Motor Control Library

Diff: Components/l6470/l6470.h

Revision:

0:92706998571a

Child:

11:1aca63b2f034

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6470/l6470.h	Fri Nov 20 18:07:45 2015 +0000
@@ -0,0 +1,260 @@
+/**
+  ******************************************************************************
+  * @file       L6470.h
+  * @date       01/10/2014 12:00:00
+  * @brief      This file contains definitions, exported variables and function
+  *             prototypes related to the L6470.
+  ******************************************************************************
+  *
+  * COPYRIGHT(c) 2014 STMicroelectronics
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __L6470_H
+#define __L6470_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "microstepping_motor.h"
+
+/**
+  * @addtogroup BSP
+  * @{
+  */
+
+/**
+  * @addtogroup Components
+  * @{
+  */
+
+/**
+  * @defgroup L6470
+  * @brief    Tools to manage the L6470 Stepper Motor Driver.
+  * @{
+  */
+
+/**
+  * @defgroup   L6470_Exported_Types
+  * @brief      L6470 Exported Types.
+  * @{
+  */
+
+/**
+  * @brief  The structure to store some features of the L6470 Registers.
+  */
+typedef struct {
+  uint8_t Address;                  //!< Register Address
+  uint8_t Name[12];                 //!< Register Name
+  uint8_t LengthBit;                //!< Register Length in bits
+  uint8_t LengthByte;               //!< Register Length in bytes
+  uint32_t ResetValue;              //!< Register Reset Value
+} sL6470_Register_t;
+
+/**
+  * @brief  The structure to store some features of the L6470 Application Commands.
+  */
+typedef struct {
+  uint8_t Mnemonic[12];             //!< AppCmd Mnemonic
+  uint8_t BinaryCode;               //!< AppCmd Binary Code
+  uint8_t NrOfParameters;           //!< AppCmd number of needed parameters
+} sL6470_ApplicationCommand_t;
+
+/**
+  * @brief  The structure to store some features about the L6470 Motor Direction.
+  */
+typedef struct {
+  uint8_t Mnemonic[8];              //!< L6470 Direction Mnemonic
+  uint8_t BinaryCode;               //!< L6470 Direction Binary Code
+} sL6470_Direction_t;
+
+/**
+  * @brief  The structure to store some features about the action taken with the L6470 ABS_POS register.
+  */
+typedef struct {
+  uint8_t Mnemonic[4];              //!< ACT Mnemonic
+  uint8_t BinaryCode;               //!< ACT Binary Code
+} sL6470_ACT_t;
+
+/**
+  * @brief  The structure used to store the identifier of the L6470 application
+  *         command and its the needed parameters.
+  * @note   The data stored into this structure will be used to fill the matrix
+  *         used by SPI to send the command to the L6470.
+  */
+typedef struct {
+  eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
+  uint32_t p1;                      //!< The 1st parameter if needed
+  uint32_t p2;                      //!< The 2nd parameter if needed
+  uint32_t p3;                      //!< The 3rd parameter if needed
+} sL6470_AppCmdPkg_t;
+
+/**
+  * @}
+  */ /* End of L6470_Exported_Types */
+
+/**
+  * @defgroup   L6470_Exported_Constants
+  * @brief      L6470 Exported Constants.
+  * @{
+  */
+
+/**
+  * @defgroup   L6470_Register_Max_Values
+  * @brief      Maximum values for L6470 registers.
+  * @{
+  */
+
+#define L6470_MAX_POSITION          (0x1FFFFF)          //!< Max position
+#define L6470_MIN_POSITION          (-(0x200000))       //!< Min position
+#define L6470_POSITION_RANGE        ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION))   //!< Position range
+#define L6470_MAX_SPEED             (0xFFFFF)           //!< max value of SPEED
+#define L6470_MAX_ACC               (0xFFF)             //!< max value of ACC
+#define L6470_MAX_DEC               (0xFFF)             //!< max value of DEC
+#define L6470_MAX_MAX_SPEED         (0x3FF)             //!< max value of MAX_SPEED
+#define L6470_MAX_MIN_SPEED         (0xFFF)             //!< max value of MIN_SPEED
+#define L6470_MAX_FS_SPD            (0x3FF)             //!< max value of FS_SPD
+#define L6470_MAX_INT_SPEED         (0x3FFF)            //!< max value of INT_SPEED
+#define L6470_MAX_ST_SLP            (0xFF)              //!< max value of ST_SLP
+#define L6470_MAX_FN_SLP_ACC        (0xFF)              //!< max value of FN_SLP_ACC
+#define L6470_MAX_FN_SLP_DEC        (0xFF)              //!< max value of FN_SLP_DEC
+#define L6470_MAX_OCD_TH            (0xF)               //!< max value of OCD_TH
+#define L6470_MAX_STALL_TH          (0x7F)              //!< max value of STALL_TH
+
+/**
+  * @}
+  */ /* End of L6470_Register_Max_Values */
+
+#define L6470REGIDSIZE          25                  //!< Max number of identifiers of L6470 Registers
+#define L6470APPCMDIDSIZE       19                  //!< Max number of identifiers of L6470 Application Commands
+#define L6470DIRIDSIZE           2                  //!< Max number of identifiers of L6470 directions
+#define L6470ACTIDSIZE           2                  //!< Max number of identifiers of actions to perform about ABS_POS register
+#define L6470MAXSPICMDBYTESIZE   4                  //!< Max number of byte to send via SPI to perform an application command
+#define L6470DAISYCHAINSIZE      2                  //!< Max number of identifiers of L6470 in daisy chain configuration
+
+#define L6470_MAX_SPEED_VALUE   ((float)15610)      //!< max value for the speed in step/s
+#define L6470_MAX_ACC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
+
+#define OCD_TH_STEP             ((float)375)      //!< Minimum step for OCD_TH register in mAmpere
+#define STALL_TH_STEP           ((float)31.25)    //!< Minimum step for STALL_TH register in mAmpere
+
+#define L6470_ACC_CONV          ((float)0.068719)   //!< Conversion factor for acceleration value from step/s^2 to the right value
+#define L6470_DEC_CONV          ((float)0.068719)   //!< Conversion factor for deceleration value from step/s^2 to the right value
+#define L6470_MAXSPEED_CONV     ((float)0.065536)   //!< Conversion factor for max speed value from step/s to the right value
+#define L6470_MINSPEED_CONV     ((float)4.194304)   //!< Conversion factor for min speed value from step/s to the right value
+#define L6470_SPEED_CONV        ((float)67.108864)  //!< Conversion factor for speed value from step/s to the right value
+
+
+/** 
+  * @brief  L6470 driver data structure definition.
+  */ 
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the structure of component's data, if any, one variable per   *
+ * line without initialization.                                               *
+ *                                                                            *
+ * Example:                                                                   *
+ *   typedef struct                                                           *
+ *   {                                                                        *
+ *       int T0_out;                                                          *
+ *       int T1_out;                                                          *
+ *       float T0_degC;                                                       *
+ *       float T1_degC;                                                       *
+ *   } COMPONENT_DrvDataTypeDef;                                              *
+ * ---------------------------------------------------------------------------*/
+typedef struct
+{
+  uint8_t L6470_Id;                                                                  //!< The L6470 identifier inside the daisy chain
+  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)
+  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)
+  sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE];                           //!< The mnemonic names for the L6470 direction
+  sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE];                                       //!< Action taken about ABS_POS register
+  sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];                           //!< To store the identifier of the actual L6470 application command and its the needed parameters
+  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
+  uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];  //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
+  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
+  sL6470_StatusRegister_t L6470_StatusRegister;                                      //!< To store the received L6470_StatusRegister
+  sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */     //!< Pointer to the L6470_StatusRegister variable
+} L6470_DrvDataTypeDef;
+
+
+/* Functions -----------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6470
+ * @{
+ */
+
+/** @defgroup L6470_IO_Functions L6470_IO_Functions
+ * @{
+ */
+/* ACTION --------------------------------------------------------------------*
+ * Declare here extern I/O functions you need and implemented them in a glue  *
+ * logic file on the target environment, for example within the expansion     *
+ * board "*.c" file. E.g.:                                                    *
+ *   extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes);  *
+ *   extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes);  *
+ *----------------------------------------------------------------------------*/
+extern void L6470_DISABLE(void);
+extern void L6470_ENABLE(void);
+extern void L6470_nCS_LOW(void);
+extern void L6470_nCS_HIGH(void);
+extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
+
+/**
+  * @}
+  */ /* End of L6470_Exported_Variables */
+
+/**
+  * @}
+  */ /* End of L6470 */
+
+/**
+  * @}
+  */ /* End of Components */
+
+/**
+  * @}
+  */ /* End of BSP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __L6470_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/