ST
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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X_NUCLEO_IHM02A1
by 
ST Expansion SW Team
Motor Control Library
Introduction
Library to handle the X-NUCLEO-IHM02A1 Motor Control Expansion Board based on the the L6470 component.
Daisy-Chain Configuration
The two L6470 components mounted on this board are connected in daisy-chain configuration. This board can be stacked up to four times so that the eight L6470 components will be connected two-by-two in daisy-chain configuration.
Concerning the SSEL pin of the SPI communication, each expansion board must be in one of the following configuration:
SB_23resistor connected only: SSEL on pinA2;SB_7resistor connected only: SSEL on pinD2;SB_8resistor connected only: SSEL on pinD10;SB_9resistor connected only: SSEL on pinD5.
Arduino Connector Compatibility Warning
X-NUCLEO-IHM02A1 is Arduino compatible with one exception: instead of using D13 pin to drive the SPI clock, it uses D3 pin, hence the default configuration for this library is with the SPI clock on D3 pin.
To be fully Arduino compatible the following patch is required:
- to remove the
SB34resistor; - to solder the
SB12resistor.
Alternatively, you can route the Nucleo board’s D13 pin directly to the expansion board’s D3 pin with a wire.
In case you patch your expansion board or route the pin, the SPI clock will be driven on D13 pin rather than on D3 pin, and you have also to initialize the sclk PinName variable with D13 rather than D3.
This patch is known to be required, for example, on the following boards: NUCLEO-F103RB, NUCLEO-F302RB, NUCLEO-F411RE, and NUCLEO-F429ZI.
If you use D13 pin for the SPI clock, please be aware that on STM32 Nucleo boards you may not drive the LED, otherwise you will get a conflict: the LED on STM32 Nucleo boards is connected to the D13 pin.
Example Applications
Revision 1:b78dab6d2c58, committed 2015-11-25
- Comitter:
- Davidroid
- Date:
- Wed Nov 25 11:59:37 2015 +0000
- Parent:
- 0:92706998571a
- Child:
- 2:3ed992ffeada
- Commit message:
- + Implemented all the StepperMotor's APIs.
Changed in this revision
--- a/BSP/x_nucleo_ihm02a1_class.cpp Fri Nov 20 18:07:45 2015 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.cpp Wed Nov 25 11:59:37 2015 +0000
@@ -68,48 +68,48 @@
{
{
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
},
{
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
},
{
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
},
{
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
{
- 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+ 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
},
@@ -122,11 +122,12 @@
/**
* @brief Constructor.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
*/
-X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
{
/* Instantiating the components. */
/* ACTION 3 --------------------------------------------------------------*
@@ -137,19 +138,20 @@
* component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
*------------------------------------------------------------------------*/
X_NUCLEO_IHM02A1_Id = number_of_boards++;
- l6470_0 = new L6470(flag_irq, standby_reset, ssel, *dev_spi);
- l6470_1 = new L6470(flag_irq, standby_reset, ssel, *dev_spi);
+ components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+ components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
}
/**
* @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
* @retval a singleton instance of X_NUCLEO_IHM02A1 class.
*/
-X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi)
+X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi)
{
if (_instance == NULL)
{
@@ -158,7 +160,7 @@
spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
/* Instantiating the board. */
- _instance = new X_NUCLEO_IHM02A1(flag_irq, standby_reset, ssel, spi);
+ _instance = new X_NUCLEO_IHM02A1(flag_irq, busy_irq, standby_reset, ssel, spi);
/* Initializing the components. */
if (!_instance->Init())
@@ -171,6 +173,7 @@
/**
* @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
@@ -178,7 +181,7 @@
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
* @retval a singleton instance of X_NUCLEO_IHM02A1 class.
*/
-X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
{
if (_instance == NULL)
{
@@ -186,7 +189,7 @@
DevSPI *spi = new DevSPI(mosi, miso, sclk);
/* Instantiating the board. */
- _instance = new X_NUCLEO_IHM02A1(flag_irq, standby_reset, ssel, spi);
+ _instance = new X_NUCLEO_IHM02A1(flag_irq, busy_irq, standby_reset, ssel, spi);
/* Initializing the components. */
if (!_instance->Init())
--- a/BSP/x_nucleo_ihm02a1_class.h Fri Nov 20 18:07:45 2015 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.h Wed Nov 25 11:59:37 2015 +0000
@@ -79,16 +79,18 @@
/**
* @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
* @retval a singleton instance of X_NUCLEO_IHM02A1 class.
