform scanning microstepping PWM period sample array for VREFB wave + uint16_t *pMicroTable2; + + /* Static data. */ + static uint8_t numberOfDevices; + static const uint16_t RefMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD*3]; +}; + +#endif // __L6208_CLASS_H + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/