ST
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
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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/Common/microstepping_motor_def.h@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 microstepping_motor_def.h |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 4 | * @author IPD SYSTEM LAB & TECH MKTG |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 5 | * @version V0.0.1 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 6 | * @date 04-June-2015 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 7 | * @brief This file contains all the functions prototypes for the microstepping |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 8 | * motor driver with motion engine. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 9 | ****************************************************************************** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 10 | * @attention |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 11 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 12 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 13 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 15 | * are permitted provided that the following conditions are met: |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 17 | * this list of conditions and the following disclaimer. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 19 | * this list of conditions and the following disclaimer in the documentation |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 20 | * and/or other materials provided with the distribution. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 22 | * may be used to endorse or promote products derived from this software |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 23 | * without specific prior written permission. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 24 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 35 | * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 36 | ****************************************************************************** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 37 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 38 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 39 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 40 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 41 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 42 | #ifndef __MICROSTEPPINGMOTOR_H |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 43 | #define __MICROSTEPPINGMOTOR_H |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 44 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 45 | #ifdef __cplusplus |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 46 | extern "C" { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 47 | #endif |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 48 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 49 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 50 | /* Includes ------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 51 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 52 | #include <stdint.h> |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 53 | #include "component_def.h" |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 54 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 55 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 56 | /* Types ---------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 57 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 58 | /** @addtogroup BSP |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 59 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 60 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 61 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 62 | /** @addtogroup Components |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 63 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 64 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 65 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 66 | /** @defgroup MicrosteppingMotorDriver |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 67 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 68 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 69 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 70 | /** @defgroup StepperMotorExportedTypes |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 71 | * @{ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 72 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 73 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 74 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 75 | * @brief The L6470 Registers Identifiers. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 76 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 77 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 78 | L6470_ABS_POS_ID = 0, //!< Current position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 79 | L6470_EL_POS_ID, //!< Electrical position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 80 | L6470_MARK_ID, //!< Mark position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 81 | L6470_SPEED_ID, //!< Current speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 82 | L6470_ACC_ID, //!< Acceleration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 83 | L6470_DEC_ID, //!< Deceleration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 84 | L6470_MAX_SPEED_ID, //!< Maximum speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 85 | L6470_MIN_SPEED_ID, //!< Minimum speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 86 | L6470_FS_SPD_ID, //!< Full-step speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 87 | L6470_KVAL_HOLD_ID, //!< Holding KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 88 | L6470_KVAL_RUN_ID, //!< Constant speed KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 89 | L6470_KVAL_ACC_ID, //!< Acceleration starting KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 90 | L6470_KVAL_DEC_ID, //!< Deceleration starting KVAL |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 91 | L6470_INT_SPEED_ID, //!< Intersect speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 92 | L6470_ST_SLP_ID, //!< Start slope |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 93 | L6470_FN_SLP_ACC_ID, //!< Acceleration final slope |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 94 | L6470_FN_SLP_DEC_ID, //!< Deceleration final slope |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 95 | L6470_K_THERM_ID, //!< Thermal compensation factor |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 96 | L6470_ADC_OUT_ID, //!< ADC output, (the reset value is according to startup conditions) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 97 | L6470_OCD_TH_ID, //!< OCD threshold |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 98 | L6470_STALL_TH_ID, //!< STALL threshold |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 99 | L6470_STEP_MODE_ID, //!