*/
- static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi = NULL);
+ static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi = NULL);
/**
* @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
@@ -96,7 +98,7 @@
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
* @retval a singleton instance of X_NUCLEO_IHM02A1 class.
*/
- static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName standby_reset, PinName ssel, PinName miso, PinName mosi, PinName sclk);
+ static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName miso, PinName mosi, PinName sclk);
/**
* @brief Initializing the X_NUCLEO_IHM02A1 board.
@@ -109,6 +111,47 @@
*/
~X_NUCLEO_IHM02A1(void) {}
+ /**
+ * @brief Getting the array of components.
+ * @param None.
+ * @retval The array of components.
+ */
+ L6470 **GetComponents(void)
+ {
+ return components;
+ }
+
+ /**
+ * @brief Performing the actions set on the motors with calls to a number of
+ * "Prepare<Action>()" methods, one for each motor of the daisy-chain.
+ * @param None.
+ * @retval A pointer to the results returned by the components, i.e. an
+ * integer value for each of them.
+ */
+ virtual uint32_t* PerformPreparedActions(void)
+ {
+ /* Performing pre-actions, if needed. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+ {
+ /*
+ "GetPosition()" is needed by "PrepareSetMark()" at the time when the
+ prepared actions get performed.
+ */
+ if (components[m]->GetPreparedAction() == L6470::PREPARED_SET_MARK)
+ components[m]->PrepareSetMark((uint32_t) components[m]->GetPosition());
+ }
+
+ /* Performing the prepared actions and getting back raw data. */
+ uint8_t *raw_data = components[0]->PerformPreparedActions();
+
+ /* Processing raw data. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+ results[m] = components[m]->GetResult(raw_data);
+
+ /* Returning results. */
+ return results;
+ }
+
/*** Public Expansion Board Related Attributes ***/
@@ -135,11 +178,12 @@
/**
* @brief Constructor.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
*/
- X_NUCLEO_IHM02A1(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+ X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
/*** Protected Expansion Board Related Initialization Methods ***/
@@ -164,6 +208,12 @@
/* IO Device. */
DevSPI *dev_spi;
+ /* Components. */
+ L6470 *components[L6470DAISYCHAINSIZE];
+
+ /* Results of prepared actions. */
+ uint32_t results[L6470DAISYCHAINSIZE];
+
/* Data. */
/* ACTION 11 -------------------------------------------------------------*
* Declare here the component's data, one variable per line. *
--- a/Components/Common/microstepping_motor.h Fri Nov 20 18:07:45 2015 +0000 +++ b/Components/Common/microstepping_motor.h Wed Nov 25 11:59:37 2015 +0000 @@ -92,7 +92,7 @@ L6470_STEP_MODE_ID, //!< Step mode L6470_ALARM_EN_ID, //!< Alarm enable L6470_CONFIG_ID, //!< IC configuration - L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions) + L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions) } eL6470_RegId_t; /**
--- a/Components/Interfaces/Component_class.h Fri Nov 20 18:07:45 2015 +0000
+++ b/Components/Interfaces/Component_class.h Wed Nov 25 11:59:37 2015 +0000
@@ -56,16 +56,16 @@
{
public:
/**
- * @brief Initialization of the component.
- * @param[out] ptr Pointer to device specific initalization structure.
- * @return 0 in case of success, an error code otherwise.
+ * @brief Initializing the component.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
*/
- virtual int Init(void *ptr) = 0;
+ virtual int Init(void *init) = 0;
/**
- * @brief Get ID of the component.
- * @param[out] id Pointer to where to store the ID to.
- * @return 0 in case of success, an error code otherwise.
