ST » Code » X_NUCLEO_IHM02A1

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.

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_23 resistor connected only: SSEL on pin A2;
SB_7 resistor connected only: SSEL on pin D2;
SB_8 resistor connected only: SSEL on pin D10;
SB_9 resistor connected only: SSEL on pin D5.

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 SB34 resistor;
to solder the SB12 resistor.

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

HelloWorld_IHM02A1

Components/Common/microstepping_motor.h@0:92706998571a, 2015-11-20 (annotated)

Committer:: Davidroid
Date:: Fri Nov 20 18:07:45 2015 +0000
Revision:: 0:92706998571a
Child:: 1:b78dab6d2c58

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the the L6470 component.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:92706998571a	1	/**
Davidroid	0:92706998571a	2	******************************************************************************
Davidroid	0:92706998571a	3	* @file microstepping_motor.h
Davidroid	0:92706998571a	4	* @author IPD SYSTEM LAB & TECH MKTG
Davidroid	0:92706998571a	5	* @version V0.0.1
Davidroid	0:92706998571a	6	* @date 04-June-2015
Davidroid	0:92706998571a	7	* @brief This file contains all the functions prototypes for the microstepping
Davidroid	0:92706998571a	8	* motor driver with motion engine.
Davidroid	0:92706998571a	9	******************************************************************************
Davidroid	0:92706998571a	10	* @attention
Davidroid	0:92706998571a	11	*
Davidroid	0:92706998571a	12	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Davidroid	0:92706998571a	13	*
Davidroid	0:92706998571a	14	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	0:92706998571a	15	* are permitted provided that the following conditions are met:
Davidroid	0:92706998571a	16	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	0:92706998571a	17	* this list of conditions and the following disclaimer.
Davidroid	0:92706998571a	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	0:92706998571a	19	* this list of conditions and the following disclaimer in the documentation
Davidroid	0:92706998571a	20	* and/or other materials provided with the distribution.
Davidroid	0:92706998571a	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	0:92706998571a	22	* may be used to endorse or promote products derived from this software
Davidroid	0:92706998571a	23	* without specific prior written permission.
Davidroid	0:92706998571a	24	*
Davidroid	0:92706998571a	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	0:92706998571a	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	0:92706998571a	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	0:92706998571a	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	0:92706998571a	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	0:92706998571a	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	0:92706998571a	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	0:92706998571a	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	0:92706998571a	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	0:92706998571a	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	0:92706998571a	35	*
Davidroid	0:92706998571a	36	******************************************************************************
Davidroid	0:92706998571a	37	*/
Davidroid	0:92706998571a	38
Davidroid	0:92706998571a	39	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:92706998571a	40	#ifndef __MICROSTEPPINGMOTOR_H
Davidroid	0:92706998571a	41	#define __MICROSTEPPINGMOTOR_H
Davidroid	0:92706998571a	42
Davidroid	0:92706998571a	43	#ifdef __cplusplus
Davidroid	0:92706998571a	44	extern "C" {
Davidroid	0:92706998571a	45	#endif
Davidroid	0:92706998571a	46
Davidroid	0:92706998571a	47	/* Includes ------------------------------------------------------------------*/
Davidroid	0:92706998571a	48	#include <stdint.h>
Davidroid	0:92706998571a	49	#include "component.h"
Davidroid	0:92706998571a	50
Davidroid	0:92706998571a	51	/** @addtogroup BSP
Davidroid	0:92706998571a	52	* @{
Davidroid	0:92706998571a	53	*/
Davidroid	0:92706998571a	54
Davidroid	0:92706998571a	55	/** @addtogroup Components
Davidroid	0:92706998571a	56	* @{
Davidroid	0:92706998571a	57	*/
Davidroid	0:92706998571a	58
Davidroid	0:92706998571a	59	/** @defgroup MicrosteppingMotorDriver
Davidroid	0:92706998571a	60	* @{
Davidroid	0:92706998571a	61	*/
Davidroid	0:92706998571a	62
Davidroid	0:92706998571a	63	/** @defgroup StepperMotorExportedTypes
Davidroid	0:92706998571a	64	* @{
Davidroid	0:92706998571a	65	*/
Davidroid	0:92706998571a	66
Davidroid	0:92706998571a	67	/**
Davidroid	0:92706998571a	68	* @brief The L6470 Registers Identifiers.
Davidroid	0:92706998571a	69	*/
Davidroid	0:92706998571a	70	typedef enum {
Davidroid	0:92706998571a	71	L6470_ABS_POS_ID = 0, //!< Current position
Davidroid	0:92706998571a	72	L6470_EL_POS_ID, //!< Electrical position
Davidroid	0:92706998571a	73	L6470_MARK_ID, //!< Mark position
Davidroid	0:92706998571a	74	L6470_SPEED_ID, //!< Current speed
Davidroid	0:92706998571a	75	L6470_ACC_ID, //!< Acceleration
Davidroid	0:92706998571a	76	L6470_DEC_ID, //!< Deceleration
Davidroid	0:92706998571a	77	L6470_MAX_SPEED_ID, //!< Maximum speed
Davidroid	0:92706998571a	78	L6470_MIN_SPEED_ID, //!< Minimum speed
Davidroid	0:92706998571a	79	L6470_FS_SPD_ID, //!< Full-step speed
Davidroid	0:92706998571a	80	L6470_KVAL_HOLD_ID, //!< Holding KVAL
Davidroid	0:92706998571a	81	L6470_KVAL_RUN_ID, //!< Constant speed KVAL
Davidroid	0:92706998571a	82	L6470_KVAL_ACC_ID, //!< Acceleration starting KVAL
Davidroid	0:92706998571a	83	L6470_KVAL_DEC_ID, //!< Deceleration starting KVAL
Davidroid	0:92706998571a	84	L6470_INT_SPEED_ID, //!< Intersect speed
Davidroid	0:92706998571a	85	L6470_ST_SLP_ID, //!< Start slope
Davidroid	0:92706998571a	86	L6470_FN_SLP_ACC_ID, //!< Acceleration final slope
Davidroid	0:92706998571a	87	L6470_FN_SLP_DEC_ID, //!< Deceleration final slope
Davidroid	0:92706998571a	88	L6470_K_THERM_ID, //!< Thermal compensation factor
Davidroid	0:92706998571a	89	L6470_ADC_OUT_ID, //!< ADC output, (the reset value is according to startup conditions)
Davidroid	0:92706998571a	90	L6470_OCD_TH_ID, //!< OCD threshold
Davidroid	0:92706998571a	91	L6470_STALL_TH_ID, //!< STALL threshold
Davidroid	0:92706998571a	92	L6470_STEP_MODE_ID, //!< Step mode
Davidroid	0:92706998571a	93	L6470_ALARM_EN_ID, //!< Alarm enable
Davidroid	0:92706998571a	94	L6470_CONFIG_ID, //!< IC configuration
Davidroid	0:92706998571a	95	L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions)
Davidroid	0:92706998571a	96	} eL6470_RegId_t;
Davidroid	0:92706998571a	97
Davidroid	0:92706998571a	98	/**
Davidroid	0:92706998571a	99	* @brief The L6470 Application Commands Identifiers.
Davidroid	0:92706998571a	100	*/
Davidroid	0:92706998571a	101	typedef enum {
Davidroid	0:92706998571a	102	L6470_NOP_ID = 0, //!< Nothing
Davidroid	0:92706998571a	103	L6470_SETPARAM_ID, //!< Writes VALUE in PARAM register
Davidroid	0:92706998571a	104	L6470_GETPARAM_ID, //!< Returns the stored value in PARAM register
Davidroid	0:92706998571a	105	L6470_RUN_ID, //!< Sets the target speed and the motor direction
Davidroid	0:92706998571a	106	L6470_STEPCLOCK_ID, //!< Puts the device into Step-clock mode and imposes DIR direction
Davidroid	0:92706998571a	107	L6470_MOVE_ID, //!< Makes N_STEP (micro)steps in DIR direction (Not performable when motor is running)
Davidroid	0:92706998571a	108	L6470_GOTO_ID, //!< Brings motor into ABS_POS position (minimum path)
Davidroid	0:92706998571a	109	L6470_GOTODIR_ID, //!< Brings motor into ABS_POS position forcing DIR direction
Davidroid	0:92706998571a	110	L6470_GOUNTIL_ID, //!< Performs a motion in DIR direction with speed SPD until SW is closed, the ACT action is executed then a SoftStop takes place
Davidroid	0:92706998571a	111	L6470_RELEASESW_ID, //!< Performs a motion in DIR direction at minimum speed until the SW is released (open), the ACT action is executed then a HardStop takes place
Davidroid	0:92706998571a	112	L6470_GOHOME_ID, //!< Brings the motor into HOME position
Davidroid	0:92706998571a	113	L6470_GOMARK_ID, //!< Brings the motor into MARK position
Davidroid	0:92706998571a	114	L6470_RESETPOS_ID, //!< Resets the ABS_POS register (set HOME position)
Davidroid	0:92706998571a	115	L6470_RESETDEVICE_ID, //!< Device is reset to power-up conditions
Davidroid	0:92706998571a	116	L6470_SOFTSTOP_ID, //!< Stops motor with a deceleration phase
Davidroid	0:92706998571a	117	L6470_HARDSTOP_ID, //!< Stops motor immediately
Davidroid	0:92706998571a	118	L6470_SOFTHIZ_ID, //!< Puts the bridges into high impedance status after a deceleration phase
Davidroid	0:92706998571a	119	L6470_HARDHIZ_ID, //!< Puts the bridges into high impedance status immediately
Davidroid	0:92706998571a	120	L6470_GETSTATUS_ID //!< Returns the STATUS register value
Davidroid	0:92706998571a	121	} eL6470_AppCmdId_t;
Davidroid	0:92706998571a	122
Davidroid	0:92706998571a	123	/**
Davidroid	0:92706998571a	124	* @brief The L6470 Status Register Flag identifiers.
Davidroid	0:92706998571a	125	*/
Davidroid	0:92706998571a	126	typedef enum {
Davidroid	0:92706998571a	127	HiZ_ID = 0, //!< HiZ flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	128	BUSY_ID, //!< BUSY flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	129	SW_F_ID, //!< SW_F flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	130	SW_EVN_ID, //!< SW_EVN flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	131	DIR_ID, //!< DIR flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	132	MOT_STATUS_ID, //!< MOT_STATUS flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	133	NOTPERF_CMD_ID, //!< NOTPERF_CMD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	134	WRONG_CMD_ID, //!< WRONG_CMD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	135	UVLO_ID, //!< UVLO flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	136	TH_WRN_ID, //!< TH_WRN flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	137	TH_SD_ID, //!< TH_SD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	138	OCD_ID, //!< OCD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	139	STEP_LOSS_A_ID, //!< STEP_LOSS_A flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	140	STEP_LOSS_B_ID, //!< STEP_LOSS_B flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	141	SCK_MOD_ID //!< SCK_MOD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	142	} eL6470_StatusRegisterFlagId_t;
Davidroid	0:92706998571a	143
Davidroid	0:92706998571a	144	/**
Davidroid	0:92706998571a	145	* @brief The L6470 Direction identifiers.
Davidroid	0:92706998571a	146	*/
Davidroid	0:92706998571a	147	typedef enum {
Davidroid	0:92706998571a	148	L6470_DIR_REV_ID = 0, //!< Reverse direction
Davidroid	0:92706998571a	149	L6470_DIR_FWD_ID //!< Forward direction
Davidroid	0:92706998571a	150	} eL6470_DirId_t;
Davidroid	0:92706998571a	151
Davidroid	0:92706998571a	152	/**
Davidroid	0:92706998571a	153	* @brief The L6470 Action identifiers about ABS_POS register.
Davidroid	0:92706998571a	154	*/
Davidroid	0:92706998571a	155	typedef enum {
Davidroid	0:92706998571a	156	L6470_ACT_RST_ID = 0, //!< ABS_POS register is reset
Davidroid	0:92706998571a	157	L6470_ACT_CPY_ID //!< ABS_POS register value is copied into the MARK register
Davidroid	0:92706998571a	158	} eL6470_ActId_t;
Davidroid	0:92706998571a	159
Davidroid	0:92706998571a	160	/**
Davidroid	0:92706998571a	161	* @brief The L6470 Status Register Flag states.
Davidroid	0:92706998571a	162	*/
Davidroid	0:92706998571a	163	typedef enum {
Davidroid	0:92706998571a	164	ZERO_F = 0, //!< The flag is '0'
Davidroid	0:92706998571a	165	ONE_F = !ZERO_F //!< The flag is '1'
Davidroid	0:92706998571a	166	} eFlagStatus_t;
Davidroid	0:92706998571a	167
Davidroid	0:92706998571a	168	/**
Davidroid	0:92706998571a	169	* @brief The L6470 Motor Directions.
Davidroid	0:92706998571a	170	*/
Davidroid	0:92706998571a	171	typedef enum {
Davidroid	0:92706998571a	172	REVERSE_F = 0, //!< Reverse motor direction
Davidroid	0:92706998571a	173	FORWARD_F = !REVERSE_F //!< Forward motor direction
Davidroid	0:92706998571a	174	} eMotorDirection_t;
Davidroid	0:92706998571a	175
Davidroid	0:92706998571a	176	/**
Davidroid	0:92706998571a	177	* @brief The L6470 Motor Status.
Davidroid	0:92706998571a	178	*/
Davidroid	0:92706998571a	179	typedef enum {
Davidroid	0:92706998571a	180	STOPPED_F = 0, //!< Stopped
Davidroid	0:92706998571a	181	ACCELERATION_F = 1, //!< Acceleration
Davidroid	0:92706998571a	182	DECELERATION_F = 2, //!< Deceleration
Davidroid	0:92706998571a	183	CONSTANTSPEED_F = 3 //!< Constant speed
Davidroid	0:92706998571a	184	} eMotorStatus_t;
Davidroid	0:92706998571a	185
Davidroid	0:92706998571a	186	/**
Davidroid	0:92706998571a	187	* @brief The possible stepping modes for L6470.
Davidroid	0:92706998571a	188	*/
Davidroid	0:92706998571a	189	typedef enum
Davidroid	0:92706998571a	190	{
Davidroid	0:92706998571a	191	FULL_STEP = 0x00, //!< Full-step
Davidroid	0:92706998571a	192	HALF_STEP = 0x01, //!< Half-step
Davidroid	0:92706998571a	193	MICROSTEP_1_4 = 0x02, //!< 1/4 microstep
Davidroid	0:92706998571a	194	MICROSTEP_1_8 = 0x03, //!< 1/8 microstep
Davidroid	0:92706998571a	195	MICROSTEP_1_16 = 0x04, //!< 1/16 microstep
Davidroid	0:92706998571a	196	MICROSTEP_1_32 = 0x05, //!< 1/32 microstep
Davidroid	0:92706998571a	197	MICROSTEP_1_64 = 0x06, //!< 1/64 microstep
Davidroid	0:92706998571a	198	MICROSTEP_1_128 = 0x07 //!< 1/128 microstep
Davidroid	0:92706998571a	199	} eMotorStepMode_t;
Davidroid	0:92706998571a	200
Davidroid	0:92706998571a	201	/**
Davidroid	0:92706998571a	202	* @brief The identifiers for the possible L6470 alarm conditions.
Davidroid	0:92706998571a	203	*/
Davidroid	0:92706998571a	204	typedef enum
Davidroid	0:92706998571a	205	{
Davidroid	0:92706998571a	206	L6470_OVERCURRENT = 0x01, //!< Overcurrent
Davidroid	0:92706998571a	207	L6470_THERMAL_SHUTDOWN = 0x02, //!< Thermal shutdown
Davidroid	0:92706998571a	208	L6470_THERMAL_WARNING = 0x04, //!< Thermal warning
Davidroid	0:92706998571a	209	L6470_UNDERVOLTAGE = 0x08, //!< Undervoltage
Davidroid	0:92706998571a	210	L6470_STALL_DETECTION_A = 0x10, //!< Stall detection (Bridge A)
Davidroid	0:92706998571a	211	L6470_STALL_DETECTION_B = 0x20, //!< Stall detection (Bridge B)
Davidroid	0:92706998571a	212	L6470_SWITCH_TURN_ON_EVENT = 0x40, //!< Switch turn-on event
Davidroid	0:92706998571a	213	L6470_WRONG_OR_NON_PERFORMABLE_COMMAND = 0x80 //!< Wrong or non-performable command
Davidroid	0:92706998571a	214	} eL6470_AlarmCondition_t;
Davidroid	0:92706998571a	215
Davidroid	0:92706998571a	216	/**
Davidroid	0:92706998571a	217	* @brief The L6470 STEP_MODE Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	218	*/
Davidroid	0:92706998571a	219	typedef struct {
Davidroid	0:92706998571a	220	uint8_t STEP_SEL: 3; //!< Step mode
Davidroid	0:92706998571a	221	uint8_t WRT: 1; //!< When the register is written, this bit should be set to 0.
Davidroid	0:92706998571a	222	uint8_t SYNC_SEL: 3; //!< Synchronization selection
Davidroid	0:92706998571a	223	uint8_t SYNC_EN: 1; //!< Synchronization enable
Davidroid	0:92706998571a	224	} sL6470_StepModeRegister_t;
Davidroid	0:92706998571a	225
Davidroid	0:92706998571a	226	/**
Davidroid	0:92706998571a	227	* @brief The L6470 ALARM_EN Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	228	*/
Davidroid	0:92706998571a	229	typedef struct {
Davidroid	0:92706998571a	230	uint8_t OCD_EN: 1; //!< Overcurrent
Davidroid	0:92706998571a	231	uint8_t TH_SD_EN: 1; //!< Thermal shutdown
Davidroid	0:92706998571a	232	uint8_t TH_WRN_EN: 1; //!< Thermal warning
Davidroid	0:92706998571a	233	uint8_t UVLO_EN: 1; //!< Undervoltage
Davidroid	0:92706998571a	234	uint8_t STEP_LOSS_A_EN: 1; //!< Stall detection (Bridge A)
Davidroid	0:92706998571a	235	uint8_t STEP_LOSS_B_EN: 1; //!< Stall detection (Bridge B)
Davidroid	0:92706998571a	236	uint8_t SW_EVN_EN: 1; //!< Switch turn-on event
Davidroid	0:92706998571a	237	uint8_t WRONG_NOTPERF_CMD_EN: 1; //!< Wrong or non-performable command
Davidroid	0:92706998571a	238	} sL6470_AlarmEnRegister_t;
Davidroid	0:92706998571a	239
Davidroid	0:92706998571a	240	/**
Davidroid	0:92706998571a	241	* @brief The L6470 CONFIG Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	242	*/
Davidroid	0:92706998571a	243	typedef struct {
Davidroid	0:92706998571a	244	uint8_t OSC_SEL: 3; //!< Oscillator Selection
Davidroid	0:92706998571a	245	uint8_t EXT_CLK: 1; //!< External Clock
Davidroid	0:92706998571a	246	uint8_t SW_MODE: 1; //!< Switch mode
Davidroid	0:92706998571a	247	uint8_t EN_VSCOMP: 1; //!< Motor supply voltage compensation
Davidroid	0:92706998571a	248	uint8_t RESERVED: 1; //!< RESERVED
Davidroid	0:92706998571a	249	uint8_t OC_SD: 1; //!< Overcurrent event
Davidroid	0:92706998571a	250	uint8_t POW_SR: 2; //!< Output slew rate
Davidroid	0:92706998571a	251	uint8_t F_PWM_DEC: 3; //!< Multiplication factor
Davidroid	0:92706998571a	252	uint8_t F_PWM_INT: 3; //!< Integer division factor
Davidroid	0:92706998571a	253	} sL6470_ConfigRegister_t;
Davidroid	0:92706998571a	254
Davidroid	0:92706998571a	255	/**
Davidroid	0:92706998571a	256	* @brief The L6470 STATUS Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	257	*/
Davidroid	0:92706998571a	258	typedef struct {
Davidroid	0:92706998571a	259	uint8_t HiZ: 1; //!< The bridges are in high impedance state (the flag is active high)
Davidroid	0:92706998571a	260	uint8_t BUSY: 1; //!< BUSY pin status (the flag is active low)
Davidroid	0:92706998571a	261	uint8_t SW_F: 1; //!< SW input status (the flag is low for open and high for closed)
Davidroid	0:92706998571a	262	uint8_t SW_EVN: 1; //!< Switch turn-on event (the flag is active high)
Davidroid	0:92706998571a	263	uint8_t DIR: 1; //!< The current motor direction (1 as forward, 0 as reverse)
Davidroid	0:92706998571a	264	uint8_t MOT_STATUS: 2; //!< The current motor status (0 as stopped, 1 as acceleration, 2 as deceleration, 3 as constant speed)
Davidroid	0:92706998571a	265	uint8_t NOTPERF_CMD: 1; //!< The command received by SPI cannot be performed (the flag is active high)
Davidroid	0:92706998571a	266	uint8_t WRONG_CMD: 1; //!< The command received by SPI does not exist at all (the flag is active high)
Davidroid	0:92706998571a	267	uint8_t UVLO: 1; //!< Undervoltage lockout or reset events (the flag is active low)
Davidroid	0:92706998571a	268	uint8_t TH_WRN: 1; //!< Thermal warning event (the flag is active low)
Davidroid	0:92706998571a	269	uint8_t TH_SD: 1; //!< Thermal shutdown event (the flag is active low)
Davidroid	0:92706998571a	270	uint8_t OCD: 1; //!< Overcurrent detection event (the flag is active low)
Davidroid	0:92706998571a	271	uint8_t STEP_LOSS_A: 1; //!< Stall detection on bridge A (the flag is active low)
Davidroid	0:92706998571a	272	uint8_t STEP_LOSS_B: 1; //!< Stall detection on bridge B (the flag is active low)
Davidroid	0:92706998571a	273	uint8_t SCK_MOD: 1; //!< Step-clock mode (the flag is active high)
Davidroid	0:92706998571a	274	} sL6470_StatusRegister_t;
Davidroid	0:92706998571a	275
Davidroid	0:92706998571a	276	/**
Davidroid	0:92706998571a	277	* @brief Motor Parameter Data
Davidroid	0:92706998571a	278	*/
Davidroid	0:92706998571a	279	typedef struct
Davidroid	0:92706998571a	280	{
Davidroid	0:92706998571a	281	float motorvoltage; //!< motor supply voltage in V
Davidroid	0:92706998571a	282	float fullstepsperrevolution; //!< min number of steps per revolution for the motor
Davidroid	0:92706998571a	283	float phasecurrent; //!< max motor phase voltage in A
Davidroid	0:92706998571a	284	float phasevoltage; //!< max motor phase voltage in V
Davidroid	0:92706998571a	285	float speed; //!< motor initial speed [step/s]
Davidroid	0:92706998571a	286	float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
Davidroid	0:92706998571a	287	float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
Davidroid	0:92706998571a	288	float maxspeed; //!< motor maximum speed [step/s]
Davidroid	0:92706998571a	289	float minspeed; //!< motor minimum speed [step/s]
Davidroid	0:92706998571a	290	float fsspd; //!< motor full-step speed threshold [step/s]
Davidroid	0:92706998571a	291	float kvalhold; //!< holding kval [V]
Davidroid	0:92706998571a	292	float kvalrun; //!< constant speed kval [V]
Davidroid	0:92706998571a	293	float kvalacc; //!< acceleration starting kval [V]
Davidroid	0:92706998571a	294	float kvaldec; //!< deceleration starting kval [V]
Davidroid	0:92706998571a	295	float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
Davidroid	0:92706998571a	296	float stslp; //!< start slope [s/step]
Davidroid	0:92706998571a	297	float fnslpacc; //!< acceleration final slope [s/step]
Davidroid	0:92706998571a	298	float fnslpdec; //!< deceleration final slope [s/step]
Davidroid	0:92706998571a	299	uint8_t kterm; //!< thermal compensation factor (range [0, 15])
Davidroid	0:92706998571a	300	float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
Davidroid	0:92706998571a	301	float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
Davidroid	0:92706998571a	302	uint8_t step_sel; //!< step mode selection
Davidroid	0:92706998571a	303	uint8_t alarmen; //!< alarm conditions enable
Davidroid	0:92706998571a	304	uint16_t config; //!< ic configuration
Davidroid	0:92706998571a	305	} MICROSTEPPING_MOTOR_InitTypeDef;
Davidroid	0:92706998571a	306
Davidroid	0:92706998571a	307	/**
Davidroid	0:92706998571a	308	* @brief Stepper Motor Registers
Davidroid	0:92706998571a	309	*/
Davidroid	0:92706998571a	310	typedef struct
Davidroid	0:92706998571a	311	{
Davidroid	0:92706998571a	312	uint32_t ABS_POS; //!< CurrentPosition Register
Davidroid	0:92706998571a	313	uint16_t EL_POS; //!< ElectricalPosition Register
Davidroid	0:92706998571a	314	uint32_t MARK; //!< MarkPosition Register
Davidroid	0:92706998571a	315	uint32_t SPEED; //!< CurrentSpeed Register
Davidroid	0:92706998571a	316	uint16_t ACC; //!< Acceleration Register
Davidroid	0:92706998571a	317	uint16_t DEC; //!< Deceleration Register
Davidroid	0:92706998571a	318	uint16_t MAX_SPEED; //!< MaximumSpeed Register
Davidroid	0:92706998571a	319	uint16_t MIN_SPEED; //!< MinimumSpeed Register
Davidroid	0:92706998571a	320	uint16_t FS_SPD; //!< FullStepSpeed Register
Davidroid	0:92706998571a	321	uint8_t KVAL_HOLD; //!< HoldingKval Register
Davidroid	0:92706998571a	322	uint8_t KVAL_RUN; //!< ConstantSpeedKval Register
Davidroid	0:92706998571a	323	uint8_t KVAL_ACC; //!< AccelerationStartingKval Register
Davidroid	0:92706998571a	324	uint8_t KVAL_DEC; //!< DecelerationStartingKval Register
Davidroid	0:92706998571a	325	uint16_t INT_SPEED; //!< IntersectSpeed Register
Davidroid	0:92706998571a	326	uint8_t ST_SLP; //!< StartSlope Register
Davidroid	0:92706998571a	327	uint8_t FN_SLP_ACC; //!< AccelerationFinalSlope Register
Davidroid	0:92706998571a	328	uint8_t FN_SLP_DEC; //!< DecelerationFinalSlope Register
Davidroid	0:92706998571a	329	uint8_t K_THERM; //!< ThermalCompensationFactor Register
Davidroid	0:92706998571a	330	uint8_t ADC_OUT; //!< AdcOutput Register
Davidroid	0:92706998571a	331	uint8_t OCD_TH; //!< OcdThreshold Register
Davidroid	0:92706998571a	332	uint8_t STALL_TH; //!< StallThreshold Register
Davidroid	0:92706998571a	333	uint8_t STEP_MODE; //!< StepMode Register
Davidroid	0:92706998571a	334	uint8_t ALARM_EN; //!< AlarmEnable Register
Davidroid	0:92706998571a	335	uint16_t CONFIG; //!< Config Register
Davidroid	0:92706998571a	336	uint16_t STATUS; //!< Status Register
Davidroid	0:92706998571a	337	} StepperMotorRegister_t;
Davidroid	0:92706998571a	338
Davidroid	0:92706998571a	339	/**
Davidroid	0:92706998571a	340	* @brief Stepper Motor Driver Structure
Davidroid	0:92706998571a	341	*/
Davidroid	0:92706998571a	342	typedef struct
Davidroid	0:92706998571a	343	{
Davidroid	0:92706998571a	344	/* ACTION ----------------------------------------------------------------*
Davidroid	0:92706998571a	345	* Declare here the component's generic functions. *
Davidroid	0:92706998571a	346	* Tag this group of functions with the " Generic " C-style comment. *
Davidroid	0:92706998571a	347	* A component's interface has to define at least the two generic *
Davidroid	0:92706998571a	348	* functions provided here below within the "Example" section, as the *
Davidroid	0:92706998571a	349	* first and second functions of its Virtual Table. They have to be *
Davidroid	0:92706998571a	350	* specified exactly in the given way. *
Davidroid	0:92706998571a	351	* *
Davidroid	0:92706998571a	352	* Example: *
Davidroid	0:92706998571a	353	* DrvStatusTypeDef (Init)(void handle, INTERFACE_InitTypeDef init);
Davidroid	0:92706998571a	354	* DrvStatusTypeDef (ReadID)(void handle, uint8_t id);
Davidroid	0:92706998571a	355	------------------------------------------------------------------------/
Davidroid	0:92706998571a	356	/* Generic */
Davidroid	0:92706998571a	357	DrvStatusTypeDef (Init)(void handle, MICROSTEPPING_MOTOR_InitTypeDef *init);
Davidroid	0:92706998571a	358	DrvStatusTypeDef (ReadID)(void handle, uint8_t *id);
Davidroid	0:92706998571a	359
Davidroid	0:92706998571a	360	/* ACTION ----------------------------------------------------------------*
Davidroid	0:92706998571a	361	* Declare here the component's specific functions. *
Davidroid	0:92706998571a	362	* Tag this group of functions with the " Specific " C-style comment. *
Davidroid	0:92706998571a	363	* Do not specify any function if not required. *
Davidroid	0:92706998571a	364	* *
Davidroid	0:92706998571a	365	* Example: *
Davidroid	0:92706998571a	366	* DrvStatusTypeDef (GetValue)(void handle, float pfData);
Davidroid	0:92706998571a	367	------------------------------------------------------------------------/
Davidroid	0:92706998571a	368	/* Specific */
Davidroid	0:92706998571a	369	void (SetParam)(void handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	370	uint32_t (GetParam)(void handle, eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	371	void (Run)(void handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	372	void (StepClock)(void handle, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	373	void (Move)(void handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	374	void (GoTo)(void handle, uint32_t AbsPos);
Davidroid	0:92706998571a	375	void (GoToDir)(void handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	376	void (GoUntil)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	377	void (ReleaseSW)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	378	void (GoHome)(void handle);
Davidroid	0:92706998571a	379	void (GoMark)(void handle);
Davidroid	0:92706998571a	380	void (ResetPos)(void handle);
Davidroid	0:92706998571a	381	void (ResetDevice)(void handle);
Davidroid	0:92706998571a	382	void (SoftStop)(void handle);
Davidroid	0:92706998571a	383	void (HardStop)(void handle);
Davidroid	0:92706998571a	384	void (SoftHiZ)(void handle);
Davidroid	0:92706998571a	385	void (HardHiZ)(void handle);
Davidroid	0:92706998571a	386	uint16_t (GetStatus)(void handle);
Davidroid	0:92706998571a	387	void (PrepareSetParam)(void handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	388	void (PrepareGetParam)(void handle, eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	389	void (PrepareRun)(void handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	390	void (PrepareStepClock)(void handle, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	391	void (PrepareMove)(void handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	392	void (PrepareGoTo)(void handle, uint32_t AbsPos);
Davidroid	0:92706998571a	393	void (PrepareGoToDir)(void handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	394	void (PrepareGoUntil)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	395	void (PrepareReleaseSW)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	396	void (PrepareGoHome)(void handle);
Davidroid	0:92706998571a	397	void (PrepareGoMark)(void handle);
Davidroid	0:92706998571a	398	void (PrepareResetPos)(void handle);
Davidroid	0:92706998571a	399	void (PrepareResetDevice)(void handle);
Davidroid	0:92706998571a	400	void (PrepareSoftStop)(void handle);
Davidroid	0:92706998571a	401	void (PrepareHardStop)(void handle);
Davidroid	0:92706998571a	402	void (PrepareSoftHiZ)(void handle);
Davidroid	0:92706998571a	403	void (PrepareHardHiZ)(void handle);
Davidroid	0:92706998571a	404	void (PrepareGetStatus)(void handle);
Davidroid	0:92706998571a	405	uint8_t (CheckStatusRegisterFlag)(void handle, uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	406	uint8_t* (PerformPreparedApplicationCommand)(void handle);
Davidroid	0:92706998571a	407	uint8_t* (GetRegisterName)(void handle, uint8_t id);
Davidroid	0:92706998571a	408	int32_t (AbsPos_2_Position)(void handle, uint32_t AbsPos);
Davidroid	0:92706998571a	409	uint32_t (Position_2_AbsPos)(void handle, int32_t Position);
Davidroid	0:92706998571a	410	float (Speed_2_Step_s)(void handle, uint32_t Speed);
Davidroid	0:92706998571a	411	uint32_t (Step_s_2_Speed)(void handle, float Step_s);
Davidroid	0:92706998571a	412	float (Acc_2_Step_s2)(void handle, uint16_t Acc);
Davidroid	0:92706998571a	413	uint16_t (Step_s2_2_Acc)(void handle, float Step_s2);
Davidroid	0:92706998571a	414	float (Dec_2_Step_s2)(void handle, uint16_t Dec);
Davidroid	0:92706998571a	415	uint16_t (Step_s2_2_Dec)(void handle, float Step_s2);
Davidroid	0:92706998571a	416	float (MaxSpeed_2_Step_s)(void handle, uint16_t MaxSpeed);
Davidroid	0:92706998571a	417	uint16_t (Step_s_2_MaxSpeed)(void handle, float Step_s);
Davidroid	0:92706998571a	418	float (MinSpeed_2_Step_s)(void handle, uint16_t MinSpeed);
Davidroid	0:92706998571a	419	uint16_t (Step_s_2_MinSpeed)(void handle, float Step_s);
Davidroid	0:92706998571a	420	float (FsSpd_2_Step_s)(void handle, uint16_t FsSpd);
Davidroid	0:92706998571a	421	uint16_t (Step_s_2_FsSpd)(void handle, float Step_s);
Davidroid	0:92706998571a	422	float (IntSpeed_2_Step_s)(void handle, uint16_t IntSpeed);
Davidroid	0:92706998571a	423	uint16_t (Step_s_2_IntSpeed)(void handle, float Step_s);
Davidroid	0:92706998571a	424	float (StSlp_2_s_Step)(void handle, uint8_t StSlp);
Davidroid	0:92706998571a	425	uint8_t (s_Step_2_StSlp)(void handle, float s_Step);
Davidroid	0:92706998571a	426	float (FnSlpAcc_2_s_Step)(void handle, uint8_t FnSlpAcc);
Davidroid	0:92706998571a	427	uint8_t (s_Step_2_FnSlpAcc)(void handle, float s_Step);
Davidroid	0:92706998571a	428	float (FnSlpDec_2_s_Step)(void handle, uint8_t FnSlpDec);
Davidroid	0:92706998571a	429	uint8_t (s_Step_2_FnSlpDec)(void handle, float s_Step);
Davidroid	0:92706998571a	430	float (OcdTh_2_mA)(void handle, uint8_t OcdTh);
Davidroid	0:92706998571a	431	uint8_t (mA_2_OcdTh)(void handle, float mA);
Davidroid	0:92706998571a	432	float (StallTh_2_mA)(void handle, uint8_t StallTh);
Davidroid	0:92706998571a	433	uint8_t (mA_2_StallTh)(void handle, float mA);
Davidroid	0:92706998571a	434	} MICROSTEPPING_MOTOR_DrvVTableTypeDef;
Davidroid	0:92706998571a	435
Davidroid	0:92706998571a	436	/**
Davidroid	0:92706998571a	437	* @brief Stepper Motor Board Driver Structure
Davidroid	0:92706998571a	438	*/
Davidroid	0:92706998571a	439	typedef struct
Davidroid	0:92706998571a	440	{
Davidroid	0:92706998571a	441	void (*SetParam)(uint8_t, uint8_t, eL6470_RegId_t, uint32_t);
Davidroid	0:92706998571a	442	uint32_t (*GetParam)(uint8_t, uint8_t, eL6470_RegId_t);
Davidroid	0:92706998571a	443	void (*Run)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	444	void (*StepClock)(uint8_t, uint8_t, eL6470_DirId_t);
Davidroid	0:92706998571a	445	void (*Move)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	446	void (*GoTo)(uint8_t, uint8_t L6470_Id, uint32_t AbsPos);
Davidroid	0:92706998571a	447	void (*GoToDir)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	448	void (*GoUntil)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	449	void (*ReleaseSW)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t);
Davidroid	0:92706998571a	450	void (*GoHome)(uint8_t, uint8_t);
Davidroid	0:92706998571a	451	void (*GoMark)(uint8_t, uint8_t);
Davidroid	0:92706998571a	452	void (*ResetPos)(uint8_t, uint8_t);
Davidroid	0:92706998571a	453	void (*ResetDevice)(uint8_t, uint8_t);
Davidroid	0:92706998571a	454	void (*SoftStop)(uint8_t, uint8_t);
Davidroid	0:92706998571a	455	void (*HardStop)(uint8_t, uint8_t);
Davidroid	0:92706998571a	456	void (*SoftHiZ)(uint8_t, uint8_t);
Davidroid	0:92706998571a	457	void (*HardHiZ)(uint8_t, uint8_t);
Davidroid	0:92706998571a	458	uint16_t (*GetStatus)(uint8_t, uint8_t);
Davidroid	0:92706998571a	459	uint8_t (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
Davidroid	0:92706998571a	460	uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
Davidroid	0:92706998571a	461	} MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef;
Davidroid	0:92706998571a	462
Davidroid	0:92706998571a	463	/**
Davidroid	0:92706998571a	464	* @brief Stepper Motor Handle Structure
Davidroid	0:92706998571a	465	*/
Davidroid	0:92706998571a	466	typedef struct __StepperMotorDriver_HandleTypeDef
Davidroid	0:92706998571a	467	{
Davidroid	0:92706998571a	468	uint8_t DaisyChainPosition;
Davidroid	0:92706998571a	469	void (Config)(MICROSTEPPING_MOTOR_InitTypeDef);
Davidroid	0:92706998571a	470	MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
Davidroid	0:92706998571a	471	} StepperMotorDriverHandle_t;
Davidroid	0:92706998571a	472
Davidroid	0:92706998571a	473	/**
Davidroid	0:92706998571a	474	* @brief Stepper Motor Handle Structure
Davidroid	0:92706998571a	475	*/
Davidroid	0:92706998571a	476	typedef struct __StepperMotorBoard_HandleTypeDef
Davidroid	0:92706998571a	477	{
Davidroid	0:92706998571a	478	uint8_t StackedPosition;
Davidroid	0:92706998571a	479	void (Config)(MICROSTEPPING_MOTOR_InitTypeDef);
Davidroid	0:92706998571a	480	MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
Davidroid	0:92706998571a	481	StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
Davidroid	0:92706998571a	482	uint8_t (*Select)(uint8_t);
Davidroid	0:92706998571a	483	} StepperMotorBoardHandle_t;
Davidroid	0:92706998571a	484
Davidroid	0:92706998571a	485	/**
Davidroid	0:92706998571a	486	* @}
Davidroid	0:92706998571a	487	/ / StepperMotorExportedTypes */
Davidroid	0:92706998571a	488
Davidroid	0:92706998571a	489	/**
Davidroid	0:92706998571a	490	* @}
Davidroid	0:92706998571a	491	/ / MicrosteppingMotorDriver */
Davidroid	0:92706998571a	492
Davidroid	0:92706998571a	493	/**
Davidroid	0:92706998571a	494	* @}
Davidroid	0:92706998571a	495	/ / Components */
Davidroid	0:92706998571a	496
Davidroid	0:92706998571a	497	/**
Davidroid	0:92706998571a	498	* @}
Davidroid	0:92706998571a	499	/ / BSP */
Davidroid	0:92706998571a	500
Davidroid	0:92706998571a	501	#ifdef __cplusplus
Davidroid	0:92706998571a	502	}
Davidroid	0:92706998571a	503	#endif
Davidroid	0:92706998571a	504
Davidroid	0:92706998571a	505	#endif /* __MICROSTEPPINGMOTOR_H */
Davidroid	0:92706998571a	506
Davidroid	0:92706998571a	507	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	20 Jan 2016
Imports:	242
Forks:	2
Commits:	25
Dependents:	13
Dependencies:	2
Followers:	410

The code in this repository is Apache licensed.

Components

X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver