ST » Code » X_NUCLEO_IHM02A1

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

Dependencies: X_NUCLEO_COMMON ST_INTERFACES

Dependents: HelloWorld_IHM02A1 ConcorsoFinal HelloWorld_IHM02A1_mbedOS HelloWorld_IHM02A1-Serialinterpreter ... more

Fork of X_NUCLEO_IHM02A1 by ST Expansion SW Team

Motor Control Library

Introduction

Library to handle the X-NUCLEO-IHM02A1 Motor Control Expansion Board based on the the L6470 component.

Daisy-Chain Configuration

The two L6470 components mounted on this board are connected in daisy-chain configuration. This board can be stacked up to four times so that the eight L6470 components will be connected two-by-two in daisy-chain configuration.

Concerning the SSEL pin of the SPI communication, each expansion board must be in one of the following configuration:

SB_23 resistor connected only: SSEL on pin A2;
SB_7 resistor connected only: SSEL on pin D2;
SB_8 resistor connected only: SSEL on pin D10;
SB_9 resistor connected only: SSEL on pin D5.

Arduino Connector Compatibility Warning

X-NUCLEO-IHM02A1 is Arduino compatible with one exception: instead of using D13 pin to drive the SPI clock, it uses D3 pin, hence the default configuration for this library is with the SPI clock on D3 pin.

To be fully Arduino compatible the following patch is required:

to remove the SB34 resistor;
to solder the SB12 resistor.

Alternatively, you can route the Nucleo board’s D13 pin directly to the expansion board’s D3 pin with a wire. In case you patch your expansion board or route the pin, the SPI clock will be driven on D13 pin rather than on D3 pin, and you have also to initialize the sclk PinName variable with D13 rather than D3. This patch is known to be required, for example, on the following boards: NUCLEO-F103RB, NUCLEO-F302RB, NUCLEO-F411RE, and NUCLEO-F429ZI.

If you use D13 pin for the SPI clock, please be aware that on STM32 Nucleo boards you may not drive the LED, otherwise you will get a conflict: the LED on STM32 Nucleo boards is connected to the D13 pin.

Example Applications

HelloWorld_IHM02A1

Components/Common/microstepping_motor.h@14:e614697ebf34, 2016-02-09 (annotated)

Committer:: Davidroid
Date:: Tue Feb 09 16:01:30 2016 +0000
Revision:: 14:e614697ebf34
Parent:: 11:1aca63b2f034

+ Updated with the new template's syntax.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:92706998571a	1	/**
Davidroid	14:e614697ebf34	2	******************************************************************************
Davidroid	14:e614697ebf34	3	* @file microstepping_motor.h
Davidroid	14:e614697ebf34	4	* @author IPD SYSTEM LAB & TECH MKTG
Davidroid	14:e614697ebf34	5	* @version V0.0.1
Davidroid	14:e614697ebf34	6	* @date 04-June-2015
Davidroid	14:e614697ebf34	7	* @brief This file contains all the functions prototypes for the microstepping
Davidroid	14:e614697ebf34	8	* motor driver with motion engine.
Davidroid	14:e614697ebf34	9	******************************************************************************
Davidroid	14:e614697ebf34	10	* @attention
Davidroid	14:e614697ebf34	11	*
Davidroid	14:e614697ebf34	12	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Davidroid	14:e614697ebf34	13	*
Davidroid	14:e614697ebf34	14	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	14:e614697ebf34	15	* are permitted provided that the following conditions are met:
Davidroid	14:e614697ebf34	16	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	14:e614697ebf34	17	* this list of conditions and the following disclaimer.
Davidroid	14:e614697ebf34	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	14:e614697ebf34	19	* this list of conditions and the following disclaimer in the documentation
Davidroid	14:e614697ebf34	20	* and/or other materials provided with the distribution.
Davidroid	14:e614697ebf34	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	14:e614697ebf34	22	* may be used to endorse or promote products derived from this software
Davidroid	14:e614697ebf34	23	* without specific prior written permission.
Davidroid	14:e614697ebf34	24	*
Davidroid	14:e614697ebf34	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	14:e614697ebf34	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	14:e614697ebf34	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	14:e614697ebf34	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	14:e614697ebf34	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	14:e614697ebf34	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	14:e614697ebf34	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	14:e614697ebf34	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	14:e614697ebf34	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	14:e614697ebf34	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	14:e614697ebf34	35	*
Davidroid	14:e614697ebf34	36	******************************************************************************
Davidroid	14:e614697ebf34	37	*/
Davidroid	14:e614697ebf34	38
Davidroid	0:92706998571a	39
Davidroid	0:92706998571a	40	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	14:e614697ebf34	41
Davidroid	0:92706998571a	42	#ifndef __MICROSTEPPINGMOTOR_H
Davidroid	0:92706998571a	43	#define __MICROSTEPPINGMOTOR_H
Davidroid	0:92706998571a	44
Davidroid	0:92706998571a	45	#ifdef __cplusplus
Davidroid	0:92706998571a	46	extern "C" {
Davidroid	0:92706998571a	47	#endif
Davidroid	0:92706998571a	48
Davidroid	14:e614697ebf34	49
Davidroid	0:92706998571a	50	/* Includes ------------------------------------------------------------------*/
Davidroid	14:e614697ebf34	51
Davidroid	0:92706998571a	52	#include <stdint.h>
Davidroid	0:92706998571a	53	#include "component.h"
Davidroid	0:92706998571a	54
Davidroid	14:e614697ebf34	55
Davidroid	14:e614697ebf34	56	/* Types ---------------------------------------------------------------------*/
Davidroid	14:e614697ebf34	57
Davidroid	0:92706998571a	58	/** @addtogroup BSP
Davidroid	0:92706998571a	59	* @{
Davidroid	0:92706998571a	60	*/
Davidroid	0:92706998571a	61
Davidroid	0:92706998571a	62	/** @addtogroup Components
Davidroid	0:92706998571a	63	* @{
Davidroid	0:92706998571a	64	*/
Davidroid	0:92706998571a	65
Davidroid	0:92706998571a	66	/** @defgroup MicrosteppingMotorDriver
Davidroid	0:92706998571a	67	* @{
Davidroid	0:92706998571a	68	*/
Davidroid	0:92706998571a	69
Davidroid	0:92706998571a	70	/** @defgroup StepperMotorExportedTypes
Davidroid	0:92706998571a	71	* @{
Davidroid	0:92706998571a	72	*/
Davidroid	0:92706998571a	73
Davidroid	0:92706998571a	74	/**
Davidroid	0:92706998571a	75	* @brief The L6470 Registers Identifiers.
Davidroid	0:92706998571a	76	*/
Davidroid	0:92706998571a	77	typedef enum {
Davidroid	0:92706998571a	78	L6470_ABS_POS_ID = 0, //!< Current position
Davidroid	0:92706998571a	79	L6470_EL_POS_ID, //!< Electrical position
Davidroid	0:92706998571a	80	L6470_MARK_ID, //!< Mark position
Davidroid	0:92706998571a	81	L6470_SPEED_ID, //!< Current speed
Davidroid	0:92706998571a	82	L6470_ACC_ID, //!< Acceleration
Davidroid	0:92706998571a	83	L6470_DEC_ID, //!< Deceleration
Davidroid	0:92706998571a	84	L6470_MAX_SPEED_ID, //!< Maximum speed
Davidroid	0:92706998571a	85	L6470_MIN_SPEED_ID, //!< Minimum speed
Davidroid	0:92706998571a	86	L6470_FS_SPD_ID, //!< Full-step speed
Davidroid	0:92706998571a	87	L6470_KVAL_HOLD_ID, //!< Holding KVAL
Davidroid	0:92706998571a	88	L6470_KVAL_RUN_ID, //!< Constant speed KVAL
Davidroid	0:92706998571a	89	L6470_KVAL_ACC_ID, //!< Acceleration starting KVAL
Davidroid	0:92706998571a	90	L6470_KVAL_DEC_ID, //!< Deceleration starting KVAL
Davidroid	0:92706998571a	91	L6470_INT_SPEED_ID, //!< Intersect speed
Davidroid	0:92706998571a	92	L6470_ST_SLP_ID, //!< Start slope
Davidroid	0:92706998571a	93	L6470_FN_SLP_ACC_ID, //!< Acceleration final slope
Davidroid	0:92706998571a	94	L6470_FN_SLP_DEC_ID, //!< Deceleration final slope
Davidroid	0:92706998571a	95	L6470_K_THERM_ID, //!< Thermal compensation factor
Davidroid	0:92706998571a	96	L6470_ADC_OUT_ID, //!< ADC output, (the reset value is according to startup conditions)
Davidroid	0:92706998571a	97	L6470_OCD_TH_ID, //!< OCD threshold
Davidroid	0:92706998571a	98	L6470_STALL_TH_ID, //!< STALL threshold
Davidroid	0:92706998571a	99	L6470_STEP_MODE_ID, //!< Step mode
Davidroid	0:92706998571a	100	L6470_ALARM_EN_ID, //!< Alarm enable
Davidroid	0:92706998571a	101	L6470_CONFIG_ID, //!< IC configuration
Davidroid	14:e614697ebf34	102	L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions)
Davidroid	0:92706998571a	103	} eL6470_RegId_t;
Davidroid	0:92706998571a	104
Davidroid	0:92706998571a	105	/**
Davidroid	0:92706998571a	106	* @brief The L6470 Application Commands Identifiers.
Davidroid	0:92706998571a	107	*/
Davidroid	0:92706998571a	108	typedef enum {
Davidroid	0:92706998571a	109	L6470_NOP_ID = 0, //!< Nothing
Davidroid	0:92706998571a	110	L6470_SETPARAM_ID, //!< Writes VALUE in PARAM register
Davidroid	0:92706998571a	111	L6470_GETPARAM_ID, //!< Returns the stored value in PARAM register
Davidroid	0:92706998571a	112	L6470_RUN_ID, //!< Sets the target speed and the motor direction
Davidroid	0:92706998571a	113	L6470_STEPCLOCK_ID, //!< Puts the device into Step-clock mode and imposes DIR direction
Davidroid	0:92706998571a	114	L6470_MOVE_ID, //!< Makes N_STEP (micro)steps in DIR direction (Not performable when motor is running)
Davidroid	0:92706998571a	115	L6470_GOTO_ID, //!< Brings motor into ABS_POS position (minimum path)
Davidroid	0:92706998571a	116	L6470_GOTODIR_ID, //!< Brings motor into ABS_POS position forcing DIR direction
Davidroid	0:92706998571a	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
Davidroid	0:92706998571a	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
Davidroid	0:92706998571a	119	L6470_GOHOME_ID, //!< Brings the motor into HOME position
Davidroid	0:92706998571a	120	L6470_GOMARK_ID, //!< Brings the motor into MARK position
Davidroid	0:92706998571a	121	L6470_RESETPOS_ID, //!< Resets the ABS_POS register (set HOME position)
Davidroid	0:92706998571a	122	L6470_RESETDEVICE_ID, //!< Device is reset to power-up conditions
Davidroid	0:92706998571a	123	L6470_SOFTSTOP_ID, //!< Stops motor with a deceleration phase
Davidroid	0:92706998571a	124	L6470_HARDSTOP_ID, //!< Stops motor immediately
Davidroid	0:92706998571a	125	L6470_SOFTHIZ_ID, //!< Puts the bridges into high impedance status after a deceleration phase
Davidroid	0:92706998571a	126	L6470_HARDHIZ_ID, //!< Puts the bridges into high impedance status immediately
Davidroid	0:92706998571a	127	L6470_GETSTATUS_ID //!< Returns the STATUS register value
Davidroid	0:92706998571a	128	} eL6470_AppCmdId_t;
Davidroid	0:92706998571a	129
Davidroid	0:92706998571a	130	/**
Davidroid	0:92706998571a	131	* @brief The L6470 Status Register Flag identifiers.
Davidroid	0:92706998571a	132	*/
Davidroid	0:92706998571a	133	typedef enum {
Davidroid	0:92706998571a	134	HiZ_ID = 0, //!< HiZ flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	135	BUSY_ID, //!< BUSY flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	136	SW_F_ID, //!< SW_F flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	137	SW_EVN_ID, //!< SW_EVN flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	138	DIR_ID, //!< DIR flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	139	MOT_STATUS_ID, //!< MOT_STATUS flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	140	NOTPERF_CMD_ID, //!< NOTPERF_CMD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	141	WRONG_CMD_ID, //!< WRONG_CMD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	142	UVLO_ID, //!< UVLO flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	143	TH_WRN_ID, //!< TH_WRN flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	144	TH_SD_ID, //!< TH_SD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	145	OCD_ID, //!< OCD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	146	STEP_LOSS_A_ID, //!< STEP_LOSS_A flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	147	STEP_LOSS_B_ID, //!< STEP_LOSS_B flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	148	SCK_MOD_ID //!< SCK_MOD flag identifier inside the L6470 Status Register
Davidroid	0:92706998571a	149	} eL6470_StatusRegisterFlagId_t;
Davidroid	0:92706998571a	150
Davidroid	0:92706998571a	151	/**
Davidroid	0:92706998571a	152	* @brief The L6470 Direction identifiers.
Davidroid	0:92706998571a	153	*/
Davidroid	0:92706998571a	154	typedef enum {
Davidroid	0:92706998571a	155	L6470_DIR_REV_ID = 0, //!< Reverse direction
Davidroid	0:92706998571a	156	L6470_DIR_FWD_ID //!< Forward direction
Davidroid	0:92706998571a	157	} eL6470_DirId_t;
Davidroid	0:92706998571a	158
Davidroid	0:92706998571a	159	/**
Davidroid	0:92706998571a	160	* @brief The L6470 Action identifiers about ABS_POS register.
Davidroid	0:92706998571a	161	*/
Davidroid	0:92706998571a	162	typedef enum {
Davidroid	0:92706998571a	163	L6470_ACT_RST_ID = 0, //!< ABS_POS register is reset
Davidroid	0:92706998571a	164	L6470_ACT_CPY_ID //!< ABS_POS register value is copied into the MARK register
Davidroid	0:92706998571a	165	} eL6470_ActId_t;
Davidroid	0:92706998571a	166
Davidroid	0:92706998571a	167	/**
Davidroid	0:92706998571a	168	* @brief The L6470 Status Register Flag states.
Davidroid	0:92706998571a	169	*/
Davidroid	0:92706998571a	170	typedef enum {
Davidroid	0:92706998571a	171	ZERO_F = 0, //!< The flag is '0'
Davidroid	0:92706998571a	172	ONE_F = !ZERO_F //!< The flag is '1'
Davidroid	0:92706998571a	173	} eFlagStatus_t;
Davidroid	0:92706998571a	174
Davidroid	0:92706998571a	175	/**
Davidroid	0:92706998571a	176	* @brief The L6470 Motor Directions.
Davidroid	0:92706998571a	177	*/
Davidroid	0:92706998571a	178	typedef enum {
Davidroid	0:92706998571a	179	REVERSE_F = 0, //!< Reverse motor direction
Davidroid	0:92706998571a	180	FORWARD_F = !REVERSE_F //!< Forward motor direction
Davidroid	0:92706998571a	181	} eMotorDirection_t;
Davidroid	0:92706998571a	182
Davidroid	0:92706998571a	183	/**
Davidroid	0:92706998571a	184	* @brief The L6470 Motor Status.
Davidroid	0:92706998571a	185	*/
Davidroid	0:92706998571a	186	typedef enum {
Davidroid	0:92706998571a	187	STOPPED_F = 0, //!< Stopped
Davidroid	0:92706998571a	188	ACCELERATION_F = 1, //!< Acceleration
Davidroid	0:92706998571a	189	DECELERATION_F = 2, //!< Deceleration
Davidroid	0:92706998571a	190	CONSTANTSPEED_F = 3 //!< Constant speed
Davidroid	0:92706998571a	191	} eMotorStatus_t;
Davidroid	0:92706998571a	192
Davidroid	0:92706998571a	193	/**
Davidroid	0:92706998571a	194	* @brief The possible stepping modes for L6470.
Davidroid	0:92706998571a	195	*/
Davidroid	0:92706998571a	196	typedef enum
Davidroid	0:92706998571a	197	{
Davidroid	0:92706998571a	198	FULL_STEP = 0x00, //!< Full-step
Davidroid	0:92706998571a	199	HALF_STEP = 0x01, //!< Half-step
Davidroid	0:92706998571a	200	MICROSTEP_1_4 = 0x02, //!< 1/4 microstep
Davidroid	0:92706998571a	201	MICROSTEP_1_8 = 0x03, //!< 1/8 microstep
Davidroid	0:92706998571a	202	MICROSTEP_1_16 = 0x04, //!< 1/16 microstep
Davidroid	0:92706998571a	203	MICROSTEP_1_32 = 0x05, //!< 1/32 microstep
Davidroid	0:92706998571a	204	MICROSTEP_1_64 = 0x06, //!< 1/64 microstep
Davidroid	0:92706998571a	205	MICROSTEP_1_128 = 0x07 //!< 1/128 microstep
Davidroid	0:92706998571a	206	} eMotorStepMode_t;
Davidroid	0:92706998571a	207
Davidroid	0:92706998571a	208	/**
Davidroid	0:92706998571a	209	* @brief The identifiers for the possible L6470 alarm conditions.
Davidroid	0:92706998571a	210	*/
Davidroid	0:92706998571a	211	typedef enum
Davidroid	0:92706998571a	212	{
Davidroid	0:92706998571a	213	L6470_OVERCURRENT = 0x01, //!< Overcurrent
Davidroid	0:92706998571a	214	L6470_THERMAL_SHUTDOWN = 0x02, //!< Thermal shutdown
Davidroid	0:92706998571a	215	L6470_THERMAL_WARNING = 0x04, //!< Thermal warning
Davidroid	0:92706998571a	216	L6470_UNDERVOLTAGE = 0x08, //!< Undervoltage
Davidroid	0:92706998571a	217	L6470_STALL_DETECTION_A = 0x10, //!< Stall detection (Bridge A)
Davidroid	0:92706998571a	218	L6470_STALL_DETECTION_B = 0x20, //!< Stall detection (Bridge B)
Davidroid	0:92706998571a	219	L6470_SWITCH_TURN_ON_EVENT = 0x40, //!< Switch turn-on event
Davidroid	0:92706998571a	220	L6470_WRONG_OR_NON_PERFORMABLE_COMMAND = 0x80 //!< Wrong or non-performable command
Davidroid	0:92706998571a	221	} eL6470_AlarmCondition_t;
Davidroid	0:92706998571a	222
Davidroid	0:92706998571a	223	/**
Davidroid	0:92706998571a	224	* @brief The L6470 STEP_MODE Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	225	*/
Davidroid	0:92706998571a	226	typedef struct {
Davidroid	0:92706998571a	227	uint8_t STEP_SEL: 3; //!< Step mode
Davidroid	0:92706998571a	228	uint8_t WRT: 1; //!< When the register is written, this bit should be set to 0.
Davidroid	0:92706998571a	229	uint8_t SYNC_SEL: 3; //!< Synchronization selection
Davidroid	0:92706998571a	230	uint8_t SYNC_EN: 1; //!< Synchronization enable
Davidroid	0:92706998571a	231	} sL6470_StepModeRegister_t;
Davidroid	0:92706998571a	232
Davidroid	0:92706998571a	233	/**
Davidroid	0:92706998571a	234	* @brief The L6470 ALARM_EN Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	235	*/
Davidroid	0:92706998571a	236	typedef struct {
Davidroid	0:92706998571a	237	uint8_t OCD_EN: 1; //!< Overcurrent
Davidroid	0:92706998571a	238	uint8_t TH_SD_EN: 1; //!< Thermal shutdown
Davidroid	0:92706998571a	239	uint8_t TH_WRN_EN: 1; //!< Thermal warning
Davidroid	0:92706998571a	240	uint8_t UVLO_EN: 1; //!< Undervoltage
Davidroid	0:92706998571a	241	uint8_t STEP_LOSS_A_EN: 1; //!< Stall detection (Bridge A)
Davidroid	0:92706998571a	242	uint8_t STEP_LOSS_B_EN: 1; //!< Stall detection (Bridge B)
Davidroid	0:92706998571a	243	uint8_t SW_EVN_EN: 1; //!< Switch turn-on event
Davidroid	0:92706998571a	244	uint8_t WRONG_NOTPERF_CMD_EN: 1; //!< Wrong or non-performable command
Davidroid	0:92706998571a	245	} sL6470_AlarmEnRegister_t;
Davidroid	0:92706998571a	246
Davidroid	0:92706998571a	247	/**
Davidroid	0:92706998571a	248	* @brief The L6470 CONFIG Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	249	*/
Davidroid	0:92706998571a	250	typedef struct {
Davidroid	0:92706998571a	251	uint8_t OSC_SEL: 3; //!< Oscillator Selection
Davidroid	0:92706998571a	252	uint8_t EXT_CLK: 1; //!< External Clock
Davidroid	0:92706998571a	253	uint8_t SW_MODE: 1; //!< Switch mode
Davidroid	0:92706998571a	254	uint8_t EN_VSCOMP: 1; //!< Motor supply voltage compensation
Davidroid	0:92706998571a	255	uint8_t RESERVED: 1; //!< RESERVED
Davidroid	0:92706998571a	256	uint8_t OC_SD: 1; //!< Overcurrent event
Davidroid	0:92706998571a	257	uint8_t POW_SR: 2; //!< Output slew rate
Davidroid	0:92706998571a	258	uint8_t F_PWM_DEC: 3; //!< Multiplication factor
Davidroid	0:92706998571a	259	uint8_t F_PWM_INT: 3; //!< Integer division factor
Davidroid	0:92706998571a	260	} sL6470_ConfigRegister_t;
Davidroid	0:92706998571a	261
Davidroid	0:92706998571a	262	/**
Davidroid	0:92706998571a	263	* @brief The L6470 STATUS Register (see L6470 DataSheet for more details).
Davidroid	0:92706998571a	264	*/
Davidroid	0:92706998571a	265	typedef struct {
Davidroid	0:92706998571a	266	uint8_t HiZ: 1; //!< The bridges are in high impedance state (the flag is active high)
Davidroid	0:92706998571a	267	uint8_t BUSY: 1; //!< BUSY pin status (the flag is active low)
Davidroid	0:92706998571a	268	uint8_t SW_F: 1; //!< SW input status (the flag is low for open and high for closed)
Davidroid	0:92706998571a	269	uint8_t SW_EVN: 1; //!< Switch turn-on event (the flag is active high)
Davidroid	0:92706998571a	270	uint8_t DIR: 1; //!< The current motor direction (1 as forward, 0 as reverse)
Davidroid	0:92706998571a	271	uint8_t MOT_STATUS: 2; //!< The current motor status (0 as stopped, 1 as acceleration, 2 as deceleration, 3 as constant speed)
Davidroid	0:92706998571a	272	uint8_t NOTPERF_CMD: 1; //!< The command received by SPI cannot be performed (the flag is active high)
Davidroid	0:92706998571a	273	uint8_t WRONG_CMD: 1; //!< The command received by SPI does not exist at all (the flag is active high)
Davidroid	0:92706998571a	274	uint8_t UVLO: 1; //!< Undervoltage lockout or reset events (the flag is active low)
Davidroid	0:92706998571a	275	uint8_t TH_WRN: 1; //!< Thermal warning event (the flag is active low)
Davidroid	0:92706998571a	276	uint8_t TH_SD: 1; //!< Thermal shutdown event (the flag is active low)
Davidroid	0:92706998571a	277	uint8_t OCD: 1; //!< Overcurrent detection event (the flag is active low)
Davidroid	0:92706998571a	278	uint8_t STEP_LOSS_A: 1; //!< Stall detection on bridge A (the flag is active low)
Davidroid	0:92706998571a	279	uint8_t STEP_LOSS_B: 1; //!< Stall detection on bridge B (the flag is active low)
Davidroid	0:92706998571a	280	uint8_t SCK_MOD: 1; //!< Step-clock mode (the flag is active high)
Davidroid	0:92706998571a	281	} sL6470_StatusRegister_t;
Davidroid	0:92706998571a	282
Davidroid	0:92706998571a	283	/**
Davidroid	0:92706998571a	284	* @brief Stepper Motor Registers
Davidroid	0:92706998571a	285	*/
Davidroid	0:92706998571a	286	typedef struct
Davidroid	0:92706998571a	287	{
Davidroid	0:92706998571a	288	uint32_t ABS_POS; //!< CurrentPosition Register
Davidroid	0:92706998571a	289	uint16_t EL_POS; //!< ElectricalPosition Register
Davidroid	0:92706998571a	290	uint32_t MARK; //!< MarkPosition Register
Davidroid	0:92706998571a	291	uint32_t SPEED; //!< CurrentSpeed Register
Davidroid	0:92706998571a	292	uint16_t ACC; //!< Acceleration Register
Davidroid	0:92706998571a	293	uint16_t DEC; //!< Deceleration Register
Davidroid	0:92706998571a	294	uint16_t MAX_SPEED; //!< MaximumSpeed Register
Davidroid	0:92706998571a	295	uint16_t MIN_SPEED; //!< MinimumSpeed Register
Davidroid	0:92706998571a	296	uint16_t FS_SPD; //!< FullStepSpeed Register
Davidroid	0:92706998571a	297	uint8_t KVAL_HOLD; //!< HoldingKval Register
Davidroid	0:92706998571a	298	uint8_t KVAL_RUN; //!< ConstantSpeedKval Register
Davidroid	0:92706998571a	299	uint8_t KVAL_ACC; //!< AccelerationStartingKval Register
Davidroid	0:92706998571a	300	uint8_t KVAL_DEC; //!< DecelerationStartingKval Register
Davidroid	0:92706998571a	301	uint16_t INT_SPEED; //!< IntersectSpeed Register
Davidroid	0:92706998571a	302	uint8_t ST_SLP; //!< StartSlope Register
Davidroid	0:92706998571a	303	uint8_t FN_SLP_ACC; //!< AccelerationFinalSlope Register
Davidroid	0:92706998571a	304	uint8_t FN_SLP_DEC; //!< DecelerationFinalSlope Register
Davidroid	0:92706998571a	305	uint8_t K_THERM; //!< ThermalCompensationFactor Register
Davidroid	0:92706998571a	306	uint8_t ADC_OUT; //!< AdcOutput Register
Davidroid	0:92706998571a	307	uint8_t OCD_TH; //!< OcdThreshold Register
Davidroid	0:92706998571a	308	uint8_t STALL_TH; //!< StallThreshold Register
Davidroid	0:92706998571a	309	uint8_t STEP_MODE; //!< StepMode Register
Davidroid	0:92706998571a	310	uint8_t ALARM_EN; //!< AlarmEnable Register
Davidroid	0:92706998571a	311	uint16_t CONFIG; //!< Config Register
Davidroid	0:92706998571a	312	uint16_t STATUS; //!< Status Register
Davidroid	0:92706998571a	313	} StepperMotorRegister_t;
Davidroid	0:92706998571a	314
Davidroid	14:e614697ebf34	315	/**
Davidroid	14:e614697ebf34	316	* @brief MICROSTEPPING_MOTOR driver virtual table structure definition.
Davidroid	14:e614697ebf34	317	*/
Davidroid	0:92706998571a	318	typedef struct
Davidroid	0:92706998571a	319	{
Davidroid	0:92706998571a	320	/* ACTION ----------------------------------------------------------------*
Davidroid	0:92706998571a	321	* Declare here the component's generic functions. *
Davidroid	0:92706998571a	322	* Tag this group of functions with the " Generic " C-style comment. *
Davidroid	0:92706998571a	323	* A component's interface has to define at least the two generic *
Davidroid	0:92706998571a	324	* functions provided here below within the "Example" section, as the *
Davidroid	0:92706998571a	325	* first and second functions of its Virtual Table. They have to be *
Davidroid	0:92706998571a	326	* specified exactly in the given way. *
Davidroid	0:92706998571a	327	* *
Davidroid	0:92706998571a	328	* Example: *
Davidroid	14:e614697ebf34	329	* Status_t (Init) (void handle, void init);
Davidroid	14:e614697ebf34	330	* Status_t (ReadID) (void handle, uint8_t id);
Davidroid	0:92706998571a	331	------------------------------------------------------------------------/
Davidroid	0:92706998571a	332	/* Generic */
Davidroid	14:e614697ebf34	333	Status_t (Init)(void handle, void *init);
Davidroid	14:e614697ebf34	334	Status_t (ReadID)(void handle, uint8_t *id);
Davidroid	0:92706998571a	335
Davidroid	0:92706998571a	336	/* ACTION ----------------------------------------------------------------*
Davidroid	0:92706998571a	337	* Declare here the component's specific functions. *
Davidroid	0:92706998571a	338	* Tag this group of functions with the " Specific " C-style comment. *
Davidroid	0:92706998571a	339	* Do not specify any function if not required. *
Davidroid	0:92706998571a	340	* *
Davidroid	0:92706998571a	341	* Example: *
Davidroid	14:e614697ebf34	342	* Status_t (GetValue) (void handle, float f);
Davidroid	0:92706998571a	343	------------------------------------------------------------------------/
Davidroid	0:92706998571a	344	/* Specific */
Davidroid	0:92706998571a	345	void (SetParam)(void handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	346	uint32_t (GetParam)(void handle, eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	347	void (Run)(void handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	348	void (StepClock)(void handle, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	349	void (Move)(void handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	350	void (GoTo)(void handle, uint32_t AbsPos);
Davidroid	0:92706998571a	351	void (GoToDir)(void handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	352	void (GoUntil)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	353	void (ReleaseSW)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	354	void (GoHome)(void handle);
Davidroid	0:92706998571a	355	void (GoMark)(void handle);
Davidroid	0:92706998571a	356	void (ResetPos)(void handle);
Davidroid	0:92706998571a	357	void (ResetDevice)(void handle);
Davidroid	0:92706998571a	358	void (SoftStop)(void handle);
Davidroid	0:92706998571a	359	void (HardStop)(void handle);
Davidroid	0:92706998571a	360	void (SoftHiZ)(void handle);
Davidroid	0:92706998571a	361	void (HardHiZ)(void handle);
Davidroid	0:92706998571a	362	uint16_t (GetStatus)(void handle);
Davidroid	0:92706998571a	363	void (PrepareSetParam)(void handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	364	void (PrepareGetParam)(void handle, eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	365	void (PrepareRun)(void handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	366	void (PrepareStepClock)(void handle, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	367	void (PrepareMove)(void handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	368	void (PrepareGoTo)(void handle, uint32_t AbsPos);
Davidroid	0:92706998571a	369	void (PrepareGoToDir)(void handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	370	void (PrepareGoUntil)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	371	void (PrepareReleaseSW)(void handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	372	void (PrepareGoHome)(void handle);
Davidroid	0:92706998571a	373	void (PrepareGoMark)(void handle);
Davidroid	0:92706998571a	374	void (PrepareResetPos)(void handle);
Davidroid	0:92706998571a	375	void (PrepareResetDevice)(void handle);
Davidroid	0:92706998571a	376	void (PrepareSoftStop)(void handle);
Davidroid	0:92706998571a	377	void (PrepareHardStop)(void handle);
Davidroid	0:92706998571a	378	void (PrepareSoftHiZ)(void handle);
Davidroid	0:92706998571a	379	void (PrepareHardHiZ)(void handle);
Davidroid	0:92706998571a	380	void (PrepareGetStatus)(void handle);
Davidroid	0:92706998571a	381	uint8_t (CheckStatusRegisterFlag)(void handle, uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	382	uint8_t* (PerformPreparedApplicationCommand)(void handle);
Davidroid	0:92706998571a	383	uint8_t* (GetRegisterName)(void handle, uint8_t id);
Davidroid	0:92706998571a	384	int32_t (AbsPos_2_Position)(void handle, uint32_t AbsPos);
Davidroid	0:92706998571a	385	uint32_t (Position_2_AbsPos)(void handle, int32_t Position);
Davidroid	0:92706998571a	386	float (Speed_2_Step_s)(void handle, uint32_t Speed);
Davidroid	0:92706998571a	387	uint32_t (Step_s_2_Speed)(void handle, float Step_s);
Davidroid	0:92706998571a	388	float (Acc_2_Step_s2)(void handle, uint16_t Acc);
Davidroid	0:92706998571a	389	uint16_t (Step_s2_2_Acc)(void handle, float Step_s2);
Davidroid	0:92706998571a	390	float (Dec_2_Step_s2)(void handle, uint16_t Dec);
Davidroid	0:92706998571a	391	uint16_t (Step_s2_2_Dec)(void handle, float Step_s2);
Davidroid	0:92706998571a	392	float (MaxSpeed_2_Step_s)(void handle, uint16_t MaxSpeed);
Davidroid	0:92706998571a	393	uint16_t (Step_s_2_MaxSpeed)(void handle, float Step_s);
Davidroid	0:92706998571a	394	float (MinSpeed_2_Step_s)(void handle, uint16_t MinSpeed);
Davidroid	0:92706998571a	395	uint16_t (Step_s_2_MinSpeed)(void handle, float Step_s);
Davidroid	0:92706998571a	396	float (FsSpd_2_Step_s)(void handle, uint16_t FsSpd);
Davidroid	0:92706998571a	397	uint16_t (Step_s_2_FsSpd)(void handle, float Step_s);
Davidroid	0:92706998571a	398	float (IntSpeed_2_Step_s)(void handle, uint16_t IntSpeed);
Davidroid	0:92706998571a	399	uint16_t (Step_s_2_IntSpeed)(void handle, float Step_s);
Davidroid	0:92706998571a	400	float (StSlp_2_s_Step)(void handle, uint8_t StSlp);
Davidroid	0:92706998571a	401	uint8_t (s_Step_2_StSlp)(void handle, float s_Step);
Davidroid	0:92706998571a	402	float (FnSlpAcc_2_s_Step)(void handle, uint8_t FnSlpAcc);
Davidroid	0:92706998571a	403	uint8_t (s_Step_2_FnSlpAcc)(void handle, float s_Step);
Davidroid	0:92706998571a	404	float (FnSlpDec_2_s_Step)(void handle, uint8_t FnSlpDec);
Davidroid	0:92706998571a	405	uint8_t (s_Step_2_FnSlpDec)(void handle, float s_Step);
Davidroid	0:92706998571a	406	float (OcdTh_2_mA)(void handle, uint8_t OcdTh);
Davidroid	0:92706998571a	407	uint8_t (mA_2_OcdTh)(void handle, float mA);
Davidroid	0:92706998571a	408	float (StallTh_2_mA)(void handle, uint8_t StallTh);
Davidroid	0:92706998571a	409	uint8_t (mA_2_StallTh)(void handle, float mA);
Davidroid	14:e614697ebf34	410	uint32_t (ExtractReturnedData)(void handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	14:e614697ebf34	411	} MICROSTEPPING_MOTOR_VTable_t;
Davidroid	0:92706998571a	412
Davidroid	0:92706998571a	413	/**
Davidroid	0:92706998571a	414	* @brief Stepper Motor Board Driver Structure
Davidroid	0:92706998571a	415	*/
Davidroid	0:92706998571a	416	typedef struct
Davidroid	0:92706998571a	417	{
Davidroid	0:92706998571a	418	void (*SetParam)(uint8_t, uint8_t, eL6470_RegId_t, uint32_t);
Davidroid	0:92706998571a	419	uint32_t (*GetParam)(uint8_t, uint8_t, eL6470_RegId_t);
Davidroid	0:92706998571a	420	void (*Run)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	421	void (*StepClock)(uint8_t, uint8_t, eL6470_DirId_t);
Davidroid	0:92706998571a	422	void (*Move)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	423	void (*GoTo)(uint8_t, uint8_t L6470_Id, uint32_t AbsPos);
Davidroid	0:92706998571a	424	void (*GoToDir)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	425	void (*GoUntil)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t, uint32_t);
Davidroid	0:92706998571a	426	void (*ReleaseSW)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t);
Davidroid	0:92706998571a	427	void (*GoHome)(uint8_t, uint8_t);
Davidroid	0:92706998571a	428	void (*GoMark)(uint8_t, uint8_t);
Davidroid	0:92706998571a	429	void (*ResetPos)(uint8_t, uint8_t);
Davidroid	0:92706998571a	430	void (*ResetDevice)(uint8_t, uint8_t);
Davidroid	0:92706998571a	431	void (*SoftStop)(uint8_t, uint8_t);
Davidroid	0:92706998571a	432	void (*HardStop)(uint8_t, uint8_t);
Davidroid	0:92706998571a	433	void (*SoftHiZ)(uint8_t, uint8_t);
Davidroid	0:92706998571a	434	void (*HardHiZ)(uint8_t, uint8_t);
Davidroid	0:92706998571a	435	uint16_t (*GetStatus)(uint8_t, uint8_t);
Davidroid	0:92706998571a	436	uint8_t (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
Davidroid	0:92706998571a	437	uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
Davidroid	14:e614697ebf34	438	} MICROSTEPPING_MOTOR_EB_VTable_t;
Davidroid	0:92706998571a	439
Davidroid	0:92706998571a	440	/**
Davidroid	0:92706998571a	441	* @brief Stepper Motor Handle Structure
Davidroid	0:92706998571a	442	*/
Davidroid	0:92706998571a	443	typedef struct __StepperMotorDriver_HandleTypeDef
Davidroid	0:92706998571a	444	{
Davidroid	0:92706998571a	445	uint8_t DaisyChainPosition;
Davidroid	14:e614697ebf34	446	void (Config)(void);
Davidroid	14:e614697ebf34	447	MICROSTEPPING_MOTOR_VTable_t *Command;
Davidroid	0:92706998571a	448	} StepperMotorDriverHandle_t;
Davidroid	0:92706998571a	449
Davidroid	0:92706998571a	450	/**
Davidroid	0:92706998571a	451	* @brief Stepper Motor Handle Structure
Davidroid	0:92706998571a	452	*/
Davidroid	0:92706998571a	453	typedef struct __StepperMotorBoard_HandleTypeDef
Davidroid	0:92706998571a	454	{
Davidroid	0:92706998571a	455	uint8_t StackedPosition;
Davidroid	14:e614697ebf34	456	void (Config)(void);
Davidroid	14:e614697ebf34	457	MICROSTEPPING_MOTOR_EB_VTable_t *Command;
Davidroid	0:92706998571a	458	StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
Davidroid	0:92706998571a	459	uint8_t (*Select)(uint8_t);
Davidroid	0:92706998571a	460	} StepperMotorBoardHandle_t;
Davidroid	0:92706998571a	461
Davidroid	0:92706998571a	462	/**
Davidroid	0:92706998571a	463	* @}
Davidroid	0:92706998571a	464	/ / StepperMotorExportedTypes */
Davidroid	0:92706998571a	465
Davidroid	0:92706998571a	466	/**
Davidroid	0:92706998571a	467	* @}
Davidroid	0:92706998571a	468	/ / MicrosteppingMotorDriver */
Davidroid	0:92706998571a	469
Davidroid	0:92706998571a	470	/**
Davidroid	0:92706998571a	471	* @}
Davidroid	0:92706998571a	472	/ / Components */
Davidroid	0:92706998571a	473
Davidroid	0:92706998571a	474	/**
Davidroid	0:92706998571a	475	* @}
Davidroid	0:92706998571a	476	/ / BSP */
Davidroid	0:92706998571a	477
Davidroid	0:92706998571a	478	#ifdef __cplusplus
Davidroid	0:92706998571a	479	}
Davidroid	0:92706998571a	480	#endif
Davidroid	0:92706998571a	481
Davidroid	0:92706998571a	482	#endif /* __MICROSTEPPINGMOTOR_H */
Davidroid	0:92706998571a	483
Davidroid	0:92706998571a	484	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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

The code in this repository is Apache licensed.

Components

X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver