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.h
- Revision:
- 35:974ca699c792
- Parent:
- 34:27da297c361c
diff -r 27da297c361c -r 974ca699c792 Components/l6474/L6474.h --- a/Components/l6474/L6474.h Fri Mar 10 14:07:49 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1018 +0,0 @@ -/** - ****************************************************************************** - * @file L6474.h - * @author Davide Aliprandi, STMicroelectronics - * @version V1.0.0 - * @date October 14th, 2015 - * @brief This file contains the class of an L6474 Motor Control component. - ****************************************************************************** - * @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. - * - ****************************************************************************** - */ - - -/* Generated with STM32CubeTOO -----------------------------------------------*/ - - -/* Revision ------------------------------------------------------------------*/ -/* - Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev - Branch/Trunk/Tag: trunk - Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h - Revision: 0 -*/ - - -/* Define to prevent recursive inclusion -------------------------------------*/ - -#ifndef __L6474_CLASS_H -#define __L6474_CLASS_H - - -/* Includes ------------------------------------------------------------------*/ - -/* ACTION 1 ------------------------------------------------------------------* - * Include here platform specific header files. * - *----------------------------------------------------------------------------*/ -#include "mbed.h" -#include "DevSPI.h" -/* ACTION 2 ------------------------------------------------------------------* - * Include here component specific header files. * - *----------------------------------------------------------------------------*/ -#include "L6474_def.h" -/* ACTION 3 ------------------------------------------------------------------* - * Include here interface specific header files. * - * * - * Example: * - * #include "HumiditySensor.h" * - * #include "TemperatureSensor.h" * - *----------------------------------------------------------------------------*/ -#include "StepperMotor.h" - - -/* Classes -------------------------------------------------------------------*/ - -/** - * @brief Class representing an L6474 component. - */ -class L6474 : public StepperMotor -{ -public: - - /*** Constructor and Destructor Methods ***/ - - /** - * @brief Constructor. - * @param flag_irq pin name of the FLAG pin of the component. - * @param standby_reset pin name of the STBY\RST pin of the component. - * @param direction pin name of the DIR pin of the component. - * @param pwm pin name of the PWM pin of the component. - * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. - * @param spi SPI device to be used for communication. - */ - 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) - { - /* Checking stackability. */ - if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) { - error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES); - } - - /* ACTION 4 ----------------------------------------------------------* - * Initialize here the component's member variables, one variable per * - * line. * - * * - * Example: * - * measure = 0; * - * instance_id = number_of_instances++; * - *--------------------------------------------------------------------*/ - error_handler_callback = 0; - device_instance = number_of_devices++; - memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); - memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); - } - - /** - * @brief Destructor. - */ - virtual ~L6474(void) {} - - - /*** Public Component Related Methods ***/ - - /* ACTION 5 --------------------------------------------------------------* - * Implement here the component's public methods, as wrappers of the C * - * component's functions. * - * They should be: * - * + Methods with the same name of the C component's virtual table's * - * functions (1); * - * + Methods with the same name of the C component's extended virtual * - * table's functions, if any (2). * - * * - * Example: * - * virtual int get_value(float *p_data) //(1) * - * { * - * return COMPONENT_get_value(float *pf_data); * - * } * - * * - * virtual int enable_feature(void) //(2) * - * { * - * return COMPONENT_enable_feature(); * - * } * - *------------------------------------------------------------------------*/ - /** - * @brief Initializing the component in 1/16 Microstepping mode. - * @param init Pointer to