ST / X_NUCLEO_IHM02A1

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   HelloWorld_IHM02A1 ConcorsoFinal HelloWorld_IHM02A1_mbedOS HelloWorld_IHM02A1-Serialinterpreter ... more

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L6470_Conversion_Functions
Modules | Functions

L6470_Conversion_Functions
[L6470_Exported_Functions]

The following functions act just on one driver inside the L6470 daisy chain. More...

Modules

 L6470_AppCMDs

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.

Detailed Description

The following functions act just on one driver inside the L6470 daisy chain.

The command is immediately sent.

Function Documentation

int32_t L6470_AbsPos_2_Position ( uint32_t  AbsPos ) [protected, inherited]

Convert the absolute position as 2's complement format into the signed number.

Parameters:
AbsPosThe absolute position in the range from [-(2^21)] to [+(2^21)-1].
Return values:
PositionThe position as signed number.

Definition at line 365 of file L6470.cpp.

float L6470_Acc_2_Step_s2 ( uint16_t  Acc ) [protected, inherited]

Convert the ACC register value into step/(s^2).

Parameters:
AccThe ACC register value.
Return values:
step/(s^2)The acceleration as step/(s^2).

Definition at line 423 of file L6470.cpp.

float L6470_Dec_2_Step_s2 ( uint16_t  Dec ) [protected, inherited]

Convert the DEC register value into step/(s^2).

Parameters:
DecThe DEC register value.
Return values:
step/(s^2)The deceleration as step/(s^2).

Definition at line 451 of file L6470.cpp.

float L6470_FnSlpAcc_2_s_Step ( uint8_t  FnSlpAcc ) [protected, inherited]

Convert the INT_SPEED register value into step/s.

Parameters:
IntSpeedThe INT_SPEED register value.
Return values:
step/sThe intersect speed as step/s.

Definition at line 619 of file L6470.cpp.

float L6470_FnSlpDec_2_s_Step ( uint8_t  FnSlpDec ) [protected, inherited]

Convert the INT_SPEED register value into step/s.

Parameters:
IntSpeedThe INT_SPEED register value.
Return values:
step/sThe intersect speed as step/s.

Definition at line 647 of file L6470.cpp.

float L6470_FsSpd_2_Step_s ( uint16_t  FsSpd ) [protected, inherited]

Convert the FS_SPD register value into step/s.

Parameters:
FsSpdThe FS_SPD register value.
Return values:
step/sThe full-step speed as step/s.

Definition at line 535 of file L6470.cpp.

float L6470_IntSpeed_2_Step_s ( uint16_t  IntSpeed ) [protected, inherited]

Convert the INT_SPEED register value into step/s.

Parameters:
IntSpeedThe INT_SPEED register value.
Return values:
step/sThe intersect speed as step/s.

Definition at line 563 of file L6470.cpp.

uint8_t L6470_mA_2_OcdTh ( float  mA ) [protected, inherited]

Convert the overcurrent threshold as mA into a right value for OCD_TH register.

Parameters:
mAThe overcurrent threshold as mA.
Return values:
OcdThThe OCD_TH register value.

Definition at line 689 of file L6470.cpp.

uint8_t L6470_mA_2_StallTh ( float  mA ) [protected, inherited]

Convert the stall detection threshold as mA into a right value for STALL_TH register.

Parameters:
mAThe stall detection threshold as mA.
Return values:
StallThThe STALL_TH register value.

Definition at line 727 of file L6470.cpp.

float L6470_MaxSpeed_2_Step_s ( uint16_t  MaxSpeed ) [protected, inherited]

Convert the MAX_SPEED register value into step/s.

Parameters:
MaxSpeedThe MAX_SPEED register value.
Return values:
step/sThe max speed as step/s.

Definition at line 479 of file L6470.cpp.

float L6470_MinSpeed_2_Step_s ( uint16_t  MinSpeed ) [protected, inherited]

Convert the MIN_SPEED register value into step/s.

Parameters:
MinSpeedThe MIN_SPEED register value.
Return values:
step/sThe min speed as step/s.

Definition at line 507 of file L6470.cpp.

float L6470_OcdTh_2_mA ( uint8_t  OcdTh ) [protected, inherited]

Convert the OCD_TH register value into mA.

Parameters:
OcdThThe OCD_TH register value.
Return values:
mAThe overcurrent threshold as mA.

Definition at line 675 of file L6470.cpp.

uint32_t L6470_Position_2_AbsPos ( int32_t  Position ) [protected, inherited]

Convert the position as signed number into absolute position as 2's complement format.

Parameters:
PositionThe position as signed number.
Return values:
AbsPosThe absolute position in the range from [-(2^21)] to [+(2^21)-1].

Definition at line 379 of file L6470.cpp.

uint8_t L6470_s_Step_2_FnSlpAcc ( float  s_Step ) [protected, inherited]

Convert the intersect speed as step/s into a right value for INT_SPEED register.

Parameters:
step/sThe full-step speed as step/s.
Return values:
FsSpdThe FS_SPD register value.

Definition at line 633 of file L6470.cpp.

uint8_t L6470_s_Step_2_FnSlpDec ( float  s_Step ) [protected, inherited]

Convert the intersect speed as step/s into a right value for INT_SPEED register.

Parameters:
step/sThe full-step speed as step/s.
Return values:
FsSpdThe FS_SPD register value.

Definition at line 661 of file L6470.cpp.

uint8_t L6470_s_Step_2_StSlp ( float  s_Step ) [protected, inherited]

Convert the intersect speed as step/s into a right value for INT_SPEED register.

Parameters:
step/sThe full-step speed as step/s.
Return values:
FsSpdThe FS_SPD register value.

Definition at line 605 of file L6470.cpp.

float L6470_Speed_2_Step_s ( uint32_t  Speed ) [protected, inherited]

Convert the SPEED register value into step/s.

Parameters:
SpeedThe SPEED register value.
Return values:
step/sThe speed as step/s.

Definition at line 398 of file L6470.cpp.

float L6470_StallTh_2_mA ( uint8_t  StallTh ) [protected, inherited]

Convert the STALL_TH register value into mA.

Parameters:
StallThThe STALL_TH register value.
Return values:
mAThe stall detection threshold as mA.

Definition at line 713 of file L6470.cpp.

uint16_t L6470_Step_s2_2_Acc ( float  Step_s2 ) [protected, inherited]

Convert the acceleartion as step/(s^2) into a right value for ACC register.

Parameters:
step/(s^2)The acceleration as step/(s^2).
Return values:
AccThe ACC register value.

Definition at line 437 of file L6470.cpp.

uint16_t L6470_Step_s2_2_Dec ( float  Step_s2 ) [protected, inherited]

Convert the deceleration as step/(s^2) into a right value for DEC register.

Parameters:
step/(s^2)The deceleration as step/(s^2).
Return values:
DecThe DEC register value.

Definition at line 465 of file L6470.cpp.

uint16_t L6470_Step_s_2_FsSpd ( float  Step_s ) [protected, inherited]

Convert the full-step speed as step/s into a right value for FS_SPD register.

Parameters:
step/sThe full-step speed as step/s.
Return values:
FsSpdThe FS_SPD register value.

Definition at line 549 of file L6470.cpp.

uint16_t L6470_Step_s_2_IntSpeed ( float  Step_s ) [protected, inherited]

Convert the intersect speed as step/s into a right value for INT_SPEED register.

Parameters:
step/sThe full-step speed as step/s.
Return values:
FsSpdThe FS_SPD register value.

Definition at line 577 of file L6470.cpp.

uint16_t L6470_Step_s_2_MaxSpeed ( float  Step_s ) [protected, inherited]

Convert the max speed as step/s into a right value for MAX_SPEED register.

Parameters:
step/sThe max speed as step/s.
Return values:
MaxSpeedThe MAX_SPEED register value.

Definition at line 493 of file L6470.cpp.

uint16_t L6470_Step_s_2_MinSpeed ( float  Step_s ) [protected, inherited]

Convert the min speed as step/s into a right value for MIN_SPEED register.

Parameters:
step/sThe min speed as step/s.
Return values:
MinSpeedThe MIN_SPEED register value.

Definition at line 521 of file L6470.cpp.

uint32_t L6470_Step_s_2_Speed ( float  Step_s ) [protected, inherited]

Convert the speed as step/s into a right value for SPEED register.

Parameters:
step/sThe speed as step/s.
Return values:
SpeedThe SPEED register value.

Definition at line 409 of file L6470.cpp.

float L6470_StSlp_2_s_Step ( uint8_t  StSlp ) [protected, inherited]

Convert the ST_SLP register value into s/step.

Parameters:
StartSlopeThe ST_SLP register value.
Return values:
s/stepThe start slope as s/step.

Definition at line 591 of file L6470.cpp.

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