ST
/
X_NUCLEO_IHM01A1
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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:
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
D4pin to the IHM01A1’sD9pin; - to initialize the pwm PinName variable with
D4rather thanD9.
- to connect with a wire from the LPCX’s
- FRDM-K64F board has been tested with the following patch:
- to connect with a wire from the FRDM’s
D4pin to the IHM01A1’sD8pin; - to initialize the standby_reset PinName variable with
D4rather thanD8.
- to connect with a wire from the FRDM’s
Example Applications
- HelloWorld_IHM01A1
- HelloWorld_IHM01A1_2Motors
- MotorControl_IHM01A1
- MemsMotorControl
- MemsMotorControl_IHM01A1_IKS01A2
Components/l6474/l6474_class.h@30:a05820cfdba9, 2016-10-28 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Oct 28 13:24:55 2016 +0000
- Revision:
- 30:a05820cfdba9
- Parent:
- 28:f6093f7cdc09
- Child:
- 32:6e5198e46287
Removed a warning due to changes in mbed's Ticker class.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Davidroid | 0:2887415a46cd | 1 | /** |
| Davidroid | 10:c3824af0caf4 | 2 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 3 | * @file l6474_class.h |
| Davidroid | 20:a8e81b65f0af | 4 | * @author Davide Aliprandi, STMicroelectronics |
| Davidroid | 10:c3824af0caf4 | 5 | * @version V1.0.0 |
| Davidroid | 10:c3824af0caf4 | 6 | * @date October 14th, 2015 |
| Davidroid | 10:c3824af0caf4 | 7 | * @brief This file contains the class of an L6474 Motor Control component. |
| Davidroid | 10:c3824af0caf4 | 8 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 9 | * @attention |
| Davidroid | 10:c3824af0caf4 | 10 | * |
| Davidroid | 10:c3824af0caf4 | 11 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| Davidroid | 10:c3824af0caf4 | 12 | * |
| Davidroid | 10:c3824af0caf4 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| Davidroid | 10:c3824af0caf4 | 14 | * are permitted provided that the following conditions are met: |
| Davidroid | 10:c3824af0caf4 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| Davidroid | 10:c3824af0caf4 | 16 | * this list of conditions and the following disclaimer. |
| Davidroid | 10:c3824af0caf4 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Davidroid | 10:c3824af0caf4 | 18 | * this list of conditions and the following disclaimer in the documentation |
| Davidroid | 10:c3824af0caf4 | 19 | * and/or other materials provided with the distribution. |
| Davidroid | 10:c3824af0caf4 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Davidroid | 10:c3824af0caf4 | 21 | * may be used to endorse or promote products derived from this software |
| Davidroid | 10:c3824af0caf4 | 22 | * without specific prior written permission. |
| Davidroid | 10:c3824af0caf4 | 23 | * |
| Davidroid | 10:c3824af0caf4 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Davidroid | 10:c3824af0caf4 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Davidroid | 10:c3824af0caf4 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Davidroid | 10:c3824af0caf4 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Davidroid | 10:c3824af0caf4 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Davidroid | 10:c3824af0caf4 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Davidroid | 10:c3824af0caf4 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Davidroid | 10:c3824af0caf4 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Davidroid | 10:c3824af0caf4 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Davidroid | 10:c3824af0caf4 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Davidroid | 10:c3824af0caf4 | 34 | * |
| Davidroid | 10:c3824af0caf4 | 35 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 36 | */ |
| Davidroid | 0:2887415a46cd | 37 | |
| Davidroid | 0:2887415a46cd | 38 | |
| Davidroid | 23:58264db10a17 | 39 | /* Generated with STM32CubeTOO -----------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 40 | |
| Davidroid | 0:2887415a46cd | 41 | |
| Davidroid | 0:2887415a46cd | 42 | /* Revision ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 43 | /* |
| Davidroid | 0:2887415a46cd | 44 | Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev |
| Davidroid | 0:2887415a46cd | 45 | Branch/Trunk/Tag: trunk |
| Davidroid | 0:2887415a46cd | 46 | Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h |
| Davidroid | 0:2887415a46cd | 47 | Revision: 0 |
| Davidroid | 0:2887415a46cd | 48 | */ |
| Davidroid | 0:2887415a46cd | 49 | |
| Davidroid | 0:2887415a46cd | 50 | |
| Davidroid | 0:2887415a46cd | 51 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 52 | |
| Davidroid | 0:2887415a46cd | 53 | #ifndef __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 54 | #define __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 55 | |
| Davidroid | 0:2887415a46cd | 56 | |
| Davidroid | 0:2887415a46cd | 57 | /* Includes ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 58 | |
| Davidroid | 0:2887415a46cd | 59 | /* ACTION 1 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 60 | * Include here platform specific header files. * |
| Davidroid | 0:2887415a46cd | 61 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 62 | #include "mbed.h" |
| Davidroid | 0:2887415a46cd | 63 | #include "DevSPI.h" |
| Davidroid | 0:2887415a46cd | 64 | /* ACTION 2 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 65 | * Include here component specific header files. * |
| Davidroid | 0:2887415a46cd | 66 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 67 | #include "l6474.h" |
| Davidroid | 0:2887415a46cd | 68 | /* ACTION 3 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 69 | * Include here interface specific header files. * |
| Davidroid | 0:2887415a46cd | 70 | * * |
| Davidroid | 0:2887415a46cd | 71 | * Example: * |
| Davidroid | 28:f6093f7cdc09 | 72 | * #include "HumiditySensor.h" * |
| Davidroid | 28:f6093f7cdc09 | 73 | * #include "TemperatureSensor.h" * |
| Davidroid | 0:2887415a46cd | 74 | *----------------------------------------------------------------------------*/ |
| Davidroid | 28:f6093f7cdc09 | 75 | #include "StepperMotor.h" |
| Davidroid | 0:2887415a46cd | 76 | |
| Davidroid | 0:2887415a46cd | 77 | |
| Davidroid | 0:2887415a46cd | 78 | /* Classes -------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 79 | |
| Davidroid | 10:c3824af0caf4 | 80 | /** |
| Davidroid | 10:c3824af0caf4 | 81 | * @brief Class representing an L6474 component. |
| Davidroid | 0:2887415a46cd | 82 | */ |
| Davidroid | 4:83a1eb397a65 | 83 | class L6474 : public StepperMotor |
| Davidroid | 0:2887415a46cd | 84 | { |
| Davidroid | 0:2887415a46cd | 85 | public: |
| Davidroid | 0:2887415a46cd | 86 | |
| Davidroid | 0:2887415a46cd | 87 | /*** Constructor and Destructor Methods ***/ |
| Davidroid | 0:2887415a46cd | 88 | |
| Davidroid | 0:2887415a46cd | 89 | /** |
| Davidroid | 0:2887415a46cd | 90 | * @brief Constructor. |
| Davidroid | 7:f7e0c3621f77 | 91 | * @param flag_irq pin name of the FLAG pin of the component. |
| Davidroid | 4:83a1eb397a65 | 92 | * @param standby_reset pin name of the STBY\RST pin of the component. |
| Davidroid | 4:83a1eb397a65 | 93 | * @param direction pin name of the DIR pin of the component. |
| Davidroid | 4:83a1eb397a65 | 94 | * @param pwm pin name of the PWM pin of the component. |
| Davidroid | 4:83a1eb397a65 | 95 | * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. |
| Davidroid | 4:83a1eb397a65 | 96 | * @param spi SPI device to be used for communication. |
| Davidroid | 0:2887415a46cd | 97 | */ |
| Davidroid | 7:f7e0c3621f77 | 98 | L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi) |
| Davidroid | 0:2887415a46cd | 99 | { |
| Davidroid | 17:35b9ca8c4bd6 | 100 | /* Checking stackability. */ |
| Davidroid | 18:2d6ab2b93685 | 101 | if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) |
| Davidroid | 17:35b9ca8c4bd6 | 102 | error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES); |
| Davidroid | 17:35b9ca8c4bd6 | 103 | |
| Davidroid | 0:2887415a46cd | 104 | /* ACTION 4 ----------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 105 | * Initialize here the component's member variables, one variable per * |
| Davidroid | 0:2887415a46cd | 106 | * line. * |
| Davidroid | 0:2887415a46cd | 107 | * * |
| Davidroid | 0:2887415a46cd | 108 | * Example: * |
| Davidroid | 15:40470df81d9a | 109 | * measure = 0; * |
| Davidroid | 15:40470df81d9a | 110 | * instance_id = number_of_instances++; * |
| Davidroid | 0:2887415a46cd | 111 | *--------------------------------------------------------------------*/ |
| Davidroid | 18:2d6ab2b93685 | 112 | error_handler_callback = 0; |
| Davidroid | 18:2d6ab2b93685 | 113 | device_instance = number_of_devices++; |
| Davidroid | 18:2d6ab2b93685 | 114 | memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 18:2d6ab2b93685 | 115 | memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 0:2887415a46cd | 116 | } |
| Davidroid | 0:2887415a46cd | 117 | |
| Davidroid | 0:2887415a46cd | 118 | /** |
| Davidroid | 0:2887415a46cd | 119 | * @brief Destructor. |
| Davidroid | 0:2887415a46cd | 120 | */ |
| Davidroid | 0:2887415a46cd | 121 | virtual ~L6474(void) {} |
| Davidroid | 0:2887415a46cd | 122 | |
| Davidroid | 0:2887415a46cd | 123 | |
| Davidroid | 0:2887415a46cd | 124 | /*** Public Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 125 | |
| Davidroid | 0:2887415a46cd | 126 | /* ACTION 5 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 127 | * Implement here the component's public methods, as wrappers of the C * |
| Davidroid | 0:2887415a46cd | 128 | * component's functions. * |
| Davidroid | 0:2887415a46cd | 129 | * They should be: * |
| Davidroid | 0:2887415a46cd | 130 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 131 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 132 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 133 | * table's functions, if any (2). * |
| Davidroid | 0:2887415a46cd | 134 | * * |
| Davidroid | 0:2887415a46cd | 135 | * Example: * |
| Davidroid | 0:2887415a46cd | 136 | * virtual int GetValue(float *pData) //(1) * |
| Davidroid | 0:2887415a46cd | 137 | * { * |
| Davidroid | 0:2887415a46cd | 138 | * return COMPONENT_GetValue(float *pfData); * |
| Davidroid | 0:2887415a46cd | 139 | * } * |
| Davidroid | 0:2887415a46cd | 140 | * * |
| Davidroid | 0:2887415a46cd | 141 | * virtual int EnableFeature(void) //(2) * |
| Davidroid | 0:2887415a46cd | 142 | * { * |
| Davidroid | 0:2887415a46cd | 143 | * return COMPONENT_EnableFeature(); * |
| Davidroid | 0:2887415a46cd | 144 | * } * |
| Davidroid | 0:2887415a46cd | 145 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 146 | /** |
| Davidroid | 12:9f4b9540ff3e | 147 | * @brief Initializing the component in 1/16 Microstepping mode. |
| Davidroid | 8:42e0b00b1e4d | 148 | * @param init Pointer to device specific initalization structure. |
| Davidroid | 7:f7e0c3621f77 | 149 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 150 | */ |
| Davidroid | 16:bec7dd79f328 | 151 | virtual int Init(void *init = NULL) |
| Davidroid | 0:2887415a46cd | 152 | { |
| Davidroid | 21:83138e702683 | 153 | return (int) L6474_Init((void *) init); |
| Davidroid | 0:2887415a46cd | 154 | } |
| Davidroid | 0:2887415a46cd | 155 | |
| Davidroid | 7:f7e0c3621f77 | 156 | /** |
| Davidroid | 7:f7e0c3621f77 | 157 | * @brief Getting the ID of the component. |
| Davidroid | 8:42e0b00b1e4d | 158 | * @param id Pointer to an allocated variable to store the ID into. |
| Davidroid | 7:f7e0c3621f77 | 159 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 160 | */ |
| Davidroid | 17:35b9ca8c4bd6 | 161 | virtual int ReadID(uint8_t *id = NULL) |
| Davidroid | 0:2887415a46cd | 162 | { |
| Davidroid | 0:2887415a46cd | 163 | return (int) L6474_ReadID((uint8_t *) id); |
| Davidroid | 0:2887415a46cd | 164 | } |
| Davidroid | 0:2887415a46cd | 165 | |
| Davidroid | 7:f7e0c3621f77 | 166 | /** |
| Davidroid | 7:f7e0c3621f77 | 167 | * @brief Getting the value of the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 168 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 169 | * @retval None. |
| Davidroid | 25:1c3146315f16 | 170 | * @note The Status Register's flags are cleared, contrary to the |
| Davidroid | 25:1c3146315f16 | 171 | * ReadStatusRegister() method. |
| Davidroid | 7:f7e0c3621f77 | 172 | */ |
| Davidroid | 4:83a1eb397a65 | 173 | virtual unsigned int GetStatus(void) |
| Davidroid | 0:2887415a46cd | 174 | { |
| Davidroid | 4:83a1eb397a65 | 175 | return (unsigned int) L6474_CmdGetStatus(); |
| Davidroid | 0:2887415a46cd | 176 | } |
| Davidroid | 0:2887415a46cd | 177 | |
| Davidroid | 26:fd83fecf1ef5 | 178 | /** |
| Davidroid | 7:f7e0c3621f77 | 179 | * @brief Getting a parameter. |
| Davidroid | 25:1c3146315f16 | 180 | * @param parameter A parameter's register address. |
| Davidroid | 8:42e0b00b1e4d | 181 | * @retval The parameter's value. |
| Davidroid | 25:1c3146315f16 | 182 | * @note The Status Register's flags are cleared, contrary to the |
| Davidroid | 25:1c3146315f16 | 183 | * ReadStatusRegister() method. |
| Davidroid | 25:1c3146315f16 | 184 | * The parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 185 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 186 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 187 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 188 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 189 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 190 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 191 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 192 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 193 | * + L6474_RESERVED_REG06 |
| Davidroid | 18:2d6ab2b93685 | 194 | * + L6474_TVAL : value in mA |
| Davidroid | 7:f7e0c3621f77 | 195 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 196 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 197 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 198 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 199 | * + L6474_T_FAST |
| Davidroid | 18:2d6ab2b93685 | 200 | * + L6474_TON_MIN : value in us |
| Davidroid | 18:2d6ab2b93685 | 201 | * + L6474_TOFF_MIN : value in us |
| Davidroid | 7:f7e0c3621f77 | 202 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 203 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 204 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 205 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 206 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 207 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 208 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 209 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 210 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 211 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 212 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 213 | */ |
| Davidroid | 18:2d6ab2b93685 | 214 | virtual float GetParameter(unsigned int parameter) |
| Davidroid | 0:2887415a46cd | 215 | { |
| Davidroid | 18:2d6ab2b93685 | 216 | unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter); |
| Davidroid | 18:2d6ab2b93685 | 217 | float value; |
| Davidroid | 18:2d6ab2b93685 | 218 | |
| Davidroid | 18:2d6ab2b93685 | 219 | switch ((L6474_Registers_t) parameter) |
| Davidroid | 18:2d6ab2b93685 | 220 | { |
| Davidroid | 18:2d6ab2b93685 | 221 | case L6474_TVAL: |
| Davidroid | 18:2d6ab2b93685 | 222 | value = L6474_Par_to_Tval_Current((float) register_value); |
| Davidroid | 18:2d6ab2b93685 | 223 | break; |
| Davidroid | 18:2d6ab2b93685 | 224 | case L6474_TON_MIN: |
| Davidroid | 18:2d6ab2b93685 | 225 | case L6474_TOFF_MIN: |
| Davidroid | 18:2d6ab2b93685 | 226 | value = L6474_Par_to_Tmin_Time((float) register_value); |
| Davidroid | 18:2d6ab2b93685 | 227 | break; |
| Davidroid | 18:2d6ab2b93685 | 228 | default: |
| Davidroid | 18:2d6ab2b93685 | 229 | value = (float) register_value; |
| Davidroid | 18:2d6ab2b93685 | 230 | break; |
| Davidroid | 18:2d6ab2b93685 | 231 | } |
| Davidroid | 18:2d6ab2b93685 | 232 | |
| Davidroid | 18:2d6ab2b93685 | 233 | return value; |
| Davidroid | 4:83a1eb397a65 | 234 | } |
| Davidroid | 4:83a1eb397a65 | 235 | |
| Davidroid | 8:42e0b00b1e4d | 236 | /** |
| Davidroid | 8:42e0b00b1e4d | 237 | * @brief Getting the position. |
| Davidroid | 8:42e0b00b1e4d | 238 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 239 | * @retval The position. |
| Davidroid | 8:42e0b00b1e4d | 240 | */ |
| Davidroid | 4:83a1eb397a65 | 241 | virtual signed int GetPosition(void) |
| Davidroid | 4:83a1eb397a65 | 242 | { |
| Davidroid | 4:83a1eb397a65 | 243 | return (signed int) L6474_GetPosition(); |
| Davidroid | 0:2887415a46cd | 244 | } |
| Davidroid | 0:2887415a46cd | 245 | |
| Davidroid | 8:42e0b00b1e4d | 246 | /** |
| Davidroid | 8:42e0b00b1e4d | 247 | * @brief Getting the marked position. |
| Davidroid | 8:42e0b00b1e4d | 248 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 249 | * @retval The marked position. |
| Davidroid | 8:42e0b00b1e4d | 250 | */ |
| Davidroid | 4:83a1eb397a65 | 251 | virtual signed int GetMark(void) |
| Davidroid | 0:2887415a46cd | 252 | { |
| Davidroid | 4:83a1eb397a65 | 253 | return (signed int) L6474_GetMark(); |
| Davidroid | 4:83a1eb397a65 | 254 | } |
| Davidroid | 8:42e0b00b1e4d | 255 | |
| Davidroid | 8:42e0b00b1e4d | 256 | /** |
| Davidroid | 8:42e0b00b1e4d | 257 | * @brief Getting the current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 258 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 259 | * @retval The current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 260 | */ |
| Davidroid | 4:83a1eb397a65 | 261 | virtual unsigned int GetSpeed(void) |
| Davidroid | 0:2887415a46cd | 262 | { |
| Davidroid | 4:83a1eb397a65 | 263 | return (unsigned int) L6474_GetCurrentSpeed(); |
| Davidroid | 0:2887415a46cd | 264 | } |
| Davidroid | 0:2887415a46cd | 265 | |
| Davidroid | 8:42e0b00b1e4d | 266 | /** |
| Davidroid | 8:42e0b00b1e4d | 267 | * @brief Getting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 268 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 269 | * @retval The maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 270 | */ |
| Davidroid | 4:83a1eb397a65 | 271 | virtual unsigned int GetMaxSpeed(void) |
| Davidroid | 4:83a1eb397a65 | 272 | { |
| Davidroid | 4:83a1eb397a65 | 273 | return (unsigned int) L6474_GetMaxSpeed(); |
| Davidroid | 4:83a1eb397a65 | 274 | } |
| Davidroid | 4:83a1eb397a65 | 275 | |
| Davidroid | 8:42e0b00b1e4d | 276 | /** |
| Davidroid | 8:42e0b00b1e4d | 277 | * @brief Getting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 278 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 279 | * @retval The minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 280 | */ |
| Davidroid | 4:83a1eb397a65 | 281 | virtual unsigned int GetMinSpeed(void) |
| Davidroid | 0:2887415a46cd | 282 | { |
| Davidroid | 4:83a1eb397a65 | 283 | return (unsigned int) L6474_GetMinSpeed(); |
| Davidroid | 4:83a1eb397a65 | 284 | } |
| Davidroid | 4:83a1eb397a65 | 285 | |
| Davidroid | 8:42e0b00b1e4d | 286 | /** |
| Davidroid | 8:42e0b00b1e4d | 287 | * @brief Getting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 288 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 289 | * @retval The acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 290 | */ |
| Davidroid | 4:83a1eb397a65 | 291 | virtual unsigned int GetAcceleration(void) |
| Davidroid | 4:83a1eb397a65 | 292 | { |
| Davidroid | 4:83a1eb397a65 | 293 | return (unsigned int) L6474_GetAcceleration(); |
| Davidroid | 0:2887415a46cd | 294 | } |
| Davidroid | 0:2887415a46cd | 295 | |
| Davidroid | 8:42e0b00b1e4d | 296 | /** |
| Davidroid | 8:42e0b00b1e4d | 297 | * @brief Getting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 298 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 299 | * @retval The deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 300 | */ |
| Davidroid | 4:83a1eb397a65 | 301 | virtual unsigned int GetDeceleration(void) |
| Davidroid | 0:2887415a46cd | 302 | { |
| Davidroid | 4:83a1eb397a65 | 303 | return (unsigned int) L6474_GetDeceleration(); |
| Davidroid | 0:2887415a46cd | 304 | } |
| Davidroid | 0:2887415a46cd | 305 | |
| Davidroid | 8:42e0b00b1e4d | 306 | /** |
| Davidroid | 8:42e0b00b1e4d | 307 | * @brief Getting the direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 308 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 309 | * @retval The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 310 | */ |
| Davidroid | 5:d3c78f12a78d | 311 | virtual direction_t GetDirection(void) |
| Davidroid | 5:d3c78f12a78d | 312 | { |
| Davidroid | 5:d3c78f12a78d | 313 | return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD); |
| Davidroid | 5:d3c78f12a78d | 314 | } |
| Davidroid | 5:d3c78f12a78d | 315 | |
| Davidroid | 26:fd83fecf1ef5 | 316 | /** |
| Davidroid | 25:1c3146315f16 | 317 | * @brief Setting a parameter. |
| Davidroid | 25:1c3146315f16 | 318 | * @param parameter A parameter's register address. |
| Davidroid | 25:1c3146315f16 | 319 | * @param value The parameter's value. |
| Davidroid | 25:1c3146315f16 | 320 | * @retval None. |
| Davidroid | 25:1c3146315f16 | 321 | * @note The parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 322 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 323 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 324 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 325 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 326 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 327 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 328 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 329 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 330 | * + L6474_RESERVED_REG06 |
| Davidroid | 18:2d6ab2b93685 | 331 | * + L6474_TVAL : value in mA |
| Davidroid | 7:f7e0c3621f77 | 332 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 333 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 334 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 335 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 336 | * + L6474_T_FAST |
| Davidroid | 18:2d6ab2b93685 | 337 | * + L6474_TON_MIN : value in us |
| Davidroid | 18:2d6ab2b93685 | 338 | * + L6474_TOFF_MIN : value in us |
| Davidroid | 7:f7e0c3621f77 | 339 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 340 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 341 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 342 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 343 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 344 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 345 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 346 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 347 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 348 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 349 | * + L6474_INEXISTENT_REG |
| Davidroid | 25:1c3146315f16 | 350 | * @warning Some registers can only be written in particular conditions (see L6474's datasheet). |
| Davidroid | 25:1c3146315f16 | 351 | * Any attempt to write one of those registers when the conditions are not satisfied |
| Davidroid | 25:1c3146315f16 | 352 | * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the |
| Davidroid | 25:1c3146315f16 | 353 | * last argument byte. Any attempt to set an inexistent register (wrong address value) |
| Davidroid | 25:1c3146315f16 | 354 | * causes the command to be ignored and the WRONG_CMD flag to rise. |
| Davidroid | 25:1c3146315f16 | 355 | * For example, setting some parameters requires first to disable the power bridge; |
| Davidroid | 25:1c3146315f16 | 356 | * this can be done through the SoftHiZ() method. |
| Davidroid | 25:1c3146315f16 | 357 | * They are the following: |
| Davidroid | 25:1c3146315f16 | 358 | * + L6474_EL_POS |
| Davidroid | 25:1c3146315f16 | 359 | * + L6474_T_FAST |
| Davidroid | 25:1c3146315f16 | 360 | * + L6474_TON_MIN : value in us |
| Davidroid | 25:1c3146315f16 | 361 | * + L6474_TOFF_MIN : value in us |
| Davidroid | 25:1c3146315f16 | 362 | * + L6474_ADC_OUT |
| Davidroid | 25:1c3146315f16 | 363 | * + L6474_STEP_MODE |
| Davidroid | 25:1c3146315f16 | 364 | * + L6474_CONFIG |
| Davidroid | 25:1c3146315f16 | 365 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 366 | */ |
| Davidroid | 18:2d6ab2b93685 | 367 | virtual void SetParameter(unsigned int parameter, float value) |
