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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.h@8:42e0b00b1e4d, 2015-11-23 (annotated)

Committer:: Davidroid
Date:: Mon Nov 23 11:10:54 2015 +0000
Revision:: 8:42e0b00b1e4d
Parent:: 5:d3c78f12a78d
Child:: 18:2d6ab2b93685

+ Doxygen documentation completed.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:2887415a46cd	1	/**
Davidroid	0:2887415a46cd	2	******************************************************************************
Davidroid	0:2887415a46cd	3	* @file l6474.h
Davidroid	0:2887415a46cd	4	* @author IPC Rennes
Davidroid	0:2887415a46cd	5	* @version V1.5.0
Davidroid	0:2887415a46cd	6	* @date November 12, 2014
Davidroid	0:2887415a46cd	7	* @brief Header for L6474 driver (fully integrated microstepping motor driver)
Davidroid	0:2887415a46cd	8	* @note (C) COPYRIGHT 2014 STMicroelectronics
Davidroid	0:2887415a46cd	9	******************************************************************************
Davidroid	0:2887415a46cd	10	* @attention
Davidroid	0:2887415a46cd	11	*
Davidroid	0:2887415a46cd	12	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Davidroid	0:2887415a46cd	13	*
Davidroid	0:2887415a46cd	14	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	0:2887415a46cd	15	* are permitted provided that the following conditions are met:
Davidroid	0:2887415a46cd	16	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	0:2887415a46cd	17	* this list of conditions and the following disclaimer.
Davidroid	0:2887415a46cd	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	0:2887415a46cd	19	* this list of conditions and the following disclaimer in the documentation
Davidroid	0:2887415a46cd	20	* and/or other materials provided with the distribution.
Davidroid	0:2887415a46cd	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	0:2887415a46cd	22	* may be used to endorse or promote products derived from this software
Davidroid	0:2887415a46cd	23	* without specific prior written permission.
Davidroid	0:2887415a46cd	24	*
Davidroid	0:2887415a46cd	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	0:2887415a46cd	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	0:2887415a46cd	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	0:2887415a46cd	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	0:2887415a46cd	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	0:2887415a46cd	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	0:2887415a46cd	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	0:2887415a46cd	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	0:2887415a46cd	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	0:2887415a46cd	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	0:2887415a46cd	35	*
Davidroid	0:2887415a46cd	36	******************************************************************************
Davidroid	0:2887415a46cd	37	*/
Davidroid	0:2887415a46cd	38
Davidroid	0:2887415a46cd	39	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:2887415a46cd	40	#ifndef __L6474_H
Davidroid	0:2887415a46cd	41	#define __L6474_H
Davidroid	0:2887415a46cd	42
Davidroid	0:2887415a46cd	43	#ifdef __cplusplus
Davidroid	0:2887415a46cd	44	extern "C" {
Davidroid	0:2887415a46cd	45	#endif
Davidroid	0:2887415a46cd	46
Davidroid	0:2887415a46cd	47	/* Includes ------------------------------------------------------------------*/
Davidroid	0:2887415a46cd	48	#include "l6474_target_config.h"
Davidroid	0:2887415a46cd	49	#include "../Common/motor.h"
Davidroid	0:2887415a46cd	50
Davidroid	0:2887415a46cd	51	/** @addtogroup BSP
Davidroid	0:2887415a46cd	52	* @{
Davidroid	0:2887415a46cd	53	*/
Davidroid	0:2887415a46cd	54
Davidroid	0:2887415a46cd	55	/** @addtogroup L6474
Davidroid	0:2887415a46cd	56	* @{
Davidroid	0:2887415a46cd	57	*/
Davidroid	0:2887415a46cd	58
Davidroid	0:2887415a46cd	59	/* Exported Constants --------------------------------------------------------*/
Davidroid	0:2887415a46cd	60
