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
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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
Revision 35:974ca699c792, committed 2017-03-13
- Comitter:
- Davidroid
- Date:
- Mon Mar 13 17:45:14 2017 +0000
- Parent:
- 34:27da297c361c
- Commit message:
- Typo corrected.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/L6474/L6474.cpp Mon Mar 13 17:45:14 2017 +0000
@@ -0,0 +1,1421 @@
+/**
+ ******************************************************************************
+ * @file L6474.cpp
+ * @author IPC Rennes
+ * @version V1.5.0
+ * @date November 12, 2014
+ * @brief 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* 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.c
+ Revision: 0
+*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "L6474.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/* Error while initialising the SPI. */
+#define L6474_ERROR_0 (0x8000)
+
+/* Error of bad SPI transaction. */
+#define L6474_ERROR_1 (0x8001)
+
+/* Maximum number of steps. */
+#define MAX_STEPS (0x7FFFFFFF)
+
+/* Maximum frequency of the PWMs in Hz. */
+#define L6474_MAX_PWM_FREQ (10000)
+
+/* Minimum frequency of the PWMs in Hz. */
+#define L6474_MIN_PWM_FREQ (2)
+
+
+/* Variables ----------------------------------------------------------------*/
+
+/* Number of devices. */
+uint8_t L6474::number_of_devices = 0;
+
+/* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
+bool L6474::spi_preemtion_by_isr = FALSE;
+bool L6474::isr_flag = FALSE;
+
+/* SPI Transmission for Daisy-Chain Configuration. */
+uint8_t L6474::spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+uint8_t L6474::spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**********************************************************
+ * @brief Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library
+ * detects an error
+ * @param[in] callback Name of the callback to attach
+ * to the error Hanlder
+ * @retval None
+ **********************************************************/
+void L6474::L6474_AttachErrorHandler(void (*callback)(uint16_t error))
+{
+ error_handler_callback = (void (*)(uint16_t error)) callback;
+}
+
+/**********************************************************
+ * @brief Starts the L6474 library
+ * @param init Initialization structure.
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+status_t L6474::L6474_Init(void *init)
+{
+ /* Initialise the PWMs used for the Step clocks ----------------------------*/
+ L6474_PwmInit();
+
+ /* Initialise the L6474s ------------------------------------------------*/
+
+ /* Standby-reset deactivation */
+ L6474_ReleaseReset();
+
+ /* Let a delay after reset */
+ L6474_Delay(1);
+
+ /* Set device parameters to the predefined values from "l6474_target_config.h". */
+ L6474_SetDeviceParamsToPredefinedValues();
+
+ if (init == NULL)
+ /* Set device registers to the predefined values from "l6474_target_config.h". */
+ L6474_SetRegisterToPredefinedValues();
+ else
+ /* Set device registers to the passed initialization values. */
+ L6474_SetRegisterToInitializationValues((L6474_init_t *) init);
+
+ /* Disable L6474 powerstage */
+ L6474_CmdDisable();
+
+ /* Get Status to clear flags after start up */
+ L6474_CmdGetStatus();
+
+ return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Read id
+ * @param id pointer to the identifier to be read.
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+status_t L6474::L6474_ReadID(uint8_t *id)
+{
+ *id = device_instance;
+
+ return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Returns the acceleration of the specified device
+ * @retval Acceleration in pps^2
+ **********************************************************/
+uint16_t L6474::L6474_GetAcceleration(void)
+{
+ return (device_prm.acceleration);
+}
+
+/**********************************************************
+ * @brief Returns the current speed of the specified device
+ * @retval Speed in pps
+ **********************************************************/
+uint16_t L6474::L6474_GetCurrentSpeed(void)
+{
+ return device_prm.speed;
+}
+
+/**********************************************************
+ * @brief Returns the deceleration of the specified device
+ * @retval Deceleration in pps^2
+ **********************************************************/
+uint16_t L6474::L6474_GetDeceleration(void)
+{
+ return (device_prm.deceleration);
+}
+
+/**********************************************************
+ * @brief Returns the device state
+ * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
+ **********************************************************/
+motorState_t L6474::L6474_GetDeviceState(void)
+{
+ return device_prm.motionState;
+}
+
+/**********************************************************
+ * @brief Returns the FW version of the library
+ * @param None
+ * @retval L6474_FW_VERSION
+ **********************************************************/
+uint8_t L6474::L6474_GetFwVersion(void)
+{
+ return (L6474_FW_VERSION);
+}
+
+/**********************************************************
+ * @brief Returns the mark position of the specified device
+ * @retval Mark register value converted in a 32b signed integer
+ **********************************************************/
+int32_t L6474::L6474_GetMark(void)
+{
+ return L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
+}
+
+/**********************************************************
+ * @brief Returns the max speed of the specified device
+ * @retval maxSpeed in pps
+ **********************************************************/
+uint16_t L6474::L6474_GetMaxSpeed(void)
+{
+ return (device_prm.maxSpeed);
+}
+
+/**********************************************************
+ * @brief Returns the min speed of the specified device
+ * @retval minSpeed in pps
+ **********************************************************/
+uint16_t L6474::L6474_GetMinSpeed(void)
+{
+ return (device_prm.minSpeed);
+}
+
+/**********************************************************
+ * @brief Returns the ABS_POSITION of the specified device
+ * @retval ABS_POSITION register value converted in a 32b signed integer
+ **********************************************************/
+int32_t L6474::L6474_GetPosition(void)
+{
+ return L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+}
+
+/**********************************************************
+ * @brief Requests the motor to move to the home position (ABS_POSITION = 0)
+ * @retval None
+ **********************************************************/
+void L6474::L6474_GoHome(void)
+{
+ L6474_GoTo(0);
+}
+
+/**********************************************************
+ * @brief Requests the motor to move to the mark position
+ * @retval None
+ **********************************************************/
+void L6474::L6474_GoMark(void)
+{
+ uint32_t mark;
+
+ mark = L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
+ L6474_GoTo(mark);
+}
+
+/**********************************************************
+ * @brief Requests the motor to move to the specified position
+ * @param[in] targetPosition absolute position in steps
+ * @retval None
+ **********************************************************/
+void L6474::L6474_GoTo(int32_t targetPosition)
+{
+ motorDir_t direction;
+ int32_t steps;
+
+ /* Eventually deactivate motor */
+ if (device_prm.motionState != INACTIVE)
+ {
+ L6474_HardStop();
+ }
+
+ /* Get current position */
+ device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+
+ /* Compute the number of steps to perform */
+ steps = targetPosition - device_prm.currentPosition;
+
+ if (steps >= 0)
+ {
+ device_prm.stepsToTake = steps;
+ direction = FORWARD;
+ }
+ else
+ {
+ device_prm.stepsToTake = -steps;
+ direction = BACKWARD;
+ }
+
+ if (steps != 0)
+ {
+ device_prm.commandExecuted = MOVE_CMD;
+
+ /* Direction setup */
+ L6474_SetDirection(direction);
+
+ L6474_ComputeSpeedProfile(device_prm.stepsToTake);
+
+ /* Motor activation */
+ L6474_StartMovement();
+ }
+}
+
+/**********************************************************
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @retval None
+ **********************************************************/
+void L6474::L6474_HardStop(void)
+{
+ /* Disable corresponding PWM */
+ L6474_PwmStop();
+
+ /* Set inactive state */
+ device_prm.motionState = INACTIVE;
+ device_prm.commandExecuted = NO_CMD;
+ device_prm.stepsToTake = MAX_STEPS;
+}
+
+/**********************************************************
+ * @brief Moves the motor of the specified number of steps
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] stepCount Number of steps to perform
+ * @retval None
+ **********************************************************/
+void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
+{
+ /* Eventually deactivate motor */
+ if (device_prm.motionState != INACTIVE)
+ {
+ L6474_HardStop();
+ }
+
+ if (stepCount != 0)
+ {
+ device_prm.stepsToTake = stepCount;
+
+ device_prm.commandExecuted = MOVE_CMD;
+
+ device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+
+ /* Direction setup */
+ L6474_SetDirection(direction);
+
+ L6474_ComputeSpeedProfile(stepCount);
+
+ /* Motor activation */
+ L6474_StartMovement();
+ }
+}
+
+/**********************************************************
+ * @brief Runs the motor. It will accelerate from the min
+ * speed up to the max speed by using the device acceleration.
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ **********************************************************/
+void L6474::L6474_Run(motorDir_t direction)
+{
+ /* Eventually deactivate motor */
+ if (device_prm.motionState != INACTIVE)
+ {
+ L6474_HardStop();
+ }
+
+ /* Direction setup */
+ L6474_SetDirection(direction);
+
+ device_prm.commandExecuted = RUN_CMD;
+
+ /* Motor activation */
+ L6474_StartMovement();
+}
+
+/**********************************************************
+ * @brief Changes the acceleration of the specified device
+ * @param[in] newAcc New acceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool L6474::L6474_SetAcceleration(uint16_t newAcc)
+{
+ bool cmdExecuted = FALSE;
+ if ((newAcc != 0)&&
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
+ {
+ device_prm.acceleration = newAcc;
+ cmdExecuted = TRUE;
+ }
+ return cmdExecuted;
+}
+
+/**********************************************************
+ * @brief Changes the deceleration of the specified device
+ * @param[in] newDec New deceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool L6474::L6474_SetDeceleration(uint16_t newDec)
+{
+ bool cmdExecuted = FALSE;
+ if ((newDec != 0)&&
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
+ {
+ device_prm.deceleration = newDec;
+ cmdExecuted = TRUE;
+ }
+ return cmdExecuted;
+}
+
+/**********************************************************
+ * @brief Set current position to be the Home position (ABS pos set to 0)
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetHome(void)
+{
+ L6474_CmdSetParam(L6474_ABS_POS, 0);
+}
+
+/**********************************************************
+ * @brief Sets current position to be the Mark position
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetMark(void)
+{
+ uint32_t mark = L6474_CmdGetParam(L6474_ABS_POS);
+ L6474_CmdSetParam(L6474_MARK, mark);
+}
+
+/**********************************************************
+ * @brief Changes the max speed of the specified device
+ * @param[in] newMaxSpeed New max speed to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool L6474::L6474_SetMaxSpeed(uint16_t newMaxSpeed)
+{
+ bool cmdExecuted = FALSE;
+ if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
+ (newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
+ (device_prm.minSpeed <= newMaxSpeed) &&
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
+ {
+ device_prm.maxSpeed = newMaxSpeed;
+ cmdExecuted = TRUE;
+ }
+ return cmdExecuted;
+}
+
+/**********************************************************
+ * @brief Changes the min speed of the specified device
+ * @param[in] newMinSpeed New min speed to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool L6474::L6474_SetMinSpeed(uint16_t newMinSpeed)
+{
+ bool cmdExecuted = FALSE;
+ if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
+ (newMinSpeed <= L6474_MAX_PWM_FREQ) &&
+ (newMinSpeed <= device_prm.maxSpeed) &&
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
+ {
+ device_prm.minSpeed = newMinSpeed;
+ cmdExecuted = TRUE;
+ }
+ return cmdExecuted;
+}
+
+/**********************************************************
+ * @brief Stops the motor by using the device deceleration
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is in INACTIVE state.
