ST / X_NUCLEO_IHM01A1

Library to handle the X-NUCLEO-IHM01A1 Motor Control Expansion Board based on the L6474 component.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   Stepper_Matlab_Control SunTracker_BLE Stepper_Matlab_Control MemsMotorControl ... more

Fork of X_NUCLEO_IHM01A1 by ST Expansion SW Team

Motor Control Library

Introduction

Library to handle the X-NUCLEO-IHM01A1 Motor Control Expansion Board based on the the L6474 component.

Daisy-Chain Configuration

This board can be stacked up to three times so that the L6474 components will be connected in daisy-chain configuration. For this purpose, some resistors must be correctly connected on the boards as depicted here below:

/media/uploads/Davidroid/daisychaintable.png

Platform compatibility

  • NUCLEO boards have been tested with the default configuration provided by the HelloWorld_IHM01A1 example.
  • LPCXpresso11U68 board has been tested with the following patch:
    • to connect with a wire from the LPCX’s D4 pin to the IHM01A1’s D9 pin;
    • to initialize the pwm PinName variable with D4 rather than D9.
  • FRDM-K64F board has been tested with the following patch:
    • to connect with a wire from the FRDM’s D4 pin to the IHM01A1’s D8 pin;
    • to initialize the standby_reset PinName variable with D4 rather than D8.

Example Applications

Components/l6474/L6474_config.h@34:27da297c361c, 2017-03-10 (annotated)