Davidroid	0:2887415a46cd	61	/** @defgroup L6474_Exported_Constants
Davidroid	0:2887415a46cd	62	* @{
Davidroid	0:2887415a46cd	63	*/
Davidroid	0:2887415a46cd	64
Davidroid	0:2887415a46cd	65	/// Current FW version
Davidroid	8:42e0b00b1e4d	66	#define L6474_FW_VERSION (5)
Davidroid	0:2887415a46cd	67
Davidroid	0:2887415a46cd	68	/// L6474 max number of bytes of command & arguments to set a parameter
Davidroid	0:2887415a46cd	69	#define L6474_CMD_ARG_MAX_NB_BYTES (4)
Davidroid	0:2887415a46cd	70
Davidroid	0:2887415a46cd	71	/// L6474 command + argument bytes number for GET_STATUS command
Davidroid	0:2887415a46cd	72	#define L6474_CMD_ARG_NB_BYTES_GET_STATUS (1)
Davidroid	0:2887415a46cd	73
Davidroid	0:2887415a46cd	74	/// L6474 response bytes number
Davidroid	0:2887415a46cd	75	#define L6474_RSP_NB_BYTES_GET_STATUS (2)
Davidroid	0:2887415a46cd	76
Davidroid	0:2887415a46cd	77	/// L6474 value mask for ABS_POS register
Davidroid	0:2887415a46cd	78	#define L6474_ABS_POS_VALUE_MASK ((uint32_t) 0x003FFFFF)
Davidroid	0:2887415a46cd	79
Davidroid	0:2887415a46cd	80	/// L6474 sign bit mask for ABS_POS register
Davidroid	0:2887415a46cd	81	#define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000)
Davidroid	0:2887415a46cd	82
Davidroid	0:2887415a46cd	83	/**
Davidroid	0:2887415a46cd	84	* @}
Davidroid	0:2887415a46cd	85	*/
Davidroid	0:2887415a46cd	86
Davidroid	0:2887415a46cd	87	/**
Davidroid	0:2887415a46cd	88	* @}
Davidroid	0:2887415a46cd	89	*/
Davidroid	0:2887415a46cd	90
Davidroid	0:2887415a46cd	91	/* Exported Types -------------------------------------------------------*/
Davidroid	0:2887415a46cd	92
Davidroid	0:2887415a46cd	93	/** @defgroup L6474_Exported_Types
Davidroid	0:2887415a46cd	94	* @{
Davidroid	0:2887415a46cd	95	*/
Davidroid	0:2887415a46cd	96
Davidroid	0:2887415a46cd	97	/** @defgroup L6474_Fast_Decay_Time_Options
Davidroid	0:2887415a46cd	98	* @{
Davidroid	0:2887415a46cd	99	*/
Davidroid	0:2887415a46cd	100	///TOFF_FAST values for T_FAST register
Davidroid	0:2887415a46cd	101	typedef enum {
Davidroid	0:2887415a46cd	102	L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4),
Davidroid	0:2887415a46cd	103	L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4),
Davidroid	0:2887415a46cd	104	L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4),
Davidroid	0:2887415a46cd	105	L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4),
Davidroid	0:2887415a46cd	106	L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4),
Davidroid	0:2887415a46cd	107	L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4),
Davidroid	0:2887415a46cd	108	L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4),
Davidroid	0:2887415a46cd	109	L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4),
Davidroid	0:2887415a46cd	110	L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4),
Davidroid	0:2887415a46cd	111	L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4),
Davidroid	0:2887415a46cd	112	L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4),
Davidroid	0:2887415a46cd	113	L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4),
Davidroid	0:2887415a46cd	114	L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4),
Davidroid	0:2887415a46cd	115	L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4),
Davidroid	0:2887415a46cd	116	L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4),
Davidroid	0:2887415a46cd	117	L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4)
Davidroid	0:2887415a46cd	118	} L6474_TOFF_FAST_t;
Davidroid	0:2887415a46cd	119	/**
Davidroid	0:2887415a46cd	120	* @}
Davidroid	0:2887415a46cd	121	*/
Davidroid	0:2887415a46cd	122
Davidroid	0:2887415a46cd	123	/** @defgroup L6474_Fall_Step_Time_Options
Davidroid	0:2887415a46cd	124	* @{
Davidroid	0:2887415a46cd	125	*/
Davidroid	0:2887415a46cd	126	///FAST_STEP values for T_FAST register
Davidroid	0:2887415a46cd	127	typedef enum {
Davidroid	0:2887415a46cd	128	L6474_FAST_STEP_2us = ((uint8_t) 0x00),
Davidroid	0:2887415a46cd	129	L6474_FAST_STEP_4us = ((uint8_t) 0x01),