+ **********************************************************/
+bool L6474::L6474_SoftStop(void)
+{
+ bool cmdExecuted = FALSE;
+ if (device_prm.motionState != INACTIVE)
+ {
+ device_prm.commandExecuted = SOFT_STOP_CMD;
+ cmdExecuted = TRUE;
+ }
+ return (cmdExecuted);
+}
+
+/**********************************************************
+ * @brief Locks until the device state becomes Inactive
+ * @retval None
+ **********************************************************/
+void L6474::L6474_WaitWhileActive(void)
+{
+ /* Wait while motor is running */
+ while (L6474_GetDeviceState() != INACTIVE);
+}
+
+/**********************************************************
+ * @brief Issue the Disable command to the L6474 of the specified device
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdDisable(void)
+{
+ L6474_SendCommand(L6474_DISABLE);
+}
+
+/**********************************************************
+ * @brief Issues the Enable command to the L6474 of the specified device
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdEnable(void)
+{
+ L6474_SendCommand(L6474_ENABLE);
+}
+
+/**********************************************************
+ * @brief Issues the GetParam command to the L6474 of the specified device
+ * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
+ * @retval Register value
+ **********************************************************/
+uint32_t L6474::L6474_CmdGetParam(L6474_Registers_t parameter)
+{
+ uint32_t i;
+ uint32_t spiRxData;
+ uint8_t maxArgumentNbBytes = 0;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
+ bool itDisable = FALSE;
+
+ do
+ {
+ spi_preemtion_by_isr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable L6474_EnableIrq if disable in previous iteration */
+ L6474_EnableIrq();
+ itDisable = FALSE;
+ }
+
+ for (i = 0; i < number_of_devices; i++)
+ {
+ spi_tx_bursts[0][i] = L6474_NOP;
+ spi_tx_bursts[1][i] = L6474_NOP;
+ spi_tx_bursts[2][i] = L6474_NOP;
+ spi_tx_bursts[3][i] = L6474_NOP;
+ spi_rx_bursts[1][i] = 0;
+ spi_rx_bursts[2][i] = 0;
+ spi_rx_bursts[3][i] = 0;
+ }
+
+ switch (parameter)
+ {
+ case L6474_ABS_POS: ;
+ case L6474_MARK:
+ spi_tx_bursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+ maxArgumentNbBytes = 3;
+ break;
+ case L6474_EL_POS: ;
+ case L6474_CONFIG: ;
+ case L6474_STATUS:
+ spi_tx_bursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+ maxArgumentNbBytes = 2;
+ break;
+ default:
+ spi_tx_bursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+ maxArgumentNbBytes = 1;
+ }
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ L6474_DisableIrq();
+ itDisable = TRUE;
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
+
+ for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
+ i < L6474_CMD_ARG_MAX_NB_BYTES;
+ i++)
+ {
+ L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
+ }
+
+ spiRxData = ((uint32_t)spi_rx_bursts[1][spiIndex] << 16) |
+ (spi_rx_bursts[2][spiIndex] << 8) |
+ (spi_rx_bursts[3][spiIndex]);
+
+ /* re-enable L6474_EnableIrq after SPI transfers*/
+ L6474_EnableIrq();
+
+ return (spiRxData);
+}
+
+/**********************************************************
+ * @brief Issues the GetStatus command to the L6474 of the specified device
+ * @retval Status Register value
+ * @note Once the GetStatus command is performed, the flags of the status register
+ * are reset. This is not the case when the status register is read with the
+ * GetParam command (via the functions L6474ReadStatusRegister or L6474_CmdGetParam).
+ **********************************************************/
+uint16_t L6474::L6474_CmdGetStatus(void)
+{
+ uint32_t i;
+ uint16_t status;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
+ bool itDisable = FALSE;
+
+ do
+ {
+ spi_preemtion_by_isr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable L6474_EnableIrq if disable in previous iteration */
+ L6474_EnableIrq();
+ itDisable = FALSE;
+ }
+
+ for (i = 0; i < number_of_devices; i++)
+ {
+ spi_tx_bursts[0][i] = L6474_NOP;
+ spi_tx_bursts[1][i] = L6474_NOP;
+ spi_tx_bursts[2][i] = L6474_NOP;
+ spi_rx_bursts[1][i] = 0;
+ spi_rx_bursts[2][i] = 0;
+ }
+ spi_tx_bursts[0][spiIndex] = L6474_GET_STATUS;
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ L6474_DisableIrq();
+ itDisable = TRUE;
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
+
+ for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
+ {
+ L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
+ }
+ status = (spi_rx_bursts[1][spiIndex] << 8) | (spi_rx_bursts[2][spiIndex]);
+
+ /* re-enable L6474_EnableIrq after SPI transfers*/
+ L6474_EnableIrq();
+
+ return (status);
+}
+
+/**********************************************************
+ * @brief Issues the Nop command to the L6474 of the specified device
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdNop(void)
+{
+ L6474_SendCommand(L6474_NOP);
+}
+
+/**********************************************************
+ * @brief Issues the SetParam command to the L6474 of the specified device
+ * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
+ * @param[in] value Value to set in the register
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value)
+{
+ uint32_t i;
+ uint8_t maxArgumentNbBytes = 0;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
+ bool itDisable = FALSE;
+ do
+ {
+ spi_preemtion_by_isr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable L6474_EnableIrq if disable in previous iteration */
+ L6474_EnableIrq();
+ itDisable = FALSE;
+ }
+
+ for (i = 0; i < number_of_devices; i++)
+ {
+ spi_tx_bursts[0][i] = L6474_NOP;
+ spi_tx_bursts[1][i] = L6474_NOP;
+ spi_tx_bursts[2][i] = L6474_NOP;
+ spi_tx_bursts[3][i] = L6474_NOP;
+ }
+
+ switch (parameter)
+ {
+ case L6474_ABS_POS: ;
+ case L6474_MARK:
+ spi_tx_bursts[0][spiIndex] = parameter;
+ spi_tx_bursts[1][spiIndex] = (uint8_t)(value >> 16);
+ spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
+ maxArgumentNbBytes = 3;
+ break;
+ case L6474_EL_POS: ;
+ case L6474_CONFIG:
+ spi_tx_bursts[1][spiIndex] = parameter;
+ spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
+ maxArgumentNbBytes = 2;
+ break;
+ default:
+ spi_tx_bursts[2][spiIndex] = parameter;
+ maxArgumentNbBytes = 1;
+ break;
+ }
+ spi_tx_bursts[3][spiIndex] = (uint8_t)(value);
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ L6474_DisableIrq();
+ itDisable = TRUE;
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
+
+ /* SPI transfer */
+ for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
+ i < L6474_CMD_ARG_MAX_NB_BYTES;
+ i++)
+ {
+ L6474_WriteBytes(&spi_tx_bursts[i][0],&spi_rx_bursts[i][0]);
+ }
+ /* re-enable L6474_EnableIrq after SPI transfers*/
+ L6474_EnableIrq();
+}
+
+/**********************************************************
+ * @brief Reads the Status Register value
+ * @retval Status register valued
+ * @note The status register flags are not cleared
+ * at the difference with L6474CmdGetStatus()
+ **********************************************************/
+uint16_t L6474::L6474_ReadStatusRegister(void)
+{
+ return (L6474_CmdGetParam(L6474_STATUS));
+}
+
+/**********************************************************
+ * @brief Set the stepping mode
+ * @param[in] stepMod from full step to 1/16 microstep as specified in enum motorStepMode_t
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SelectStepMode(motorStepMode_t stepMod)
+{
+ uint8_t stepModeRegister;
+ L6474_STEP_SEL_t l6474StepMod;
+
+ switch (stepMod)
+ {
+ case STEP_MODE_FULL:
+ l6474StepMod = L6474_STEP_SEL_1;
+ break;
+ case STEP_MODE_HALF:
+ l6474StepMod = L6474_STEP_SEL_1_2;
+ break;
+ case STEP_MODE_1_4:
+ l6474StepMod = L6474_STEP_SEL_1_4;
+ break;
+ case STEP_MODE_1_8:
+ l6474StepMod = L6474_STEP_SEL_1_8;
+ break;
+ case STEP_MODE_1_16:
+ default:
+ l6474StepMod = L6474_STEP_SEL_1_16;
+ break;
+ }
+
+ /* Eventually deactivate motor */
+ if (device_prm.motionState != INACTIVE)
+ {
+ L6474_HardStop();
+ }
+
+ /* Read Step mode register and clear STEP_SEL field */
+ stepModeRegister = (uint8_t)(0xF8 & L6474_CmdGetParam(L6474_STEP_MODE)) ;
+
+ /* Apply new step mode */
+ L6474_CmdSetParam(L6474_STEP_MODE, stepModeRegister | (uint8_t)l6474StepMod);
+
+ /* Reset abs pos register */
+ L6474_SetHome();
+}
+
+/**********************************************************
+ * @brief Get the direction
+ * @param None
+ * @retval direction FORWARD or BACKWARD
+ **********************************************************/
+motorDir_t L6474::L6474_GetDirection(void)
+{
+ return device_prm.direction;
+}
+
+/**********************************************************
+ * @brief Specifies the direction
+ * @param[in] dir FORWARD or BACKWARD
+ * @note The direction change is only applied if the device
+ * is in INACTIVE state
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetDirection(motorDir_t direction)
+{
+ if (device_prm.motionState == INACTIVE)
+ {
+ device_prm.direction = direction;
+ L6474_SetDirectionGpio(direction);
+ }
+}
+
+/**********************************************************
+ * @brief Updates the current speed of the device
+ * @param[in] newSpeed in pps
+ * @retval None
+ **********************************************************/
+void L6474::L6474_ApplySpeed(uint16_t newSpeed)
+{
+ if (newSpeed < L6474_MIN_PWM_FREQ)
+ {
+ newSpeed = L6474_MIN_PWM_FREQ;
+ }
+ if (newSpeed > L6474_MAX_PWM_FREQ)
+ {
+ newSpeed = L6474_MAX_PWM_FREQ;
+ }
+
+ device_prm.speed = newSpeed;
+
+ L6474_PwmSetFreq(newSpeed);
+}
+
+/**********************************************************
+ * @brief Computes the speed profile according to the number of steps to move
+ * @param[in] nbSteps number of steps to perform
+ * @retval None
+ * @note Using the acceleration and deceleration of the device,
+ * this function determines the duration in steps of the acceleration,
+ * steady and deceleration phases.
+ * If the total number of steps to perform is big enough, a trapezoidal move
+ * is performed (i.e. there is a steady phase where the motor runs at the maximum
+ * speed.
+ * Else, a triangular move is performed (no steady phase: the maximum speed is never
+ * reached.
+ **********************************************************/
+void L6474::L6474_ComputeSpeedProfile(uint32_t nbSteps)
+{
+ uint32_t reqAccSteps;
+ uint32_t reqDecSteps;
+
+ /* compute the number of steps to get the targeted speed */
+ uint16_t minSpeed = device_prm.minSpeed;
+ reqAccSteps = (device_prm.maxSpeed - minSpeed);
+ reqAccSteps *= (device_prm.maxSpeed + minSpeed);
+ reqDecSteps = reqAccSteps;
+ reqAccSteps /= (uint32_t)device_prm.acceleration;
+ reqAccSteps /= 2;
+
+ /* compute the number of steps to stop */
+ reqDecSteps /= (uint32_t)device_prm.deceleration;
+ reqDecSteps /= 2;
+
+ if(( reqAccSteps + reqDecSteps ) > nbSteps)
+ {
+ /* Triangular move */
+ /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
+ uint32_t dec = device_prm.deceleration;
+ uint32_t acc = device_prm.acceleration;
+
+ reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
+ if (reqDecSteps > 1)
+ {
+ reqAccSteps = reqDecSteps - 1;
+ if(reqAccSteps == 0)
+ {
+ reqAccSteps = 1;
+ }
+ }
+ else
+ {
+ reqAccSteps = 0;
+ }
+ device_prm.endAccPos = reqAccSteps;
+ device_prm.startDecPos = reqDecSteps;
+ }
+ else
+ {
+ /* Trapezoidal move */
+ /* accelerating phase to endAccPos */
+ /* steady phase from endAccPos to startDecPos */
+ /* decelerating from startDecPos to stepsToTake*/
+ device_prm.endAccPos = reqAccSteps;
+ device_prm.startDecPos = nbSteps - reqDecSteps - 1;
+ }
+}
+
+/**********************************************************
+ * @brief Converts the ABS_POSITION register value to a 32b signed integer
+ * @param[in] abs_position_reg value of the ABS_POSITION register
+ * @retval operation_result 32b signed integer corresponding to the absolute position
+ **********************************************************/
+int32_t L6474::L6474_ConvertPosition(uint32_t abs_position_reg)
+{
+ int32_t operation_result;
+
+ if (abs_position_reg & L6474_ABS_POS_SIGN_BIT_MASK)
+ {
+ /* Negative register value */
+ abs_position_reg = ~abs_position_reg;
+ abs_position_reg += 1;
+
+ operation_result = (int32_t) (abs_position_reg & L6474_ABS_POS_VALUE_MASK);
+ operation_result = -operation_result;
+ }
+ else
+ {
+ operation_result = (int32_t) abs_position_reg;
+ }
+
+ return operation_result;
+}
+
+/**********************************************************
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ **********************************************************/
+void L6474::L6474_ErrorHandler(uint16_t error)
+{
+ if (error_handler_callback != 0)
+ {
+ (void) error_handler_callback(error);
+ }
+ else
+ {
+ /* Aborting the program. */
+ exit(EXIT_FAILURE);
+ }
+}
+
+/**********************************************************
+ * @brief Sends a command without arguments to the L6474 via the SPI
+ * @param[in] param Command to send
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SendCommand(uint8_t param)
+{
+ uint32_t i;
+ bool itDisable = FALSE;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
+
+ do
+ {
+ spi_preemtion_by_isr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable L6474_EnableIrq if disable in previous iteration */
+ L6474_EnableIrq();
+ itDisable = FALSE;
+ }
+
+ for (i = 0; i < number_of_devices; i++)
+ {
+ spi_tx_bursts[3][i] = L6474_NOP;
+ }
+ spi_tx_bursts[3][spiIndex] = param;
+
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ L6474_DisableIrq();
+ itDisable = TRUE;
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
+
+ L6474_WriteBytes(&spi_tx_bursts[3][0], &spi_rx_bursts[3][0]);
+
+ /* re-enable L6474_EnableIrq after SPI transfers*/
+ L6474_EnableIrq();
+}
+
+/**********************************************************
+ * @brief Sets the registers of the L6474 to their predefined values
+ * from l6474_target_config.h
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetRegisterToPredefinedValues(void)
+{
+ L6474_CmdSetParam(
+ L6474_ABS_POS,
+ 0);
+ L6474_CmdSetParam(
+ L6474_EL_POS,
+ 0);
+ L6474_CmdSetParam(
+ L6474_MARK,
+ 0);
+ switch (device_instance)
+ {
+ case 0:
+ L6474_CmdSetParam(
+ L6474_TVAL,
+ L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0));
+ L6474_CmdSetParam(
+ L6474_T_FAST,
+ (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_0 |
+ (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_0);
+ L6474_CmdSetParam(
+ L6474_TON_MIN,
+ L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_0)
+ );
+ L6474_CmdSetParam(
+ L6474_TOFF_MIN,
+ L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_0));
+ L6474_CmdSetParam(
+ L6474_OCD_TH,
+ L6474_CONF_PARAM_OCD_TH_DEVICE_0);
+ L6474_CmdSetParam(
+ L6474_STEP_MODE,
+ (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_0 |
+ (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_0);
+ L6474_CmdSetParam(
+ L6474_ALARM_EN,
+ L6474_CONF_PARAM_ALARM_EN_DEVICE_0);
+ L6474_CmdSetParam(
+ L6474_CONFIG,
+ (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0 |
+ (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_0 |
+ (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_0 |
+ (uint16_t)L6474_CONF_PARAM_SR_DEVICE_0 |
+ (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_0);
+ break;
+ case 1:
+ L6474_CmdSetParam(
+ L6474_TVAL,
+ L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1));
+ L6474_CmdSetParam(
+ L6474_T_FAST,
+ (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_1 |
+ (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_1);
+ L6474_CmdSetParam(
+ L6474_TON_MIN,
+ L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_1));
+ L6474_CmdSetParam(
+ L6474_TOFF_MIN,
+ L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_1));
+ L6474_CmdSetParam(
+ L6474_OCD_TH,
+ L6474_CONF_PARAM_OCD_TH_DEVICE_1);
+ L6474_CmdSetParam(
+ L6474_STEP_MODE,
+ (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_1 |
+ (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_1);
+ L6474_CmdSetParam(
+ L6474_ALARM_EN,
+ L6474_CONF_PARAM_ALARM_EN_DEVICE_1);
+ L6474_CmdSetParam(
+ L6474_CONFIG,
+ (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1 |
+ (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_1 |
+ (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_1 |
+ (uint16_t)L6474_CONF_PARAM_SR_DEVICE_1 |
+ (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_1);
+ break;
+ case 2:
+ L6474_CmdSetParam(
+ L6474_TVAL,
+ L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2));
+ L6474_CmdSetParam(
+ L6474_T_FAST,
+ (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_2 |
+ (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_2);
+ L6474_CmdSetParam(
+ L6474_TON_MIN,
+ L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_2));
+ L6474_CmdSetParam(
+ L6474_TOFF_MIN,
+ L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_2));
+ L6474_CmdSetParam(
+ L6474_OCD_TH,
+ L6474_CONF_PARAM_OCD_TH_DEVICE_2);
+ L6474_CmdSetParam(
+ L6474_STEP_MODE,
+ (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_2 |
+ (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_2);
+ L6474_CmdSetParam(
+ L6474_ALARM_EN,
+ L6474_CONF_PARAM_ALARM_EN_DEVICE_2);
+ L6474_CmdSetParam(
+ L6474_CONFIG,
+ (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2 |
+ (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_2 |
+ (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_2 |
+ (uint16_t)L6474_CONF_PARAM_SR_DEVICE_2 |
+ (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_2);
+ break;
+ default: ;
+ }
+}
+
+/**********************************************************
+ * @brief Sets the registers of the L6474 to initialization values.
+ * @param init Initialization structure.
+ * @retval None.
