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.h@14:e614697ebf34, 2016-02-09 (annotated)

Committer:: Davidroid
Date:: Tue Feb 09 16:01:30 2016 +0000
Revision:: 14:e614697ebf34
Parent:: 11:1aca63b2f034
Child:: 16:0d5be428b264

+ 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 L6470.h
Davidroid	14:e614697ebf34	4	* @date 01/10/2014 12:00:00
Davidroid	14:e614697ebf34	5	* @brief This file contains definitions, exported variables and function
Davidroid	14:e614697ebf34	6	* prototypes related to the L6470.
Davidroid	14:e614697ebf34	7	******************************************************************************
Davidroid	14:e614697ebf34	8	*
Davidroid	14:e614697ebf34	9	* COPYRIGHT(c) 2014 STMicroelectronics
Davidroid	14:e614697ebf34	10	*
Davidroid	14:e614697ebf34	11	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	14:e614697ebf34	12	* are permitted provided that the following conditions are met:
Davidroid	14:e614697ebf34	13	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	14:e614697ebf34	14	* this list of conditions and the following disclaimer.
Davidroid	14:e614697ebf34	15	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	14:e614697ebf34	16	* this list of conditions and the following disclaimer in the documentation
Davidroid	14:e614697ebf34	17	* and/or other materials provided with the distribution.
Davidroid	14:e614697ebf34	18	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	14:e614697ebf34	19	* may be used to endorse or promote products derived from this software
Davidroid	14:e614697ebf34	20	* without specific prior written permission.
Davidroid	14:e614697ebf34	21	*
Davidroid	14:e614697ebf34	22	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	14:e614697ebf34	23	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	14:e614697ebf34	24	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	14:e614697ebf34	25	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	14:e614697ebf34	26	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	14:e614697ebf34	27	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	14:e614697ebf34	28	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	14:e614697ebf34	29	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	14:e614697ebf34	30	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	14:e614697ebf34	31	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	14:e614697ebf34	32	*
Davidroid	14:e614697ebf34	33	******************************************************************************
Davidroid	14:e614697ebf34	34	*/
Davidroid	14:e614697ebf34	35
Davidroid	0:92706998571a	36
Davidroid	0:92706998571a	37	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	14:e614697ebf34	38
Davidroid	0:92706998571a	39	#ifndef __L6470_H
Davidroid	0:92706998571a	40	#define __L6470_H
Davidroid	0:92706998571a	41
Davidroid	0:92706998571a	42	#ifdef __cplusplus
Davidroid	0:92706998571a	43	extern "C" {
Davidroid	0:92706998571a	44	#endif
Davidroid	0:92706998571a	45
Davidroid	14:e614697ebf34	46
Davidroid	0:92706998571a	47	/* Includes ------------------------------------------------------------------*/
Davidroid	14:e614697ebf34	48
Davidroid	0:92706998571a	49	#include "microstepping_motor.h"
Davidroid	0:92706998571a	50
Davidroid	14:e614697ebf34	51
Davidroid	14:e614697ebf34	52	/* Definitions ---------------------------------------------------------------*/
Davidroid	14:e614697ebf34	53
Davidroid	14:e614697ebf34	54	/** @addtogroup BSP
Davidroid	14:e614697ebf34	55	* @{
Davidroid	14:e614697ebf34	56	*/
Davidroid	14:e614697ebf34	57
Davidroid	14:e614697ebf34	58	/** @addtogroup Components
Davidroid	14:e614697ebf34	59	* @{
Davidroid	14:e614697ebf34	60	*/
Davidroid	14:e614697ebf34	61
Davidroid	14:e614697ebf34	62	/** @addtogroup L6470
Davidroid	14:e614697ebf34	63	* @{
Davidroid	14:e614697ebf34	64	*/
Davidroid	14:e614697ebf34	65
Davidroid	14:e614697ebf34	66	/** @defgroup L6470_Exported_Defines L6470_Exported_Defines
Davidroid	14:e614697ebf34	67	* @{
Davidroid	14:e614697ebf34	68	*/
Davidroid	14:e614697ebf34	69
Davidroid	14:e614697ebf34	70	/**
Davidroid	14:e614697ebf34	71	* @defgroup L6470_Exported_Constants
Davidroid	14:e614697ebf34	72	* @brief L6470 Exported Constants.
Davidroid	14:e614697ebf34	73	* @{
Davidroid	14:e614697ebf34	74	*/
Davidroid	14:e614697ebf34	75
Davidroid	14:e614697ebf34	76	/**
Davidroid	14:e614697ebf34	77	* @defgroup L6470_Register_Max_Values
Davidroid	14:e614697ebf34	78	* @brief Maximum values for L6470 registers.
Davidroid	14:e614697ebf34	79	* @{
Davidroid	14:e614697ebf34	80	*/
Davidroid	14:e614697ebf34	81
Davidroid	14:e614697ebf34	82	#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
Davidroid	14:e614697ebf34	83	#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
Davidroid	14:e614697ebf34	84	#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
Davidroid	14:e614697ebf34	85	#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
Davidroid	14:e614697ebf34	86	#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
Davidroid	14:e614697ebf34	87	#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
Davidroid	14:e614697ebf34	88	#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
Davidroid	14:e614697ebf34	89	#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
Davidroid	14:e614697ebf34	90	#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
Davidroid	14:e614697ebf34	91	#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
Davidroid	14:e614697ebf34	92	#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
Davidroid	14:e614697ebf34	93	#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
Davidroid	14:e614697ebf34	94	#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
Davidroid	14:e614697ebf34	95	#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
Davidroid	14:e614697ebf34	96	#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
Davidroid	14:e614697ebf34	97
Davidroid	14:e614697ebf34	98	/**
Davidroid	14:e614697ebf34	99	* @}
Davidroid	14:e614697ebf34	100	/ / End of L6470_Register_Max_Values */
Davidroid	14:e614697ebf34	101
Davidroid	14:e614697ebf34	102	#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
Davidroid	14:e614697ebf34	103	#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
Davidroid	14:e614697ebf34	104	#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
Davidroid	14:e614697ebf34	105	#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
Davidroid	14:e614697ebf34	106	#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
Davidroid	14:e614697ebf34	107	#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
Davidroid	14:e614697ebf34	108
Davidroid	14:e614697ebf34	109	#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
Davidroid	14:e614697ebf34	110	#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
Davidroid	14:e614697ebf34	111	#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
Davidroid	14:e614697ebf34	112	#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
Davidroid	14:e614697ebf34	113
Davidroid	14:e614697ebf34	114	#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
Davidroid	14:e614697ebf34	115	#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
Davidroid	14:e614697ebf34	116
Davidroid	14:e614697ebf34	117	#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
Davidroid	14:e614697ebf34	118	#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
Davidroid	14:e614697ebf34	119	#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
Davidroid	14:e614697ebf34	120	#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
Davidroid	14:e614697ebf34	121	#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
Davidroid	14:e614697ebf34	122
Davidroid	14:e614697ebf34	123
Davidroid	14:e614697ebf34	124	/* Types ---------------------------------------------------------------------*/
Davidroid	14:e614697ebf34	125
Davidroid	0:92706998571a	126	/**
Davidroid	0:92706998571a	127	* @addtogroup BSP
Davidroid	0:92706998571a	128	* @{
Davidroid	0:92706998571a	129	*/
Davidroid	0:92706998571a	130
Davidroid	0:92706998571a	131	/**
Davidroid	0:92706998571a	132	* @addtogroup Components
Davidroid	0:92706998571a	133	* @{
Davidroid	0:92706998571a	134	*/
Davidroid	0:92706998571a	135
Davidroid	0:92706998571a	136	/**
Davidroid	0:92706998571a	137	* @defgroup L6470
Davidroid	0:92706998571a	138	* @brief Tools to manage the L6470 Stepper Motor Driver.
Davidroid	0:92706998571a	139	* @{
Davidroid	0:92706998571a	140	*/
Davidroid	0:92706998571a	141
Davidroid	0:92706998571a	142	/**
Davidroid	0:92706998571a	143	* @defgroup L6470_Exported_Types
Davidroid	0:92706998571a	144	* @brief L6470 Exported Types.
Davidroid	0:92706998571a	145	* @{
Davidroid	0:92706998571a	146	*/
Davidroid	0:92706998571a	147
Davidroid	0:92706998571a	148	/**
Davidroid	0:92706998571a	149	* @brief The structure to store some features of the L6470 Registers.
Davidroid	0:92706998571a	150	*/
Davidroid	0:92706998571a	151	typedef struct {
Davidroid	0:92706998571a	152	uint8_t Address; //!< Register Address
Davidroid	0:92706998571a	153	uint8_t Name[12]; //!< Register Name
Davidroid	0:92706998571a	154	uint8_t LengthBit; //!< Register Length in bits
Davidroid	0:92706998571a	155	uint8_t LengthByte; //!< Register Length in bytes
Davidroid	0:92706998571a	156	uint32_t ResetValue; //!< Register Reset Value
Davidroid	0:92706998571a	157	} sL6470_Register_t;
Davidroid	0:92706998571a	158
Davidroid	0:92706998571a	159	/**
Davidroid	0:92706998571a	160	* @brief The structure to store some features of the L6470 Application Commands.
Davidroid	0:92706998571a	161	*/
Davidroid	0:92706998571a	162	typedef struct {
Davidroid	0:92706998571a	163	uint8_t Mnemonic[12]; //!< AppCmd Mnemonic
Davidroid	0:92706998571a	164	uint8_t BinaryCode; //!< AppCmd Binary Code
Davidroid	0:92706998571a	165	uint8_t NrOfParameters; //!< AppCmd number of needed parameters
Davidroid	0:92706998571a	166	} sL6470_ApplicationCommand_t;
Davidroid	0:92706998571a	167
Davidroid	0:92706998571a	168	/**
Davidroid	0:92706998571a	169	* @brief The structure to store some features about the L6470 Motor Direction.
Davidroid	0:92706998571a	170	*/
Davidroid	0:92706998571a	171	typedef struct {
Davidroid	0:92706998571a	172	uint8_t Mnemonic[8]; //!< L6470 Direction Mnemonic
Davidroid	0:92706998571a	173	uint8_t BinaryCode; //!< L6470 Direction Binary Code
Davidroid	0:92706998571a	174	} sL6470_Direction_t;
Davidroid	0:92706998571a	175
Davidroid	0:92706998571a	176	/**
Davidroid	0:92706998571a	177	* @brief The structure to store some features about the action taken with the L6470 ABS_POS register.
Davidroid	0:92706998571a	178	*/
Davidroid	0:92706998571a	179	typedef struct {
Davidroid	0:92706998571a	180	uint8_t Mnemonic[4]; //!< ACT Mnemonic
Davidroid	0:92706998571a	181	uint8_t BinaryCode; //!< ACT Binary Code
Davidroid	0:92706998571a	182	} sL6470_ACT_t;
Davidroid	0:92706998571a	183
Davidroid	0:92706998571a	184	/**
Davidroid	0:92706998571a	185	* @brief The structure used to store the identifier of the L6470 application
Davidroid	0:92706998571a	186	* command and its the needed parameters.
Davidroid	0:92706998571a	187	* @note The data stored into this structure will be used to fill the matrix
Davidroid	0:92706998571a	188	* used by SPI to send the command to the L6470.
Davidroid	0:92706998571a	189	*/
Davidroid	0:92706998571a	190	typedef struct {
Davidroid	0:92706998571a	191	eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
Davidroid	0:92706998571a	192	uint32_t p1; //!< The 1st parameter if needed
Davidroid	0:92706998571a	193	uint32_t p2; //!< The 2nd parameter if needed
Davidroid	0:92706998571a	194	uint32_t p3; //!< The 3rd parameter if needed
Davidroid	0:92706998571a	195	} sL6470_AppCmdPkg_t;
Davidroid	0:92706998571a	196
Davidroid	0:92706998571a	197	/**
Davidroid	0:92706998571a	198	* @}
Davidroid	0:92706998571a	199	/ / End of L6470_Exported_Types */
Davidroid	0:92706998571a	200
Davidroid	0:92706998571a	201	/**
Davidroid	14:e614697ebf34	202	* @brief L6470 driver initialization structure definition.
Davidroid	14:e614697ebf34	203	*/
Davidroid	14:e614697ebf34	204	/* ACTION --------------------------------------------------------------------*
Davidroid	14:e614697ebf34	205	* Declare here the component's initialization structure, if any, one *
Davidroid	14:e614697ebf34	206	* variable per line without initialization. *
Davidroid	14:e614697ebf34	207	* *
Davidroid	14:e614697ebf34	208	* Example: *
Davidroid	14:e614697ebf34	209	* typedef struct *
Davidroid	14:e614697ebf34	210	* { *
Davidroid	14:e614697ebf34	211	* int frequency; *
Davidroid	14:e614697ebf34	212	* int update_mode; *
Davidroid	14:e614697ebf34	213	* } COMPONENT_Init_t; *
Davidroid	14:e614697ebf34	214	----------------------------------------------------------------------------/
Davidroid	11:1aca63b2f034	215	typedef struct
Davidroid	11:1aca63b2f034	216	{
Davidroid	11:1aca63b2f034	217	float motorvoltage; //!< motor supply voltage in V
Davidroid	11:1aca63b2f034	218	float fullstepsperrevolution; //!< min number of steps per revolution for the motor
Davidroid	11:1aca63b2f034	219	float phasecurrent; //!< max motor phase voltage in A
Davidroid	11:1aca63b2f034	220	float phasevoltage; //!< max motor phase voltage in V
Davidroid	11:1aca63b2f034	221	float speed; //!< motor initial speed [step/s]
Davidroid	11:1aca63b2f034	222	float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
Davidroid	11:1aca63b2f034	223	float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
Davidroid	11:1aca63b2f034	224	float maxspeed; //!< motor maximum speed [step/s]
Davidroid	11:1aca63b2f034	225	float minspeed; //!< motor minimum speed [step/s]
Davidroid	11:1aca63b2f034	226	float fsspd; //!< motor full-step speed threshold [step/s]
Davidroid	11:1aca63b2f034	227	float kvalhold; //!< holding kval [V]
Davidroid	11:1aca63b2f034	228	float kvalrun; //!< constant speed kval [V]
Davidroid	11:1aca63b2f034	229	float kvalacc; //!< acceleration starting kval [V]
Davidroid	11:1aca63b2f034	230	float kvaldec; //!< deceleration starting kval [V]
Davidroid	11:1aca63b2f034	231	float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
Davidroid	11:1aca63b2f034	232	float stslp; //!< start slope [s/step]
Davidroid	11:1aca63b2f034	233	float fnslpacc; //!< acceleration final slope [s/step]
Davidroid	11:1aca63b2f034	234	float fnslpdec; //!< deceleration final slope [s/step]
Davidroid	11:1aca63b2f034	235	uint8_t kterm; //!< thermal compensation factor (range [0, 15])
Davidroid	11:1aca63b2f034	236	float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
Davidroid	11:1aca63b2f034	237	float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
Davidroid	11:1aca63b2f034	238	uint8_t step_sel; //!< step mode selection
Davidroid	11:1aca63b2f034	239	uint8_t alarmen; //!< alarm conditions enable
Davidroid	11:1aca63b2f034	240	uint16_t config; //!< ic configuration
Davidroid	14:e614697ebf34	241	} L6470_Init_t;
Davidroid	11:1aca63b2f034	242
Davidroid	11:1aca63b2f034	243	/**
Davidroid	14:e614697ebf34	244	* @brief L6470 driver data structure definition.
Davidroid	14:e614697ebf34	245	*/
Davidroid	0:92706998571a	246	/* ACTION --------------------------------------------------------------------*
Davidroid	0:92706998571a	247	* Declare here the structure of component's data, if any, one variable per *
Davidroid	0:92706998571a	248	* line without initialization. *
Davidroid	0:92706998571a	249	* *
Davidroid	0:92706998571a	250	* Example: *
Davidroid	0:92706998571a	251	* typedef struct *
Davidroid	0:92706998571a	252	* { *
Davidroid	0:92706998571a	253	* int T0_out; *
Davidroid	0:92706998571a	254	* int T1_out; *
Davidroid	0:92706998571a	255	* float T0_degC; *
Davidroid	0:92706998571a	256	* float T1_degC; *
Davidroid	14:e614697ebf34	257	* } COMPONENT_Data_t; *
Davidroid	14:e614697ebf34	258	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	259	typedef struct
Davidroid	0:92706998571a	260	{
Davidroid	0:92706998571a	261	uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
Davidroid	0:92706998571a	262	sL6470_Register_t *L6470_Register; //[L6470REGIDSIZE]; //!< Array whose elements are a structure in which store information about the L6470 Registers (the address, the names, the length in bits, the reset value)
Davidroid	0:92706998571a	263	sL6470_ApplicationCommand_t *L6470_ApplicationCommand; //[L6470APPCMDIDSIZE]; //!< Array whose elements are a structure in which store information about the L6470 Application Commands (the mnemonic name, the number of needed parameters, the related funtion to call)
Davidroid	0:92706998571a	264	sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE]; //!< The mnemonic names for the L6470 direction
Davidroid	0:92706998571a	265	sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE]; //!< Action taken about ABS_POS register
Davidroid	0:92706998571a	266	sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE]; //!< To store the identifier of the actual L6470 application command and its the needed parameters
Davidroid	0:92706998571a	267	uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the command data that are going to be sent by SPI to the L6470 daisy chain
Davidroid	0:92706998571a	268	uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
Davidroid	0:92706998571a	269	eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */ //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
Davidroid	0:92706998571a	270	sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
Davidroid	0:92706998571a	271	sL6470_StatusRegister_t pL6470_StatusRegister; / = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
Davidroid	14:e614697ebf34	272	} L6470_Data_t;
Davidroid	0:92706998571a	273
Davidroid	0:92706998571a	274
Davidroid	0:92706998571a	275	/* Functions -----------------------------------------------------------------*/
Davidroid	0:92706998571a	276
Davidroid	0:92706998571a	277	/** @addtogroup BSP
Davidroid	0:92706998571a	278	* @{
Davidroid	0:92706998571a	279	*/
Davidroid	0:92706998571a	280
Davidroid	0:92706998571a	281	/** @addtogroup Components
Davidroid	0:92706998571a	282	* @{
Davidroid	0:92706998571a	283	*/
Davidroid	0:92706998571a	284
Davidroid	0:92706998571a	285	/** @addtogroup L6470
Davidroid	0:92706998571a	286	* @{
Davidroid	0:92706998571a	287	*/
Davidroid	0:92706998571a	288
Davidroid	14:e614697ebf34	289	/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
Davidroid	0:92706998571a	290	* @{
Davidroid	0:92706998571a	291	*/
Davidroid	14:e614697ebf34	292
Davidroid	0:92706998571a	293	/* ACTION --------------------------------------------------------------------*
Davidroid	14:e614697ebf34	294	* Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
Davidroid	14:e614697ebf34	295	* interrupt related functions), and implement them in a glue-logic file on *
Davidroid	14:e614697ebf34	296	* the target environment, for example within the "x_nucleo_board.c" file. *
Davidroid	14:e614697ebf34	297	* E.g.: *
Davidroid	14:e614697ebf34	298	* extern Status_t COMPONENT_IO_Init (void handle);
Davidroid	14:e614697ebf34	299	* extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
Davidroid	14:e614697ebf34	300	* extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
Davidroid	14:e614697ebf34	301	* extern void COMPONENT_IO_ITConfig(void); *
Davidroid	0:92706998571a	302	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	303	extern void L6470_DISABLE(void);
Davidroid	0:92706998571a	304	extern void L6470_ENABLE(void);
Davidroid	0:92706998571a	305	extern void L6470_nCS_LOW(void);
Davidroid	0:92706998571a	306	extern void L6470_nCS_HIGH(void);
Davidroid	0:92706998571a	307	extern void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout);
Davidroid	0:92706998571a	308
Davidroid	0:92706998571a	309	#ifdef __cplusplus
Davidroid	0:92706998571a	310	}
Davidroid	0:92706998571a	311	#endif
Davidroid	0:92706998571a	312
Davidroid	0:92706998571a	313	#endif /* __L6470_H */
Davidroid	0:92706998571a	314
Davidroid	0:92706998571a	315	/********************** (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