< Step mode |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 100 | L6470_ALARM_EN_ID, //!< Alarm enable |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 101 | L6470_CONFIG_ID, //!< IC configuration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 102 | L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 103 | } eL6470_RegId_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 104 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 105 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 106 | * @brief The L6470 Application Commands Identifiers. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 107 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 108 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 109 | L6470_NOP_ID = 0, //!< Nothing |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 110 | L6470_SETPARAM_ID, //!< Writes VALUE in PARAM register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 111 | L6470_GETPARAM_ID, //!< Returns the stored value in PARAM register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 112 | L6470_RUN_ID, //!< Sets the target speed and the motor direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 113 | L6470_STEPCLOCK_ID, //!< Puts the device into Step-clock mode and imposes DIR direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 114 | L6470_MOVE_ID, //!< Makes N_STEP (micro)steps in DIR direction (Not performable when motor is running) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 115 | L6470_GOTO_ID, //!< Brings motor into ABS_POS position (minimum path) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 116 | L6470_GOTODIR_ID, //!< Brings motor into ABS_POS position forcing DIR direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 117 | 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 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 118 | 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 |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 119 | L6470_GOHOME_ID, //!< Brings the motor into HOME position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 120 | L6470_GOMARK_ID, //!< Brings the motor into MARK position |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 121 | L6470_RESETPOS_ID, //!< Resets the ABS_POS register (set HOME position) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 122 | L6470_RESETDEVICE_ID, //!< Device is reset to power-up conditions |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 123 | L6470_SOFTSTOP_ID, //!< Stops motor with a deceleration phase |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 124 | L6470_HARDSTOP_ID, //!< Stops motor immediately |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 125 | L6470_SOFTHIZ_ID, //!< Puts the bridges into high impedance status after a deceleration phase |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 126 | L6470_HARDHIZ_ID, //!< Puts the bridges into high impedance status immediately |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 127 | L6470_GETSTATUS_ID //!< Returns the STATUS register value |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 128 | } eL6470_AppCmdId_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 129 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 130 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 131 | * @brief The L6470 Status Register Flag identifiers. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 132 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 133 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 134 | HiZ_ID = 0, //!< HiZ flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 135 | BUSY_ID, //!< BUSY flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 136 | SW_F_ID, //!< SW_F flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 137 | SW_EVN_ID, //!< SW_EVN flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 138 | DIR_ID, //!< DIR flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 139 | MOT_STATUS_ID, //!< MOT_STATUS flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 140 | NOTPERF_CMD_ID, //!< NOTPERF_CMD flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 141 | WRONG_CMD_ID, //!< WRONG_CMD flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 142 | UVLO_ID, //!< UVLO flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 143 | TH_WRN_ID, //!< TH_WRN flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 144 | TH_SD_ID, //!< TH_SD flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 145 | OCD_ID, //!< OCD flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 146 | STEP_LOSS_A_ID, //!< STEP_LOSS_A flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 147 | STEP_LOSS_B_ID, //!< STEP_LOSS_B flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 148 | SCK_MOD_ID //!< SCK_MOD flag identifier inside the L6470 Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 149 | } eL6470_StatusRegisterFlagId_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 150 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 151 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 152 | * @brief The L6470 Direction identifiers. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 153 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 154 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 155 | L6470_DIR_REV_ID = 0, //!< Reverse direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 156 | L6470_DIR_FWD_ID //!< Forward direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 157 | } eL6470_DirId_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 158 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 159 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 160 | * @brief The L6470 Action identifiers about ABS_POS register. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 161 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 162 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 163 | L6470_ACT_RST_ID = 0, //!< ABS_POS register is reset |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 164 | L6470_ACT_CPY_ID //!< ABS_POS register value is copied into the MARK register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 165 | } eL6470_ActId_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 166 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 167 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 168 | * @brief The L6470 Status Register Flag states. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 169 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 170 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 171 | ZERO_F = 0, //!< The flag is '0' |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 172 | ONE_F = !ZERO_F //!< The flag is '1' |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 173 | } eFlagStatus_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 174 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 175 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 176 | * @brief The L6470 Motor Directions. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 177 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 178 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 179 | REVERSE_F = 0, //!< Reverse motor direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 180 | FORWARD_F = !REVERSE_F //!< Forward motor direction |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 181 | } eMotorDirection_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 182 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 183 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 184 | * @brief The L6470 Motor Status. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 185 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 186 | typedef enum { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 187 | STOPPED_F = 0, //!< Stopped |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 188 | ACCELERATION_F = 1, //!< Acceleration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 189 | DECELERATION_F = 2, //!< Deceleration |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 190 | CONSTANTSPEED_F = 3 //!< Constant speed |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 191 | } eMotorStatus_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 192 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 193 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 194 | * @brief The possible stepping modes for L6470. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 195 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 196 | typedef enum |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 197 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 198 | FULL_STEP = 0x00, //!< Full-step |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 199 | HALF_STEP = 0x01, //!< Half-step |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 200 | MICROSTEP_1_4 = 0x02, //!< 1/4 microstep |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 201 | MICROSTEP_1_8 = 0x03, //!< 1/8 microstep |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 202 | MICROSTEP_1_16 = 0x04, //!< 1/16 microstep |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 203 | MICROSTEP_1_32 = 0x05, //!< 1/32 microstep |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 204 | MICROSTEP_1_64 = 0x06, //!< 1/64 microstep |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 205 | MICROSTEP_1_128 = 0x07 //!< 1/128 microstep |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 206 | } eMotorStepMode_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 207 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 208 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 209 | * @brief The identifiers for the possible L6470 alarm conditions. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 210 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 211 | typedef enum |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 212 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 213 | L6470_OVERCURRENT = 0x01, //!< Overcurrent |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 214 | L6470_THERMAL_SHUTDOWN = 0x02, //!< Thermal shutdown |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 215 | L6470_THERMAL_WARNING = 0x04, //!< Thermal warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 216 | L6470_UNDERVOLTAGE = 0x08, //!< Undervoltage |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 217 | L6470_STALL_DETECTION_A = 0x10, //!< Stall detection (Bridge A) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 218 | L6470_STALL_DETECTION_B = 0x20, //!< Stall detection (Bridge B) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 219 | L6470_SWITCH_TURN_ON_EVENT = 0x40, //!< Switch turn-on event |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 220 | L6470_WRONG_OR_NON_PERFORMABLE_COMMAND = 0x80 //!< Wrong or non-performable command |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 221 | } eL6470_AlarmCondition_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 222 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 223 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 224 | * @brief The L6470 STEP_MODE Register (see L6470 DataSheet for more details). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 225 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 226 | typedef struct { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 227 | uint8_t STEP_SEL: 3; //!< Step mode |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 228 | uint8_t WRT: 1; //!< When the register is written, this bit should be set to 0. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 229 | uint8_t SYNC_SEL: 3; //!< Synchronization selection |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 230 | uint8_t SYNC_EN: 1; //!< Synchronization enable |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 231 | } sL6470_StepModeRegister_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 232 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 233 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 234 | * @brief The L6470 ALARM_EN Register (see L6470 DataSheet for more details). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 235 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 236 | typedef struct { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 237 | uint8_t OCD_EN: 1; //!< Overcurrent |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 238 | uint8_t TH_SD_EN: 1; //!< Thermal shutdown |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 239 | uint8_t TH_WRN_EN: 1; //!< Thermal warning |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 240 | uint8_t UVLO_EN: 1; //!< Undervoltage |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 241 | uint8_t STEP_LOSS_A_EN: 1; //!< Stall detection (Bridge A) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 242 | uint8_t STEP_LOSS_B_EN: 1; //!< Stall detection (Bridge B) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 243 | uint8_t SW_EVN_EN: 1; //!< Switch turn-on event |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 244 | uint8_t WRONG_NOTPERF_CMD_EN: 1; //!< Wrong or non-performable command |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 245 | } sL6470_AlarmEnRegister_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 246 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 247 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 248 | * @brief The L6470 CONFIG Register (see L6470 DataSheet for more details). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 249 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 250 | typedef struct { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 251 | uint8_t OSC_SEL: 3; //!< Oscillator Selection |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 252 | uint8_t EXT_CLK: 1; //!< External Clock |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 253 | uint8_t SW_MODE: 1; //!< Switch mode |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 254 | uint8_t EN_VSCOMP: 1; //!< Motor supply voltage compensation |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 255 | uint8_t RESERVED: 1; //!< RESERVED |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 256 | uint8_t OC_SD: 1; //!< Overcurrent event |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 257 | uint8_t POW_SR: 2; //!< Output slew rate |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 258 | uint8_t F_PWM_DEC: 3; //!< Multiplication factor |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 259 | uint8_t F_PWM_INT: 3; //!< Integer division factor |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 260 | } sL6470_ConfigRegister_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 261 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 262 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 263 | * @brief The L6470 STATUS Register (see L6470 DataSheet for more details). |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 264 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 265 | typedef struct { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 266 | uint8_t HiZ: 1; //!< The bridges are in high impedance state (the flag is active high) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 267 | uint8_t BUSY: 1; //!< BUSY pin status (the flag is active low) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 268 | uint8_t SW_F: 1; //!< SW input status (the flag is low for open and high for closed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 269 | uint8_t SW_EVN: 1; //!< Switch turn-on event (the flag is active high) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 270 | uint8_t DIR: 1; //!< The current motor direction (1 as forward, 0 as reverse) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 271 | uint8_t MOT_STATUS: 2; //!< The current motor status (0 as stopped, 1 as acceleration, 2 as deceleration, 3 as constant speed) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 272 | uint8_t NOTPERF_CMD: 1; //!< The command received by SPI cannot be performed (the flag is active high) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 273 | uint8_t WRONG_CMD: 1; //!< The command received by SPI does not exist at all (the flag is active high) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 274 | uint8_t UVLO: 1; //!< Undervoltage lockout or reset events (the flag is active low) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 275 | uint8_t TH_WRN: 1; //!< Thermal warning event (the flag is active low) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 276 | uint8_t TH_SD: 1; //!< Thermal shutdown event (the flag is active low) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 277 | uint8_t OCD: 1; //!< Overcurrent detection event (the flag is active low) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 278 | uint8_t STEP_LOSS_A: 1; //!< Stall detection on bridge A (the flag is active low) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 279 | uint8_t STEP_LOSS_B: 1; //!< Stall detection on bridge B (the flag is active low) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 280 | uint8_t SCK_MOD: 1; //!< Step-clock mode (the flag is active high) |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 281 | } sL6470_StatusRegister_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 282 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 283 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 284 | * @brief Stepper Motor Registers |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 285 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 286 | typedef struct |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 287 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 288 | uint32_t ABS_POS; //!< CurrentPosition Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 289 | uint16_t EL_POS; //!< ElectricalPosition Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 290 | uint32_t MARK; //!< MarkPosition Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 291 | uint32_t SPEED; //!< CurrentSpeed Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 292 | uint16_t ACC; //!< Acceleration Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 293 | uint16_t DEC; //!< Deceleration Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 294 | uint16_t MAX_SPEED; //!< MaximumSpeed Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 295 | uint16_t MIN_SPEED; //!< MinimumSpeed Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 296 | uint16_t FS_SPD; //!< FullStepSpeed Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 297 | uint8_t KVAL_HOLD; //!< HoldingKval Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 298 | uint8_t KVAL_RUN; //!< ConstantSpeedKval Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 299 | uint8_t KVAL_ACC; //!< AccelerationStartingKval Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 300 | uint8_t KVAL_DEC; //!< DecelerationStartingKval Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 301 | uint16_t INT_SPEED; //!< IntersectSpeed Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 302 | uint8_t ST_SLP; //!< StartSlope Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 303 | uint8_t FN_SLP_ACC; //!< AccelerationFinalSlope Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 304 | uint8_t FN_SLP_DEC; //!< DecelerationFinalSlope Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 305 | uint8_t K_THERM; //!< ThermalCompensationFactor Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 306 | uint8_t ADC_OUT; //!< AdcOutput Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 307 | uint8_t OCD_TH; //!< OcdThreshold Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 308 | uint8_t STALL_TH; //!< StallThreshold Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 309 | uint8_t STEP_MODE; //!< StepMode Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 310 | uint8_t ALARM_EN; //!< AlarmEnable Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 311 | uint16_t CONFIG; //!< Config Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 312 | uint16_t STATUS; //!< Status Register |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 313 | } StepperMotorRegister_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 314 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 315 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 316 | * @brief MICROSTEPPING_MOTOR driver virtual table structure definition. |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 317 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 318 | typedef struct |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 319 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 320 | /* ACTION ----------------------------------------------------------------* |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 321 | * Declare here the component's generic functions. * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 322 | * Tag this group of functions with the " Generic " C-style comment. * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 323 | * A component's interface has to define at least the two generic * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 324 | * functions provided here below within the "Example" section, as the * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 325 | * first and second functions of its Virtual Table. They have to be * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 326 | * specified exactly in the given way. * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 327 | * * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 328 | * Example: * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 329 | * status_t (*Init) (void *handle, void *init); * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 330 | * status_t (*ReadID) (void *handle, uint8_t *id); * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 331 | *------------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 332 | /* Generic */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 333 | status_t (*Init)(void *handle, void *init); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 334 | status_t (*ReadID)(void *handle, uint8_t *id); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 335 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 336 | /* ACTION ----------------------------------------------------------------* |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 337 | * Declare here the component's specific functions. * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 338 | * Tag this group of functions with the " Specific " C-style comment. * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 339 | * Do not specify any function if not required. * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 340 | * * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 341 | * Example: * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 342 | * status_t (*GetValue) (void *handle, float *f); * |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 343 | *------------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 344 | /* Specific */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 345 | void (*SetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 346 | uint32_t (*GetParam)(void *handle, eL6470_RegId_t L6470_RegId); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 347 | void (*Run)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 348 | void (*StepClock)(void *handle, eL6470_DirId_t L6470_DirId); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 349 | void (*Move)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 350 | void (*GoTo)(void *handle, uint32_t AbsPos); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 351 | void (*GoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 352 | void (*GoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 353 | void (*ReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 354 | void (*GoHome)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 355 | void (*GoMark)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 356 | void (*ResetPos)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 357 | void (*ResetDevice)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 358 | void (*SoftStop)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 359 | void (*HardStop)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 360 | void (*SoftHiZ)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 361 | void (*HardHiZ)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 362 | uint16_t (*GetStatus)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 363 | void (*PrepareSetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 364 | void (*PrepareGetParam)(void *handle, eL6470_RegId_t L6470_RegId); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 365 | void (*PrepareRun)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 366 | void (*PrepareStepClock)(void *handle, eL6470_DirId_t L6470_DirId); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 367 | void (*PrepareMove)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 368 | void (*PrepareGoTo)(void *handle, uint32_t AbsPos); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 369 | void (*PrepareGoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 370 | void (*PrepareGoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 371 | void (*PrepareReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 372 | void (*PrepareGoHome)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 373 | void (*PrepareGoMark)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 374 | void (*PrepareResetPos)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 375 | void (*PrepareResetDevice)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 376 | void (*PrepareSoftStop)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 377 | void (*PrepareHardStop)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 378 | void (*PrepareSoftHiZ)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 379 | void (*PrepareHardHiZ)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 380 | void (*PrepareGetStatus)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 381 | uint8_t (*CheckStatusRegisterFlag)(void *handle, uint8_t L6470_StatusRegisterFlagId); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 382 | uint8_t* (*PerformPreparedApplicationCommand)(void *handle); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 383 | uint8_t* (*GetRegisterName)(void *handle, uint8_t id); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 384 | int32_t (*AbsPos_2_Position)(void *handle, uint32_t AbsPos); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 385 | uint32_t (*Position_2_AbsPos)(void *handle, int32_t Position); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 386 | float (*Speed_2_Step_s)(void *handle, uint32_t Speed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 387 | uint32_t (*Step_s_2_Speed)(void *handle, float Step_s); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 388 | float (*Acc_2_Step_s2)(void *handle, uint16_t Acc); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 389 | uint16_t (*Step_s2_2_Acc)(void *handle, float Step_s2); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 390 | float (*Dec_2_Step_s2)(void *handle, uint16_t Dec); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 391 | uint16_t (*Step_s2_2_Dec)(void *handle, float Step_s2); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 392 | float (*MaxSpeed_2_Step_s)(void *handle, uint16_t MaxSpeed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 393 | uint16_t (*Step_s_2_MaxSpeed)(void *handle, float Step_s); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 394 | float (*MinSpeed_2_Step_s)(void *handle, uint16_t MinSpeed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 395 | uint16_t (*Step_s_2_MinSpeed)(void *handle, float Step_s); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 396 | float (*FsSpd_2_Step_s)(void *handle, uint16_t FsSpd); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 397 | uint16_t (*Step_s_2_FsSpd)(void *handle, float Step_s); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 398 | float (*IntSpeed_2_Step_s)(void *handle, uint16_t IntSpeed); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 399 | uint16_t (*Step_s_2_IntSpeed)(void *handle, float Step_s); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 400 | float (*StSlp_2_s_Step)(void *handle, uint8_t StSlp); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 401 | uint8_t (*s_Step_2_StSlp)(void *handle, float s_Step); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 402 | float (*FnSlpAcc_2_s_Step)(void *handle, uint8_t FnSlpAcc); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 403 | uint8_t (*s_Step_2_FnSlpAcc)(void *handle, float s_Step); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 404 | float (*FnSlpDec_2_s_Step)(void *handle, uint8_t FnSlpDec); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 405 | uint8_t (*s_Step_2_FnSlpDec)(void *handle, float s_Step); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 406 | float (*OcdTh_2_mA)(void *handle, uint8_t OcdTh); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 407 | uint8_t (*mA_2_OcdTh)(void *handle, float mA); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 408 | float (*StallTh_2_mA)(void *handle, uint8_t StallTh); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 409 | uint8_t (*mA_2_StallTh)(void *handle, float mA); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 410 | uint32_t (*ExtractReturnedData)(void *handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 411 | } MICROSTEPPING_MOTOR_VTable_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 412 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 413 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 414 | * @brief Stepper Motor Board Driver Structure |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 415 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 416 | typedef struct |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 417 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 418 | void (*SetParam)(uint8_t, uint8_t, eL6470_RegId_t, uint32_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 419 | uint32_t (*GetParam)(uint8_t, uint8_t, eL6470_RegId_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 420 | void (*Run)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 421 | void (*StepClock)(uint8_t, uint8_t, eL6470_DirId_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 422 | void (*Move)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 423 | void (*GoTo)(uint8_t, uint8_t L6470_Id, uint32_t AbsPos); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 424 | void (*GoToDir)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 425 | void (*GoUntil)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t, uint32_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 426 | void (*ReleaseSW)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 427 | void (*GoHome)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 428 | void (*GoMark)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 429 | void (*ResetPos)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 430 | void (*ResetDevice)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 431 | void (*SoftStop)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 432 | void (*HardStop)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 433 | void (*SoftHiZ)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 434 | void (*HardHiZ)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 435 | uint16_t (*GetStatus)(uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 436 | uint8_t (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 437 | uint8_t* (*PerformPreparedApplicationCommand)(uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 438 | } MICROSTEPPING_MOTOR_EB_VTable_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 439 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 440 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 441 | * @brief Stepper Motor Handle Structure |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 442 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 443 | typedef struct __StepperMotorDriver_HandleTypeDef |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 444 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 445 | uint8_t DaisyChainPosition; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 446 | void (*Config)(void*); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 447 | MICROSTEPPING_MOTOR_VTable_t *Command; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 448 | } StepperMotorDriverHandle_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 449 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 450 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 451 | * @brief Stepper Motor Handle Structure |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 452 | */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 453 | typedef struct __StepperMotorBoard_HandleTypeDef |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 454 | { |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 455 | uint8_t StackedPosition; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 456 | void (*Config)(void*); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 457 | MICROSTEPPING_MOTOR_EB_VTable_t *Command; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 458 | StepperMotorDriverHandle_t *StepperMotorDriverHandle[2]; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 459 | uint8_t (*Select)(uint8_t); |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 460 | } StepperMotorBoardHandle_t; |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 461 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 462 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 463 | * @} |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 464 | */ /* StepperMotorExportedTypes */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 465 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 466 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 467 | * @} |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 468 | */ /* MicrosteppingMotorDriver */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 469 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 470 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 471 | * @} |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 472 | */ /* Components */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 473 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 474 | /** |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 475 | * @} |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 476 | */ /* BSP */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 477 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 478 | #ifdef __cplusplus |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 479 | } |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 480 | #endif |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 481 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 482 | #endif /* __MICROSTEPPINGMOTOR_H */ |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 483 | |
| davide.aliprandi@st.com | 22:ba7f4131a5e0 | 484 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver