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/l6470/l6470_class.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 L6470.c
Davidroid	0:92706998571a	4	* @date 01/10/2014 12:00:00
Davidroid	0:92706998571a	5	* @brief This file provides set of firmware functions to manage the
Davidroid	0:92706998571a	6	* L6470.
Davidroid	0:92706998571a	7	******************************************************************************
Davidroid	0:92706998571a	8	*
Davidroid	0:92706998571a	9	* COPYRIGHT(c) 2014 STMicroelectronics
Davidroid	0:92706998571a	10	*
Davidroid	0:92706998571a	11	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	0:92706998571a	12	* are permitted provided that the following conditions are met:
Davidroid	0:92706998571a	13	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	0:92706998571a	14	* this list of conditions and the following disclaimer.
Davidroid	0:92706998571a	15	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	0:92706998571a	16	* this list of conditions and the following disclaimer in the documentation
Davidroid	0:92706998571a	17	* and/or other materials provided with the distribution.
Davidroid	0:92706998571a	18	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	0:92706998571a	19	* may be used to endorse or promote products derived from this software
Davidroid	0:92706998571a	20	* without specific prior written permission.
Davidroid	0:92706998571a	21	*
Davidroid	0:92706998571a	22	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	0:92706998571a	23	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	0:92706998571a	24	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	0:92706998571a	25	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	0:92706998571a	26	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	0:92706998571a	27	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	0:92706998571a	28	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	0:92706998571a	29	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	0:92706998571a	30	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	0:92706998571a	31	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	0:92706998571a	32	*
Davidroid	0:92706998571a	33	******************************************************************************
Davidroid	0:92706998571a	34	*/
Davidroid	0:92706998571a	35
Davidroid	0:92706998571a	36
Davidroid	0:92706998571a	37	/* Generated with Stm32CubeTOO -----------------------------------------------*/
Davidroid	0:92706998571a	38
Davidroid	0:92706998571a	39
Davidroid	0:92706998571a	40	/* Revision ------------------------------------------------------------------*/
Davidroid	0:92706998571a	41	/*
Davidroid	0:92706998571a	42	Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid	0:92706998571a	43	Branch/Trunk/Tag: trunk
Davidroid	0:92706998571a	44	Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
Davidroid	0:92706998571a	45	Revision: 0
Davidroid	0:92706998571a	46	*/
Davidroid	0:92706998571a	47
Davidroid	0:92706998571a	48
Davidroid	0:92706998571a	49	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:92706998571a	50
Davidroid	0:92706998571a	51	#ifndef __L6470_CLASS_H
Davidroid	0:92706998571a	52	#define __L6470_CLASS_H
Davidroid	0:92706998571a	53
Davidroid	0:92706998571a	54
Davidroid	0:92706998571a	55	/* Includes ------------------------------------------------------------------*/
Davidroid	0:92706998571a	56
Davidroid	0:92706998571a	57	/* ACTION 1 ------------------------------------------------------------------*
Davidroid	0:92706998571a	58	* Include here platform specific header files. *
Davidroid	0:92706998571a	59	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	60	#include "mbed.h"
Davidroid	0:92706998571a	61	#include "DevSPI.h"
Davidroid	0:92706998571a	62	/* ACTION 2 ------------------------------------------------------------------*
Davidroid	0:92706998571a	63	* Include here component specific header files. *
Davidroid	0:92706998571a	64	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	65	#include "l6470.h"
Davidroid	0:92706998571a	66	/* ACTION 3 ------------------------------------------------------------------*
Davidroid	0:92706998571a	67	* Include here interface specific header files. *
Davidroid	0:92706998571a	68	* *
Davidroid	0:92706998571a	69	* Example: *
Davidroid	0:92706998571a	70	* #include "../Interfaces/Humidity_class.h" *
Davidroid	0:92706998571a	71	* #include "../Interfaces/Temperature_class.h" *
Davidroid	0:92706998571a	72	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	73	#include "../Interfaces/StepperMotor_class.h"
Davidroid	0:92706998571a	74
Davidroid	0:92706998571a	75
Davidroid	0:92706998571a	76	/* Classes -------------------------------------------------------------------*/
Davidroid	0:92706998571a	77
Davidroid	0:92706998571a	78	/** Class representing a L6470 component.
Davidroid	0:92706998571a	79	*/
Davidroid	0:92706998571a	80	class L6470 : public StepperMotor
Davidroid	0:92706998571a	81	{
Davidroid	0:92706998571a	82	public:
Davidroid	0:92706998571a	83
Davidroid	0:92706998571a	84	/* Constructor and Destructor Methods */
Davidroid	0:92706998571a	85
Davidroid	0:92706998571a	86	/**
Davidroid	0:92706998571a	87	* @brief Constructor.
Davidroid	0:92706998571a	88	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	0:92706998571a	89	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	90	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	91	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	92	*/
Davidroid	0:92706998571a	93	L6470(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
Davidroid	0:92706998571a	94	{
Davidroid	0:92706998571a	95	/* ACTION 4 ----------------------------------------------------------*
Davidroid	0:92706998571a	96	* Initialize here the component's member variables, one variable per *
Davidroid	0:92706998571a	97	* line. *
Davidroid	0:92706998571a	98	* *
Davidroid	0:92706998571a	99	* Example: *
Davidroid	0:92706998571a	100	* T0_out = 0; *
Davidroid	0:92706998571a	101	* T1_out = 0; *
Davidroid	0:92706998571a	102	* T0_degC = 0; *
Davidroid	0:92706998571a	103	* T1_degC = 0; *
Davidroid	0:92706998571a	104	--------------------------------------------------------------------/
Davidroid	0:92706998571a	105	L6470_Register = &_L6470_Register[0];
Davidroid	0:92706998571a	106	L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid	0:92706998571a	107	L6470_Direction = &_L6470_Direction[0];
Davidroid	0:92706998571a	108	L6470_ACT = &_L6470_ACT[0];
Davidroid	0:92706998571a	109	pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid	0:92706998571a	110	L6470_Id = number_of_devices++;
Davidroid	0:92706998571a	111	L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid	0:92706998571a	112	memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid	0:92706998571a	113	memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	114	memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	115	}
Davidroid	0:92706998571a	116
Davidroid	0:92706998571a	117	/**
Davidroid	0:92706998571a	118	* @brief Destructor.
Davidroid	0:92706998571a	119	*/
Davidroid	0:92706998571a	120	virtual ~L6470(void) {}
Davidroid	0:92706998571a	121
Davidroid	0:92706998571a	122
Davidroid	0:92706998571a	123	/* Public Component Related Methods */
Davidroid	0:92706998571a	124
Davidroid	0:92706998571a	125	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	126	* Implement here the component's public methods, as wrappers of the C *
Davidroid	0:92706998571a	127	* component's functions. *
Davidroid	0:92706998571a	128	* They should be: *
Davidroid	0:92706998571a	129	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	130	* functions (1); *
Davidroid	0:92706998571a	131	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	132	* table's functions, if any (2). *
Davidroid	0:92706998571a	133	* *
Davidroid	0:92706998571a	134	* Example: *
Davidroid	0:92706998571a	135	* virtual int GetValue(float pData) //(1)
Davidroid	0:92706998571a	136	* { *
Davidroid	0:92706998571a	137	* return COMPONENT_GetValue(float pfData);
Davidroid	0:92706998571a	138	* } *
Davidroid	0:92706998571a	139	* *
Davidroid	0:92706998571a	140	* virtual int EnableFeature(void) //(2) *
Davidroid	0:92706998571a	141	* { *
Davidroid	0:92706998571a	142	* return COMPONENT_EnableFeature(); *
Davidroid	0:92706998571a	143	* } *
Davidroid	0:92706998571a	144	------------------------------------------------------------------------/
Davidroid	0:92706998571a	145	virtual int Init(void *init)
Davidroid	0:92706998571a	146	{
Davidroid	0:92706998571a	147	return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
Davidroid	0:92706998571a	148	}
Davidroid	0:92706998571a	149
Davidroid	0:92706998571a	150	virtual int ReadID(uint8_t *id)
Davidroid	0:92706998571a	151	{
Davidroid	0:92706998571a	152	return (int) 0;
Davidroid	0:92706998571a	153	}
Davidroid	0:92706998571a	154
Davidroid	0:92706998571a	155	virtual unsigned int GetStatus(void)
Davidroid	0:92706998571a	156	{
Davidroid	0:92706998571a	157	return (unsigned int) L6470_GetStatus();
Davidroid	0:92706998571a	158	}
Davidroid	0:92706998571a	159
Davidroid	0:92706998571a	160	virtual unsigned int GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	161	{
Davidroid	0:92706998571a	162	return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	163	}
Davidroid	0:92706998571a	164
Davidroid	0:92706998571a	165	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	166	{
Davidroid	0:92706998571a	167	return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	0:92706998571a	168	}
Davidroid	0:92706998571a	169
Davidroid	0:92706998571a	170	virtual signed int GetMark(void)
Davidroid	0:92706998571a	171	{
Davidroid	0:92706998571a	172	return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	0:92706998571a	173	}
Davidroid	0:92706998571a	174
Davidroid	0:92706998571a	175	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	176	{
Davidroid	0:92706998571a	177	return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	0:92706998571a	178	}
Davidroid	0:92706998571a	179
Davidroid	0:92706998571a	180	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	181	{
Davidroid	0:92706998571a	182	return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	0:92706998571a	183	}
Davidroid	0:92706998571a	184
Davidroid	0:92706998571a	185	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	186	{
Davidroid	0:92706998571a	187	return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	0:92706998571a	188	}
Davidroid	0:92706998571a	189
Davidroid	0:92706998571a	190	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	191	{
Davidroid	0:92706998571a	192	return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	0:92706998571a	193	}
Davidroid	0:92706998571a	194
Davidroid	0:92706998571a	195	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	196	{
Davidroid	0:92706998571a	197	return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	0:92706998571a	198	}
Davidroid	0:92706998571a	199
Davidroid	0:92706998571a	200	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	201	{
Davidroid	0:92706998571a	202	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	203	}
Davidroid	0:92706998571a	204
Davidroid	0:92706998571a	205	virtual void SetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	206	{
Davidroid	0:92706998571a	207	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	208	}
Davidroid	0:92706998571a	209
Davidroid	0:92706998571a	210	virtual void SetHome(void)
Davidroid	0:92706998571a	211	{
Davidroid	0:92706998571a	212	L6470_ResetPos();
Davidroid	0:92706998571a	213	//L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
Davidroid	0:92706998571a	214	}
Davidroid	0:92706998571a	215
Davidroid	0:92706998571a	216	virtual void SetMark(void)
Davidroid	0:92706998571a	217	{
Davidroid	0:92706998571a	218	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	219	//L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) 0);
Davidroid	0:92706998571a	220	}
Davidroid	0:92706998571a	221
Davidroid	0:92706998571a	222	virtual void SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	223	{
Davidroid	0:92706998571a	224	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
Davidroid	0:92706998571a	225	}
Davidroid	0:92706998571a	226
Davidroid	0:92706998571a	227	virtual void SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	228	{
Davidroid	0:92706998571a	229	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
Davidroid	0:92706998571a	230	}
Davidroid	0:92706998571a	231
Davidroid	0:92706998571a	232	virtual void SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	233	{
Davidroid	0:92706998571a	234	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
Davidroid	0:92706998571a	235	}
Davidroid	0:92706998571a	236
Davidroid	0:92706998571a	237	virtual void SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	238	{
Davidroid	0:92706998571a	239	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
Davidroid	0:92706998571a	240	}
Davidroid	0:92706998571a	241
Davidroid	0:92706998571a	242	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	243	{
Davidroid	0:92706998571a	244	L6470_GoTo((uint32_t) position);
Davidroid	0:92706998571a	245	}
Davidroid	0:92706998571a	246
Davidroid	0:92706998571a	247	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	248	{
Davidroid	0:92706998571a	249	L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
Davidroid	0:92706998571a	250	}
Davidroid	0:92706998571a	251
Davidroid	0:92706998571a	252	virtual void GoHome(void)
Davidroid	0:92706998571a	253	{
Davidroid	0:92706998571a	254	L6470_GoHome();
Davidroid	0:92706998571a	255	}
Davidroid	0:92706998571a	256
Davidroid	0:92706998571a	257	virtual void GoMark(void)
Davidroid	0:92706998571a	258	{
Davidroid	0:92706998571a	259	L6470_GoMark();
Davidroid	0:92706998571a	260	}
Davidroid	0:92706998571a	261
Davidroid	0:92706998571a	262	virtual void GoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	263	{
Davidroid	0:92706998571a	264	L6470_GoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid	0:92706998571a	265	}
Davidroid	0:92706998571a	266
Davidroid	0:92706998571a	267	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	268	{
Davidroid	0:92706998571a	269	L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
Davidroid	0:92706998571a	270	}
Davidroid	0:92706998571a	271
Davidroid	0:92706998571a	272	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	273	{
Davidroid	0:92706998571a	274	L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid	0:92706998571a	275	}
Davidroid	0:92706998571a	276
Davidroid	0:92706998571a	277	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	278	{
Davidroid	0:92706998571a	279	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	280	}
Davidroid	0:92706998571a	281
Davidroid	0:92706998571a	282	virtual void SoftStop(void)
Davidroid	0:92706998571a	283	{
Davidroid	0:92706998571a	284	L6470_SoftStop();
Davidroid	0:92706998571a	285	}
Davidroid	0:92706998571a	286
Davidroid	0:92706998571a	287	virtual void HardStop(void)
Davidroid	0:92706998571a	288	{
Davidroid	0:92706998571a	289	L6470_HardStop();
Davidroid	0:92706998571a	290	}
Davidroid	0:92706998571a	291
Davidroid	0:92706998571a	292	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	293	{
Davidroid	0:92706998571a	294	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	295	}
Davidroid	0:92706998571a	296
Davidroid	0:92706998571a	297	virtual void SoftHiZ(void)
Davidroid	0:92706998571a	298	{
Davidroid	0:92706998571a	299	L6470_SoftHiZ();
Davidroid	0:92706998571a	300	}
Davidroid	0:92706998571a	301
Davidroid	0:92706998571a	302	virtual void HardHiZ(void)
Davidroid	0:92706998571a	303	{
Davidroid	0:92706998571a	304	L6470_HardHiZ();
Davidroid	0:92706998571a	305	}
Davidroid	0:92706998571a	306
Davidroid	0:92706998571a	307	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	308	{
Davidroid	0:92706998571a	309	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	310	}
Davidroid	0:92706998571a	311
Davidroid	0:92706998571a	312	virtual void ReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
Davidroid	0:92706998571a	313	{
Davidroid	0:92706998571a	314	L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	315	}
Davidroid	0:92706998571a	316
Davidroid	0:92706998571a	317	virtual void ResetDevice(void)
Davidroid	0:92706998571a	318	{
Davidroid	0:92706998571a	319	L6470_ResetDevice();
Davidroid	0:92706998571a	320	}
Davidroid	0:92706998571a	321
Davidroid	0:92706998571a	322	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	323	{
Davidroid	0:92706998571a	324	L6470_PrepareGetStatus();
Davidroid	0:92706998571a	325	}
Davidroid	0:92706998571a	326
Davidroid	0:92706998571a	327	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	328	{
Davidroid	0:92706998571a	329	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	330	}
Davidroid	0:92706998571a	331
Davidroid	0:92706998571a	332	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	333	{
Davidroid	0:92706998571a	334	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	0:92706998571a	335	}
Davidroid	0:92706998571a	336
Davidroid	0:92706998571a	337	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	338	{
Davidroid	0:92706998571a	339	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	0:92706998571a	340	}
Davidroid	0:92706998571a	341
Davidroid	0:92706998571a	342	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	343	{
Davidroid	0:92706998571a	344	L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	0:92706998571a	345	}
Davidroid	0:92706998571a	346
Davidroid	0:92706998571a	347	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	348	{
Davidroid	0:92706998571a	349	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	0:92706998571a	350	}
Davidroid	0:92706998571a	351
Davidroid	0:92706998571a	352	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	353	{
Davidroid	0:92706998571a	354	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	0:92706998571a	355	}
Davidroid	0:92706998571a	356
Davidroid	0:92706998571a	357	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	358	{
Davidroid	0:92706998571a	359	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	0:92706998571a	360	}
Davidroid	0:92706998571a	361
Davidroid	0:92706998571a	362	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	363	{
Davidroid	0:92706998571a	364	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	0:92706998571a	365	}
Davidroid	0:92706998571a	366
Davidroid	0:92706998571a	367	virtual direction_t PrepareGetDirection(void)
Davidroid	0:92706998571a	368	{
Davidroid	0:92706998571a	369	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	370	}
Davidroid	0:92706998571a	371
Davidroid	0:92706998571a	372	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	373	{
Davidroid	0:92706998571a	374	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	375	}
Davidroid	0:92706998571a	376
Davidroid	0:92706998571a	377	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	378	{
Davidroid	0:92706998571a	379	L6470_PrepareResetPos();
Davidroid	0:92706998571a	380	//L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
Davidroid	0:92706998571a	381	}
Davidroid	0:92706998571a	382
Davidroid	0:92706998571a	383	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	384	{
Davidroid	0:92706998571a	385	uint32_t mark = L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	0:92706998571a	386	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, mark);
Davidroid	0:92706998571a	387	}
Davidroid	0:92706998571a	388
Davidroid	0:92706998571a	389	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	390	{
Davidroid	0:92706998571a	391	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
Davidroid	0:92706998571a	392	}
Davidroid	0:92706998571a	393
Davidroid	0:92706998571a	394	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	395	{
Davidroid	0:92706998571a	396	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
Davidroid	0:92706998571a	397	}
Davidroid	0:92706998571a	398
Davidroid	0:92706998571a	399	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	400	{
Davidroid	0:92706998571a	401	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
Davidroid	0:92706998571a	402	}
Davidroid	0:92706998571a	403
Davidroid	0:92706998571a	404	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	405	{
Davidroid	0:92706998571a	406	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
Davidroid	0:92706998571a	407	}
Davidroid	0:92706998571a	408
Davidroid	0:92706998571a	409	virtual void PrepareGoTo(signed int position)
Davidroid	0:92706998571a	410	{
Davidroid	0:92706998571a	411	L6470_PrepareGoTo((uint32_t) position);
Davidroid	0:92706998571a	412	}
Davidroid	0:92706998571a	413
Davidroid	0:92706998571a	414	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	415	{
Davidroid	0:92706998571a	416	L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
Davidroid	0:92706998571a	417	}
Davidroid	0:92706998571a	418
Davidroid	0:92706998571a	419	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	420	{
Davidroid	0:92706998571a	421	L6470_PrepareGoHome();
Davidroid	0:92706998571a	422	}
Davidroid	0:92706998571a	423
Davidroid	0:92706998571a	424	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	425	{
Davidroid	0:92706998571a	426	L6470_PrepareGoMark();
Davidroid	0:92706998571a	427	}
Davidroid	0:92706998571a	428
Davidroid	0:92706998571a	429	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	430	{
Davidroid	0:92706998571a	431	L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid	0:92706998571a	432	}
Davidroid	0:92706998571a	433
Davidroid	0:92706998571a	434	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	435	{
Davidroid	0:92706998571a	436	L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
Davidroid	0:92706998571a	437	}
Davidroid	0:92706998571a	438
Davidroid	0:92706998571a	439	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	440	{
Davidroid	0:92706998571a	441	L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid	0:92706998571a	442	}
Davidroid	0:92706998571a	443
Davidroid	0:92706998571a	444	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	445	{
Davidroid	0:92706998571a	446	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	447	}
Davidroid	0:92706998571a	448
Davidroid	0:92706998571a	449	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	450	{
Davidroid	0:92706998571a	451	L6470_PrepareSoftStop();
Davidroid	0:92706998571a	452	}
Davidroid	0:92706998571a	453
Davidroid	0:92706998571a	454	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	455	{
Davidroid	0:92706998571a	456	L6470_PrepareHardStop();
Davidroid	0:92706998571a	457	}
Davidroid	0:92706998571a	458
Davidroid	0:92706998571a	459	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	460	{
Davidroid	0:92706998571a	461	L6470_PrepareSoftHiZ();
Davidroid	0:92706998571a	462	}
Davidroid	0:92706998571a	463
Davidroid	0:92706998571a	464	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	465	{
Davidroid	0:92706998571a	466	L6470_PrepareHardHiZ();
Davidroid	0:92706998571a	467	}
Davidroid	0:92706998571a	468
Davidroid	0:92706998571a	469	virtual void PrepareStepClock(direction_t direction)
Davidroid	0:92706998571a	470	{
Davidroid	0:92706998571a	471	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	472	}
Davidroid	0:92706998571a	473
Davidroid	0:92706998571a	474	virtual void PrepareReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
Davidroid	0:92706998571a	475	{
Davidroid	0:92706998571a	476	L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	477	}
Davidroid	0:92706998571a	478
Davidroid	0:92706998571a	479	virtual void PrepareResetDevice(void)
Davidroid	0:92706998571a	480	{
Davidroid	0:92706998571a	481	L6470_ResetDevice();
Davidroid	0:92706998571a	482	}
Davidroid	0:92706998571a	483
Davidroid	0:92706998571a	484	virtual uint8_t* PerformAction(void)
Davidroid	0:92706998571a	485	{
Davidroid	0:92706998571a	486	return (uint8_t*) L6470_PerformPreparedApplicationCommand();
Davidroid	0:92706998571a	487	}
Davidroid	0:92706998571a	488
Davidroid	0:92706998571a	489
Davidroid	0:92706998571a	490	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	491
Davidroid	0:92706998571a	492	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	493	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	494	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	495	* + mbed: *
Davidroid	0:92706998571a	496	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	0:92706998571a	497	* feature_irq.rise(callback); //Attach a callback. *
Davidroid	0:92706998571a	498	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	0:92706998571a	499	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	0:92706998571a	500	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	501	* + Arduino: *
Davidroid	0:92706998571a	502	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	503	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	504	* *
Davidroid	0:92706998571a	505	* Example (mbed): *
Davidroid	0:92706998571a	506	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	507	* { *
Davidroid	0:92706998571a	508	* feature_irq.rise(fptr); *
Davidroid	0:92706998571a	509	* } *
Davidroid	0:92706998571a	510	* *
Davidroid	0:92706998571a	511	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	512	* { *
Davidroid	0:92706998571a	513	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	514	* } *
Davidroid	0:92706998571a	515	* *
Davidroid	0:92706998571a	516	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	517	* { *
Davidroid	0:92706998571a	518	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	519	* } *
Davidroid	0:92706998571a	520	------------------------------------------------------------------------/
Davidroid	0:92706998571a	521	/**
Davidroid	0:92706998571a	522	* @brief Attaching a FLAG interrupt handler.
Davidroid	0:92706998571a	523	* @param fptr an interrupt handler.
Davidroid	0:92706998571a	524	* @retval None.
Davidroid	0:92706998571a	525	*/
Davidroid	0:92706998571a	526	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	527	{
Davidroid	0:92706998571a	528	flag_irq.rise(fptr);
Davidroid	0:92706998571a	529	}
Davidroid	0:92706998571a	530
Davidroid	0:92706998571a	531	/**
Davidroid	0:92706998571a	532	* @brief Enabling FLAG interrupt handling.
Davidroid	0:92706998571a	533	* @param None.
Davidroid	0:92706998571a	534	* @retval None.
Davidroid	0:92706998571a	535	*/
Davidroid	0:92706998571a	536	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	537	{
Davidroid	0:92706998571a	538	flag_irq.enable_irq();
Davidroid	0:92706998571a	539	}
Davidroid	0:92706998571a	540
Davidroid	0:92706998571a	541	/**
Davidroid	0:92706998571a	542	* @brief Disabling FLAG interrupt handling.
Davidroid	0:92706998571a	543	* @param None.
Davidroid	0:92706998571a	544	* @retval None.
Davidroid	0:92706998571a	545	*/
Davidroid	0:92706998571a	546	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	547	{
Davidroid	0:92706998571a	548	flag_irq.disable_irq();
Davidroid	0:92706998571a	549	}
Davidroid	0:92706998571a	550
Davidroid	0:92706998571a	551
Davidroid	0:92706998571a	552	protected:
Davidroid	0:92706998571a	553
Davidroid	0:92706998571a	554	/* Protected Component Related Methods */
Davidroid	0:92706998571a	555
Davidroid	0:92706998571a	556	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	557	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	558	* They should be: *
Davidroid	0:92706998571a	559	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	560	* functions (1); *
Davidroid	0:92706998571a	561	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	562	* table's functions, if any (2); *
Davidroid	0:92706998571a	563	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	564	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	565	* *
Davidroid	0:92706998571a	566	* Example: *
Davidroid	0:92706998571a	567	* DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) *
Davidroid	0:92706998571a	568	* DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
Davidroid	0:92706998571a	569	* DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	570	------------------------------------------------------------------------/
Davidroid	0:92706998571a	571	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	572	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	573	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	574	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	575	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	576	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	577	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	578	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	579	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	580	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	581	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	582	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	583	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	584	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	585	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	586	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	587	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	588	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	589	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	590	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	591	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	592	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	593	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	594	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	595	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	596	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	0:92706998571a	597	DrvStatusTypeDef L6470_Config(MICROSTEPPING_MOTOR_InitTypeDef *MotorParameterData);
Davidroid	0:92706998571a	598	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	599	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	600	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	601	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	602	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	603	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	604	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	605	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	606	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	607	void L6470_GoHome(void);
Davidroid	0:92706998571a	608	void L6470_GoMark(void);
Davidroid	0:92706998571a	609	void L6470_ResetPos(void);
Davidroid	0:92706998571a	610	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	611	void L6470_SoftStop(void);
Davidroid	0:92706998571a	612	void L6470_HardStop(void);
Davidroid	0:92706998571a	613	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	614	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	615	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	616	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	617	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	618	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	619	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	620	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	621	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	622	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	623	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	624	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	625	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	626	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	627	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	628	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	629	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	630	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	631	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	632	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	633	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	634	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	635	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	636	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	637	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	638	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	639	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	640	void L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
Davidroid	0:92706998571a	641	void L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
Davidroid	0:92706998571a	642	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	643
Davidroid	0:92706998571a	644
Davidroid	0:92706998571a	645	/* Component's I/O Methods */
Davidroid	0:92706998571a	646
Davidroid	0:92706998571a	647	/**
Davidroid	0:92706998571a	648	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	649	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	650	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	651	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	652	*/
Davidroid	0:92706998571a	653	DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	654	{
Davidroid	0:92706998571a	655	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	656	return COMPONENT_ERROR;
Davidroid	0:92706998571a	657	return COMPONENT_OK;
Davidroid	0:92706998571a	658	}
Davidroid	0:92706998571a	659
Davidroid	0:92706998571a	660	/**
Davidroid	0:92706998571a	661	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	662	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	663	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	664	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	665	*/
Davidroid	0:92706998571a	666	DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	667	{
Davidroid	0:92706998571a	668	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	669	return COMPONENT_ERROR;
Davidroid	0:92706998571a	670	return COMPONENT_OK;
Davidroid	0:92706998571a	671	}
Davidroid	0:92706998571a	672
Davidroid	0:92706998571a	673	/**
Davidroid	0:92706998571a	674	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	675	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	676	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	677	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	678	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	679	*/
Davidroid	0:92706998571a	680	DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	681	{
Davidroid	0:92706998571a	682	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	683	return COMPONENT_ERROR;
Davidroid	0:92706998571a	684	return COMPONENT_OK;
Davidroid	0:92706998571a	685	}
Davidroid	0:92706998571a	686
Davidroid	0:92706998571a	687	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	688	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	689	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	690	------------------------------------------------------------------------/
Davidroid	0:92706998571a	691	/*
Davidroid	0:92706998571a	692	* Puts the device in standby mode.
Davidroid	0:92706998571a	693	*/
Davidroid	0:92706998571a	694	void L6470_ENABLE(void)
Davidroid	0:92706998571a	695	{
Davidroid	0:92706998571a	696	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	697	standby_reset = 1;
Davidroid	0:92706998571a	698	}
Davidroid	0:92706998571a	699
Davidroid	0:92706998571a	700	/*
Davidroid	0:92706998571a	701	* Puts the device in reset mode.
Davidroid	0:92706998571a	702	*/
Davidroid	0:92706998571a	703	void L6470_DISABLE(void)
Davidroid	0:92706998571a	704	{
Davidroid	0:92706998571a	705	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	706	standby_reset = 0;
Davidroid	0:92706998571a	707	}
Davidroid	0:92706998571a	708
Davidroid	0:92706998571a	709	/*
Davidroid	0:92706998571a	710	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	711	*/
Davidroid	0:92706998571a	712	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	713	{
Davidroid	0:92706998571a	714	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	715	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	716	}
Davidroid	0:92706998571a	717
Davidroid	0:92706998571a	718
Davidroid	0:92706998571a	719	/* Component's Instance Variables */
Davidroid	0:92706998571a	720
Davidroid	0:92706998571a	721	/* Identity */
Davidroid	0:92706998571a	722	uint8_t who_am_i;
Davidroid	0:92706998571a	723
Davidroid	0:92706998571a	724	/* ACTION 9 --------------------------------------------------------------*
Davidroid	0:92706998571a	725	* There should be only a unique identifier for each component, which *
Davidroid	0:92706998571a	726	* should be the "who_am_i" parameter, hence this parameter is optional. *
Davidroid	0:92706998571a	727	------------------------------------------------------------------------/
Davidroid	0:92706998571a	728	/* Type. */
Davidroid	0:92706998571a	729	uint8_t type;
Davidroid	0:92706998571a	730
Davidroid	0:92706998571a	731	/* Flag Interrupt. */
Davidroid	0:92706998571a	732	InterruptIn flag_irq;
Davidroid	0:92706998571a	733
Davidroid	0:92706998571a	734	/* Standby/reset pin. */
Davidroid	0:92706998571a	735	DigitalOut standby_reset;
Davidroid	0:92706998571a	736
Davidroid	0:92706998571a	737	/* Configuration. */
Davidroid	0:92706998571a	738	DigitalOut ssel;
Davidroid	0:92706998571a	739
Davidroid	0:92706998571a	740	/* IO Device. */
Davidroid	0:92706998571a	741	DevSPI &dev_spi;
Davidroid	0:92706998571a	742
Davidroid	0:92706998571a	743	/* Interrupts. */
Davidroid	0:92706998571a	744	/* ACTION 10 -------------------------------------------------------------*
Davidroid	0:92706998571a	745	* Put here interrupt related objects, if needed. *
Davidroid	0:92706998571a	746	* Note that interrupt handling is platform dependent, see *
Davidroid	0:92706998571a	747	* "Interrupt Related Methods" above. *
Davidroid	0:92706998571a	748	* *
Davidroid	0:92706998571a	749	* Example: *
Davidroid	0:92706998571a	750	* + mbed: *
Davidroid	0:92706998571a	751	* InterruptIn feature_int; *
Davidroid	0:92706998571a	752	------------------------------------------------------------------------/
Davidroid	0:92706998571a	753
Davidroid	0:92706998571a	754	/* Data. */
Davidroid	0:92706998571a	755	/* ACTION 11 -------------------------------------------------------------*
Davidroid	0:92706998571a	756	* Declare here the component's data, one variable per line. *
Davidroid	0:92706998571a	757	* *
Davidroid	0:92706998571a	758	* Example: *
Davidroid	0:92706998571a	759	* int T0_out; *
Davidroid	0:92706998571a	760	* int T1_out; *
Davidroid	0:92706998571a	761	* float T0_degC; *
Davidroid	0:92706998571a	762	* float T1_degC; *
Davidroid	0:92706998571a	763	------------------------------------------------------------------------/
Davidroid	0:92706998571a	764	uint8_t L6470_Id;
Davidroid	0:92706998571a	765	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	766	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	767	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	768	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	769	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	770	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	771	StepperMotorRegister_t StepperMotorRegister;
Davidroid	0:92706998571a	772
Davidroid	0:92706998571a	773	/* Static data. */
Davidroid	0:92706998571a	774	static uint8_t number_of_devices;
Davidroid	0:92706998571a	775	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	776	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	777	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	778	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	779	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	780	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	781	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	782	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	783	};
Davidroid	0:92706998571a	784
Davidroid	0:92706998571a	785	#endif // __L6470_CLASS_H
Davidroid	0:92706998571a	786
Davidroid	0:92706998571a	787	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Repository details

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