ST
/
X_NUCLEO_IHM02A1
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Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_IHM02A1 ConcorsoFinal HelloWorld_IHM02A1_mbedOS HelloWorld_IHM02A1-Serialinterpreter ... more
Fork of
X_NUCLEO_IHM02A1
by 
ST Expansion SW Team
Motor Control Library
Introduction
Library to handle the X-NUCLEO-IHM02A1 Motor Control Expansion Board based on the the L6470 component.
Daisy-Chain Configuration
The two L6470 components mounted on this board are connected in daisy-chain configuration. This board can be stacked up to four times so that the eight L6470 components will be connected two-by-two in daisy-chain configuration.
Concerning the SSEL pin of the SPI communication, each expansion board must be in one of the following configuration:
SB_23resistor connected only: SSEL on pinA2;SB_7resistor connected only: SSEL on pinD2;SB_8resistor connected only: SSEL on pinD10;SB_9resistor connected only: SSEL on pinD5.
Arduino Connector Compatibility Warning
X-NUCLEO-IHM02A1 is Arduino compatible with one exception: instead of using D13 pin to drive the SPI clock, it uses D3 pin, hence the default configuration for this library is with the SPI clock on D3 pin.
To be fully Arduino compatible the following patch is required:
- to remove the
SB34resistor; - to solder the
SB12resistor.
Alternatively, you can route the Nucleo board’s D13 pin directly to the expansion board’s D3 pin with a wire.
In case you patch your expansion board or route the pin, the SPI clock will be driven on D13 pin rather than on D3 pin, and you have also to initialize the sclk PinName variable with D13 rather than D3.
This patch is known to be required, for example, on the following boards: NUCLEO-F103RB, NUCLEO-F302RB, NUCLEO-F411RE, and NUCLEO-F429ZI.
If you use D13 pin for the SPI clock, please be aware that on STM32 Nucleo boards you may not drive the LED, otherwise you will get a conflict: the LED on STM32 Nucleo boards is connected to the D13 pin.
Example Applications
Components/l6470/L6470.cpp@22:ba7f4131a5e0, 2017-03-10 (annotated)
- Committer:
- davide.aliprandi@st.com
- Date:
- Fri Mar 10 11:09:21 2017 +0100
- Revision:
- 22:ba7f4131a5e0
Aligning to ARM mbed coding style.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 2 | ****************************************************************************** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 3 | * @file l6470_class.cpp |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 4 | * @date 01/10/2014 12:00:00 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 5 | * @brief This file provides set of firmware functions to manage the |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 6 | * L6470. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 7 | ****************************************************************************** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 8 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 9 | * COPYRIGHT(c) 2014 STMicroelectronics |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 10 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 11 | * Redistribution and use in source and binary forms, with or without modification, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 12 | * are permitted provided that the following conditions are met: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 13 | * 1. Redistributions of source code must retain the above copyright notice, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 14 | * this list of conditions and the following disclaimer. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 15 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 16 | * this list of conditions and the following disclaimer in the documentation |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 17 | * and/or other materials provided with the distribution. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 18 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 19 | * may be used to endorse or promote products derived from this software |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 20 | * without specific prior written permission. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 21 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 23 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 24 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 25 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 26 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 27 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 28 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 30 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 31 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 32 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 33 | ****************************************************************************** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 34 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 35 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 36 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 37 | /* Generated with STM32CubeTOO -----------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 38 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 39 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 40 | /* Revision ------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 41 | /* |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 42 | Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 43 | Branch/Trunk/Tag: trunk |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 44 | Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 45 | Revision: 0 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 46 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 47 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 48 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 49 | /* Includes ------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 50 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 51 | #include "l6470.h" |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 52 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 53 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 54 | /* Variables -----------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 55 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 56 | /* Number of instantiated devices on an expansion board. */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 57 | uint8_t L6470::number_of_devices = 0; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 58 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 59 | /* SPI Transmission for Daisy-Chain Configuration. */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 60 | eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 61 | sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE]; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 62 | uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 63 | uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 64 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 65 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 66 | * @brief Array whose elements are a structure in which store information about |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 67 | * the L6470 Registers (the address, the names, the length in bits, the |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 68 | * reset value) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 69 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 70 | const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 71 | {0x01 , "ABS_POS", 22, 3, 0x000000}, //!< Current position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 72 | {0x02 , "EL_POS", 9, 2, 0x000}, //!< Electrical position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 73 | {0x03 , "MARK", 22, 3, 0x000000}, //!< Mark position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 74 | {0x04 , "SPEED", 20, 3, 0x0000}, //!< Current speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 75 | {0x05 , "ACC", 12, 2, 0x08A}, //!< Acceleration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 76 | {0x06 , "DEC", 12, 2, 0x08A}, //!< Deceleration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 77 | {0x07 , "MAX_SPEED", 10, 2, 0x041}, //!< Maximum speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 78 | {0x08 , "MIN_SPEED", 13, 2, 0x000}, //!< Minimum speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 79 | {0x15 , "FS_SPD", 10, 2, 0x027}, //!< Full-step speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 80 | {0x09 , "KVAL_HOLD", 8, 1, 0x29}, //!< Holding KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 81 | {0x0A , "KVAL_RUN", 8, 1, 0x29}, //!< Constant speed KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 82 | {0x0B , "KVAL_ACC", 8, 1, 0x29}, //!< Acceleration starting KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 83 | {0x0C , "KVAL_DEC", 8, 1, 0x29}, //!< Deceleration starting KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 84 | {0x0D , "INT_SPEED", 14, 2, 0x0408}, //!< Intersect speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 85 | {0x0E , "ST_SLP", 8, 1, 0x19}, //!< Start slope |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 86 | {0x0F , "FN_SLP_ACC", 8, 1, 0x29}, //!< Acceleration final slope |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 87 | {0x10 , "FN_SLP_DEC", 8, 1, 0x29}, //!< Deceleration final slope |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 88 | {0x11 , "K_THERM", 4, 1, 0x0}, //!< Thermal compensation factor |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 89 | {0x12 , "ADC_OUT", 5, 1, 0x00}, //!< ADC output, (the reset value is according to startup conditions) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 90 | {0x13 , "OCD_TH", 4, 1, 0x8}, //!< OCD threshold |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 91 | {0x14 , "STALL_TH", 7, 1, 0x40}, //!< STALL threshold |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 92 | {0x16 , "STEP_MODE", 8, 1, 0x7}, //!< Step mode |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 93 | {0x17 , "ALARM_EN", 8, 1, 0xFF}, //!< Alarm enable |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 94 | {0x18 , "CONFIG", 16, 2, 0x2E88}, //!< IC configuration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 95 | {0x19 , "STATUS", 16, 2, 0x0000} //!< Status, (the reset value is according to startup conditions) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 96 | }; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 97 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 98 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 99 | * @brief Array whose elements are a structure in which store information about |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 100 | * the L6470 Application Commands (the mnemonic name, the number of |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 101 | * needed parameters, the related funtion to call) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 102 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 103 | const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] = { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 104 | {"NOP", 0x00, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 105 | {"SETPARAM", 0x00, 2}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 106 | {"GETPARAM", 0x20, 1}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 107 | {"RUN", 0x50, 2}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 108 | {"STEPCLOCK", 0x58, 1}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 109 | {"MOVE", 0x40, 2}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 110 | {"GOTO", 0x60, 1}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 111 | {"GOTO_DIR", 0x68, 2}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 112 | {"GOUNTIL", 0x82, 3}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 113 | {"RELEASESW", 0x92, 2}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 114 | {"GOHOME", 0x70, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 115 | {"GOMARK", 0x78, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 116 | {"RESETPOS", 0xD8, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 117 | {"RESETDEVICE", 0xC0, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 118 | {"SOFTSTOP", 0xB0, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 119 | {"HARDSTOP", 0xB8, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 120 | {"SOFTHIZ", 0xA0, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 121 | {"HARDHIZ", 0xA8, 0}, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 122 | {"GETSTATUS", 0xD0, 0} |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 123 | }; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 124 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 125 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 126 | * @brief The mnemonic names for the L6470 direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 127 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 128 | const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 129 | {"REV", 0x00}, //!< Reverse direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 130 | {"FWD", 0x01} //!< Forward direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 131 | }; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 132 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 133 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 134 | * @brief Action taken about ABS_POS register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 135 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 136 | const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 137 | {"RST", 0x00}, //!