Committer:
Davidroid
Date:
Fri Mar 10 14:07:49 2017 +0000
Revision:
34:27da297c361c
Parent:
33:8daea0279301 
Including ST_INTERFACES library aligned to ARM mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
davide.aliprandi@st.com 33:8daea0279301 1 /**
davide.aliprandi@st.com 33:8daea0279301 2 ******************************************************************************
davide.aliprandi@st.com 33:8daea0279301 3 * @file L6474_target_config.h
davide.aliprandi@st.com 33:8daea0279301 4 * @author IPC Rennes
davide.aliprandi@st.com 33:8daea0279301 5 * @version V1.5.0
davide.aliprandi@st.com 33:8daea0279301 6 * @date November 12, 2014
davide.aliprandi@st.com 33:8daea0279301 7 * @brief Predefines values for the L6474 registers
davide.aliprandi@st.com 33:8daea0279301 8 * and for the devices parameters
davide.aliprandi@st.com 33:8daea0279301 9 * @note (C) COPYRIGHT 2014 STMicroelectronics
davide.aliprandi@st.com 33:8daea0279301 10 ******************************************************************************
davide.aliprandi@st.com 33:8daea0279301 11 * @attention
davide.aliprandi@st.com 33:8daea0279301 12 *
davide.aliprandi@st.com 33:8daea0279301 13 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
davide.aliprandi@st.com 33:8daea0279301 14 *
davide.aliprandi@st.com 33:8daea0279301 15 * Redistribution and use in source and binary forms, with or without modification,
davide.aliprandi@st.com 33:8daea0279301 16 * are permitted provided that the following conditions are met:
davide.aliprandi@st.com 33:8daea0279301 17 * 1. Redistributions of source code must retain the above copyright notice,
davide.aliprandi@st.com 33:8daea0279301 18 * this list of conditions and the following disclaimer.
davide.aliprandi@st.com 33:8daea0279301 19 * 2. Redistributions in binary form must reproduce the above copyright notice,
davide.aliprandi@st.com 33:8daea0279301 20 * this list of conditions and the following disclaimer in the documentation
davide.aliprandi@st.com 33:8daea0279301 21 * and/or other materials provided with the distribution.
davide.aliprandi@st.com 33:8daea0279301 22 * 3. Neither the name of STMicroelectronics nor the names of its contributors
davide.aliprandi@st.com 33:8daea0279301 23 * may be used to endorse or promote products derived from this software
davide.aliprandi@st.com 33:8daea0279301 24 * without specific prior written permission.
davide.aliprandi@st.com 33:8daea0279301 25 *
davide.aliprandi@st.com 33:8daea0279301 26 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
davide.aliprandi@st.com 33:8daea0279301 27 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
davide.aliprandi@st.com 33:8daea0279301 28 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
davide.aliprandi@st.com 33:8daea0279301 29 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
davide.aliprandi@st.com 33:8daea0279301 30 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
davide.aliprandi@st.com 33:8daea0279301 31 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
davide.aliprandi@st.com 33:8daea0279301 32 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
davide.aliprandi@st.com 33:8daea0279301 33 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
davide.aliprandi@st.com 33:8daea0279301 34 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
davide.aliprandi@st.com 33:8daea0279301 35 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
davide.aliprandi@st.com 33:8daea0279301 36 *
davide.aliprandi@st.com 33:8daea0279301 37 ******************************************************************************
davide.aliprandi@st.com 33:8daea0279301 38 */
davide.aliprandi@st.com 33:8daea0279301 39
davide.aliprandi@st.com 33:8daea0279301 40
davide.aliprandi@st.com 33:8daea0279301 41 /* Define to prevent recursive inclusion -------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 42
davide.aliprandi@st.com 33:8daea0279301 43 #ifndef __L6474_TARGET_CONFIG_H
davide.aliprandi@st.com 33:8daea0279301 44 #define __L6474_TARGET_CONFIG_H
davide.aliprandi@st.com 33:8daea0279301 45
davide.aliprandi@st.com 33:8daea0279301 46 #ifdef __cplusplus
davide.aliprandi@st.com 33:8daea0279301 47 extern "C" {
davide.aliprandi@st.com 33:8daea0279301 48 #endif
davide.aliprandi@st.com 33:8daea0279301 49
davide.aliprandi@st.com 33:8daea0279301 50
davide.aliprandi@st.com 33:8daea0279301 51 /* Definitions ---------------------------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 52
davide.aliprandi@st.com 33:8daea0279301 53 /** @addtogroup BSP
davide.aliprandi@st.com 33:8daea0279301 54 * @{
davide.aliprandi@st.com 33:8daea0279301 55 */
davide.aliprandi@st.com 33:8daea0279301 56
davide.aliprandi@st.com 33:8daea0279301 57 /** @addtogroup L6474
davide.aliprandi@st.com 33:8daea0279301 58 * @{
davide.aliprandi@st.com 33:8daea0279301 59 */
davide.aliprandi@st.com 33:8daea0279301 60
davide.aliprandi@st.com 33:8daea0279301 61 /** @addtogroup L6474_Exported_Constants
davide.aliprandi@st.com 33:8daea0279301 62 * @{
davide.aliprandi@st.com 33:8daea0279301 63 */
davide.aliprandi@st.com 33:8daea0279301 64
davide.aliprandi@st.com 33:8daea0279301 65 /** @defgroup Predefined_L6474_Registers_Values
davide.aliprandi@st.com 33:8daea0279301 66 * @{
davide.aliprandi@st.com 33:8daea0279301 67 */
davide.aliprandi@st.com 33:8daea0279301 68
davide.aliprandi@st.com 33:8daea0279301 69 /// The maximum number of devices in the daisy chain
davide.aliprandi@st.com 33:8daea0279301 70 #define MAX_NUMBER_OF_DEVICES (3)
davide.aliprandi@st.com 33:8daea0279301 71
davide.aliprandi@st.com 33:8daea0279301 72 /************************ Speed Profile *******************************/
davide.aliprandi@st.com 33:8daea0279301 73
davide.aliprandi@st.com 33:8daea0279301 74 /// Acceleration rate in step/s2 for device 0 (must be greater than 0)
davide.aliprandi@st.com 33:8daea0279301 75 #define L6474_CONF_PARAM_ACC_DEVICE_0 (160)
davide.aliprandi@st.com 33:8daea0279301 76 /// Acceleration rate in step/s2 for device 1 (must be greater than 0)
davide.aliprandi@st.com 33:8daea0279301 77 #define L6474_CONF_PARAM_ACC_DEVICE_1 (160)
davide.aliprandi@st.com 33:8daea0279301 78 /// Acceleration rate in step/s2 for device 2 (must be greater than 0)
davide.aliprandi@st.com 33:8daea0279301 79 #define L6474_CONF_PARAM_ACC_DEVICE_2 (160)
davide.aliprandi@st.com 33:8daea0279301 80
davide.aliprandi@st.com 33:8daea0279301 81 /// Deceleration rate in step/s2 for device 0 (must be greater than 0)
davide.aliprandi@st.com 33:8daea0279301 82 #define L6474_CONF_PARAM_DEC_DEVICE_0 (160)
davide.aliprandi@st.com 33:8daea0279301 83 /// Deceleration rate in step/s2 for device 1 (must be greater than 0)
davide.aliprandi@st.com 33:8daea0279301 84 #define L6474_CONF_PARAM_DEC_DEVICE_1 (160)
davide.aliprandi@st.com 33:8daea0279301 85 /// Deceleration rate in step/s2 for device 2 (must be greater than 0)
davide.aliprandi@st.com 33:8daea0279301 86 #define L6474_CONF_PARAM_DEC_DEVICE_2 (160)
davide.aliprandi@st.com 33:8daea0279301 87
davide.aliprandi@st.com 33:8daea0279301 88 /// Maximum speed in step/s for device 0 (30 step/s < Maximum speed <= 10 000 step/s )
davide.aliprandi@st.com 33:8daea0279301 89 #define L6474_CONF_PARAM_MAX_SPEED_DEVICE_0 (1600)
davide.aliprandi@st.com 33:8daea0279301 90 /// Maximum speed in step/s for device 1 (30 step/s < Maximum speed <= 10 000 step/s )
davide.aliprandi@st.com 33:8daea0279301 91 #define L6474_CONF_PARAM_MAX_SPEED_DEVICE_1 (1600)
davide.aliprandi@st.com 33:8daea0279301 92 /// Maximum speed in step/s for device 2 (30 step/s < Maximum speed <= 10 000 step/s )
davide.aliprandi@st.com 33:8daea0279301 93 #define L6474_CONF_PARAM_MAX_SPEED_DEVICE_2 (1600)
davide.aliprandi@st.com 33:8daea0279301 94
davide.aliprandi@st.com 33:8daea0279301 95 /// Minimum speed in step/s for device 0 (30 step/s <= Minimum speed < 10 000 step/s)
davide.aliprandi@st.com 33:8daea0279301 96 #define L6474_CONF_PARAM_MIN_SPEED_DEVICE_0 (800)
davide.aliprandi@st.com 33:8daea0279301 97 /// Minimum speed in step/s for device 1 (30 step/s <= Minimum speed < 10 000 step/s)
davide.aliprandi@st.com 33:8daea0279301 98 #define L6474_CONF_PARAM_MIN_SPEED_DEVICE_1 (800)
davide.aliprandi@st.com 33:8daea0279301 99 /// Minimum speed in step/s for device 2 (30 step/s <= Minimum speed < 10 000 step/s)
davide.aliprandi@st.com 33:8daea0279301 100 #define L6474_CONF_PARAM_MIN_SPEED_DEVICE_2 (800)
davide.aliprandi@st.com 33:8daea0279301 101
davide.aliprandi@st.com 33:8daea0279301 102
davide.aliprandi@st.com 33:8daea0279301 103 /************************ Phase Current Control *******************************/
davide.aliprandi@st.com 33:8daea0279301 104
davide.aliprandi@st.com 33:8daea0279301 105 // Current value that is assigned to the torque regulation DAC
davide.aliprandi@st.com 33:8daea0279301 106 /// TVAL register value for device 0 (range 31.25mA to 4000mA)
davide.aliprandi@st.com 33:8daea0279301 107 #define L6474_CONF_PARAM_TVAL_DEVICE_0 (250)
davide.aliprandi@st.com 33:8daea0279301 108 /// TVAL register value for device 1 (range 31.25mA to 4000mA)
davide.aliprandi@st.com 33:8daea0279301 109 #define L6474_CONF_PARAM_TVAL_DEVICE_1 (250)
davide.aliprandi@st.com 33:8daea0279301 110 /// TVAL register value for device 2 (range 31.25mA to 4000mA)
davide.aliprandi@st.com 33:8daea0279301 111 #define L6474_CONF_PARAM_TVAL_DEVICE_2 (250)
davide.aliprandi@st.com 33:8daea0279301 112
davide.aliprandi@st.com 33:8daea0279301 113 /// Fall time value (T_FAST field of T_FAST register) for device 0 (range 2us to 32us)
davide.aliprandi@st.com 33:8daea0279301 114 #define L6474_CONF_PARAM_FAST_STEP_DEVICE_0 (L6474_FAST_STEP_12us)
davide.aliprandi@st.com 33:8daea0279301 115 /// Fall time value (T_FAST field of T_FAST register) for device 1 (range 2us to 32us)
davide.aliprandi@st.com 33:8daea0279301 116 #define L6474_CONF_PARAM_FAST_STEP_DEVICE_1 (L6474_FAST_STEP_12us)
davide.aliprandi@st.com 33:8daea0279301 117 /// Fall time value (T_FAST field of T_FAST register) for device 2 (range 2us to 32us)
davide.aliprandi@st.com 33:8daea0279301 118 #define L6474_CONF_PARAM_FAST_STEP_DEVICE_2 (L6474_FAST_STEP_12us)
davide.aliprandi@st.com 33:8daea0279301 119
davide.aliprandi@st.com 33:8daea0279301 120 /// Maximum fast decay time (T_OFF field of T_FAST register) for device 0 (range 2us to 32us)