Davidroid	0:2887415a46cd	130	L6474_FAST_STEP_6us = ((uint8_t) 0x02),
Davidroid	0:2887415a46cd	131	L6474_FAST_STEP_8us = ((uint8_t) 0x03),
Davidroid	0:2887415a46cd	132	L6474_FAST_STEP_10us = ((uint8_t) 0x04),
Davidroid	0:2887415a46cd	133	L6474_FAST_STEP_12us = ((uint8_t) 0x05),
Davidroid	0:2887415a46cd	134	L6474_FAST_STEP_14us = ((uint8_t) 0x06),
Davidroid	0:2887415a46cd	135	L6474_FAST_STEP_16us = ((uint8_t) 0x07),
Davidroid	0:2887415a46cd	136	L6474_FAST_STEP_18us = ((uint8_t) 0x08),
Davidroid	0:2887415a46cd	137	L6474_FAST_STEP_20us = ((uint8_t) 0x09),
Davidroid	0:2887415a46cd	138	L6474_FAST_STEP_22us = ((uint8_t) 0x0A),
Davidroid	0:2887415a46cd	139	L6474_FAST_STEP_24us = ((uint8_t) 0x0B),
Davidroid	0:2887415a46cd	140	L6474_FAST_STEP_26us = ((uint8_t) 0x0C),
Davidroid	0:2887415a46cd	141	L6474_FAST_STEP_28us = ((uint8_t) 0x0D),
Davidroid	0:2887415a46cd	142	L6474_FAST_STEP_30us = ((uint8_t) 0x0E),
Davidroid	0:2887415a46cd	143	L6474_FAST_STEP_32us = ((uint8_t) 0x0F)
Davidroid	0:2887415a46cd	144	} L6474_FAST_STEP_t;
Davidroid	0:2887415a46cd	145	/**
Davidroid	0:2887415a46cd	146	* @}
Davidroid	0:2887415a46cd	147	*/
Davidroid	0:2887415a46cd	148
Davidroid	0:2887415a46cd	149	/** @defgroup L6474_Overcurrent_Threshold_options
Davidroid	0:2887415a46cd	150	* @{
Davidroid	0:2887415a46cd	151	*/
Davidroid	0:2887415a46cd	152	///OCD_TH register
Davidroid	0:2887415a46cd	153	typedef enum {
Davidroid	0:2887415a46cd	154	L6474_OCD_TH_375mA = ((uint8_t) 0x00),
Davidroid	0:2887415a46cd	155	L6474_OCD_TH_750mA = ((uint8_t) 0x01),
Davidroid	0:2887415a46cd	156	L6474_OCD_TH_1125mA = ((uint8_t) 0x02),
Davidroid	0:2887415a46cd	157	L6474_OCD_TH_1500mA = ((uint8_t) 0x03),
Davidroid	0:2887415a46cd	158	L6474_OCD_TH_1875mA = ((uint8_t) 0x04),
Davidroid	0:2887415a46cd	159	L6474_OCD_TH_2250mA = ((uint8_t) 0x05),
Davidroid	0:2887415a46cd	160	L6474_OCD_TH_2625mA = ((uint8_t) 0x06),
Davidroid	0:2887415a46cd	161	L6474_OCD_TH_3000mA = ((uint8_t) 0x07),
Davidroid	0:2887415a46cd	162	L6474_OCD_TH_3375mA = ((uint8_t) 0x08),
Davidroid	0:2887415a46cd	163	L6474_OCD_TH_3750mA = ((uint8_t) 0x09),
Davidroid	0:2887415a46cd	164	L6474_OCD_TH_4125mA = ((uint8_t) 0x0A),
Davidroid	0:2887415a46cd	165	L6474_OCD_TH_4500mA = ((uint8_t) 0x0B),
Davidroid	0:2887415a46cd	166	L6474_OCD_TH_4875mA = ((uint8_t) 0x0C),
Davidroid	0:2887415a46cd	167	L6474_OCD_TH_5250mA = ((uint8_t) 0x0D),
Davidroid	0:2887415a46cd	168	L6474_OCD_TH_5625mA = ((uint8_t) 0x0E),
Davidroid	0:2887415a46cd	169	L6474_OCD_TH_6000mA = ((uint8_t) 0x0F)
Davidroid	0:2887415a46cd	170	} L6474_OCD_TH_t;
Davidroid	0:2887415a46cd	171	/**
Davidroid	0:2887415a46cd	172	* @}
Davidroid	0:2887415a46cd	173	*/
Davidroid	0:2887415a46cd	174
Davidroid	0:2887415a46cd	175	/** @defgroup L6474_STEP_MODE_Register_Masks
Davidroid	0:2887415a46cd	176	* @{
Davidroid	0:2887415a46cd	177	*/
Davidroid	0:2887415a46cd	178	///STEP_MODE register
Davidroid	0:2887415a46cd	179	typedef enum {
Davidroid	0:2887415a46cd	180	L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07),
Davidroid	0:2887415a46cd	181	L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70)
Davidroid	0:2887415a46cd	182	} L6474_STEP_MODE_Masks_t;
Davidroid	0:2887415a46cd	183	/**
Davidroid	0:2887415a46cd	184	* @}
Davidroid	0:2887415a46cd	185	*/
Davidroid	0:2887415a46cd	186
Davidroid	0:2887415a46cd	187	/** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register
Davidroid	0:2887415a46cd	188	* @{
Davidroid	0:2887415a46cd	189	*/
Davidroid	0:2887415a46cd	190	///STEP_SEL field of STEP_MODE register
Davidroid	0:2887415a46cd	191	typedef enum {
Davidroid	0:2887415a46cd	192	L6474_STEP_SEL_1 = ((uint8_t) 0x08), //full step
Davidroid	0:2887415a46cd	193	L6474_STEP_SEL_1_2 = ((uint8_t) 0x09), //half step
Davidroid	0:2887415a46cd	194	L6474_STEP_SEL_1_4 = ((uint8_t) 0x0A), //1/4 microstep
Davidroid	0:2887415a46cd	195	L6474_STEP_SEL_1_8 = ((uint8_t) 0x0B), //1/8 microstep
Davidroid	0:2887415a46cd	196	L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C) //1/16 microstep
Davidroid	0:2887415a46cd	197	} L6474_STEP_SEL_t;
Davidroid	0:2887415a46cd	198	/**
Davidroid	0:2887415a46cd	199	* @}
Davidroid	0:2887415a46cd	200	*/
Davidroid	0:2887415a46cd	201
Davidroid	0:2887415a46cd	202	/** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register
Davidroid	0:2887415a46cd	203	* @{
Davidroid	0:2887415a46cd	204	*/
Davidroid	0:2887415a46cd	205	///SYNC_SEL field of STEP_MODE register
Davidroid	0:2887415a46cd	206	typedef enum {
Davidroid	0:2887415a46cd	207	L6474_SYNC_SEL_1_2 = ((uint8_t) 0x80),
Davidroid	0:2887415a46cd	208	L6474_SYNC_SEL_1 = ((uint8_t) 0x90),
Davidroid	0:2887415a46cd	209	L6474_SYNC_SEL_2 = ((uint8_t) 0xA0),
Davidroid	0:2887415a46cd	210	L6474_SYNC_SEL_4 = ((uint8_t) 0xB0),
Davidroid	0:2887415a46cd	211	L6474_SYNC_SEL_8 = ((uint8_t) 0xC0),
Davidroid	0:2887415a46cd	212	L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0)
Davidroid	0:2887415a46cd	213	} L6474_SYNC_SEL_t;
Davidroid	0:2887415a46cd	214	/**
Davidroid	0:2887415a46cd	215	* @}
Davidroid	0:2887415a46cd	216	*/
Davidroid	0:2887415a46cd	217
Davidroid	0:2887415a46cd	218	/** @defgroup L6474_ALARM_EN_Register_Options
Davidroid	0:2887415a46cd	219	* @{
Davidroid	0:2887415a46cd	220	*/
Davidroid	0:2887415a46cd	221	///ALARM_EN register
Davidroid	0:2887415a46cd	222	typedef enum {
Davidroid	0:2887415a46cd	223	L6474_ALARM_EN_OVERCURRENT = ((uint8_t) 0x01),
Davidroid	0:2887415a46cd	224	L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02),
Davidroid	0:2887415a46cd	225	L6474_ALARM_EN_THERMAL_WARNING = ((uint8_t) 0x04),
Davidroid	0:2887415a46cd	226	L6474_ALARM_EN_UNDERVOLTAGE = ((uint8_t) 0x08),
Davidroid	0:2887415a46cd	227	L6474_ALARM_EN_SW_TURN_ON = ((uint8_t) 0x40),
Davidroid	0:2887415a46cd	228	L6474_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t) 0x80)
Davidroid	0:2887415a46cd	229	} L6474_ALARM_EN_t;
Davidroid	0:2887415a46cd	230	/**
Davidroid	0:2887415a46cd	231	* @}
Davidroid	0:2887415a46cd	232	*/
Davidroid	0:2887415a46cd	233
Davidroid	0:2887415a46cd	234	/** @defgroup L6474_CONFIG_Register_Masks
Davidroid	0:2887415a46cd	235	* @{
Davidroid	0:2887415a46cd	236	*/
Davidroid	0:2887415a46cd	237	///CONFIG register
Davidroid	0:2887415a46cd	238	typedef enum {
Davidroid	0:2887415a46cd	239	L6474_CONFIG_OSC_SEL = ((uint16_t) 0x0007),
Davidroid	0:2887415a46cd	240	L6474_CONFIG_EXT_CLK = ((uint16_t) 0x0008),
Davidroid	0:2887415a46cd	241	L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020),
Davidroid	0:2887415a46cd	242	L6474_CONFIG_OC_SD = ((uint16_t) 0x0080),
Davidroid	0:2887415a46cd	243	L6474_CONFIG_POW_SR = ((uint16_t) 0x0300),
Davidroid	0:2887415a46cd	244	L6474_CONFIG_TOFF = ((uint16_t) 0x7C00)
Davidroid	0:2887415a46cd	245	} L6474_CONFIG_Masks_t;
Davidroid	0:2887415a46cd	246	/**
Davidroid	0:2887415a46cd	247	* @}
Davidroid	0:2887415a46cd	248	*/
Davidroid	0:2887415a46cd	249
Davidroid	0:2887415a46cd	250	/** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register
Davidroid	0:2887415a46cd	251	* @{
Davidroid	0:2887415a46cd	252	*/
Davidroid	0:2887415a46cd	253	///Clock source option for CONFIG register
Davidroid	0:2887415a46cd	254	typedef enum {
Davidroid	0:2887415a46cd	255	L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000),
Davidroid	0:2887415a46cd	256	L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t) 0x0008),
Davidroid	0:2887415a46cd	257	L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t) 0x0009),
Davidroid	0:2887415a46cd	258	L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t) 0x000A),
Davidroid	0:2887415a46cd	259	L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t) 0x000B),
Davidroid	0:2887415a46cd	260	L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t) 0x0004),
Davidroid	0:2887415a46cd	261	L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t) 0x0005),
Davidroid	0:2887415a46cd	262	L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t) 0x0006),
Davidroid	0:2887415a46cd	263	L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t) 0x0007),
Davidroid	0:2887415a46cd	264	L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t) 0x000C),
Davidroid	0:2887415a46cd	265	L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D),
Davidroid	0:2887415a46cd	266	L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E),
Davidroid	0:2887415a46cd	267	L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F)
Davidroid	0:2887415a46cd	268	} L6474_CONFIG_OSC_MGMT_t;
Davidroid	0:2887415a46cd	269	/**
Davidroid	0:2887415a46cd	270	* @}
Davidroid	0:2887415a46cd	271	*/
Davidroid	0:2887415a46cd	272
Davidroid	0:2887415a46cd	273	/** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register
Davidroid	0:2887415a46cd	274	* @{
Davidroid	0:2887415a46cd	275	*/
Davidroid	0:2887415a46cd	276	///External Torque regulation options for CONFIG register
Davidroid	0:2887415a46cd	277	typedef enum {
Davidroid	0:2887415a46cd	278	L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000),
Davidroid	0:2887415a46cd	279	L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020)
Davidroid	0:2887415a46cd	280	} L6474_CONFIG_EN_TQREG_t;
Davidroid	0:2887415a46cd	281	/**
Davidroid	0:2887415a46cd	282	* @}
Davidroid	0:2887415a46cd	283	*/
Davidroid	0:2887415a46cd	284
Davidroid	0:2887415a46cd	285	/** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register
Davidroid	0:2887415a46cd	286	* @{
Davidroid	0:2887415a46cd	287	*/
Davidroid	0:2887415a46cd	288	///Over Current Shutdown options for CONFIG register
Davidroid	0:2887415a46cd	289	typedef enum {
Davidroid	0:2887415a46cd	290	L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000),
Davidroid	0:2887415a46cd	291	L6474_CONFIG_OC_SD_ENABLE = ((uint16_t) 0x0080)
Davidroid	0:2887415a46cd	292	} L6474_CONFIG_OC_SD_t;
Davidroid	0:2887415a46cd	293	/**
Davidroid	0:2887415a46cd	294	* @}
Davidroid	0:2887415a46cd	295	*/
Davidroid	0:2887415a46cd	296
Davidroid	0:2887415a46cd	297	/** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options
Davidroid	0:2887415a46cd	298	* @{
Davidroid	0:2887415a46cd	299	*/
Davidroid	0:2887415a46cd	300	/// POW_SR values for CONFIG register
Davidroid	0:2887415a46cd	301	typedef enum {
Davidroid	0:2887415a46cd	302	L6474_CONFIG_SR_320V_us =((uint16_t)0x0000),
Davidroid	0:2887415a46cd	303	L6474_CONFIG_SR_075V_us =((uint16_t)0x0100),
Davidroid	0:2887415a46cd	304	L6474_CONFIG_SR_110V_us =((uint16_t)0x0200),
Davidroid	0:2887415a46cd	305	L6474_CONFIG_SR_260V_us =((uint16_t)0x0300)
Davidroid	0:2887415a46cd	306	} L6474_CONFIG_POW_SR_t;
Davidroid	0:2887415a46cd	307	/**
Davidroid	0:2887415a46cd	308	* @}
Davidroid	0:2887415a46cd	309	*/
Davidroid	0:2887415a46cd	310
Davidroid	0:2887415a46cd	311	/** @defgroup L6474_Off_Time_Options
Davidroid	0:2887415a46cd	312	* @{
Davidroid	0:2887415a46cd	313	*/
Davidroid	0:2887415a46cd	314	/// TOFF values for CONFIG register
Davidroid	0:2887415a46cd	315	typedef enum {
Davidroid	0:2887415a46cd	316	L6474_CONFIG_TOFF_004us = (((uint16_t) 0x01) << 10),
Davidroid	0:2887415a46cd	317	L6474_CONFIG_TOFF_008us = (((uint16_t) 0x02) << 10),
Davidroid	0:2887415a46cd	318	L6474_CONFIG_TOFF_012us = (((uint16_t) 0x03) << 10),
Davidroid	0:2887415a46cd	319	L6474_CONFIG_TOFF_016us = (((uint16_t) 0x04) << 10),
Davidroid	0:2887415a46cd	320	L6474_CONFIG_TOFF_020us = (((uint16_t) 0x05) << 10),
Davidroid	0:2887415a46cd	321	L6474_CONFIG_TOFF_024us = (((uint16_t) 0x06) << 10),
Davidroid	0:2887415a46cd	322	L6474_CONFIG_TOFF_028us = (((uint16_t) 0x07) << 10),
Davidroid	0:2887415a46cd	323	L6474_CONFIG_TOFF_032us = (((uint16_t) 0x08) << 10),
Davidroid	0:2887415a46cd	324	L6474_CONFIG_TOFF_036us = (((uint16_t) 0x09) << 10),
Davidroid	0:2887415a46cd	325	L6474_CONFIG_TOFF_040us = (((uint16_t) 0x0A) << 10),
Davidroid	0:2887415a46cd	326	L6474_CONFIG_TOFF_044us = (((uint16_t) 0x0B) << 10),
Davidroid	0:2887415a46cd	327	L6474_CONFIG_TOFF_048us = (((uint16_t) 0x0C) << 10),
Davidroid	0:2887415a46cd	328	L6474_CONFIG_TOFF_052us = (((uint16_t) 0x0D) << 10),