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
*/
virtual int ReadID(uint8_t *id) = 0;
};
--- a/Components/Interfaces/StepperMotor_class.h Fri Nov 20 18:07:45 2015 +0000
+++ b/Components/Interfaces/StepperMotor_class.h Wed Nov 25 11:59:37 2015 +0000
@@ -5,7 +5,7 @@
* @version V1.0.0
* @date November 12th, 2015
* @brief This file contains the abstract class describing the interface of a
- * steppermotor component.
+ * stepper-motor component.
******************************************************************************
* @attention
*
@@ -63,91 +63,180 @@
} direction_t;
/**
- * @brief Getting the status.
+ * @brief Getting the status.
* @param None.
- * @retval None.
+ * @retval The status.
*/
virtual unsigned int GetStatus(void) = 0;
- /**
+ /**
* @brief Getting a parameter.
- * @param parameter register adress.
- * @retval a register value.
+ * @param parameter The parameter's identifier (or its register address).
+ * @retval The parameter's value.
*/
virtual unsigned int GetParameter(unsigned int parameter) = 0;
- /* Return the current position. */
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
virtual signed int GetPosition(void) = 0;
- /* Return the mark position. */
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
virtual signed int GetMark(void) = 0;
- /* Return the current speed in pps. */
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
virtual unsigned int GetSpeed(void) = 0;
- /* Return the maximum speed in pps. */
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
virtual unsigned int GetMaxSpeed(void) = 0;
- /* Return the minimum speed in pps. */
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
virtual unsigned int GetMinSpeed(void) = 0;
- /* Return the acceleration in pps^2. */
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
virtual unsigned int GetAcceleration(void) = 0;
- /* Return the deceleration in pps^2. */
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
virtual unsigned int GetDeceleration(void) = 0;
- /* Get the current direction of rotation. */
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
virtual direction_t GetDirection(void) = 0;
/**
* @brief Setting a parameter.
- * @param parameter register adress.
- * @param value value to be set.
+ * @param parameter The parameter's identifier (or its register address).
+ * @param value The parameter's value.
* @retval None.
*/
virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
- /* Set the current position to be the home position. */
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
virtual void SetHome(void) = 0;
- /* Set the current position to be the mark position. */
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
virtual void SetMark(void) = 0;
- /* Set the maximum speed in pps. */
+ /**
+ * @brief Setting the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval None.
+ */
virtual void SetMaxSpeed(unsigned int speed) = 0;
- /* Set the minimum speed in pps. */
+ /**
+ * @brief Setting the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval None.
+ */
virtual void SetMinSpeed(unsigned int speed) = 0;
- /* Set the acceleration in pps^2. */
+ /**
+ * @brief Setting the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval None.
+ */
virtual void SetAcceleration(unsigned int acceleration) = 0;
- /* Set the deceleration in pps^2. */
+ /**
+ * @brief Setting the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval None.
+ */
virtual void SetDeceleration(unsigned int deceleration) = 0;
- /* Go to the specified position. */
+ /**
+ * @brief Going to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ */
virtual void GoTo(signed int position) = 0;
- /* Go to the home position. */
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
virtual void GoHome(void) = 0;
- /* Go to the marked position. */
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
virtual void GoMark(void) = 0;
- /* Run the motor towards a specified direction. */
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
virtual void Run(direction_t direction) = 0;
- /* Run the motor towards a specified direction for a specified number of steps. */
+ /**
+ * @brief Moving the motor towards a specified direction for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ */
virtual void Move(direction_t direction, unsigned int steps) = 0;
- /* Stop the motor. */
+ /**
+ * @brief Stopping the motor.
+ * @param None.
+ * @retval None.
+ */
virtual void SoftStop(void) = 0;
- /* Stop the motor and disable the power bridge. */
+ /**
+ * @brief Stopping the motor and disabling the power bridge.
+ * @param None.
+ * @retval None.