davide.aliprandi@st.com 33:8daea0279301 121 #define L6474_CONF_PARAM_TOFF_FAST_DEVICE_0 (L6474_TOFF_FAST_8us)
davide.aliprandi@st.com 33:8daea0279301 122 /// Maximum fast decay time (T_OFF field of T_FAST register) for device 1 (range 2us to 32us)
davide.aliprandi@st.com 33:8daea0279301 123 #define L6474_CONF_PARAM_TOFF_FAST_DEVICE_1 (L6474_TOFF_FAST_8us)
davide.aliprandi@st.com 33:8daea0279301 124 /// Maximum fast decay time (T_OFF field of T_FAST register) for device 2 (range 2us to 32us)
davide.aliprandi@st.com 33:8daea0279301 125 #define L6474_CONF_PARAM_TOFF_FAST_DEVICE_2 (L6474_TOFF_FAST_8us)
davide.aliprandi@st.com 33:8daea0279301 126
davide.aliprandi@st.com 33:8daea0279301 127 /// Minimum ON time (TON_MIN register) for device 0 (range 0.5us to 64us)
davide.aliprandi@st.com 33:8daea0279301 128 #define L6474_CONF_PARAM_TON_MIN_DEVICE_0 (3)
davide.aliprandi@st.com 33:8daea0279301 129 /// Minimum ON time (TON_MIN register) for device 1 (range 0.5us to 64us)
davide.aliprandi@st.com 33:8daea0279301 130 #define L6474_CONF_PARAM_TON_MIN_DEVICE_1 (3)
davide.aliprandi@st.com 33:8daea0279301 131 /// Minimum ON time (TON_MIN register) for device 2 (range 0.5us to 64us)
davide.aliprandi@st.com 33:8daea0279301 132 #define L6474_CONF_PARAM_TON_MIN_DEVICE_2 (3)
davide.aliprandi@st.com 33:8daea0279301 133
davide.aliprandi@st.com 33:8daea0279301 134 /// Minimum OFF time (TOFF_MIN register) for device 0 (range 0.5us to 64us)
davide.aliprandi@st.com 33:8daea0279301 135 #define L6474_CONF_PARAM_TOFF_MIN_DEVICE_0 (21)
davide.aliprandi@st.com 33:8daea0279301 136 /// Minimum OFF time (TOFF_MIN register) for device 1 (range 0.5us to 64us)
davide.aliprandi@st.com 33:8daea0279301 137 #define L6474_CONF_PARAM_TOFF_MIN_DEVICE_1 (21)
davide.aliprandi@st.com 33:8daea0279301 138 /// Minimum OFF time (TOFF_MIN register) for device 2 (range 0.5us to 64us)
davide.aliprandi@st.com 33:8daea0279301 139 #define L6474_CONF_PARAM_TOFF_MIN_DEVICE_2 (21)
davide.aliprandi@st.com 33:8daea0279301 140
davide.aliprandi@st.com 33:8daea0279301 141 /******************************* Others ***************************************/
davide.aliprandi@st.com 33:8daea0279301 142
davide.aliprandi@st.com 33:8daea0279301 143 /// Overcurrent threshold settings for device 0 (OCD_TH register)
davide.aliprandi@st.com 33:8daea0279301 144 #define L6474_CONF_PARAM_OCD_TH_DEVICE_0 (L6474_OCD_TH_750mA)
davide.aliprandi@st.com 33:8daea0279301 145 /// Overcurrent threshold settings for device 1 (OCD_TH register)
davide.aliprandi@st.com 33:8daea0279301 146 #define L6474_CONF_PARAM_OCD_TH_DEVICE_1 (L6474_OCD_TH_750mA)
davide.aliprandi@st.com 33:8daea0279301 147 /// Overcurrent threshold settings for device 2 (OCD_TH register)
davide.aliprandi@st.com 33:8daea0279301 148 #define L6474_CONF_PARAM_OCD_TH_DEVICE_2 (L6474_OCD_TH_750mA)
davide.aliprandi@st.com 33:8daea0279301 149
davide.aliprandi@st.com 33:8daea0279301 150 /// Alarm settings for device 0 (ALARM_EN register)
davide.aliprandi@st.com 33:8daea0279301 151 #define L6474_CONF_PARAM_ALARM_EN_DEVICE_0 (L6474_ALARM_EN_OVERCURRENT |\
davide.aliprandi@st.com 33:8daea0279301 152 L6474_ALARM_EN_THERMAL_SHUTDOWN |\
davide.aliprandi@st.com 33:8daea0279301 153 L6474_ALARM_EN_THERMAL_WARNING |\
davide.aliprandi@st.com 33:8daea0279301 154 L6474_ALARM_EN_UNDERVOLTAGE |\
davide.aliprandi@st.com 33:8daea0279301 155 L6474_ALARM_EN_SW_TURN_ON |\
davide.aliprandi@st.com 33:8daea0279301 156 L6474_ALARM_EN_WRONG_NPERF_CMD)
davide.aliprandi@st.com 33:8daea0279301 157
davide.aliprandi@st.com 33:8daea0279301 158 ///Alarm settings for device 1 (ALARM_EN register)
davide.aliprandi@st.com 33:8daea0279301 159 #define L6474_CONF_PARAM_ALARM_EN_DEVICE_1 (L6474_ALARM_EN_OVERCURRENT |\
davide.aliprandi@st.com 33:8daea0279301 160 L6474_ALARM_EN_THERMAL_SHUTDOWN |\
davide.aliprandi@st.com 33:8daea0279301 161 L6474_ALARM_EN_THERMAL_WARNING |\
davide.aliprandi@st.com 33:8daea0279301 162 L6474_ALARM_EN_UNDERVOLTAGE |\
davide.aliprandi@st.com 33:8daea0279301 163 L6474_ALARM_EN_SW_TURN_ON |\
davide.aliprandi@st.com 33:8daea0279301 164 L6474_ALARM_EN_WRONG_NPERF_CMD)
davide.aliprandi@st.com 33:8daea0279301 165
davide.aliprandi@st.com 33:8daea0279301 166 /// Alarm settings for device 2 (ALARM_EN register)
davide.aliprandi@st.com 33:8daea0279301 167 #define L6474_CONF_PARAM_ALARM_EN_DEVICE_2 (L6474_ALARM_EN_OVERCURRENT |\
davide.aliprandi@st.com 33:8daea0279301 168 L6474_ALARM_EN_THERMAL_SHUTDOWN |\
davide.aliprandi@st.com 33:8daea0279301 169 L6474_ALARM_EN_THERMAL_WARNING |\
davide.aliprandi@st.com 33:8daea0279301 170 L6474_ALARM_EN_UNDERVOLTAGE |\
davide.aliprandi@st.com 33:8daea0279301 171 L6474_ALARM_EN_SW_TURN_ON |\
davide.aliprandi@st.com 33:8daea0279301 172 L6474_ALARM_EN_WRONG_NPERF_CMD)
davide.aliprandi@st.com 33:8daea0279301 173
davide.aliprandi@st.com 33:8daea0279301 174 /// Step selection settings for device 0 (STEP_SEL field of STEP_MODE register)
davide.aliprandi@st.com 33:8daea0279301 175 #define L6474_CONF_PARAM_STEP_SEL_DEVICE_0 (L6474_STEP_SEL_1_16)
davide.aliprandi@st.com 33:8daea0279301 176 /// Step selection settings for device 1 (STEP_SEL field of STEP_MODE register)
davide.aliprandi@st.com 33:8daea0279301 177 #define L6474_CONF_PARAM_STEP_SEL_DEVICE_1 (L6474_STEP_SEL_1_16)
davide.aliprandi@st.com 33:8daea0279301 178 /// Step selection settings for device 2 (STEP_SEL field of STEP_MODE register)
davide.aliprandi@st.com 33:8daea0279301 179 #define L6474_CONF_PARAM_STEP_SEL_DEVICE_2 (L6474_STEP_SEL_1_16)
davide.aliprandi@st.com 33:8daea0279301 180
davide.aliprandi@st.com 33:8daea0279301 181 /// Synch. selection settings for device 0 (SYNC_SEL field of STEP_MODE register)
davide.aliprandi@st.com 33:8daea0279301 182 #define L6474_CONF_PARAM_SYNC_SEL_DEVICE_0 (L6474_SYNC_SEL_1_2)
davide.aliprandi@st.com 33:8daea0279301 183 /// Synch. selection settings for device 1 (SYNC_SEL field of STEP_MODE register)
davide.aliprandi@st.com 33:8daea0279301 184 #define L6474_CONF_PARAM_SYNC_SEL_DEVICE_1 (L6474_SYNC_SEL_1_2)
davide.aliprandi@st.com 33:8daea0279301 185 /// Synch. selection settings for device 2 (SYNC_SEL field of STEP_MODE register)
davide.aliprandi@st.com 33:8daea0279301 186 #define L6474_CONF_PARAM_SYNC_SEL_DEVICE_2 (L6474_SYNC_SEL_1_2)
davide.aliprandi@st.com 33:8daea0279301 187
davide.aliprandi@st.com 33:8daea0279301 188 /// Target Swicthing Period for device 0 (field TOFF of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 189 #define L6474_CONF_PARAM_TOFF_DEVICE_0 (L6474_CONFIG_TOFF_044us)
davide.aliprandi@st.com 33:8daea0279301 190 /// Target Swicthing Period for device 1 (field TOFF of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 191 #define L6474_CONF_PARAM_TOFF_DEVICE_1 (L6474_CONFIG_TOFF_044us)
davide.aliprandi@st.com 33:8daea0279301 192 /// Target Swicthing Period for device 2 (field TOFF of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 193 #define L6474_CONF_PARAM_TOFF_DEVICE_2 (L6474_CONFIG_TOFF_044us)
davide.aliprandi@st.com 33:8daea0279301 194
davide.aliprandi@st.com 33:8daea0279301 195 /// Slew rate for device 0 (POW_SR field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 196 #define L6474_CONF_PARAM_SR_DEVICE_0 (L6474_CONFIG_SR_320V_us)
davide.aliprandi@st.com 33:8daea0279301 197 /// Slew rate for device 1 (POW_SR field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 198 #define L6474_CONF_PARAM_SR_DEVICE_1 (L6474_CONFIG_SR_320V_us)
davide.aliprandi@st.com 33:8daea0279301 199 /// Slew rate for device 2 (POW_SR field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 200 #define L6474_CONF_PARAM_SR_DEVICE_2 (L6474_CONFIG_SR_320V_us)
davide.aliprandi@st.com 33:8daea0279301 201
davide.aliprandi@st.com 33:8daea0279301 202 /// Over current shutwdown enabling for device 0 (OC_SD field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 203 #define L6474_CONF_PARAM_OC_SD_DEVICE_0 (L6474_CONFIG_OC_SD_ENABLE)
davide.aliprandi@st.com 33:8daea0279301 204 /// Over current shutwdown enabling for device 1 (OC_SD field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 205 #define L6474_CONF_PARAM_OC_SD_DEVICE_1 (L6474_CONFIG_OC_SD_ENABLE)
davide.aliprandi@st.com 33:8daea0279301 206 /// Over current shutwdown enabling for device 2 (OC_SD field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 207 #define L6474_CONF_PARAM_OC_SD_DEVICE_2 (L6474_CONFIG_OC_SD_ENABLE)
davide.aliprandi@st.com 33:8daea0279301 208
davide.aliprandi@st.com 33:8daea0279301 209 /// Torque regulation method for device 0 (EN_TQREG field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 210 #define L6474_CONF_PARAM_TQ_REG_DEVICE_0 (L6474_CONFIG_EN_TQREG_TVAL_USED)
davide.aliprandi@st.com 33:8daea0279301 211 ///Torque regulation method for device 1 (EN_TQREG field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 212 #define L6474_CONF_PARAM_TQ_REG_DEVICE_1 (L6474_CONFIG_EN_TQREG_TVAL_USED)
davide.aliprandi@st.com 33:8daea0279301 213 /// Torque regulation method for device 2 (EN_TQREG field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 214 #define L6474_CONF_PARAM_TQ_REG_DEVICE_2 (L6474_CONFIG_EN_TQREG_TVAL_USED)
davide.aliprandi@st.com 33:8daea0279301 215
davide.aliprandi@st.com 33:8daea0279301 216 /// Clock setting for device 0 (OSC_CLK_SEL field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 217 #define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0 (L6474_CONFIG_INT_16MHZ)
davide.aliprandi@st.com 33:8daea0279301 218 /// Clock setting for device 1 (OSC_CLK_SEL field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 219 #define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1 (L6474_CONFIG_INT_16MHZ)
davide.aliprandi@st.com 33:8daea0279301 220 /// Clock setting for device 2 (OSC_CLK_SEL field of CONFIG register)
davide.aliprandi@st.com 33:8daea0279301 221 #define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2 (L6474_CONFIG_INT_16MHZ)
davide.aliprandi@st.com 33:8daea0279301 222
davide.aliprandi@st.com 33:8daea0279301 223 #ifdef __cplusplus
davide.aliprandi@st.com 33:8daea0279301 224 }
davide.aliprandi@st.com 33:8daea0279301 225 #endif
davide.aliprandi@st.com 33:8daea0279301 226
davide.aliprandi@st.com 33:8daea0279301 227 #endif /* __L6474_TARGET_CONFIG_H */
davide.aliprandi@st.com 33:8daea0279301 228
davide.aliprandi@st.com 33:8daea0279301 229 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/