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
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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.
Diff: Components/l6208/l6208.h
- Revision:
- 4:0b52159554b5
- Parent:
- 3:63a8d672fe5e
- Child:
- 5:f0856e278c08
--- a/Components/l6208/l6208.h Fri Mar 24 10:59:42 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1183 +0,0 @@
-/**
- ******************************************************************************
- * @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.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(reset_pin),
- direction(direction_pin),
- half_full(half_full_pin),
- control(control_pin),
- clock(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_get_step_mode();
- }
-
- /**
- * @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_get_step_mode(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 = 0;
- }
- /**
- * @brief Set the clock pin.
- * @param None.
- * @retval None.
- */
- void L6208_Board_CLOCK_PIN_Set(void)
- {
- clock = 1;
- }
-
- /**
- * @brief Set the control pin.
- * @param None.
- * @retval None.
- */
- void L6208_Board_CONTROL_PIN_Set(void)
- {
- control = 1;
- }
-
- /**
- * @brief Reset the control pin.
- * @param None.
- * @retval None.
- */
- void L6208_Board_CONTROL_PIN_reset(void)
- {
- control = 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 = 0;
- }
-
- /**
- * @brief Set the dir pin.
- * @param None.
- * @retval None.
- */
- void L6208_Board_DIR_PIN_Set(void)
- {
- direction = 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 = 0;
- }
-
- /**
- * @brief Set the half full pin.
- * @param None.
- * @retval None.
- */
- void L6208_Board_HALF_FULL_PIN_Set(void)
- {
- half_full = 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 = 1;
- }
-
- /**
- * @brief Put the device in reset mode.
- * @param None.
- * @retval None.
- */
- void L6208_Board_reset(void)
- {
- reset = 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;
- /* CW_CCW pin. */
- DigitalOut direction;
- /* HALF_FULL pin */
- DigitalOut half_full;
- /* CONTROL pin */
- DigitalOut control;
- /* CLOCK pin */
- DigitalOut clock;
-
- /* 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];
-
-public:
-
- /* Static data. */
-
-};
-
-#endif // __L6208_CLASS_H
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
X-NUCLEO-IHM05A1 Bipolar Stepper Motor Driver