+ */
virtual void HardStop(void) = 0;
- /* Wait while the motor is active. */
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
virtual void WaitWhileActive(void) = 0;
};
--- a/Components/l6470/l6470_class.cpp Fri Nov 20 18:07:45 2015 +0000
+++ b/Components/l6470/l6470_class.cpp Wed Nov 25 11:59:37 2015 +0000
@@ -1082,7 +1082,7 @@
*/
void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
}
/**
@@ -1098,7 +1098,7 @@
*/
void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
}
/**
@@ -1365,7 +1365,7 @@
{
value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
}
-
+
return value;
}
--- a/Components/l6470/l6470_class.h Fri Nov 20 18:07:45 2015 +0000
+++ b/Components/l6470/l6470_class.h Wed Nov 25 11:59:37 2015 +0000
@@ -81,16 +81,37 @@
{
public:
+ /*** Public Component Related Types ***/
+
+ /**
+ * @brief Prepared Actions.
+ */
+ typedef enum
+ {
+ PREPARED_NO_ACTION = 0,
+ PREPARED_GET_POSITION,
+ PREPARED_GET_MARK,
+ PREPARED_GET_SPEED,
+ PREPARED_GET_MAX_SPEED,
+ PREPARED_GET_MIN_SPEED,
+ PREPARED_GET_ACCELERATION,
+ PREPARED_GET_DECELERATION,
+ PREPARED_GET_DIRECTION,
+ PREPARED_SET_MARK
+ } prepared_action_t;
+
+
/*** Constructor and Destructor Methods ***/
/**
* @brief Constructor.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
*/
- L6470(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
+ L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
{
/* ACTION 4 ----------------------------------------------------------*
* Initialize here the component's member variables, one variable per *
@@ -107,6 +128,7 @@
L6470_Direction = &_L6470_Direction[0];
L6470_ACT = &_L6470_ACT[0];
pL6470_StatusRegister = &L6470_StatusRegister;
+ prepared_action = PREPARED_NO_ACTION;
L6470_Id = number_of_devices++;
L6470_DaisyChain_HalfPrepared = ZERO_F;
memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
@@ -142,348 +164,888 @@
* return COMPONENT_EnableFeature(); *
* } *
*------------------------------------------------------------------------*/
+ /**
+ * @brief Initializing the component.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int Init(void *init)
{
return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
}
+ /**
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int ReadID(uint8_t *id)
{
return (int) 0;
}
+ /**
+ * @brief Getting the status.
+ * @param None.
+ * @retval The status.
+ */
virtual unsigned int GetStatus(void)
{
return (unsigned int) L6470_GetStatus();
}
-
+
+ /**
+ * @brief Getting a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @retval The parameter's value.
+ */
virtual unsigned int GetParameter(unsigned int parameter)
{
return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
}
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
virtual signed int GetPosition(void)
{
- return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
+ return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
}
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
virtual signed int GetMark(void)
{
- return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID);
+ return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
}
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
virtual unsigned int GetSpeed(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
+ return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
}
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
virtual unsigned int GetMaxSpeed(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
+ return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
}
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
virtual unsigned int GetMinSpeed(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
+ return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
}
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
virtual unsigned int GetAcceleration(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID);
+ return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
}
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
virtual unsigned int GetDeceleration(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID);
+ return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
}
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
virtual direction_t GetDirection(void)
{
return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
}
+ /**
+ * @brief Setting a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @param value The parameter's value.
+ * @retval None.
+ */
virtual void SetParameter(unsigned int parameter, unsigned int value)
{
L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
}
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
virtual void SetHome(void)
{
L6470_ResetPos();
- //L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
}
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
virtual void SetMark(void)
{
L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
- //L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) 0);
}
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param position The given position.
+ * @retval None.
+ */
+ virtual void SetMark(signed int position)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ }
+
+ /**
+ * @brief Setting the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval None.
+ */
virtual void SetMaxSpeed(unsigned int speed)
{
- L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
+ L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
}
+ /**
+ * @brief Setting the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval None.
+ */
virtual void SetMinSpeed(unsigned int speed)
{
- L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
+ L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
}
+ /**
+ * @brief Setting the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval None.
+ */
virtual void SetAcceleration(unsigned int acceleration)
{
- L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
+ L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
}
+ /**
+ * @brief Setting the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval None.
+ */
virtual void SetDeceleration(unsigned int deceleration)
{
- L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
+ L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
}
+ /**
+ * @brief Going to a specified position through the shortest path.
+ * @param position The desired position.
+ * @retval None.