device specific initalization structure. - * @retval "0" in case of success, an error code otherwise. - */ - virtual int init(void *init = NULL) - { - return (int) L6474_Init((void *) init); - } - - /** - * @brief Getting the ID of the component. - * @param id Pointer to an allocated variable to store the ID into. - * @retval "0" in case of success, an error code otherwise. - */ - virtual int read_id(uint8_t *id = NULL) - { - return (int) L6474_ReadID((uint8_t *) id); - } - - /** - * @brief Getting the value of the Status Register. - * @param None. - * @retval None. - * @note The Status Register's flags are cleared, contrary to the - * read_status_register() method. - */ - virtual unsigned int get_status(void) - { - return (unsigned int) L6474_CmdGetStatus(); - } - - /** - * @brief Getting a parameter. - * @param parameter A parameter's register address. - * @retval The parameter's value. - * @note The Status Register's flags are cleared, contrary to the - * read_status_register() method. - * The parameter can be one of the following: - * + L6474_ABS_POS - * + L6474_EL_POS - * + L6474_MARK - * + L6474_RESERVED_REG01 - * + L6474_RESERVED_REG02 - * + L6474_RESERVED_REG03 - * + L6474_RESERVED_REG04 - * + L6474_RESERVED_REG05 - * + L6474_RESERVED_REG06 - * + L6474_TVAL : value in mA - * + L6474_RESERVED_REG07 - * + L6474_RESERVED_REG08 - * + L6474_RESERVED_REG09 - * + L6474_RESERVED_REG10 - * + L6474_T_FAST - * + L6474_TON_MIN : value in us - * + L6474_TOFF_MIN : value in us - * + L6474_RESERVED_REG11 - * + L6474_ADC_OUT - * + L6474_OCD_TH - * + L6474_RESERVED_REG12 - * + L6474_STEP_MODE - * + L6474_ALARM_EN - * + L6474_CONFIG - * + L6474_STATUS - * + L6474_RESERVED_REG13 - * + L6474_RESERVED_REG14 - * + L6474_INEXISTENT_REG - */ - virtual float get_parameter(unsigned int parameter) - { - unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter); - float value; - - switch ((L6474_Registers_t) parameter) { - case L6474_TVAL: - value = L6474_Par_to_Tval_Current((float) register_value); - break; - case L6474_TON_MIN: - case L6474_TOFF_MIN: - value = L6474_Par_to_Tmin_Time((float) register_value); - break; - default: - value = (float) register_value; - break; - } - - return value; - } - - /** - * @brief Getting the position. - * @param None. - * @retval The position. - */ - virtual signed int get_position(void) - { - return (signed int) L6474_GetPosition(); - } - - /** - * @brief Getting the marked position. - * @param None. - * @retval The marked position. - */ - virtual signed int get_mark(void) - { - return (signed int) L6474_GetMark(); - } - - /** - * @brief Getting the current speed in pps. - * @param None. - * @retval The current speed in pps. - */ - virtual unsigned int get_speed(void) - { - return (unsigned int) L6474_GetCurrentSpeed(); - } - - /** - * @brief Getting the maximum speed in pps. - * @param None. - * @retval The maximum speed in pps. - */ - virtual unsigned int get_max_speed(void) - { - return (unsigned int) L6474_GetMaxSpeed(); - } - - /** - * @brief Getting the minimum speed in pps. - * @param None. - * @retval The minimum speed in pps. - */ - virtual unsigned int get_min_speed(void) - { - return (unsigned int) L6474_GetMinSpeed(); - } - - /** - * @brief Getting the acceleration in pps^2. - * @param None. - * @retval The acceleration in pps^2. - */ - virtual unsigned int get_acceleration(void) - { - return (unsigned int) L6474_GetAcceleration(); - } - - /** - * @brief Getting the deceleration in pps^2. - * @param None. - * @retval The deceleration in pps^2. - */ - virtual unsigned int get_deceleration(void) - { - return (unsigned int) L6474_GetDeceleration(); - } - - /** - * @brief Getting the direction of rotation. - * @param None. - * @retval The direction of rotation. - */ - virtual direction_t get_direction(void) - { - return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD); - } - - /** - * @brief Setting a parameter. - * @param parameter A parameter's register address. - * @param value The parameter's value. - * @retval None. - * @note The parameter can be one of the following: - * + L6474_ABS_POS - * + L6474_EL_POS - * + L6474_MARK - * + L6474_RESERVED_REG01 - * + L6474_RESERVED_REG02 - * + L6474_RESERVED_REG03 - * + L6474_RESERVED_REG04 - * + L6474_RESERVED_REG05 - * + L6474_RESERVED_REG06 - * + L6474_TVAL : value in mA - * + L6474_RESERVED_REG07 - * + L6474_RESERVED_REG08 - * + L6474_RESERVED_REG09 - * + L6474_RESERVED_REG10 - * + L6474_T_FAST - * + L6474_TON_MIN : value in us - * + L6474_TOFF_MIN : value in us - * + L6474_RESERVED_REG11 - * + L6474_ADC_OUT - * + L6474_OCD_TH - * + L6474_RESERVED_REG12 - * + L6474_STEP_MODE - * + L6474_ALARM_EN - * + L6474_CONFIG - * + L6474_STATUS - * + L6474_RESERVED_REG13 - * + L6474_RESERVED_REG14 - * + L6474_INEXISTENT_REG - * @warning Some registers can only be written in particular conditions (see L6474's datasheet). - * Any attempt to write one of those registers when the conditions are not satisfied - * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the - * last argument byte. Any attempt to set an inexistent register (wrong address value) - * causes the command to be ignored and the WRONG_CMD flag to rise. - * For example, setting some parameters requires first to disable the power bridge; - * this can be done through the soft_hiz() method. - * They are the following: - * + L6474_EL_POS - * + L6474_T_FAST - * + L6474_TON_MIN : value in us - * + L6474_TOFF_MIN : value in us - * + L6474_ADC_OUT - * + L6474_STEP_MODE - * + L6474_CONFIG - * + L6474_STATUS - */ - virtual void set_parameter(unsigned int parameter, float value) - { - float register_value; - - switch ((L6474_Registers_t) parameter) { - case L6474_TVAL: - register_value = L6474_Tval_Current_to_Par(value); - break; - case L6474_TON_MIN: - case L6474_TOFF_MIN: - register_value = L6474_Tmin_Time_to_Par(value); - break; - default: - register_value = value; - break; - } - - L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_value); - } - - /** - * @brief Setting the current position to be the home position. - * @param None. - * @retval None. - */ - virtual void set_home(void) - { - L6474_SetHome(); - } - - /** - * @brief Setting the current position to be the marked position. - * @param None. - * @retval None. - */ - virtual void set_mark(void) - { - L6474_SetMark(); - } - - /** - * @brief Setting the maximum speed in pps. - * @param speed The maximum speed in pps. - * @retval "true" in case of success, "false" otherwise. - */ - virtual bool set_max_speed(unsigned int speed) - { - L6474_SetMaxSpeed((unsigned int) speed); - return true; - } - - /** - * @brief Setting the minimum speed in pps. - * @param speed The minimum speed in pps. - * @retval "true" in case of success, "false" otherwise. - */ - virtual bool set_min_speed(unsigned int speed) - { - L6474_SetMinSpeed((unsigned int) speed); - return true; - } - - /** - * @brief Setting the acceleration in pps^2. - * @param acceleration The acceleration in pps^2. - * @retval "true" in case of success, "false" otherwise. - */ - virtual bool set_acceleration(unsigned int acceleration) - { - L6474_SetAcceleration((unsigned int) acceleration); - return true; - } - - /** - * @brief Setting the deceleration in pps^2. - * @param deceleration The deceleration in pps^2. - * @retval "true" in case of success, "false" otherwise. - */ - virtual bool set_deceleration(unsigned int deceleration) - { - L6474_SetDeceleration((unsigned int) deceleration); - return true; - } - - /** - * @brief Going to a specified position. - * @param position The desired position. - * @retval None. - */ - virtual void go_to(signed int position) - { - L6474_GoTo((signed int) position); - } - - /** - * @brief Going to the home position. - * @param None. - * @retval None. - */ - virtual void go_home(void) - { - L6474_GoHome(); - } - - /** - * @brief Going to the marked position. - * @param None. - * @retval None. - */ - virtual void go_mark(void) - { - L6474_GoMark(); - } - - /** - * @brief Running the motor towards a specified direction. - * @param direction The direction of rotation. - * @retval None. - */ - virtual void run(direction_t direction) - { - L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); - } - - /** - * @brief Moving the motor towards a specified direction for a certain number of steps. - * @param direction The direction of rotation. - * @param steps The desired number of steps. - * @retval None. - */ - virtual void move(direction_t direction, unsigned int steps) - { - L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps); - } - - /** - * @brief Stopping the motor through an immediate deceleration up to zero speed. - * @param None. - * @retval None. - */ - virtual void soft_stop(void) - { - L6474_SoftStop(); - } - - /** - * @brief Stopping the motor through an immediate infinite deceleration. - * @param None. - * @retval None. - */ - virtual void hard_stop(void) - { - L6474_HardStop(); - } - - /** - * @brief Disabling the power bridge after performing a deceleration to zero. - * @param None. - * @retval None. - */ - virtual void soft_hiz(void) - { - L6474_SoftStop(); - L6474_CmdDisable(); - } - - /** - * @brief Disabling the power bridge immediately. - * @param None. - * @retval None. - */ - virtual void hard_hiz(void) - { - L6474_HardStop(); - L6474_CmdDisable(); - } - - /** - * @brief Waiting while the motor is active. - * @param None. - * @retval None. - */ - virtual void wait_while_active(void) - { - L6474_WaitWhileActive(); - } - - /** - * @brief Getting the device state. - * @param None. - * @retval The device state. - * @note The device state can be one of the following: - * + ACCELERATING - * + DECELERATING - * + STEADY - * + INACTIVE - */ - virtual motorState_t get_device_state(void) - { - return (motorState_t) L6474_GetDeviceState(); - } - - /** - * @brief Reading the Status Register. - * @param None. - * @retval None. - * @note The Status Register's flags are not cleared, contrary to the - * GetStatus() method. - */ - virtual uint16_t read_status_register(void) - { - return (uint16_t) L6474_ReadStatusRegister(); - } - - /** - * @brief Setting the Step Mode. - * @param step_mode The Step Mode. - * @retval "true" in case of success, "false" otherwise. - * @warning Setting the step mode implies first disabling the power bridge through - * the soft_hiz() method. - * @warning Every time step mode is changed, the values of the home - * and mark positions lose meaning and are reset. - */ - virtual bool set_step_mode(step_mode_t step_mode) - { - if ((motorStepMode_t) step_mode > STEP_MODE_1_16) { - return false; - } - - soft_hiz(); - L6474_SelectStepMode((motorStepMode_t) step_mode); - return true; - } - - /** - * @brief Attaching an error handler. - * @param fptr An error handler. - * @retval None. - */ - virtual void attach_error_handler(void (*fptr)(uint16_t error)) - { - L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr); - } - - /** - * @brief Enabling the device. - * @param None. - * @retval None. - */ - virtual void enable(void) - { - L6474_CmdEnable(); - } - - /** - * @brief Disabling the device. - * @param None. - * @retval None. - */ - virtual void disable(void) - { - L6474_CmdDisable(); - } - - /** - * @brief Getting the version of the firmware. - * @param None. - * @retval The version of the firmware. - */ - virtual uint8_t get_fw_version(void) - { - return (uint8_t) L6474_GetFwVersion(); - } - - - /*** Public Interrupt Related Methods ***/ - - /* ACTION 6 --------------------------------------------------------------* - * Implement here interrupt related methods, if any. * - * Note that interrupt handling is platform dependent, e.g.: * - * + mbed: * - * InterruptIn feature_irq(pin); //Interrupt object. * - * feature_irq.rise(callback); //Attach a callback. * - * feature_irq.mode(PullNone); //Set interrupt mode. * - * feature_irq.enable_irq(); //Enable interrupt. * - * feature_irq.disable_irq(); //Disable interrupt. * - * + Arduino: * - * attachInterrupt(pin, callback, RISING); //Attach a callback. * - * detachInterrupt(pin); //Detach a callback. * - * * - * Example (mbed): * - * void attach_feature_irq(void (*fptr) (void)) * - * { * - * feature_irq.rise(fptr); * - * } * - * * - * void enable_feature_irq(void) * - * { * - * feature_irq.enable_irq(); * - * } * - * * - * void disable_feature_irq(void) * - * { * - * feature_irq.disable_irq(); * - * } * - *------------------------------------------------------------------------*/ - /** - * @brief Attaching an interrupt handler to the FLAG interrupt. - * @param fptr An interrupt handler. - * @retval None. - */ - void attach_flag_irq(void (*fptr)(void)) - { - flag_irq.fall(fptr); - } - - /** - * @brief Enabling the FLAG interrupt handling. - * @param None. - * @retval None. - */ - void enable_flag_irq(void) - { - flag_irq.enable_irq(); - } - - /** - * @brief Disabling the FLAG interrupt handling. - * @param None. - * @retval None. - */ - void disable_flag_irq(void) - { - flag_irq.disable_irq(); - } - - -protected: - - /*** Protected Component Related Methods ***/ - - /* ACTION 7 --------------------------------------------------------------* - * Declare here the component's specific methods. * - * They should be: * - * + Methods with the same name of the C component's virtual table's * - * functions (1); * - * + Methods with the same name of the C component's extended virtual * - * table's functions, if any (2); * - * + Helper methods, if any, like functions declared in the component's * - * source files but not pointed by the component's virtual table (3). * - * * - * Example: * - * status_t COMPONENT_get_value(float *f); //(1) * - * status_t COMPONENT_enable_feature(void); //(2) * - * status_t COMPONENT_compute_average(void); //(3) * - *------------------------------------------------------------------------*/ - void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); - status_t L6474_Init(void *init); - status_t L6474_ReadID(uint8_t *id); - uint16_t L6474_GetAcceleration(void); - uint16_t L6474_GetCurrentSpeed(void); - uint16_t L6474_GetDeceleration(void); - motorState_t L6474_GetDeviceState(void); - uint8_t L6474_GetFwVersion(void); - int32_t L6474_GetMark(void); - uint16_t L6474_GetMaxSpeed(void); - uint16_t L6474_GetMinSpeed(void); - int32_t L6474_GetPosition(void); - void L6474_GoHome(void); - void L6474_GoMark(void); - void L6474_GoTo(int32_t targetPosition); - void L6474_HardStop(void); - void L6474_Move(motorDir_t direction, uint32_t stepCount); - void L6474_Run(motorDir_t direction); - bool L6474_SetAcceleration(uint16_t newAcc); - bool L6474_SetDeceleration(uint16_t newDec); - void L6474_SetHome(void); - void L6474_SetMark(void); - bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); - bool L6474_SetMinSpeed(uint16_t newMinSpeed); - bool L6474_SoftStop(void); - void L6474_WaitWhileActive(void); - void L6474_CmdDisable(void); - void L6474_CmdEnable(void); - uint32_t L6474_CmdGetParam(L6474_Registers_t parameter); - uint16_t L6474_CmdGetStatus(void); - void L6474_CmdNop(void); - void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value); - uint16_t L6474_ReadStatusRegister(void); - void L6474_SelectStepMode(motorStepMode_t stepMod); - motorDir_t L6474_GetDirection(void); - void L6474_SetDirection(motorDir_t direction); - void L6474_ApplySpeed(uint16_t newSpeed); - void L6474_ComputeSpeedProfile(uint32_t nbSteps); - int32_t L6474_ConvertPosition(uint32_t abs_position_reg); - void L6474_ErrorHandler(uint16_t error); - void L6474_SendCommand(uint8_t param); - void L6474_SetRegisterToPredefinedValues(void); - void L6474_SetRegisterToInitializationValues(L6474_init_t *init); - void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); - void L6474_SetDeviceParamsToPredefinedValues(void); - void L6474_StartMovement(void); - void L6474_StepClockHandler(void); - float L6474_Tval_Current_to_Par(float current_mA); - float L6474_Par_to_Tval_Current(float Tval); - float L6474_Tmin_Time_to_Par(float ton_min_us); - float L6474_Par_to_Tmin_Time(float Tmin); - - - /*** Component's I/O Methods ***/ - - /** - * @brief Utility function to read data from L6474. - * @param[out] pBuffer pointer to the buffer to read data into. - * @param[in] NumBytesToRead number of bytes to read. - * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. - */ - status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead) - { - if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) { - return COMPONENT_ERROR; - } - return COMPONENT_OK; - } - - /** - * @brief Utility function to write data to L6474. - * @param[in] pBuffer pointer to the buffer of data to send. - * @param[in] NumBytesToWrite number of bytes to write. - * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. - */ - status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) - { - if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) { - return COMPONENT_ERROR; - } - return COMPONENT_OK; - } - - /** - * @brief Utility function to read and write data from/to L6474 at the same time. - * @param[out] pBufferToRead pointer to the buffer to read data into. - * @param[in] pBufferToWrite pointer to the buffer of data to send. - * @param[in] NumBytes number of bytes to read and write. - * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. - */ - status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) - { - if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) { - return COMPONENT_ERROR; - } - return COMPONENT_OK; - } - - /* ACTION 8 --------------------------------------------------------------* - * Implement here other I/O methods beyond those already implemented * - * above, which are declared extern within the component's header file. * - *------------------------------------------------------------------------*/ - /** - * @brief Making the CPU wait. - * @param None. - * @retval None. - */ - void L6474_Delay(uint32_t delay) - { - wait_ms(delay); - } - - /** - * @brief Enabling interrupts. - * @param None. - * @retval None. - */ - void L6474_EnableIrq(void) - { - __enable_irq(); - } - - /** - * @brief Disabling interrupts. - * @param None. - * @retval None. - */ - void L6474_DisableIrq(void) - { - __disable_irq(); - } - - /** - * @brief Initialising the PWM. - * @param None. - * @retval None. - */ - void L6474_PwmInit(void) {} - - /** - * @brief Setting the frequency of PWM. - * The frequency controls directly the speed of the device. - * @param frequency the frequency of PWM. - * @retval None. - */ - void L6474_PwmSetFreq(uint16_t frequency) - { - /* Computing the period of PWM. */ - double period = 1.0f / frequency; - - /* Setting the period and the duty-cycle of PWM. */ - pwm.period(period); - pwm.write(0.5f); - - /* Setting a callback with the same period of PWM's, to update the state machine. */ - ticker.attach(Callback<void()>(this, &L6474::L6474_StepClockHandler), period); - } - - /** - * @brief Stopping the PWM. - * @param None. - * @retval None. - */ - void L6474_PwmStop(void) - { - pwm.write(0.0f); - ticker.detach(); - } - - /** - * @brief Putting the device in standby mode. - * @param None. - * @retval None. - */ - void L6474_ReleaseReset(void) - { - standby_reset = 1; - } - - /** - * @brief Putting the device in reset mode. - * @param None. - * @retval None. - */ - void L6474_Reset(void) - { - standby_reset = 0; - } - - /** - * @brief Setting the direction of rotation. - * @param gpioState direction of rotation: "1" for forward, "0" for backward. - * @retval None. - */ - void L6474_SetDirectionGpio(uint8_t gpioState) - { - direction = gpioState; - } - - /** - * @brief Writing and reading bytes to/from the component through the SPI at the same time. - * @param[in] pByteToTransmit pointer to the buffer of data to send. - * @param[out] pReceivedByte pointer to the buffer to read data into. - * @retval "0" in case of success, "1" otherwise. - */ - uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) - { - return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1); - } - - - /*** Component's Instance Variables ***/ - - /* ACTION 9 --------------------------------------------------------------* - * Declare here interrupt related variables, if needed. * - * Note that interrupt handling is platform dependent, see * - * "Interrupt Related Methods" above. * - * * - * Example: * - * + mbed: * - * InterruptIn feature_irq; * - *------------------------------------------------------------------------*/ - /* Flag Interrupt. */ - InterruptIn flag_irq; - - /* ACTION 10 -------------------------------------------------------------* - * Declare here other pin related variables, if needed. * - * * - * Example: * - * + mbed: * - * DigitalOut standby_reset; * - *------------------------------------------------------------------------*/ - /* Standby/reset pin. */ - DigitalOut standby_reset; - - /* Direction of rotation pin. */ - DigitalOut direction; - - /* Pulse Width Modulation pin. */ - PwmOut pwm; - - /* Timer to trigger the PWM callback at each PWM pulse. */ - Ticker ticker; - - /* ACTION 11 -------------------------------------------------------------* - * Declare here communication related variables, if needed. * - * * - * Example: * - * + mbed: * - * DigitalOut ssel; * - * DevSPI &dev_spi; * - *------------------------------------------------------------------------*/ - /* Configuration. */ - DigitalOut ssel; - - /* IO Device. */ - DevSPI &dev_spi; - - /* ACTION 12 -------------------------------------------------------------* - * Declare here identity related variables, if needed. * - * Note that there should be only a unique identifier for each component, * - * which should be the "who_am_i" parameter. * - *------------------------------------------------------------------------*/ - /* Identity */ - uint8_t who_am_i; - - /* ACTION 13 -------------------------------------------------------------* - * Declare here the component's static and non-static data, one variable * - * per line. * - * * - * Example: * - * float measure; * - * int instance_id; * - * static int number_of_instances; * - *------------------------------------------------------------------------*/ - /* Data. */ - void (*error_handler_callback)(uint16_t error); - deviceParams_t device_prm; - uint8_t device_instance; - - /* Static data. */ - static uint8_t number_of_devices; - static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; - static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; - - -public: - - /* Static data. */ - static bool spi_preemtion_by_isr; - static bool isr_flag; -}; - -#endif // __L6474_CLASS_H - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/