L6470.cpp

00001 /**
00002  ******************************************************************************
00003  * @file       l6470_class.cpp
00004  * @date       01/10/2014 12:00:00
00005  * @brief      This file provides set of firmware functions to manage the
00006  *             L6470.
00007  ******************************************************************************
00008  *
00009  * COPYRIGHT(c) 2014 STMicroelectronics
00010  *
00011  * Redistribution and use in source and binary forms, with or without modification,
00012  * are permitted provided that the following conditions are met:
00013  *   1. Redistributions of source code must retain the above copyright notice,
00014  *      this list of conditions and the following disclaimer.
00015  *   2. Redistributions in binary form must reproduce the above copyright notice,
00016  *      this list of conditions and the following disclaimer in the documentation
00017  *      and/or other materials provided with the distribution.
00018  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00019  *      may be used to endorse or promote products derived from this software
00020  *      without specific prior written permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00023  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00024  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00025  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00026  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00027  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00028  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00030  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00031  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  ******************************************************************************
00034  */
00035 
00036 
00037 /* Generated with STM32CubeTOO -----------------------------------------------*/
00038 
00039 
00040 /* Revision ------------------------------------------------------------------*/
00041 /*
00042     Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
00043     Branch/Trunk/Tag: trunk
00044     Based on:         X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
00045     Revision:         0
00046 */
00047 
00048 
00049 /* Includes ------------------------------------------------------------------*/
00050 
00051 #include "L6470.h"
00052 
00053 
00054 /* Variables -----------------------------------------------------------------*/
00055 
00056 /* Number of instantiated devices on an expansion board. */
00057 uint8_t L6470::number_of_devices = 0;
00058 
00059 /* SPI Transmission for Daisy-Chain Configuration. */
00060 eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
00061 sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
00062 uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
00063 uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
00064 
00065 /**
00066   * @brief Array whose elements are a structure in which store information about
00067   *        the L6470 Registers (the address, the names, the length in bits, the
00068   *        reset value)
00069   */
00070 const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
00071   {0x01 , "ABS_POS",   22, 3, 0x000000},  //!< Current position
00072   {0x02 , "EL_POS",     9, 2, 0x000},     //!< Electrical position
00073   {0x03 , "MARK",      22, 3, 0x000000},  //!< Mark position
00074   {0x04 , "SPEED",     20, 3, 0x0000},    //!< Current speed
00075   {0x05 , "ACC",       12, 2, 0x08A},     //!< Acceleration
00076   {0x06 , "DEC",       12, 2, 0x08A},     //!< Deceleration
00077   {0x07 , "MAX_SPEED", 10, 2, 0x041},     //!< Maximum speed
00078   {0x08 , "MIN_SPEED", 13, 2, 0x000},     //!< Minimum speed
00079   {0x15 , "FS_SPD",    10, 2, 0x027},     //!< Full-step speed
00080   {0x09 , "KVAL_HOLD",  8, 1, 0x29},      //!< Holding KVAL
00081   {0x0A , "KVAL_RUN",   8, 1, 0x29},      //!< Constant speed KVAL
00082   {0x0B , "KVAL_ACC",   8, 1, 0x29},      //!< Acceleration starting KVAL
00083   {0x0C , "KVAL_DEC",   8, 1, 0x29},      //!< Deceleration starting KVAL
00084   {0x0D , "INT_SPEED", 14, 2, 0x0408},    //!< Intersect speed
00085   {0x0E , "ST_SLP",     8, 1, 0x19},      //!< Start slope
00086   {0x0F , "FN_SLP_ACC", 8, 1, 0x29},      //!< Acceleration final slope
00087   {0x10 , "FN_SLP_DEC", 8, 1, 0x29},      //!< Deceleration final slope
00088   {0x11 , "K_THERM",    4, 1, 0x0},       //!< Thermal compensation factor
00089   {0x12 , "ADC_OUT",    5, 1, 0x00},      //!< ADC output, (the reset value is according to startup conditions)
00090   {0x13 , "OCD_TH",     4, 1, 0x8},       //!< OCD threshold
00091   {0x14 , "STALL_TH",   7, 1, 0x40},      //!< STALL threshold
00092   {0x16 , "STEP_MODE",  8, 1, 0x7},       //!< Step mode
00093   {0x17 , "ALARM_EN",   8, 1, 0xFF},      //!< Alarm enable
00094   {0x18 , "CONFIG",    16, 2, 0x2E88},    //!< IC configuration
00095   {0x19 , "STATUS",    16, 2, 0x0000}     //!< Status, (the reset value is according to startup conditions)
00096 };
00097 
00098 /**
00099   * @brief Array whose elements are a structure in which store information about
00100   *        the L6470 Application Commands (the mnemonic name, the number of
00101   *        needed parameters, the related funtion to call)
00102   */
00103 const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] =  {
00104   {"NOP",         0x00, 0},
00105   {"SETPARAM",    0x00, 2},
00106   {"GETPARAM",    0x20, 1},
00107   {"RUN",         0x50, 2},
00108   {"STEPCLOCK",   0x58, 1},
00109   {"MOVE",        0x40, 2},
00110   {"GOTO",        0x60, 1},
00111   {"GOTO_DIR",    0x68, 2},
00112   {"GOUNTIL",     0x82, 3},
00113   {"RELEASESW",   0x92, 2},
00114   {"GOHOME",      0x70, 0},
00115   {"GOMARK",      0x78, 0},
00116   {"RESETPOS",    0xD8, 0},
00117   {"RESETDEVICE", 0xC0, 0},
00118   {"SOFTSTOP",    0xB0, 0},
00119   {"HARDSTOP",    0xB8, 0},
00120   {"SOFTHIZ",     0xA0, 0},
00121   {"HARDHIZ",     0xA8, 0},
00122   {"GETSTATUS",   0xD0, 0}
00123 };
00124 
00125 /**
00126   * @brief The mnemonic names for the L6470 direction
00127   */
00128 const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
00129   {"REV", 0x00},  //!< Reverse direction
00130   {"FWD", 0x01}   //!< Forward direction
00131 };
00132 
00133 /**
00134   * @brief Action taken about ABS_POS register
00135   */
00136 const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
00137   {"RST", 0x00},  //!< ABS_POS register is reset
00138   {"CPY", 0x01}   //!< ABS_POS register value is copied into the MARK register
00139 };
00140 
00141 /* End of L6470_Private_Constants */
00142 
00143 /**
00144   * @defgroup   L6470_Private_Variables
00145   * @brief      L6470 Private Variables.
00146   * @{
00147   */
00148 
00149 /* End of L6470_Private_Variables */
00150 
00151 
00152 /**
00153   * @addtogroup L6470_Private_Functions
00154   * @{
00155   */
00156 
00157 
00158 /* Methods -------------------------------------------------------------------*/
00159 
00160 /**
00161   * @brief  Reset the structure used to store the identifier of the L6470
00162   *         application command and its the needed parameters.
00163   * @param  pL6470_AppCmdPkg   The structure to be reset.
00164   */
00165 void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
00166 {
00167   uint8_t id;
00168   
00169   for(id=0; id<L6470DAISYCHAINSIZE; id++)
00170   {
00171     (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
00172     (pL6470_AppCmdPkg+id)->p1=0;
00173     (pL6470_AppCmdPkg+id)->p2=0;
00174     (pL6470_AppCmdPkg+id)->p3=0;
00175   }
00176 }
00177 
00178 /**
00179   * @brief  Fill the structure used to store the identifier of the L6470
00180   *         application command and its the needed parameters.
00181   * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
00182   * @param  pL6470_AppCmdPkg  The structure to be filled.
00183   * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
00184   * @param  p1                The 1st parameter (if it is not needed it will be not considered).
00185   * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
00186   * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
00187   */
00188 void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
00189 {
00190   (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
00191   (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
00192   (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
00193   (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
00194 }
00195 
00196 /**
00197   * @brief  This function will fill the column of the L6470_AppCmdPkg related
00198   *         the L6470 to be addressed inside the daisy chain.
00199   *
00200   * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
00201   * @param  pL6470_AppCmdPkg  Pointer to the sL6470_AppCmdPkg_t to be filled.
00202   * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
00203   * @param  p1                The 1st parameter (if it is not needed it will be not considered).
00204   * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
00205   * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
00206   */
00207 void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
00208 {
00209   if(!L6470_DaisyChain_HalfPrepared)
00210   {
00211     L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
00212     L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
00213   }
00214   
00215   L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
00216 }
00217 
00218 /**
00219   * @brief  This function will translate the data inside the L6470_AppCmdPkg into
00220   *         the right data to be sent via SPI to the L6470 daisy chain.
00221   *
00222   * @param  pL6470_AppCmdPkg              Pointer to the sL6470_AppCmdPkg_t to be filled.
00223   * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the structure used by SPI to send the commands.