| Davidroid | 0:2887415a46cd | 368 | { |
| Davidroid | 18:2d6ab2b93685 | 369 | float register_value; |
| Davidroid | 18:2d6ab2b93685 | 370 | |
| Davidroid | 18:2d6ab2b93685 | 371 | switch ((L6474_Registers_t) parameter) |
| Davidroid | 18:2d6ab2b93685 | 372 | { |
| Davidroid | 18:2d6ab2b93685 | 373 | case L6474_TVAL: |
| Davidroid | 18:2d6ab2b93685 | 374 | register_value = L6474_Tval_Current_to_Par(value); |
| Davidroid | 18:2d6ab2b93685 | 375 | break; |
| Davidroid | 18:2d6ab2b93685 | 376 | case L6474_TON_MIN: |
| Davidroid | 18:2d6ab2b93685 | 377 | case L6474_TOFF_MIN: |
| Davidroid | 18:2d6ab2b93685 | 378 | register_value = L6474_Tmin_Time_to_Par(value); |
| Davidroid | 18:2d6ab2b93685 | 379 | break; |
| Davidroid | 18:2d6ab2b93685 | 380 | default: |
| Davidroid | 18:2d6ab2b93685 | 381 | register_value = value; |
| Davidroid | 18:2d6ab2b93685 | 382 | break; |
| Davidroid | 18:2d6ab2b93685 | 383 | } |
| Davidroid | 18:2d6ab2b93685 | 384 | |
| Davidroid | 18:2d6ab2b93685 | 385 | L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_value); |
| Davidroid | 0:2887415a46cd | 386 | } |
| Davidroid | 0:2887415a46cd | 387 | |
| Davidroid | 8:42e0b00b1e4d | 388 | /** |
| Davidroid | 8:42e0b00b1e4d | 389 | * @brief Setting the current position to be the home position. |
| Davidroid | 8:42e0b00b1e4d | 390 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 391 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 392 | */ |
| Davidroid | 4:83a1eb397a65 | 393 | virtual void SetHome(void) |
| Davidroid | 0:2887415a46cd | 394 | { |
| Davidroid | 4:83a1eb397a65 | 395 | L6474_SetHome(); |
| Davidroid | 4:83a1eb397a65 | 396 | } |
| Davidroid | 4:83a1eb397a65 | 397 | |
| Davidroid | 8:42e0b00b1e4d | 398 | /** |
| Davidroid | 8:42e0b00b1e4d | 399 | * @brief Setting the current position to be the marked position. |
| Davidroid | 8:42e0b00b1e4d | 400 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 401 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 402 | */ |
| Davidroid | 4:83a1eb397a65 | 403 | virtual void SetMark(void) |
| Davidroid | 4:83a1eb397a65 | 404 | { |
| Davidroid | 4:83a1eb397a65 | 405 | L6474_SetMark(); |
| Davidroid | 0:2887415a46cd | 406 | } |
| Davidroid | 0:2887415a46cd | 407 | |
| Davidroid | 8:42e0b00b1e4d | 408 | /** |
| Davidroid | 8:42e0b00b1e4d | 409 | * @brief Setting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 410 | * @param speed The maximum speed in pps. |
| Davidroid | 25:1c3146315f16 | 411 | * @retval "true" in case of success, "false" otherwise. |
| Davidroid | 8:42e0b00b1e4d | 412 | */ |
| Davidroid | 25:1c3146315f16 | 413 | virtual bool SetMaxSpeed(unsigned int speed) |
| Davidroid | 4:83a1eb397a65 | 414 | { |
| Davidroid | 4:83a1eb397a65 | 415 | L6474_SetMaxSpeed((unsigned int) speed); |
| Davidroid | 25:1c3146315f16 | 416 | return true; |
| Davidroid | 0:2887415a46cd | 417 | } |
| Davidroid | 0:2887415a46cd | 418 | |
| Davidroid | 8:42e0b00b1e4d | 419 | /** |
| Davidroid | 8:42e0b00b1e4d | 420 | * @brief Setting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 421 | * @param speed The minimum speed in pps. |
| Davidroid | 25:1c3146315f16 | 422 | * @retval "true" in case of success, "false" otherwise. |
| Davidroid | 8:42e0b00b1e4d | 423 | */ |
| Davidroid | 25:1c3146315f16 | 424 | virtual bool SetMinSpeed(unsigned int speed) |
| Davidroid | 0:2887415a46cd | 425 | { |
| Davidroid | 4:83a1eb397a65 | 426 | L6474_SetMinSpeed((unsigned int) speed); |
| Davidroid | 25:1c3146315f16 | 427 | return true; |
| Davidroid | 0:2887415a46cd | 428 | } |
| Davidroid | 0:2887415a46cd | 429 | |
| Davidroid | 8:42e0b00b1e4d | 430 | /** |
| Davidroid | 8:42e0b00b1e4d | 431 | * @brief Setting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 432 | * @param acceleration The acceleration in pps^2. |
| Davidroid | 25:1c3146315f16 | 433 | * @retval "true" in case of success, "false" otherwise. |
| Davidroid | 8:42e0b00b1e4d | 434 | */ |
| Davidroid | 25:1c3146315f16 | 435 | virtual bool SetAcceleration(unsigned int acceleration) |
| Davidroid | 0:2887415a46cd | 436 | { |
| Davidroid | 4:83a1eb397a65 | 437 | L6474_SetAcceleration((unsigned int) acceleration); |
| Davidroid | 25:1c3146315f16 | 438 | return true; |
| Davidroid | 0:2887415a46cd | 439 | } |
| Davidroid | 0:2887415a46cd | 440 | |
| Davidroid | 8:42e0b00b1e4d | 441 | /** |
| Davidroid | 8:42e0b00b1e4d | 442 | * @brief Setting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 443 | * @param deceleration The deceleration in pps^2. |
| Davidroid | 25:1c3146315f16 | 444 | * @retval "true" in case of success, "false" otherwise. |
| Davidroid | 8:42e0b00b1e4d | 445 | */ |
| Davidroid | 25:1c3146315f16 | 446 | virtual bool SetDeceleration(unsigned int deceleration) |
| Davidroid | 0:2887415a46cd | 447 | { |
| Davidroid | 4:83a1eb397a65 | 448 | L6474_SetDeceleration((unsigned int) deceleration); |
| Davidroid | 25:1c3146315f16 | 449 | return true; |
| Davidroid | 4:83a1eb397a65 | 450 | } |
| Davidroid | 4:83a1eb397a65 | 451 | |
| Davidroid | 8:42e0b00b1e4d | 452 | /** |
| Davidroid | 8:42e0b00b1e4d | 453 | * @brief Going to a specified position. |
| Davidroid | 8:42e0b00b1e4d | 454 | * @param position The desired position. |
| Davidroid | 8:42e0b00b1e4d | 455 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 456 | */ |
| Davidroid | 4:83a1eb397a65 | 457 | virtual void GoTo(signed int position) |
| Davidroid | 4:83a1eb397a65 | 458 | { |
| Davidroid | 4:83a1eb397a65 | 459 | L6474_GoTo((signed int) position); |
| Davidroid | 0:2887415a46cd | 460 | } |
| Davidroid | 0:2887415a46cd | 461 | |
| Davidroid | 8:42e0b00b1e4d | 462 | /** |
| Davidroid | 8:42e0b00b1e4d | 463 | * @brief Going to the home position. |
| Davidroid | 8:42e0b00b1e4d | 464 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 465 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 466 | */ |
| Davidroid | 0:2887415a46cd | 467 | virtual void GoHome(void) |
| Davidroid | 0:2887415a46cd | 468 | { |
| Davidroid | 0:2887415a46cd | 469 | L6474_GoHome(); |
| Davidroid | 0:2887415a46cd | 470 | } |
| Davidroid | 0:2887415a46cd | 471 | |
| Davidroid | 8:42e0b00b1e4d | 472 | /** |
| Davidroid | 8:42e0b00b1e4d | 473 | * @brief Going to the marked position. |
| Davidroid | 8:42e0b00b1e4d | 474 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 475 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 476 | */ |
| Davidroid | 0:2887415a46cd | 477 | virtual void GoMark(void) |
| Davidroid | 0:2887415a46cd | 478 | { |
| Davidroid | 0:2887415a46cd | 479 | L6474_GoMark(); |
| Davidroid | 0:2887415a46cd | 480 | } |
| Davidroid | 0:2887415a46cd | 481 | |
| Davidroid | 8:42e0b00b1e4d | 482 | /** |
| Davidroid | 8:42e0b00b1e4d | 483 | * @brief Running the motor towards a specified direction. |
| Davidroid | 8:42e0b00b1e4d | 484 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 485 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 486 | */ |
| Davidroid | 4:83a1eb397a65 | 487 | virtual void Run(direction_t direction) |
| Davidroid | 4:83a1eb397a65 | 488 | { |
| Davidroid | 5:d3c78f12a78d | 489 | L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| Davidroid | 4:83a1eb397a65 | 490 | } |
| Davidroid | 4:83a1eb397a65 | 491 | |
| Davidroid | 8:42e0b00b1e4d | 492 | /** |
| Davidroid | 8:42e0b00b1e4d | 493 | * @brief Moving the motor towards a specified direction for a certain number of steps. |
| Davidroid | 8:42e0b00b1e4d | 494 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 495 | * @param steps The desired number of steps. |
| Davidroid | 8:42e0b00b1e4d | 496 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 497 | */ |
| Davidroid | 4:83a1eb397a65 | 498 | virtual void Move(direction_t direction, unsigned int steps) |
| Davidroid | 0:2887415a46cd | 499 | { |
| Davidroid | 5:d3c78f12a78d | 500 | L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps); |
| Davidroid | 4:83a1eb397a65 | 501 | } |
| Davidroid | 4:83a1eb397a65 | 502 | |
| Davidroid | 8:42e0b00b1e4d | 503 | /** |
| Davidroid | 13:ba2728afe4c2 | 504 | * @brief Stopping the motor through an immediate deceleration up to zero speed. |
| Davidroid | 8:42e0b00b1e4d | 505 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 506 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 507 | */ |
| Davidroid | 4:83a1eb397a65 | 508 | virtual void SoftStop(void) |
| Davidroid | 4:83a1eb397a65 | 509 | { |
| Davidroid | 4:83a1eb397a65 | 510 | L6474_SoftStop(); |
| Davidroid | 0:2887415a46cd | 511 | } |
| Davidroid | 0:2887415a46cd | 512 | |
| Davidroid | 8:42e0b00b1e4d | 513 | /** |
| Davidroid | 13:ba2728afe4c2 | 514 | * @brief Stopping the motor through an immediate infinite deceleration. |
| Davidroid | 8:42e0b00b1e4d | 515 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 516 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 517 | */ |
| Davidroid | 0:2887415a46cd | 518 | virtual void HardStop(void) |
| Davidroid | 0:2887415a46cd | 519 | { |
| Davidroid | 0:2887415a46cd | 520 | L6474_HardStop(); |
| Davidroid | 0:2887415a46cd | 521 | } |
| Davidroid | 0:2887415a46cd | 522 | |
| Davidroid | 8:42e0b00b1e4d | 523 | /** |
| Davidroid | 13:ba2728afe4c2 | 524 | * @brief Disabling the power bridge after performing a deceleration to zero. |
| Davidroid | 13:ba2728afe4c2 | 525 | * @param None. |
| Davidroid | 13:ba2728afe4c2 | 526 | * @retval None. |
| Davidroid | 13:ba2728afe4c2 | 527 | */ |
| Davidroid | 13:ba2728afe4c2 | 528 | virtual void SoftHiZ(void) |
| Davidroid | 13:ba2728afe4c2 | 529 | { |
| Davidroid | 13:ba2728afe4c2 | 530 | L6474_SoftStop(); |
| Davidroid | 13:ba2728afe4c2 | 531 | L6474_CmdDisable(); |
| Davidroid | 13:ba2728afe4c2 | 532 | } |
| Davidroid | 13:ba2728afe4c2 | 533 | |
| Davidroid | 13:ba2728afe4c2 | 534 | /** |
| Davidroid | 13:ba2728afe4c2 | 535 | * @brief Disabling the power bridge immediately. |
| Davidroid | 13:ba2728afe4c2 | 536 | * @param None. |
| Davidroid | 13:ba2728afe4c2 | 537 | * @retval None. |
| Davidroid | 13:ba2728afe4c2 | 538 | */ |
| Davidroid | 13:ba2728afe4c2 | 539 | virtual void HardHiZ(void) |
| Davidroid | 13:ba2728afe4c2 | 540 | { |
| Davidroid | 13:ba2728afe4c2 | 541 | L6474_HardStop(); |
| Davidroid | 13:ba2728afe4c2 | 542 | L6474_CmdDisable(); |
| Davidroid | 13:ba2728afe4c2 | 543 | } |
| Davidroid | 13:ba2728afe4c2 | 544 | |
| Davidroid | 13:ba2728afe4c2 | 545 | /** |
| Davidroid | 8:42e0b00b1e4d | 546 | * @brief Waiting while the motor is active. |
| Davidroid | 8:42e0b00b1e4d | 547 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 548 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 549 | */ |
| Davidroid | 7:f7e0c3621f77 | 550 | virtual void WaitWhileActive(void) |
| Davidroid | 7:f7e0c3621f77 | 551 | { |
| Davidroid | 7:f7e0c3621f77 | 552 | L6474_WaitWhileActive(); |
| Davidroid | 7:f7e0c3621f77 | 553 | } |
| Davidroid | 7:f7e0c3621f77 | 554 | |
| Davidroid | 7:f7e0c3621f77 | 555 | /** |
| Davidroid | 7:f7e0c3621f77 | 556 | * @brief Getting the device state. |
| Davidroid | 7:f7e0c3621f77 | 557 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 558 | * @retval The device state. |
| Davidroid | 7:f7e0c3621f77 | 559 | * @note The device state can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 560 | * + ACCELERATING |
| Davidroid | 7:f7e0c3621f77 | 561 | * + DECELERATING |
| Davidroid | 7:f7e0c3621f77 | 562 | * + STEADY |
| Davidroid | 7:f7e0c3621f77 | 563 | * + INACTIVE |
| Davidroid | 7:f7e0c3621f77 | 564 | */ |
| Davidroid | 4:83a1eb397a65 | 565 | virtual motorState_t GetDeviceState(void) |
| Davidroid | 0:2887415a46cd | 566 | { |
| Davidroid | 4:83a1eb397a65 | 567 | return (motorState_t) L6474_GetDeviceState(); |
| Davidroid | 0:2887415a46cd | 568 | } |
| Davidroid | 0:2887415a46cd | 569 | |
| Davidroid | 7:f7e0c3621f77 | 570 | /** |
| Davidroid | 7:f7e0c3621f77 | 571 | * @brief Reading the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 572 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 573 | * @retval None. |
| Davidroid | 25:1c3146315f16 | 574 | * @note The Status Register's flags are not cleared, contrary to the |
| Davidroid | 25:1c3146315f16 | 575 | * GetStatus() method. |
| Davidroid | 7:f7e0c3621f77 | 576 | */ |
| Davidroid | 0:2887415a46cd | 577 | virtual uint16_t ReadStatusRegister(void) |
| Davidroid | 0:2887415a46cd | 578 | { |
| Davidroid | 0:2887415a46cd | 579 | return (uint16_t) L6474_ReadStatusRegister(); |
| Davidroid | 0:2887415a46cd | 580 | } |
| Davidroid | 0:2887415a46cd | 581 | |
| Davidroid | 7:f7e0c3621f77 | 582 | /** |
| Davidroid | 25:1c3146315f16 | 583 | * @brief Setting the Step Mode. |
| Davidroid | 25:1c3146315f16 | 584 | * @param step_mode The Step Mode. |
| Davidroid | 25:1c3146315f16 | 585 | * @retval "true" in case of success, "false" otherwise. |
| Davidroid | 25:1c3146315f16 | 586 | * @warning Setting the step mode implies first disabling the power bridge through |
| Davidroid | 25:1c3146315f16 | 587 | * the SoftHiZ() method. |
| Davidroid | 25:1c3146315f16 | 588 | * @warning Every time step mode is changed, the values of the home |
| Davidroid | 25:1c3146315f16 | 589 | * and mark positions lose meaning and are reset. |
| Davidroid | 7:f7e0c3621f77 | 590 | */ |
| Davidroid | 25:1c3146315f16 | 591 | virtual bool SetStepMode(step_mode_t step_mode) |
| Davidroid | 0:2887415a46cd | 592 | { |
| Davidroid | 25:1c3146315f16 | 593 | if ((motorStepMode_t) step_mode > STEP_MODE_1_16) |
| Davidroid | 25:1c3146315f16 | 594 | return false; |
| Davidroid | 25:1c3146315f16 | 595 | |
| Davidroid | 25:1c3146315f16 | 596 | SoftHiZ(); |
| Davidroid | 7:f7e0c3621f77 | 597 | L6474_SelectStepMode((motorStepMode_t) step_mode); |
| Davidroid | 25:1c3146315f16 | 598 | return true; |
| Davidroid | 0:2887415a46cd | 599 | } |
| Davidroid | 0:2887415a46cd | 600 | |
| Davidroid | 7:f7e0c3621f77 | 601 | /** |
| Davidroid | 7:f7e0c3621f77 | 602 | * @brief Attaching an error handler. |
| Davidroid | 8:42e0b00b1e4d | 603 | * @param fptr An error handler. |
| Davidroid | 7:f7e0c3621f77 | 604 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 605 | */ |
| Davidroid | 7:f7e0c3621f77 | 606 | virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) |
| Davidroid | 4:83a1eb397a65 | 607 | { |
| Davidroid | 7:f7e0c3621f77 | 608 | L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr); |
| Davidroid | 4:83a1eb397a65 | 609 | } |
| Davidroid | 4:83a1eb397a65 | 610 | |
| Davidroid | 9:6f116ce8e314 | 611 | /** |
| Davidroid | 8:42e0b00b1e4d | 612 | * @brief Enabling the device. |
| Davidroid | 8:42e0b00b1e4d | 613 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 614 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 615 | */ |
| Davidroid | 8:42e0b00b1e4d | 616 | virtual void Enable(void) |
| Davidroid | 8:42e0b00b1e4d | 617 | { |
| Davidroid | 8:42e0b00b1e4d | 618 | L6474_CmdEnable(); |
| Davidroid | 8:42e0b00b1e4d | 619 | } |
| Davidroid | 8:42e0b00b1e4d | 620 | |
| Davidroid | 9:6f116ce8e314 | 621 | /** |
| Davidroid | 8:42e0b00b1e4d | 622 | * @brief Disabling the device. |
| Davidroid | 8:42e0b00b1e4d | 623 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 624 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 625 | */ |
| Davidroid | 8:42e0b00b1e4d | 626 | virtual void Disable(void) |
| Davidroid | 8:42e0b00b1e4d | 627 | { |
| Davidroid | 8:42e0b00b1e4d | 628 | L6474_CmdDisable(); |
| Davidroid | 8:42e0b00b1e4d | 629 | } |
| Davidroid | 8:42e0b00b1e4d | 630 | |
| Davidroid | 9:6f116ce8e314 | 631 | /** |
| Davidroid | 9:6f116ce8e314 | 632 | * @brief Getting the version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 633 | * @param None. |
| Davidroid | 9:6f116ce8e314 | 634 | * @retval The version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 635 | */ |
| Davidroid | 9:6f116ce8e314 | 636 | virtual uint8_t GetFwVersion(void) |
| Davidroid | 9:6f116ce8e314 | 637 | { |
| Davidroid | 9:6f116ce8e314 | 638 | return (uint8_t) L6474_GetFwVersion(); |
| Davidroid | 9:6f116ce8e314 | 639 | } |
| Davidroid | 9:6f116ce8e314 | 640 | |
| Davidroid | 0:2887415a46cd | 641 | |
| Davidroid | 0:2887415a46cd | 642 | /*** Public Interrupt Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 643 | |
| Davidroid | 0:2887415a46cd | 644 | /* ACTION 6 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 645 | * Implement here interrupt related methods, if any. * |
| Davidroid | 0:2887415a46cd | 646 | * Note that interrupt handling is platform dependent, e.g.: * |
| Davidroid | 0:2887415a46cd | 647 | * + mbed: * |
| Davidroid | 7:f7e0c3621f77 | 648 | * InterruptIn feature_irq(pin); //Interrupt object. * |
| Davidroid | 7:f7e0c3621f77 | 649 | * feature_irq.rise(callback); //Attach a callback. * |
| Davidroid | 7:f7e0c3621f77 | 650 | * feature_irq.mode(PullNone); //Set interrupt mode. * |
| Davidroid | 7:f7e0c3621f77 | 651 | * feature_irq.enable_irq(); //Enable interrupt. * |
| Davidroid | 7:f7e0c3621f77 | 652 | * feature_irq.disable_irq(); //Disable interrupt. * |
| Davidroid | 0:2887415a46cd | 653 | * + Arduino: * |
| Davidroid | 0:2887415a46cd | 654 | * attachInterrupt(pin, callback, RISING); //Attach a callback. * |
| Davidroid | 0:2887415a46cd | 655 | * detachInterrupt(pin); //Detach a callback. * |
| Davidroid | 0:2887415a46cd | 656 | * * |
| Davidroid | 0:2887415a46cd | 657 | * Example (mbed): * |
| Davidroid | 7:f7e0c3621f77 | 658 | * void AttachFeatureIRQ(void (*fptr) (void)) * |
| Davidroid | 0:2887415a46cd | 659 | * { * |
| Davidroid | 7:f7e0c3621f77 | 660 | * feature_irq.rise(fptr); * |
| Davidroid | 7:f7e0c3621f77 | 661 | * } * |
| Davidroid | 7:f7e0c3621f77 | 662 | * * |
| Davidroid | 7:f7e0c3621f77 | 663 | * void EnableFeatureIRQ(void) * |
| Davidroid | 7:f7e0c3621f77 | 664 | * { * |
| Davidroid | 7:f7e0c3621f77 | 665 | * feature_irq.enable_irq(); * |
| Davidroid | 0:2887415a46cd | 666 | * } * |
| Davidroid | 0:2887415a46cd | 667 | * * |
| Davidroid | 7:f7e0c3621f77 | 668 | * void DisableFeatureIRQ(void) * |
| Davidroid | 0:2887415a46cd | 669 | * { * |
| Davidroid | 7:f7e0c3621f77 | 670 | * feature_irq.disable_irq(); * |
| Davidroid | 0:2887415a46cd | 671 | * } * |
| Davidroid | 0:2887415a46cd | 672 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 673 | /** |
| Davidroid | 8:42e0b00b1e4d | 674 | * @brief Attaching an interrupt handler to the FLAG interrupt. |
| Davidroid | 8:42e0b00b1e4d | 675 | * @param fptr An interrupt handler. |
| Davidroid | 7:f7e0c3621f77 | 676 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 677 | */ |
| Davidroid | 7:f7e0c3621f77 | 678 | void AttachFlagIRQ(void (*fptr)(void)) |
| Davidroid | 7:f7e0c3621f77 | 679 | { |
| Davidroid | 18:2d6ab2b93685 | 680 | flag_irq.fall(fptr); |
| Davidroid | 7:f7e0c3621f77 | 681 | } |
| Davidroid | 7:f7e0c3621f77 | 682 | |
| Davidroid | 7:f7e0c3621f77 | 683 | /** |
| Davidroid | 8:42e0b00b1e4d | 684 | * @brief Enabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 685 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 686 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 687 | */ |
| Davidroid | 7:f7e0c3621f77 | 688 | void EnableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 689 | { |
| Davidroid | 7:f7e0c3621f77 | 690 | flag_irq.enable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 691 | } |
| Davidroid | 7:f7e0c3621f77 | 692 | |
| Davidroid | 7:f7e0c3621f77 | 693 | /** |
| Davidroid | 8:42e0b00b1e4d | 694 | * @brief Disabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 695 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 696 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 697 | */ |
| Davidroid | 7:f7e0c3621f77 | 698 | void DisableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 699 | { |
| Davidroid | 7:f7e0c3621f77 | 700 | flag_irq.disable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 701 | } |
| Davidroid | 0:2887415a46cd | 702 | |
| Davidroid | 0:2887415a46cd | 703 | |
| Davidroid | 0:2887415a46cd | 704 | protected: |
| Davidroid | 0:2887415a46cd | 705 | |
| Davidroid | 0:2887415a46cd | 706 | /*** Protected Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 707 | |
| Davidroid | 0:2887415a46cd | 708 | /* ACTION 7 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 709 | * Declare here the component's specific methods. * |
| Davidroid | 0:2887415a46cd | 710 | * They should be: * |
| Davidroid | 0:2887415a46cd | 711 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 712 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 713 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 714 | * table's functions, if any (2); * |
| Davidroid | 0:2887415a46cd | 715 | * + Helper methods, if any, like functions declared in the component's * |
| Davidroid | 0:2887415a46cd | 716 | * source files but not pointed by the component's virtual table (3). * |
| Davidroid | 0:2887415a46cd | 717 | * * |
| Davidroid | 0:2887415a46cd | 718 | * Example: * |
| Davidroid | 22:ed3a6990a6eb | 719 | * Status_t COMPONENT_GetValue(float *f); //(1) * |
| Davidroid | 22:ed3a6990a6eb | 720 | * Status_t COMPONENT_EnableFeature(void); //(2) * |
| Davidroid | 22:ed3a6990a6eb | 721 | * Status_t COMPONENT_ComputeAverage(void); //(3) * |
| Davidroid | 0:2887415a46cd | 722 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 723 | void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); |
| Davidroid | 22:ed3a6990a6eb | 724 | Status_t L6474_Init(void *init); |
| Davidroid | 22:ed3a6990a6eb | 725 | Status_t L6474_ReadID(uint8_t *id); |
| Davidroid | 7:f7e0c3621f77 | 726 | uint16_t L6474_GetAcceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 727 | uint16_t L6474_GetCurrentSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 728 | uint16_t L6474_GetDeceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 729 | motorState_t L6474_GetDeviceState(void); |
| Davidroid | 7:f7e0c3621f77 | 730 | uint8_t L6474_GetFwVersion(void); |
| Davidroid | 7:f7e0c3621f77 | 731 | int32_t L6474_GetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 732 | uint16_t L6474_GetMaxSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 733 | uint16_t L6474_GetMinSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 734 | int32_t L6474_GetPosition(void); |
| Davidroid | 7:f7e0c3621f77 | 735 | void L6474_GoHome(void); |
| Davidroid | 7:f7e0c3621f77 | 736 | void L6474_GoMark(void); |
| Davidroid | 7:f7e0c3621f77 | 737 | void L6474_GoTo(int32_t targetPosition); |
| Davidroid | 7:f7e0c3621f77 | 738 | void L6474_HardStop(void); |
| Davidroid | 7:f7e0c3621f77 | 739 | void L6474_Move(motorDir_t direction, uint32_t stepCount); |
| Davidroid | 7:f7e0c3621f77 | 740 | void L6474_Run(motorDir_t direction); |
| Davidroid | 7:f7e0c3621f77 | 741 | bool L6474_SetAcceleration(uint16_t newAcc); |
| Davidroid | 7:f7e0c3621f77 | 742 | bool L6474_SetDeceleration(uint16_t newDec); |
| Davidroid | 7:f7e0c3621f77 | 743 | void L6474_SetHome(void); |
| Davidroid | 7:f7e0c3621f77 | 744 | void L6474_SetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 745 | bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); |
| Davidroid | 7:f7e0c3621f77 | 746 | bool L6474_SetMinSpeed(uint16_t newMinSpeed); |
| Davidroid | 7:f7e0c3621f77 | 747 | bool L6474_SoftStop(void); |
| Davidroid | 7:f7e0c3621f77 | 748 | void L6474_WaitWhileActive(void); |
| Davidroid | 7:f7e0c3621f77 | 749 | void L6474_CmdDisable(void); |
| Davidroid | 7:f7e0c3621f77 | 750 | void L6474_CmdEnable(void); |
| Davidroid | 7:f7e0c3621f77 | 751 | uint32_t L6474_CmdGetParam(L6474_Registers_t parameter); |
| Davidroid | 7:f7e0c3621f77 | 752 | uint16_t L6474_CmdGetStatus(void); |
| Davidroid | 7:f7e0c3621f77 | 753 | void L6474_CmdNop(void); |
| Davidroid | 7:f7e0c3621f77 | 754 | void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value); |
| Davidroid | 7:f7e0c3621f77 | 755 | uint16_t L6474_ReadStatusRegister(void); |
| Davidroid | 7:f7e0c3621f77 | 756 | void L6474_SelectStepMode(motorStepMode_t stepMod); |
| Davidroid | 7:f7e0c3621f77 | 757 | motorDir_t L6474_GetDirection(void); |
| Davidroid | 7:f7e0c3621f77 | 758 | void L6474_SetDirection(motorDir_t direction); |
| Davidroid | 0:2887415a46cd | 759 | void L6474_ApplySpeed(uint16_t newSpeed); |
| Davidroid | 0:2887415a46cd | 760 | void L6474_ComputeSpeedProfile(uint32_t nbSteps); |
| Davidroid | 7:f7e0c3621f77 | 761 | int32_t L6474_ConvertPosition(uint32_t abs_position_reg); |
| Davidroid | 0:2887415a46cd | 762 | void L6474_ErrorHandler(uint16_t error); |
| Davidroid | 0:2887415a46cd | 763 | void L6474_SendCommand(uint8_t param); |
| Davidroid | 0:2887415a46cd | 764 | void L6474_SetRegisterToPredefinedValues(void); |
| Davidroid | 22:ed3a6990a6eb | 765 | void L6474_SetRegisterToInitializationValues(L6474_Init_t *init); |
| Davidroid | 7:f7e0c3621f77 | 766 | void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); |
| Davidroid | 0:2887415a46cd | 767 | void L6474_SetDeviceParamsToPredefinedValues(void); |
| Davidroid | 0:2887415a46cd | 768 | void L6474_StartMovement(void); |
| Davidroid | 7:f7e0c3621f77 | 769 | void L6474_StepClockHandler(void); |
| Davidroid | 18:2d6ab2b93685 | 770 | float L6474_Tval_Current_to_Par(float current_mA); |
| Davidroid | 18:2d6ab2b93685 | 771 | float L6474_Par_to_Tval_Current(float Tval); |
| Davidroid | 18:2d6ab2b93685 | 772 | float L6474_Tmin_Time_to_Par(float ton_min_us); |
| Davidroid | 18:2d6ab2b93685 | 773 | float L6474_Par_to_Tmin_Time(float Tmin); |
| Davidroid | 0:2887415a46cd | 774 | |
| Davidroid | 0:2887415a46cd | 775 | |
| Davidroid | 0:2887415a46cd | 776 | /*** Component's I/O Methods ***/ |
| Davidroid | 0:2887415a46cd | 777 | |
| Davidroid | 0:2887415a46cd | 778 | /** |
| Davidroid | 0:2887415a46cd | 779 | * @brief Utility function to read data from L6474. |
| Davidroid | 0:2887415a46cd | 780 | * @param[out] pBuffer pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 781 | * @param[in] NumBytesToRead number of bytes to read. |
| Davidroid | 0:2887415a46cd | 782 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 783 | */ |
| Davidroid | 22:ed3a6990a6eb | 784 | Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead) |
| Davidroid | 0:2887415a46cd | 785 | { |
| Davidroid | 0:2887415a46cd | 786 | if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) |
| Davidroid | 0:2887415a46cd | 787 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 788 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 789 | } |
| Davidroid | 0:2887415a46cd | 790 | |
| Davidroid | 0:2887415a46cd | 791 | /** |
| Davidroid | 0:2887415a46cd | 792 | * @brief Utility function to write data to L6474. |
| Davidroid | 0:2887415a46cd | 793 | * @param[in] pBuffer pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 794 | * @param[in] NumBytesToWrite number of bytes to write. |
| Davidroid | 0:2887415a46cd | 795 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 796 | */ |
| Davidroid | 22:ed3a6990a6eb | 797 | Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) |
| Davidroid | 0:2887415a46cd | 798 | { |
| Davidroid | 0:2887415a46cd | 799 | if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) |
| Davidroid | 0:2887415a46cd | 800 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 801 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 802 | } |
| Davidroid | 0:2887415a46cd | 803 | |
| Davidroid | 0:2887415a46cd | 804 | /** |
| Davidroid | 0:2887415a46cd | 805 | * @brief Utility function to read and write data from/to L6474 at the same time. |
| Davidroid | 0:2887415a46cd | 806 | * @param[out] pBufferToRead pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 807 | * @param[in] pBufferToWrite pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 808 | * @param[in] NumBytes number of bytes to read and write. |
| Davidroid | 0:2887415a46cd | 809 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 810 | */ |
| Davidroid | 22:ed3a6990a6eb | 811 | Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) |
| Davidroid | 0:2887415a46cd | 812 | { |
| Davidroid | 0:2887415a46cd | 813 | if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) |
| Davidroid | 0:2887415a46cd | 814 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 815 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 816 | } |
| Davidroid | 0:2887415a46cd | 817 | |
| Davidroid | 0:2887415a46cd | 818 | /* ACTION 8 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 819 | * Implement here other I/O methods beyond those already implemented * |
| Davidroid | 0:2887415a46cd | 820 | * above, which are declared extern within the component's header file. * |
| Davidroid | 0:2887415a46cd | 821 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 822 | /** |
| Davidroid | 7:f7e0c3621f77 | 823 | * @brief Making the CPU wait. |
| Davidroid | 7:f7e0c3621f77 | 824 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 825 | * @retval None. |
| Davidroid | 0:2887415a46cd | 826 | */ |
| Davidroid | 0:2887415a46cd | 827 | void L6474_Delay(uint32_t delay) |
| Davidroid | 0:2887415a46cd | 828 | { |
| Davidroid | 0:2887415a46cd | 829 | wait_ms(delay); |
| Davidroid | 0:2887415a46cd | 830 | } |
| Davidroid | 0:2887415a46cd | 831 | |
| Davidroid | 7:f7e0c3621f77 | 832 | /** |
| Davidroid | 7:f7e0c3621f77 | 833 | * @brief Enabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 834 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 835 | * @retval None. |
| Davidroid | 0:2887415a46cd | 836 | */ |
| Davidroid | 0:2887415a46cd | 837 | void L6474_EnableIrq(void) |
| Davidroid | 0:2887415a46cd | 838 | { |
| Davidroid | 0:2887415a46cd | 839 | __enable_irq(); |
| Davidroid | 0:2887415a46cd | 840 | } |
| Davidroid | 0:2887415a46cd | 841 | |
| Davidroid | 7:f7e0c3621f77 | 842 | /** |
| Davidroid | 7:f7e0c3621f77 | 843 | * @brief Disabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 844 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 845 | * @retval None. |
| Davidroid | 0:2887415a46cd | 846 | */ |
| Davidroid | 0:2887415a46cd | 847 | void L6474_DisableIrq(void) |
| Davidroid | 0:2887415a46cd | 848 | { |
| Davidroid | 0:2887415a46cd | 849 | __disable_irq(); |
| Davidroid | 0:2887415a46cd | 850 | } |
| Davidroid | 0:2887415a46cd | 851 | |
| Davidroid | 7:f7e0c3621f77 | 852 | /** |
| Davidroid | 7:f7e0c3621f77 | 853 | * @brief Initialising the PWM. |
| Davidroid | 7:f7e0c3621f77 | 854 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 855 | * @retval None. |
| Davidroid | 0:2887415a46cd | 856 | */ |
| Davidroid | 7:f7e0c3621f77 | 857 | void L6474_PwmInit(void) {} |
| Davidroid | 0:2887415a46cd | 858 | |
| Davidroid | 7:f7e0c3621f77 | 859 | /** |
| Davidroid | 20:a8e81b65f0af | 860 | * @brief Setting the frequency of PWM. |
| Davidroid | 20:a8e81b65f0af | 861 | * The frequency controls directly the speed of the device. |
| Davidroid | 20:a8e81b65f0af | 862 | * @param frequency the frequency of PWM. |
| Davidroid | 20:a8e81b65f0af | 863 | * @retval None. |
| Davidroid | 20:a8e81b65f0af | 864 | */ |
| Davidroid | 20:a8e81b65f0af | 865 | void L6474_PwmSetFreq(uint16_t frequency) |
| Davidroid | 20:a8e81b65f0af | 866 | { |
| Davidroid | 20:a8e81b65f0af | 867 | /* Computing the period of PWM. */ |
| Davidroid | 20:a8e81b65f0af | 868 | double period = 1.0f / frequency; |
| Davidroid | 20:a8e81b65f0af | 869 | |
| Davidroid | 20:a8e81b65f0af | 870 | /* Setting the period and the duty-cycle of PWM. */ |
| Davidroid | 20:a8e81b65f0af | 871 | pwm.period(period); |
| Davidroid | 20:a8e81b65f0af | 872 | pwm.write(0.5f); |
| Davidroid | 20:a8e81b65f0af | 873 | |
| Davidroid | 20:a8e81b65f0af | 874 | /* Setting a callback with the same period of PWM's, to update the state machine. */ |
| Davidroid | 30:a05820cfdba9 | 875 | ticker.attach(Callback<void()>(this, &L6474::L6474_StepClockHandler), period); |
| Davidroid | 20:a8e81b65f0af | 876 | } |
| Davidroid | 20:a8e81b65f0af | 877 | |
| Davidroid | 20:a8e81b65f0af | 878 | /** |
| Davidroid | 7:f7e0c3621f77 | 879 | * @brief Stopping the PWM. |
| Davidroid | 7:f7e0c3621f77 | 880 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 881 | * @retval None. |
| Davidroid | 0:2887415a46cd | 882 | */ |
| Davidroid | 0:2887415a46cd | 883 | void L6474_PwmStop(void) |
| Davidroid | 0:2887415a46cd | 884 | { |
| Davidroid | 0:2887415a46cd | 885 | pwm.write(0.0f); |
| Davidroid | 0:2887415a46cd | 886 | ticker.detach(); |
| Davidroid | 0:2887415a46cd | 887 | } |
| Davidroid | 0:2887415a46cd | 888 | |
| Davidroid | 7:f7e0c3621f77 | 889 | /** |
| Davidroid | 7:f7e0c3621f77 | 890 | * @brief Putting the device in standby mode. |
| Davidroid | 7:f7e0c3621f77 | 891 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 892 | * @retval None. |
| Davidroid | 0:2887415a46cd | 893 | */ |
| Davidroid | 0:2887415a46cd | 894 | void L6474_ReleaseReset(void) |
| Davidroid | 0:2887415a46cd | 895 | { |
| Davidroid | 4:83a1eb397a65 | 896 | standby_reset = 1; |
| Davidroid | 0:2887415a46cd | 897 | } |
| Davidroid | 0:2887415a46cd | 898 | |
| Davidroid | 7:f7e0c3621f77 | 899 | /** |
| Davidroid | 7:f7e0c3621f77 | 900 | * @brief Putting the device in reset mode. |
| Davidroid | 7:f7e0c3621f77 | 901 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 902 | * @retval None. |
| Davidroid | 0:2887415a46cd | 903 | */ |
| Davidroid | 0:2887415a46cd | 904 | void L6474_Reset(void) |
| Davidroid | 0:2887415a46cd | 905 | { |
| Davidroid | 4:83a1eb397a65 | 906 | standby_reset = 0; |
| Davidroid | 0:2887415a46cd | 907 | } |
| Davidroid | 0:2887415a46cd | 908 | |
| Davidroid | 7:f7e0c3621f77 | 909 | /** |
| Davidroid | 7:f7e0c3621f77 | 910 | * @brief Setting the direction of rotation. |
| Davidroid | 7:f7e0c3621f77 | 911 | * @param gpioState direction of rotation: "1" for forward, "0" for backward. |
| Davidroid | 7:f7e0c3621f77 | 912 | * @retval None. |
| Davidroid | 0:2887415a46cd | 913 | */ |
| Davidroid | 0:2887415a46cd | 914 | void L6474_SetDirectionGpio(uint8_t gpioState) |
| Davidroid | 0:2887415a46cd | 915 | { |
| Davidroid | 0:2887415a46cd | 916 | direction = gpioState; |
| Davidroid | 0:2887415a46cd | 917 | } |
| Davidroid | 0:2887415a46cd | 918 | |
| Davidroid | 7:f7e0c3621f77 | 919 | /** |
| Davidroid | 7:f7e0c3621f77 | 920 | * @brief Writing and reading bytes to/from the component through the SPI at the same time. |
| Davidroid | 7:f7e0c3621f77 | 921 | * @param[in] pByteToTransmit pointer to the buffer of data to send. |
| Davidroid | 7:f7e0c3621f77 | 922 | * @param[out] pReceivedByte pointer to the buffer to read data into. |
| Davidroid | 7:f7e0c3621f77 | 923 | * @retval "0" in case of success, "1" otherwise. |
| Davidroid | 0:2887415a46cd | 924 | */ |
| Davidroid | 0:2887415a46cd | 925 | uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) |
| Davidroid | 0:2887415a46cd | 926 | { |
| Davidroid | 18:2d6ab2b93685 | 927 | return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1); |
| Davidroid | 0:2887415a46cd | 928 | } |
| Davidroid | 0:2887415a46cd | 929 | |
| Davidroid | 0:2887415a46cd | 930 | |
| Davidroid | 0:2887415a46cd | 931 | /*** Component's Instance Variables ***/ |
| Davidroid | 0:2887415a46cd | 932 | |
| Davidroid | 0:2887415a46cd | 933 | /* ACTION 9 --------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 934 | * Declare here interrupt related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 935 | * Note that interrupt handling is platform dependent, see * |
| Davidroid | 10:c3824af0caf4 | 936 | * "Interrupt Related Methods" above. * |
| Davidroid | 10:c3824af0caf4 | 937 | * * |
| Davidroid | 10:c3824af0caf4 | 938 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 939 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 940 | * InterruptIn feature_irq; * |
| Davidroid | 0:2887415a46cd | 941 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 942 | /* Flag Interrupt. */ |
| Davidroid | 7:f7e0c3621f77 | 943 | InterruptIn flag_irq; |
| Davidroid | 10:c3824af0caf4 | 944 | |
| Davidroid | 10:c3824af0caf4 | 945 | /* ACTION 10 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 946 | * Declare here other pin related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 947 | * * |
| Davidroid | 10:c3824af0caf4 | 948 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 949 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 950 | * DigitalOut standby_reset; * |
| Davidroid | 10:c3824af0caf4 | 951 | *------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 952 | /* Standby/reset pin. */ |
| Davidroid | 4:83a1eb397a65 | 953 | DigitalOut standby_reset; |
| Davidroid | 0:2887415a46cd | 954 | |
| Davidroid | 0:2887415a46cd | 955 | /* Direction of rotation pin. */ |
| Davidroid | 0:2887415a46cd | 956 | DigitalOut direction; |
| Davidroid | 0:2887415a46cd | 957 | |
| Davidroid | 0:2887415a46cd | 958 | /* Pulse Width Modulation pin. */ |
| Davidroid | 0:2887415a46cd | 959 | PwmOut pwm; |
| Davidroid | 0:2887415a46cd | 960 | |
| Davidroid | 10:c3824af0caf4 | 961 | /* Timer to trigger the PWM callback at each PWM pulse. */ |
| Davidroid | 10:c3824af0caf4 | 962 | Ticker ticker; |
| Davidroid | 10:c3824af0caf4 | 963 | |
| Davidroid | 10:c3824af0caf4 | 964 | /* ACTION 11 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 965 | * Declare here communication related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 966 | * * |
| Davidroid | 10:c3824af0caf4 | 967 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 968 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 969 | * DigitalOut ssel; * |
| Davidroid | 10:c3824af0caf4 | 970 | * DevSPI &dev_spi; * |
| Davidroid | 10:c3824af0caf4 | 971 | *------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 972 | /* Configuration. */ |
| Davidroid | 4:83a1eb397a65 | 973 | DigitalOut ssel; |
| Davidroid | 0:2887415a46cd | 974 | |
| Davidroid | 0:2887415a46cd | 975 | /* IO Device. */ |
| Davidroid | 0:2887415a46cd | 976 | DevSPI &dev_spi; |
| Davidroid | 0:2887415a46cd | 977 | |
| Davidroid | 10:c3824af0caf4 | 978 | /* ACTION 12 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 979 | * Declare here identity related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 980 | * Note that there should be only a unique identifier for each component, * |
| Davidroid | 10:c3824af0caf4 | 981 | * which should be the "who_am_i" parameter. * |
| Davidroid | 10:c3824af0caf4 | 982 | *------------------------------------------------------------------------*/ |
| Davidroid | 10:c3824af0caf4 | 983 | /* Identity */ |
| Davidroid | 10:c3824af0caf4 | 984 | uint8_t who_am_i; |
| Davidroid | 4:83a1eb397a65 | 985 | |
| Davidroid | 10:c3824af0caf4 | 986 | /* ACTION 13 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 987 | * Declare here the component's static and non-static data, one variable * |
| Davidroid | 10:c3824af0caf4 | 988 | * per line. * |
| Davidroid | 0:2887415a46cd | 989 | * * |
| Davidroid | 0:2887415a46cd | 990 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 991 | * float measure; * |
| Davidroid | 10:c3824af0caf4 | 992 | * int instance_id; * |
| Davidroid | 10:c3824af0caf4 | 993 | * static int number_of_instances; * |
| Davidroid | 0:2887415a46cd | 994 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 995 | /* Data. */ |
| Davidroid | 18:2d6ab2b93685 | 996 | void (*error_handler_callback)(uint16_t error); |
| Davidroid | 18:2d6ab2b93685 | 997 | deviceParams_t device_prm; |
| Davidroid | 18:2d6ab2b93685 | 998 | uint8_t device_instance; |
| Davidroid | 7:f7e0c3621f77 | 999 | |
| Davidroid | 7:f7e0c3621f77 | 1000 | /* Static data. */ |
| Davidroid | 18:2d6ab2b93685 | 1001 | static uint8_t number_of_devices; |
| Davidroid | 18:2d6ab2b93685 | 1002 | static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 18:2d6ab2b93685 | 1003 | static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 1004 | |
| Davidroid | 7:f7e0c3621f77 | 1005 | |
| Davidroid | 7:f7e0c3621f77 | 1006 | public: |
| Davidroid | 7:f7e0c3621f77 | 1007 | |
| Davidroid | 7:f7e0c3621f77 | 1008 | /* Static data. */ |
| Davidroid | 18:2d6ab2b93685 | 1009 | static bool spi_preemtion_by_isr; |
| Davidroid | 18:2d6ab2b93685 | 1010 | static bool isr_flag; |
| Davidroid | 0:2887415a46cd | 1011 | }; |
| Davidroid | 0:2887415a46cd | 1012 | |
| Davidroid | 0:2887415a46cd | 1013 | #endif // __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 1014 | |
| Davidroid | 0:2887415a46cd | 1015 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
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Repository details
| Type: | Library |
|---|---|
| Created: | 10 Dec 2015 |
| Imports: | 176 |
| Forks: | 6 |
| Commits: | 36 |
| Dependents: | 34 |
| Dependencies: | 2 |
| Followers: | 412 |
The code in this repository is Apache licensed.
Components
X-NUCLEO-IHM01A1 Stepper Motor Driver