+ **********************************************************/
+void L6474::L6474_SetRegisterToInitializationValues(L6474_init_t *init)
+{
+ L6474_CmdSetParam(
+ L6474_ABS_POS,
+ 0
+ );
+ L6474_CmdSetParam(
+ L6474_EL_POS,
+ 0
+ );
+ L6474_CmdSetParam(
+ L6474_MARK,
+ 0
+ );
+ L6474_CmdSetParam(
+ L6474_TVAL,
+ L6474_Tval_Current_to_Par(init->torque_regulation_current_mA)
+ );
+ L6474_CmdSetParam(
+ L6474_T_FAST,
+ (uint8_t) init->maximum_fast_decay_time |
+ (uint8_t) init->fall_time
+ );
+ L6474_CmdSetParam(
+ L6474_TON_MIN,
+ L6474_Tmin_Time_to_Par(init->minimum_ON_time_us)
+ );
+ L6474_CmdSetParam(
+ L6474_TOFF_MIN,
+ L6474_Tmin_Time_to_Par(init->minimum_OFF_time_us)
+ );
+ L6474_CmdSetParam(
+ L6474_OCD_TH,
+ init->overcurrent_threshold
+ );
+ L6474_CmdSetParam(
+ L6474_STEP_MODE,
+ (uint8_t) init->step_selection |
+ (uint8_t) init->sync_selection
+ );
+ L6474_CmdSetParam(
+ L6474_ALARM_EN,
+ init->alarm
+ );
+ L6474_CmdSetParam(
+ L6474_CONFIG,
+ (uint16_t) init->clock |
+ (uint16_t) init->torque_regulation_method |
+ (uint16_t) init->overcurrent_shutwdown |
+ (uint16_t) init->slew_rate |
+ (uint16_t) init->target_swicthing_period
+ );
+ L6474_SetAcceleration((uint16_t) init->acceleration_pps_2);
+ L6474_SetDeceleration((uint16_t) init->deceleration_pps_2);
+ L6474_SetMaxSpeed((uint16_t) init->maximum_speed_pps);
+ L6474_SetMinSpeed((uint16_t) init->minimum_speed_pps);
+}
+
+/**********************************************************
+ * @brief Sets the parameters of the device to predefined values
+ * from l6474_target_config.h
+ * @param None
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetDeviceParamsToPredefinedValues(void)
+{
+ switch (device_instance)
+ {
+ case 0:
+ device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
+ device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
+ device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
+ device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
+ break;
+
+ case 1:
+ device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
+ device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
+ device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
+ device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
+ break;
+
+ case 2:
+ device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
+ device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
+ device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
+ device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
+ break;
+ }
+
+ device_prm.accu = 0;
+ device_prm.currentPosition = 0;
+ device_prm.endAccPos = 0;
+ device_prm.relativePos = 0;
+ device_prm.startDecPos = 0;
+ device_prm.stepsToTake = 0;
+ device_prm.speed = 0;
+ device_prm.commandExecuted = NO_CMD;
+ device_prm.direction = FORWARD;
+ device_prm.motionState = INACTIVE;
+}
+
+/**********************************************************
+ * @brief Initialises the bridge parameters to start the movement
+ * and enable the power bridge
+ * @retval None
+ **********************************************************/
+void L6474::L6474_StartMovement(void)
+{
+ /* Enable L6474 powerstage */
+ L6474_CmdEnable();
+ if (device_prm.endAccPos != 0)
+ {
+ device_prm.motionState = ACCELERATING;
+ }
+ else
+ {
+ device_prm.motionState = DECELERATING;
+ }
+ device_prm.accu = 0;
+ device_prm.relativePos = 0;
+ L6474_ApplySpeed(device_prm.minSpeed);
+}
+
+/**********************************************************
+ * @brief Handles the device state machine at each ste
+ * @retval None
+ * @note Must only be called by the timer ISR
+ **********************************************************/
+void L6474::L6474_StepClockHandler(void)
+{
+ /* Set isr flag */
+ isr_flag = TRUE;
+
+ /* Incrementation of the relative position */
+ device_prm.relativePos++;
+
+ switch (device_prm.motionState)
+ {
+ case ACCELERATING:
+ {
+ uint32_t relPos = device_prm.relativePos;
+ uint32_t endAccPos = device_prm.endAccPos;
+ uint16_t speed = device_prm.speed;
+ uint32_t acc = ((uint32_t)device_prm.acceleration << 16);
+
+ if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+ ((device_prm.commandExecuted != RUN_CMD)&&
+ (relPos == device_prm.startDecPos)))
+ {
+ device_prm.motionState = DECELERATING;
+ device_prm.accu = 0;
+ }
+ else if ((speed >= device_prm.maxSpeed)||
+ ((device_prm.commandExecuted != RUN_CMD)&&
+ (relPos == endAccPos)))
+ {
+ device_prm.motionState = STEADY;
+ }
+ else
+ {
+ bool speedUpdated = FALSE;
+ /* Go on accelerating */
+ if (speed == 0) speed =1;
+ device_prm.accu += acc / speed;
+ while (device_prm.accu >= (0X10000L))
+ {
+ device_prm.accu -= (0X10000L);
+ speed +=1;
+ speedUpdated = TRUE;
+ }
+
+ if (speedUpdated)
+ {
+ if (speed > device_prm.maxSpeed)
+ {
+ speed = device_prm.maxSpeed;
+ }
+ device_prm.speed = speed;
+ L6474_ApplySpeed(device_prm.speed);
+ }
+ }
+ break;
+ }
+ case STEADY:
+ {
+ uint16_t maxSpeed = device_prm.maxSpeed;
+ uint32_t relativePos = device_prm.relativePos;
+ if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+ ((device_prm.commandExecuted != RUN_CMD)&&
+ (relativePos >= (device_prm.startDecPos))) ||
+ ((device_prm.commandExecuted == RUN_CMD)&&
+ (device_prm.speed > maxSpeed)))
+ {
+ device_prm.motionState = DECELERATING;
+ device_prm.accu = 0;
+ }
+ else if ((device_prm.commandExecuted == RUN_CMD)&&
+ (device_prm.speed < maxSpeed))
+ {
+ device_prm.motionState = ACCELERATING;
+ device_prm.accu = 0;
+ }
+ break;
+ }
+ case DECELERATING:
+ {
+ uint32_t relativePos = device_prm.relativePos;
+ uint16_t speed = device_prm.speed;
+ uint32_t deceleration = ((uint32_t)device_prm.deceleration << 16);
+ if (((device_prm.commandExecuted == SOFT_STOP_CMD)&&(speed <= device_prm.minSpeed))||
+ ((device_prm.commandExecuted != RUN_CMD)&&
+ (relativePos >= device_prm.stepsToTake)))
+ {
+ /* Motion process complete */
+ L6474_HardStop();
+ }
+ else if ((device_prm.commandExecuted == RUN_CMD)&&
+ (speed <= device_prm.maxSpeed))
+ {
+ device_prm.motionState = STEADY;
+ }
+ else
+ {
+ /* Go on decelerating */
+ if (speed > device_prm.minSpeed)
+ {
+ bool speedUpdated = FALSE;
+ if (speed == 0) speed =1;
+ device_prm.accu += deceleration / speed;
+ while (device_prm.accu >= (0X10000L))
+ {
+ device_prm.accu -= (0X10000L);
+ if (speed > 1)
+ {
+ speed -=1;
+ }
+ speedUpdated = TRUE;
+ }
+
+ if (speedUpdated)
+ {
+ if (speed < device_prm.minSpeed)
+ {
+ speed = device_prm.minSpeed;
+ }
+ device_prm.speed = speed;
+ L6474_ApplySpeed(device_prm.speed);
+ }
+ }
+ }
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+ /* Set isr flag */
+ isr_flag = FALSE;
+}
+
+/**********************************************************
+ * @brief Converts current in mA to values for TVAL register
+ * @param[in] current_mA current in mA
+ * @retval value for TVAL register
+ **********************************************************/
+float L6474::L6474_Tval_Current_to_Par(float current_mA)
+{
+ return ((float)(((current_mA - 31.25f) / 31.25f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief Converts values from TVAL register to mA
+ * @param[in] Tval value from TVAL register
+ * @retval current in mA
+ **********************************************************/
+float L6474::L6474_Par_to_Tval_Current(float Tval)
+{
+ return ((float)((Tval - 0.5f) * 31.25f + 31.25f));
+}
+
+/**********************************************************
+ * @brief Convert time in us to values for TON_MIN register
+ * @param[in] ton_min_us time in us
+ * @retval value for TON_MIN register
+ **********************************************************/
+float L6474::L6474_Tmin_Time_to_Par(float ton_min_us)
+{
+ return ((float)(((ton_min_us - 0.5f) * 2.0f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief Convert values for TON_MIN register to time in us
+ * @param[in] Tmin value from TON_MIN register
+ * @retval time in us
+ **********************************************************/
+float L6474::L6474_Par_to_Tmin_Time(float Tmin)
+{
+ return ((float)(((Tmin - 0.5f) / 2.0f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief Write and receive a byte via SPI
+ * @param[in] pByteToTransmit pointer to the byte to transmit
+ * @param[in] pReceivedByte pointer to the received byte
+ * @retval None
+ **********************************************************/
+void L6474::L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+{
+ if (L6474_SpiWriteBytes(pByteToTransmit, pReceivedByte) != 0)
+ {
+ L6474_ErrorHandler(L6474_ERROR_1);
+ }
+
+ if (isr_flag)
+ {
+ spi_preemtion_by_isr = TRUE;
+ }
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/L6474/L6474.h Mon Mar 13 17:45:14 2017 +0000
@@ -0,0 +1,1018 @@
+/**
+ ******************************************************************************
+ * @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****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/L6474/L6474_config.h Mon Mar 13 17:45:14 2017 +0000
@@ -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>© 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****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/L6474/L6474_def.h Mon Mar 13 17:45:14 2017 +0000
@@ -0,0 +1,600 @@
+/**
+ ******************************************************************************
+ * @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****/
--- a/Components/l6474/L6474.cpp Fri Mar 10 14:07:49 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1421 +0,0 @@
-/**
- ******************************************************************************
- * @file L6474.cpp
- * @author IPC Rennes
- * @version V1.5.0
- * @date November 12, 2014
- * @brief 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.
- *
- ******************************************************************************
- */
-
-
-/* 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.c
- Revision: 0
-*/
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "L6474.h"
-
-
-/* Definitions ---------------------------------------------------------------*/
-
-/* Error while initialising the SPI. */
-#define L6474_ERROR_0 (0x8000)
-
-/* Error of bad SPI transaction. */
-#define L6474_ERROR_1 (0x8001)
-
-/* Maximum number of steps. */
-#define MAX_STEPS (0x7FFFFFFF)
-
-/* Maximum frequency of the PWMs in Hz. */
-#define L6474_MAX_PWM_FREQ (10000)
-
-/* Minimum frequency of the PWMs in Hz. */
-#define L6474_MIN_PWM_FREQ (2)
-
-
-/* Variables ----------------------------------------------------------------*/
-
-/* Number of devices. */
-uint8_t L6474::number_of_devices = 0;
-
-/* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
-bool L6474::spi_preemtion_by_isr = FALSE;
-bool L6474::isr_flag = FALSE;
-
-/* SPI Transmission for Daisy-Chain Configuration. */
-uint8_t L6474::spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-uint8_t L6474::spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-
-
-/* Methods -------------------------------------------------------------------*/
-
-/**********************************************************
- * @brief Attaches a user callback to the error Handler.
- * The call back will be then called each time the library
- * detects an error
- * @param[in] callback Name of the callback to attach
- * to the error Hanlder
- * @retval None
- **********************************************************/
-void L6474::L6474_AttachErrorHandler(void (*callback)(uint16_t error))
-{
- error_handler_callback = (void (*)(uint16_t error)) callback;
-}
-
-/**********************************************************
- * @brief Starts the L6474 library
- * @param init Initialization structure.
- * @retval COMPONENT_OK in case of success.
- **********************************************************/
-status_t L6474::L6474_Init(void *init)
-{
- /* Initialise the PWMs used for the Step clocks ----------------------------*/
- L6474_PwmInit();
-
- /* Initialise the L6474s ------------------------------------------------*/
-
- /* Standby-reset deactivation */
- L6474_ReleaseReset();
-
- /* Let a delay after reset */
- L6474_Delay(1);
-
- /* Set device parameters to the predefined values from "l6474_target_config.h". */
- L6474_SetDeviceParamsToPredefinedValues();
-
- if (init == NULL)
- /* Set device registers to the predefined values from "l6474_target_config.h". */
- L6474_SetRegisterToPredefinedValues();
- else
- /* Set device registers to the passed initialization values. */
- L6474_SetRegisterToInitializationValues((L6474_init_t *) init);
-
- /* Disable L6474 powerstage */
- L6474_CmdDisable();
-
- /* Get Status to clear flags after start up */
- L6474_CmdGetStatus();
-
- return COMPONENT_OK;
-}
-
-/**********************************************************
- * @brief Read id
- * @param id pointer to the identifier to be read.
- * @retval COMPONENT_OK in case of success.
- **********************************************************/
-status_t L6474::L6474_ReadID(uint8_t *id)
-{
- *id = device_instance;
-
- return COMPONENT_OK;
-}
-
-/**********************************************************
- * @brief Returns the acceleration of the specified device
- * @retval Acceleration in pps^2
- **********************************************************/
-uint16_t L6474::L6474_GetAcceleration(void)
-{
- return (device_prm.acceleration);
-}
-
-/**********************************************************
- * @brief Returns the current speed of the specified device
- * @retval Speed in pps
- **********************************************************/
-uint16_t L6474::L6474_GetCurrentSpeed(void)
-{
- return device_prm.speed;
-}
-
-/**********************************************************
- * @brief Returns the deceleration of the specified device
- * @retval Deceleration in pps^2
- **********************************************************/
-uint16_t L6474::L6474_GetDeceleration(void)
-{
- return (device_prm.deceleration);
-}
-
-/**********************************************************
- * @brief Returns the device state
- * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
- **********************************************************/
-motorState_t L6474::L6474_GetDeviceState(void)
-{
- return device_prm.motionState;
-}
-
-/**********************************************************
- * @brief Returns the FW version of the library
- * @param None
- * @retval L6474_FW_VERSION
- **********************************************************/
-uint8_t L6474::L6474_GetFwVersion(void)
-{
- return (L6474_FW_VERSION);
-}
-
-/**********************************************************
- * @brief Returns the mark position of the specified device
- * @retval Mark register value converted in a 32b signed integer
- **********************************************************/
-int32_t L6474::L6474_GetMark(void)
-{
- return L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
-}
-
-/**********************************************************
- * @brief Returns the max speed of the specified device
- * @retval maxSpeed in pps
- **********************************************************/
-uint16_t L6474::L6474_GetMaxSpeed(void)
-{
- return (device_prm.maxSpeed);
-}
-
-/**********************************************************
- * @brief Returns the min speed of the specified device
- * @retval minSpeed in pps
- **********************************************************/
-uint16_t L6474::L6474_GetMinSpeed(void)
-{
- return (device_prm.minSpeed);
-}
-
-/**********************************************************
- * @brief Returns the ABS_POSITION of the specified device
- * @retval ABS_POSITION register value converted in a 32b signed integer
- **********************************************************/
-int32_t L6474::L6474_GetPosition(void)
-{
- return L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
-}
-
-/**********************************************************
- * @brief Requests the motor to move to the home position (ABS_POSITION = 0)
- * @retval None
- **********************************************************/
-void L6474::L6474_GoHome(void)
-{
- L6474_GoTo(0);
-}
-
-/**********************************************************
- * @brief Requests the motor to move to the mark position
- * @retval None
- **********************************************************/
-void L6474::L6474_GoMark(void)
-{
- uint32_t mark;
-
- mark = L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
- L6474_GoTo(mark);
-}
-
-/**********************************************************
- * @brief Requests the motor to move to the specified position
- * @param[in] targetPosition absolute position in steps
- * @retval None
- **********************************************************/
-void L6474::L6474_GoTo(int32_t targetPosition)
-{
- motorDir_t direction;
- int32_t steps;
-
- /* Eventually deactivate motor */
- if (device_prm.motionState != INACTIVE)
- {
- L6474_HardStop();
- }
-
- /* Get current position */
- device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
-
- /* Compute the number of steps to perform */
- steps = targetPosition - device_prm.currentPosition;
-
- if (steps >= 0)
- {
- device_prm.stepsToTake = steps;
- direction = FORWARD;
- }
- else
- {
- device_prm.stepsToTake = -steps;
- direction = BACKWARD;
- }
-
- if (steps != 0)
- {
- device_prm.commandExecuted = MOVE_CMD;
-
- /* Direction setup */
- L6474_SetDirection(direction);
-
- L6474_ComputeSpeedProfile(device_prm.stepsToTake);
-
- /* Motor activation */
- L6474_StartMovement();
- }
-}
-
-/**********************************************************
- * @brief Immediatly stops the motor and disable the power bridge
- * @retval None
- **********************************************************/
-void L6474::L6474_HardStop(void)
-{
- /* Disable corresponding PWM */
- L6474_PwmStop();
-
- /* Set inactive state */
- device_prm.motionState = INACTIVE;
- device_prm.commandExecuted = NO_CMD;
- device_prm.stepsToTake = MAX_STEPS;
-}
-
-/**********************************************************
- * @brief Moves the motor of the specified number of steps
- * @param[in] direction FORWARD or BACKWARD
- * @param[in] stepCount Number of steps to perform
- * @retval None
- **********************************************************/
-void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
-{
- /* Eventually deactivate motor */
- if (device_prm.motionState != INACTIVE)
- {
- L6474_HardStop();
- }
-
- if (stepCount != 0)
- {
- device_prm.stepsToTake = stepCount;
-
- device_prm.commandExecuted = MOVE_CMD;
-
- device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
-
- /* Direction setup */
- L6474_SetDirection(direction);
-
- L6474_ComputeSpeedProfile(stepCount);
-
- /* Motor activation */
- L6474_StartMovement();
- }
-}
-
-/**********************************************************
- * @brief Runs the motor. It will accelerate from the min
- * speed up to the max speed by using the device acceleration.
- * @param[in] direction FORWARD or BACKWARD
- * @retval None
- **********************************************************/
-void L6474::L6474_Run(motorDir_t direction)
-{
- /* Eventually deactivate motor */
- if (device_prm.motionState != INACTIVE)
- {
- L6474_HardStop();
- }
-
- /* Direction setup */
- L6474_SetDirection(direction);
-
- device_prm.commandExecuted = RUN_CMD;
-
- /* Motor activation */
- L6474_StartMovement();
-}
-
-/**********************************************************
- * @brief Changes the acceleration of the specified device
- * @param[in] newAcc New acceleration to apply in pps^2
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed is the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command)
- **********************************************************/
-bool L6474::L6474_SetAcceleration(uint16_t newAcc)
-{
- bool cmdExecuted = FALSE;
- if ((newAcc != 0)&&
- ((device_prm.motionState == INACTIVE)||
- (device_prm.commandExecuted == RUN_CMD)))
- {
- device_prm.acceleration = newAcc;
- cmdExecuted = TRUE;
- }
- return cmdExecuted;
-}
-
-/**********************************************************
- * @brief Changes the deceleration of the specified device
- * @param[in] newDec New deceleration to apply in pps^2
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed is the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command)
- **********************************************************/
-bool L6474::L6474_SetDeceleration(uint16_t newDec)
-{
- bool cmdExecuted = FALSE;
- if ((newDec != 0)&&
- ((device_prm.motionState == INACTIVE)||
- (device_prm.commandExecuted == RUN_CMD)))
- {
- device_prm.deceleration = newDec;
- cmdExecuted = TRUE;
- }
- return cmdExecuted;
-}
-
-/**********************************************************
- * @brief Set current position to be the Home position (ABS pos set to 0)
- * @retval None
- **********************************************************/
-void L6474::L6474_SetHome(void)
-{
- L6474_CmdSetParam(L6474_ABS_POS, 0);
-}
-
-/**********************************************************
- * @brief Sets current position to be the Mark position
- * @retval None
- **********************************************************/
-void L6474::L6474_SetMark(void)
-{
- uint32_t mark = L6474_CmdGetParam(L6474_ABS_POS);
- L6474_CmdSetParam(L6474_MARK, mark);
-}
-
-/**********************************************************
- * @brief Changes the max speed of the specified device
- * @param[in] newMaxSpeed New max speed to apply in pps
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed is the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command).
- **********************************************************/
-bool L6474::L6474_SetMaxSpeed(uint16_t newMaxSpeed)
-{
- bool cmdExecuted = FALSE;
- if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
- (newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
- (device_prm.minSpeed <= newMaxSpeed) &&
- ((device_prm.motionState == INACTIVE)||
- (device_prm.commandExecuted == RUN_CMD)))
- {
- device_prm.maxSpeed = newMaxSpeed;
- cmdExecuted = TRUE;
- }
- return cmdExecuted;
-}
-
-/**********************************************************
- * @brief Changes the min speed of the specified device
- * @param[in] newMinSpeed New min speed to apply in pps
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed is the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command).
- **********************************************************/
-bool L6474::L6474_SetMinSpeed(uint16_t newMinSpeed)
-{
- bool cmdExecuted = FALSE;
- if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
- (newMinSpeed <= L6474_MAX_PWM_FREQ) &&
- (newMinSpeed <= device_prm.maxSpeed) &&
- ((device_prm.motionState == INACTIVE)||
- (device_prm.commandExecuted == RUN_CMD)))
- {
- device_prm.minSpeed = newMinSpeed;
- cmdExecuted = TRUE;
- }
- return cmdExecuted;
-}
-
-/**********************************************************
- * @brief Stops the motor by using the device deceleration
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed is the device is in INACTIVE state.
- **********************************************************/
-bool L6474::L6474_SoftStop(void)
-{
- bool cmdExecuted = FALSE;
- if (device_prm.motionState != INACTIVE)
- {
- device_prm.commandExecuted = SOFT_STOP_CMD;
- cmdExecuted = TRUE;
- }
- return (cmdExecuted);
-}
-
-/**********************************************************
- * @brief Locks until the device state becomes Inactive
- * @retval None
- **********************************************************/
-void L6474::L6474_WaitWhileActive(void)
-{
- /* Wait while motor is running */
- while (L6474_GetDeviceState() != INACTIVE);
-}
-
-/**********************************************************
- * @brief Issue the Disable command to the L6474 of the specified device
- * @retval None
- **********************************************************/
-void L6474::L6474_CmdDisable(void)
-{
- L6474_SendCommand(L6474_DISABLE);
-}
-
-/**********************************************************
- * @brief Issues the Enable command to the L6474 of the specified device
- * @retval None
- **********************************************************/
-void L6474::L6474_CmdEnable(void)
-{
- L6474_SendCommand(L6474_ENABLE);
-}
-
-/**********************************************************
- * @brief Issues the GetParam command to the L6474 of the specified device
- * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
- * @retval Register value
- **********************************************************/
-uint32_t L6474::L6474_CmdGetParam(L6474_Registers_t parameter)
-{
- uint32_t i;
- uint32_t spiRxData;
- uint8_t maxArgumentNbBytes = 0;
- uint8_t spiIndex = number_of_devices - device_instance - 1;
- bool itDisable = FALSE;
-
- do
- {
- spi_preemtion_by_isr = FALSE;
- if (itDisable)
- {
- /* re-enable L6474_EnableIrq if disable in previous iteration */
- L6474_EnableIrq();
- itDisable = FALSE;
- }
-
- for (i = 0; i < number_of_devices; i++)
- {
- spi_tx_bursts[0][i] = L6474_NOP;
- spi_tx_bursts[1][i] = L6474_NOP;
- spi_tx_bursts[2][i] = L6474_NOP;
- spi_tx_bursts[3][i] = L6474_NOP;
- spi_rx_bursts[1][i] = 0;
- spi_rx_bursts[2][i] = 0;
- spi_rx_bursts[3][i] = 0;
- }
-
- switch (parameter)
- {
- case L6474_ABS_POS: ;
- case L6474_MARK:
- spi_tx_bursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
- maxArgumentNbBytes = 3;
- break;
- case L6474_EL_POS: ;
- case L6474_CONFIG: ;
- case L6474_STATUS:
- spi_tx_bursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
- maxArgumentNbBytes = 2;
- break;
- default:
- spi_tx_bursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
- maxArgumentNbBytes = 1;
- }
-
- /* Disable interruption before checking */
- /* pre-emption by ISR and SPI transfers*/
- L6474_DisableIrq();
- itDisable = TRUE;
- } while (spi_preemtion_by_isr); // check pre-emption by ISR
-
- for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
- i < L6474_CMD_ARG_MAX_NB_BYTES;
- i++)
- {
- L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
- }
-
- spiRxData = ((uint32_t)spi_rx_bursts[1][spiIndex] << 16) |
- (spi_rx_bursts[2][spiIndex] << 8) |
- (spi_rx_bursts[3][spiIndex]);
-
- /* re-enable L6474_EnableIrq after SPI transfers*/
- L6474_EnableIrq();
-
- return (spiRxData);
-}
-
-/**********************************************************
- * @brief Issues the GetStatus command to the L6474 of the specified device
- * @retval Status Register value
- * @note Once the GetStatus command is performed, the flags of the status register
- * are reset. This is not the case when the status register is read with the
- * GetParam command (via the functions L6474ReadStatusRegister or L6474_CmdGetParam).
- **********************************************************/
-uint16_t L6474::L6474_CmdGetStatus(void)
-{
- uint32_t i;
- uint16_t status;
- uint8_t spiIndex = number_of_devices - device_instance - 1;
- bool itDisable = FALSE;
-
- do
- {
- spi_preemtion_by_isr = FALSE;
- if (itDisable)
- {
- /* re-enable L6474_EnableIrq if disable in previous iteration */
- L6474_EnableIrq();
- itDisable = FALSE;
- }
-
- for (i = 0; i < number_of_devices; i++)
- {
- spi_tx_bursts[0][i] = L6474_NOP;
- spi_tx_bursts[1][i] = L6474_NOP;
- spi_tx_bursts[2][i] = L6474_NOP;
- spi_rx_bursts[1][i] = 0;
- spi_rx_bursts[2][i] = 0;
- }
- spi_tx_bursts[0][spiIndex] = L6474_GET_STATUS;
-
- /* Disable interruption before checking */
- /* pre-emption by ISR and SPI transfers*/
- L6474_DisableIrq();
- itDisable = TRUE;
- } while (spi_preemtion_by_isr); // check pre-emption by ISR
-
- for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
- {
- L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
- }
- status = (spi_rx_bursts[1][spiIndex] << 8) | (spi_rx_bursts[2][spiIndex]);
-
- /* re-enable L6474_EnableIrq after SPI transfers*/
- L6474_EnableIrq();
-
- return (status);
-}
-
-/**********************************************************
- * @brief Issues the Nop command to the L6474 of the specified device
- * @retval None
- **********************************************************/
-void L6474::L6474_CmdNop(void)
-{
- L6474_SendCommand(L6474_NOP);
-}
-
-/**********************************************************
- * @brief Issues the SetParam command to the L6474 of the specified device
- * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
- * @param[in] value Value to set in the register
- * @retval None
- **********************************************************/
-void L6474::L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value)
-{
- uint32_t i;
- uint8_t maxArgumentNbBytes = 0;
- uint8_t spiIndex = number_of_devices - device_instance - 1;
- bool itDisable = FALSE;
- do
- {
- spi_preemtion_by_isr = FALSE;
- if (itDisable)
- {
- /* re-enable L6474_EnableIrq if disable in previous iteration */
- L6474_EnableIrq();
- itDisable = FALSE;
- }
-
- for (i = 0; i < number_of_devices; i++)
- {
- spi_tx_bursts[0][i] = L6474_NOP;
- spi_tx_bursts[1][i] = L6474_NOP;
- spi_tx_bursts[2][i] = L6474_NOP;
- spi_tx_bursts[3][i] = L6474_NOP;
- }
-
- switch (parameter)
- {
- case L6474_ABS_POS: ;
- case L6474_MARK:
- spi_tx_bursts[0][spiIndex] = parameter;
- spi_tx_bursts[1][spiIndex] = (uint8_t)(value >> 16);
- spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
- maxArgumentNbBytes = 3;
- break;
- case L6474_EL_POS: ;
- case L6474_CONFIG:
- spi_tx_bursts[1][spiIndex] = parameter;
- spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
- maxArgumentNbBytes = 2;
- break;
- default:
- spi_tx_bursts[2][spiIndex] = parameter;
- maxArgumentNbBytes = 1;
- break;
- }
- spi_tx_bursts[3][spiIndex] = (uint8_t)(value);
-
- /* Disable interruption before checking */
- /* pre-emption by ISR and SPI transfers*/
- L6474_DisableIrq();
- itDisable = TRUE;
- } while (spi_preemtion_by_isr); // check pre-emption by ISR
-
- /* SPI transfer */
- for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
- i < L6474_CMD_ARG_MAX_NB_BYTES;
- i++)
- {
- L6474_WriteBytes(&spi_tx_bursts[i][0],&spi_rx_bursts[i][0]);
- }
- /* re-enable L6474_EnableIrq after SPI transfers*/
- L6474_EnableIrq();
-}
-
-/**********************************************************
- * @brief Reads the Status Register value
- * @retval Status register valued
- * @note The status register flags are not cleared
- * at the difference with L6474CmdGetStatus()
- **********************************************************/
-uint16_t L6474::L6474_ReadStatusRegister(void)
-{
- return (L6474_CmdGetParam(L6474_STATUS));
-}
-
-/**********************************************************
- * @brief Set the stepping mode
- * @param[in] stepMod from full step to 1/16 microstep as specified in enum motorStepMode_t
- * @retval None
- **********************************************************/
-void L6474::L6474_SelectStepMode(motorStepMode_t stepMod)
-{
- uint8_t stepModeRegister;
- L6474_STEP_SEL_t l6474StepMod;
-
- switch (stepMod)
- {
- case STEP_MODE_FULL:
- l6474StepMod = L6474_STEP_SEL_1;
- break;
- case STEP_MODE_HALF:
- l6474StepMod = L6474_STEP_SEL_1_2;
- break;
- case STEP_MODE_1_4:
- l6474StepMod = L6474_STEP_SEL_1_4;
- break;
- case STEP_MODE_1_8:
- l6474StepMod = L6474_STEP_SEL_1_8;
- break;
- case STEP_MODE_1_16:
- default:
- l6474StepMod = L6474_STEP_SEL_1_16;
- break;
- }
-
- /* Eventually deactivate motor */
- if (device_prm.motionState != INACTIVE)
- {
- L6474_HardStop();
- }
-
- /* Read Step mode register and clear STEP_SEL field */
- stepModeRegister = (uint8_t)(0xF8 & L6474_CmdGetParam(L6474_STEP_MODE)) ;
-
- /* Apply new step mode */
- L6474_CmdSetParam(L6474_STEP_MODE, stepModeRegister | (uint8_t)l6474StepMod);
-
- /* Reset abs pos register */
- L6474_SetHome();
-}
-
-/**********************************************************
- * @brief Get the direction
- * @param None
- * @retval direction FORWARD or BACKWARD
- **********************************************************/
-motorDir_t L6474::L6474_GetDirection(void)
-{
- return device_prm.direction;
-}
-
-/**********************************************************
- * @brief Specifies the direction
- * @param[in] dir FORWARD or BACKWARD
- * @note The direction change is only applied if the device
- * is in INACTIVE state
- * @retval None
- **********************************************************/
-void L6474::L6474_SetDirection(motorDir_t direction)
-{
- if (device_prm.motionState == INACTIVE)
- {
- device_prm.direction = direction;
- L6474_SetDirectionGpio(direction);
- }
-}
-
-/**********************************************************
- * @brief Updates the current speed of the device
- * @param[in] newSpeed in pps
- * @retval None
- **********************************************************/
-void L6474::L6474_ApplySpeed(uint16_t newSpeed)
-{
- if (newSpeed < L6474_MIN_PWM_FREQ)
- {
- newSpeed = L6474_MIN_PWM_FREQ;
- }
- if (newSpeed > L6474_MAX_PWM_FREQ)
- {
- newSpeed = L6474_MAX_PWM_FREQ;
- }
-
- device_prm.speed = newSpeed;
-
- L6474_PwmSetFreq(newSpeed);
-}
-
-/**********************************************************
- * @brief Computes the speed profile according to the number of steps to move
- * @param[in] nbSteps number of steps to perform
- * @retval None
- * @note Using the acceleration and deceleration of the device,
- * this function determines the duration in steps of the acceleration,
- * steady and deceleration phases.
- * If the total number of steps to perform is big enough, a trapezoidal move
- * is performed (i.e. there is a steady phase where the motor runs at the maximum
- * speed.
- * Else, a triangular move is performed (no steady phase: the maximum speed is never
- * reached.
- **********************************************************/
-void L6474::L6474_ComputeSpeedProfile(uint32_t nbSteps)
-{
- uint32_t reqAccSteps;
- uint32_t reqDecSteps;
-
- /* compute the number of steps to get the targeted speed */
- uint16_t minSpeed = device_prm.minSpeed;
- reqAccSteps = (device_prm.maxSpeed - minSpeed);
- reqAccSteps *= (device_prm.maxSpeed + minSpeed);
- reqDecSteps = reqAccSteps;
- reqAccSteps /= (uint32_t)device_prm.acceleration;
- reqAccSteps /= 2;
-
- /* compute the number of steps to stop */
- reqDecSteps /= (uint32_t)device_prm.deceleration;
- reqDecSteps /= 2;
-
- if(( reqAccSteps + reqDecSteps ) > nbSteps)
- {
- /* Triangular move */
- /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
- uint32_t dec = device_prm.deceleration;
- uint32_t acc = device_prm.acceleration;
-
- reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
- if (reqDecSteps > 1)
- {
- reqAccSteps = reqDecSteps - 1;
- if(reqAccSteps == 0)
- {
- reqAccSteps = 1;
- }
- }
- else
- {
- reqAccSteps = 0;
- }
- device_prm.endAccPos = reqAccSteps;
- device_prm.startDecPos = reqDecSteps;
- }
- else
- {
- /* Trapezoidal move */
- /* accelerating phase to endAccPos */
- /* steady phase from endAccPos to startDecPos */
- /* decelerating from startDecPos to stepsToTake*/
- device_prm.endAccPos = reqAccSteps;
- device_prm.startDecPos = nbSteps - reqDecSteps - 1;
- }
-}
-
-/**********************************************************
- * @brief Converts the ABS_POSITION register value to a 32b signed integer
- * @param[in] abs_position_reg value of the ABS_POSITION register
- * @retval operation_result 32b signed integer corresponding to the absolute position
- **********************************************************/
-int32_t L6474::L6474_ConvertPosition(uint32_t abs_position_reg)
-{
- int32_t operation_result;
-
- if (abs_position_reg & L6474_ABS_POS_SIGN_BIT_MASK)
- {
- /* Negative register value */
- abs_position_reg = ~abs_position_reg;
- abs_position_reg += 1;
-
- operation_result = (int32_t) (abs_position_reg & L6474_ABS_POS_VALUE_MASK);
- operation_result = -operation_result;
- }
- else
- {
- operation_result = (int32_t) abs_position_reg;
- }
-
- return operation_result;
-}
-
-/**********************************************************
- * @brief Error handler which calls the user callback (if defined)
- * @param[in] error Number of the error
- * @retval None
- **********************************************************/
-void L6474::L6474_ErrorHandler(uint16_t error)
-{
- if (error_handler_callback != 0)
- {
- (void) error_handler_callback(error);
- }
- else
- {
- /* Aborting the program. */
- exit(EXIT_FAILURE);
- }
-}
-
-/**********************************************************
- * @brief Sends a command without arguments to the L6474 via the SPI
- * @param[in] param Command to send
- * @retval None
- **********************************************************/
-void L6474::L6474_SendCommand(uint8_t param)
-{
- uint32_t i;
- bool itDisable = FALSE;
- uint8_t spiIndex = number_of_devices - device_instance - 1;
-
- do
- {
- spi_preemtion_by_isr = FALSE;
- if (itDisable)
- {
- /* re-enable L6474_EnableIrq if disable in previous iteration */
- L6474_EnableIrq();
- itDisable = FALSE;
- }
-
- for (i = 0; i < number_of_devices; i++)
- {
- spi_tx_bursts[3][i] = L6474_NOP;
- }
- spi_tx_bursts[3][spiIndex] = param;
-
- /* Disable interruption before checking */
- /* pre-emption by ISR and SPI transfers*/
- L6474_DisableIrq();
- itDisable = TRUE;
- } while (spi_preemtion_by_isr); // check pre-emption by ISR
-
- L6474_WriteBytes(&spi_tx_bursts[3][0], &spi_rx_bursts[3][0]);
-
- /* re-enable L6474_EnableIrq after SPI transfers*/
- L6474_EnableIrq();
-}
-
-/**********************************************************
- * @brief Sets the registers of the L6474 to their predefined values
- * from l6474_target_config.h
- * @retval None
- **********************************************************/
-void L6474::L6474_SetRegisterToPredefinedValues(void)
-{
- L6474_CmdSetParam(
- L6474_ABS_POS,
- 0);
- L6474_CmdSetParam(
- L6474_EL_POS,
- 0);
- L6474_CmdSetParam(
- L6474_MARK,
- 0);
- switch (device_instance)
- {
- case 0:
- L6474_CmdSetParam(
- L6474_TVAL,
- L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0));
- L6474_CmdSetParam(
- L6474_T_FAST,
- (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_0 |
- (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_0);
- L6474_CmdSetParam(
- L6474_TON_MIN,
- L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_0)
- );
- L6474_CmdSetParam(
- L6474_TOFF_MIN,
- L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_0));
- L6474_CmdSetParam(
- L6474_OCD_TH,
- L6474_CONF_PARAM_OCD_TH_DEVICE_0);
- L6474_CmdSetParam(
- L6474_STEP_MODE,
- (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_0 |
- (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_0);
- L6474_CmdSetParam(
- L6474_ALARM_EN,
- L6474_CONF_PARAM_ALARM_EN_DEVICE_0);
- L6474_CmdSetParam(
- L6474_CONFIG,
- (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0 |
- (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_0 |
- (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_0 |
- (uint16_t)L6474_CONF_PARAM_SR_DEVICE_0 |
- (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_0);
- break;
- case 1:
- L6474_CmdSetParam(
- L6474_TVAL,
- L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1));
- L6474_CmdSetParam(
- L6474_T_FAST,
- (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_1 |
- (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_1);
- L6474_CmdSetParam(
- L6474_TON_MIN,
- L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_1));
- L6474_CmdSetParam(
- L6474_TOFF_MIN,
- L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_1));
- L6474_CmdSetParam(
- L6474_OCD_TH,
- L6474_CONF_PARAM_OCD_TH_DEVICE_1);
- L6474_CmdSetParam(
- L6474_STEP_MODE,
- (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_1 |
- (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_1);
- L6474_CmdSetParam(
- L6474_ALARM_EN,
- L6474_CONF_PARAM_ALARM_EN_DEVICE_1);
- L6474_CmdSetParam(
- L6474_CONFIG,
- (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1 |
- (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_1 |
- (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_1 |
- (uint16_t)L6474_CONF_PARAM_SR_DEVICE_1 |
- (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_1);
- break;
- case 2:
- L6474_CmdSetParam(
- L6474_TVAL,
- L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2));
- L6474_CmdSetParam(
- L6474_T_FAST,
- (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_2 |
- (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_2);
- L6474_CmdSetParam(
- L6474_TON_MIN,
- L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_2));
- L6474_CmdSetParam(
- L6474_TOFF_MIN,
- L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_2));
- L6474_CmdSetParam(
- L6474_OCD_TH,
- L6474_CONF_PARAM_OCD_TH_DEVICE_2);
- L6474_CmdSetParam(
- L6474_STEP_MODE,
- (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_2 |
- (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_2);
- L6474_CmdSetParam(
- L6474_ALARM_EN,
- L6474_CONF_PARAM_ALARM_EN_DEVICE_2);
- L6474_CmdSetParam(
- L6474_CONFIG,
- (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2 |
- (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_2 |
- (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_2 |
- (uint16_t)L6474_CONF_PARAM_SR_DEVICE_2 |
- (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_2);
- break;
- default: ;
- }
-}
-
-/**********************************************************
- * @brief Sets the registers of the L6474 to initialization values.
- * @param init Initialization structure.
- * @retval None.
- **********************************************************/
-void L6474::L6474_SetRegisterToInitializationValues(L6474_init_t *init)
-{
- L6474_CmdSetParam(
- L6474_ABS_POS,
- 0
- );
- L6474_CmdSetParam(
- L6474_EL_POS,
- 0
- );
- L6474_CmdSetParam(
- L6474_MARK,
- 0
- );
- L6474_CmdSetParam(
- L6474_TVAL,
- L6474_Tval_Current_to_Par(init->torque_regulation_current_mA)
- );
- L6474_CmdSetParam(
- L6474_T_FAST,
- (uint8_t) init->maximum_fast_decay_time |
- (uint8_t) init->fall_time
- );
- L6474_CmdSetParam(
- L6474_TON_MIN,
- L6474_Tmin_Time_to_Par(init->minimum_ON_time_us)
- );
- L6474_CmdSetParam(
- L6474_TOFF_MIN,
- L6474_Tmin_Time_to_Par(init->minimum_OFF_time_us)
- );
- L6474_CmdSetParam(
- L6474_OCD_TH,
- init->overcurrent_threshold
- );
- L6474_CmdSetParam(
- L6474_STEP_MODE,
- (uint8_t) init->step_selection |
- (uint8_t) init->sync_selection
- );
- L6474_CmdSetParam(
- L6474_ALARM_EN,
- init->alarm
- );
- L6474_CmdSetParam(
- L6474_CONFIG,
- (uint16_t) init->clock |
- (uint16_t) init->torque_regulation_method |
- (uint16_t) init->overcurrent_shutwdown |
- (uint16_t) init->slew_rate |
- (uint16_t) init->target_swicthing_period
- );
- L6474_SetAcceleration((uint16_t) init->acceleration_pps_2);
- L6474_SetDeceleration((uint16_t) init->deceleration_pps_2);
- L6474_SetMaxSpeed((uint16_t) init->maximum_speed_pps);
- L6474_SetMinSpeed((uint16_t) init->minimum_speed_pps);
-}
-
-/**********************************************************
- * @brief Sets the parameters of the device to predefined values
- * from l6474_target_config.h
- * @param None
- * @retval None
- **********************************************************/
-void L6474::L6474_SetDeviceParamsToPredefinedValues(void)
-{
- switch (device_instance)
- {
- case 0:
- device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
- device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
- device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
- device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
- break;
-
- case 1:
- device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
- device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
- device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
- device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
- break;
-
- case 2:
- device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
- device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
- device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
- device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
- break;
- }
-
- device_prm.accu = 0;
- device_prm.currentPosition = 0;
- device_prm.endAccPos = 0;
- device_prm.relativePos = 0;
- device_prm.startDecPos = 0;
- device_prm.stepsToTake = 0;
- device_prm.speed = 0;
- device_prm.commandExecuted = NO_CMD;
- device_prm.direction = FORWARD;
- device_prm.motionState = INACTIVE;
-}
-
-/**********************************************************
- * @brief Initialises the bridge parameters to start the movement
- * and enable the power bridge
- * @retval None
- **********************************************************/
-void L6474::L6474_StartMovement(void)
-{
- /* Enable L6474 powerstage */
- L6474_CmdEnable();
- if (device_prm.endAccPos != 0)
- {
- device_prm.motionState = ACCELERATING;
- }
- else
- {
- device_prm.motionState = DECELERATING;
- }
- device_prm.accu = 0;
- device_prm.relativePos = 0;
- L6474_ApplySpeed(device_prm.minSpeed);
-}
-
-/**********************************************************
- * @brief Handles the device state machine at each ste
- * @retval None
- * @note Must only be called by the timer ISR
- **********************************************************/
-void L6474::L6474_StepClockHandler(void)
-{
- /* Set isr flag */
- isr_flag = TRUE;
-
- /* Incrementation of the relative position */
- device_prm.relativePos++;
-
- switch (device_prm.motionState)
- {
- case ACCELERATING:
- {
- uint32_t relPos = device_prm.relativePos;
- uint32_t endAccPos = device_prm.endAccPos;
- uint16_t speed = device_prm.speed;
- uint32_t acc = ((uint32_t)device_prm.acceleration << 16);
-
- if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
- ((device_prm.commandExecuted != RUN_CMD)&&
- (relPos == device_prm.startDecPos)))
- {
- device_prm.motionState = DECELERATING;
- device_prm.accu = 0;
- }
- else if ((speed >= device_prm.maxSpeed)||
- ((device_prm.commandExecuted != RUN_CMD)&&
- (relPos == endAccPos)))
- {
- device_prm.motionState = STEADY;
- }
- else
- {
- bool speedUpdated = FALSE;
- /* Go on accelerating */
- if (speed == 0) speed =1;
- device_prm.accu += acc / speed;
- while (device_prm.accu >= (0X10000L))
- {
- device_prm.accu -= (0X10000L);
- speed +=1;
- speedUpdated = TRUE;
- }
-
- if (speedUpdated)
- {
- if (speed > device_prm.maxSpeed)
- {
- speed = device_prm.maxSpeed;
- }
- device_prm.speed = speed;
- L6474_ApplySpeed(device_prm.speed);
- }
- }
- break;
- }
- case STEADY:
- {
- uint16_t maxSpeed = device_prm.maxSpeed;
- uint32_t relativePos = device_prm.relativePos;
- if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
- ((device_prm.commandExecuted != RUN_CMD)&&
- (relativePos >= (device_prm.startDecPos))) ||
- ((device_prm.commandExecuted == RUN_CMD)&&
- (device_prm.speed > maxSpeed)))
- {
- device_prm.motionState = DECELERATING;
- device_prm.accu = 0;
- }
- else if ((device_prm.commandExecuted == RUN_CMD)&&
- (device_prm.speed < maxSpeed))
- {
- device_prm.motionState = ACCELERATING;
- device_prm.accu = 0;
- }
- break;
- }
- case DECELERATING:
- {
- uint32_t relativePos = device_prm.relativePos;
- uint16_t speed = device_prm.speed;
- uint32_t deceleration = ((uint32_t)device_prm.deceleration << 16);
- if (((device_prm.commandExecuted == SOFT_STOP_CMD)&&(speed <= device_prm.minSpeed))||
- ((device_prm.commandExecuted != RUN_CMD)&&
- (relativePos >= device_prm.stepsToTake)))
- {
- /* Motion process complete */
- L6474_HardStop();
- }
- else if ((device_prm.commandExecuted == RUN_CMD)&&
- (speed <= device_prm.maxSpeed))
- {
- device_prm.motionState = STEADY;
- }
- else
- {
- /* Go on decelerating */
- if (speed > device_prm.minSpeed)
- {
- bool speedUpdated = FALSE;
- if (speed == 0) speed =1;
- device_prm.accu += deceleration / speed;
- while (device_prm.accu >= (0X10000L))
- {
- device_prm.accu -= (0X10000L);
- if (speed > 1)
- {
- speed -=1;
- }
- speedUpdated = TRUE;
- }
-
- if (speedUpdated)
- {
- if (speed < device_prm.minSpeed)
- {
- speed = device_prm.minSpeed;
- }
- device_prm.speed = speed;
- L6474_ApplySpeed(device_prm.speed);
- }
- }
- }
- break;
- }
- default:
- {
- break;
- }
- }
- /* Set isr flag */
- isr_flag = FALSE;
-}
-
-/**********************************************************
- * @brief Converts current in mA to values for TVAL register
- * @param[in] current_mA current in mA
- * @retval value for TVAL register
- **********************************************************/
-float L6474::L6474_Tval_Current_to_Par(float current_mA)
-{
- return ((float)(((current_mA - 31.25f) / 31.25f) + 0.5f));
-}
-
-/**********************************************************
- * @brief Converts values from TVAL register to mA
- * @param[in] Tval value from TVAL register
- * @retval current in mA
- **********************************************************/
-float L6474::L6474_Par_to_Tval_Current(float Tval)
-{
- return ((float)((Tval - 0.5f) * 31.25f + 31.25f));
-}
-
-/**********************************************************
- * @brief Convert time in us to values for TON_MIN register
- * @param[in] ton_min_us time in us
- * @retval value for TON_MIN register
- **********************************************************/
-float L6474::L6474_Tmin_Time_to_Par(float ton_min_us)
-{
- return ((float)(((ton_min_us - 0.5f) * 2.0f) + 0.5f));
-}
-
-/**********************************************************
- * @brief Convert values for TON_MIN register to time in us
- * @param[in] Tmin value from TON_MIN register
- * @retval time in us
- **********************************************************/
-float L6474::L6474_Par_to_Tmin_Time(float Tmin)
-{
- return ((float)(((Tmin - 0.5f) / 2.0f) + 0.5f));
-}
-
-/**********************************************************
- * @brief Write and receive a byte via SPI
- * @param[in] pByteToTransmit pointer to the byte to transmit
- * @param[in] pReceivedByte pointer to the received byte
- * @retval None
- **********************************************************/
-void L6474::L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
-{
- if (L6474_SpiWriteBytes(pByteToTransmit, pReceivedByte) != 0)
- {
- L6474_ErrorHandler(L6474_ERROR_1);
- }
-
- if (isr_flag)
- {
- spi_preemtion_by_isr = TRUE;
- }
-}
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- 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****/
--- a/Components/l6474/L6474_config.h Fri Mar 10 14:07:49 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,229 +0,0 @@
-/**
- ******************************************************************************
- * @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>© 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****/
--- 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****/
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Repository details
| Type: | Library |
|---|---|
| Created: | 10 Dec 2015 |
| Imports: | 176 |
| Forks: | 6 |
| Commits: | 36 |
| Dependents: | 34 |
| Dependencies: | 2 |
| Followers: | 411 |
The code in this repository is Apache licensed.
Components
X-NUCLEO-IHM01A1 Stepper Motor Driver