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
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
D4
pin to the IHM01A1’sD9
pin; - to initialize the pwm PinName variable with
D4
rather 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
D4
pin to the IHM01A1’sD8
pin; - to initialize the standby_reset PinName variable with
D4
rather thanD8
.
- to connect with a wire from the FRDM’s
Example Applications
- HelloWorld_IHM01A1
- HelloWorld_IHM01A1_2Motors
- MotorControl_IHM01A1
- MemsMotorControl
- MemsMotorControl_IHM01A1_IKS01A2
Diff: Components/l6474/L6474_def.h
- Revision:
- 35:974ca699c792
- Parent:
- 34:27da297c361c
--- a/Components/l6474/L6474_def.h Fri Mar 10 14:07:49 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,600 +0,0 @@ -/** - ****************************************************************************** - * @file L6474_def.h - * @author IPC Rennes - * @version V1.5.0 - * @date November 12, 2014 - * @brief Header for L6474 driver (fully integrated microstepping motor driver) - * @note (C) COPYRIGHT 2014 STMicroelectronics - ****************************************************************************** - * @attention - * - * <h2><center>© 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_H -#define __L6474_H - -#ifdef __cplusplus - extern "C" { -#endif - - -/* Includes ------------------------------------------------------------------*/ - -#include "L6474_config.h" -#include "../Common/motor_def.h" - - -/* Definitions ---------------------------------------------------------------*/ - -/** @addtogroup BSP - * @{ - */ - -/** @addtogroup Components - * @{ - */ - -/** @addtogroup L6474 - * @{ - */ - -/** @defgroup L6474_Exported_Defines L6474_Exported_Defines - * @{ - */ - -/// Current FW version -#define L6474_FW_VERSION (5) - -/// L6474 max number of bytes of command & arguments to set a parameter -#define L6474_CMD_ARG_MAX_NB_BYTES (4) - -/// L6474 command + argument bytes number for GET_STATUS command -#define L6474_CMD_ARG_NB_BYTES_GET_STATUS (1) - -/// L6474 response bytes number -#define L6474_RSP_NB_BYTES_GET_STATUS (2) - -/// L6474 value mask for ABS_POS register -#define L6474_ABS_POS_VALUE_MASK ((uint32_t) 0x003FFFFF) - -/// L6474 sign bit mask for ABS_POS register -#define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000) - - -/* Types ---------------------------------------------------------------------*/ - -/** @defgroup L6474_Exported_Types - * @{ - */ - -/** @defgroup L6474_Fast_Decay_Time_Options - * @{ - */ -///TOFF_FAST values for T_FAST register -typedef enum { - L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4), - L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4), - L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4), - L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4), - L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4), - L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4), - L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4), - L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4), - L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4), - L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4), - L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4), - L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4), - L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4), - L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4), - L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4), - L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4) -} L6474_TOFF_FAST_t; -/** - * @} - */ - -/** @defgroup L6474_Fall_Step_Time_Options - * @{ - */ -///FAST_STEP values for T_FAST register -typedef enum { - L6474_FAST_STEP_2us = ((uint8_t) 0x00), - L6474_FAST_STEP_4us = ((uint8_t) 0x01), - L6474_FAST_STEP_6us = ((uint8_t) 0x02), - L6474_FAST_STEP_8us = ((uint8_t) 0x03), - L6474_FAST_STEP_10us = ((uint8_t) 0x04), - L6474_FAST_STEP_12us = ((uint8_t) 0x05), - L6474_FAST_STEP_14us = ((uint8_t) 0x06), - L6474_FAST_STEP_16us = ((uint8_t) 0x07), - L6474_FAST_STEP_18us = ((uint8_t) 0x08), - L6474_FAST_STEP_20us = ((uint8_t) 0x09), - L6474_FAST_STEP_22us = ((uint8_t) 0x0A), - L6474_FAST_STEP_24us = ((uint8_t) 0x0B), - L6474_FAST_STEP_26us = ((uint8_t) 0x0C), - L6474_FAST_STEP_28us = ((uint8_t) 0x0D), - L6474_FAST_STEP_30us = ((uint8_t) 0x0E), - L6474_FAST_STEP_32us = ((uint8_t) 0x0F) -} L6474_FAST_STEP_t; -/** - * @} - */ - -/** @defgroup L6474_Overcurrent_Threshold_options - * @{ - */ -///OCD_TH register -typedef enum { - L6474_OCD_TH_375mA = ((uint8_t) 0x00), - L6474_OCD_TH_750mA = ((uint8_t) 0x01), - L6474_OCD_TH_1125mA = ((uint8_t) 0x02), - L6474_OCD_TH_1500mA = ((uint8_t) 0x03), - L6474_OCD_TH_1875mA = ((uint8_t) 0x04), - L6474_OCD_TH_2250mA = ((uint8_t) 0x05), - L6474_OCD_TH_2625mA = ((uint8_t) 0x06), - L6474_OCD_TH_3000mA = ((uint8_t) 0x07), - L6474_OCD_TH_3375mA = ((uint8_t) 0x08), - L6474_OCD_TH_3750mA = ((uint8_t) 0x09), - L6474_OCD_TH_4125mA = ((uint8_t) 0x0A), - L6474_OCD_TH_4500mA = ((uint8_t) 0x0B), - L6474_OCD_TH_4875mA = ((uint8_t) 0x0C), - L6474_OCD_TH_5250mA = ((uint8_t) 0x0D), - L6474_OCD_TH_5625mA = ((uint8_t) 0x0E), - L6474_OCD_TH_6000mA = ((uint8_t) 0x0F) -} L6474_OCD_TH_t; -/** - * @} - */ - -/** @defgroup L6474_STEP_MODE_Register_Masks - * @{ - */ -///STEP_MODE register -typedef enum { - L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07), - L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70) -} L6474_STEP_MODE_Masks_t; -/** - * @} - */ - -/** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register - * @{ - */ -///STEP_SEL field of STEP_MODE register -typedef enum { - L6474_STEP_SEL_1 = ((uint8_t) 0x08), //full step - L6474_STEP_SEL_1_2 = ((uint8_t) 0x09), //half step - L6474_STEP_SEL_1_4 = ((uint8_t) 0x0A), //1/4 microstep - L6474_STEP_SEL_1_8 = ((uint8_t) 0x0B), //1/8 microstep - L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C) //1/16 microstep -} L6474_STEP_SEL_t; -/** - * @} - */ - -/** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register - * @{ - */ -///SYNC_SEL field of STEP_MODE register -typedef enum { - L6474_SYNC_SEL_1_2 = ((uint8_t) 0x80), - L6474_SYNC_SEL_1 = ((uint8_t) 0x90), - L6474_SYNC_SEL_2 = ((uint8_t) 0xA0), - L6474_SYNC_SEL_4 = ((uint8_t) 0xB0), - L6474_SYNC_SEL_8 = ((uint8_t) 0xC0), - L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0) -} L6474_SYNC_SEL_t; -/** - * @} - */ - -/** @defgroup L6474_ALARM_EN_Register_Options - * @{ - */ -///ALARM_EN register -typedef enum { - L6474_ALARM_EN_OVERCURRENT = ((uint8_t) 0x01), - L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02), - L6474_ALARM_EN_THERMAL_WARNING = ((uint8_t) 0x04), - L6474_ALARM_EN_UNDERVOLTAGE = ((uint8_t) 0x08), - L6474_ALARM_EN_SW_TURN_ON = ((uint8_t) 0x40), - L6474_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t) 0x80) -} L6474_ALARM_EN_t; -/** - * @} - */ - -/** @defgroup L6474_CONFIG_Register_Masks - * @{ - */ -///CONFIG register -typedef enum { - L6474_CONFIG_OSC_SEL = ((uint16_t) 0x0007), - L6474_CONFIG_EXT_CLK = ((uint16_t) 0x0008), - L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020), - L6474_CONFIG_OC_SD = ((uint16_t) 0x0080), - L6474_CONFIG_POW_SR = ((uint16_t) 0x0300), - L6474_CONFIG_TOFF = ((uint16_t) 0x7C00) -} L6474_CONFIG_Masks_t; -/** - * @} - */ - -/** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register - * @{ - */ -///Clock source option for CONFIG register -typedef enum { - L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000), - L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t) 0x0008), - L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t) 0x0009), - L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t) 0x000A), - L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t) 0x000B), - L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t) 0x0004), - L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t) 0x0005), - L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t) 0x0006), - L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t) 0x0007), - L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t) 0x000C), - L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D), - L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E), - L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F) -} L6474_CONFIG_OSC_MGMT_t; -/** - * @} - */ - -/** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register - * @{ - */ -///External Torque regulation options for CONFIG register -typedef enum { - L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000), - L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020) -} L6474_CONFIG_EN_TQREG_t; -/** - * @} - */ - -/** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register - * @{ - */ -///Over Current Shutdown options for CONFIG register -typedef enum { - L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000), - L6474_CONFIG_OC_SD_ENABLE = ((uint16_t) 0x0080) -} L6474_CONFIG_OC_SD_t; -/** - * @} - */ - -/** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options - * @{ - */ -/// POW_SR values for CONFIG register -typedef enum { - L6474_CONFIG_SR_320V_us =((uint16_t)0x0000), - L6474_CONFIG_SR_075V_us =((uint16_t)0x0100), - L6474_CONFIG_SR_110V_us =((uint16_t)0x0200), - L6474_CONFIG_SR_260V_us =((uint16_t)0x0300) -} L6474_CONFIG_POW_SR_t; -/** - * @} - */ - -/** @defgroup L6474_Off_Time_Options - * @{ - */ -/// TOFF values for CONFIG register -typedef enum { - L6474_CONFIG_TOFF_004us = (((uint16_t) 0x01) << 10), - L6474_CONFIG_TOFF_008us = (((uint16_t) 0x02) << 10), - L6474_CONFIG_TOFF_012us = (((uint16_t) 0x03) << 10), - L6474_CONFIG_TOFF_016us = (((uint16_t) 0x04) << 10), - L6474_CONFIG_TOFF_020us = (((uint16_t) 0x05) << 10), - L6474_CONFIG_TOFF_024us = (((uint16_t) 0x06) << 10), - L6474_CONFIG_TOFF_028us = (((uint16_t) 0x07) << 10), - L6474_CONFIG_TOFF_032us = (((uint16_t) 0x08) << 10), - L6474_CONFIG_TOFF_036us = (((uint16_t) 0x09) << 10), - L6474_CONFIG_TOFF_040us = (((uint16_t) 0x0A) << 10), - L6474_CONFIG_TOFF_044us = (((uint16_t) 0x0B) << 10), - L6474_CONFIG_TOFF_048us = (((uint16_t) 0x0C) << 10), - L6474_CONFIG_TOFF_052us = (((uint16_t) 0x0D) << 10), - L6474_CONFIG_TOFF_056us = (((uint16_t) 0x0E) << 10), - L6474_CONFIG_TOFF_060us = (((uint16_t) 0x0F) << 10), - L6474_CONFIG_TOFF_064us = (((uint16_t) 0x10) << 10), - L6474_CONFIG_TOFF_068us = (((uint16_t) 0x11) << 10), - L6474_CONFIG_TOFF_072us = (((uint16_t) 0x12) << 10), - L6474_CONFIG_TOFF_076us = (((uint16_t) 0x13) << 10), - L6474_CONFIG_TOFF_080us = (((uint16_t) 0x14) << 10), - L6474_CONFIG_TOFF_084us = (((uint16_t) 0x15) << 10), - L6474_CONFIG_TOFF_088us = (((uint16_t) 0x16) << 10), - L6474_CONFIG_TOFF_092us = (((uint16_t) 0x17) << 10), - L6474_CONFIG_TOFF_096us = (((uint16_t) 0x18) << 10), - L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10), - L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10), - L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10), - L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10), - L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10), - L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10), - L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10) -} L6474_CONFIG_TOFF_t; -/** - * @} - */ - -/** @defgroup L6474_STATUS_Register_Bit_Masks - * @{ - */ -///STATUS Register Bit Masks -typedef enum { - L6474_STATUS_HIZ = (((uint16_t) 0x0001)), - L6474_STATUS_DIR = (((uint16_t) 0x0010)), - L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)), - L6474_STATUS_WRONG_CMD = (((uint16_t) 0x0100)), - L6474_STATUS_UVLO = (((uint16_t) 0x0200)), - L6474_STATUS_TH_WRN = (((uint16_t) 0x0400)), - L6474_STATUS_TH_SD = (((uint16_t) 0x0800)), - L6474_STATUS_OCD = (((uint16_t) 0x1000)) -} L6474_STATUS_Masks_t; -/** - * @} - */ - -/** @defgroup L6474_Direction_Field_Of_STATUS_Register - * @{ - */ -///Diretion field of STATUS register -typedef enum { - L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4), - L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4) -} L6474_STATUS_DIR_t; -/** - * @} - */ - -/** @defgroup L6474_Internal_Register_Addresses - * @{ - */ -/// Internal L6474 register addresses -typedef enum { - L6474_ABS_POS = ((uint8_t) 0x01), - L6474_EL_POS = ((uint8_t) 0x02), - L6474_MARK = ((uint8_t) 0x03), - L6474_RESERVED_REG01 = ((uint8_t) 0x04), - L6474_RESERVED_REG02 = ((uint8_t) 0x05), - L6474_RESERVED_REG03 = ((uint8_t) 0x06), - L6474_RESERVED_REG04 = ((uint8_t) 0x07), - L6474_RESERVED_REG05 = ((uint8_t) 0x08), - L6474_RESERVED_REG06 = ((uint8_t) 0x15), - L6474_TVAL = ((uint8_t) 0x09), - L6474_RESERVED_REG07 = ((uint8_t) 0x0A), - L6474_RESERVED_REG08 = ((uint8_t) 0x0B), - L6474_RESERVED_REG09 = ((uint8_t) 0x0C), - L6474_RESERVED_REG10 = ((uint8_t) 0x0D), - L6474_T_FAST = ((uint8_t) 0x0E), - L6474_TON_MIN = ((uint8_t) 0x0F), - L6474_TOFF_MIN = ((uint8_t) 0x10), - L6474_RESERVED_REG11 = ((uint8_t) 0x11), - L6474_ADC_OUT = ((uint8_t) 0x12), - L6474_OCD_TH = ((uint8_t) 0x13), - L6474_RESERVED_REG12 = ((uint8_t) 0x14), - L6474_STEP_MODE = ((uint8_t) 0x16), - L6474_ALARM_EN = ((uint8_t) 0x17), - L6474_CONFIG = ((uint8_t) 0x18), - L6474_STATUS = ((uint8_t) 0x19), - L6474_RESERVED_REG13 = ((uint8_t) 0x1A), - L6474_RESERVED_REG14 = ((uint8_t) 0x1B), - L6474_INEXISTENT_REG = ((uint8_t) 0x1F) -} L6474_Registers_t; -/** - * @} - */ - -/** @defgroup L6474_Command_Set - * @{ - */ -/// L6474 command set -typedef enum { - L6474_NOP = ((uint8_t) 0x00), - L6474_SET_PARAM = ((uint8_t) 0x00), - L6474_GET_PARAM = ((uint8_t) 0x20), - L6474_ENABLE = ((uint8_t) 0xB8), - L6474_DISABLE = ((uint8_t) 0xA8), - L6474_GET_STATUS = ((uint8_t) 0xD0), - L6474_RESERVED_CMD1 = ((uint8_t) 0xEB), - L6474_RESERVED_CMD2 = ((uint8_t) 0xF8) -} L6474_Commands_t; - -/** - * @brief L6474 driver initialization structure definition. - */ -/* ACTION --------------------------------------------------------------------* - * Declare here the component's initialization structure, if any, one * - * variable per line without initialization. * - * * - * Example: * - * typedef struct * - * { * - * int frequency; * - * int update_mode; * - * } COMPONENT_Init_t; * - *----------------------------------------------------------------------------*/ -typedef struct -{ - /* Acceleration rate in pps^2. Range: (0..+inf). */ - int acceleration_pps_2; - - /* Deceleration rate in pps^2. Range: (0..+inf). */ - int deceleration_pps_2; - - /* Maximum speed in pps. Range: (30..10000]. */ - int maximum_speed_pps; - - /* Minimum speed in pps. Range: [30..10000). */ - int minimum_speed_pps; - - /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */ - float torque_regulation_current_mA; - - /* Overcurrent threshold (OCD_TH register). */ - L6474_OCD_TH_t overcurrent_threshold; - - /* Overcurrent shutwdown (OC_SD field of CONFIG register). */ - L6474_CONFIG_OC_SD_t overcurrent_shutwdown; - - /* Torque regulation method (EN_TQREG field of CONFIG register). */ - L6474_CONFIG_EN_TQREG_t torque_regulation_method; - - /* Step selection (STEP_SEL field of STEP_MODE register). */ - L6474_STEP_SEL_t step_selection; - - /* Sync selection (SYNC_SEL field of STEP_MODE register). */ - L6474_SYNC_SEL_t sync_selection; - - /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */ - L6474_FAST_STEP_t fall_time; - - /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */ - L6474_TOFF_FAST_t maximum_fast_decay_time; - - /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */ - float minimum_ON_time_us; - - /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */ - float minimum_OFF_time_us; - - /* Target Swicthing Period (field TOFF of CONFIG register). */ - L6474_CONFIG_TOFF_t target_swicthing_period; - - /* Slew rate (POW_SR field of CONFIG register). */ - L6474_CONFIG_POW_SR_t slew_rate; - - /* Clock setting (OSC_CLK_SEL field of CONFIG register). */ - L6474_CONFIG_OSC_MGMT_t clock; - - /* Alarm (ALARM_EN register). */ - int alarm; -} L6474_init_t; - -/** - * @brief L6474 driver data structure definition. - */ -/* ACTION --------------------------------------------------------------------* - * Declare here the structure of component's data, if any, one variable per * - * line without initialization. * - * * - * Example: * - * typedef struct * - * { * - * int T0_out; * - * int T1_out; * - * float T0_degC; * - * float T1_degC; * - * } COMPONENT_Data_t; * - *----------------------------------------------------------------------------*/ -typedef struct -{ - /// Function pointer to flag interrupt call back - void (*flagInterruptCallback)(void); - /// Function pointer to error handler call back - void (*errorHandlerCallback)(uint16_t error); - bool spiPreemtionByIsr; // = FALSE; - bool isrFlag; // = FALSE; - /// L6474 Device Paramaters structure - deviceParams_t devicePrm; //[MAX_NUMBER_OF_DEVICES]; - uint8_t number_of_devices; - uint8_t device_instance; - uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; - uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; -} L6474_Data_t; - - -/* Functions -----------------------------------------------------------------*/ - -/** @addtogroup BSP - * @{ - */ - -/** @addtogroup Components - * @{ - */ - -/** @addtogroup L6474 - * @{ - */ - -/** @defgroup L6474_Imported_Functions L6474_Imported_Functions - * @{ - */ - -/* ACTION --------------------------------------------------------------------* - * Declare here extern platform-dependent APIs you might need (e.g.: I/O and * - * interrupt related functions), and implement them in a glue-logic file on * - * the target environment, for example within the "x_nucleo_board.c" file. * - * E.g.: * - * extern status_t COMPONENT_IO_Init (void *handle); * - * extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); * - * extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); * - * extern void COMPONENT_IO_ITConfig(void); * - *----------------------------------------------------------------------------*/ -///Delay of the requested number of milliseconds -extern void L6474_Delay(void *handle, uint32_t delay); -///Enable Irq -extern void L6474_EnableIrq(void *handle); -///Disable Irq -extern void L6474_DisableIrq(void *handle); -///Set PWM1 frequency and start it -extern void L6474_Pwm1SetFreq(void *handle, uint16_t newFreq); -///Set PWM2 frequency and start it -extern void L6474_Pwm2SetFreq(void *handle, uint16_t newFreq); -///Set PWM3 frequency and start it -extern void L6474_Pwm3SetFreq(void *handle, uint16_t newFreq); -///Init the PWM -extern void L6474_PwmInit(void *handle); -///Stop the PWM -extern void L6474_PwmStop(void *handle); -///Reset the L6474 reset pin -extern void L6474_ReleaseReset(void *handle); -///Set the L6474 reset pin -extern void L6474_Reset(void *handle); -///Set direction GPIO -extern void L6474_SetDirectionGpio(void *handle, uint8_t gpioState); -///Write bytes to the L6474s via SPI -extern uint8_t L6474_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte); - -#ifdef __cplusplus - } -#endif - -#endif /* #ifndef __L6474_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/