Davidroid	0:2887415a46cd	329	L6474_CONFIG_TOFF_056us = (((uint16_t) 0x0E) << 10),
Davidroid	0:2887415a46cd	330	L6474_CONFIG_TOFF_060us = (((uint16_t) 0x0F) << 10),
Davidroid	0:2887415a46cd	331	L6474_CONFIG_TOFF_064us = (((uint16_t) 0x10) << 10),
Davidroid	0:2887415a46cd	332	L6474_CONFIG_TOFF_068us = (((uint16_t) 0x11) << 10),
Davidroid	0:2887415a46cd	333	L6474_CONFIG_TOFF_072us = (((uint16_t) 0x12) << 10),
Davidroid	0:2887415a46cd	334	L6474_CONFIG_TOFF_076us = (((uint16_t) 0x13) << 10),
Davidroid	0:2887415a46cd	335	L6474_CONFIG_TOFF_080us = (((uint16_t) 0x14) << 10),
Davidroid	0:2887415a46cd	336	L6474_CONFIG_TOFF_084us = (((uint16_t) 0x15) << 10),
Davidroid	0:2887415a46cd	337	L6474_CONFIG_TOFF_088us = (((uint16_t) 0x16) << 10),
Davidroid	0:2887415a46cd	338	L6474_CONFIG_TOFF_092us = (((uint16_t) 0x17) << 10),
Davidroid	0:2887415a46cd	339	L6474_CONFIG_TOFF_096us = (((uint16_t) 0x18) << 10),
Davidroid	0:2887415a46cd	340	L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10),
Davidroid	0:2887415a46cd	341	L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10),
Davidroid	0:2887415a46cd	342	L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10),
Davidroid	0:2887415a46cd	343	L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10),
Davidroid	0:2887415a46cd	344	L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10),
Davidroid	0:2887415a46cd	345	L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10),
Davidroid	0:2887415a46cd	346	L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10)
Davidroid	0:2887415a46cd	347	} L6474_CONFIG_TOFF_t;
Davidroid	0:2887415a46cd	348	/**
Davidroid	0:2887415a46cd	349	* @}
Davidroid	0:2887415a46cd	350	*/
Davidroid	0:2887415a46cd	351
Davidroid	0:2887415a46cd	352	/** @defgroup L6474_STATUS_Register_Bit_Masks
Davidroid	0:2887415a46cd	353	* @{
Davidroid	0:2887415a46cd	354	*/
Davidroid	0:2887415a46cd	355	///STATUS Register Bit Masks
Davidroid	0:2887415a46cd	356	typedef enum {
Davidroid	0:2887415a46cd	357	L6474_STATUS_HIZ = (((uint16_t) 0x0001)),
Davidroid	0:2887415a46cd	358	L6474_STATUS_DIR = (((uint16_t) 0x0010)),
Davidroid	0:2887415a46cd	359	L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)),
Davidroid	0:2887415a46cd	360	L6474_STATUS_WRONG_CMD = (((uint16_t) 0x0100)),
Davidroid	0:2887415a46cd	361	L6474_STATUS_UVLO = (((uint16_t) 0x0200)),
Davidroid	0:2887415a46cd	362	L6474_STATUS_TH_WRN = (((uint16_t) 0x0400)),
Davidroid	0:2887415a46cd	363	L6474_STATUS_TH_SD = (((uint16_t) 0x0800)),
Davidroid	0:2887415a46cd	364	L6474_STATUS_OCD = (((uint16_t) 0x1000))
Davidroid	0:2887415a46cd	365	} L6474_STATUS_Masks_t;
Davidroid	0:2887415a46cd	366	/**
Davidroid	0:2887415a46cd	367	* @}
Davidroid	0:2887415a46cd	368	*/
Davidroid	0:2887415a46cd	369
Davidroid	0:2887415a46cd	370	/** @defgroup L6474_Direction_Field_Of_STATUS_Register
Davidroid	0:2887415a46cd	371	* @{
Davidroid	0:2887415a46cd	372	*/
Davidroid	0:2887415a46cd	373	///Diretion field of STATUS register
Davidroid	0:2887415a46cd	374	typedef enum {
Davidroid	0:2887415a46cd	375	L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4),
Davidroid	0:2887415a46cd	376	L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4)
Davidroid	0:2887415a46cd	377	} L6474_STATUS_DIR_t;
Davidroid	0:2887415a46cd	378	/**
Davidroid	0:2887415a46cd	379	* @}
Davidroid	0:2887415a46cd	380	*/
Davidroid	0:2887415a46cd	381
Davidroid	0:2887415a46cd	382	/** @defgroup L6474_Internal_Register_Addresses
Davidroid	0:2887415a46cd	383	* @{
Davidroid	0:2887415a46cd	384	*/
Davidroid	0:2887415a46cd	385	/// Internal L6474 register addresses
Davidroid	0:2887415a46cd	386	typedef enum {
Davidroid	0:2887415a46cd	387	L6474_ABS_POS = ((uint8_t) 0x01),
Davidroid	0:2887415a46cd	388	L6474_EL_POS = ((uint8_t) 0x02),
Davidroid	0:2887415a46cd	389	L6474_MARK = ((uint8_t) 0x03),
Davidroid	0:2887415a46cd	390	L6474_RESERVED_REG01 = ((uint8_t) 0x04),
Davidroid	0:2887415a46cd	391	L6474_RESERVED_REG02 = ((uint8_t) 0x05),
Davidroid	0:2887415a46cd	392	L6474_RESERVED_REG03 = ((uint8_t) 0x06),
Davidroid	0:2887415a46cd	393	L6474_RESERVED_REG04 = ((uint8_t) 0x07),
Davidroid	0:2887415a46cd	394	L6474_RESERVED_REG05 = ((uint8_t) 0x08),
Davidroid	0:2887415a46cd	395	L6474_RESERVED_REG06 = ((uint8_t) 0x15),
Davidroid	0:2887415a46cd	396	L6474_TVAL = ((uint8_t) 0x09),
Davidroid	0:2887415a46cd	397	L6474_RESERVED_REG07 = ((uint8_t) 0x0A),
Davidroid	0:2887415a46cd	398	L6474_RESERVED_REG08 = ((uint8_t) 0x0B),
Davidroid	0:2887415a46cd	399	L6474_RESERVED_REG09 = ((uint8_t) 0x0C),
Davidroid	0:2887415a46cd	400	L6474_RESERVED_REG10 = ((uint8_t) 0x0D),
Davidroid	0:2887415a46cd	401	L6474_T_FAST = ((uint8_t) 0x0E),
Davidroid	0:2887415a46cd	402	L6474_TON_MIN = ((uint8_t) 0x0F),
Davidroid	0:2887415a46cd	403	L6474_TOFF_MIN = ((uint8_t) 0x10),
Davidroid	0:2887415a46cd	404	L6474_RESERVED_REG11 = ((uint8_t) 0x11),
Davidroid	0:2887415a46cd	405	L6474_ADC_OUT = ((uint8_t) 0x12),
Davidroid	0:2887415a46cd	406	L6474_OCD_TH = ((uint8_t) 0x13),
Davidroid	0:2887415a46cd	407	L6474_RESERVED_REG12 = ((uint8_t) 0x14),
Davidroid	0:2887415a46cd	408	L6474_STEP_MODE = ((uint8_t) 0x16),
Davidroid	0:2887415a46cd	409	L6474_ALARM_EN = ((uint8_t) 0x17),
Davidroid	0:2887415a46cd	410	L6474_CONFIG = ((uint8_t) 0x18),
Davidroid	0:2887415a46cd	411	L6474_STATUS = ((uint8_t) 0x19),
Davidroid	0:2887415a46cd	412	L6474_RESERVED_REG13 = ((uint8_t) 0x1A),
Davidroid	0:2887415a46cd	413	L6474_RESERVED_REG14 = ((uint8_t) 0x1B),
Davidroid	0:2887415a46cd	414	L6474_INEXISTENT_REG = ((uint8_t) 0x1F)
Davidroid	0:2887415a46cd	415	} L6474_Registers_t;
Davidroid	0:2887415a46cd	416	/**
Davidroid	0:2887415a46cd	417	* @}
Davidroid	0:2887415a46cd	418	*/
Davidroid	0:2887415a46cd	419
Davidroid	0:2887415a46cd	420	/** @defgroup L6474_Command_Set
Davidroid	0:2887415a46cd	421	* @{
Davidroid	0:2887415a46cd	422	*/
Davidroid	0:2887415a46cd	423	/// L6474 command set
Davidroid	0:2887415a46cd	424	typedef enum {
Davidroid	0:2887415a46cd	425	L6474_NOP = ((uint8_t) 0x00),
Davidroid	0:2887415a46cd	426	L6474_SET_PARAM = ((uint8_t) 0x00),
Davidroid	0:2887415a46cd	427	L6474_GET_PARAM = ((uint8_t) 0x20),
Davidroid	0:2887415a46cd	428	L6474_ENABLE = ((uint8_t) 0xB8),
Davidroid	0:2887415a46cd	429	L6474_DISABLE = ((uint8_t) 0xA8),
Davidroid	0:2887415a46cd	430	L6474_GET_STATUS = ((uint8_t) 0xD0),
Davidroid	0:2887415a46cd	431	L6474_RESERVED_CMD1 = ((uint8_t) 0xEB),
Davidroid	0:2887415a46cd	432	L6474_RESERVED_CMD2 = ((uint8_t) 0xF8)
Davidroid	0:2887415a46cd	433	} L6474_Commands_t;
Davidroid	0:2887415a46cd	434	/**
Davidroid	0:2887415a46cd	435	* @}
Davidroid	0:2887415a46cd	436	*/
Davidroid	0:2887415a46cd	437
Davidroid	0:2887415a46cd	438	/**
Davidroid	0:2887415a46cd	439	* @brief L6474 driver data structure definition
Davidroid	0:2887415a46cd	440	*/
Davidroid	0:2887415a46cd	441	typedef struct
Davidroid	0:2887415a46cd	442	{
Davidroid	0:2887415a46cd	443	/// Function pointer to flag interrupt call back
Davidroid	0:2887415a46cd	444	void (*flagInterruptCallback)(void);
Davidroid	0:2887415a46cd	445	/// Function pointer to error handler call back
Davidroid	0:2887415a46cd	446	void (*errorHandlerCallback)(uint16_t error);
Davidroid	0:2887415a46cd	447	bool spiPreemtionByIsr; // = FALSE;
Davidroid	0:2887415a46cd	448	bool isrFlag; // = FALSE;
Davidroid	0:2887415a46cd	449	/// L6474 Device Paramaters structure
Davidroid	0:2887415a46cd	450	deviceParams_t devicePrm; //[MAX_NUMBER_OF_DEVICES];
Davidroid	0:2887415a46cd	451	uint8_t numberOfDevices;
Davidroid	0:2887415a46cd	452	uint8_t deviceInstance;
Davidroid	5:d3c78f12a78d	453	uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
Davidroid	5:d3c78f12a78d	454	uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
Davidroid	0:2887415a46cd	455	} L6474_DrvDataTypeDef;
Davidroid	0:2887415a46cd	456
Davidroid	0:2887415a46cd	457
Davidroid	1:b38ebb8ea286	458	/* Exported functions --------------------------------------------------------*/
Davidroid	0:2887415a46cd	459
Davidroid	1:b38ebb8ea286	460	/** @defgroup L6474_Exported_Functions
Davidroid	1:b38ebb8ea286	461	* @{
Davidroid	1:b38ebb8ea286	462	*/
Davidroid	0:2887415a46cd	463
Davidroid	0:2887415a46cd	464	/* ACTION --------------------------------------------------------------------*
Davidroid	1:b38ebb8ea286	465	* Declare here extern I/O and interrupt related functions you might need, *
Davidroid	1:b38ebb8ea286	466	* and implemented then in a glue logic file on the target environment, for *
Davidroid	1:b38ebb8ea286	467	* example within the "x_nucleo_<board>.c" file., e.g.: *
Davidroid	1:b38ebb8ea286	468	* extern DrvStatusTypeDef COMPONENT_IO_Init (void handle);
Davidroid	0:2887415a46cd	469	* extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes); *
Davidroid	0:2887415a46cd	470	* extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes); *
Davidroid	1:b38ebb8ea286	471	* extern void COMPONENT_IO_ITConfig(void); *
Davidroid	0:2887415a46cd	472	----------------------------------------------------------------------------/
Davidroid	1:b38ebb8ea286	473	/** @defgroup MotorControl_Board_Linked_Functions
Davidroid	1:b38ebb8ea286	474	* @{
Davidroid	1:b38ebb8ea286	475	*/
Davidroid	0:2887415a46cd	476	///Delay of the requested number of milliseconds
Davidroid	0:2887415a46cd	477	extern void L6474_Delay(void *handle, uint32_t delay);
Davidroid	0:2887415a46cd	478	///Enable Irq
Davidroid	0:2887415a46cd	479	extern void L6474_EnableIrq(void *handle);
Davidroid	0:2887415a46cd	480	///Disable Irq
Davidroid	0:2887415a46cd	481	extern void L6474_DisableIrq(void *handle);
Davidroid	0:2887415a46cd	482	///Set PWM1 frequency and start it
Davidroid	0:2887415a46cd	483	extern void L6474_Pwm1SetFreq(void *handle, uint16_t newFreq);
Davidroid	0:2887415a46cd	484	///Set PWM2 frequency and start it
Davidroid	0:2887415a46cd	485	extern void L6474_Pwm2SetFreq(void *handle, uint16_t newFreq);
Davidroid	0:2887415a46cd	486	///Set PWM3 frequency and start it
Davidroid	0:2887415a46cd	487	extern void L6474_Pwm3SetFreq(void *handle, uint16_t newFreq);
Davidroid	0:2887415a46cd	488	///Init the PWM
Davidroid	0:2887415a46cd	489	extern void L6474_PwmInit(void *handle);
Davidroid	0:2887415a46cd	490	///Stop the PWM
Davidroid	0:2887415a46cd	491	extern void L6474_PwmStop(void *handle);
Davidroid	0:2887415a46cd	492	///Reset the L6474 reset pin
Davidroid	0:2887415a46cd	493	extern void L6474_ReleaseReset(void *handle);
Davidroid	0:2887415a46cd	494	///Set the L6474 reset pin
Davidroid	0:2887415a46cd	495	extern void L6474_Reset(void *handle);
Davidroid	0:2887415a46cd	496	///Set direction GPIO
Davidroid	0:2887415a46cd	497	extern void L6474_SetDirectionGpio(void *handle, uint8_t gpioState);
Davidroid	0:2887415a46cd	498	///Write bytes to the L6474s via SPI
Davidroid	0:2887415a46cd	499	extern uint8_t L6474_SpiWriteBytes(void handle, uint8_t pByteToTransmit, uint8_t *pReceivedByte);
Davidroid	0:2887415a46cd	500
Davidroid	0:2887415a46cd	501	/**
Davidroid	0:2887415a46cd	502	* @}
Davidroid	0:2887415a46cd	503	*/
Davidroid	0:2887415a46cd	504
Davidroid	0:2887415a46cd	505	/**
Davidroid	0:2887415a46cd	506	* @}
Davidroid	0:2887415a46cd	507	*/
Davidroid	0:2887415a46cd	508
Davidroid	0:2887415a46cd	509	/**
Davidroid	0:2887415a46cd	510	* @}
Davidroid	0:2887415a46cd	511	*/
Davidroid	0:2887415a46cd	512
Davidroid	0:2887415a46cd	513	/**
Davidroid	0:2887415a46cd	514	* @}
Davidroid	0:2887415a46cd	515	*/
Davidroid	0:2887415a46cd	516
Davidroid	0:2887415a46cd	517	#ifdef __cplusplus
Davidroid	0:2887415a46cd	518	}
Davidroid	0:2887415a46cd	519	#endif
Davidroid	0:2887415a46cd	520
Davidroid	0:2887415a46cd	521	#endif /* #ifndef __L6474_H */
Davidroid	0:2887415a46cd	522
Davidroid	0:2887415a46cd	523
Davidroid	0:2887415a46cd	524	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	10 Dec 2015
Imports:	176
Forks:	6
Commits:	36
Dependents:	34
Dependencies:	2
Followers:	411

The code in this repository is Apache licensed.

Components

X-NUCLEO-IHM01A1 Stepper Motor Driver