ST / 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

Components/L6470/L6470_def.h@24:ff67801d7cd7, 2017-03-13 (annotated)

Committer:
Davidroid
Date:
Mon Mar 13 17:52:38 2017 +0000
Revision:
24:ff67801d7cd7
Parent:
23:cf489f2ab072 
Typo corrected.

Who changed what in which revision?

UserRevisionLine numberNew 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 L6470_def.h
davide.aliprandi@st.com 22:ba7f4131a5e0 4 * @date 01/10/2014 12:00:00
davide.aliprandi@st.com 22:ba7f4131a5e0 5 * @brief This file contains definitions, exported variables and function
davide.aliprandi@st.com 22:ba7f4131a5e0 6 * prototypes related to the L6470.
davide.aliprandi@st.com 22:ba7f4131a5e0 7 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 8 *
davide.aliprandi@st.com 22:ba7f4131a5e0 9 * COPYRIGHT(c) 2014 STMicroelectronics
davide.aliprandi@st.com 22:ba7f4131a5e0 10 *
davide.aliprandi@st.com 22:ba7f4131a5e0 11 * Redistribution and use in source and binary forms, with or without modification,
davide.aliprandi@st.com 22:ba7f4131a5e0 12 * are permitted provided that the following conditions are met:
davide.aliprandi@st.com 22:ba7f4131a5e0 13 * 1. Redistributions of source code must retain the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 14 * this list of conditions and the following disclaimer.
davide.aliprandi@st.com 22:ba7f4131a5e0 15 * 2. Redistributions in binary form must reproduce the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 16 * this list of conditions and the following disclaimer in the documentation
davide.aliprandi@st.com 22:ba7f4131a5e0 17 * and/or other materials provided with the distribution.
davide.aliprandi@st.com 22:ba7f4131a5e0 18 * 3. Neither the name of STMicroelectronics nor the names of its contributors
davide.aliprandi@st.com 22:ba7f4131a5e0 19 * may be used to endorse or promote products derived from this software
davide.aliprandi@st.com 22:ba7f4131a5e0 20 * without specific prior written permission.
davide.aliprandi@st.com 22:ba7f4131a5e0 21 *
davide.aliprandi@st.com 22:ba7f4131a5e0 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
davide.aliprandi@st.com 22:ba7f4131a5e0 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
davide.aliprandi@st.com 22:ba7f4131a5e0 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
davide.aliprandi@st.com 22:ba7f4131a5e0 25 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
davide.aliprandi@st.com 22:ba7f4131a5e0 26 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
davide.aliprandi@st.com 22:ba7f4131a5e0 27 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
davide.aliprandi@st.com 22:ba7f4131a5e0 28 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
davide.aliprandi@st.com 22:ba7f4131a5e0 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
davide.aliprandi@st.com 22:ba7f4131a5e0 30 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
davide.aliprandi@st.com 22:ba7f4131a5e0 31 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
davide.aliprandi@st.com 22:ba7f4131a5e0 32 *
davide.aliprandi@st.com 22:ba7f4131a5e0 33 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 34 */
davide.aliprandi@st.com 22:ba7f4131a5e0 35
davide.aliprandi@st.com 22:ba7f4131a5e0 36
davide.aliprandi@st.com 22:ba7f4131a5e0 37 /* Define to prevent recursive inclusion -------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 38
davide.aliprandi@st.com 22:ba7f4131a5e0 39 #ifndef __L6470_H
davide.aliprandi@st.com 22:ba7f4131a5e0 40 #define __L6470_H
davide.aliprandi@st.com 22:ba7f4131a5e0 41
davide.aliprandi@st.com 22:ba7f4131a5e0 42 #ifdef __cplusplus
davide.aliprandi@st.com 22:ba7f4131a5e0 43 extern "C" {
davide.aliprandi@st.com 22:ba7f4131a5e0 44 #endif
davide.aliprandi@st.com 22:ba7f4131a5e0 45
davide.aliprandi@st.com 22:ba7f4131a5e0 46
davide.aliprandi@st.com 22:ba7f4131a5e0 47 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 48
davide.aliprandi@st.com 22:ba7f4131a5e0 49 #include "../Common/microstepping_motor_def.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 50
davide.aliprandi@st.com 22:ba7f4131a5e0 51
davide.aliprandi@st.com 22:ba7f4131a5e0 52 /* Definitions ---------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 53
davide.aliprandi@st.com 22:ba7f4131a5e0 54 /** @addtogroup BSP
davide.aliprandi@st.com 22:ba7f4131a5e0 55 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 56 */
davide.aliprandi@st.com 22:ba7f4131a5e0 57
davide.aliprandi@st.com 22:ba7f4131a5e0 58 /** @addtogroup Components
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 L6470
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 L6470_Exported_Defines L6470_Exported_Defines
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 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 71 * @defgroup L6470_Exported_Constants
davide.aliprandi@st.com 22:ba7f4131a5e0 72 * @brief L6470 Exported Constants.
davide.aliprandi@st.com 22:ba7f4131a5e0 73 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 74 */
davide.aliprandi@st.com 22:ba7f4131a5e0 75
davide.aliprandi@st.com 22:ba7f4131a5e0 76 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 77 * @defgroup L6470_Register_Max_Values
davide.aliprandi@st.com 22:ba7f4131a5e0 78 * @brief Maximum values for L6470 registers.
davide.aliprandi@st.com 22:ba7f4131a5e0 79 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 80 */
davide.aliprandi@st.com 22:ba7f4131a5e0 81
davide.aliprandi@st.com 22:ba7f4131a5e0 82 #define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
davide.aliprandi@st.com 22:ba7f4131a5e0 83 #define L6470_MIN_POSITION (-(0x200000)) //!< Min position
davide.aliprandi@st.com 22:ba7f4131a5e0 84 #define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
davide.aliprandi@st.com 22:ba7f4131a5e0 85 #define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 86 #define L6470_MAX_ACC (0xFFF) //!< max value of ACC
davide.aliprandi@st.com 22:ba7f4131a5e0 87 #define L6470_MAX_DEC (0xFFF) //!< max value of DEC
davide.aliprandi@st.com 22:ba7f4131a5e0 88 #define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 89 #define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 90 #define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
davide.aliprandi@st.com 22:ba7f4131a5e0 91 #define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 92 #define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
davide.aliprandi@st.com 22:ba7f4131a5e0 93 #define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
davide.aliprandi@st.com 22:ba7f4131a5e0 94 #define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
davide.aliprandi@st.com 22:ba7f4131a5e0 95 #define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
davide.aliprandi@st.com 22:ba7f4131a5e0 96 #define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
davide.aliprandi@st.com 22:ba7f4131a5e0 97
davide.aliprandi@st.com 22:ba7f4131a5e0 98 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 99 * @}
davide.aliprandi@st.com 22:ba7f4131a5e0 100 */ /* End of L6470_Register_Max_Values */
davide.aliprandi@st.com 22:ba7f4131a5e0 101
davide.aliprandi@st.com 22:ba7f4131a5e0 102 #define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
davide.aliprandi@st.com 22:ba7f4131a5e0 103 #define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
davide.aliprandi@st.com 22:ba7f4131a5e0 104 #define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
davide.aliprandi@st.com 22:ba7f4131a5e0 105 #define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
davide.aliprandi@st.com 22:ba7f4131a5e0 106 #define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
davide.aliprandi@st.com 22:ba7f4131a5e0 107 #define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
davide.aliprandi@st.com 22:ba7f4131a5e0 108
davide.aliprandi@st.com 22:ba7f4131a5e0 109 #define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
davide.aliprandi@st.com 22:ba7f4131a5e0 110 #define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
davide.aliprandi@st.com 22:ba7f4131a5e0 111 #define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
davide.aliprandi@st.com 22:ba7f4131a5e0 112 #define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
davide.aliprandi@st.com 22:ba7f4131a5e0 113
davide.aliprandi@st.com 22:ba7f4131a5e0 114 #define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
davide.aliprandi@st.com 22:ba7f4131a5e0 115 #define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
davide.aliprandi@st.com 22:ba7f4131a5e0 116
davide.aliprandi@st.com 22:ba7f4131a5e0 117 #define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 118 #define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 119 #define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 120 #define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 121 #define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 122
davide.aliprandi@st.com 22:ba7f4131a5e0 123
davide.aliprandi@st.com 22:ba7f4131a5e0 124 /* Types ---------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 125
davide.aliprandi@st.com 22:ba7f4131a5e0 126 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 127 * @addtogroup BSP
davide.aliprandi@st.com 22:ba7f4131a5e0 128 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 129 */
davide.aliprandi@st.com 22:ba7f4131a5e0 130
davide.aliprandi@st.com 22:ba7f4131a5e0 131 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 132 * @addtogroup Components
davide.aliprandi@st.com 22:ba7f4131a5e0 133 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 134 */
davide.aliprandi@st.com 22:ba7f4131a5e0 135
davide.aliprandi@st.com 22:ba7f4131a5e0 136 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 137 * @defgroup L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 138 * @brief Tools to manage the L6470 Stepper Motor Driver.
davide.aliprandi@st.com 22:ba7f4131a5e0 139 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 140 */
davide.aliprandi@st.com 22:ba7f4131a5e0 141
davide.aliprandi@st.com 22:ba7f4131a5e0 142 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 143 * @defgroup L6470_Exported_Types
davide.aliprandi@st.com 22:ba7f4131a5e0 144 * @brief L6470 Exported Types.
davide.aliprandi@st.com 22:ba7f4131a5e0 145 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 146 */
davide.aliprandi@st.com 22:ba7f4131a5e0 147
davide.aliprandi@st.com 22:ba7f4131a5e0 148 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 149 * @brief The structure to store some features of the L6470 Registers.
davide.aliprandi@st.com 22:ba7f4131a5e0 150 */
davide.aliprandi@st.com 22:ba7f4131a5e0 151 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 152 uint8_t Address; //!< Register Address
davide.aliprandi@st.com 22:ba7f4131a5e0 153 uint8_t Name[12]; //!< Register Name
davide.aliprandi@st.com 22:ba7f4131a5e0 154 uint8_t LengthBit; //!< Register Length in bits
davide.aliprandi@st.com 22:ba7f4131a5e0 155 uint8_t LengthByte; //!< Register Length in bytes
davide.aliprandi@st.com 22:ba7f4131a5e0 156 uint32_t ResetValue; //!< Register Reset Value
davide.aliprandi@st.com 22:ba7f4131a5e0 157 } sL6470_Register_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 158
davide.aliprandi@st.com 22:ba7f4131a5e0 159 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 160 * @brief The structure to store some features of the L6470 Application Commands.
davide.aliprandi@st.com 22:ba7f4131a5e0 161 */
davide.aliprandi@st.com 22:ba7f4131a5e0 162 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 163 uint8_t Mnemonic[12]; //!< AppCmd Mnemonic
davide.aliprandi@st.com 22:ba7f4131a5e0 164 uint8_t BinaryCode; //!< AppCmd Binary Code
davide.aliprandi@st.com 22:ba7f4131a5e0 165 uint8_t NrOfParameters; //!< AppCmd number of needed parameters
davide.aliprandi@st.com 22:ba7f4131a5e0 166 } sL6470_ApplicationCommand_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 167
davide.aliprandi@st.com 22:ba7f4131a5e0 168 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 169 * @brief The structure to store some features about the L6470 Motor Direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 170 */
davide.aliprandi@st.com 22:ba7f4131a5e0 171 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 172 uint8_t Mnemonic[8]; //!< L6470 Direction Mnemonic
davide.aliprandi@st.com 22:ba7f4131a5e0 173 uint8_t BinaryCode; //!< L6470 Direction Binary Code
davide.aliprandi@st.com 22:ba7f4131a5e0 174 } sL6470_Direction_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 175
davide.aliprandi@st.com 22:ba7f4131a5e0 176 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 177 * @brief The structure to store some features about the action taken with the L6470 ABS_POS register.
davide.aliprandi@st.com 22:ba7f4131a5e0 178 */
davide.aliprandi@st.com 22:ba7f4131a5e0 179 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 180 uint8_t Mnemonic[4]; //!< ACT Mnemonic
davide.aliprandi@st.com 22:ba7f4131a5e0 181 uint8_t BinaryCode; //!< ACT Binary Code
davide.aliprandi@st.com 22:ba7f4131a5e0 182 } sL6470_ACT_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 183
davide.aliprandi@st.com 22:ba7f4131a5e0 184 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 185 * @brief The structure used to store the identifier of the L6470 application
davide.aliprandi@st.com 22:ba7f4131a5e0 186 * command and its the needed parameters.
davide.aliprandi@st.com 22:ba7f4131a5e0 187 * @note The data stored into this structure will be used to fill the matrix
davide.aliprandi@st.com 22:ba7f4131a5e0 188 * used by SPI to send the command to the L6470.
davide.aliprandi@st.com 22:ba7f4131a5e0 189 */
davide.aliprandi@st.com 22:ba7f4131a5e0 190 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 191 eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
davide.aliprandi@st.com 22:ba7f4131a5e0 192 uint32_t p1; //!< The 1st parameter if needed
davide.aliprandi@st.com 22:ba7f4131a5e0 193 uint32_t p2; //!< The 2nd parameter if needed
davide.aliprandi@st.com 22:ba7f4131a5e0 194 uint32_t p3; //!< The 3rd parameter if needed
davide.aliprandi@st.com 22:ba7f4131a5e0 195 } sL6470_AppCmdPkg_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 196
davide.aliprandi@st.com 22:ba7f4131a5e0 197 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 198 * @}
davide.aliprandi@st.com 22:ba7f4131a5e0 199 */ /* End of L6470_Exported_Types */
davide.aliprandi@st.com 22:ba7f4131a5e0 200
davide.aliprandi@st.com 22:ba7f4131a5e0 201 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 202 * @brief L6470 driver initialization structure definition.
davide.aliprandi@st.com 22:ba7f4131a5e0 203 */
davide.aliprandi@st.com 22:ba7f4131a5e0 204 /* ACTION --------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 205 * Declare here the component's initialization structure, if any, one *
davide.aliprandi@st.com 22:ba7f4131a5e0 206 * variable per line without initialization. *
davide.aliprandi@st.com 22:ba7f4131a5e0 207 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 208 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 209 * typedef struct *
davide.aliprandi@st.com 22:ba7f4131a5e0 210 * { *
davide.aliprandi@st.com 22:ba7f4131a5e0 211 * int frequency; *
davide.aliprandi@st.com 22:ba7f4131a5e0 212 * int update_mode; *
davide.aliprandi@st.com 22:ba7f4131a5e0 213 * } COMPONENT_Init_t; *
davide.aliprandi@st.com 22:ba7f4131a5e0 214 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 215 typedef struct
davide.aliprandi@st.com 22:ba7f4131a5e0 216 {
davide.aliprandi@st.com 22:ba7f4131a5e0 217 float motorvoltage; //!< motor supply voltage in V
davide.aliprandi@st.com 22:ba7f4131a5e0 218 float fullstepsperrevolution; //!< min number of steps per revolution for the motor
davide.aliprandi@st.com 22:ba7f4131a5e0 219 float phasecurrent; //!< max motor phase voltage in A
davide.aliprandi@st.com 22:ba7f4131a5e0 220 float phasevoltage; //!< max motor phase voltage in V
davide.aliprandi@st.com 22:ba7f4131a5e0 221 float speed; //!< motor initial speed [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 222 float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
davide.aliprandi@st.com 22:ba7f4131a5e0 223 float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
davide.aliprandi@st.com 22:ba7f4131a5e0 224 float maxspeed; //!< motor maximum speed [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 225 float minspeed; //!< motor minimum speed [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 226 float fsspd; //!< motor full-step speed threshold [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 227 float kvalhold; //!< holding kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 228 float kvalrun; //!< constant speed kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 229 float kvalacc; //!< acceleration starting kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 230 float kvaldec; //!< deceleration starting kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 231 float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 232 float stslp; //!< start slope [s/step]
davide.aliprandi@st.com 22:ba7f4131a5e0 233 float fnslpacc; //!< acceleration final slope [s/step]
davide.aliprandi@st.com 22:ba7f4131a5e0 234 float fnslpdec; //!< deceleration final slope [s/step]
davide.aliprandi@st.com 22:ba7f4131a5e0 235 uint8_t kterm; //!< thermal compensation factor (range [0, 15])
davide.aliprandi@st.com 22:ba7f4131a5e0 236 float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
davide.aliprandi@st.com 22:ba7f4131a5e0 237 float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
davide.aliprandi@st.com 22:ba7f4131a5e0 238 uint8_t step_sel; //!< step mode selection
davide.aliprandi@st.com 22:ba7f4131a5e0 239 uint8_t alarmen; //!< alarm conditions enable
davide.aliprandi@st.com 22:ba7f4131a5e0 240 uint16_t config; //!< ic configuration
davide.aliprandi@st.com 22:ba7f4131a5e0 241 } L6470_init_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 242
davide.aliprandi@st.com 22:ba7f4131a5e0 243 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 244 * @brief L6470 driver data structure definition.
davide.aliprandi@st.com 22:ba7f4131a5e0 245 */
davide.aliprandi@st.com 22:ba7f4131a5e0 246 /* ACTION --------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 247 * Declare here the structure of component's data, if any, one variable per *
davide.aliprandi@st.com 22:ba7f4131a5e0 248 * line without initialization. *
davide.aliprandi@st.com 22:ba7f4131a5e0 249 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 250 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 251 * typedef struct *
davide.aliprandi@st.com 22:ba7f4131a5e0 252 * { *
davide.aliprandi@st.com 22:ba7f4131a5e0 253 * int T0_out; *
davide.aliprandi@st.com 22:ba7f4131a5e0 254 * int T1_out; *
davide.aliprandi@st.com 22:ba7f4131a5e0 255 * float T0_degC; *
davide.aliprandi@st.com 22:ba7f4131a5e0 256 * float T1_degC; *
davide.aliprandi@st.com 22:ba7f4131a5e0 257 * } COMPONENT_Data_t; *
davide.aliprandi@st.com 22:ba7f4131a5e0 258 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 259 typedef struct
davide.aliprandi@st.com 22:ba7f4131a5e0 260 {
davide.aliprandi@st.com 22:ba7f4131a5e0 261 uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
davide.aliprandi@st.com 22:ba7f4131a5e0 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)
davide.aliprandi@st.com 22:ba7f4131a5e0 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)
davide.aliprandi@st.com 22:ba7f4131a5e0 264 sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE]; //!< The mnemonic names for the L6470 direction
davide.aliprandi@st.com 22:ba7f4131a5e0 265 sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE]; //!< Action taken about ABS_POS register
davide.aliprandi@st.com 22:ba7f4131a5e0 266 sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE]; //!< To store the identifier of the actual L6470 application command and its the needed parameters
davide.aliprandi@st.com 22:ba7f4131a5e0 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
davide.aliprandi@st.com 22:ba7f4131a5e0 268 uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
davide.aliprandi@st.com 22:ba7f4131a5e0 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
davide.aliprandi@st.com 22:ba7f4131a5e0 270 sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
davide.aliprandi@st.com 22:ba7f4131a5e0 271 sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
davide.aliprandi@st.com 22:ba7f4131a5e0 272 } L6470_Data_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 273
davide.aliprandi@st.com 22:ba7f4131a5e0 274
davide.aliprandi@st.com 22:ba7f4131a5e0 275 /* Functions -----------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 276
davide.aliprandi@st.com 22:ba7f4131a5e0 277 /** @addtogroup BSP
davide.aliprandi@st.com 22:ba7f4131a5e0 278 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 279 */
davide.aliprandi@st.com 22:ba7f4131a5e0 280
davide.aliprandi@st.com 22:ba7f4131a5e0 281 /** @addtogroup Components
davide.aliprandi@st.com 22:ba7f4131a5e0 282 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 283 */
davide.aliprandi@st.com 22:ba7f4131a5e0 284
davide.aliprandi@st.com 22:ba7f4131a5e0 285 /** @addtogroup L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 286 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 287 */
davide.aliprandi@st.com 22:ba7f4131a5e0 288
davide.aliprandi@st.com 22:ba7f4131a5e0 289 /** @defgroup L6470_Imported_Functions L6470_Imported_Functions
davide.aliprandi@st.com 22:ba7f4131a5e0 290 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 291 */
davide.aliprandi@st.com 22:ba7f4131a5e0 292
davide.aliprandi@st.com 22:ba7f4131a5e0 293 /* ACTION --------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 294 * Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
davide.aliprandi@st.com 22:ba7f4131a5e0 295 * interrupt related functions), and implement them in a glue-logic file on *
davide.aliprandi@st.com 22:ba7f4131a5e0 296 * the target environment, for example within the "x_nucleo_board.c" file. *
davide.aliprandi@st.com 22:ba7f4131a5e0 297 * E.g.: *
davide.aliprandi@st.com 22:ba7f4131a5e0 298 * extern status_t COMPONENT_IO_Init (void *handle); *
davide.aliprandi@st.com 22:ba7f4131a5e0 299 * extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
davide.aliprandi@st.com 22:ba7f4131a5e0 300 * extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
davide.aliprandi@st.com 22:ba7f4131a5e0 301 * extern void COMPONENT_IO_ITConfig(void); *
davide.aliprandi@st.com 22:ba7f4131a5e0 302 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 303 extern void L6470_DISABLE(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 304 extern void L6470_ENABLE(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 305 extern void L6470_nCS_LOW(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 306 extern void L6470_nCS_HIGH(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 307 extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
davide.aliprandi@st.com 22:ba7f4131a5e0 308
davide.aliprandi@st.com 22:ba7f4131a5e0 309 #ifdef __cplusplus
davide.aliprandi@st.com 22:ba7f4131a5e0 310 }
davide.aliprandi@st.com 22:ba7f4131a5e0 311 #endif
davide.aliprandi@st.com 22:ba7f4131a5e0 312
davide.aliprandi@st.com 22:ba7f4131a5e0 313 #endif /* __L6470_H */
davide.aliprandi@st.com 22:ba7f4131a5e0 314
davide.aliprandi@st.com 22:ba7f4131a5e0 315 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/