00224   */
00225 void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
00226 {
00227   uint8_t PkgId;
00228   uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
00229   uint8_t spibyte;
00230   
00231   /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
00232   uint8_t i = 0;
00233   for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
00234     for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
00235       *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
00236 
00237   for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
00238   {
00239     /* Build the 1st bytes to transmit with the binary code of the command */
00240     *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
00241     
00242     /* Perform the related L6470_AppCmdId */
00243     switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
00244     {
00245     case L6470_NOP_ID:
00246       break;
00247     case L6470_SETPARAM_ID:
00248       /* Build the 1st bytes to transmit (PARAM) */
00249       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
00250       
00251       /* The length, in byte, of this register (PARAM) is... */
00252       PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
00253       
00254       /* Build the others bytes to transmit (VALUE) */
00255       for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
00256       {
00257         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
00258       }
00259       break;
00260     case L6470_GETPARAM_ID:
00261       /* Build the 1st bytes to transmit (PARAM) */
00262       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
00263       break;
00264     case L6470_RUN_ID:
00265       /* Build the 1st bytes to transmit (DIR) */
00266       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00267       
00268       /* Build the others bytes to transmit (SPD) */
00269       for (spibyte=1; spibyte<(3+1); spibyte++)
00270       {
00271         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
00272       }
00273       break;
00274     case L6470_STEPCLOCK_ID:
00275       /* Build the 1st bytes to transmit (DIR) */
00276       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00277       break;
00278     case L6470_MOVE_ID:
00279       /* Build the 1st bytes to transmit (DIR) */
00280       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00281       
00282       /* Build the others bytes to transmit (N_STEP) */
00283       for (spibyte=1; spibyte<(3+1); spibyte++)
00284       {
00285         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
00286       }      
00287       break;
00288     case L6470_GOTO_ID:
00289       /* Build the others bytes to transmit (ABS_POS) */
00290       for (spibyte=1; spibyte<(3+1); spibyte++)
00291       {
00292         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
00293       }
00294       break;
00295     case L6470_GOTODIR_ID:
00296       /* Build the 1st bytes to transmit (DIR) */
00297       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00298       
00299       /* Build the others bytes to transmit (ABS_POS) */
00300       for (spibyte=1; spibyte<(3+1); spibyte++)
00301       {
00302         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
00303       }
00304       break;
00305     case L6470_GOUNTIL_ID:
00306       /* Build the 1st bytes to transmit (ACT) */
00307       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
00308       /* Build the 1st bytes to transmit (DIR) */
00309       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
00310       
00311       /* Build the others bytes to transmit (SPD) */
00312       for (spibyte=1; spibyte<(3+1); spibyte++)
00313       {
00314         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
00315       }
00316       break;
00317     case L6470_RELEASESW_ID:
00318       /* Build the 1st bytes to transmit (ACT) */
00319       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
00320       /* Build the 1st bytes to transmit (DIR) */
00321       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
00322       break;
00323     case L6470_GOHOME_ID:
00324       break;
00325     case L6470_GOMARK_ID:
00326       break;
00327     case L6470_RESETPOS_ID:
00328       break;
00329     case L6470_RESETDEVICE_ID:
00330       break;
00331     case L6470_SOFTSTOP_ID:
00332       break;
00333     case L6470_HARDSTOP_ID:
00334       break;
00335     case L6470_SOFTHIZ_ID:
00336       break;
00337     case L6470_HARDHIZ_ID:
00338       break;
00339     case L6470_GETSTATUS_ID:
00340       break;
00341     }
00342   }
00343 }
00344 
00345 /* End of L6470_Private_Functions */
00346 
00347 /**
00348   * @addtogroup L6470_Exported_Functions
00349   * @{
00350   */
00351 
00352 /**
00353   * @addtogroup L6470_Conversion_Functions
00354   * @brief      The following functions act just on one driver inside the L6470
00355   *             daisy chain. The command is immediately sent.
00356   * @{
00357   */
00358 
00359  /**
00360   * @brief  Convert the absolute position as 2's complement format into the signed number.
00361   * 
00362   * @param  AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
00363   * @retval Position    The position as signed number.
00364   */
00365 int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
00366 {
00367   if (AbsPos > L6470_MAX_POSITION)
00368     return (AbsPos - (L6470_POSITION_RANGE + 1));
00369   else
00370     return AbsPos;
00371 }
00372 
00373 /**
00374   * @brief  Convert the position as signed number into absolute position as 2's complement format.
00375   * 
00376   * @param  Position    The position as signed number.
00377   * @retval AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
00378   */
00379 uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
00380 {
00381   if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
00382     return Position;
00383   else
00384   {
00385     if ((Position >= L6470_MIN_POSITION) && (Position < 0))
00386       return (Position + (L6470_POSITION_RANGE + 1));
00387     else
00388       return (L6470_POSITION_RANGE + 1);        // OVF
00389   }
00390 }
00391 
00392 /**
00393   * @brief  Convert the SPEED register value into step/s.
00394   * 
00395   * @param  Speed       The SPEED register value.
00396   * @retval step/s      The speed as step/s.
00397   */
00398 float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
00399 {
00400   return (Speed * ((float)14.9012e-3));
00401 }
00402 
00403 /**
00404   * @brief  Convert the speed as step/s into a right value for SPEED register.
00405   * 
00406   * @param  step/s      The speed as step/s.
00407   * @retval Speed       The SPEED register value.
00408   */
00409 uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
00410 {
00411   if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
00412     return (uint32_t)(Step_s / ((float)14.9012e-3));
00413   else
00414     return 0;   // Warning
00415 }
00416 
00417 /**
00418   * @brief  Convert the ACC register value into step/(s^2).
00419   * 
00420   * @param  Acc         The ACC register value.
00421   * @retval step/(s^2)  The acceleration as step/(s^2).
00422   */
00423 float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
00424 {
00425   if (Acc <= L6470_MAX_ACC)
00426     return (Acc * ((float)1.4552e1));
00427   else
00428     return 0;   // Warning
00429 }
00430 
00431 /**
00432   * @brief  Convert the acceleartion as step/(s^2) into a right value for ACC register.
00433   * 
00434   * @param  step/(s^2)  The acceleration as step/(s^2).
00435   * @retval Acc         The ACC register value.
00436   */
00437 uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
00438 {
00439   if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
00440     return (uint16_t)(Step_s2 / ((float)1.4552e1));
00441   else
00442     return 0;   // Warning
00443 }
00444 
00445 /**
00446   * @brief  Convert the DEC register value into step/(s^2).
00447   * 
00448   * @param  Dec         The DEC register value.
00449   * @retval step/(s^2)  The deceleration as step/(s^2).
00450   */
00451 float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
00452 {
00453   if (Dec <= L6470_MAX_DEC)
00454     return (Dec * ((float)1.4552e1));
00455   else
00456     return 0;   // Warning
00457 }
00458 
00459 /**
00460   * @brief  Convert the deceleration as step/(s^2) into a right value for DEC register.
00461   * 
00462   * @param  step/(s^2)  The deceleration as step/(s^2).
00463   * @retval Dec         The DEC register value.
00464   */
00465 uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
00466 {
00467   if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
00468     return (uint16_t)(Step_s2 / ((float)1.4552e1));
00469   else
00470     return 0;   // Warning
00471 }
00472 
00473 /**
00474   * @brief  Convert the MAX_SPEED register value into step/s.
00475   * 
00476   * @param  MaxSpeed    The MAX_SPEED register value.
00477   * @retval step/s      The max speed as step/s.
00478   */
00479 float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
00480 {
00481   if (MaxSpeed <= L6470_MAX_MAX_SPEED)
00482     return (MaxSpeed * ((float)15.2588));
00483   else
00484     return 0;   // Warning
00485 }
00486 
00487 /**
00488   * @brief  Convert the max speed as step/s into a right value for MAX_SPEED register.
00489   * 
00490   * @param  step/s      The max speed as step/s.
00491   * @retval MaxSpeed    The MAX_SPEED register value.
00492   */
00493 uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
00494 {
00495   if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
00496     return (uint16_t)(Step_s / ((float)15.2588));
00497   else
00498     return 0;   // Warning
00499 }
00500 
00501 /**
00502   * @brief  Convert the MIN_SPEED register value into step/s.
00503   * 
00504   * @param  MinSpeed    The MIN_SPEED register value.
00505   * @retval step/s      The min speed as step/s.
00506   */
00507 float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
00508 {
00509   if (MinSpeed <= L6470_MAX_MIN_SPEED)
00510     return (MinSpeed * ((float)238.4186e-3));
00511   else
00512     return 0;   // Warning
00513 }
00514 
00515 /**
00516   * @brief  Convert the min speed as step/s into a right value for MIN_SPEED register.
00517   * 
00518   * @param  step/s      The min speed as step/s.
00519   * @retval MinSpeed    The MIN_SPEED register value.
00520   */
00521 uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
00522 {
00523   if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
00524     return (uint16_t)(Step_s / ((float)238.4186e-3));
00525   else
00526     return 0;   // Warning
00527 }
00528 
00529 /**
00530   * @brief  Convert the FS_SPD register value into step/s.
00531   * 
00532   * @param  FsSpd       The FS_SPD register value.
00533   * @retval step/s      The full-step speed as step/s.
00534   */
00535 float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
00536 {
00537   if (FsSpd <= L6470_MAX_FS_SPD)
00538     return ((FsSpd+0.5) * ((float)15.25));
00539   else
00540     return 0;   // Warning
00541 }
00542 
00543 /**
00544   * @brief  Convert the full-step speed as step/s into a right value for FS_SPD register.
00545   * 
00546   * @param  step/s      The full-step speed as step/s.
00547   * @retval FsSpd       The FS_SPD register value.
00548   */
00549 uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
00550 {
00551   if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
00552     return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
00553   else
00554     return 0;   // Warning
00555 }
00556 
00557 /**
00558   * @brief  Convert the INT_SPEED register value into step/s.
00559   * 
00560   * @param  IntSpeed    The INT_SPEED register value.
00561   * @retval step/s      The intersect speed as step/s.
00562   */
00563 float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
00564 {
00565   if (IntSpeed <= L6470_MAX_INT_SPEED)
00566     return (IntSpeed * ((float)59.6046e-3));
00567   else
00568     return 0;   // Warning
00569 }
00570 
00571 /**
00572   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00573   * 
00574   * @param  step/s      The full-step speed as step/s.
00575   * @retval FsSpd       The FS_SPD register value.
00576   */
00577 uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
00578 {
00579   if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
00580     return (uint16_t)(Step_s / ((float)59.6046e-3));
00581   else
00582     return 0;   // Warning
00583 }
00584 
00585 /**
00586   * @brief  Convert the ST_SLP register value into s/step.
00587   * 
00588   * @param  StartSlope  The ST_SLP register value.
00589   * @retval s/step      The start slope as s/step.
00590   */
00591 float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
00592 {
00593 //  if (StSlp <= L6470_MAX_ST_SLP)
00594     return (StSlp * ((float)1.5686e-5));
00595 //  else
00596 //    return 0;   // Warning
00597 }
00598 
00599 /**
00600   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00601   * 
00602   * @param  step/s      The full-step speed as step/s.
00603   * @retval FsSpd       The FS_SPD register value.
00604   */
00605 uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
00606 {
00607   if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
00608     return (uint8_t)(s_Step / ((float)1.5686e-5));
00609   else
00610     return 0;   // Warning
00611 }
00612 
00613 /**
00614   * @brief  Convert the INT_SPEED register value into step/s.
00615   * 
00616   * @param  IntSpeed    The INT_SPEED register value.
00617   * @retval step/s      The intersect speed as step/s.
00618   */
00619 float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
00620 {
00621 //  if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
00622     return (FnSlpAcc * ((float)1.5686e-5));
00623 //  else
00624 //    return 0;   // Warning
00625 }
00626 
00627 /**
00628   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00629   * 
00630   * @param  step/s      The full-step speed as step/s.
00631   * @retval FsSpd       The FS_SPD register value.
00632   */
00633 uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
00634 {
00635   if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
00636     return (uint8_t)(s_Step / ((float)1.5686e-5));
00637   else
00638     return 0;   // Warning
00639 }
00640 
00641 /**
00642   * @brief  Convert the INT_SPEED register value into step/s.
00643   * 
00644   * @param  IntSpeed    The INT_SPEED register value.
00645   * @retval step/s      The intersect speed as step/s.
00646   */
00647 float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
00648 {
00649 //  if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
00650     return (FnSlpDec * ((float)1.5686e-5));
00651 //  else
00652 //    return 0;   // Warning
00653 }
00654 
00655 /**
00656   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00657   * 
00658   * @param  step/s      The full-step speed as step/s.
00659   * @retval FsSpd       The FS_SPD register value.
00660   */
00661 uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
00662 {
00663   if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
00664     return (uint8_t)(s_Step / ((float)1.5686e-5));
00665   else
00666     return 0;   // Warning
00667 }
00668 
00669 /**
00670   * @brief  Convert the OCD_TH register value into mA.
00671   * 
00672   * @param  OcdTh       The OCD_TH register value.
00673   * @retval mA          The overcurrent threshold as mA.
00674   */
00675 float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
00676 {
00677   if (OcdTh <= L6470_MAX_OCD_TH)
00678     return ((OcdTh+1) * ((float)375));
00679   else
00680     return 0;   // Warning
00681 }
00682 
00683 /**
00684   * @brief  Convert the overcurrent threshold as mA into a right value for OCD_TH register.
00685   * 
00686   * @param  mA          The overcurrent threshold as mA.
00687   * @retval OcdTh       The OCD_TH register value.
00688   */
00689 uint8_t L6470::L6470_mA_2_OcdTh(float mA)
00690 {
00691   float result, decimal;
00692   
00693   if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
00694   {
00695     result = (mA / ((float)375));
00696     decimal = result - (uint8_t)result;
00697     
00698     if (decimal < (float)0.5)
00699       return ((uint8_t)result - 1);
00700     else
00701       return ((uint8_t)result);    
00702   }
00703   else
00704     return 0;   // Warning
00705 }
00706 
00707 /**
00708   * @brief  Convert the STALL_TH register value into mA.
00709   * 
00710   * @param  StallTh     The STALL_TH register value.
00711   * @retval mA          The stall detection threshold as mA.
00712   */
00713 float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
00714 {
00715   if (StallTh <= L6470_MAX_STALL_TH)
00716     return ((StallTh+1) * ((float)31.25));
00717   else
00718     return 0;   // Warning
00719 }
00720 
00721 /**
00722   * @brief  Convert the stall detection threshold as mA into a right value for STALL_TH register.
00723   * 
00724   * @param  mA          The stall detection threshold as mA.
00725   * @retval StallTh     The STALL_TH register value.
00726   */
00727 uint8_t L6470::L6470_mA_2_StallTh(float mA)
00728 {
00729   float result, decimal;
00730   
00731   if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
00732   {
00733     result = (mA / ((float)31.25));
00734     decimal = result - (uint8_t)result;
00735     
00736     if (decimal < (float)0.5)
00737       return ((uint8_t)result - 1);
00738     else
00739       return ((uint8_t)result);    
00740   }
00741   else
00742     return 0;   // Warning
00743 }
00744 
00745 /* End of L6470_Conversion_Functions */
00746 
00747 /**
00748   * @addtogroup L6470_AppCMDs
00749   * @{
00750   */
00751 
00752 /**
00753   * @brief  SetParam command sets the register value equal to a new value.
00754   * 
00755   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
00756   * @param  Value         The new value.
00757   */
00758 void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
00759 {
00760   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
00761   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00762   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00763 }
00764 
00765 /**
00766   * @brief  GetParam command reads the register value.
00767   * 
00768   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
00769   * 
00770   * @retval ReceivedValue The register value.
00771   */
00772 uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
00773 {
00774   uint8_t ValueLengthByte;
00775   uint32_t ReceivedValue;
00776 
00777   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
00778   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00779   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00780   
00781   ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
00782   
00783   ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
00784   
00785   return ReceivedValue;
00786 }
00787 
00788 /**
00789   * @brief  Run command produces a motion at fixed speed.
00790   * 
00791   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00792   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
00793   */
00794 void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
00795 {
00796   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
00797   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00798   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00799 }
00800 
00801 /**
00802   * @brief  StepClock command switches the device in Step-clock mode.
00803   * 
00804   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00805   */
00806 void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
00807 {
00808   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
00809   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00810   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00811 }
00812 
00813 /**
00814   * @brief  Move command produces a motion of N_STEP microsteps.
00815   * 
00816   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00817   * @param  N_Step        The number of microsteps.
00818   */
00819 void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
00820 {
00821   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
00822   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00823   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00824 }
00825 
00826 /**
00827   * @brief  GoTo command produces a motion to ABS_POS absolute position through the shortest path.
00828   * 
00829   * @param  AbsPos        The target absolute position.
00830   */
00831 void L6470::L6470_GoTo(uint32_t AbsPos)
00832 {
00833   if (AbsPos <= L6470_POSITION_RANGE)
00834   {
00835     L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
00836     L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00837     L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00838   }
00839 }
00840 
00841 /**
00842   * @brief  GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
00843   * 
00844   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00845   * @param  AbsPos        The target absolute position.
00846   */
00847 void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
00848 {
00849   if (AbsPos <= L6470_POSITION_RANGE)
00850   {
00851     L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
00852     L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00853     L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00854   }
00855 }
00856 
00857 /**
00858   * @brief  GoUntil command produces a motion at fixed speed imposing a direction
00859   *         until an external switch turn-on event occurs.
00860   * 
00861   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
00862   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00863   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
00864   */
00865 void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
00866 {
00867   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
00868   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00869   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00870 }
00871 
00872 /**
00873   * @brief  ReleaseSW command produces a motion at minimum speed imposing a direction
00874   *         until SW is released.
00875   * 
00876   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
00877   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00878   */
00879 void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
00880 {
00881   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
00882   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00883   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00884 }
00885 
00886 /**
00887   * @brief  GoHome command produces a motion to the HOME position (zero position)
00888   *         via the shortest path.
00889   * 
00890   */
00891 void L6470::L6470_GoHome(void)
00892 {
00893   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
00894   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00895   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00896 }
00897 
00898 /**
00899   * @brief  GoMark command produces a motion to the MARK position performing the
00900   *         minimum path.
00901   * 
00902   */
00903 void L6470::L6470_GoMark(void)
00904 {
00905   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
00906   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00907   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00908 }
00909 
00910 /**
00911   * @brief  ResetPos command resets the ABS_POS register to zero.
00912   * 
00913   */
00914 void L6470::L6470_ResetPos(void)
00915 {
00916   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
00917   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00918   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00919 }
00920 
00921 /**
00922   * @brief  ResetDevice command resets the device to power-up conditions.
00923   * 
00924   */
00925 void L6470::L6470_ResetDevice(void)
00926 {
00927   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
00928   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00929   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00930 }
00931 
00932 /**
00933   * @brief  SoftStop command causes an immediate deceleration to zero speed and
00934   *         a consequent motor stop; the deceleration value used is the one stored
00935   *         in the DEC register.
00936   * 
00937   */
00938 void L6470::L6470_SoftStop(void)
00939 {
00940   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
00941   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00942   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00943 }
00944 
00945 /**
00946   * @brief  HardStop command causes an immediate motor stop with infinite deceleration.
00947   * 
00948   */
00949 void L6470::L6470_HardStop(void)
00950 {
00951   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
00952   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00953   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00954 }
00955 
00956 /**
00957   * @brief  SoftHiZ command disables the power bridges (high impedance state)
00958   *         after a deceleration to zero; the deceleration value used is the one
00959   *         stored in the DEC register.
00960   * 
00961   */
00962 void L6470::L6470_SoftHiZ(void)
00963 {
00964   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
00965   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00966   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00967 }
00968 
00969 /**
00970   * @brief  HardHiZ command immediately disables the power bridges (high impedance state).
00971   * 
00972   */
00973 void L6470::L6470_HardHiZ(void)
00974 {
00975   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
00976   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00977   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00978 }
00979 
00980 /**
00981   * @brief  GetStatus command returns the STATUS register value.
00982   * 
00983   * 
00984   * @retval ReceivedValue The register value.
00985   */
00986 uint16_t L6470::L6470_GetStatus(void)
00987 {
00988   uint16_t ReceivedValue;
00989 
00990   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
00991   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00992   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00993   
00994   ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
00995   
00996   return ReceivedValue;
00997 }
00998 
00999 /* End of L6470_AppCMDs */
01000 
01001 /**
01002   * @addtogroup L6470_AppCMDs_ToBePrepared
01003   * @{
01004   */
01005 
01006 /**
01007   * @brief  Prepare to send @ref L6470_SetParam command.
01008   *
01009   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
01010   * @param  Value         The new value.
01011   *
01012   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01013   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01014   */
01015 void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
01016 {
01017   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
01018 }
01019 
01020 /**
01021   * @brief  Prepare to send @ref L6470_GetParam command.
01022   *
01023   * @param  L6470_Id      The L6470 identifier inside the daisy chain.
01024   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
01025   *
01026   * @retval ReceivedValue The register value.
01027   *
01028   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01029   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01030   */
01031 void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
01032 {
01033   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
01034 }
01035 
01036 /**
01037   * @brief  Prepare to send @ref L6470_Run command.
01038   * 
01039   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01040   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
01041   *
01042   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01043   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01044   */
01045 void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
01046 {
01047   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
01048 }
01049 
01050 /**
01051   * @brief  Prepare to send @ref L6470_StepClock command.
01052   * 
01053   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01054   *
01055   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01056   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01057   */
01058 void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
01059 {
01060   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
01061 }
01062 
01063 /**
01064   * @brief  Prepare to send @ref L6470_Move command.
01065   * 
01066   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01067   * @param  N_Step        The number of microsteps.
01068   *
01069   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01070   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01071   */
01072 void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
01073 {
01074   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
01075 }
01076 
01077 /**
01078   * @brief  Prepare to send @ref L6470_GoTo command.
01079   * 
01080   * @param  AbsPos        The target absolute position.
01081   *
01082   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01083   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01084   */
01085 void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
01086 {
01087   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
01088 }
01089 
01090 /**
01091   * @brief  Prepare to send @ref L6470_GoToDIR command.
01092   * 
01093   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01094   * @param  AbsPos        The target absolute position.
01095   *
01096   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01097   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01098   */
01099 void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
01100 {
01101   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
01102 }
01103 
01104 /**
01105   * @brief  Prepare to send @ref L6470_GoUntil command.
01106   * 
01107   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
01108   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01109   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
01110   *
01111   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01112   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01113   */
01114 void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
01115 {
01116   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
01117 }
01118 
01119 /**
01120   * @brief  Prepare to send @ref L6470_ReleaseSW.
01121   * 
01122   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
01123   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01124   *
01125   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01126   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01127   */
01128 void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
01129 {
01130   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
01131 }
01132 
01133 /**
01134   * @brief  Prepare to send @ref L6470_GoHome command.
01135   * 
01136   *
01137   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01138   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01139   */
01140 void L6470::L6470_PrepareGoHome(void)
01141 {
01142   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
01143 }
01144 
01145 /**
01146   * @brief  Prepare to send @ref L6470_GoMark command.
01147   * 
01148   *
01149   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01150   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01151   */
01152 void L6470::L6470_PrepareGoMark(void)
01153 {
01154   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
01155 }
01156 
01157 /**
01158   * @brief  Prepare to send @ref L6470_ResetPos command.
01159   * 
01160   *
01161   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01162   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01163   */
01164 void L6470::L6470_PrepareResetPos(void)
01165 {
01166   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
01167 }
01168 
01169 /**
01170   * @brief  Prepare to send @ref L6470_ResetDevice command.
01171   * 
01172   *
01173   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01174   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01175   */
01176 void L6470::L6470_PrepareResetDevice(void)
01177 {
01178   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
01179 }
01180 
01181 /**
01182   * @brief  Prepare to send @ref L6470_SoftStop command.
01183   * 
01184   *
01185   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01186   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01187   */
01188 void L6470::L6470_PrepareSoftStop(void)
01189 {
01190   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
01191 }
01192 
01193 /**
01194   * @brief  Prepare to send @ref L6470_HardStop command.
01195   * 
01196   *
01197   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01198   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01199   */
01200 void L6470::L6470_PrepareHardStop(void)
01201 {
01202   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
01203 }
01204 
01205 /**
01206   * @brief  Prepare to send @ref L6470_SoftHiZ command.
01207   * 
01208   *
01209   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01210   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01211   */
01212 void L6470::L6470_PrepareSoftHiZ(void)
01213 {
01214   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
01215 }
01216 
01217 /**
01218   * @brief  Prepare to send @ref L6470_HardHiZ command.
01219   * 
01220   *
01221   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01222   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01223   */
01224 void L6470::L6470_PrepareHardHiZ(void)
01225 {
01226   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
01227 }
01228 
01229 /**
01230   * @brief  Prepare to send @ref L6470_GetStatus command.
01231   * 
01232   *
01233   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01234   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01235   */
01236 void L6470::L6470_PrepareGetStatus(void)
01237 {
01238   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
01239 }
01240 
01241 /* End of L6470_AppCMDs_ToBePrepared */
01242 
01243 /**
01244   * @brief  Send via SPI the command stored inside the L6470_AppCmdPkg to the
01245   *         L6470 daisy chain.
01246   * 
01247   * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct  The pointer to the structure
01248   *         containing returned values from each L6470 of the daisy chain for each
01249   *         sent SPI data.
01250   */
01251 uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
01252 {
01253   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
01254   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
01255   
01256   return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
01257 }
01258 
01259 /**
01260   * @brief  Send command to the L6470 daisy chain via SPI
01261   * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the matrix array of bytes to be sent to the daisy chain L6470
01262   * @param  pL6470_DaisyChainSpiRxStruct  Pointer to the matrix array of bytes to be received from the daisy chain L6470
01263   */
01264 void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
01265 {
01266   uint8_t spibyte;
01267   
01268   L6470_DaisyChain_HalfPrepared = ZERO_F;
01269   
01270   /* Send all command bytes via SPI */
01271   for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
01272   {
01273     /* Send the command via SPI */
01274     L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
01275     
01276     //_DELAY(TDISCS);
01277     uint8_t delay_cnt;
01278     for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP();   //!<Simply deselect time delay for SPI nCS
01279   }
01280 }
01281 
01282 /**
01283   * @brief    Extracts the data returned by the L6470 from the matrix that
01284   *           contains the received SPI data.
01285   * @param    L6470_Id  The identifier of the L6470 target inside the daisy chain.
01286   * @param    pL6470_DaisyChainSpiRxStruct  uint8_t-pointer to the matrix that
01287   *           contains the received data by SPI from the L6470 daisy chain.
01288   * @param    LengthByte  The number of bytes about the received value.
01289   */
01290 uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
01291 {
01292   uint32_t value;
01293   uint8_t i;
01294 
01295   value = 0x000000;
01296   for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
01297   {
01298     value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
01299   }
01300 
01301   return value;
01302 }
01303 
01304 /**
01305   * @brief  Check the state of a flag inside the L6470 STATUS register.
01306   *
01307   * @param  L6470_Id  The identifier of the L6470 target inside the daisy chain.
01308   * @param  L6470_StatusRegisterFlagId  The identifier of the L6470 STATUS flag to be checked.
01309   *
01310   * @retval state The flag state.
01311   */
01312 
01313 uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
01314 {
01315   uint8_t state = 0;
01316 
01317   *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
01318   
01319   switch(L6470_StatusRegisterFlagId)
01320   {
01321     case HiZ_ID:
01322       state = pL6470_StatusRegister->HiZ;
01323       break;
01324     case BUSY_ID:
01325       state = pL6470_StatusRegister->BUSY;
01326       break;
01327     case SW_F_ID:
01328       state = pL6470_StatusRegister->SW_F;
01329       break;
01330     case SW_EVN_ID:
01331       state = pL6470_StatusRegister->SW_EVN;
01332       break;
01333     case DIR_ID:
01334       state = pL6470_StatusRegister->DIR;
01335       break;
01336     case MOT_STATUS_ID:
01337       state = pL6470_StatusRegister->MOT_STATUS;
01338       break;
01339     case NOTPERF_CMD_ID:
01340       state = pL6470_StatusRegister->NOTPERF_CMD;
01341       break;
01342     case WRONG_CMD_ID:
01343       state = pL6470_StatusRegister->WRONG_CMD;
01344       break;
01345     case UVLO_ID:
01346       state = pL6470_StatusRegister->UVLO;
01347       break;
01348     case TH_WRN_ID:
01349       state = pL6470_StatusRegister->TH_WRN;
01350       break;
01351     case TH_SD_ID:
01352       state = pL6470_StatusRegister->TH_SD;
01353       break;
01354     case OCD_ID:
01355       state = pL6470_StatusRegister->OCD;
01356       break;
01357     case STEP_LOSS_A_ID:
01358       state = pL6470_StatusRegister->STEP_LOSS_A;
01359       break;
01360     case STEP_LOSS_B_ID:
01361       state = pL6470_StatusRegister->STEP_LOSS_B;
01362       break;
01363     case SCK_MOD_ID:
01364       state = pL6470_StatusRegister->SCK_MOD;
01365       break;
01366   }
01367   
01368   return state;
01369 }
01370 
01371 /**
01372   * @brief  Return the mnemonic name for the L6470 register.
01373   * @param  id  The identifier of the L6470 register.
01374   */
01375 uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
01376 {
01377   if (id < L6470REGIDSIZE)
01378   {
01379     return (uint8_t*)L6470_Register[id].Name;
01380   }
01381   else
01382   {
01383     return NULL;
01384   }
01385 }
01386 
01387 /**
01388   * @brief  Configures the L6470 registers.
01389   * @param  init The pointer to the initialization structure.
01390   */
01391 status_t L6470::L6470_Config(void *init)
01392 {
01393   /* Disable the L6470. */
01394   L6470_DISABLE();
01395 
01396   /* Enable the L6470. */
01397   L6470_ENABLE();
01398 
01399   /* Reset devices. */
01400   reset_device();
01401 
01402   /* Reset Status Register flags. */
01403   get_status();
01404 
01405   /* Prepare the 'Register' field of StepperMotorDriverHandle */
01406   L6470_init_t *MotorParameterData = (L6470_init_t *) init;
01407   StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
01408   StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
01409   StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
01410   StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
01411   StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
01412   StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
01413   StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
01414   StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
01415   StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
01416   StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
01417   StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
01418   StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
01419   StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
01420   StepperMotorRegister.K_THERM = MotorParameterData->kterm;
01421   StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
01422   StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
01423   StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
01424   StepperMotorRegister.CONFIG = MotorParameterData->config;
01425   StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
01426 
01427   /* Write the L6470 registers with the prepared data */
01428   L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
01429   L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
01430   L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
01431   L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
01432   L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
01433   L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
01434   L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
01435   L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
01436   L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
01437   L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
01438   L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
01439   L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
01440   L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
01441   L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
01442   L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
01443   L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
01444   L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
01445   L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
01446   if (!set_step_mode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
01447     return COMPONENT_ERROR;
01448   
01449   return COMPONENT_OK;
01450 }
01451 
01452 /* End of L6470_Exported_Functions */
01453 
01454 /* End of L6470 */
01455 
01456 /* End of Components */
01457 
01458 /* End of BSP */
01459 
01460 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/