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

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L6470 Class Reference

Class representing a L6470 component. More...

#include <L6470.h>

Public Types

enum  prepared_action_t
 

Prepared Actions.

More...

Public Member Functions

 L6470 (PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi)
 Constructor.
virtual ~L6470 (void)
 Destructor.
virtual int init (void *init)
 Initializing the component.
virtual int read_id (uint8_t *id)
 Getting the ID of the component.
virtual unsigned int get_status (void)
 Getting the status.
virtual unsigned int get_parameter (unsigned int parameter)
 Getting a parameter.
virtual signed int get_position (void)
 Getting the position.
virtual signed int get_mark (void)
 Getting the marked position.
virtual unsigned int get_speed (void)
 Getting the current speed in pps.
virtual unsigned int get_max_speed (void)
 Getting the maximum speed in pps.
virtual unsigned int get_min_speed (void)
 Getting the minimum speed in pps.
virtual unsigned int get_acceleration (void)
 Getting the acceleration in pps^2.
virtual unsigned int get_deceleration (void)
 Getting the deceleration in pps^2.
virtual direction_t get_direction (void)
 Getting the direction of rotation.
virtual void set_parameter (unsigned int parameter, unsigned int value)
 Setting a parameter.
virtual void set_home (void)
 Setting the current position to be the home position.
virtual void set_mark (void)
 Setting the current position to be the marked position.
virtual void set_mark (signed int position)
 Setting the current position to be the marked position.
virtual bool set_max_speed (unsigned int speed)
 Setting the maximum speed in pps.
virtual bool set_min_speed (unsigned int speed)
 Setting the minimum speed in pps.
virtual bool set_acceleration (unsigned int acceleration)
 Setting the acceleration in pps^2.
virtual bool set_deceleration (unsigned int deceleration)
 Setting the deceleration in pps^2.
virtual bool set_step_mode (step_mode_t step_mode)
 Setting the Step Mode.
virtual void go_to (signed int position)
 Going to a specified position through the shortest path.
virtual void go_to (signed int position, direction_t direction)
 Going to a specified position imposing the desired direction.
virtual void go_home (void)
 Going to the home position.
virtual void go_mark (void)
 Going to the marked position.
virtual void go_until (eL6470_ActId_t action, direction_t direction, unsigned int speed)
 Running at the given speed imposing the desired direction until an external switch turn-on event occurs.
virtual void run (direction_t direction)
 Running towards a specified direction.
virtual void run (direction_t direction, unsigned int speed)
 Running towards a specified direction at the given speed.
virtual void move (direction_t direction, unsigned int steps)
 Moving towards a specified direction for a certain number of steps.
virtual void soft_stop (void)
 Stopping the motor through an immediate deceleration up to zero speed.
virtual void hard_stop (void)
 Stopping the motor through an immediate infinite deceleration.
virtual void soft_hiz (void)
 Disabling the power bridge after performing a deceleration to zero.
virtual void hard_hiz (void)
 Disabling the power bridge immediately.
virtual void wait_while_active (void)
 Waiting while the motor is active.
virtual void step_clock (direction_t direction)
 Switching to step-clock mode.
virtual void release_sw (eL6470_ActId_t action, direction_t direction)
 Doing a motion at minimum speed imposing a specified direction until the SW is released.
virtual void reset_device (void)
 Resetting the device to power-up conditions.
virtual void prepare_get_status (void)
 Preparing the command to get the status.
virtual void prepare_get_parameter (unsigned int parameter)
 Preparing the command to get a parameter.
virtual void prepare_get_position (void)
 Preparing the command to get the position.
virtual void prepare_get_mark (void)
 Preparing the command to get the marked position.
virtual void prepare_get_speed (void)
 Preparing the command to get the current speed in pps.
virtual void prepare_get_max_speed (void)
 Preparing the command to get the maximum speed in pps.
virtual void prepare_get_min_speed (void)
 Preparing the command to get the minimum speed in pps.
virtual void prepare_get_acceleration (void)
 Preparing the command to get the acceleration in pps^2.
virtual void prepare_get_deceleration (void)
 Preparing the command to get the deceleration in pps^2.
virtual void prepare_get_direction (void)
 Preparing the command to get the direction of rotation.
virtual void prepare_set_parameter (unsigned int parameter, unsigned int value)
 Preparing the command to set a parameter.
virtual void prepare_set_home (void)
 Preparing the command to set the current position to be the home position.
virtual void prepare_set_mark (void)
 Preparing the command to set the current position to be the marked position.
virtual void prepare_set_mark (signed int position)
 Preparing the command to set the given position to be the marked position.
virtual void prepare_set_speed (unsigned int speed)
 Preparing the command to set the current speed in pps.
virtual void prepare_set_max_speed (unsigned int speed)
 Preparing the command to set the maximum speed in pps.
virtual void prepare_set_min_speed (unsigned int speed)
 Preparing the command to set the minimum speed in pps.
virtual void prepare_set_acceleration (unsigned int acceleration)
 Preparing the command to set the acceleration in pps^2.
virtual void prepare_set_deceleration (unsigned int deceleration)
 Preparing the command to set the deceleration in pps^2.
virtual void prepare_go_to (signed int position)
 Preparing the command to go to a specified position.
virtual void prepare_go_to (signed int position, direction_t direction)
 Preparing the command to go to a specified position imposing the desired direction.
virtual void prepare_go_home (void)
 Preparing the command to go to the home position.
virtual void prepare_go_mark (void)
 Preparing the command to go to the marked position.
virtual void prepare_go_until (eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
 Preparing the command to run at the given speed imposing the desired direction until an external switch turn-on event occurs.
virtual void prepare_run (direction_t direction)
 Preparing the command to run towards a specified direction at the maximum speed.
virtual void prepare_run (direction_t direction, unsigned int speed)
 Preparing the command to run towards a specified direction at the given speed.
virtual void prepare_move (direction_t direction, unsigned int steps)
 Preparing the command to move towards a specified direction for a certain number of steps.
virtual void prepare_soft_stop (void)
 Preparing the command to stop the motor.
virtual void prepare_hard_stop (void)
 Preparing the command to stop the motor and disabling the power bridge.
virtual void prepare_soft_hiz (void)
 Preparing the command to disable the power bridge after performing a deceleration to zero.
virtual void prepare_hard_hiz (void)
 Preparing the command to disable the power bridge immediately.
virtual void prepare_step_clock (direction_t direction)
 Preparing the command to switch to step-clock mode.
virtual void prepare_release_sw (eL6470_ActId_t action, direction_t direction)
 Preparing the command to do a motion at minimum speed imposing a specified direction until the SW is released.
virtual void prepare_reset_device (void)
 Preparing the command to reset the device to power-up conditions.
uint8_t * perform_prepared_actions (void)
 Performing all the actions prepared on the components of the daisy-chain.
prepared_action_t get_prepared_action (void)
 Getting the prepared action.
int32_t get_result (uint8_t *raw_data)
 Converting the raw data received by the component according to the action performed on it.
void attach_flag_irq (void(*fptr)(void))
 Attaching an interrupt handler to the FLAG interrupt.
void enable_flag_irq (void)
 Enabling the FLAG interrupt handling.
void disable_flag_irq (void)
 Disabling the FLAG interrupt handling.
void attach_busy_irq (void(*fptr)(void))
 Attaching an interrupt handler to the BUSY interrupt.
void enable_busy_irq (void)
 Enabling the BUSY interrupt handling.
void disable_busy_irq (void)
 Disabling the BUSY interrupt handling.