+ */
virtual void GoTo(signed int position)
{
- L6470_GoTo((uint32_t) position);
+ L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
}
+ /**
+ * @brief Going to a specified position imposing the desired direction.
+ * @param position The desired position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
virtual void GoTo(signed int position, direction_t direction)
{
- L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
+ L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
}
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
virtual void GoHome(void)
{
L6470_GoHome();
}
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
virtual void GoMark(void)
{
L6470_GoMark();
}
- virtual void GoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
+ /**
+ * @brief Running at the given speed imposing the desired direction until
+ * an external switch turn-on event occurs.
+ * @param action The identifier of the action about the absolute position.
+ * @param position The desired position.
+ * @param speed The speed value in pps.
+ * @retval 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.
+ */
+ virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
{
- L6470_GoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_GoUntil((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
}
+ /**
+ * @brief Running towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
virtual void Run(direction_t direction)
{
L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
}
+ /**
+ * @brief Running towards a specified direction at the given speed.
+ * @param direction The direction of rotation.
+ * @param speed The speed value in pps.
+ * @retval None.
+ */
virtual void Run(direction_t direction, unsigned int speed)
{
- L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
}
+ /**
+ * @brief Moving towards a specified direction for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ */
virtual void Move(direction_t direction, unsigned int steps)
{
L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
}
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ */
virtual void SoftStop(void)
{
L6470_SoftStop();
}
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
virtual void HardStop(void)
{
L6470_HardStop();
}
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SoftHiZ(void)
+ {
+ L6470_SoftHiZ();
+ }
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardHiZ(void)
+ {
+ L6470_HardHiZ();
+ }
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
virtual void WaitWhileActive(void)
{
while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
}
- virtual void SoftHiZ(void)
- {
- L6470_SoftHiZ();
- }
-
- virtual void HardHiZ(void)
- {
- L6470_HardHiZ();
- }
-
+ /**
+ * @brief Switching to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
virtual void StepClock(direction_t direction)
{
L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
}
- virtual void ReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
+ /**
+ * @brief Doing a motion at minimum speed imposing a specified direction
+ * until the SW is released.
+ * @param action The identifier of the action about the absolute position.
+ * @param direction The 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.
+ */
+ virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
{
- L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
}
+ /**
+ * @brief Resetting the device to power-up conditions.
+ * @param None.
+ * @retval None.
+ */
virtual void ResetDevice(void)
{
L6470_ResetDevice();
}
+ /**
+ * @brief Preparing the command to get the status.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetStatus(void)
{
L6470_PrepareGetStatus();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to get a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetParameter(unsigned int parameter)
{
L6470_PrepareGetParam((eL6470_RegId_t) parameter);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to get the position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetPosition(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
+ prepared_action = PREPARED_GET_POSITION;
}
+ /**
+ * @brief Preparing the command to get the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetMark(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
+ prepared_action = PREPARED_GET_MARK;
}
+ /**
+ * @brief Preparing the command to get the current speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetSpeed(void)
{
- L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
+ prepared_action = PREPARED_GET_SPEED;
}
+ /**
+ * @brief Preparing the command to get the maximum speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetMaxSpeed(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
+ prepared_action = PREPARED_GET_MAX_SPEED;
}
+ /**
+ * @brief Preparing the command to get the minimum speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetMinSpeed(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
+ prepared_action = PREPARED_GET_MIN_SPEED;
}
+ /**
+ * @brief Preparing the command to get the acceleration in pps^2.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetAcceleration(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
+ prepared_action = PREPARED_GET_ACCELERATION;
}
+ /**
+ * @brief Preparing the command to get the deceleration in pps^2.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetDeceleration(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
+ prepared_action = PREPARED_GET_DECELERATION;
}
- virtual direction_t PrepareGetDirection(void)
+ /**
+ * @brief Preparing the command to get the direction of rotation.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareGetDirection(void)
{
- return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
+ if (!L6470_DaisyChain_HalfPrepared)
+ {
+ /* To avoid deleting the previous entered command. */
+ L6470_DaisyChain_HalfPrepared = ONE_F;
+ /* Resetting commands. */
+ L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
+ }
+ prepared_action = PREPARED_GET_DIRECTION;
}
+ /**
+ * @brief Preparing the command to set a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @param value The parameter's value.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
{
L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to set the current position to be
+ * the home position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetHome(void)
{
L6470_PrepareResetPos();
- //L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to set the current position to be
+ * the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetMark(void)
{
- uint32_t mark = L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, mark);
+ /*
+ Set "0" now as marked position. This value will be replaced by the
+ actual position read at the time when the prepared actions will be
+ performed.
+ */
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
+ prepared_action = PREPARED_SET_MARK;
}
+ /**
+ * @brief Preparing the command to set the given position to be
+ * the marked position.
+ * @param position The given position.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetMark(signed int position)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the current speed in pps.
+ * @param speed The current speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetSpeed(unsigned int speed)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetMaxSpeed(unsigned int speed)
{
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
- }
-
- virtual void PrepareSetMinSpeed(unsigned int speed)
- {
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to set the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetMinSpeed(unsigned int speed)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetAcceleration(unsigned int acceleration)
{
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
- }
-
- virtual void PrepareSetDeceleration(unsigned int deceleration)
- {
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
+ prepared_action = PREPARED_NO_ACTION;
}
- virtual void PrepareGoTo(signed int position)
+ /**
+ * @brief Preparing the command to set the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetDeceleration(unsigned int deceleration)
{
- L6470_PrepareGoTo((uint32_t) position);
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to go to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareGoTo(signed int position)
+ {
+ L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to go to a specified position
+ * imposing the desired direction.
+ * @param position The desired position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGoTo(signed int position, direction_t direction)
{
- L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
+ L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to go to the home position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGoHome(void)
{
L6470_PrepareGoHome();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to go to the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGoMark(void)
{
L6470_PrepareGoMark();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to run at the given speed imposing the desired
+ * direction until an external switch turn-on event occurs.
+ * @param action The identifier of the action about the absolute position.
+ * @param position The desired position.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ * 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.
+ */
virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
{
- L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to run towards a specified direction
+ * at the maximum speed.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareRun(direction_t direction)
{
L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to run towards a specified direction
+ * at the given speed.
+ * @param direction The direction of rotation.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareRun(direction_t direction, unsigned int speed)
{
- L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to move towards a specified direction
+ * for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareMove(direction_t direction, unsigned int steps)
{
L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to stop the motor.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSoftStop(void)
{
L6470_PrepareSoftStop();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to stop the motor and disabling the power bridge.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareHardStop(void)
{
L6470_PrepareHardStop();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief 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.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSoftHiZ(void)
{
L6470_PrepareSoftHiZ();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to disable the power bridge immediately.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareHardHiZ(void)
{
L6470_PrepareHardHiZ();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to switch to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareStepClock(direction_t direction)
+ {
+ L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ prepared_action = PREPARED_NO_ACTION;
}
- virtual void PrepareStepClock(direction_t direction)
+ /**
+ * @brief Preparing the command to do a motion at minimum speed
+ * imposing a specified direction until the SW is released.
+ * @param action The identifier of the action about the absolute position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ * 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.
+ */
+ virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
{
- L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to reset the device to power-up conditions.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareResetDevice(void)
+ {
+ L6470_PrepareResetDevice();
+ prepared_action = PREPARED_NO_ACTION;
}
- virtual void PrepareReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
+ /**
+ * @brief Performing all the actions prepared on the components
+ * of the daisy-chain.
+ * @param None.
+ * @retval The raw data returned by the components.
+ */
+ uint8_t* PerformPreparedActions(void)
{
- L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ return L6470_PerformPreparedApplicationCommand();
+ }
+
+ /**
+ * @brief Getting the prepared action.
+ * @param None
+ * @retval The prepared action.
+ */
+ prepared_action_t GetPreparedAction(void)
+ {
+ return prepared_action;
}
- virtual void PrepareResetDevice(void)
+ /**
+ * @brief Converting the raw data received by the component according to
+ * the action performed on it.
+ * @param raw_data The received raw data.
+ * @retval The result of the action performed.
+ */
+ int32_t GetResult(uint8_t *raw_data)
{
- L6470_ResetDevice();
- }
+ switch (prepared_action)
+ {
+ case PREPARED_GET_POSITION:
+ return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
+
+ case PREPARED_GET_MARK:
+ return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
- virtual uint8_t* PerformAction(void)
- {
- return (uint8_t*) L6470_PerformPreparedApplicationCommand();
+ case PREPARED_GET_SPEED:
+ return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_MAX_SPEED:
+ return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_MIN_SPEED:
+ return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_ACCELERATION:
+ return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
+
+ case PREPARED_GET_DECELERATION:
+ return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
+
+ case PREPARED_GET_DIRECTION:
+ return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
+
+ default:
+ case PREPARED_NO_ACTION:
+ return 0;
+ }
}
@@ -519,8 +1081,8 @@
* } *
*------------------------------------------------------------------------*/
/**
- * @brief Attaching a FLAG interrupt handler.
- * @param fptr an interrupt handler.
+ * @brief Attaching an interrupt handler to the FLAG interrupt.
+ * @param fptr An interrupt handler.
* @retval None.
*/
void AttachFlagIRQ(void (*fptr)(void))
@@ -529,7 +1091,7 @@
}
/**
- * @brief Enabling FLAG interrupt handling.
+ * @brief Enabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
@@ -539,7 +1101,7 @@
}
/**
- * @brief Disabling FLAG interrupt handling.
+ * @brief Disabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
@@ -548,6 +1110,36 @@
flag_irq.disable_irq();
}
+ /**
+ * @brief Attaching an interrupt handler to the BUSY interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void AttachBusyIRQ(void (*fptr)(void))
+ {
+ busy_irq.rise(fptr);
+ }
+
+ /**
+ * @brief Enabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableBusyIRQ(void)
+ {
+ busy_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableBusyIRQ(void)
+ {
+ busy_irq.disable_irq();
+ }
+
protected:
@@ -641,6 +1233,19 @@
void L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
+ /**
+ * @brief Rounding a floating point number to the nearest unsigned integer number.
+ * @param f The floating point number.
+ * @retval The nearest unsigned integer number.
+ */
+ int round(float f)
+ {
+ if (f >= 0)
+ return (int) f + (f - (int) f < 0.5f ? 0 : 1);
+ else
+ return (int) f - (f - (int) f < -0.5f ? 1 : 0);
+ }
+
/*** Component's I/O Methods ***/
@@ -718,49 +1323,63 @@
/*** Component's Instance Variables ***/
- /* Identity */
- uint8_t who_am_i;
-
/* ACTION 9 --------------------------------------------------------------*
- * There should be only a unique identifier for each component, which *
- * should be the "who_am_i" parameter, hence this parameter is optional. *
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
*------------------------------------------------------------------------*/
- /* Type. */
- uint8_t type;
-
/* Flag Interrupt. */
InterruptIn flag_irq;
+ /* Busy Interrupt. */
+ InterruptIn busy_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
/* Standby/reset pin. */
DigitalOut standby_reset;
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
/* Configuration. */
DigitalOut ssel;
/* IO Device. */
DevSPI &dev_spi;
- /* Interrupts. */
- /* ACTION 10 -------------------------------------------------------------*
- * Put here interrupt related objects, if needed. *
- * Note that interrupt handling is platform dependent, see *
- * "Interrupt Related Methods" above. *
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
* *
* Example: *
- * + mbed: *
- * InterruptIn feature_int; *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
*------------------------------------------------------------------------*/
-
/* Data. */
- /* ACTION 11 -------------------------------------------------------------*
- * Declare here the component's data, one variable per line. *
- * *
- * Example: *
- * int T0_out; *
- * int T1_out; *
- * float T0_degC; *
- * float T1_degC; *
- *------------------------------------------------------------------------*/
uint8_t L6470_Id;
const sL6470_Register_t *L6470_Register;
const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
@@ -769,6 +1388,7 @@
sL6470_StatusRegister_t L6470_StatusRegister;
sL6470_StatusRegister_t *pL6470_StatusRegister;
StepperMotorRegister_t StepperMotorRegister;
+ prepared_action_t prepared_action;
/* Static data. */
static uint8_t number_of_devices;
X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver