Motor Control Library

Diff: Components/l6474/L6474_config.h

Revision:

33:8daea0279301

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6474/L6474_config.h	Fri Mar 10 11:07:50 2017 +0100
@@ -0,0 +1,229 @@
+/**
+ ******************************************************************************
+ * @file    L6474_target_config.h
+ * @author  IPC Rennes
+ * @version V1.5.0
+ * @date    November 12, 2014
+ * @brief   Predefines values for the L6474 registers
+ * and for the devices parameters
+ * @note    (C) COPYRIGHT 2014 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6474_TARGET_CONFIG_H
+#define __L6474_TARGET_CONFIG_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup BSP
+  * @{
+  */   
+
+/** @addtogroup L6474
+  * @{
+  */   
+
+/** @addtogroup L6474_Exported_Constants
+  * @{
+  */   
+
+/** @defgroup Predefined_L6474_Registers_Values
+  * @{
+  */   
+   
+/// The maximum number of devices in the daisy chain
+#define MAX_NUMBER_OF_DEVICES                 (3)
+
+/************************ Speed Profile  *******************************/
+
+/// Acceleration rate in step/s2 for device 0 (must be greater than 0)
+#define L6474_CONF_PARAM_ACC_DEVICE_0        (160)
+/// Acceleration rate in step/s2 for device 1 (must be greater than 0)
+#define L6474_CONF_PARAM_ACC_DEVICE_1        (160)
+/// Acceleration rate in step/s2 for device 2 (must be greater than 0)
+#define L6474_CONF_PARAM_ACC_DEVICE_2        (160)
+
+/// Deceleration rate in step/s2 for device 0 (must be greater than 0)
+#define L6474_CONF_PARAM_DEC_DEVICE_0        (160)
+/// Deceleration rate in step/s2 for device 1 (must be greater than 0)
+#define L6474_CONF_PARAM_DEC_DEVICE_1        (160)
+/// Deceleration rate in step/s2 for device 2 (must be greater than 0)
+#define L6474_CONF_PARAM_DEC_DEVICE_2        (160)
+
+/// Maximum speed in step/s for device 0 (30 step/s < Maximum speed <= 10 000 step/s )
+#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_0  (1600)
+/// Maximum speed in step/s for device 1 (30 step/s < Maximum speed <= 10 000 step/s )
+#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_1  (1600)
+/// Maximum speed in step/s for device 2 (30 step/s < Maximum speed <= 10 000 step/s )
+#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_2  (1600)
+
+/// Minimum speed in step/s for device 0 (30 step/s <= Minimum speed < 10 000 step/s)
+#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_0  (800)
+/// Minimum speed in step/s for device 1 (30 step/s <= Minimum speed < 10 000 step/s)
+#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_1  (800)
+/// Minimum speed in step/s for device 2 (30 step/s <= Minimum speed < 10 000 step/s)
+#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_2  (800)
+
+
+/************************ Phase Current Control *******************************/
+
+// Current value that is assigned to the torque regulation DAC
+/// TVAL register value for device 0 (range 31.25mA to 4000mA)
+#define L6474_CONF_PARAM_TVAL_DEVICE_0  (250)
+/// TVAL register value for device 1 (range 31.25mA to 4000mA)
+#define L6474_CONF_PARAM_TVAL_DEVICE_1  (250)
+/// TVAL register value for device 2 (range 31.25mA to 4000mA)
+#define L6474_CONF_PARAM_TVAL_DEVICE_2  (250)
+
+/// Fall time value (T_FAST field of T_FAST register) for device 0 (range 2us to 32us)
+#define L6474_CONF_PARAM_FAST_STEP_DEVICE_0  (L6474_FAST_STEP_12us)
+/// Fall time value (T_FAST field of T_FAST register) for device 1 (range 2us to 32us)
+#define L6474_CONF_PARAM_FAST_STEP_DEVICE_1  (L6474_FAST_STEP_12us)
+/// Fall time value (T_FAST field of T_FAST register) for device 2 (range 2us to 32us)
+#define L6474_CONF_PARAM_FAST_STEP_DEVICE_2  (L6474_FAST_STEP_12us)
+
+/// Maximum fast decay time (T_OFF field of T_FAST register) for device 0 (range 2us to 32us)
+#define L6474_CONF_PARAM_TOFF_FAST_DEVICE_0  (L6474_TOFF_FAST_8us)
+/// Maximum fast decay time (T_OFF field of T_FAST register) for device 1 (range 2us to 32us)
+#define L6474_CONF_PARAM_TOFF_FAST_DEVICE_1  (L6474_TOFF_FAST_8us)
+/// Maximum fast decay time (T_OFF field of T_FAST register) for device 2 (range 2us to 32us)
+#define L6474_CONF_PARAM_TOFF_FAST_DEVICE_2  (L6474_TOFF_FAST_8us)
+
+/// Minimum ON time (TON_MIN register) for device 0 (range 0.5us to 64us)
+#define L6474_CONF_PARAM_TON_MIN_DEVICE_0 (3)
+/// Minimum ON time (TON_MIN register) for device 1 (range 0.5us to 64us)
+#define L6474_CONF_PARAM_TON_MIN_DEVICE_1 (3)
+/// Minimum ON time (TON_MIN register) for device 2 (range 0.5us to 64us)
+#define L6474_CONF_PARAM_TON_MIN_DEVICE_2 (3)
+
+/// Minimum OFF time (TOFF_MIN register) for device 0 (range 0.5us to 64us)
+#define L6474_CONF_PARAM_TOFF_MIN_DEVICE_0 (21)
+/// Minimum OFF time (TOFF_MIN register) for device 1 (range 0.5us to 64us)
+#define L6474_CONF_PARAM_TOFF_MIN_DEVICE_1 (21)
+/// Minimum OFF time (TOFF_MIN register) for device 2 (range 0.5us to 64us)
+#define L6474_CONF_PARAM_TOFF_MIN_DEVICE_2 (21)
+
+/******************************* Others ***************************************/
+
+/// Overcurrent threshold settings for device 0 (OCD_TH register)
+#define L6474_CONF_PARAM_OCD_TH_DEVICE_0  (L6474_OCD_TH_750mA)
+/// Overcurrent threshold settings for device 1 (OCD_TH register)
+#define L6474_CONF_PARAM_OCD_TH_DEVICE_1  (L6474_OCD_TH_750mA)
+/// Overcurrent threshold settings for device 2 (OCD_TH register)
+#define L6474_CONF_PARAM_OCD_TH_DEVICE_2  (L6474_OCD_TH_750mA)
+
+/// Alarm settings for device 0 (ALARM_EN register)
+#define L6474_CONF_PARAM_ALARM_EN_DEVICE_0  (L6474_ALARM_EN_OVERCURRENT |\
+                                             L6474_ALARM_EN_THERMAL_SHUTDOWN |\
+                                             L6474_ALARM_EN_THERMAL_WARNING |\
+                                             L6474_ALARM_EN_UNDERVOLTAGE |\
+                                             L6474_ALARM_EN_SW_TURN_ON |\
+                                             L6474_ALARM_EN_WRONG_NPERF_CMD)
+
+///Alarm settings for device 1 (ALARM_EN register)
+#define L6474_CONF_PARAM_ALARM_EN_DEVICE_1  (L6474_ALARM_EN_OVERCURRENT |\
+                                             L6474_ALARM_EN_THERMAL_SHUTDOWN |\
+                                             L6474_ALARM_EN_THERMAL_WARNING |\
+                                             L6474_ALARM_EN_UNDERVOLTAGE |\
+                                             L6474_ALARM_EN_SW_TURN_ON |\
+                                             L6474_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Alarm settings for device 2 (ALARM_EN register)
+#define L6474_CONF_PARAM_ALARM_EN_DEVICE_2  (L6474_ALARM_EN_OVERCURRENT |\
+                                             L6474_ALARM_EN_THERMAL_SHUTDOWN |\
+                                             L6474_ALARM_EN_THERMAL_WARNING |\
+                                             L6474_ALARM_EN_UNDERVOLTAGE |\
+                                             L6474_ALARM_EN_SW_TURN_ON |\
+                                             L6474_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Step selection settings for device 0 (STEP_SEL field of STEP_MODE register)
+#define L6474_CONF_PARAM_STEP_SEL_DEVICE_0  (L6474_STEP_SEL_1_16)
+/// Step selection settings for device 1 (STEP_SEL field of STEP_MODE register)
+#define L6474_CONF_PARAM_STEP_SEL_DEVICE_1  (L6474_STEP_SEL_1_16)
+/// Step selection settings for device 2 (STEP_SEL field of STEP_MODE register)
+#define L6474_CONF_PARAM_STEP_SEL_DEVICE_2  (L6474_STEP_SEL_1_16)
+
+/// Synch. selection settings for device 0 (SYNC_SEL field of STEP_MODE register)
+#define L6474_CONF_PARAM_SYNC_SEL_DEVICE_0  (L6474_SYNC_SEL_1_2)
+/// Synch. selection settings for device 1 (SYNC_SEL field of STEP_MODE register)
+#define L6474_CONF_PARAM_SYNC_SEL_DEVICE_1  (L6474_SYNC_SEL_1_2)
+/// Synch. selection settings for device 2 (SYNC_SEL field of STEP_MODE register)
+#define L6474_CONF_PARAM_SYNC_SEL_DEVICE_2  (L6474_SYNC_SEL_1_2)
+
+/// Target Swicthing Period for device 0 (field TOFF of CONFIG register)
+#define L6474_CONF_PARAM_TOFF_DEVICE_0  (L6474_CONFIG_TOFF_044us)
+/// Target Swicthing Period for device 1 (field TOFF of CONFIG register)
+#define L6474_CONF_PARAM_TOFF_DEVICE_1  (L6474_CONFIG_TOFF_044us)
+/// Target Swicthing Period for device 2 (field TOFF of CONFIG register)
+#define L6474_CONF_PARAM_TOFF_DEVICE_2  (L6474_CONFIG_TOFF_044us)
+
+/// Slew rate for device 0 (POW_SR field of CONFIG register)
+#define L6474_CONF_PARAM_SR_DEVICE_0  (L6474_CONFIG_SR_320V_us)
+/// Slew rate for device 1 (POW_SR field of CONFIG register)
+#define L6474_CONF_PARAM_SR_DEVICE_1  (L6474_CONFIG_SR_320V_us)
+/// Slew rate for device 2 (POW_SR field of CONFIG register)
+#define L6474_CONF_PARAM_SR_DEVICE_2  (L6474_CONFIG_SR_320V_us)
+
+/// Over current shutwdown enabling for device 0 (OC_SD field of CONFIG register)
+#define L6474_CONF_PARAM_OC_SD_DEVICE_0  (L6474_CONFIG_OC_SD_ENABLE)
+/// Over current shutwdown enabling for device 1 (OC_SD field of CONFIG register)
+#define L6474_CONF_PARAM_OC_SD_DEVICE_1  (L6474_CONFIG_OC_SD_ENABLE)
+/// Over current shutwdown enabling for device 2 (OC_SD field of CONFIG register)
+#define L6474_CONF_PARAM_OC_SD_DEVICE_2  (L6474_CONFIG_OC_SD_ENABLE)
+
+/// Torque regulation method for device 0 (EN_TQREG field of CONFIG register)
+#define L6474_CONF_PARAM_TQ_REG_DEVICE_0  (L6474_CONFIG_EN_TQREG_TVAL_USED)
+///Torque regulation method for device 1 (EN_TQREG field of CONFIG register)
+#define L6474_CONF_PARAM_TQ_REG_DEVICE_1  (L6474_CONFIG_EN_TQREG_TVAL_USED)
+/// Torque regulation method for device 2 (EN_TQREG field of CONFIG register)
+#define L6474_CONF_PARAM_TQ_REG_DEVICE_2  (L6474_CONFIG_EN_TQREG_TVAL_USED)
+
+/// Clock setting for device 0 (OSC_CLK_SEL field of CONFIG register)
+#define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0  (L6474_CONFIG_INT_16MHZ)
+/// Clock setting for device 1 (OSC_CLK_SEL field of CONFIG register)
+#define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1  (L6474_CONFIG_INT_16MHZ)
+/// Clock setting for device 2 (OSC_CLK_SEL field of CONFIG register)
+#define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2  (L6474_CONFIG_INT_16MHZ)
+
+#ifdef __cplusplus
+  }
+#endif
+
+#endif /* __L6474_TARGET_CONFIG_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/