Protected Member Functions

int32_t L6470_AbsPos_2_Position (uint32_t AbsPos)
 Convert the absolute position as 2's complement format into the signed number.
uint32_t L6470_Position_2_AbsPos (int32_t Position)
 Convert the position as signed number into absolute position as 2's complement format.
float L6470_Speed_2_Step_s (uint32_t Speed)
 Convert the SPEED register value into step/s.
uint32_t L6470_Step_s_2_Speed (float Step_s)
 Convert the speed as step/s into a right value for SPEED register.
float L6470_Acc_2_Step_s2 (uint16_t Acc)
 Convert the ACC register value into step/(s^2).
uint16_t L6470_Step_s2_2_Acc (float Step_s2)
 Convert the acceleartion as step/(s^2) into a right value for ACC register.
float L6470_Dec_2_Step_s2 (uint16_t Dec)
 Convert the DEC register value into step/(s^2).
uint16_t L6470_Step_s2_2_Dec (float Step_s2)
 Convert the deceleration as step/(s^2) into a right value for DEC register.
float L6470_MaxSpeed_2_Step_s (uint16_t MaxSpeed)
 Convert the MAX_SPEED register value into step/s.
uint16_t L6470_Step_s_2_MaxSpeed (float Step_s)
 Convert the max speed as step/s into a right value for MAX_SPEED register.
float L6470_MinSpeed_2_Step_s (uint16_t MinSpeed)
 Convert the MIN_SPEED register value into step/s.
uint16_t L6470_Step_s_2_MinSpeed (float Step_s)
 Convert the min speed as step/s into a right value for MIN_SPEED register.
float L6470_FsSpd_2_Step_s (uint16_t FsSpd)
 Convert the FS_SPD register value into step/s.
uint16_t L6470_Step_s_2_FsSpd (float Step_s)
 Convert the full-step speed as step/s into a right value for FS_SPD register.
float L6470_IntSpeed_2_Step_s (uint16_t IntSpeed)
 Convert the INT_SPEED register value into step/s.
uint16_t L6470_Step_s_2_IntSpeed (float Step_s)
 Convert the intersect speed as step/s into a right value for INT_SPEED register.
float L6470_StSlp_2_s_Step (uint8_t StSlp)
 Convert the ST_SLP register value into s/step.
uint8_t L6470_s_Step_2_StSlp (float s_Step)
 Convert the intersect speed as step/s into a right value for INT_SPEED register.
float L6470_FnSlpAcc_2_s_Step (uint8_t FnSlpAcc)
 Convert the INT_SPEED register value into step/s.
uint8_t L6470_s_Step_2_FnSlpAcc (float s_Step)
 Convert the intersect speed as step/s into a right value for INT_SPEED register.
float L6470_FnSlpDec_2_s_Step (uint8_t FnSlpDec)
 Convert the INT_SPEED register value into step/s.
uint8_t L6470_s_Step_2_FnSlpDec (float s_Step)
 Convert the intersect speed as step/s into a right value for INT_SPEED register.
float L6470_OcdTh_2_mA (uint8_t OcdTh)
 Convert the OCD_TH register value into mA.
uint8_t L6470_mA_2_OcdTh (float mA)
 Convert the overcurrent threshold as mA into a right value for OCD_TH register.
float L6470_StallTh_2_mA (uint8_t StallTh)
 Convert the STALL_TH register value into mA.
uint8_t L6470_mA_2_StallTh (float mA)
 Convert the stall detection threshold as mA into a right value for STALL_TH register.
status_t L6470_Config (void *init)
 Configures the L6470 registers.
void L6470_SetParam (eL6470_RegId_t L6470_RegId, uint32_t Value)
 SetParam command sets the register value equal to a new value.
uint32_t L6470_GetParam (eL6470_RegId_t L6470_RegId)
 GetParam command reads the register value.
void L6470_Run (eL6470_DirId_t L6470_DirId, uint32_t Speed)
 Run command produces a motion at fixed speed.
void L6470_StepClock (eL6470_DirId_t L6470_DirId)
 StepClock command switches the device in Step-clock mode.
void L6470_Move (eL6470_DirId_t L6470_DirId, uint32_t N_Step)
 Move command produces a motion of N_STEP microsteps.
void L6470_GoTo (uint32_t AbsPos)
 GoTo command produces a motion to ABS_POS absolute position through the shortest path.
void L6470_GoToDir (eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
 GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
void L6470_GoUntil (eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
 GoUntil command produces a motion at fixed speed imposing a direction until an external switch turn-on event occurs.
void L6470_ReleaseSW (eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
 ReleaseSW command produces a motion at minimum speed imposing a direction until SW is released.
void L6470_GoHome (void)
 GoHome command produces a motion to the HOME position (zero position) via the shortest path.
void L6470_GoMark (void)
 GoMark command produces a motion to the MARK position performing the minimum path.
void L6470_ResetPos (void)
 ResetPos command resets the ABS_POS register to zero.
void L6470_ResetDevice (void)
 ResetDevice command resets the device to power-up conditions.
void L6470_SoftStop (void)
 SoftStop command causes an immediate deceleration to zero speed and a consequent motor stop; the deceleration value used is the one stored in the DEC register.
void L6470_HardStop (void)
 HardStop command causes an immediate motor stop with infinite deceleration.
void L6470_SoftHiZ (void)
 SoftHiZ command disables the power bridges (high impedance state) after a deceleration to zero; the deceleration value used is the one stored in the DEC register.
void L6470_HardHiZ (void)
 HardHiZ command immediately disables the power bridges (high impedance state).
uint16_t L6470_GetStatus (void)
 GetStatus command returns the STATUS register value.
void L6470_PrepareSetParam (eL6470_RegId_t L6470_RegId, uint32_t Value)
 Prepare to send L6470_SetParam command.
void L6470_PrepareGetParam (eL6470_RegId_t L6470_RegId)
 Prepare to send L6470_GetParam command.
void L6470_PrepareRun (eL6470_DirId_t L6470_DirId, uint32_t Speed)
 Prepare to send L6470_Run command.
void L6470_PrepareStepClock (eL6470_DirId_t L6470_DirId)
 Prepare to send L6470_StepClock command.
void L6470_PrepareMove (eL6470_DirId_t L6470_DirId, uint32_t N_Step)
 Prepare to send L6470_Move command.
void L6470_PrepareGoTo (uint32_t AbsPos)
 Prepare to send L6470_GoTo command.
void L6470_PrepareGoToDir (eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
 Prepare to send L6470_GoToDIR command.
void L6470_PrepareGoUntil (eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
 Prepare to send L6470_GoUntil command.
void L6470_PrepareReleaseSW (eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
 Prepare to send L6470_ReleaseSW.
void L6470_PrepareGoHome (void)
 Prepare to send L6470_GoHome command.
void L6470_PrepareGoMark (void)
 Prepare to send L6470_GoMark command.
void L6470_PrepareResetPos (void)
 Prepare to send L6470_ResetPos command.
void L6470_PrepareResetDevice (void)
 Prepare to send L6470_ResetDevice command.
void L6470_PrepareSoftStop (void)
 Prepare to send L6470_SoftStop command.
void L6470_PrepareHardStop (void)
 Prepare to send L6470_HardStop command.
void L6470_PrepareSoftHiZ (void)
 Prepare to send L6470_SoftHiZ command.
void L6470_PrepareHardHiZ (void)
 Prepare to send L6470_HardHiZ command.
void L6470_PrepareGetStatus (void)
 Prepare to send L6470_GetStatus command.
uint8_t * L6470_PerformPreparedApplicationCommand (void)
 Send via SPI the command stored inside the L6470_AppCmdPkg to the L6470 daisy chain.
void L6470_DaisyChainCommand (uint8_t *pL6470_DaisyChainSpiTxStruct, uint8_t *pL6470_DaisyChainSpiRxStruct)
 Send command to the L6470 daisy chain via SPI.
uint32_t L6470_ExtractReturnedData (uint8_t *pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
 Extracts the data returned by the L6470 from the matrix that contains the received SPI data.
uint8_t L6470_CheckStatusRegisterFlag (uint8_t L6470_StatusRegisterFlagId)
 Check the state of a flag inside the L6470 STATUS register.
uint8_t * L6470_GetRegisterName (uint8_t id)
 Return the mnemonic name for the L6470 register.
void L6470_ResetAppCmdPkg (sL6470_AppCmdPkg_t *pL6470_AppCmdPkg)
 Reset the structure used to store the identifier of the L6470 application command and its the needed parameters.
void L6470_FillAppCmdPkg (sL6470_AppCmdPkg_t *pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
 Fill the structure used to store the identifier of the L6470 application command and its the needed parameters.
void L6470_PrepareAppCmdPkg (sL6470_AppCmdPkg_t *pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
 This function will fill the column of the L6470_AppCmdPkg related the L6470 to be addressed inside the daisy chain.
void L6470_PrepareDaisyChainCommand (sL6470_AppCmdPkg_t *pL6470_AppCmdPkg, uint8_t *pL6470_DaisyChainSpiTxStruct)
 This function will translate the data inside the L6470_AppCmdPkg into the right data to be sent via SPI to the L6470 daisy chain.
int round (float f)
 Rounding a floating point number to the nearest unsigned integer number.
status_t Read (uint8_t *pBuffer, uint16_t NumBytesToRead)
 Utility function to read data from L6470.
status_t Write (uint8_t *pBuffer, uint16_t NumBytesToWrite)
 Utility function to write data to L6470.
status_t ReadWrite (uint8_t *pBufferToRead, uint8_t *pBufferToWrite, uint16_t NumBytes)
 Utility function to read and write data from/to L6470 at the same time.

Static Protected Attributes

static const 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)
static const
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)
static const sL6470_Direction_t _L6470_Direction [L6470DIRIDSIZE]
 The mnemonic names for the L6470 direction.
static const sL6470_ACT_t _L6470_ACT [L6470ACTIDSIZE]
 Action taken about ABS_POS register.

Detailed Description

Class representing a L6470 component.

Definition at line 82 of file L6470.h.


Member Enumeration Documentation

Prepared Actions.

Definition at line 91 of file L6470.h.


Constructor & Destructor Documentation

L6470 ( PinName  flag_irq,
PinName  busy_irq,
PinName  standby_reset,
PinName  ssel,
DevSPI &  spi 
)

Constructor.

Parameters:
flag_irqpin name of the FLAG pin of the component.
busy_irqpin name of the BUSY pin of the component.
standby_resetpin name of the STBY pin of the component.
sselpin name of the SSEL pin of the SPI device to be used for communication.
spiSPI device to be used for communication.

Definition at line 116 of file L6470.h.

virtual ~L6470 ( void   ) [virtual]

Destructor.

Definition at line 142 of file L6470.h.


Member Function Documentation

void attach_busy_irq ( void(*)(void)  fptr )

Attaching an interrupt handler to the BUSY interrupt.

Parameters:
fptrAn interrupt handler.
Return values:
None.

Definition at line 1294 of file L6470.h.

void attach_flag_irq ( void(*)(void)  fptr )

Attaching an interrupt handler to the FLAG interrupt.

Parameters:
fptrAn interrupt handler.
Return values:
None.

Definition at line 1264 of file L6470.h.

void disable_busy_irq ( void   )

Disabling the BUSY interrupt handling.

Parameters:
None.
Return values:
None.

Definition at line 1314 of file L6470.h.

void disable_flag_irq ( void   )

Disabling the FLAG interrupt handling.

Parameters:
None.
Return values:
None.

Definition at line 1284 of file L6470.h.

void enable_busy_irq ( void   )

Enabling the BUSY interrupt handling.

Parameters:
None.
Return values:
None.

Definition at line 1304 of file L6470.h.

void enable_flag_irq ( void   )

Enabling the FLAG interrupt handling.

Parameters:
None.
Return values:
None.

Definition at line 1274 of file L6470.h.

virtual unsigned int get_acceleration ( void   ) [virtual]

Getting the acceleration in pps^2.

Parameters:
None.
Return values:
Theacceleration in pps^2.

Definition at line 288 of file L6470.h.

virtual unsigned int get_deceleration ( void   ) [virtual]

Getting the deceleration in pps^2.

Parameters:
None.
Return values:
Thedeceleration in pps^2.

Definition at line 298 of file L6470.h.

virtual direction_t get_direction ( void   ) [virtual]

Getting the direction of rotation.

Parameters:
None.
Return values:
Thedirection of rotation.

Definition at line 308 of file L6470.h.

virtual signed int get_mark ( void   ) [virtual]

Getting the marked position.

Parameters:
None.
Return values:
Themarked position.

Definition at line 248 of file L6470.h.

virtual unsigned int get_max_speed ( void   ) [virtual]

Getting the maximum speed in pps.

Parameters:
None.
Return values:
Themaximum speed in pps.

Definition at line 268 of file L6470.h.

virtual unsigned int get_min_speed ( void   ) [virtual]

Getting the minimum speed in pps.

Parameters:
None.
Return values:
Theminimum speed in pps.

Definition at line 278 of file L6470.h.

virtual unsigned int get_parameter ( unsigned int  parameter ) [virtual]

Getting a parameter.

Parameters:
parameterA parameter's register address.
Return values:
Theparameter's value.
Note:
The parameter can be one of the following: + L6470_ABS_POS_ID + L6470_EL_POS_ID + L6470_MARK_ID + L6470_SPEED_ID + L6470_ACC_ID + L6470_DEC_ID + L6470_MAX_SPEED_ID + L6470_MIN_SPEED_ID + L6470_FS_SPD_ID + L6470_KVAL_HOLD_ID + L6470_KVAL_RUN_ID + L6470_KVAL_ACC_ID + L6470_KVAL_DEC_ID + L6470_INT_SPEED_ID + L6470_ST_SLP_ID + L6470_FN_SLP_ACC_ID + L6470_FN_SLP_DEC_ID + L6470_K_THERM_ID + L6470_ADC_OUT_ID + L6470_OCD_TH_ID + L6470_STALL_TH_ID + L6470_STEP_MODE_ID + L6470_ALARM_EN_ID + L6470_CONFIG_ID + L6470_STATUS_ID

Definition at line 228 of file L6470.h.

virtual signed int get_position ( void   ) [virtual]

Getting the position.

Parameters:
None.
Return values:
Theposition.

Definition at line 238 of file L6470.h.

prepared_action_t get_prepared_action ( void   )

Getting the prepared action.

Parameters:
None
Return values:
Theprepared action.

Definition at line 1183 of file L6470.h.

int32_t get_result ( uint8_t *  raw_data )

Converting the raw data received by the component according to the action performed on it.

Parameters:
raw_dataThe received raw data.
Return values:
Theresult of the action performed.

Definition at line 1194 of file L6470.h.

virtual unsigned int get_speed ( void   ) [virtual]

Getting the current speed in pps.

Parameters:
None.
Return values:
Thecurrent speed in pps.

Definition at line 258 of file L6470.h.

virtual unsigned int get_status ( void   ) [virtual]

Getting the status.

Parameters:
None.
Return values:
Thestatus.

Definition at line 192 of file L6470.h.

virtual void go_home ( void   ) [virtual]

Going to the home position.

Parameters:
None.
Return values:
None.

Definition at line 492 of file L6470.h.

virtual void go_mark ( void   ) [virtual]

Going to the marked position.

Parameters:
None.
Return values:
None.

Definition at line 502 of file L6470.h.

virtual void go_to ( signed int  position ) [virtual]

Going to a specified position through the shortest path.

Parameters:
positionThe desired position.
Return values:
None.

Definition at line 471 of file L6470.h.

virtual void go_to ( signed int  position,
direction_t  direction 
) [virtual]

Going to a specified position imposing the desired direction.

Parameters:
positionThe desired position.
directionThe direction of rotation.
Return values:
None.

Definition at line 482 of file L6470.h.

virtual void go_until ( eL6470_ActId_t  action,
direction_t  direction,
unsigned int  speed 
) [virtual]

Running at the given speed imposing the desired direction until an external switch turn-on event occurs.

Parameters:
actionThe identifier of the action about the absolute position.
positionThe desired position.
speedThe speed value in pps.
Return values:
None.
Note:
The identifier of the action about the absolute position can be one of the following: + L6470_ACT_RST_ID: the absolute position is reset; + L6470_ACT_CPY_ID: the absolute position is set as the marked position.

Definition at line 519 of file L6470.h.

virtual void hard_hiz ( void   ) [virtual]

Disabling the power bridge immediately.

Parameters:
None.
Return values:
None.

Definition at line 593 of file L6470.h.

virtual void hard_stop ( void   ) [virtual]

Stopping the motor through an immediate infinite deceleration.

Parameters:
None.
Return values:
None.

Definition at line 572 of file L6470.h.

virtual int init ( void *  init ) [virtual]

Initializing the component.

Parameters:
initPointer to device specific initalization structure.
Return values:
0in case of success, an error code otherwise.

Definition at line 172 of file L6470.h.

virtual void move ( direction_t  direction,
unsigned int  steps 
) [virtual]

Moving towards a specified direction for a certain number of steps.

Parameters:
directionThe direction of rotation.
stepsThe desired number of steps.
Return values:
None.

Definition at line 551 of file L6470.h.

uint8_t* perform_prepared_actions ( void   )

Performing all the actions prepared on the components of the daisy-chain.

Parameters:
None.
Return values:
Theraw data returned by the components.

Definition at line 1173 of file L6470.h.

virtual void prepare_get_acceleration ( void   ) [virtual]

Preparing the command to get the acceleration in pps^2.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 762 of file L6470.h.

virtual void prepare_get_deceleration ( void   ) [virtual]

Preparing the command to get the deceleration in pps^2.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 774 of file L6470.h.

virtual void prepare_get_direction ( void   ) [virtual]

Preparing the command to get the direction of rotation.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 786 of file L6470.h.

virtual void prepare_get_mark ( void   ) [virtual]

Preparing the command to get the marked position.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 714 of file L6470.h.

virtual void prepare_get_max_speed ( void   ) [virtual]

Preparing the command to get the maximum speed in pps.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 738 of file L6470.h.

virtual void prepare_get_min_speed ( void   ) [virtual]

Preparing the command to get the minimum speed in pps.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 750 of file L6470.h.

virtual void prepare_get_parameter ( unsigned int  parameter ) [virtual]

Preparing the command to get a parameter.

Parameters:
parameterA parameter's register address.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()". The parameter can be one of the following: + L6470_ABS_POS_ID + L6470_EL_POS_ID + L6470_MARK_ID + L6470_SPEED_ID + L6470_ACC_ID + L6470_DEC_ID + L6470_MAX_SPEED_ID + L6470_MIN_SPEED_ID + L6470_FS_SPD_ID + L6470_KVAL_HOLD_ID + L6470_KVAL_RUN_ID + L6470_KVAL_ACC_ID + L6470_KVAL_DEC_ID + L6470_INT_SPEED_ID + L6470_ST_SLP_ID + L6470_FN_SLP_ACC_ID + L6470_FN_SLP_DEC_ID + L6470_K_THERM_ID + L6470_ADC_OUT_ID + L6470_OCD_TH_ID + L6470_STALL_TH_ID + L6470_STEP_MODE_ID + L6470_ALARM_EN_ID + L6470_CONFIG_ID + L6470_STATUS_ID

Definition at line 690 of file L6470.h.

virtual void prepare_get_position ( void   ) [virtual]

Preparing the command to get the position.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 702 of file L6470.h.

virtual void prepare_get_speed ( void   ) [virtual]

Preparing the command to get the current speed in pps.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 726 of file L6470.h.

virtual void prepare_get_status ( void   ) [virtual]

Preparing the command to get the status.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 652 of file L6470.h.

virtual void prepare_go_home ( void   ) [virtual]

Preparing the command to go to the home position.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 995 of file L6470.h.

virtual void prepare_go_mark ( void   ) [virtual]

Preparing the command to go to the marked position.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1007 of file L6470.h.

virtual void prepare_go_to ( signed int  position ) [virtual]

Preparing the command to go to a specified position.

Parameters:
positionThe desired position.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 969 of file L6470.h.

virtual void prepare_go_to ( signed int  position,
direction_t  direction 
) [virtual]

Preparing the command to go to a specified position imposing the desired direction.

Parameters:
positionThe desired position.
directionThe direction of rotation.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 983 of file L6470.h.

virtual void prepare_go_until ( eL6470_ActId_t  L6470_ActId,
direction_t  direction,
unsigned int  speed 
) [virtual]

Preparing the command to run at the given speed imposing the desired direction until an external switch turn-on event occurs.

Parameters:
actionThe identifier of the action about the absolute position.
positionThe desired position.
speedThe speed value in pps.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()". The identifier of the action about the absolute position can be one of the following: + L6470_ACT_RST_ID: the absolute position is reset; + L6470_ACT_CPY_ID: the absolute position is set as the marked position.

Definition at line 1026 of file L6470.h.

virtual void prepare_hard_hiz ( void   ) [virtual]

Preparing the command to disable the power bridge immediately.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1117 of file L6470.h.

virtual void prepare_hard_stop ( void   ) [virtual]

Preparing the command to stop the motor and disabling the power bridge.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1091 of file L6470.h.

virtual void prepare_move ( direction_t  direction,
unsigned int  steps 
) [virtual]

Preparing the command to move towards a specified direction for a certain number of steps.

Parameters:
directionThe direction of rotation.
stepsThe desired number of steps.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1067 of file L6470.h.

virtual void prepare_release_sw ( eL6470_ActId_t  action,
direction_t  direction 
) [virtual]

Preparing the command to do a motion at minimum speed imposing a specified direction until the SW is released.

Parameters:
actionThe identifier of the action about the absolute position.
directionThe direction of rotation.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()". The identifier of the action about the absolute position can be one of the following: + L6470_ACT_RST_ID: the absolute position is reset; + L6470_ACT_CPY_ID: the absolute position is set as the marked position.

Definition at line 1149 of file L6470.h.

virtual void prepare_reset_device ( void   ) [virtual]

Preparing the command to reset the device to power-up conditions.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1161 of file L6470.h.

virtual void prepare_run ( direction_t  direction,
unsigned int  speed 
) [virtual]

Preparing the command to run towards a specified direction at the given speed.

Parameters:
directionThe direction of rotation.
speedThe speed value in pps.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1053 of file L6470.h.

virtual void prepare_run ( direction_t  direction ) [virtual]

Preparing the command to run towards a specified direction at the maximum speed.

Parameters:
directionThe direction of rotation.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1039 of file L6470.h.

virtual void prepare_set_acceleration ( unsigned int  acceleration ) [virtual]

Preparing the command to set the acceleration in pps^2.

Parameters:
accelerationThe acceleration in pps^2.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 945 of file L6470.h.

virtual void prepare_set_deceleration ( unsigned int  deceleration ) [virtual]

Preparing the command to set the deceleration in pps^2.

Parameters:
decelerationThe deceleration in pps^2.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 957 of file L6470.h.

virtual void prepare_set_home ( void   ) [virtual]

Preparing the command to set the current position to be the home position.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 866 of file L6470.h.

virtual void prepare_set_mark ( signed int  position ) [virtual]

Preparing the command to set the given position to be the marked position.

Parameters:
positionThe given position.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 897 of file L6470.h.

virtual void prepare_set_mark ( void   ) [virtual]

Preparing the command to set the current position to be the marked position.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 879 of file L6470.h.

virtual void prepare_set_max_speed ( unsigned int  speed ) [virtual]

Preparing the command to set the maximum speed in pps.

Parameters:
speedThe maximum speed in pps.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 921 of file L6470.h.

virtual void prepare_set_min_speed ( unsigned int  speed ) [virtual]

Preparing the command to set the minimum speed in pps.

Parameters:
speedThe minimum speed in pps.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 933 of file L6470.h.

virtual void prepare_set_parameter ( unsigned int  parameter,
unsigned int  value 
) [virtual]

Preparing the command to set a parameter.

Parameters:
parameterA parameter's register address.
valueThe parameter's value.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()". The parameter can be one of the following: + L6470_ABS_POS_ID + L6470_EL_POS_ID + L6470_MARK_ID + L6470_SPEED_ID + L6470_ACC_ID + L6470_DEC_ID + L6470_MAX_SPEED_ID + L6470_MIN_SPEED_ID + L6470_FS_SPD_ID + L6470_KVAL_HOLD_ID + L6470_KVAL_RUN_ID + L6470_KVAL_ACC_ID + L6470_KVAL_DEC_ID + L6470_INT_SPEED_ID + L6470_ST_SLP_ID + L6470_FN_SLP_ACC_ID + L6470_FN_SLP_DEC_ID + L6470_K_THERM_ID + L6470_ADC_OUT_ID + L6470_OCD_TH_ID + L6470_STALL_TH_ID + L6470_STEP_MODE_ID + L6470_ALARM_EN_ID + L6470_CONFIG_ID + L6470_STATUS_ID
Warning:
Some registers can only be written in particular conditions (see L6470's datasheet). Any attempt to write one of those registers when the conditions are not satisfied causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the last argument byte. Any attempt to set an inexistent register (wrong address value) causes the command to be ignored and the WRONG_CMD flag to rise. For example, setting some parameters requires first to disable the power bridge; this can be done through the soft_hiz() method. They are the following: + L6470_ABS_POS_ID + L6470_EL_POS_ID + L6470_SPEED_ID + L6470_ACC_ID + L6470_DEC_ID + L6470_MAX_SPEED_ID + L6470_MIN_SPEED_ID + L6470_INT_SPEED_ID + L6470_ST_SLP_ID + L6470_FN_SLP_ACC_ID + L6470_FN_SLP_DEC_ID + L6470_ADC_OUT_ID + L6470_STEP_MODE_ID + L6470_CONFIG_ID + L6470_STATUS_ID

Definition at line 853 of file L6470.h.

virtual void prepare_set_speed ( unsigned int  speed ) [virtual]

Preparing the command to set the current speed in pps.

Parameters:
speedThe current speed in pps.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 909 of file L6470.h.

virtual void prepare_soft_hiz ( void   ) [virtual]

Preparing the command to disable the power bridge after performing a deceleration to zero.

The used deceleration value is the one stored in the "DEC" register.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1105 of file L6470.h.

virtual void prepare_soft_stop ( void   ) [virtual]

Preparing the command to stop the motor.

Parameters:
None.
Return values:
None.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1079 of file L6470.h.

virtual void prepare_step_clock ( direction_t  direction ) [virtual]

Preparing the command to switch to step-clock mode.

Parameters:
directionThe direction of rotation.
Return values:
None.
Warning:
Setting the step-clock mode requires an explicit action by the user to first disable the power bridge through the soft_hiz() method.
Note:
The command will be sent by issuing "perform_action()".

Definition at line 1131 of file L6470.h.

status_t Read ( uint8_t *  pBuffer,
uint16_t  NumBytesToRead 
) [protected]

Utility function to read data from L6470.

Parameters:
[out]pBufferpointer to the buffer to read data into.
[in]NumBytesToReadnumber of bytes to read.
Return values:
COMPONENT_OKin case of success, COMPONENT_ERROR otherwise.

Definition at line 1435 of file L6470.h.

virtual int read_id ( uint8_t *  id ) [virtual]

Getting the ID of the component.

Parameters:
idPointer to an allocated variable to store the ID into.
Return values:
0in case of success, an error code otherwise.

Definition at line 182 of file L6470.h.

status_t ReadWrite ( uint8_t *  pBufferToRead,
uint8_t *  pBufferToWrite,
uint16_t  NumBytes 
) [protected]

Utility function to read and write data from/to L6470 at the same time.

Parameters:
[out]pBufferToReadpointer to the buffer to read data into.
[in]pBufferToWritepointer to the buffer of data to send.
[in]NumBytesnumber of bytes to read and write.
Return values:
COMPONENT_OKin case of success, COMPONENT_ERROR otherwise.

Definition at line 1464 of file L6470.h.

virtual void release_sw ( eL6470_ActId_t  action,
direction_t  direction 
) [virtual]

Doing a motion at minimum speed imposing a specified direction until the SW is released.

Parameters:
actionThe identifier of the action about the absolute position.
directionThe direction of rotation.
Note:
The identifier of the action about the absolute position can be one of the following: + L6470_ACT_RST_ID: the absolute position is reset; + L6470_ACT_CPY_ID: the absolute position is set as the marked position.

Definition at line 631 of file L6470.h.

virtual void reset_device ( void   ) [virtual]

Resetting the device to power-up conditions.

Parameters:
None.
Return values:
None.

Definition at line 641 of file L6470.h.

int round ( float  f ) [protected]

Rounding a floating point number to the nearest unsigned integer number.

Parameters:
fThe floating point number.
Return values:
Thenearest unsigned integer number.

Definition at line 1417 of file L6470.h.

virtual void run ( direction_t  direction ) [virtual]

Running towards a specified direction.

Parameters:
directionThe direction of rotation.
Return values:
None.

Definition at line 529 of file L6470.h.

virtual void run ( direction_t  direction,
unsigned int  speed 
) [virtual]

Running towards a specified direction at the given speed.

Parameters:
directionThe direction of rotation.
speedThe speed value in pps.
Return values:
None.

Definition at line 540 of file L6470.h.

virtual bool set_acceleration ( unsigned int  acceleration ) [virtual]

Setting the acceleration in pps^2.

Parameters:
accelerationThe acceleration in pps^2.
Return values:
truein case of success, "false" otherwise.

Definition at line 430 of file L6470.h.

virtual bool set_deceleration ( unsigned int  deceleration ) [virtual]

Setting the deceleration in pps^2.

Parameters:
decelerationThe deceleration in pps^2.
Return values:
truein case of success, "false" otherwise.

Definition at line 441 of file L6470.h.

virtual void set_home ( void   ) [virtual]

Setting the current position to be the home position.

Parameters:
None.
Return values:
None.

Definition at line 378 of file L6470.h.

virtual void set_mark ( void   ) [virtual]

Setting the current position to be the marked position.

Parameters:
None.
Return values:
None.

Definition at line 388 of file L6470.h.

virtual void set_mark ( signed int  position ) [virtual]

Setting the current position to be the marked position.

Parameters:
positionThe given position.
Return values:
None.

Definition at line 398 of file L6470.h.

virtual bool set_max_speed ( unsigned int  speed ) [virtual]

Setting the maximum speed in pps.

Parameters:
speedThe maximum speed in pps.
Return values:
truein case of success, "false" otherwise.

Definition at line 408 of file L6470.h.

virtual bool set_min_speed ( unsigned int  speed ) [virtual]

Setting the minimum speed in pps.

Parameters:
speedThe minimum speed in pps.
Return values:
truein case of success, "false" otherwise.

Definition at line 419 of file L6470.h.

virtual void set_parameter ( unsigned int  parameter,
unsigned int  value 
) [virtual]

Setting a parameter.

Parameters:
parameterA parameter's register address.
valueThe parameter's value.
Return values:
None.
Note:
The parameter can be one of the following: + L6470_ABS_POS_ID + L6470_EL_POS_ID + L6470_MARK_ID + L6470_SPEED_ID + L6470_ACC_ID + L6470_DEC_ID + L6470_MAX_SPEED_ID + L6470_MIN_SPEED_ID + L6470_FS_SPD_ID + L6470_KVAL_HOLD_ID + L6470_KVAL_RUN_ID + L6470_KVAL_ACC_ID + L6470_KVAL_DEC_ID + L6470_INT_SPEED_ID + L6470_ST_SLP_ID + L6470_FN_SLP_ACC_ID + L6470_FN_SLP_DEC_ID + L6470_K_THERM_ID + L6470_ADC_OUT_ID + L6470_OCD_TH_ID + L6470_STALL_TH_ID + L6470_STEP_MODE_ID + L6470_ALARM_EN_ID + L6470_CONFIG_ID + L6470_STATUS_ID
Warning:
Some registers can only be written in particular conditions (see L6470's datasheet). Any attempt to write one of those registers when the conditions are not satisfied causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the last argument byte. Any attempt to set an inexistent register (wrong address value) causes the command to be ignored and the WRONG_CMD flag to rise. For example, setting some parameters requires first to disable the power bridge; this can be done through the soft_hiz() method. They are the following: + L6470_ABS_POS_ID + L6470_EL_POS_ID + L6470_SPEED_ID + L6470_ACC_ID + L6470_DEC_ID + L6470_MAX_SPEED_ID + L6470_MIN_SPEED_ID + L6470_INT_SPEED_ID + L6470_ST_SLP_ID + L6470_FN_SLP_ACC_ID + L6470_FN_SLP_DEC_ID + L6470_ADC_OUT_ID + L6470_STEP_MODE_ID + L6470_CONFIG_ID + L6470_STATUS_ID

Definition at line 368 of file L6470.h.

virtual bool set_step_mode ( step_mode_t  step_mode ) [virtual]

Setting the Step Mode.

Parameters:
step_modeThe Step Mode.
Return values:
truein case of success, "false" otherwise.
Warning:
Setting the step mode implies first disabling the power bridge through the soft_hiz() method.
Every time step mode is changed, the values of the home and mark positions lose meaning and are reset.

Definition at line 456 of file L6470.h.

virtual void soft_hiz ( void   ) [virtual]

Disabling the power bridge after performing a deceleration to zero.

The used deceleration value is the one stored in the "DEC" register.

Parameters:
None.
Return values:
None.

Definition at line 583 of file L6470.h.

virtual void soft_stop ( void   ) [virtual]

Stopping the motor through an immediate deceleration up to zero speed.

The used deceleration value is the one stored in the "DEC" register.

Parameters:
None.
Return values:
None.

Definition at line 562 of file L6470.h.

virtual void step_clock ( direction_t  direction ) [virtual]

Switching to step-clock mode.

Parameters:
directionThe direction of rotation.
Return values:
None.
Warning:
Setting the step-clock mode implies first disabling the power bridge through the soft_hiz() method.

Definition at line 615 of file L6470.h.

virtual void wait_while_active ( void   ) [virtual]

Waiting while the motor is active.

Parameters:
None.
Return values:
None.

Definition at line 603 of file L6470.h.

status_t Write ( uint8_t *  pBuffer,
uint16_t  NumBytesToWrite 
) [protected]

Utility function to write data to L6470.

Parameters:
[in]pBufferpointer to the buffer of data to send.
[in]NumBytesToWritenumber of bytes to write.
Return values:
COMPONENT_OKin case of success, COMPONENT_ERROR otherwise.

Definition at line 1449 of file L6470.h.


Field Documentation

const sL6470_ACT_t _L6470_ACT [static, protected]
Initial value:
 {
  {"RST", 0x00},  
  {"CPY", 0x01}   
}

Action taken about ABS_POS register.

Definition at line 1575 of file L6470.h.

const sL6470_ApplicationCommand_t _L6470_ApplicationCommand [static, protected]
Initial value:
  {
  {"NOP",         0x00, 0},
  {"SETPARAM",    0x00, 2},
  {"GETPARAM",    0x20, 1},
  {"RUN",         0x50, 2},
  {"STEPCLOCK",   0x58, 1},
  {"MOVE",        0x40, 2},
  {"GOTO",        0x60, 1},
  {"GOTO_DIR",    0x68, 2},
  {"GOUNTIL",     0x82, 3},
  {"RELEASESW",   0x92, 2},
  {"GOHOME",      0x70, 0},
  {"GOMARK",      0x78, 0},
  {"RESETPOS",    0xD8, 0},
  {"RESETDEVICE", 0xC0, 0},
  {"SOFTSTOP",    0xB0, 0},
  {"HARDSTOP",    0xB8, 0},
  {"SOFTHIZ",     0xA0, 0},
  {"HARDHIZ",     0xA8, 0},
  {"GETSTATUS",   0xD0, 0}
}

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)

Definition at line 1573 of file L6470.h.

const sL6470_Direction_t _L6470_Direction [static, protected]
Initial value:
 {
  {"REV", 0x00},  
  {"FWD", 0x01}   
}

The mnemonic names for the L6470 direction.

Definition at line 1574 of file L6470.h.

const sL6470_Register_t _L6470_Register [static, protected]
Initial value:
 {
  {0x01 , "ABS_POS",   22, 3, 0x000000},  
  {0x02 , "EL_POS",     9, 2, 0x000},     
  {0x03 , "MARK",      22, 3, 0x000000},  
  {0x04 , "SPEED",     20, 3, 0x0000},    
  {0x05 , "ACC",       12, 2, 0x08A},     
  {0x06 , "DEC",       12, 2, 0x08A},     
  {0x07 , "MAX_SPEED", 10, 2, 0x041},     
  {0x08 , "MIN_SPEED", 13, 2, 0x000},     
  {0x15 , "FS_SPD",    10, 2, 0x027},     
  {0x09 , "KVAL_HOLD",  8, 1, 0x29},      
  {0x0A , "KVAL_RUN",   8, 1, 0x29},      
  {0x0B , "KVAL_ACC",   8, 1, 0x29},      
  {0x0C , "KVAL_DEC",   8, 1, 0x29},      
  {0x0D , "INT_SPEED", 14, 2, 0x0408},    
  {0x0E , "ST_SLP",     8, 1, 0x19},      
  {0x0F , "FN_SLP_ACC", 8, 1, 0x29},      
  {0x10 , "FN_SLP_DEC", 8, 1, 0x29},      
  {0x11 , "K_THERM",    4, 1, 0x0},       
  {0x12 , "ADC_OUT",    5, 1, 0x00},      
  {0x13 , "OCD_TH",     4, 1, 0x8},       
  {0x14 , "STALL_TH",   7, 1, 0x40},      
  {0x16 , "STEP_MODE",  8, 1, 0x7},       
  {0x17 , "ALARM_EN",   8, 1, 0xFF},      
  {0x18 , "CONFIG",    16, 2, 0x2E88},    
  {0x19 , "STATUS",    16, 2, 0x0000}     
}

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)

Definition at line 1572 of file L6470.h.