< ABS_POS register is reset |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 138 | {"CPY", 0x01} //!< ABS_POS register value is copied into the MARK register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 139 | }; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 140 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 141 | /* End of L6470_Private_Constants */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 142 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 143 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 144 | * @defgroup L6470_Private_Variables |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 145 | * @brief L6470 Private Variables. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 146 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 147 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 148 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 149 | /* End of L6470_Private_Variables */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 150 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 151 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 152 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 153 | * @addtogroup L6470_Private_Functions |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 154 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 155 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 156 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 157 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 158 | /* Methods -------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 159 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 160 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 161 | * @brief Reset the structure used to store the identifier of the L6470 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 162 | * application command and its the needed parameters. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 163 | * @param pL6470_AppCmdPkg The structure to be reset. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 164 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 165 | void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 166 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 167 | uint8_t id; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 168 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 169 | for(id=0; id<L6470DAISYCHAINSIZE; id++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 170 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 171 | (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 172 | (pL6470_AppCmdPkg+id)->p1=0; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 173 | (pL6470_AppCmdPkg+id)->p2=0; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 174 | (pL6470_AppCmdPkg+id)->p3=0; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 175 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 176 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 177 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 178 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 179 | * @brief Fill the structure used to store the identifier of the L6470 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 180 | * application command and its the needed parameters. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 181 | * @param L6470_Id The identifier of the L6470 target inside the daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 182 | * @param pL6470_AppCmdPkg The structure to be filled. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 183 | * @param L6470_AppCmdId The identifier of the L6470 application command to be sent. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 184 | * @param p1 The 1st parameter (if it is not needed it will be not considered). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 185 | * @param p2 The 2nd parameter (if it is not needed it will be not considered). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 186 | * @param p3 The 3rd parameter (if it is not needed it will be not considered). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 187 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 188 | void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 189 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 190 | (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 191 | (pL6470_AppCmdPkg+L6470_Id)->p1 = p1; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 192 | (pL6470_AppCmdPkg+L6470_Id)->p2 = p2; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 193 | (pL6470_AppCmdPkg+L6470_Id)->p3 = p3; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 194 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 195 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 196 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 197 | * @brief This function will fill the column of the L6470_AppCmdPkg related |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 198 | * the L6470 to be addressed inside the daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 199 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 200 | * @param L6470_Id The identifier of the L6470 target inside the daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 201 | * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 202 | * @param L6470_AppCmdId The identifier of the L6470 application command to be sent. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 203 | * @param p1 The 1st parameter (if it is not needed it will be not considered). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 204 | * @param p2 The 2nd parameter (if it is not needed it will be not considered). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 205 | * @param p3 The 3rd parameter (if it is not needed it will be not considered). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 206 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 207 | void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 208 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 209 | if(!L6470_DaisyChain_HalfPrepared) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 210 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 211 | L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 212 | L6470_ResetAppCmdPkg(pL6470_AppCmdPkg); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 213 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 214 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 215 | L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 216 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 217 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 218 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 219 | * @brief This function will translate the data inside the L6470_AppCmdPkg into |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 220 | * the right data to be sent via SPI to the L6470 daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 221 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 222 | * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 223 | * @param pL6470_DaisyChainSpiTxStruct Pointer to the structure used by SPI to send the commands. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 224 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 225 | void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 226 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 227 | uint8_t PkgId; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 228 | uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 229 | uint8_t spibyte; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 230 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 231 | /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 232 | uint8_t i = 0; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 233 | for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 234 | for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 235 | *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 236 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 237 | for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 238 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 239 | /* Build the 1st bytes to transmit with the binary code of the command */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 240 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 241 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 242 | /* Perform the related L6470_AppCmdId */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 243 | switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 244 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 245 | case L6470_NOP_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 246 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 247 | case L6470_SETPARAM_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 248 | /* Build the 1st bytes to transmit (PARAM) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 249 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 250 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 251 | /* The length, in byte, of this register (PARAM) is... */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 252 | PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 253 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 254 | /* Build the others bytes to transmit (VALUE) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 255 | for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 256 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 257 | *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 258 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 259 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 260 | case L6470_GETPARAM_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 261 | /* Build the 1st bytes to transmit (PARAM) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 262 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 263 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 264 | case L6470_RUN_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 265 | /* Build the 1st bytes to transmit (DIR) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 266 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 267 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 268 | /* Build the others bytes to transmit (SPD) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 269 | for (spibyte=1; spibyte<(3+1); spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 270 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 271 | *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 272 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 273 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 274 | case L6470_STEPCLOCK_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 275 | /* Build the 1st bytes to transmit (DIR) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 276 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 277 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 278 | case L6470_MOVE_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 279 | /* Build the 1st bytes to transmit (DIR) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 280 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 281 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 282 | /* Build the others bytes to transmit (N_STEP) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 283 | for (spibyte=1; spibyte<(3+1); spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 284 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 285 | *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 286 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 287 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 288 | case L6470_GOTO_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 289 | /* Build the others bytes to transmit (ABS_POS) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 290 | for (spibyte=1; spibyte<(3+1); spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 291 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 292 | *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 293 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 294 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 295 | case L6470_GOTODIR_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 296 | /* Build the 1st bytes to transmit (DIR) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 297 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 298 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 299 | /* Build the others bytes to transmit (ABS_POS) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 300 | for (spibyte=1; spibyte<(3+1); spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 301 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 302 | *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 303 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 304 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 305 | case L6470_GOUNTIL_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 306 | /* Build the 1st bytes to transmit (ACT) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 307 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 308 | /* Build the 1st bytes to transmit (DIR) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 309 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 310 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 311 | /* Build the others bytes to transmit (SPD) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 312 | for (spibyte=1; spibyte<(3+1); spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 313 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 314 | *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 315 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 316 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 317 | case L6470_RELEASESW_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 318 | /* Build the 1st bytes to transmit (ACT) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 319 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 320 | /* Build the 1st bytes to transmit (DIR) */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 321 | *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 322 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 323 | case L6470_GOHOME_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 324 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 325 | case L6470_GOMARK_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 326 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 327 | case L6470_RESETPOS_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 328 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 329 | case L6470_RESETDEVICE_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 330 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 331 | case L6470_SOFTSTOP_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 332 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 333 | case L6470_HARDSTOP_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 334 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 335 | case L6470_SOFTHIZ_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 336 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 337 | case L6470_HARDHIZ_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 338 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 339 | case L6470_GETSTATUS_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 340 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 341 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 342 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 343 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 344 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 345 | /* End of L6470_Private_Functions */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 346 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 347 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 348 | * @addtogroup L6470_Exported_Functions |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 349 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 350 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 351 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 352 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 353 | * @addtogroup L6470_Conversion_Functions |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 354 | * @brief The following functions act just on one driver inside the L6470 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 355 | * daisy chain. The command is immediately sent. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 356 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 357 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 358 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 359 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 360 | * @brief Convert the absolute position as 2's complement format into the signed number. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 361 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 362 | * @param AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1]. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 363 | * @retval Position The position as signed number. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 364 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 365 | int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 366 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 367 | if (AbsPos > L6470_MAX_POSITION) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 368 | return (AbsPos - (L6470_POSITION_RANGE + 1)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 369 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 370 | return AbsPos; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 371 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 372 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 373 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 374 | * @brief Convert the position as signed number into absolute position as 2's complement format. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 375 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 376 | * @param Position The position as signed number. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 377 | * @retval AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1]. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 378 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 379 | uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 380 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 381 | if ((Position >= 0) && (Position <= L6470_MAX_POSITION)) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 382 | return Position; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 383 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 384 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 385 | if ((Position >= L6470_MIN_POSITION) && (Position < 0)) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 386 | return (Position + (L6470_POSITION_RANGE + 1)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 387 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 388 | return (L6470_POSITION_RANGE + 1); // OVF |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 389 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 390 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 391 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 392 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 393 | * @brief Convert the SPEED register value into step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 394 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 395 | * @param Speed The SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 396 | * @retval step/s The speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 397 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 398 | float L6470::L6470_Speed_2_Step_s(uint32_t Speed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 399 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 400 | return (Speed * ((float)14.9012e-3)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 401 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 402 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 403 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 404 | * @brief Convert the speed as step/s into a right value for SPEED register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 405 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 406 | * @param step/s The speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 407 | * @retval Speed The SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 408 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 409 | uint32_t L6470::L6470_Step_s_2_Speed(float Step_s) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 410 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 411 | if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 412 | return (uint32_t)(Step_s / ((float)14.9012e-3)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 413 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 414 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 415 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 416 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 417 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 418 | * @brief Convert the ACC register value into step/(s^2). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 419 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 420 | * @param Acc The ACC register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 421 | * @retval step/(s^2) The acceleration as step/(s^2). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 422 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 423 | float L6470::L6470_Acc_2_Step_s2(uint16_t Acc) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 424 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 425 | if (Acc <= L6470_MAX_ACC) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 426 | return (Acc * ((float)1.4552e1)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 427 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 428 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 429 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 430 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 431 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 432 | * @brief Convert the acceleartion as step/(s^2) into a right value for ACC register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 433 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 434 | * @param step/(s^2) The acceleration as step/(s^2). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 435 | * @retval Acc The ACC register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 436 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 437 | uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 438 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 439 | if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 440 | return (uint16_t)(Step_s2 / ((float)1.4552e1)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 441 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 442 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 443 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 444 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 445 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 446 | * @brief Convert the DEC register value into step/(s^2). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 447 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 448 | * @param Dec The DEC register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 449 | * @retval step/(s^2) The deceleration as step/(s^2). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 450 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 451 | float L6470::L6470_Dec_2_Step_s2(uint16_t Dec) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 452 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 453 | if (Dec <= L6470_MAX_DEC) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 454 | return (Dec * ((float)1.4552e1)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 455 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 456 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 457 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 458 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 459 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 460 | * @brief Convert the deceleration as step/(s^2) into a right value for DEC register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 461 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 462 | * @param step/(s^2) The deceleration as step/(s^2). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 463 | * @retval Dec The DEC register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 464 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 465 | uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 466 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 467 | if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 468 | return (uint16_t)(Step_s2 / ((float)1.4552e1)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 469 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 470 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 471 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 472 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 473 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 474 | * @brief Convert the MAX_SPEED register value into step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 475 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 476 | * @param MaxSpeed The MAX_SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 477 | * @retval step/s The max speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 478 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 479 | float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 480 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 481 | if (MaxSpeed <= L6470_MAX_MAX_SPEED) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 482 | return (MaxSpeed * ((float)15.2588)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 483 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 484 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 485 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 486 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 487 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 488 | * @brief Convert the max speed as step/s into a right value for MAX_SPEED register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 489 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 490 | * @param step/s The max speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 491 | * @retval MaxSpeed The MAX_SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 492 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 493 | uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 494 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 495 | if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 496 | return (uint16_t)(Step_s / ((float)15.2588)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 497 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 498 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 499 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 500 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 501 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 502 | * @brief Convert the MIN_SPEED register value into step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 503 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 504 | * @param MinSpeed The MIN_SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 505 | * @retval step/s The min speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 506 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 507 | float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 508 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 509 | if (MinSpeed <= L6470_MAX_MIN_SPEED) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 510 | return (MinSpeed * ((float)238.4186e-3)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 511 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 512 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 513 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 514 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 515 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 516 | * @brief Convert the min speed as step/s into a right value for MIN_SPEED register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 517 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 518 | * @param step/s The min speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 519 | * @retval MinSpeed The MIN_SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 520 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 521 | uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 522 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 523 | if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 524 | return (uint16_t)(Step_s / ((float)238.4186e-3)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 525 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 526 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 527 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 528 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 529 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 530 | * @brief Convert the FS_SPD register value into step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 531 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 532 | * @param FsSpd The FS_SPD register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 533 | * @retval step/s The full-step speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 534 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 535 | float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 536 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 537 | if (FsSpd <= L6470_MAX_FS_SPD) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 538 | return ((FsSpd+0.5) * ((float)15.25)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 539 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 540 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 541 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 542 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 543 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 544 | * @brief Convert the full-step speed as step/s into a right value for FS_SPD register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 545 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 546 | * @param step/s The full-step speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 547 | * @retval FsSpd The FS_SPD register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 548 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 549 | uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 550 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 551 | if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 552 | return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 553 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 554 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 555 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 556 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 557 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 558 | * @brief Convert the INT_SPEED register value into step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 559 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 560 | * @param IntSpeed The INT_SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 561 | * @retval step/s The intersect speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 562 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 563 | float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 564 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 565 | if (IntSpeed <= L6470_MAX_INT_SPEED) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 566 | return (IntSpeed * ((float)59.6046e-3)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 567 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 568 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 569 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 570 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 571 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 572 | * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 573 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 574 | * @param step/s The full-step speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 575 | * @retval FsSpd The FS_SPD register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 576 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 577 | uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 578 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 579 | if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 580 | return (uint16_t)(Step_s / ((float)59.6046e-3)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 581 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 582 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 583 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 584 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 585 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 586 | * @brief Convert the ST_SLP register value into s/step. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 587 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 588 | * @param StartSlope The ST_SLP register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 589 | * @retval s/step The start slope as s/step. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 590 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 591 | float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 592 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 593 | // if (StSlp <= L6470_MAX_ST_SLP) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 594 | return (StSlp * ((float)1.5686e-5)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 595 | // else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 596 | // return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 597 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 598 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 599 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 600 | * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 601 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 602 | * @param step/s The full-step speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 603 | * @retval FsSpd The FS_SPD register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 604 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 605 | uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 606 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 607 | if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 608 | return (uint8_t)(s_Step / ((float)1.5686e-5)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 609 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 610 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 611 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 612 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 613 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 614 | * @brief Convert the INT_SPEED register value into step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 615 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 616 | * @param IntSpeed The INT_SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 617 | * @retval step/s The intersect speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 618 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 619 | float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 620 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 621 | // if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 622 | return (FnSlpAcc * ((float)1.5686e-5)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 623 | // else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 624 | // return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 625 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 626 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 627 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 628 | * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 629 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 630 | * @param step/s The full-step speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 631 | * @retval FsSpd The FS_SPD register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 632 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 633 | uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 634 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 635 | if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 636 | return (uint8_t)(s_Step / ((float)1.5686e-5)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 637 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 638 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 639 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 640 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 641 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 642 | * @brief Convert the INT_SPEED register value into step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 643 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 644 | * @param IntSpeed The INT_SPEED register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 645 | * @retval step/s The intersect speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 646 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 647 | float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 648 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 649 | // if (FnSlpDec <= L6470_MAX_FN_SLP_DEC) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 650 | return (FnSlpDec * ((float)1.5686e-5)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 651 | // else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 652 | // return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 653 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 654 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 655 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 656 | * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 657 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 658 | * @param step/s The full-step speed as step/s. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 659 | * @retval FsSpd The FS_SPD register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 660 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 661 | uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 662 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 663 | if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 664 | return (uint8_t)(s_Step / ((float)1.5686e-5)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 665 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 666 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 667 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 668 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 669 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 670 | * @brief Convert the OCD_TH register value into mA. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 671 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 672 | * @param OcdTh The OCD_TH register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 673 | * @retval mA The overcurrent threshold as mA. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 674 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 675 | float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 676 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 677 | if (OcdTh <= L6470_MAX_OCD_TH) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 678 | return ((OcdTh+1) * ((float)375)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 679 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 680 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 681 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 682 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 683 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 684 | * @brief Convert the overcurrent threshold as mA into a right value for OCD_TH register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 685 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 686 | * @param mA The overcurrent threshold as mA. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 687 | * @retval OcdTh The OCD_TH register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 688 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 689 | uint8_t L6470::L6470_mA_2_OcdTh(float mA) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 690 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 691 | float result, decimal; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 692 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 693 | if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 694 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 695 | result = (mA / ((float)375)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 696 | decimal = result - (uint8_t)result; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 697 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 698 | if (decimal < (float)0.5) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 699 | return ((uint8_t)result - 1); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 700 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 701 | return ((uint8_t)result); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 702 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 703 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 704 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 705 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 706 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 707 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 708 | * @brief Convert the STALL_TH register value into mA. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 709 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 710 | * @param StallTh The STALL_TH register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 711 | * @retval mA The stall detection threshold as mA. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 712 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 713 | float L6470::L6470_StallTh_2_mA(uint8_t StallTh) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 714 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 715 | if (StallTh <= L6470_MAX_STALL_TH) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 716 | return ((StallTh+1) * ((float)31.25)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 717 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 718 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 719 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 720 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 721 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 722 | * @brief Convert the stall detection threshold as mA into a right value for STALL_TH register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 723 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 724 | * @param mA The stall detection threshold as mA. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 725 | * @retval StallTh The STALL_TH register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 726 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 727 | uint8_t L6470::L6470_mA_2_StallTh(float mA) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 728 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 729 | float result, decimal; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 730 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 731 | if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25))) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 732 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 733 | result = (mA / ((float)31.25)); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 734 | decimal = result - (uint8_t)result; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 735 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 736 | if (decimal < (float)0.5) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 737 | return ((uint8_t)result - 1); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 738 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 739 | return ((uint8_t)result); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 740 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 741 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 742 | return 0; // Warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 743 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 744 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 745 | /* End of L6470_Conversion_Functions */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 746 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 747 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 748 | * @addtogroup L6470_AppCMDs |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 749 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 750 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 751 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 752 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 753 | * @brief SetParam command sets the register value equal to a new value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 754 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 755 | * @param L6470_RegId The identifier of the L6470 register to be addressed. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 756 | * @param Value The new value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 757 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 758 | void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 759 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 760 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 761 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 762 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 763 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 764 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 765 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 766 | * @brief GetParam command reads the register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 767 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 768 | * @param L6470_RegId The identifier of the L6470 register to be addressed. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 769 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 770 | * @retval ReceivedValue The register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 771 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 772 | uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 773 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 774 | uint8_t ValueLengthByte; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 775 | uint32_t ReceivedValue; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 776 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 777 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 778 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 779 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 780 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 781 | ValueLengthByte = L6470_Register[L6470_RegId].LengthByte; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 782 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 783 | ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 784 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 785 | return ReceivedValue; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 786 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 787 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 788 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 789 | * @brief Run command produces a motion at fixed speed. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 790 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 791 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 792 | * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 793 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 794 | void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 795 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 796 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 797 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 798 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 799 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 800 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 801 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 802 | * @brief StepClock command switches the device in Step-clock mode. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 803 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 804 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 805 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 806 | void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 807 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 808 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 809 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 810 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 811 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 812 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 813 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 814 | * @brief Move command produces a motion of N_STEP microsteps. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 815 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 816 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 817 | * @param N_Step The number of microsteps. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 818 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 819 | void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 820 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 821 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 822 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 823 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 824 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 825 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 826 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 827 | * @brief GoTo command produces a motion to ABS_POS absolute position through the shortest path. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 828 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 829 | * @param AbsPos The target absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 830 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 831 | void L6470::L6470_GoTo(uint32_t AbsPos) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 832 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 833 | if (AbsPos <= L6470_POSITION_RANGE) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 834 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 835 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 836 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 837 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 838 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 839 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 840 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 841 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 842 | * @brief GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 843 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 844 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 845 | * @param AbsPos The target absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 846 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 847 | void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 848 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 849 | if (AbsPos <= L6470_POSITION_RANGE) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 850 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 851 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 852 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 853 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 854 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 855 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 856 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 857 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 858 | * @brief GoUntil command produces a motion at fixed speed imposing a direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 859 | * until an external switch turn-on event occurs. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 860 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 861 | * @param L6470_ActId The identifier of the L6470 action about the absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 862 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 863 | * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 864 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 865 | void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 866 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 867 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 868 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 869 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 870 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 871 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 872 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 873 | * @brief ReleaseSW command produces a motion at minimum speed imposing a direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 874 | * until SW is released. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 875 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 876 | * @param L6470_ActId The identifier of the L6470 action about the absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 877 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 878 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 879 | void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 880 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 881 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 882 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 883 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 884 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 885 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 886 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 887 | * @brief GoHome command produces a motion to the HOME position (zero position) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 888 | * via the shortest path. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 889 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 890 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 891 | void L6470::L6470_GoHome(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 892 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 893 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 894 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 895 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 896 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 897 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 898 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 899 | * @brief GoMark command produces a motion to the MARK position performing the |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 900 | * minimum path. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 901 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 902 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 903 | void L6470::L6470_GoMark(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 904 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 905 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 906 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 907 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 908 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 909 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 910 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 911 | * @brief ResetPos command resets the ABS_POS register to zero. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 912 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 913 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 914 | void L6470::L6470_ResetPos(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 915 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 916 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 917 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 918 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 919 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 920 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 921 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 922 | * @brief ResetDevice command resets the device to power-up conditions. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 923 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 924 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 925 | void L6470::L6470_ResetDevice(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 926 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 927 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 928 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 929 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 930 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 931 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 932 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 933 | * @brief SoftStop command causes an immediate deceleration to zero speed and |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 934 | * a consequent motor stop; the deceleration value used is the one stored |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 935 | * in the DEC register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 936 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 937 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 938 | void L6470::L6470_SoftStop(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 939 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 940 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 941 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 942 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 943 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 944 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 945 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 946 | * @brief HardStop command causes an immediate motor stop with infinite deceleration. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 947 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 948 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 949 | void L6470::L6470_HardStop(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 950 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 951 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 952 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 953 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 954 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 955 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 956 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 957 | * @brief SoftHiZ command disables the power bridges (high impedance state) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 958 | * after a deceleration to zero; the deceleration value used is the one |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 959 | * stored in the DEC register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 960 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 961 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 962 | void L6470::L6470_SoftHiZ(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 963 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 964 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 965 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 966 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 967 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 968 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 969 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 970 | * @brief HardHiZ command immediately disables the power bridges (high impedance state). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 971 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 972 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 973 | void L6470::L6470_HardHiZ(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 974 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 975 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 976 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 977 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 978 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 979 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 980 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 981 | * @brief GetStatus command returns the STATUS register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 982 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 983 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 984 | * @retval ReceivedValue The register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 985 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 986 | uint16_t L6470::L6470_GetStatus(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 987 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 988 | uint16_t ReceivedValue; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 989 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 990 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 991 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 992 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 993 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 994 | ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 995 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 996 | return ReceivedValue; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 997 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 998 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 999 | /* End of L6470_AppCMDs */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1000 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1001 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1002 | * @addtogroup L6470_AppCMDs_ToBePrepared |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1003 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1004 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1005 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1006 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1007 | * @brief Prepare to send @ref L6470_SetParam command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1008 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1009 | * @param L6470_RegId The identifier of the L6470 register to be addressed. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1010 | * @param Value The new value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1011 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1012 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1013 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1014 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1015 | void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1016 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1017 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1018 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1019 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1020 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1021 | * @brief Prepare to send @ref L6470_GetParam command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1022 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1023 | * @param L6470_Id The L6470 identifier inside the daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1024 | * @param L6470_RegId The identifier of the L6470 register to be addressed. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1025 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1026 | * @retval ReceivedValue The register value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1027 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1028 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1029 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1030 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1031 | void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1032 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1033 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1034 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1035 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1036 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1037 | * @brief Prepare to send @ref L6470_Run command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1038 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1039 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1040 | * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1041 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1042 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1043 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1044 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1045 | void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1046 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1047 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1048 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1049 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1050 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1051 | * @brief Prepare to send @ref L6470_StepClock command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1052 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1053 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1054 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1055 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1056 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1057 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1058 | void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1059 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1060 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1061 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1062 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1063 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1064 | * @brief Prepare to send @ref L6470_Move command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1065 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1066 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1067 | * @param N_Step The number of microsteps. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1068 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1069 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1070 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1071 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1072 | void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1073 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1074 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1075 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1076 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1077 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1078 | * @brief Prepare to send @ref L6470_GoTo command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1079 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1080 | * @param AbsPos The target absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1081 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1082 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1083 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1084 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1085 | void L6470::L6470_PrepareGoTo(uint32_t AbsPos) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1086 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1087 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1088 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1089 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1090 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1091 | * @brief Prepare to send @ref L6470_GoToDIR command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1092 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1093 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1094 | * @param AbsPos The target absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1095 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1096 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1097 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1098 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1099 | void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1100 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1101 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1102 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1103 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1104 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1105 | * @brief Prepare to send @ref L6470_GoUntil command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1106 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1107 | * @param L6470_ActId The identifier of the L6470 action about the absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1108 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1109 | * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1110 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1111 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1112 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1113 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1114 | void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1115 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1116 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1117 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1118 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1119 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1120 | * @brief Prepare to send @ref L6470_ReleaseSW. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1121 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1122 | * @param L6470_ActId The identifier of the L6470 action about the absolute position. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1123 | * @param L6470_DirId The identifier of the L6470 motion direction. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1124 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1125 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1126 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1127 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1128 | void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1129 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1130 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1131 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1132 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1133 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1134 | * @brief Prepare to send @ref L6470_GoHome command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1135 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1136 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1137 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1138 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1139 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1140 | void L6470::L6470_PrepareGoHome(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1141 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1142 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1143 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1144 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1145 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1146 | * @brief Prepare to send @ref L6470_GoMark command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1147 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1148 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1149 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1150 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1151 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1152 | void L6470::L6470_PrepareGoMark(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1153 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1154 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1155 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1156 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1157 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1158 | * @brief Prepare to send @ref L6470_ResetPos command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1159 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1160 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1161 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1162 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1163 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1164 | void L6470::L6470_PrepareResetPos(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1165 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1166 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1167 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1168 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1169 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1170 | * @brief Prepare to send @ref L6470_ResetDevice command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1171 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1172 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1173 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1174 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1175 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1176 | void L6470::L6470_PrepareResetDevice(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1177 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1178 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1179 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1180 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1181 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1182 | * @brief Prepare to send @ref L6470_SoftStop command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1183 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1184 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1185 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1186 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1187 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1188 | void L6470::L6470_PrepareSoftStop(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1189 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1190 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1191 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1192 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1193 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1194 | * @brief Prepare to send @ref L6470_HardStop command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1195 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1196 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1197 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1198 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1199 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1200 | void L6470::L6470_PrepareHardStop(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1201 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1202 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1203 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1204 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1205 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1206 | * @brief Prepare to send @ref L6470_SoftHiZ command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1207 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1208 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1209 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1210 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1211 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1212 | void L6470::L6470_PrepareSoftHiZ(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1213 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1214 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1215 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1216 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1217 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1218 | * @brief Prepare to send @ref L6470_HardHiZ command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1219 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1220 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1221 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1222 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1223 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1224 | void L6470::L6470_PrepareHardHiZ(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1225 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1226 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1227 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1228 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1229 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1230 | * @brief Prepare to send @ref L6470_GetStatus command. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1231 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1232 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1233 | * @note This function will properly fill the right column of the L6470_AppCmdPkg. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1234 | * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1235 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1236 | void L6470::L6470_PrepareGetStatus(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1237 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1238 | L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1239 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1240 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1241 | /* End of L6470_AppCMDs_ToBePrepared */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1242 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1243 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1244 | * @brief Send via SPI the command stored inside the L6470_AppCmdPkg to the |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1245 | * L6470 daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1246 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1247 | * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct The pointer to the structure |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1248 | * containing returned values from each L6470 of the daisy chain for each |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1249 | * sent SPI data. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1250 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1251 | uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1252 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1253 | L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1254 | L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1255 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1256 | return (uint8_t*)(L6470_DaisyChainSpiRxStruct); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1257 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1258 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1259 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1260 | * @brief Send command to the L6470 daisy chain via SPI |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1261 | * @param pL6470_DaisyChainSpiTxStruct Pointer to the matrix array of bytes to be sent to the daisy chain L6470 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1262 | * @param pL6470_DaisyChainSpiRxStruct Pointer to the matrix array of bytes to be received from the daisy chain L6470 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1263 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1264 | void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1265 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1266 | uint8_t spibyte; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1267 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1268 | L6470_DaisyChain_HalfPrepared = ZERO_F; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1269 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1270 | /* Send all command bytes via SPI */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1271 | for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1272 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1273 | /* Send the command via SPI */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1274 | L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1275 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1276 | //_DELAY(TDISCS); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1277 | uint8_t delay_cnt; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1278 | for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP(); //!<Simply deselect time delay for SPI nCS |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1279 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1280 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1281 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1282 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1283 | * @brief Extracts the data returned by the L6470 from the matrix that |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1284 | * contains the received SPI data. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1285 | * @param L6470_Id The identifier of the L6470 target inside the daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1286 | * @param pL6470_DaisyChainSpiRxStruct uint8_t-pointer to the matrix that |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1287 | * contains the received data by SPI from the L6470 daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1288 | * @param LengthByte The number of bytes about the received value. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1289 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1290 | uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1291 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1292 | uint32_t value; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1293 | uint8_t i; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1294 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1295 | value = 0x000000; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1296 | for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1297 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1298 | value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1299 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1300 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1301 | return value; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1302 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1303 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1304 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1305 | * @brief Check the state of a flag inside the L6470 STATUS register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1306 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1307 | * @param L6470_Id The identifier of the L6470 target inside the daisy chain. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1308 | * @param L6470_StatusRegisterFlagId The identifier of the L6470 STATUS flag to be checked. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1309 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1310 | * @retval state The flag state. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1311 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1312 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1313 | uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1314 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1315 | uint8_t state = 0; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1316 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1317 | *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1318 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1319 | switch(L6470_StatusRegisterFlagId) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1320 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1321 | case HiZ_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1322 | state = pL6470_StatusRegister->HiZ; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1323 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1324 | case BUSY_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1325 | state = pL6470_StatusRegister->BUSY; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1326 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1327 | case SW_F_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1328 | state = pL6470_StatusRegister->SW_F; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1329 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1330 | case SW_EVN_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1331 | state = pL6470_StatusRegister->SW_EVN; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1332 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1333 | case DIR_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1334 | state = pL6470_StatusRegister->DIR; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1335 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1336 | case MOT_STATUS_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1337 | state = pL6470_StatusRegister->MOT_STATUS; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1338 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1339 | case NOTPERF_CMD_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1340 | state = pL6470_StatusRegister->NOTPERF_CMD; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1341 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1342 | case WRONG_CMD_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1343 | state = pL6470_StatusRegister->WRONG_CMD; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1344 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1345 | case UVLO_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1346 | state = pL6470_StatusRegister->UVLO; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1347 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1348 | case TH_WRN_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1349 | state = pL6470_StatusRegister->TH_WRN; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1350 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1351 | case TH_SD_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1352 | state = pL6470_StatusRegister->TH_SD; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1353 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1354 | case OCD_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1355 | state = pL6470_StatusRegister->OCD; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1356 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1357 | case STEP_LOSS_A_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1358 | state = pL6470_StatusRegister->STEP_LOSS_A; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1359 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1360 | case STEP_LOSS_B_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1361 | state = pL6470_StatusRegister->STEP_LOSS_B; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1362 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1363 | case SCK_MOD_ID: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1364 | state = pL6470_StatusRegister->SCK_MOD; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1365 | break; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1366 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1367 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1368 | return state; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1369 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1370 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1371 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1372 | * @brief Return the mnemonic name for the L6470 register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1373 | * @param id The identifier of the L6470 register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1374 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1375 | uint8_t *L6470::L6470_GetRegisterName(uint8_t id) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1376 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1377 | if (id < L6470REGIDSIZE) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1378 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1379 | return (uint8_t*)L6470_Register[id].Name; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1380 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1381 | else |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1382 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1383 | return NULL; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1384 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1385 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1386 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1387 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1388 | * @brief Configures the L6470 registers. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1389 | * @param init The pointer to the initialization structure. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1390 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1391 | status_t L6470::L6470_Config(void *init) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1392 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1393 | /* Disable the L6470. */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1394 | L6470_DISABLE(); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1395 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1396 | /* Enable the L6470. */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1397 | L6470_ENABLE(); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1398 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1399 | /* Reset devices. */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1400 | ResetDevice(); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1401 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1402 | /* Reset Status Register flags. */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1403 | GetStatus(); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1404 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1405 | /* Prepare the 'Register' field of StepperMotorDriverHandle */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1406 | L6470_init_t *MotorParameterData = (L6470_init_t *) init; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1407 | StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1408 | StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1409 | StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1410 | StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1411 | StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1412 | StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1413 | StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1414 | StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1415 | StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage))); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1416 | StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1417 | StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1418 | StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1419 | StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1420 | StepperMotorRegister.K_THERM = MotorParameterData->kterm; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1421 | StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1422 | StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1423 | StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1424 | StepperMotorRegister.CONFIG = MotorParameterData->config; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1425 | StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1426 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1427 | /* Write the L6470 registers with the prepared data */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1428 | L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1429 | L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1430 | L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1431 | L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1432 | L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1433 | L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1434 | L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1435 | L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1436 | L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1437 | L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1438 | L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1439 | L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1440 | L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1441 | L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1442 | L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1443 | L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1444 | L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1445 | L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1446 | if (!SetStepMode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE)) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1447 | return COMPONENT_ERROR; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1448 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1449 | return COMPONENT_OK; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1450 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1451 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1452 | /* End of L6470_Exported_Functions */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1453 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1454 | /* End of L6470 */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1455 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1456 | /* End of Components */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1457 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1458 | /* End of BSP */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1459 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 1460 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver